Siemens SINUMERIK 840D Function Manual

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● 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 aclockwise rotation when looking in the positive axis direction of the corresponding linear axis.<&DUWHVLDQFRRUGLQDWHV\VWHP=; % =&;$<Figure 7-1 Axis identifiers and directions of movement for rotary axesUnits of measurementThe following units of measurement apply as standard to inputs and outputs for rotary axes:Units of measurement for rotary axesPhysical quantity UnitAngular position DegreesProgrammed angular velocity Degrees/minAngular velocity 1) rev/minAngular acceleration 1) rev/sec2Angular jerk limit 1)rev/sec31) Unit of the axis-specific machine data for rotary axes.Further informationG2: Velocities, setpoint / actual value systems, closed-loop control (Page 31)FeedrateThe programmed feedrate F corresponds to an angular velocity (degrees/min) in the case ofrotary axes.If rotary axes and linear axes traverse a common path with G94 or G95, the feedrate should beinterpreted in the linear-axis unit of measurement (e. g. mm/min, inch/min].The tangential velocity of the rotary axis refers to diameter Dunit (unit diameter Dunit=360/π). Inthe case of unit diameter D=Dunit, the programmed angular velocity in degrees/min and thetangential velocity in mm/min (or inch/min) are numerically identical.R2: Rotary axes7.1 Brief descriptionAxes and spindles222 Function Manual, 06/2019, A5E47437747B AA