6 Applications
Figure 69: Rotary motion in the rotary axis mode
The options can be selected for the Mode of the rotary axis:
Inactive: The rotary axis is not active. The actual position will not be limited.
Active: The rotary axis is active. The synchronous position will be limited.
Apart from the activation, the way the servo drive performs the positioning process can
also be specified for the standard rotary axis:
Shortest distance: The rotary axis is active. The shortest distance will be used for the
positioning process. For example, if the rotary axis range is defined as the range from 0 r
to 5 r and the current actual position is 4.5 r, the new position setpoint of 0.5 r will be
approached by way of a movement in the positive direction as this is the shortest distance
for reaching this position (movement 1).
Direction from position set: The rotary axis is active. The direction of rotation is specified
in the position set. See also section 6.2.5 Destination parameters: Experts tab on page
92.
Direction always positive: The rotary axis is active. The system always selects the
positive direction of movement for all of the positioning processes and movements
(movement 1).
Direction always negative: The rotary axis is active. The system always selects the
negative direction of movement for all of the positioning processes and movements
(movement 2).
The area Range limits is used for defining the interval for the limitation of the actual
position.
Interval limits
The lower limit of the interval is included in the interval while the upper limit is not part of
the interval.
As a result, the user can adjust the values in a particular comfortable manner. If, for
example, the user wants to define a rotary axis with exactly one revolution, the interval
can be defined from 0 r to 1 r.
Product manual BL 4000-C Page 118 of 298
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