R2: Rotary axes
12.3 Programming rotary axes
Extended Functions
692 Function Manual, 03/2013, 6FC5397-1BP40-3BA1
Modulo rotary axis with/without working-area limitation
By setting the following interface signal for a modulo rotary axis, the working area
limitation/software limit switch can be dynamically switched on/switched off by the PLC
(similar to rotary axes):
DB31, ... DBX12.4
The actual state of the traversing range limitation is signaled back by the NC using the
following interface signal:
DB31, ... DBX74.4
The monitoring function is activated if interface signal DB31, ... DBX12.4 was set by the
PLC.
The M/H command, which causes the PLC to set the interface signal, must be followed by a
STOPRE to ensure through synchronization that only the blocks after the changeover are
monitored.
Supplementary conditions:
It is only possible to activate/deactivate software-limit-switch monitoring via the PLC interface
for modulo axes.
Traversing-range monitoring for modulo axes can be implemented only if the axis is
referenced and one limiting pair is active.
This always applies in the case of software limit switches, since these are always
activated/deactivated in pairs. To monitor working area limitations correctly, both limitations
must have been activated, either via
G26/G25 or the setting data:
SD43400 $SA_ WORKAREA_PLUS_ENABLE
and
SD43410 $SA_WORKAREA_MINUS_ENABLE.
Example of a traversing-range-limitation switchover
A pallet with several clamped workpieces should be machined successively on a modulo
rotary axis. This pallet is then replaced by one with a built-on axis whose operating range
must be monitored to prevent damage to supply lines.
Configuration:
MD30300 $MA_IS_ROT_AX[AX4] = 1
MD30310 $MA_ROT_IS_MODULO[AX4] = 1
MD36110 $MA_POS_LIMIT_PLUS[AX4] = 340
MD36100 $MA_POS_LIMIT_MINUS[AX4] = 350
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