Siemens SINUMERIK 840DE sl Function Manual page 158

F2: Multi-axis transformations
3.2 5-axis transformation
Alarm 10910 "Irregular velocity run in a path axis" is then triggered. The programmed velocity
is then reduced to a value, which does not exceed the maximum axis velocity.
Behavior at pole
Unwanted behavior of fast compensating movements can be controlled by making an
appropriate selection of the following machine data (see following Figure):
● MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1 (definition of pole area for 5-axis
transformation 1)
● MD24630 $MC_ TRAFO5_NON_POLE_LIMIT_2 (definition of pole area for 5-axis
transformation 2)
● MD24540 $MC_TRAFO5_POLE_LIMIT_1 (closing angle tolerance for interpolation by pole
for 5-axis transformation)
● MD24640 $MC_TRAFO5_POLE_LIMIT_2 (closing angle tolerance for interpolation by pole
for 5-axis transformation)
Note
Singularities are dealt with differently in SW 5.2 and higher: Only one relevant machine data
item exists, $MC_TRAFO5_POLE_LIMIT (see Section "Singularities of orientation
(Page 189)" or "Programming Manual, Production Planning).
Definition of the pole range for 5-axis transformation
This machine data identifies a limit angle of the 5th axis of the first MD24530
$MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24630
$MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties:
If the path runs past the pole at an angle lower than the value set here, it crosses through the
pole.
With the 5-axis transformation, a coordinate system consisting of circles of longitude and
latitude is spanned over a spherical surface by the two orientation axes of the tool.
If, as a result of orientation programming (i.e. the orientation vector is positioned on one plane),
the path passes so close to the pole that the angle is less than the value defined in this machine
data, then a deviation from the specified interpolation is made so that the interpolation passes
through the pole.
End angle tolerance for interpolation by pole for 5-axis transformation
This machine data identifies a limit angle for the 5th axis of the first MD24540
$MC_TRAFO5_NON_POLE_LIMIT_1 or the second MD24640
$MC_TRAFO5_NON_POLE_LIMIT_2 5-axis transformation with the following properties:
With interpolation through the pole point, only the fifth axis moves; the fourth axis remains in its
start position. If a movement is programmed which does not pass exactly through the pole
point, but is to pass within the tolerance defined by the following machine data in the vicinity of
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Function Manual, 06/2019, A5E47435470B AA
Transformations