514 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Appendix C Use Add-On Instructions
Set_MoveType
• Positioning Operation (Cfg_Selection is set to 2 (0b0010)): Four types of
move operations (Set_MoveType) are executed as shown.
• Positioning Operation (Cfg_Selection is set to 10 (0b1010)): Three types
of move operations (Set_MoveMethod) are executed as shown.
- Define 'Indexing Coordinate':
- Rotate Positive or Rotate Negative or Rotate Shortest Path.
The Rotary move types are used to provide a way to index while
observing the natural rollover of the feedback device. For example, if
the motor could only index positive, the Rotary Positive is used. When
the feedback device transitions through its natural unwind (typically
2.1 billion counts), the movements always index positive.
0
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
60000
Absolute command
(ABS)
60000 PUU
Motor’s current position
(Fb_PUU)
Target
position
Motor’s current
position
(Fb_PUU)
Relative command
(REL)
60000 PUU
Target
position
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
Target
position
Endpoint of
prev ious comma nd
(Cmd_E)
60000
Incremental
command (INC)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
Target
position
Capturing
position
60000
High-speed position
capturing (CAP)
60000 PUU
IMPORTANT At this time, the Kinetix 5100 drive does not have a user defined
Unwind function. The rotary selections in this Add-On Instruction
do not refer to user defined rotary axis types.
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