Siemens SINUMERIK 840D Function Manual page 231

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Figure 7-6
Block-search response
After block search with calculation, the collected search run positions can be read by modulo,
converted using the system variable $AC_RETPOINT[<axis>].
Supplementary conditions for ASUB after block search with calculation
In this instance, as well as with the cross-channel block-search tool SERUPRO, the modulo
conversion simulated in the block search must be performed in the part program.
Incremental programming (IC, G91)
Example for positioning axis: POS[axis name] = IC(+/-value)
● The value identifies the rotary-axis traversing distance. The value can be negative and ≥
+/-360°.
● The value's sign unequivocally defines the rotary-axis traversing direction.
● Application example: milling a spiral groove across several revolutions
Example
Programming
POS[C]=IC(720)
POS[C]=IC(-180)
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
POS[C] = DC(100); Traverse by shortest path to position 100°
POS[C] = DC(300); Traverse by shortest path to position 300°
POS[C] = DC(240); Traverse by shortest path to position 240°
POS[C] = DC(60); Traverse by shortest path to position 60°
; in positive direction of rotation
Absolute programming with shortest path for modulo rotary axes
Effect
C axis traverses to 720° incrementally in the positive direction
(two revolutions)
C axis traverses to 180° incrementally in the negative direction
R2: Rotary axes
7.3 Programming of rotary axes
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