Siemens SINUMERIK 840D Function Manual page 222

R2: Rotary axes
7.1 Brief description
● Assignment: A rotates about X, B rotates about Y and C rotates about Z
● Direction of rotation: The positive rotary-axis direction of a rotation corresponds to a
clockwise rotation when looking in the positive axis direction of the corresponding linear axis.
Figure 7-1
Units of measurement
The following units of measurement apply as standard to inputs and outputs for rotary axes:
Units of measurement for rotary axes
Physical quantity
Angular position
Programmed angular velocity
Angular velocity
Angular acceleration
Angular jerk limit
1) Unit of the axis-specific machine data for rotary axes.
Further information
G2: Velocities, setpoint / actual value systems, closed-loop control (Page 31)
Feedrate
The programmed feedrate F corresponds to an angular velocity (degrees/min) in the case of
rotary axes.
If rotary axes and linear axes traverse a common path with G94 or G95, the feedrate should be
interpreted in the linear-axis unit of measurement (e. g. mm/min, inch/min].
The tangential velocity of the rotary axis refers to diameter D
the case of unit diameter D=D
tangential velocity in mm/min (or inch/min) are numerically identical.
222
Axis identifiers and directions of movement for rotary axes
, the programmed angular velocity in degrees/min and the
unit
Unit
Degrees
Degrees/min
rev/min
1)
rev/sec
1) 2
rev/sec
1) 3
(unit diameter D
unit
Function Manual, 06/2019, A5E47437747B AA
=360/π). In
unit
Axes and spindles