Example 2: Ptp Travel For Generic 5-Axis Transformation; Example 3: Ptpg0 And Transmit - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.6 Cartesian PTP travel
2.6.3.6

Example 2: PTP travel for generic 5-axis transformation

Assumption: Right-angled CA kinematics used as basis.
Program code
TRAORI
PTP
N10 A3=0 B3=0 C3=1
N20 A3=1 B3=0 C3=1
N30 A3=1 B3=0 C3=0
N40 A3=1 B3=0 C3=1 STAT=1
Select clear approach position of rotary axis position:
In block N40, the rotary axes – as a result of the programming of STAT=1 – travel the longer
distance from their start point (C=90, A=90) to the end point (C=270, A=–45). On the other
hand, with STAT=0, the rotary axes would travel along the shortest path to the end point (C=90,
A=45).
2.6.3.7

Example 3: PTPG0 and TRANSMIT

Traversing around the pole with PTPG0 and TRANSMIT
Program code
N001 G0 X30 Z0 F10000 T1 D1 G90
N002 SPOS=0
N003 TRANSMIT
N010 PTPG0
N020 G0 X30 Y20
N030 X-30 Y-20
112
PTP
CP
Comment
;Transformation CA kinematics ON
; Activate PTP traversal
; rotary axis positions C=0 A=0
; rotary axis positions C=90 A=45
; rotary axis positions C=90 A=90
; rotary axis positions C=270 A=–45
Comment
;Initial setting absolute dimension
;TRANSMIT transformation
; for each G0 block, automatically PTP –
and then CP again.
Function Manual, 06/2019, A5E47435470B AA
Transformations