Siemens SIMATIC FM 353, Manual

Page: 292 / 361

Writing Traversing Programs
10-10
FM 353 Stepper Drive Positioning Module
6ES7 353-1AH01-8BG0
Axis as rotary axis
If the axis is operated as a rotary axis, the measuring system must be adjusted in
such a way that the measurement scale refers to the full circle (e.g. 0
_
and 360
_
).
S Reference-measure input G90
In a full circle with 360
_
, reference-measure programming (G90) has the pecu-
liarity that there are always two options for reaching the set position.
0 _
315
_
225 _
180 _
135 _
90 _
45 _
270 _
Actual position Set position
0
_
315
_
225 _
180 _
135 _
90 _
45 _
Actual position
270 _
Set position
10 90
315
with direction R+ specified
/ N G1 G2 G3 X/t F M1 M2 M3 D
100
Option 1
Option 2
Fig. 10-3 Rotary axis
Option 1:
With G90, the axis autonomously always takes the shortest path to reach the
set position of 45 _ , going via 0 _ to 315 _ .
Option 2:
The control signals (R+) or (R
− ) force the respective direction of the axis - in
this example 45
_
via 180
_
to 315
_
. (R+) or (R − ) must already be pending when
positioning is activated (START).
Note
The direction (R+) or (R − ) must be specified sufficiently in advance. A traversing
direction cannot be forced on a traversing block that is already active, or on the
traversing blocks (up to 4) that have already been calculated in advance in G64
operation.
Operation with option 1 or option 2 is at the user’s discretion.