6.8.2
6.8.3
Inclined axis (TRAANG) .......................................................................................................... 383
6.8.4
6.9
Cartesian PTP travel ............................................................................................................... 388
6.9.1
PTP for TRANSMIT ................................................................................................................. 393
6.10
6.11
6.12
7
Tool offsets .............................................................................................................................................401
7.1
Offset memory ......................................................................................................................... 401
7.2
Additive offsets ........................................................................................................................ 404
7.2.1
7.2.2
7.2.3
7.3
7.3.1
Mirroring of tool lengths ........................................................................................................... 410
7.3.2
Wear sign evaluation ............................................................................................................... 411
7.3.3
TOWBCS, TOWTCS, TOWKCS) ............................................................................................ 412
7.3.4
7.4
7.5
7.5.1
7.5.2
7.5.3
7.5.4
7.5.5
7.5.6
7.5.7
7.6
7.7
7.7.1
7.7.2
7.7.3
7.7.4
(GETACTTD) ........................................................................................................................... 443
7.7.5
7.8
Tool holder kinematics............................................................................................................. 445
7.9
TCOFRY, TCOFRZ) ................................................................................................................ 451
7.10
7.11
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
Table of contents
11