Example 1: Ptp And Traori - Siemens SINUMERIK 840D sl Function Manual

Extended functions

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Table of Contents

M1: Kinematic transformation

7.6 Cartesian PTP travel

Example 1: PTP and TRAORI

A sequence from a program example for the following kinematics is listed below:

Program code

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

PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.

Program code

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:

Elbow up or down

; Initial position → elbow up

; Transformation ON

; Re-orientation without transforma-

; → elbow down

; Transformation active again

;Transformation CA kinematics ON

; Activate PTP traversal

; 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

Function Manual, 10/2015, 6FC5397-1BP40-5BA3

Extended Functions

Sinumerik 828d