Siemens Sinumerik 840D sl Programming Manual page 392

Transformations
6.9 Cartesian PTP travel
Further behavior
Mode change
The "Cartesian PTP travel" function is only useful in the AUTO and MDA modes of operation.
When changing the mode to JOG, the current setting is retained.
When the G code PTP is set, the axes will traverse in MCS. When the G code CP is set, the
axes will traverse in WCS.
Power On/RESET
After a power ON or after a RESET, the setting is dependent on the machine data
$MC_GCODE_REST_VALUES[48]. The default traversal mode setting is "CP".
REPOS
If the function "Cartesian PTP travel" was set during the interruption block, PTP can also be
used for repositioning.
Overlaid movements
DRF offset or external zero offset are only possible to a limited extent in Cartesian PTP travel.
When changing from PTP to CP movement, there must be no overrides in the BCS.
Smoothing between CP and PTP motion
A programmable transition rounding between the blocks is possible with G641.
The size of the rounding area is the path in mm or inch, from which or to which the block
transition is to be rounded. The size must be specified as follows:
• for G0 blocks with ADISPOS
• for all the other motion commands with ADIS.
The path calculation corresponds to considering of the F addresses for non-G0 blocks. The
feed is kept to the axes specified in FGROUP(..).
Feed calculation
For CP blocks, the Cartesian axes of the basic coordinate system are used for the calculation.
For PTP blocks, the corresponding axes of the machine coordinate system are used for the
calculation.
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Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
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