Programming; Activating/Deactivating Cartesian Ptp Travel (Ptp, Ptpg0, Ptpwoc, Cp) - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.6 Cartesian PTP travel
2.6.3

Programming

2.6.3.1

Activating/deactivating Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP)

The Cartesian point-to-point or PTP travel is activated/deactivated in the NC program using G
group 49 commands.
The commands are modal. The default setting is travel with Cartesian path motion (CP).
Contrary to CP, for active PTP travel, only the Cartesian target point is transformed, and the
machine axes are traversed in synchronism.
In order that the Cartesian target point can be uniquely converted into machine axis values, in
addition to position and angular data, information is also necessary that identifies the axis
positions. This data is retrieved from the adjustable addresses STAT (Page 104) and TU
(Page 108).
Requirement
Transformation TRANSMIT, RCTRA or ROBX is active.
Syntax
PTP / PTPG0 / PTPWOC
...
CP
Meaning
PTP:
PTPG0:
PTPWOC:
CP:
Note
PTPWOC
It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX
transformation!
102
Activating point-to-point motion PTP
The programmed Cartesian position in G0 and G1 blocks is approached with synchro‐
nous axis motion.
Activating point-to-point motion PTPG0
Only in G0 blocks is the programmed Cartesian position approached with synchronous
axis motion. In G1 blocks, a switchover is made to CP path motion.
Activate point-to-point movement PTPWOC (only possible if orientation transformation
is active)
Just the same as PTP, however, without any compensatory motion, which is caused by
motion of rotary axes and orientation axes.
Deactivating point-to-point motion and activating path motion CP
Cartesian path motion is executed with CP.
Function Manual, 06/2019, A5E47435470B AA
Transformations