B–63534EN/02
20. AXIS CONTROL FUNCTIONS
PROGRAMMING
20.2
ROTARY AXIS
ROLL–OVER
20.2.1
Rotary Axis Roll–over
The roll–over function prevents coordinates for the rotation axis from
overflowing. The roll–over function is enabled by setting bit 0 of
parameter ROAx 1008 to 1.
Explanations
For an incremental command, the tool moves the angle specified in the
command. For an absolute command, the coordinates after the tool has
moved are values set in parameter No. 1260, and rounded by the angle
corresponding to one rotation. The tool moves in the direction in which
the final coordinates are closest when bit 1 of parameter RABx No. 1008
is set to 0. Displayed values for relative coordinates are also rounded by
the angle corresponding to one rotation when bit 2 of parameter RRLx No.
1008 is set to 1.
Examples
Assume that axis A is the rotating axis and that the amount of movement
per rotation is 360.000 (parameter No. 1260 = 360000). When the
following program is executed using the roll–over function of the rotating
axis, the axis moves as shown below.
G90 A0 ;
Sequence
number
Actual
movement
value
Absolute coordinate
value after movement
end
N1 G90 A–150.0 ;
N1
–150
210
N2 G90 A540.0 ;
N2
–30
180
N3 G90 A–620.0 ;
N3
–80
100
N4 G91 A380.0 ;
N4
+380
120
N5 G91 A–840.0 ;
N5
–840
0
Relative
–720°
coordinate value
–360°
–0°
360°
Absolute
–0°
coordinate value
–0°
–0°
–0°
210°(Absolute)
N1
N2
N3
180°
100°
120°
N4
N5
NOTE
This function cannot be used together with the indexing
function of the index table.
531
20. AXIS CONTROL FUNCTIONS
20.2.2
Rotary Axis Control
Explanations
PROGRAMMING
B–63534EN/02
This function controls a rotary axis as specified by an absolute command.
With this function, the sign of the value specified in the command is
interpreted as the direction of rotation, and the absolute value of the
specified value is interpreted as the coordinates of the target end position.
This function is valid when rotary axis roll–over is enabled (ROAx bit (bit
0 of parameter 1008) is set to 1).
If the RAAx bit (bit 3 of parameter 1008) is set to 1, an absolute command
specified for the roll–over rotary axis is interpreted as follows: The sign
and absolute value of the value specified in the command represent the
direction of rotation and the end position of movement respectively.
If the RAAx bit (bit 3 of parameter 1008) is set to 0, the setting by the
RABx bit (bit 1 of parameter 1008) becomes significant.
Notes
NOTE
1 This function can be used only when the corresponding
option is provided.
2 This function is valid for a roll–over rotary axis.
3 If the RAAx bit (bit 3 of parameter 1008) is set to 1, the RABx
bit (bit 1 of parameter 1008) is ignored. To select a rotary
motion of a shorter travel distance, set both RAAx and RABx
to 0.
4 This function is not supported when the machine coordinate
system of the PMC axis control function is selected.
532