STAT=6 ('B110') → Shoulder right
→ Elbow up
→ Handflip
TRANSMIT
For TRANSMIT, the STAT address is used to initiate the equivocality regarding the pole.
The following applies if the rotary axis must rotate through 180º or the contour for CP would go
through the pole:
Bit 0 Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 1 or 2:
= 0 Rotary axis traverses through +180º or rotates clockwise.
= 1 Rotary axis rotates through -180º or rotates counterclockwise.
Bit 1 Only relevant for $MC_TRANSMIT_POLE_SIDE_FIX_1/2 = 0:
= 0 The axis traverses through the pole. The rotary axis does not rotate.
= 1 The axis rotates around the pole. Bit 0 of STAT is relevant.
3.9.11.3 Specify the sign of the axis angle (TU)
In order that rotary axes can also approach axis angles exceeding +180° or less than -180°
without requiring a special traversing strategy (e.g. intermediate point), the sign of the axis
angle must be specified under the adjustable address TU.
Note
The control only takes into account programmed TU values for PTP motion. CP motion is
ignored.
Syntax
TU=<Value>
Work preparation
3.9 Transformations
NC programming
712 Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
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