Rotary Axis With Modulo Conversion (Continuously-Turning Rotary Axis) - Siemens SINUMERIK 840D Function Manual

7.3.2

Rotary axis with modulo conversion (continuously-turning rotary axis).

Absolute programming (AC, ACP, ACN, G90)
Example of the absolute programming for a modulo rotary axis as positioning axis:
POS[<axis name>] = ACP(<value>)
● <value>: Target position of the modulo rotary axis in the range between 0° and 359.999°
Negative values are also possible if a range offset has been realized with the following
machine data:
– MD30340 $MA_ MODULO_RANGE_START
– MD30330 $MA_MODULO_RANGE
● ACP: Absolute programming of the target position in positive rotation direction (counter
clockwise).
● ACN: Absolute programming of the target position in negative rotation direction (clockwise).
● AC / G90: by block / modally valid absolute programming of the target position.
The direction of rotation depends on the current position of the modulo rotary axis.
– Target position > Current position: Travel in positive direction.
– Target position < Current position: Travel in negative direction.
Note
The G90 positioning behavior can be projected via MD30455
$MA_MISC_FUNCTION_MASK, Bit 2. See Section "Modulo 360 degrees (Page 223)".
Application example
ACP / ACN: Defined direction of rotation for asymmetric workpieces in order to exclude collisions
during rotation.
Programming examples
Starting position of modulo rotary axis C = 0° (see figure below).
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
R2: Rotary axes
7.3 Programming of rotary axes
229