Rotary Axes (R2)
19.3 Programming rotary axes
Turning, Milling, Nibbling
Function Manual, 11/2012, 6FC5397-1CP10-5BA0
337
● The control calculates the direction of rotation and the traverse path according to the
current actual position. If the path to be traversed is the same in both directions (180°),
the positive direction of rotation receives preference.
● Application example of DC: the rotary table is required to approach the changeover
position in the shortest time (and, therefore, via the shortest path) possible.
Note
If DC is programmed with a linear axis, alarm 16800 "DC traversing instruction cannot be
used" is output.
Incremental programming (IC, G91)
● 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.
Example:
C=IC(720) ;C axis traverses to 720° incrementally in the positive direction
C=IC(-180) ;C axis traverses to 180° incrementally in the negative direction
Endless traversing range
As soon as the modulo function is active, no limit is placed on the traversing range (software
limit switches are not active). The rotary axis can now be programmed to traverse
continuously.
Example:
N10 LOOP: C=IC(7200)
N20 GOTOB LOOP
19.3.2 Rotary axis without modulo conversion
Absolute dimension programming (AC, G90)
Example of AC: C=AC(-410), general: axis name =AC (+/-value)
● The value and its sign uniquely identify the rotary-axis target position. The value can be
above +/-360°. The position value is limited by the software limit switch.
● The traversing direction is ascertained by the control according to the signed rotary-axis
actual position.
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