Siemens SINUMERIK 840D sl Programming Manual

Program code Comment
N16 ORIMKS
N17 G1 PTP X1665.67 Y0 Z1377.405 A=0 B=0 C=0 STAT=... F2000 ; The STAT value defines
the articulated joint
positions (see below)
...
STAT=1 ('B001') → Shoulder left
→ Elbow down
→ No handflip
=
;
<
STAT=2 ('B010') → Shoulder right
→ Elbow up
→ No handflip
=
;
<
STAT=5 ('B101') → Shoulder left
→ Elbow down
→ Handflip
=
;
<
Work preparation
3.9 Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 711

Siemens SINUMERIK 840D sl Specifications

General

Control Type	CNC
Number of Axes	Up to 31
Max Number of Channels	10
Interfaces	Ethernet, PROFIBUS, PROFINET, USB
Interpolation	5-axis interpolation
Operating Temperature	0°C to 45°C
Relative Humidity	Up to 95% (non-condensing)
Display	TFT color display, various sizes
Programming Languages	DIN/ISO
Safety Features	Safety Integrated
PLC	Integrated PLC S7-300
Drive Interface	SINAMICS S120
Data Storage	CF card, USB
Operating System	Windows-based