Rotary Axis Without Modulo Conversion - Siemens SINUMERIK 840D sl Function Manual

Program example: Modulo rotary axes as endlessly rotating rotary axis
Program code
LOOP:
POS[C] = IC(720) ; Traverse as positioning axis by 270°
GOTOB LOOP
13.3.3

Rotary axis without modulo conversion

Deactivate modulo conversion
→ Set MD30310 $MA_ROT_IS_MODULO = 0.
Absolute programming (AC, G90)
Example for positioning axis:
● The value and its sign uniquely identify the rotary-axis target position. The value can be ≥
+/-360°. The position value is limited by the software-limit-switch positions.
● The traversing direction is ascertained by the control according to the signed rotary-axis
actual position.
● If ACP or ACN is programmed, alarm 16810, "ACP traverse instruction cannot be used", or
alarm 16820 "ACN traverse instruction cannot be used", is output.
● Application example:
Linear movements (cam gear) are linked to the rotary axis, thus certain end positions may
not be overtraveled.
Example:
Programming
POS[C] = AC (-100)
POS[C] = AC (1500)
Absolute programming along the shortest path (DC)
POS[axis name] = DC(value)
Even if the rotary axis is not defined as a modulo axis, the axis can still be positioned with DC
(Direct Control). The response is the same as on a modulo axis.
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
; Return to Label LOOP
POS[axis name] = AC (+/-value)
Effect
Rotary axis C traverses to position -100°;
traversing direction depends on the starting position
Rotary axis C traverses to position 1500°
R2: Rotary axes
13.3 Programming rotary axes
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