9. Rotary axis options
Rotary axis visualization can be:
- linear: rotary axis position is displayed as a normal linear axis position, only units are different
- rounded: rounded by the angle corresponding to one rotation
Independently on how the rotary axis position is visualized the user can choose among 3 modes to set the target position.
The modes are set using parameters #5802
for axis A, #5803
for axis B and #5804
for axis C calling G10 L100 P<parameter> V<value>
.
The supported modes are described by the following table.
Parameter value | Mode | Description |
---|---|---|
0 | Rotary axis Roll-over disabled | Rotary axis is handled as a linear one. |
1 | Rotary axis Roll-over |
For an incremental command, the tool moves the angle specified in the command. |
2 | Rotary axis Roll-over & shorter path |
For an incremental command, the tool moves the angle specified in the command. |
3 | Rotary Axis Control |
This mode influences a rotary axis movement only for absolute commands. |
If a mode different from 0 is specified the modulus used for all of them (default 360.0) is stored in parameter #5801
.
Example
G90 G49 F1000 G0 X0 Y0 Z0 A0 G1 Z20 G10 L100 P5802 V2 ; Set the "Rotary axis Roll-over & shorter path" mode for axis A. G90 ; Set position mode to absolute A0 A-150 ; Actual movement: -150.0 Absolute coordinate rounded visualisation value: 210 A540 ; Actual movement: -30.0 Absolute coordinate rounded visualisation value: 180 A-620 ; Actual movement: -80.0 Absolute coordinate rounded visualisation value: 100 G91 ; Set position mode to relative A380 ; Actual movement: +380.0 Absolute coordinate rounded visualisation value: 120 A-840 ; Actual movement: -840.0 Absolute coordinate rounded visualisation value: 0 M2