Singular Positions And How They Are Handled - Siemens sinumerik 840d Programming Manual

08.97
7
840D
NCU 572
NCU 573
Additional notes
ORIWCS is the default setting. If it is not clear from the
outset on which machine a five-axis program is to run,
ORIWCS should be selected. The movements that the
machine actually performs depends on the machine
kinematics.
With ORIMCS you can program actual machine
movements, e.g. in order to avoid collisions with
fixtures.
Which interpolation type is active is defined in machine
data $MC_ORI_IPO_WITH_G_CODE:
ORIMCS/ORIWCS or ORIMACHAX/ORIVIRTAX (see
Section 7.1.4).

7.1.3 Singular positions and how they are handled

Notes on ORIWCS:
Orientation movements in the vicinity of the singular
position of the five-axis machine call for large
movements of the machine axes. (For example, for
a rotation swivel head where C is the rotary axis and
A is the swivel axis, all positions where A = 0 are
singular).
To avoid overloading the machine, the velocity
control considerably reduces the tool path velocity in
the vicinity of the singular positions.
With machine data
$MC_TRAFO5_NON_POLE_LIMIT
$MC_TRAFO5_POLE_LIMIT
transformation can be parameterized in such a way
that orientation movements in the vicinity of the pole
run through the pole and thus speed up machining.
Notes on SW 5.2:
From SW 5.2 and higher, singular positions are
treated only with MD $MC_TRAFO5_POLE_LIMIT
(see Description of Functions, Part 3, Section 2.8.4).
 Siemens AG 2000. All rights reserved
SINUMERIK 840D/840Di/810D/FM-NC Programming Guide Advanced (PGA) − 04.00 Edition
7.1 Three, four and five-axes transformation: TRAORI
840Di
Transformations
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