Example 2: Ptp Travel For Generic 5-Axis Transformation - Siemens SINUMERIK 840D sl Programming Manual

Work preparation
3.9 Transformations
N12 G54
N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223
C=161.1435 STAT='B010' TU='B001011'
N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439
C=160.9941 STAT='B010' TU='B001011'
N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770
F1000
N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643
F2000
N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655
;HOME
N18 TRAFOOF
N19 G0 RA1=0.0000 RA2=-90.0000 RA3=90.0000 A=0.0000 B=90.0000 C=0.0000
N20 M30
3.9.11.5

Example 2: PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.
Program code
TRAORI
PTP
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:
In block N40, the rotary axes – as a result of the programming of STAT=1 – travel the longer
distance from their start point (C=90, A=90) to the end point (C=270, A=–45). On the other
hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90,
A=45).
716
Comment
;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
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
NC programming