Siemens SINUMERIK 840D sl Function Manual page 732

R2: Rotary axes
13.1 Brief description
● Assignment: A rotates about X, B rotates about Y and C rotates about Z
● Direction of rotation: The positive rotary-axis direction of a rotation corresponds to a
clockwise rotation when looking in the positive axis direction of the corresponding linear
axis.
Figure 13-1
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
Angular velocity
Angular acceleration
Angular jerk limit
1) Unit of the axis-specific machine data for rotary axes.
References:
Function Manual Basic Functions; Velocities, Setpoint/Actual Value Systems, Closed-Loop
Control (G2)
Feedrate
The programmed feedrate F corresponds to an angular velocity (degrees/min) in the case of
rotary axes.
If rotary axes and linear axes traverse a common path with G94 or G95, the feedrate should
be interpreted in the linear-axis unit of measurement (e.g., mm/min, inch/min).
732
Axis identifiers and directions of movement for rotary axes
Unit
Degrees
Degrees/min
rev/min
1)
rev/sec
1) 2
rev/sec
1) 3
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions