M1: Kinematic transformation
6.6 Cartesian PTP travel
Extended Functions
404 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
6.6.4 Example of ambiguity in rotary axis position
The rotary axis position shown in the following diagram can be approached in the negative or
positive direction. The direction is programmed under address A1.
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Figure 6-20 Ambiguity in rotary axis position
6.6.5 PTP/CP switchover in JOG mode
In JOG mode, the transformation can be switched on and off via a channel-specific NC/PLC
interface signal. This control signal is only effective in JOG mode when the transformation is
active.
After returning to AUTO mode, the state which was last active before switchover is restored.
NC/PLC interface signals
● Request to switch the traversing type:
DB21, ... DBX29.4 (activate PTP travel)
● Feedback from the active traversing type:
DB21, ... DBX317.6 (PTP travel active)
Operating mode change
The "Cartesian PTP travel" function is only useful in the AUTO and MDI modes of operation.
The
CP setting is automatically activated if the operating mode is switched to JOG. If the
mode is then switched back to AUTO or MDI, the mode that was last active in either mode is
made active again.
REPOS
The setting for "Cartesian PTP travel" is not altered during re-positioning. If PTP was set in
the interruption block, then repositioning also takes place with
PTP. For an inclined axis
"TRAANG", only CP travel is active in
REPOS mode.
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