Rotary Axis With Modulo Conversion (Continuously-Turning Rotary Axis) - Siemens SINUMERIK 840D sl Function Manual

R2: Rotary axes
13.3 Programming rotary axes
MD30310
Axis-specific machine data
MD30310 ROT_IS_MODULO (modulo conversion for rotary axis)
is used to define whether the rotary axis behaves as a linear axis during programming and
positioning or whether rotary-axis special features are taken into account.
These features and any differences (mainly with respect to absolute programming) are
explained on the following pages.
13.3.2

Rotary axis with modulo conversion (continuously-turning rotary axis).

Absolute programming (AC, ACP, ACN, G90)
Example of the absolute programming for a modulo rotary axis as positioning axis:
POS[<axis name>] = ACP(<value>)
● <value>: Target position of the modulo rotary axis in the range between 0° and 359.999°
Negative values are also possible if a range offset has been realized with the following
machine data:
– MD30340 $MA_ MODULO_RANGE_START
– MD30330 $MA_MODULO_RANGE
● ACP: Absolute programming of the target position in positive rotation direction (counter
clockwise).
● ACN: Absolute programming of the target position in negative rotation direction (clockwise).
● AC / G90: by block / modally valid absolute programming of the target position.
The direction of rotation depends on the current position of the modulo rotary axis.
– Target position > Current position: Travel in positive direction.
– Target position < Current position: Travel in negative direction.
Note
The G90 positioning behavior can be projected via MD30455
$MA_MISC_FUNCTION_MASK, Bit 2. See Section "Modulo 360 degrees (Page 733)".
Application example
ACP / ACN: Defined direction of rotation for asymmetric workpieces in order to exclude collisions
during rotation.
Programming examples
Starting position of modulo rotary axis C = 0° (see figure below).
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Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions