Siemens SINUMERIK 840DE sl Function Manual page 23

Behavior:
Table 2-1
Mode
AUTOMATIC
JOG
Special features relating to rotation in pole
Precondition: This method is only effective in the AUTOMATIC mode.
MD24911 $MC_TRANSMIT_POLE_SIDE_FIX_1 = 1 or 2
MD24951 $MC_TRANSMIT_POLE_SIDE_FIX_2 = 1 or 2
Value: 1 Linear axis remains within positive traversing range
Value: 2 Linear axis remains within negative traversing range
In the case of a contour that would require the pole to be traversed along the tool center point
path, the following three steps are taken to prevent the linear axis from traversing in ranges
beyond the turning center:
Step
1
2
3
In JOG mode, the motion stops in the pole. In this mode, the axis may exit from the pole only
along the path tangent on which it approached the pole. All other motion instructions would
require a step change in the rotary axis position or a large machine motion in the cases of
minimum motion instructions. They are rejected with alarm 21619.
Traversal close to pole
If a tool center point traverses past the pole, the control system automatically reduces the
feedrate and path acceleration rate such that the settings of the machine axes (MD32000
$MA_MAX_AX_VELO[AX*] and MD32300 $MA_ MAX_AX_ACCEL[AX*]) are not exceeded.
The closer the path is to the pole, the greater the reduction in the feedrate.
Transformations
Function Manual, 06/2019, A5E47435470B AA
Traversal of pole along the linear axis
Status
All axes involved in the transforma‐
tion are moved synchronously.
TRANSMIT active.
Not all of the axes participating in
the transformation are moved syn‐
chronously (e.g. positioning axis).
TRANSMIT not active
An applied DRF (external zero off‐
set) does not interfere with the op‐
eration. Servo errors may occur
close to the pole during application
of a DRF.
-
Action
Linear axis traverses into pole
Rotary axis turns through 180°, the other axes involved in the transformation
remain stationary.
Execution of remaining block. The linear axis now exits from the pole again.
M1: Kinematics transformation
2.1 TRANSMIT face end transformation (option)
Response
High-speed pole traversal
Traversal of pole at creep speed
Abortion of processing, alarm
Traversal of pole at creep speed
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