R 02/92
General Function Description
1.8
Rotary Axis Operating Mode
1.8.1 Function
The rotary axis function can be selected separately for each channel, starting with version:
A14 (firmware release R08) for basic module
6ES5
241 –lAA11 or
AO1 (firmware release
R09)
for basic module
6ES5
241
–1AA12
—
—
Specify the desired function in the data block (IP 241 ) for
parameterization
via standard function
block FB 156 in accordance with the programming instructions.
In case of direct
parameterization
(without the standard function block) the following applies:
Load the constant assigned to the function (see table below) in KM or KH format into the
start–
up 06s
(OB20
to
OB22).
Transfer the constant to the set module address +4 as shown in sec-
tion 9.6. SP bit scan.
Function
KH
KM
Rotary axis channel 1 only
F4
11110100
Rotary axis channel 2 only
F5
11110101
Rotary axis channels 1 and 2
E7
11100111
In practical application the rotary axis function is always used, where exceeding the area end value
starts a new traversing path at the same time.
This applies to rotary axes, rotary plates, or continuous conveyors.
With the rotary axis function, exceeding an area end value by one increment toward O is regarded
as a forward movement of one increment by the position encoder. Therefore, no brief and incorrect
misleading of the track identifier bit takes place as with the linear axis.
1 – 17
1P
241 Equipment Manual
@
Siemens
AG 1989, Order No:
6ES5
998-0KD21
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