Siemens SINUMERIK 840D sl Function Manual page 881

13.3 Programming rotary axes
13.3.1 General information
Note
For general information on programming, please refer to:
References:
/PG/ Programming Manual Fundamentals
MD30310
Axis-specific machine data
MD30310 ROT_IS_MODULO (modulo conversion for rotary axis)
is used to define whether the rotary axis behaves as a linear axis during programming and
positioning or whether rotary-axis special features are taken into account.
These features and any differences (mainly with respect to absolute programming) are
explained on the following pages.
13.3.2 Rotary axis with active modulo conversion (continuously-turning rotary axis).
Activate modulo conversion
→ Set MD30310 $MA_ROT_IS_MODULO = 1.
Note
With modulo axes, it is advisable to set the position display to modulo 360º (set MD30320
$MA_DISPLAY_IS_MODULO = 1).
Absolute programming (AC, ACP, ACN, G90)
Example for positioning axis: POS[axis name] = ACP(value)
● The value identifies the rotary-axis target position in a range from 0° to 359.999°.
Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Negative values are also possible, if the range is shifted using the following machine
data:
MD30340 $MA_ MODULO_RANGE_START
and
MD30330 MA_MODULO_RANGE
Rotary Axes (R2)
Programming rotary axes
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