Cartesian Ptp Travel - Siemens SINUMERIK 840D sl Programming Manual

Transformations

6.9 Cartesian PTP travel

6.9 Cartesian PTP travel
Function
This function can be used to program a position in a cartesian coordinate system, however,
the movement of the machine occurs in the machine coordinates. The function can be used,
for example, when changing the position of the articulated joint, if the movement runs
through a singularity.
Note
The function can only be used meaningfully in conjunction with an active transformation.
Furthermore, "PTP travel" is only permissible in conjunction with G0 and G1.
Syntax
N... TRAORI
N... STAT='B10' TU='B100' PTP
N... CP
PTP transversal with generic 5/6-axis transformation
If point-to-point travel is activated in the machine coordinate system
active generic 5/6-axis transformation with PTP, tool orientation can be programmed with
rotary axis positions, with Euler and/or RPY angle vectors independent of the kinematics or
the direction vectors.
● Rotary axis positions:
● Euler angles in ZY'X" convention (RPY angle) or ZX'Z'' convention:
● Direction vectors:
Both rotary axis interpolation, vector interpolation with large circle interpolation
interpolation of the orientation vector on a peripheral surface of a taper
active.
Non-uniqueness of orientation with vectors
When programming the orientation with vectors, there is non-uniqueness in the rotary axis
positions available. The rotary axis positions to be approached can be selected by
programming
If
STAT = 0
the positions which are at the shortest distance from the start positions are approached. If
STAT = 1
the positions which are at a greater distance from the start positions are approached.
362
N... G1 X Y Z A B C
or
N... ORIRPY N... ORIEULER
N... G1 X Y Z A2 B2 C2
N... G1 X Y Z A3 B3 C3
STAT = <...>
is programmed (this is equivalent to the default setting),
is programmed,
. If
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
during an
(ORIMKS)
or
ORIVECT
may be
ORICONxx
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