Siemens SINUMERIK 840D sl Programming Manual page 675

Further information
With ORIMKS, the movement executed by the tool depends on the machine kinematics. In the
case of a change in orientation of a tool tip at a fixed point in space, linear interpolation takes
place between the rotary axis positions.
With ORIWKS, the movement executed by the tool does not depend on the machine kinematics.
With an orientation change with a fixed tool tip, the tool moves in the plane set up by the start
and end vectors.
Singular positions
Note
ORIWKS
Orientation movements in the singular setting area of the 5-axis machine require vast
movements of the machine axes. (For example, with a rotary swivel head with C as the rotary
axis and A as the swivel axis, all positions with A = 0 are singular.)
Machine manufacturer
To avoid overloading the machine axes, the velocity control vastly reduces the tool path velocity
near the singular positions.
With machine data
$MC_TRAFO5_NON_POLE_LIMIT
$MC_TRAFO5_POLE_LIMIT
the transformation can be parameterized in such a way that orientation movements close to the
pole are put through the pole and rapid machining is possible.
Singular positions are handled only with the MD $MC_TRAFO5_POLE_LIMIT.
Further information: Function Manual Transformations
NC programming
Programming Manual, 12/2019, 6FC5398-2EP40-0BA0
Vector at
block start
Plane that both
vectors covers
Vector at block end
Work preparation
3.9 Transformations
675