M1: Kinematic transformation
6.6 Cartesian PTP travel
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
399
Reset
MD20152 $MC_GCODE_RESET_MODE[48] (group 49) defines which setting is active after
RESET/end of part program.
● MD=0: Settings are effected in accordance with machine data
MD20150 $MC_GCODE_RESET_VALUES[48]
● MD=1: Active setting remains valid
Selection
The setting MD20152 $MC_GCODE_RESET_MODE[48] =0, with MD20150
$MC_GCODE_RESET_VALUES[48] can activate the following:
● MD=2:
Cartesian PTP travel as previously or
● MD=3:
PTPG0, traverse only G0 blocks with PTP automatically and then switch over to CP again
Supplementary conditions
The following should be noted with respect to tool movement and collision:
● As the PTP command can produce significantly different tool movements to the CP
command, any pre-existing subprograms which have been written independently of the
active transformation must be adapted to take account of the risks of collision when
TRANSMIT is active. This applies particularly in the case of command PTPG0.
● Machine axes always traverse the shortest possible path in response to TRANSMIT and
PTP. Minor displacements in the block end point can cause the rotary axis to rotate by -
179.99° instead of + 179.99°, even though the block end point has hardly changed.
The following combinations with other NC functions are not legal:
● No tool radius compensation (TRC) may be active with PTP.
G0 and G41 do not exclude each other in principle. However, an active PTP generates
different contours to those computed for the TRC, resulting in the activation of a TRC
alarm.
● With PTPG0 , for active tool radius compensation (TRC), traverse is by CP.
Since G0 and G41 do not exclude each other, switch-over to CP is done automatically
when tool radius compensation is active. The radius compensation therefore works on
the basis of clearly defined contours.
● PTP does not permit smooth approach and retraction (SAR).
SAR requires a contour in order to construct approach and retraction motion. This
information is not available with PTP.
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