Example Of Ambiguity In Rotary Axis Position; Ptp/Cp Switchover In Jog Mode - Siemens SINUMERIK 840D sl Function Manual

7.6.4

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.
Figure 7-27
7.6.5

PTP/CP switchover in JOG mode

In JOG mode, the transformation can be switched on and off via a PLC control signal. This
control signal is active only in JOG mode and when a transformation has been activated via
the program.
If the mode is switched back to AUTO, the state which was last active before switchover is
made active again.
The "point-to-point traversal active" signal DBX317.6 shows which traversal type is active.
By means of the "Activate point-to-point traversal" signal DBX29.4 the traversal type can be
modified.
Mode change
The "Cartesian PTP travel" function is only useful in the AUTO and MDA 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 MDA, 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 takes place in PTP. For an inclined axis "TRAANG",
only CP travel is active in REPOS mode.
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Ambiguity in rotary axis position
M1: Kinematic transformation
7.6 Cartesian PTP travel
567