Siemens SINUMERIK 840D sl Programming Manual

Bit Meaning Value Axis angle
sign
Axis angle
Bit 5
1)
Sign for the axis angle of A6 = 0 + ≥ 0°
= 1 - < 0°
1)
The actual TU bit numbers obtained from the channel axis numbers of the robot axes! In the example,
robot axes (A1 to A6) are the first six axes in the channel; as a consequence, TU bits 0 ... 5 are used.
For another channel axis assignment of the robot axes, the TU bit numbers of the robot axes would
correspondingly change (e.g.: robot axes are the 3rd to 8th channel axis, i.e. TU bits 2 ... 7 are used
for the robot axes).
TU=19 (corresponds to TU='B010011) would therefore signify:
Bit Value Axis angle
0 = 1 ⇒ θ
A1
< 0°
1 = 1 ⇒ θ
A2
< 0°
2 = 0 ⇒ θ
A3
≥ 0°
3 = 0 ⇒ θ
A4
≥ 0°
4 = 1 ⇒ θ
A5
< 0°
5 = 0 ⇒ θ
A6
≥ 0°
Note
In the case of axes with a traversing range > ±360°, the axis always moves along the shortest
path because the axis position cannot be specified uniquely by the TU information.
If no TU is programmed for a position, then depending on MD30455
$MA_MISC_FUNCTION_MASK the shorter or longer path is traversed.
TRANSMIT
For PTP travel with TRANSMIT active, the address of TU has no meaning!
Work preparation
3.9 Transformations
NC programming
714 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0

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