Siemens SINUMERIK 840D sl Function Manual

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Rotary Axes (R2)13.4 Activating rotary axesExtended FunctionsFunction Manual, 01/2008, 6FC5397-1BP10-3BA0 85513.4 Activating rotary axesProcedureThe procedure for activating rotary axes is the same as that for linear axes with a smallnumber of exceptions. It should be noted that, as soon as the axis is defined as a rotary axis(MD30300 $MA_IS_ROT_AX = 1), the axis-specific-machine-/setting-data units areinterpreted by the control as follows:Positions In "degrees"Velocities In "rev/min"Accelerations In "rev/sec 2 "Jerk limitation In "rev/sec 3 "Special machine dataSpecial rotary-axis machine data may also have to be entered, depending on the application:MD30310 $MA_ROT_IS_MODULO Modulo conversion for positioning andprogrammingMD30320 $MA_DISPLAY_IS_MODULO Modulo conversion for position displayMD10210 $MN_INT_INCR_PER_DEG Computational resolution for angular positionsThe following overview lists the possible combinations of these machine data for a rotaryaxis:Possible combinations of rotary-axis machine dataMD30300 MD30310 MD30320 ApplicationpermittedRemarks0 0 0 Yes The axis is a linear axis (default).1 0 0 Yes The axis is a rotary axis; modulo conversionis not used for positioning, i.e., the softwarelimit switches are active; the position displayis absolute.1 0 1 Yes The axis is a rotary axis; modulo conversionis not used for positioning, i.e., the softwarelimit switches are active; the position displayis modulo;Application: for axes with an operatingrange of +/-1000°, for example1 1 1 Yes The axis is a rotary axis; positioning isperformed with modulo conversion, i.e., thesoftware limit switches are inactive, theoperating range is unlimited; the positiondisplay is modulo (setting most frequentlyused for rotary axes); axis with/withoutworking-area limitation can be used.