Siemens SINUMERIK 840D sl Programming Manual page 322

Transformations
6.2 Three, four and five axis transformation (TRAORI)
Description
With
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
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.
322
, the movement executed by the tool depends on the machine kinematics. In the
ORIMKS
, the movement executed by the tool does not depend on the machine
ORIWKS
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
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