Siemens SINUMERIK Series Function Manual page 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:
● DB21, ... DBX29.4 == 0 (activate PTP travel)
● MD21106 $MC_CART_JOG_SYSTEM > 0
Table 6- 2
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:
● JOG traverse motion via SD42650 SC_CART_JOG_MODE
SD42650 $SC_CART_JOG_MODE (only set one bit):
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
MD24585 $MC_TRAFO5_ORIAX_ASSIGN_TAB_1[n]
Conditions for Cartesian manual travel
Transformation in Prog. traversing type
program active
(TRAORI..)
FALSE
TRUE
TRUE
TRUE
TRUE
MD21106 $MC_CART_JOG_SYSTEM > 0
The BCS, WCS or TCS reference systems are enabled via MD 21106
$MC_CART_JOG_SYSTEM.
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.
DB21, ... DBX29.4
"Activate PTP travel"
Not active
CP
CP
PTP
PTP
M1: Kinematic transformation
6.7 Cartesian manual travel (optional)
DB21, ... DBX33.6
"Transformation active"
Not active
0
1
0
1
0
1
0
1
0
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