Siemens SINUMERIK 840D sl Programming Manual page 308

Transformations
7.9 Cartesian PTP travel
Example PTP transversal at generic 5-axis transformation
Assumption: This is based on a right-angled CA kinematics.
TRAORI
PTP
N10 A3 = 0 B3 = 0 C3 = 1
N20 A3 = 1 B3 = 0 C3 = 1
N30 A3 = 1 B3 = 0 C3 = 0
N40 A3 = 1 B3 = 0 C3 = 1 STAT = 1
Select clear approach position of round axis position:
In block N40, by programming STAT = 1, the round axes then travel the long route from
their starting point (C=90, A=90) to the end point (C=270, A=–45), rather than the case would
be if STAT = 0 where they would travel the shortest route to the end point (C=90, A=45).
Description
The commands PTP and CP effect the changeover between Cartesian traversal and
traversing the machine axes.
PTP transversal with generic 5/6-axis transformation
During PTP transversal, unlike 5/6–axis transformation, the TCP generally does not remain
stationary if only the orientation changes. The transformed end positions of all transformation
axes (3 linear axes and up to 3 round axes) are approached in linear fashion without the
transformation still actually being active.
The PTP transversal is deactivated by programming the modal G code CP.
The various transformations are included in the document:
/FB3/ Function Manual Special Functions; Handling Transformation Package (TE4).
Programming the position (STAT=)
A machine position is not uniquely determined just by positional data with Cartesian
coordinates and the orientation of the tool. Depending on the kinematics involved, there can
be as many as eight different and crucial articulated joint positions. These are specific to the
transformation. To be able to uniquely convert a Cartesian position into the axis angle, the
position of the articulated joints must be specified with the command STAT=. The "STAT"
command contains a bit for each of the possible positions as a binary value.
For information about the setting bits to be programmed for "STAT", see:
/FB2/ Description of Functions Extended Functions; Kinematic Transformation (M1),
"Cartesian PTP travel" section.
Programming the axis angle (TU=)
To be able to clearly approach axis angles < ± 360 degrees, this information must be
programmed using the command "TU=".
The axes traverse by the shortest path:
• when no TU is programmed for a position,
• with axes that have a traversing range > ±360 degrees.
7-70
;Transformation CA kinematics ON
;Activate PTP traversal
;Round axis positions C = 0 A = 0
;Round axis positions C = 90 A = 45
;Round axis positions C = 90 A = 90
;Round axis positions C = 270 A = -45
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
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