M1: Kinematic transformation
6.6 Cartesian PTP travel
Extended Functions
400 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
● With PTPG0, CP travel is used for smooth approach and retraction (SAR).
SAR requires a contour in order to construct approach and retraction motion and to be
able to lower and raise tangentially. The blocks required for this purpose are therefore
traversed with the CP command. The G0 blocks up to the actual approach contour are
executed with PTP and therefore quickly. The same applies to the retract blocks.
● PTP does not permit cutting cycles like
CONTPRON, CONTDCON
Stock removal cycles require a contour to construct the cut segmentation. This
information is not available with PTP. Alarm 10931 "Error in cut compensation" is
generated in response.
● When PTPG0 is selected, the CP command is applied in cutting cycles such as
CONTPRON,
CONTDCON. Stock removal cycles require a contour to construct the cut segmentation. The
blocks required for this purpose are traversed with the CP command.
● Chamfer and rounding are ignored.
● An axis override in the interpolation must not change during the PTP contour section.
This applies, for example, to
LIFTFAST, fine tool offset, coupled motion TRAILON and
tangential follow-up
TANGON.
In PTP blocks
● compressor is automatically deselected because it is not compatible with PTP.
● G643 is automatically switched over to G642.
● Transformation axes must not be configured simultaneously as positioning axes.
Special features
Please take account of the following basic rules with respect to the basic coordinate system:
● Smoothing G642 is always interpreted in the machine coordinate system and not (as
usual) in the cartesian basic coordinate system.
● G641 determines the smoothing action as a function of the fictitious path calculated from
the machine axis coordinates.
● An F value input with G1 refers to the fictitious path calculated from the machine axis
coordinates.
Block search
TRANSMIT during block search can result in different machine axis positions for the same
Cartesian position, if a program section is executed with block search.
Alarms
An illegal action, which may result in a conflict, is rejected with the following alarms:
Alarm 14144: If TRC is selected or activated in PTP. Likewise in PTP with soft approach and
retraction (SAR) or PTP without the required G0 and G1 blocks.
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