Siemens sinumerik 840D sl Function Manual page 703

Boundary conditions
3.2 Functional restrictions
Programming of orientation
The programming possibilities of the orientation depend on the number of axes available on
the machine:
Number < 5:
• Orientation axis angle
Number = 5:
• Orientation axis angle
• Orientation vector
Singularities
A pole cannot be crossed when a transformation is active. Singular positions can cause axis
overloads. The feedrate is not automatically adjusted. The user must reduce the feedrate
appropriately at the relevant points.
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Special functions: Handling Transformation Package (TE4)
Function Manual, 11/2006, 6FC5397-2BP10-2BA0