M1: Kinematic transformation
6.2 TRANSMIT face end transformation (option)
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
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6.2.4 Applications
Introduction
The transformation TRANSMIT has a pole at the zero point of the TRANSMIT plane (example, see
figure: 2–1, x = 0, Y = 0). The pole is located on the intersection between the radial linear
axis and the rotary axis (X and CM). In the vicinity of the pole, small positional changes in
the geometry axes generally result in large changes in position in the machine rotary axis.
The only exceptions are linear motions into or through the pole.
A tool center point path through the pole does not cause the parts program to be aborted.
There are no restrictions with respect to programmable traversing commands or active tool
radius compensations. Nevertheless, workpiece machining operations close to the pole are
not recommended since these may require sharp feedrate reductions to prevent overloading
of the rotary axis.
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
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