Multi-Axis Coordinated Motion Instructions
422 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
in the same manner as with linear axes. When the axis position exceeds the
Unwind parameter, an error is generated.
• The sign of the specified position array is interpreted by the controller as the
direction for the move. Negative position values instruct the interpolator to
move the rotary axis in a negative direction to obtain the desired absolute
position. A positive value indicates that positive motion is desired to reach
the target position. To move to the unwind position in the negative
direction a negative unwind position value must be used as 0 and -0 are
treated as 0. When the position is greater than the unwind value, an error is
generated. The axis can move through the unwind position but never
incrementally more than one unwind value.
• Incremental - the coordinate system moves the distance as defined by the
position array at the specified Speed, using the Accel and Decel rates
determined by the respective operands, along a circular path.
The specified distance is interpreted by the interpolator and can be positive or
negative. Negative position values instruct the interpolator to move the rotary axis
in a negative direction, while positive values indicate positive motion is desired to
reach the target position.
Position
The Position operand is a one dimensional array whose dimension is at least
equivalent to the number of axes specified in the coordinate system. It is the
position array that defines the new absolute or incremental position.
Circle Type
The Circle Type operand specifies how the array labeled via/center/radius is
interpreted. The options are: Via, Circle, Radius, Center Incremental.
• Via indicates that the via/center/radius array members specify a via point
between the start and end points.
• Center indicates that the via/center/radius array members contain the circle
center.
• Radius indicates that the first via/center/radius array member contains the
radius. Other members are ignored. Radius is valid only in two-dimensional
coordinate systems.
• Center Incremental indicates that the via/center/radius array members
define a position that always incrementally defines the center of the circle
regardless of Move Type operand. Sign of the incremental value is measured
from the start point to the center.
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