Siemens SINUMERIK 840D sl Programming Manual page 364

Transformations
6.9 Cartesian PTP travel
PTP transversal with generic 5-axis transformation
Assumption: This is based on a right-angled CA kinematics.
Program code
TRAORI
PTP
N10 A3=0 B3=0 C3=1
N20 A3=1 B3=0 C3=1
N30 A3=1 B3=0 C3=0
N40 A3=1 B3=0 C3=1 STAT=1
Select clear approach position of rotary axis position:
In block N40, by programming
starting point (C=90, A=90) to the end point (C=270, A=–45), rather than the case would be if
STAT = 0
Description
The commands
the machine axes.
PTP transversal with generic 5/6-axis transformation
During PTP transversal, unlike 5/6–axis transformation, the TCP generally does not remain
stationary if only the orientation changes. The transformed end positions of all transformation
axes (3 linear axes and up to 3 round axes) are approached in linear fashion without the
transformation still actually being active.
The PTP transversal is deactivated by programming the modal G code
The various transformations are included in the document:
/FB3/ Function Manual Special Functions; Handling Transformation Package (TE4).
Programming the position (STAT=)
A machine position is not uniquely determined just by positional data with Cartesian
coordinates and the orientation of the tool. Depending on the kinematics involved, there can
be as many as eight different and crucial articulated joint positions. These are specific to the
transformation. To be able to uniquely convert a Cartesian position into the axis angle, the
position of the articulated joints must be specified with the command
command contains a bit for each of the possible positions as a binary value.
For information about the setting bits to be programmed for "
/FB2/ Description of Functions Extended Functions; Kinematic Transformation (M1),
"Cartesian PTP travel" section.
Programming the axis angle (TU=)
To be able to clearly approach axis angles < ± 360 degrees, this information must be
programmed using the command
364
STAT = 1
where they would travel the shortest route to the end point (C=90, A=45).
and effect the changeover between Cartesian traversal and traversing
PTP CP
Comment
; Transformation CA kinematics on
; Activate PTP traversing
; Rotary axis positions C = 0 A = 0
; Rotary axis positions C = 90 A = 45
; Rotary axis positions C = 90 A = 90
; Rotary axis positions C = 270 A = -45
, the rotary axes then travel the long route from their
.
"TU="
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
.
CP
. The
STAT= "STAT"
", see:
STAT
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