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5 The Coordinate Data
43
Movement of rotary axis in case of incremental programming
In case of programming incremental data input the direction of movement is always according to the
programmed sign.
The appropriate parameter ROLLAMNT_x to be applied for movement setting can be set at
parameter 0247 RELROUND_A, 0248 RELROUND_B or 0249 RELROUND_C for axis A, B
or C, respectively. If the appropriate parameter RELROUND_x
– =0: parameter ROLLAMNT_x is out of use, i.e. the movement can be greater than 360/,
– =1: parameter ROLLAMNT_x is in use. If, e.g., ROLLAMNT_C=360000 (360/), the largest
movement on axis C may be 359.999°.
0188 C.ROTARY=1,
0243 ROLLOVEN_C=1
0263 ROLLAMNT_C = =360000
Block programmed by
incremental data input
Movement affected
by block
Position at
block end
0249 RELROUND_C=0
parameter ROLLAMNT_C is out of
use
C=0
G91 C450 450 C=90
G91 C0 0 C=90
G91 C–90 –90 C=0
G91 C–360 –360 C=0
0249 RELROUND_C=1
parameter ROLLAMNT_C is in use
C=0
G91 C450 90 C=90
G91 C0 0 C=90
G91 C–90 –90 C=0
G91 C–360 0 C=0