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
To Next Page
Loading...
Need help?
General
