Siemens SINUMERIK 840DE sl Function Manual page 22

M1: Kinematics transformation
2.1 TRANSMIT face end transformation (option)
Rotation in pole
①
Travel into the pole
②
Travel out of the pole
Figure 2-2 Traversal of x axis into pole (a), rotation (b), exit from pole (c)
Selection of method
The method must be selected according to the capabilities of the machine and the
requirements of the part to be machined. The method is selected by machine data:
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1
MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2
The first MD applies to the first TRANSMIT transformation in the channel and the second MD
correspondingly to the second TRANSMIT transformation.
VALUE
0
1
2
Special features relating to pole traversal
The method of pole traversal along the linear axis may be applied in the AUTOMATIC and JOG
modes.
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Meaning
Pole crossing
The tool center point path (linear axis) must cross the pole on a continuous
path.
Rotation around the pole.
The tool center point path must be restricted to a positive traversing range
of the linear axis (in front of turning center).
Rotation around the pole.
The tool center point path must be restricted to a negative traversing range
of the linear axis. (behind turning center).
Function Manual, 06/2019, A5E47435470B AA
Transformations