Siemens SINUMERIK 840DE sl Function Manual page 21

recommended since these may require sharp feedrate reductions to prevent overloading of the
rotary axis.
New features
A pole is said to exist if the line described by the tool center point intersects the turning center
of the rotary axis.
The following cases are covered:
● Under what conditions and by what methods the pole can be traversed
● The response in pole vicinity
● The response with respect to working area limitations
● Monitoring of rotary axis rotations over 360°.
Pole crossing
The pole can be traversed by two methods:
● Traversal along linear axis
● Traversal into pole with rotation of rotary axis in pole
Traversal along linear axis
①
②
Figure 2-1
Transformations
Function Manual, 06/2019, A5E47435470B AA
Travel into the pole
Travel out of the pole
Traversal of x axis through pole
M1: Kinematics transformation
2.1 TRANSMIT face end transformation (option)
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