Siemens SINUMERIK 840D sl Function Manual page 851

● The positive rotary-axis direction of rotation corresponds to a clockwise rotation when
Figure 13-1
Extended addressing (e.g., C2=) or freely configured axis addresses can be used for
additional rotary axes.
Note
Machine data
MD20050 $MC_AXCONF_GEOAX_ASSIGN_TAB
(assignment of geometry axis to channel axis)
must be adapted to suit the corresponding axis.
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
MD for angular velocity
MD for angular acceleration
MD for angular jerk limitation
1)
References:
/FB1/ Function Manual Basic Functions; Speeds, Setpoint/Actual Value Systems, Control
Loop Control (G2)
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
looking in the positive axis direction of the corresponding middle axis (see fig.).
Axis identifiers and directions of movement for rotary axes
In the case of axis-specific machine data, these units are interpreted by the control as soon as
the axis is declared as a rotary axis. The user can define other units for data inputs/outputs
using machine data.
Unit
Degrees
Degrees/min
rev/min
1)
rev/sec
1) 2
rev/sec
1) 3
R2: Rotary axes
13.1 Brief description
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