Siemens SINUMERIK 810D Programming Guide

7
08.97 Transformations
7.1 Three
,
four and five-axes transformation: TRAORI
7
840D
NCU 572
NCU 573
840Di

Siemens AG 2000. All rights reserved
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA)
−
04.00 Edition
7-233
7.1.5 Cartesian PTP travel (SW 5.2 and higher)
Programming
N.. TRAORI
N.. STAT=`B10` TU=`B100` PTP
N.. CP
Explanation of the commands
PTP
P
oint
t
o
P
oint
The movement is executed as a synchronized movement; the slowest axis
participating in the movement is the dominating axis for the velocity.
CP
c
ontinuous
p
ath (path movement)
The movement is executed as Cartesian path movement
STAT=
Position of articulations; value dependent on the transformation.
TU=
TURN information
This enables determinate approach of axis angles between
−
360 degrees and
+360 degrees.
Function
This function allows a position to be programmed in
a Cartesian coordinate system; the machine motion,
however, takes place in machine coordinates.
The function can be used, for example, when
changing the articulation position, if in doing so the
movement passes through a singularity.
Note:
The function is only meaningful in conjunction with
an active transformation. Further, "PTP travel" is
only permissible together with G0 and G1.
Sequence
The switchover between the Cartesian traversal and
traversal of the machine axes is carried out via the
modal commands PTP and CP. The commands are
modal. CP is set by default.

Siemens SINUMERIK 810D Specifications

General

Brand	Siemens
Model	SINUMERIK 810D
Category	Control Unit
Language	English