6Functions
28 Festo – GDCP-CMMP-M0-FW-E N – 1304NH
Direction of movement
For modulo positioning, the direction of movement of the positioning motion is specified through the
following selection: In the case of the “Direction of rotation always positive/negative” mode, the set-
ting also applies to setpoints outside the interv al (i.e. position specification prefixes are ignored in the
position record table). The “Shortest Patch” setting only applies for absolute posit io ning within the
specified interval. Outside the interval and for relative positioning, the direction of movement is taken
from the positioning record table.
Observe that with an unlimited drive that always moves in the same direction, it is pos-
sible for the actual position to be overrun. There is no limitation of the range of values.
The actual position is incremented up to overflow.
Option
Function
Shortest path
(for absolute positioning
within the interval)
Both directions of movement are permitted. Positioning takes place
by the shortest path, optimised for direction. Example: The
positioning inter val is defined from 0 R … 5 R. The current actual
position is 4.5 R. The new setpoint position is 0.5 R. => The motor
controller does not travel four revolutions in the negative direction
but instead one revolution in the positive direction as t his is the
shortest path to reach its destination.
Direction of rotation from
positioning record
The direction of rotation is not universally defined, but can be
individually defined for each positioning record. The following
settings are possible in the positioning record:
positive The direction of movement of the axis is always positive.
(Absolute and relative positioning)
negative The direc tion of movement of the axis is always negative.
(Absolute and relative positioning)
auto The direction of travel is determined automatically
from the current position, target position and additional
options (absolute, relative, relative related to last target,
etc.).
Direction of rotation always
positive
(Absolute and relative
positioning)
The direc tion of movement of the axis is always positive.
Direction of rotation always
negative
(Absolute and relative
positioning)
The direc tion of movement of the axis is always negative.
Range limit positive/negative
(interval)
By specifying an interval, the actual value only runs through values
within the specified limits. The position range is not influenced by
specifying the interval (unlimited, software limit switch not active).
Tab. 6.6 Options modulo positioning
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