M1: Kinematic transformation
6.7 Cartesian manual travel (optional)
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
411
Supplementary conditions
The "Cartesian manual travel" function can only be executed if the transformation is active in
the NC: DB21, ... DBX33.6 == 1 ("transformation active")
The following supplementary conditions must be observed:
● "Handling transformation package" option with 5-axis or 6-axis transformation is set
● Virtual orientation axes must be defined via the following machine data:
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n]
● DB21, ... DBX29.4 == 0 (activate PTP travel)
● MD21106 $MC_CART_JOG_SYSTEM > 0
Table 6- 2 Conditions for Cartesian manual travel
Transformation in
program active
(TRAORI..)
Prog. traversing type DB21, ... DBX29.4
"Activate PTP travel"
DB21, ... DBX33.6
"Transformation active"
FALSE Not active Not active 0
TRUE CP 0 1
TRUE CP 1 0
TRUE PTP 0 1
TRUE PTP 1 0
The G code PTP/CP currently active in the program does not affect Cartesian manual travel.
The NC/PLC interface signals are interpreted in the channel DB for geometry and orientation
axes.
Activation
The reference system for Cartesian manual travel is set as follows:
● The Cartesian manual travel function is activated with the following machine data:
MD21106 $MC_CART_JOG_SYSTEM > 0
The BCS, WCS or TCS reference systems are enabled via MD 21106
$MC_CART_JOG_SYSTEM.
● JOG traverse motion via SD42650 SC_CART_JOG_MODE
Standard behavior as before: Bits 0 to 2 = 0, bits 8 to 10 = 0.
Reference system for translation via bits 0-2 and the reference system for orientation via
bits 8-10.
If not all of the bits are set to 0, the process uses the new function. The reference
systems for translation and orientation may be set independently.
SD42650 $SC_CART_JOG_MODE (only set one bit):
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