Siemens SINUMERIK 840D sl Programming Manual page 431

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 STAT = 1, the rotary axes then travel the long route from
their starting point (C=90, A=90) to the end point (C=270, A=–45), rather than the case would
be if STAT = 0 where they would travel the shortest route to the end point (C=90, A=45).
Description
The commands PTP and CP effect the changeover between Cartesian traversal and
traversing 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 CP.
The various transformations are included in the document:
/FB3/ Function Manual Special Functions; Handling Transformation Package (TE4).
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
Comments
; 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
Transformations
6.9 Cartesian PTP travel
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