Examples; Program Example - Programming Commands - Siemens SINUMERIK 840D sl Programming Manual

Examples

6.1

Program example - programming commands

The following part program illustrates the commands explained in Chapter Programming
(Page 31) as example:
N1 G90 ; activation of an absolute position
N2 T="T8MILLD20" D1 M6 ; activation of a tool
N3 TRAORI ; activation of ROBX transformation for Cartesian traversing
;$P_UIFR[1]=CTRANS(X,1500,Y,0,Z,400):CROT(X,0,Y,0,Z,-90); actual value of the work offset
G54
N4 G54 ; activation of the work offset
N5 M3 S20000 ; programming the main spindle
N6 ORIWKS ; activation of the orientation reference WCS
N7 ORIVIRT1 ; activation of the turning sequence from $MC_ORIAX_TURN_TAB_1[0-2]
N8 CYCLE832(0.01,_FINISH,1) ; activation of high-speed settings
;HOME ; defines the start position
N9 TRAFOOF ; deactivates the transformation
; traverse robot axes/channel axes with rapid traverse
N10 G0 RA1=0.0000 RA2=-90.0000 RA3=110.0000 RA4=0.0000 RA5=-20.0000 RA6=0.0000
N11 TRAORI
N12 G54
; traverse PTP block with explicit STAT/TU data. STAT and TU are only taken into account
when PTP travel is active.
N13 G0 PTP X1369.2426 Y956.7528 Z502.5517 A=135.5761 B=-33.2223 C=161.1435 STAT='B010'
TU='B001011'
N14 G0 X1355.1242 Y1014.9394 Z424.9695 A=135.8491 B=-33.1439 C=160.9941 STAT='B010'
TU='B001011'
; traverse CP block (linear motion)
N15 G1 CP X1354.8361 Y1016.1269 Z423.3862 A=136.0635 B=-33.0819 C=160.8770 F1000
N16 G1 X1336.4283 Y1016.1269 Z426.6311 A=136.0484 B=-32.2151 C=160.9643 F2000
N17 G1 X1317.9831 Y1016.1269 Z429.6730 A=136.0175 B=-31.3394 C=161.0655
;HOME
N18 TRAFOOF
N19 G0 RA1=0.0000 RA2=-90.0000 RA3=110.0000 RA4=0.0000 RA5=-20.0000 RA6=0.0000
N20 M30; end of program
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
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