Kinematic Transformation (M1)Cartesian PTP travelExtended FunctionsFunction Manual, 03/2009, 6FC5397-1BP10-4BA0 569ResetMD20152 $MC_GCODE_RESET_MODE[48] (group 49) defines which setting is active afterRESET/end of part program.● MD=0: Settings are effected in accordance with machine dataMD20150 $MC_GCODE_RESET_VALUES[48]● MD=1: Active setting remains validSelectionThe setting MD20152 $MC_GCODE_RESET_MODE[48] =0, with MD20150$MC_GCODE_RESET_VALUES[48] can activate the following:● MD=2:Cartesian PTP travel as previously or● MD=3:PTPG0, traverse only G0 blocks with PTP automatically and then switch over to CP againConstraintsThe following should be noted with respect to tool movement and collision:● As the PTP command can produce significantly different tool movements to the CPcommand, any pre-existing subroutines which have been written independently of theactive transformation must be adapted to take account of the risks of collision whenTRANSMIT is active. This applies particularly in the case of command PTPG0.● Machine axes always traverse the shortest possible path in response to TRANSMIT andPTP. Minor displacements in the block end point can cause the rotary axis to rotate by -179.99° instead of + 179.99°, even though the block end point has hardly changed.The following combinations with other NC functions are not legal:● No tool radius compensation (TRC) may be active with PTP.G0 and G41 do not exclude each other in principle. However, an active PTP generatesdifferent contours to those computed for the TRC, resulting in the activation of a TRCalarm.● With PTPG0 , for active tool radius compensation (TRC), traverse is by CP.Since G0 and G41 do not exclude each other, switch-over to CP is done automaticallywhen tool radius compensation is active. The radius compensation therefore works onthe basis of clearly defined contours.● PTP does not permit smooth approach and retraction (SAR).SAR requires a contour in order to construct approach and retraction motion. Thisinformation is not available with PTP.