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Cartesian Programming With Virtual Rotary Axis Angles - Siemens SINUMERIK 840D sl Programming Manual

Sinumerik run myrobot /direct control
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4.2

Cartesian programming with virtual rotary axis angles

For Cartesian programming, you must activate transformation using the modal TRAAORI
programming command. Then enter a Cartesian position X, Y, Z - and an orientation A, B, C.
Example
N15 TRAORI
N16 G0 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151
C=160.9643
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
4.2 Cartesian programming with virtual rotary axis angles
Programming
33

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