Example: Rotary Axis With Rotary Encoder On The Machine - Siemens SINUMERIK 840D Function Manual

Example
Assumptions:
● Rotary encoder on the motor: 2048 pulses/revolution
● Internal pulse multiplication: 2048
● Gearbox, motor / rotary axis: 5:1
● Computational resolution: 1000 increments per degree
Machine data
MD30300 $MA_IS_ROT_AX
MD31000 $MA_ENC_IS_LINEAR[0]
MD31040 $MA_ENC_IS_DIRECT[0]
MD31020 $MA_ENC_RESOL[0]
MD31025 $MA_ENC_PULSE_MULT
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0]
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0]
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0]
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0]
MD10210 $MN_INT_INCR_PER_DEG
An encoder increment corresponds to 0.017166 internal increments or 58.254689 encoder
increments correspond to an internal increment.
2.4.6.6

Example: Rotary axis with rotary encoder on the machine

Figure 2-8
The ratio of the internal increments to the encoder increments per degree is calculated as
follows:
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
Rotary axis with rotary encoder on the machine
2.4 Setpoint/actual-value system
Value
1
0
0
2048
2048
1
1
5
1
1000
67