Siemens SINUMERIK 840D sl Function Manual page 892

Rotary Axes (R2)
Special features of rotary axes
13.5 Special features of rotary axes
Software limit switch
The software limit switches and working-area limitations are active and are required for
swivel axes with a limited operating range. However, in the case of continuously-turning
rotary axes (MD30310 $MA_ROT_IS_MODULO=1), the software limit switches and working-
area limitations can be deactivated for individual axes.
A modulo rotary axis with/without working-area limitation can be used.
References:
/FB1/ Function Manual, Basic Functions; Axis Monitoring, Protection Zones (A3)
Mirroring of rotary axes
Mirroring can be implemented for rotary axes by programming MIRROR(C) or AMIRROR(C).
Reference point approach
References:
/FB1/ Function Manual, Basic Functions; Reference Point Approach (R1)
Spindles as rotary axes
For notes concerning the use of spindles and rotary axes (C axis operation), please refer to:
References:
/FB1/ Function Manual Basic Functions; Spindles (S1)
892
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Extended Functions