Siemens SINUMERIK 840DE sl Function Manual page 99

The following table lists which version can be practically used for which transformation:
transformation
TRAORI
TRANSMIT
RCTRA
ROBX
NOTICE
Risk of collision
For PTP travel it must be observed that in part there are significantly different tool movements
than with CP!
This must especially be considered for PTPG0, because subprograms can be created with it
independently of the active transformation. With active front-end transformation (TRANSMIT),
however, entirely different collision risks may occur than with an orientation transformation
(TRAORI).
For PTP travel with active front-end transformation (TRANSMIT), machine axes basically
travel the shortest path. Minor displacements of the block end point can cause the rotary axis
to rotate by +179.99° instead of + -179.99°. This results in a completely different motion, even
though the block end point has hardly changed.
PTP/CP switchover in the NC program
The switchover between the Cartesian path movement (CP) and the Cartesian PTP travel in
the NC program is done via the commands of the G group 49 (see "Activating/deactivating
Cartesian PTP travel (PTP, PTPG0, PTPWOC, CP) (Page 103)").
PTP/CP switchover in JOG mode
You can also switch between the Cartesian path movement (CP) and the Cartesian PTP travel
in JOG mode.
Switchover is carried out using the NC/PLC interface signal:
DB21, ... DBX29.4 (activate PTP travel)
Note
DB21, ... DBX29.4 is only effective in JOG mode when the transformation is active.
The active type of motion is reported via the following NC/PLC interface signal:
DB21, ... DBX317.6 (PTP travel active)
Transformations
Function Manual, 06/2019, A5E47435470B AA
PTP PTPG0
+ +
+ +
+ +
+ +
M1: Kinematics transformation
2.6 Cartesian PTP travel
PTPWOC CP
+ +
- +
- +
- +
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