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

Example:
Programming
POS[C] = IC(720)
POS[C] = IC(-180)
Endless traversing range
As soon as the modulo function is active, no limit is placed on the traversing range (software
limit switches are not active). The rotary axis can now be programmed to traverse
continuously.
Example:
LOOP:
POS[C] = IC(720)
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: POS[axis name] = AC (+/-value)
● The value and its sign uniquely identify the rotary-axis target position. The value can be
● The traversing direction is ascertained by the control according to the signed rotary-axis
● If ACP or ACN is programmed, alarm 16810, "ACP traverse instruction cannot be used", or
● Application example:
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
≥ +/-360°. The position value is limited by the software-limit-switch positions.
actual position.
alarm 16820 "ACN traverse instruction cannot be used", is output.
Linear movements (cam gear) are linked to the rotary axis, thus certain end positions
may not be overtraveled.
Effect
C axis traverses to 720° incrementally in the positive direction
(two revolutions)
C axis traverses to 180° incrementally in the negative direction
R2: Rotary axes
13.3 Programming rotary axes
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