Siemens Sinumerik 840D sl Programming Manual page 395

Example of the retraction from the pole with PTP and TRANSMIT
-30
Figure 6-9
Programming
N001 G0 X90 Z0 F10000 T1 D1 G90
N002 SPOS=0
N003 TRANSMIT
N010 PTPG0
N020 G0 X90 Y60
N030 X-90 Y-60
N040 X-30 Y-20
N050 X10 Y0
N060 X0 Y0
N070 X-20 Y2
N170 G1 X0 Y0
N160 X10 Y0
N150 X-30 Y-20
M30
Job planning
Programming Manual, 02/2011, 6FC5398-2BP40-1BA0
PTP
30
CP
N070 X20 Y2 20
10
N060 X0 Y0
-20 -10
10
-10
-20
-30 N050 X10 Y0
20 30
Comments
; Initial setting
; Transformation TRANSMIT
; For each G0 block, automatically
PTP followed by CP
Transformations
6.9 Cartesian PTP travel
395