Siemens SINUMERIK 828D Programming Manual page 378

Transformations
6.9 Cartesian PTP travel
Significance
The
If modal applies when programming the STAT value, TU programming is = <...> non-modal.
Another difference is that programming a STAT value only has an effect during vector
interpolation, while programming TU is also evaluated during active rotary axis interpolation.
PTP
CP
STAT=
TU=
Example
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
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and commands act in a modal manner.
PTP CP
Point To Point (point to point motion)
The movement is executed as a synchronized axis movement; the slowest axis
involved in the movement is the dominating axis for the velocity.
Continuous Path (path motion)
The movement is executed as Cartesian path motion.
Position of the articulated joints; this value is dependent on the transformation.
TURN information acts blockwise. This makes it possible to clearly approach axis
angles between -360 degrees and +360 degrees.
is the default setting.
CP
Initial setting
→ Elbow up
Transformation on
Re-orientation without transformation
→ Elbow down
Transformation active again
Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
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