Siemens SINUMERIK 840D Function Manual page 230

R2: Rotary axes
7.3 Programming of rotary axes
①
②
③
④
Figure 7-5
Absolute programming along the shortest path (DC)
Example of absolute programming on the shortest path 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
● DC: Absolute programming of the target position for moving by the shortest direction of
rotation.
Note
If the route is the same in both directions (180°), movement in in the positive direction of
rotation.
Programming examples
Starting position of modulo rotary axis C = 0° (see figure below).
230
POS[C] = ACP(100); Traverse in positive direction of rotation to
position 100°
POS[C] = ACN(300); Traverse in negative direction of rotation to
position 300°
POS[C] = ACP(240); Traverse in positive direction of rotation to
position 240°
POS[C] = AC(0); Traverse in negative direction of rotation to position
0°
Absolute programming for modulo rotary axes
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA