Siemens SINUMERIK 840D sl Function Manual page 52

F2: Multi-axis transformations
2.2 5-axis transformation
of the pole, a deviation is made from the specified path because the interpolation runs exactly
through the pole point.
● MD24530 $MC_TRAFO5_NON_POLE_LIMIT_1
● MD24630 $MC_TRAFO5_NON_POLE_LIMIT_2
As a result, the position at the end point of the fourth axis (pole axis) deviates from the
programmed value.
This machine data specifies the angle by which the pole axis may deviate from the programmed
value with a 5-axis transformation if a switchover is made from the programmed interpolation
to interpolation through the pole point. In the case of a greater deviation, an error message is
output and the interpolation is not executed.
Figure 2-13
Behavior during large circle interpolation at pole position
The following machine data can be used to set the response for large circle interpolation in
pole position as follows:
MD21108 $MC_POLE_ORI_MODE
52
5-axis transformation; orientation path in pole vicinity. Example for machine type 1: 2-axis
swivel head with rotary axis RA 1 (4th axis of transformation) and rotary axis RA 2 (5th
axis of transformation)
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions