Rotary Axes (R2)
19.1 General
Turning, Milling, Nibbling
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Function Manual, 11/2012, 6FC5397-1CP10-5BA0
Units of measurement
The following units of measurement apply as standard to inputs and outputs for rotary axes:
Table 19- 1 Units of measurement for rotary axes
Physical quantity
Units
Angular position
Degrees.
Programmed angular speed
Degrees/min
MD for angular velocity
rev/min
1)
MD for angular acceleration
rev/sec
2 1)
MD for angular jerk limitation
rev/sec
3 1)
1)
In the case of axis-specific machine data, these units are interpreted by the control as soon
as the axis is declared as a rotary axis.
More detailed information on the subject of dimension units can be found in Chapter
"Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)"
Feedrate
The programmed feedrate F corresponds to an angular speed [degrees/min] for rotary axes
programmed alone in a block.
If rotary axes and linear axes traverse along a common path with G94 or G95, the feed
should be interpreted in the unit of measurement of the linear axes [e.g. mm/min, inch/min].
The tangential velocity of the rotary axis in this case refers to the diameter DE (unit diameter
DE = 360/p mm, with p = circle constant).
If the diameter is the same as the unit diameter (D=DE), the programmed angular speed in
degrees/min and the tangential velocity in mm/min are numerically identical. For the inch unit
setting, "inch" applies instead of "mm".
In general, the following applies for tangential velocity:
F = F
W
* D / D
E
F = tangential velocity [mm/min]
F
W
= angular speed [degrees/min]
D = diameter acted on by F [mm]
with D
E
= 360 / π
D
E
= unit diameter [mm]
π = circle constant PI = 3.14...
JOG velocity for rotary axes
With SD41130 JOG_ROT_AX_SET_VELO (JOG velocity for rotary axes), a jog velocity that
is valid for all rotary axes can be set.
If a value of 0 is entered in the setting data, then axis-specific MD32020 JOG_VELO
(conventional axis velocity) functions as JOG velocity for the rotary axis.