Siemens SINUMERIK 840D Function Manual page 224

R2: Rotary axes
7.2 Modulo 360 degrees
MD30310 $MA_ROT_IS_MODULO = 1
Note
For a 360° modulo rotary axis, it is recommended that the position display is also set to 360° at
the user interface.
Modulo range
For a 360° modulo rotary axis, the modulo range must be set to 360° using the axis-specific
machine data:
MD30330 $MA_MODULO_RANGE = 360.0
Starting position of the 360° modulo range
The starting position of the 360° modulo range can be set using the axis-specific machine data:
MD30340 $MA_MODULO_RANGE_START = <Starting position>
As a consequence, the parameterized starting position represents an offset of the modulo
function in the vertical axis. The modulo range still remains 360°.
Examples
● Standard starting position: 0° ⇒ modulo range: 0° - 360°
● Shifted starting position: -180° ⇒ modulo range: -180° to +180°
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②
③
Figure 7-3
224
Absolute position
Modulo position
Shifted starting position (-180°)
Standard and shifted starting position (red)
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA