Siemens sinumerik 840d Programming Manual page 234

Transformations
7
7.1 Three, four and five-axes transformation: TRAORI
840D
NCU 572
NCU 573
Programming the position (STAT=)
A machine position cannot be uniquely defined solely
by specifying the position with Cartesian coordinates
and the tool orientation. According to which
kinematics are used, there are up to 8 different
articulation positions. They are therefore
transformation-specific. In order to unambiguously
convert a Cartesian position into an axis angle, you
need to specify the position of the articulations by
means of the STAT= command. The "STAT"
command contains one bit as binary value for each
of the possible positions.
References:
The following documentation provides a detailed
description of the different transformations:
SINUMERIK 840D/FM-NC Description of Functions
(Part 3), "Transformation Package Handling".
For a description of the position bits that need to be
programmed for "STAT", please refer to:
SINUMERIK 840D/FM-NC Description of Functions
(Part 3), "Three-Axis to five-Axis Transformation".
Programming the axes angles (TU=)
For a determinate approach of the axes angles
< ±360 degrees, this information must be
programmed with the "TU=" command.
The command is non-modal.
The axes traverse along the shortest path:
• if TU was not programmed with a position
• with axes that have a traversing range > ±360
degrees
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840Di
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition
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