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PTP Movements

For PTP movements, the path in space depends on the kinematics and only the start and destination points are fixed. The movement is fully synchronous so that the acceleration, constant motion, and deceleration phase for all axes begins and ends at the same time.

PTP movements are always path-invariant and therefore the following characteristics apply:

  • The path is independent of the override.

  • The path is independent of all dynamics limits of the axes (limits for velocity, acceleration, deceleration, and jerk). The only exception is for determining the cutoff points in TMStartVelocity mode.

  • In TMCornerDistance mode, the path is independent of the blending type (BlendingHigh/Low/Previous/Next).

  • The path is not departed on halt or stop (MC_GroupHalt/MC_GroupStop).

  • The path is not departed on interrupt or continue (MC_GroupInterrupt/MC_GroupContinue).

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