Siemens SINUMERIK 840D sl Function Manual page 522

Kinematic Transformation (M1)
TRANSMIT
New features
Definition:
A pole is said to exist if the line described by the tool center point intersects the turning
center of the rotary axis.
The following cases are covered:
● Under what conditions and by what methods the pole can be traversed
● The response in pole vicinity
● The response with respect to working area limitations
● Monitoring of rotary axis rotations over 360°.
Pole traversal
The pole can be traversed by two methods:
● Traversal along linear axis
● Traversal into pole with rotation of rotary axis in pole
Traversal along linear axis
Figure 7-5
522
Traversal of x axis through pole
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions