Siemens SINUMERIK 840D sl Programming Manual page 363

Meaning
Command
:
PTP
:
CP
STAT=
:
TU=
Example
Program code
N10 G0 X0 Y-30 Z60 A-30 F10000
N20 TRAORI(1)
N30 X1000 Y0 Z400 A0
N40 X1000 Z500 A0 STAT='B10'
TU='B100' PTP
N50 X1200 Z400 CP
N60 X1000 Z500 A20
N70 M30
Job Planning
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
Meaning
Point to Point (point to point motion)
Effective: Modal
Continuous Path (Cartesian path motion)
Effective: Modal
: Position of the joints. The value depends on the transformation.
Effective: Modal
A STAT value is only effective with vector interpolation.
Axis angle
Range of values: ±360 degrees
Effective: Non-modal
A TU value is effective with vector and rotary axis interpolation.
Comment
; Initial position → elbow up
; Transformation on
; Re-orientation without transformation
; → elbow down
; Transformation active again
Transformations
6.9 Cartesian PTP travel
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