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

R2: Rotary axes
7.3 Programming of rotary axes
Program example: Modulo rotary axes as endlessly rotating rotary axis
Program code
LOOP:
POS[C] = IC(720) ; Traverse as positioning axis by 270°
GOTOB LOOP
7.3.3

Rotary axis without modulo conversion

Deactivating modulo conversion
→ set MD30310 $MA_ROT_IS_MODULO = 0.
Absolute programming (AC, G90)
Example for positioning axis:
● The value and its sign uniquely identify the rotary-axis target position. The value can be ≥
+/-360°. The position value is limited by the software limit switch positions.
● The traversing direction is defined by the control according to the signed rotary axis actual
position.
● If ACP or ACN is programmed, alarm 16810, "ACP traverse instruction cannot be used", or
alarm 16820 "ACN traverse instruction cannot be used", is output.
● Application example:
Linear motion (cam gear) are coupled to the rotary axis, thus certain end positions may not
be passed.
Example:
Programming
POS[C] = AC (-100)
POS[C] = AC (1500)
Absolute programming along the shortest path (DC)
POS[axis name] = DC(value)
Even if the rotary axis is not defined as a modulo axis, the axis can still be positioned with DC
(Direct Control). The behavior is the same as that of a modulo axis.
232
; Return to Label LOOP
POS[axis name] = AC (+/- value)
Effect
Rotary axis C traverses to position -100°;
traversing direction depends on the starting position
Rotary axis C traverses to position 1500°
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA