Programming Of Position - Siemens SINUMERIK 840D sl Function Manual

Note
For further information about programming plus programming examples, please see:
References:
/PGA/, Programming Guide, Work Preparation, Chapter Transformations, "Cartesian PTP
Travel"
7.6.1

Programming of position

Generally speaking, a machine position is not uniquely defined solely by a position input with
Cartesian coordinates and the orientation of the tool. Depending on the kinematics of the
relevant machine, the joint may assume up to 8 different positions. These joint positions are
specific to individual transformations.
STAT address
A Cartesian position must be convertible into unique axis angles. For this reason, the
position of the joints must be entered in the STAT address.
The STAT address contains a bit for every possible setting as a binary value. The meaning
of these bits is determined by the relevant transformation.
As regards the transformations contained in the publication "Handling Transformation
Package (TE4)", the bits are assigned to different joint positions, as shown in the figure
above.
Figure 7-23
Note
It is only meaningful to program the STAT address for "Cartesian PTP travel", since changes
in position are not normally possible while an axis is traversing with active transformation.
The starting point position is applied as the destination point for traversal with the CP
command.
Extended Functions
Function Manual, 01/2008, 6FC5397-1BP10-3BA0
Position bits for Handling Transformation Package
Kinematic Transformation (M1)
7.6 Cartesian PTP travel
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