Consideration Of The Sw Limits During Ptp Travel - Siemens SINUMERIK 840D sl Function Manual

MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49)
Value
0
1
7.6.2.3

Consideration of the SW limits during PTP travel

Function
With Cartesian PTP travel, a rotary axis is normally traversed according to the strategy
"shortest path" if no position information has been programmed via the operation TU
(Page 470). To prevent a software limit switch being overtraveled when the target position is
behind the software limit switch, the user can use the "Consideration of the SW limits during
PTP travel" function. The rotary axis is then traversed with the strategy "long path" instead of
"shortest path" if overtravel of the software limit switch would happen, i.e. the opposite
traversing direction as with the "shortest path" strategy.
Requirement
The function can only be used when the relevant axis has been referenced.
Activation
The "Consideration of the SW limits during PTP travel" function can be activated separately
for each axis.
This setting is made via bit 14 in the axial machine data:
MD30455 $MA_MISC_FUNCTION_MASK
Bit 14
Supplementary conditions
Modulo rotary axes
With modulo rotary axes, the strategy "long path" can only be used when the software limit
switch monitoring has been selected for the relevant axis:
DB31, ... DBX12.4 (modulo rotary axis: Activate traversing range limits) = 1
Example
Axis 6 is to traverse from +150° t +240°. The software limit switch is at +200°.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Meaning
The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes ef‐
fective (default setting).
The command that was active before the reset/part program end remains effective.
= 0 With Cartesian PTP travel, the strategy "shortest path" is retained for software
limit switch overtravel of a rotary axis (basic setting).
= 1 The strategy "long path" is used when during Cartesian PTP travel a rotary axis
with the strategy "shortest path" would overtravel the software limit switch.
M1: Kinematic transformation
7.6 Cartesian PTP travel
465