120 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Choose a Move Type for a Rotary Axis
Move Type Example Description
Absolute Absolute move to 225°. The direction depends on the
starting position of the axis.
With an Absolute move, the direction of travel depends on
the current position of the axis and is not necessarily the
shortest path to the end position. Starting positions less than
the end position result in motion in the positive direction,
while starting positions greater than the end position result
in motion in the negative direction.
The specified position is interpreted trigonometrically and
can be positive or negative. It can also be greater than the
Position Unwind value. Negative position values are
equivalent to their corresponding positive values and are
useful when rotating the axis through 0. For example, –90° is
the same as +270°. When the position is greater than or
equal to the Position Unwind value, the axis moves through
more than one revolution before stopping at an absolute
position.
Incremental
The specified distance is interpreted trigonometrically and
can be positive or negative. It can also be greater than the
Position Unwind value. When the distance is greater than the
Position Unwind value, the axis moves through more than
one revolution before stopping.
Rotary Shortest Path Rotary Shortest Path move from 30° to 225°.
Important: Only use a Rotary Shortest Path move if the
Positioning Mode of the axis is Rotary (Rotary axis).
A Rotary Shortest Path move is a special type of absolute
move for a Rotary axes. The axis moves:
• To the specified Position in the shortest direction
regardless of its current position
• Through 0° if needed.
With a Rotary Shortest Path move, you:
• Can start the move while the axis is moving or standing
still
• Cannot move the axis more than one revolution with a
single move.
Rotary Positive Rotary Positive move from 315° to 225°.
Important: Only use a Rotary Positive move while the axis is
standing still and not moving. Otherwise the axis could move
in the wrong direction.
A Rotary Positive move is a special type of absolute move for
a Rotary axis.
The axis:
• Moves to the specified Position in the positive direction
regardless of its current position
• Moves through 0° if needed
You can’t move the axis more than one revolution with a
single Rotary Shortest Path move.
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