Siemens SINUMERIK 840D sl Function Manual page 883

Absolute programming along the shortest path (DC)
POS[axis name] = DC(value)
● The value identifies the rotary-axis target position in a range from 0° to 359.999°.
● With DC (Direct Control), the rotary axis approaches the programmed absolute position
● The control calculates the direction of rotation and the traverse path according to the
● DC application example: the rotary table is required to approach the changeover position
● If DC is programmed with a linear axis, alarm 16800, "DC traverse instruction cannot be
Example:
C starting position is 0° (see figure below).
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Extended Functions
Function Manual, 03/2009, 6FC5397-1BP10-4BA0
Alarm 16830, "Incorrect modulo position programmed", is output for values with a
negative sign or ≥ 360°.
within one revolution along the shortest path (traversing movement max. ∓ 180°).
current actual position. If the path to be traversed is the same in both directions (180°),
the positive direction of rotation receives preference.
in the shortest time (and, therefore, via the shortest path) possible.
used", is output.
POS[C] = DC(100)
POS[C] = DC(300)
POS[C] = DC(240)
POS[C] = DC(60)
C axis traverses to position 100° along the shortest path
C axis traverses to position 300° along the shortest path
C axis traverses to position 240° along the shortest path
C axis traverses to position 60° along the shortest path.
Since, in this case, the path is equal to 180° in both
directions, preference is given to the positive direction of
rotation.
Rotary Axes (R2)
Programming rotary axes
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