Cartesian Ptp Travel; Function; Activation - Siemens SINUMERIK 840D sl Programming Manual

Programming

4.4 Cartesian PTP travel

4.4 Cartesian PTP travel
4.4.1

Function

Using this function, you can approach a Cartesian position with synchronous axis motion.
When an axis passes through a singularity, the feed velocity can either be reduced or the axis
is overloaded. Using the "PTP travel" function, you can bypass these problems by approaching
a Cartesian position with synchronous axis motion. You also have the possibility of changing
the joint position.
References
General Information about Cartesian PTP travel is included in the "SINUMERIK 840D sl / 828D
Expansion Functions" manual, Chapter "Cartesian PTP travel".
4.4.2

Activation

You activate this function using the PTP programming command. You deactivate this function
using the CP command. Both commands are contained in G group 49.
● PTP command: The programmed Cartesian position is approached with a synchronized
axis motion (PTP = point to point).
● CP command: The programmed Cartesian point is approached with a path motion (CP =
continuous path) - default setting
● PTPG0 command: The programmed Cartesian PTP motion is automatically executed with
each G0 block. Afterwards, CP is activated again.
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SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB