Siemens SINUMERIK 840D sl Function Manual page 392

M1: Kinematic transformation
7.1 TRANSMIT face end transformation (option)
Tool center point path with corner in pole
A tool center point path which includes a corner in the pole will not only cause a step change
in axis velocities, but also a step change in the rotary axis position. These cannot be reduced
by decelerating.
Figure 7-3
Requirements:
AUTOMATIC mode,
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 0
or
MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 0
The control system inserts a traversing block at the step change point. This block generates
the smallest possible rotation to allow machining of the contour to continue.
392
Pole traversal
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions