Meaning
TU: Adjustable address to specify axis angle signs
<Value>: Binary or decimal value
For each axis that is involved in the transformation, there is a bit that indicates the sign
of the axis angle (θ), and therefore the traversing direction.
Bit = 0 Axis angle sign: + Axis angular range: 0° ≤ θ < 360°
= 1 Axis angle sign: - Axis angular range: - 360° < θ < 0°
Example: 6-axis articulated robot
Bit Meaning Value Axis angle
sign
Axis angle
Bit 0
1)
Sign for the axis angle of A1 = 0 + ≥ 0°
= 1 - < 0°
Bit 1
1)
Sign for the axis angle of A2 = 0 + ≥ 0°
= 1 - < 0°
Bit 2
1)
Sign for the axis angle of A3 = 0 + ≥ 0°
= 1 - < 0°
Bit 3
1)
Sign for the axis angle of A4 = 0 + ≥ 0°
= 1 - < 0°
Bit 4
1)
Sign for the axis angle of A5 = 0 + ≥ 0°
= 1 - < 0°
Work preparation
3.9 Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0 713
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