Siemens sinumerik 840D sl Function Manual

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Contents

Detailed description2.7 Call and application of the transformationSpecial functions: Handling Transformation Package (TE4)56 Function Manual, 11/2006, 6FC5397-2BP10-2BA0Singular positions• A singular position is, for example, characterized by the fact that the fifth axis ispositioned at 0°. In this case, the singular position does not depend on a specifiedorientation. The fourth axis is not specified in this position, i.e., the fourth axis does nothave any influence on the position or the orientation.• A singular position also applies for articulated arm and SCARA kinematics if the third axisis at 0° or 180°. These positions are called leveling/diffraction singularity.• Another singular position exists for articulated arm kinematics if the hand point is abovethe rotary axis of axis 1. This position is called overhead singularity.Extreme velocity increaseIf the path runs in close vicinity to a pole (singularity), one or several axes may traverse at avery high velocity. Alarm 10910 "Irregular velocity run in a path axis" is then triggered.Behavior at poleThe unwanted behavior of fast compensating movements can be improved by reducing thevelocity in the proximity of a pole. Traveling through the pole with active transformation isusually not possible.2.7 Call and application of the transformationPowering-upThe transformation is activated by means of the TRAORI(1) command.Once the TRAORI(1) command has been executed and the transformation thus activated,the interface signal switches to "1":DB21, … DBX33.6 (transformation active)If the machine data have not been defined for an activated transformation grouping, the NCprogram stops and the control displays the alarm 14100 "Orientation transformation does notexist".For more information, go to:References:/PGA/ Programming Guide Advanced,"5-axis machining"