Siemens SINUMERIK 840DE sl Function Manual page 125

Transformation in pro‐
gram active (TRAORI..)
The G command PTP/CP currently active in the program does not affect Cartesian manual
travel. The NC/PLC interface signals are interpreted in the channel DB for geometry and
orientation axes.
Activation
The reference system for Cartesian manual travel is set as follows:
● The Cartesian manual travel function is activated with the following machine data:
MD21106 $MC_CART_JOG_SYSTEM > 0
The BCS, WCS or TCS reference systems are enabled via MD21106
$MC_CART_JOG_SYSTEM.
● JOG traverse motion via SD42650 SC_CART_JOG_MODE
Standard behavior as before: Bits 0 to 2 = 0, bits 8 to 10 = 0.
Reference system for translation via bits 0-2 and the reference system for orientation via bits
8-10.
If not all of the bits are set to 0, the process uses the new function. The reference systems
for translation and orientation may be set independently.
SD42650 $SC_CART_JOG_MODE (only set one bit):
Bit 11 -
bit 15
Reserved
Combining reference systems
The table below shows all the combination options for reference systems.
Bit 10
Standard
Transformations
Function Manual, 06/2019, A5E47435470B AA
Prog. traversing type
TRUE
TRUE
Bit 10 Bit 9
Orienta‐ Orienta‐
tion in the tion in the
TCS WCS
SD42650 $SC_CART_JOG_MODE
Bit 9 Bit 8
0 0 0
Standard Standard
0 0 1
0 0 1
0 0 1
0 1 0
0 1 0
0 1 0
1 0 0
2.7 Cartesian manual traversing (option)
DB21, ... DBX29.4
"Activate PTP travel"
PTP
PTP
SD42650 $SC_CART_JOG_MODE
Bit 8 Bit 7 -
bit 3
Orienta‐ Reserved
tion in the
BCS
Bit 2 Bit 1
0/1 0/1
0 0
0 0
0 1
1 0
0 0
0 1
1 0
0 0
M1: Kinematics transformation
DB21, ... DBX33.6
"Transformation active"
0
1
Bit 2 Bit 1
Transla‐ Transla‐
tion in the tion in the
TCS WCS
Reference system for
Bit 0 Orientation
0/1 Standard
0 Standard
1 BCS
0 BCS
0 BCS
1 WCS
0 WCS
0 WCS
1 TCS
1
0
Bit 0
Transla‐
tion in the
BCS
Translation
Standard
Standard
BCS
WCS
TCS
BCS
WCS
TCS
BCS
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