R2: Rotary axes
12.3 Programming rotary axes
Extended Functions
Function Manual, 03/2013, 6FC5397-1BP40-3BA1
691
Example:
C starting position is 0° (see figure below).
①
POS[C] = DC(100)
C axis traverses to position 100° along the shortest path
②
POS[C] = DC(300)
C axis traverses to position 300° along the shortest path
③
POS[C] = DC(240)
C axis traverses to position 240° along the shortest path
④
POS[C] = DC(60)
C axis traverses to position 60° along the shortest path.
Since, in this case, the path is equal to 180° in both
directions, preference is given to the positive direction of
rotation.
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Figure 12-6 Examples of DC programming
Block-search response
After a block search with calculation, the collected search position of the modulo conversion
can be interrogated using the $AC_RETPOINT system variable.
This system variable returns the position converted to modulo.
Supplementary conditions for ASUB after block search with calculation:
In this instance, as well as with the cross-channel block-search tool SERUPRO, the modulo
conversion simulated in the block search must be performed in the part program.
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