Siemens SINUMERIK 840D sl Function Manual page 519

Rotary axis
The rotary axis cannot be programmed because it is occupied by a geometry axis and
cannot thus be programmed directly as a channel axis.
Extensions
An offset in the rotary axis CM can be entered, for example, by compensating the inclined
position of a workpiece in a frame within the frame chain. The x and y values are then as
illustrated in the following diagram.
Figure 7-4
This offset can also be included in the transformation as an offset in the rotary axis. To
ensure that the total axial frame of the transmit rotary axis, i.e. the translation, fine offset,
mirroring and scaling, is included in the transformation, the following settings must be made:
MD24905 $MC_TRANSMIT_ROT_AX_FRAME_1 = 1
MD24955 $MC_TRANSMIT_ROT_AX_FRAME_2 = 1
Note
Changes in the axis assignments are converted every time the transformation is selected or
deselected. For further information about axial offsets for rotary axes to the SZS, see:
References:
/FB1/ Function Manual Basic Functions; "Co-ordinate Systems, Frames" (K2).
Pole
Movements through the pole (origin of Cartesian coordinate system) are disabled, i.e. a
movement which traverses the pole is stopped in the pole followed by the output of an alarm.
In the case of a cutter center offset, the movement is terminated accordingly at the end of
the non-approachable area.
Options for pole transition and machining in pole vicinity are described in the section
"Machining Options of TRANSMIT".
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Rotary axis offset with TRANSMIT
Kinematic Transformation (M1)
TRANSMIT
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