Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 381)

Axis Motion
Chapter 12
12-9
Figure 12.6
Results of An Arc with End Point Equal to Start Point, Example 12.6
Full circle 0 degree center angle arc
(no axis motion)
Arc 2
5 10 5 10
15
10
15
10
X
Z Z
X
end
start
Center defined
by I and K
start
end
Center defined
by R
12148-I
If programming a radius command R in the same block as I, and/or K, the
control gives the R priority and ignores the I--, and/or K--words.
Important: Your system installer can specify the maximum allowed
difference between the starting radius of the arc and the ending radius of an
arc programmed with an I, K center. If the difference exceeds the allowed
value set in AMP, an error occurs.
The following section describes how to program a rotary axis. A rotary
axis is a non-linear axis that typically rotates about a fixed point. A rotary
axis is not the same as a spindle which uses an M19 to orient to a specific
angle. A spindle orient (M19) cannot move simultaneously with the other
axes in the system. A rotary axis is capable of rotating when other axes are
being moved.
Your system installer determines which axes are rotary axes or linear axes,
in AMP. Also defined in AMP, is the address used to command a rotary
axis. This manual assumes that the C--word is used to program a rotary
axis. See the documentation prepared by your system installer for the
rotary axis words used in a specific system.
Program a rotary axis in units of degrees. This manual assumes that your
system installer has configured the rotary axis to “rollover” at 359.99
°
.
Rollover means that after the rotary axis exceeds 359.99
°
of rotation, its
position displays rollover to 0
°
and starts increasing. If the axis rotates to a
position less than 0
°
its position displays rollover to 359.99
°
and start
decreasing.
12.1.4
Positioning Rotary Axes