08/2005 Commissioning HMI Advanced (IM4)
2 Setting Functions and Parameters
© Siemens AG, 2005. All rights reserved
SINUMERIK 840D sl/840D/840Di/810D Installation and Start-Up HMI (IAM) - 08/2005 Edition
IM4/2-37
2.2.4 Defining Machine Position and Rotary Axis Position
Singularities in special kinematics and robots
In the Cartesian point-to-point method (PTP) in workpiece coordinates, the position
of the machine axes is ambiguous in some places. In order to define these
singularities without ambiguity, the machine position STAT and the axes position
TU are defined in addition to the workpiece coordinates for this type of
transformation (e.g., 5-axis transformation).
Setting the number base
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 specified via the display
machine data:
MD 9242: MA_STAT_DISPLAY_BASE Number base for display of
moving joint position STAT
MD 9243: MA_TU_DISPLAY_BASE Number base for display of
rotary axis position TU
Possible settings are:
02: Display as binary value
10: Display as decimal value
16: Display as hexadecimal value
These settings apply to both the actual-value window and the editor window.
Example
In the NC program, the movement of axes from X120 Y20 Z-50 to X200 Y200 Z-
120 looks like this in binary display:
• X=120 Y=20 Z=-50 STAT=’B010’ TU’B011101’
• X=200 Y200 Z=-120 STAT’B110‘ TU=‘B011111‘
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