Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 105)

Rockwell Automation Publication 2097-UM001D-EN-P - November 2012 105
MotionView Software Configuration Chapter 5
Rotary Incremental
With an Rotary Incremental based move, the direction of travel depends on
polarity of the commanded position. Positive commands result in motion in the
positive direction and negative commands result in motion in the negative
direction.
The command position can be greater than the unwind value. When the position
is greater than or equal to the unwind value, the axis moves through more than
one revolution of the unwind before stopping. The actual position on each
revolution through the unwind will start at zero regardless of the number of
revolutions actually performed.
If your system has an absolute encoder, home the axis before initiating an absolute
move otherwise the drive will fault with an E27.
Rotary Incremental mode is only possible when Rotary Unwind mode is set up in
the General category.
Rotary Shortest Path
The Rotary Shortest Path move is a special type of Absolute move where the
motor is moved to the commanded position within the unwind in whichever
direction of travel is the shortest, moving through 0 degrees if necessary. With
Rotary Shortest Path the motor will not more than 1 revolution of unwind before
stopping at an absolute position.
Rotary Shortest Path mode is only possible when Rotary Unwind mode is set up
in the General category.
Figure 57 - Rotary Shortest Path Absolute Move
30°
0°
315°
225°