# Status & Turn (IS, IT)

An option exists to specify the robot pose for the corresponding Cartesian position as an alternative to axis-specific positioning and to obtain a more precise specified position of a #PTP movement for industrial robots.

The robot pose is described using 2 additional key figures (Status & Turn).

## Notice

Robot positioning with Status & Turn is currently only available for kinematic type 45.

Status bit

The robot pose is divided into 3 criteria. If a criterion applies, a corresponding numerical value is added to the status.

1st criterion If the wrist is behind axis A1, decimal 1 or binary 1 is added (yellow area in the figure on the left).

2nd criterion If the wrist is in front of the straight line through axes A2 and A3, decimal 2 or binary 10 is added (centre and right image).

3rd criterion (legacy value, not normally used any more): Indicates the position of axis A5. If A5 > 0, decimal 4 or binary 100 is added.

Turn bit

The turn value lists the negative signs of the axis angles.

When the turn value is considered in a binary representation, the sign of each axis angle is assigned to a bit. These are then added to a number, i.e. the turn.

If the axis angle of an axis is < 0°, the value is 1.

 A6 < 0° A5 < 0° A4 < 0° A3 < 0° A2 < 0° A1 < 0° Binary 100000 010000 001000 000100 000010 000001 Decimal 32 16 8 4 2 1

If all 6 axis angles are in the negative range, this results in a turn value of decimal 63 or binary 111111; accordingly, this results in decimal 0 and binary 000000 for 6 positive axis angles.

Description

The additional parameters Status & Turn are available for unambiguous programming of the robot poses (Kin_Typ_45) with Cartesian target coordinates of a PTP movement.

 Syntax pf Programming Status & Turn with the prefixes “IS” and “IT”: #PTP ONG.. X.. Y.. … IS.. IT..#PTP OFF

Binary numbers can be programmed with the following syntax:

'B<0…1>', or '2#<0…1>', or '02#<0…1>'.

When binary numbers are used, the syntax is as follows:

Status:   IS'Bxxx'

Turn:      IT'Bxxxxxx'

When decimal numbers are used, the syntax is as follows:

Status:   IS<expr>

Turn:      IT<expr>

Display values

The following CNC objects are provided for this function:

• mc_st_valid_r: Validity of the status & turn value
(Task COM index group 0x12010<CID> Index offset 0xB1)
• mc_st_status_r: Status value of kinematic 45
(Task COM index group 0x12010<CID> Index offset 0xB2)
• mc_st_turn_r: Turn value of kinematic 45
(Task COM index group 0x12010<CID> Index offset 0xB3)

If Status & Turn are not programmed, the target point is determined on the axis angle level using the shortest way strategy.

## Programing Example

Status & Turn programmed with binary numbers

N010 #PTP ON

N020 G01 X1100 Y0 Z1400 A0 B90 C0 IS'B010' IT'B000010' F5000

N030 G01 X1200 ;target point is determined by shortest way

N040 #PTP OFF

## Programing Example

Status & Turn programmed with decimal numbers

N010 #PTP ON

N020 G01 X1000 Y0 Z1400 A0 B90 C0 IS2 IT2 F5000

N030 #PTP OFF

N040 G01 X1500

N050 G01 Y1000

N060 G01 X-1000

N070 #PTP ON

N080 G01 X-1000 Y-1000 ;target point is determined by shortest way

N090 #PTP OFF