Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 121
Rotary Negative Rotary Negative move from 45° to 225°.
Important: Only use a Rotary Shortest Path move if
• The Positioning Mode of the axis is Rotary (Rotary axis).
• The axis is standing still and not moving. Otherwise the
axis could move in the wrong direction.
A Rotary Negative move is a special type of absolute move for
a Rotary axis. The axis:
• Moves to the specified Position in the negative direction
regardless of its current position
• Moves through 0° if needed
You cannot move the axis more than one revolution with a
single Rotary Shortest Path move.
When MAM (Merge = Enabled) is used on any axis associated with a coordinate
system and a coordinated motion instruction is running on it, Coordinate system’s
maximum deceleration is used to stop remaining axes. If the coordinate system
contains orientation axes, Coordinate system’s Orientation maximum
deceleration is used for stopping remaining Rx, Ry or Rz axes.
Structure
See Input and Output Parameters Structure for Single Axis Motion Instructions
for the input and output parameters that are available for the MAM instruction
via the Master Driven Speed Control (MDSC) function. Before any of these
parameters is active, you must execute an MDAC instruction and it must be active
(IP bit is set).
Affected Math Status Flags
No
Major/Minor Faults
None specific to this instruction. See Common Attributes for operand-related
faults.
Ladder Diagram
Condition/State Action Taken
Prescan The .EN, .DN, .ER, and .IP bits are cleared to false.
Rung-condition-in is false The .EN bit is cleared to false if the .DN or .ER bit is true.
Rung-condition-out is true The .EN bit is set to true and the instruction executes.
Postscan N/A
To Next Page
Loading...
