Specify The Sign Of The Axis Angle (Tu) - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.6 Cartesian PTP travel
The following applies if the rotary axis must rotate through 180º or the contour for CP would go
through the pole:
Bit 0
Bit 1
2.6.3.4

Specify the sign of the axis angle (TU)

In order that rotary axes can also approach axis angles exceeding +180° or less than -180°
without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis
angle must be specified under the adjustable address TU.
Note
The control only takes into account programmed TU values for PTP motion. CP motion is
ignored.
Syntax
TU=<Value>
Meaning
TU:
<Value>:
Example: 6-axis articulated robot
108
Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:
= 0 Rotary axis traverses through +180º or rotates clockwise.
= 1 Rotary axis rotates through -180º or rotates counterclockwise.
Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:
= 0 The axis traverses through the pole. The rotary axis does not rotate.
= 1 The axis rotates around the pole. Bit 0 of STAT is relevant.
Adjustable address to specify axis angle signs
Binary or decimal value
For each axis that is involved in the transformation, there is a bit that indicates the sign
of the axis angle (θ), and therefore the traversing direction.
Bit = 0
= 1
Axis angle sign: +
Axis angle sign: -
Function Manual, 06/2019, A5E47435470B AA
Axis angular range: 0° ≤ θ < 360°
Axis angular range: - 360° < θ < 0°
Transformations