Siemens SINUMERIK 840D sl Programming Manual page 430

Transformations
6.9 Cartesian PTP travel
Example
N10 G0 X0 Y-30 Z60 A-30 F10000
N20 TRAORI(1)
N30 X1000 Y0 Z400 A0
N40 X1000 Z500 A0 STAT='B10'
TU='B100' PTP
N50 X1200 Z400 CP
N60 X1000 Z500 A20
N70 M30
430
Initial setting
→ Elbow up
Transformation on
Re-orientation without transformation
→ Elbow down
Transformation active again
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
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