M1: Kinematic transformation
6.6 Cartesian PTP travel
Extended Functions
398 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
6.6 Cartesian PTP travel
Function
This function can be used to approach a Cartesian position with a synchronized axis
movement.
It is particularly useful in cases where, for example, the position of the joint is changed,
causing the axis to move through a singularity.
When an axis passes through a singularity, the feed velocity would normally be reduced or
the axis itself overloaded.
Note
MD24100 $MC_TRAFO_TYPE_1 must be set to the transformation type described in TE4.
The function can only be used meaningfully in conjunction with an active transformation.
Furthermore, the "Cartesian PTP travel" function may only be used in conjunction with the
G0 and G1 commands. Alarm 14144 "PTP travel not possible" is otherwise output.
When PTP is active, axes in the transformation, e.g. which are traversed using POS, cannot
be simultaneously positioning axes. Alarm 17610 is activated to prevent this error.
Activation
The function is activated when the PTP command is programmed.
The function can be deactivated again with the CP command. Both these commands are
contained in G group 49.
● PTP command: The programmed Cartesian position is approached with a synchronized
axis motion (PTP=point-to-point)
● CP command: The programmed Cartesian point is approached with a path movement
(default setting), (CP=continuous path)
● PTPG0 command: The programmed Cartesian PTP motion is performed automatically
with each G0 block. The CP command is then set again.
Power On
After Power on traversing mode CP is automatically set for axis traversal with transformation.
MD20152 $MC_GCODE_RESET_VALUES[48] can be used to switch the default setting to
cartesian PTP travel.
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