Displaying Geometry Axes; Specifying The Machine And Rotary Axis Position - Siemens SINUMERIK 840D sl Commissioning Manual

Special cases
Reference point approach and Safety Integrated
The channel-specific machine data MD20098 $MC_DISPLAY_AXIS is not evaluated in the
displays for the "REF" referencing mode, i.e. the display, "Axis reference point and
acknowledge safe position". All machine axes are always displayed.
You cannot change the values for the base work offset without the appropriate access right.
Enter access right 7 as a standard value in the display machine data MD9247 and MD9248.
3.14.5

Displaying geometry axes

To display geometry axes at the first position (e.g. before the auxiliary axes), set the display
machine data MD9421 $MM_MA_AXES_SHOW_GEO_FIRST as follows:
1: Display geometry axes at the first position
0: Do not display geometry axes at the first position (default setting)
3.15

Specifying the machine and rotary axis position

Singularities with special kinematics and robots
When the cartesian point-to-point method (PTP) in workpiece coordinates is used, the
position of machine axes is ambiguous at certain points. In order to define these singularities
without ambiguity, the position of the machine STAT and the position of the axes TU are
defined in addition to the workpiece coordinates for this type of transformation (e.g., 5-axis
transformation).
Setting the numerical basis
The STAT and TU values are displayed in the axis screens (actual-value window, broad
actual-value window with feed and zoom display) and entered in the MDA editor during the
teach-in procedure. Whether the values in STAT and TU are displayed in binary, decimal or
hexadecimal format is set via the following display machine data:
MD9242 $MM_MA_STAT_DISPLAY_BAS
E
MD9243 $MM_MA_TU_DISPLAY_BASE
Commissioning HMI-Embedded (IM2)
Commissioning Manual, 01/2008, 6FC5397-8CP10-1BA0
3.15 Specifying the machine and rotary axis position
Numerical basis for display of moving joint
STAT
Numerical basis for display of rotary axis
position TU
Functions
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