Nt_Pole_Tol - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
<n>:
<PoleTolAngle>:
Example
A pole angle of 2.54° is set for the first transformation:
Program code
N100 $NT_POLE_LIMIT[1] = 2.54
4.2.5.7

$NT_POLE_TOL

Function
The end angle tolerance for interpolation through the pole for the first 5/6-axis transformation
must be entered in the system variable.
The system variable is only evaluated by the generic 5/6-axis transformation.
If the programmed end orientation lies within the polar cone and within the tolerance cone
specified by this MD, the pole axis does not move and retains its start positions. In contrast, the
other rotary axis accepts the programmed angle.
As a result, there is a deviation of the end orientation from the programmed orientation.
Another meaning of this system variable is the handling of the programmed end orientation for
non-perpendicular kinematics. As a rule, not all of the tool orientations can be set for these
machine kinematics. If an orientation that lies outside of the settable range is programmed,
alarm 14112 "Programmed orientation path not possible" is displayed.
Syntax
$NT_POLE_TOL[<n>] = <PoleTolLim>
Meaning
$NT_POLE_TOL:
<n>:
310
System variable or transformation index
Data type: INT
Range of val‐ 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
ues:
Tolerance value
Data type: REAL
Comment
; 1st transformation,
; pole angle
End angle tolerance for pole interpolation
Data type: REAL
Default value: 0.0
Value range: 0.0 ≤ x ≤ 45.0
System variable or transformation index
Data type: INT
Value range: 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
Function Manual, 06/2019, A5E47435470B AA
Transformations