Cartesian Point-to-Point travel PTP

Cartesian Point-to-Point travel PTP

Function

For handling and robot-related tasks, 2 types of movement are required: either in the Cartesian coordinate system Continuous Path CP, or as a Point-to-Point PTP motion.

With PTP, the shortest way to reach the end point is with activated TRAORI transformation. PTP generates a linear interpolation in the axis space of the machine axis.

By smoothing from PTP to CP movement, it is possible to switch from fast infeed to a mounting or positioning movement with optimum timing. PTP travel does not result in an axis overload when traveling through a singularity, such as the changing of an arm position during handling.

PTP travel is also possible in JOG control mode and does not require Cartesian positions (e.g., from CAD systems) to be converted into machine axis values.

Cartesian PTP travel is also used for cylindrical grinding machines with an inclined axis: With active transformation, the infeed axis can be moved either according to Cartesian coordinates or at the angle of the inclined axis.

Benefits

• Support for handling and robot tasks, as well as for cylindrical grinding machines with inclined axis