Cartesian Ptp Travel; Function - Siemens SINUMERIK 840DE sl Function Manual

NC program
Program code
$TC_DP1[1,1]=120 ; tool type
$TC_DP2[1,1] = 0
$TC_DP3[1,1]=3 ; length compensation vector
$TC_DP4[1,1]=25
$TC_DP5[1.1] =5
$TC_DP6[1,1]= 2; Radius; tool radius
; Transformation changeover
N1000 G0 X0 Y=0 Z0 A80 G603 SOFT G64
N1010 X10 Y20 Z30 ; TRAANG(,1) not required, as automatically selected
N1110 TRANSMIT(1)
N1120 X10 Y20 Z30
N1130 Y2=0
N1210 TRAFOOF
N1220 X10 Y20 Z30
M30
2.6

Cartesian PTP travel

2.6.1

Function

Precondition
Cartesian point-to-point or PTP travel can only be activated if one of the following
transformations is active:
● TRAORI (orientation transformation)
● TRANSMIT (face side transformation)
● TRACON (chained transformation)
Precondition: The first chained transformation supports PTP travel!
● RCTRA (transformation for 2 to 4-axis handling/robot kinematics)
Precondition: Compile cycle "RMCC/RCTRA Transformation Handling" is loaded and
active!
● ROBX (transformation for 4 to 6-axis robot kinematics)
Precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded
and active!
Without active transformation, alarm 14146 "CP or PTP motion without transformation not
permitted" is output.
Note
The axes of the transformation must not simultaneously be positioning axes.
Transformations
Function Manual, 06/2019, A5E47435470B AA
; TRACON(2) not required, as automatically converted
; TRAANG(,1) not required, as automatically converted
M1: Kinematics transformation
2.6 Cartesian PTP travel
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