Commissioning; Response After Power On; Response After Reset/Part Program End; Consideration Of The Sw Limits During Ptp Travel - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.6 Cartesian PTP travel
2.6.2

Commissioning

2.6.2.1

Response after POWER ON

After Power On, traversing mode CP is automatically effective for axis traversal with
transformation.
The default can be switched over to Cartesian PTP travel via the following machine data:
MD20150 $MC_GCODE_RESET_VALUES[48] (initial setting of G group 49)
Value
1
2
3
4
2.6.2.2

Response after reset/part program end

Which command from G group 49 takes effect after a reset/part program end depends on the
setting in the machine data:
MD20152 $MC_GCODE_RESET_MODE[48] (reset behavior of G group 49)
Value
0
1
2.6.2.3

Consideration of the SW limits during PTP travel

Function
With Cartesian PTP travel, a rotary axis is normally traversed according to the strategy
"shortest path" if no position information has been programmed via the operation TU
(Page 108). To prevent a software limit switch being overtraveled when the target position is
behind the software limit switch, the user can use the "Consideration of the SW limits during
PTP travel" function. The rotary axis is then traversed with the strategy "long path" instead of
"shortest path" if overtravel of the software limit switch would happen, i.e. the opposite
traversing direction as with the "shortest path" strategy.
Requirement
The function can only be used when the relevant axis has been referenced.
100
Meaning
CP (default setting)
PTP
PTPG0
PTPWOC
Meaning
The default command in MD20150 $MC_GCODE_RESET_VALUES[48] becomes ef‐
fective (default setting).
The command that was active before the reset/part program end remains effective.
Function Manual, 06/2019, A5E47435470B AA
Transformations