Siemens SINUMERIK 840D sl Function Manual page 887
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13.3.3
Rotary axis without modulo conversion
Deactivate modulo conversion
→ Set MD30310 $MA_ROT_IS_MODULO = 0.
Absolute programming (AC, G90)
Example for positioning axis: POS[axis name] = AC (+/-value)
● The value and its sign uniquely identify the rotary-axis target position. The value can be ≥
● The traversing direction is ascertained by the control according to the signed rotary-axis
● If ACP or ACN is programmed, alarm 16810, "ACP traverse instruction cannot be used", or
● Application example:
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 response is the same as on a modulo axis.
● The value identifies the rotary-axis target position in a range from 0° to 359.999° (modulo
● With DC (Direct Control), the rotary axis approaches the programmed absolute position
● The control calculates the direction of rotation and the traverse path according to the
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
+/-360°. The position value is limited by the software-limit-switch positions.
actual position.
alarm 16820 "ACN traverse instruction cannot be used", is output.
Linear movements (cam gear) are linked to the rotary axis, thus certain end positions
may not be overtraveled.
360°). Alarm 16830, "Incorrect modulo position programmed", is output for values with a
negative sign or ≥ 360º.
within one revolution along the shortest path (traversing movement max. ± 180°).
current actual position (in relation to modulo 360°). If the path to be traversed is the same
in both directions (180°), the positive direction of rotation receives preference.
Effect
Rotary axis C traverses to position -100°;
traversing direction depends on the starting position
Rotary axis C traverses to position 1500°
Rotary Axes (R2)
Programming rotary axes
887
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