Transformations
6.9 Cartesian PTP travel
Job planning
378 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Significance
The PTP and CP commands act in a modal manner. CP is the default setting.
If modal applies when programming the STAT value, TU programming is = <...> non-modal.
Another difference is that programming a STAT value only has an effect during vector
interpolation, while programming TU is also evaluated during active rotary axis interpolation.
PTP
Point To Point (point to point motion)
The movement is executed as a synchronized axis movement; the slowest axis
involved in the movement is the dominating axis for the velocity.
CP
Continuous Path (path motion)
The movement is executed as Cartesian path motion.
STAT=
Position of the articulated joints; this value is dependent on the transformation.
TU=
TURN information acts blockwise. This makes it possible to clearly approach axis
angles between -360 degrees and +360 degrees.
Example
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=
(OERZGRZQ
(OERZXS
N10 G0 X0 Y-30 Z60 A-30 F10000
Initial setting
→ Elbow up
N20 TRAORI(1)
Transformation on
N30 X1000 Y0 Z400 A0
N40 X1000 Z500 A0 STAT='B10'
TU='B100' PTP
Re-orientation without transformation
→ Elbow down
N50 X1200 Z400 CP
Transformation active again
N60 X1000 Z500 A20
N70 M30
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