Rockwell Automation GMLC Reference Manual - Manual (Page 244)

Publication GMLC-5.2 - November 1999
Move Axis 207
When you select Rotary Negative, the axis moves to the specified
position at the specified speed using the specified acceleration and
deceleration in the negative direction, regardless of the current position of
the axis. The position must be a positive value less than the unwind value.
Therefore, moves of more than one revolution (that is, more than 360
degrees) cannot be performed with a single rotary negative Move Axis
block.
With the rotary negative move the axis moves to the specified endpoint
position—through 0° if necessary—in the negative direction regardless of
the current axis position. Use the rotary negative move only while the axis
is not moving to ensure motion in the proper direction.
Override Profile
You can also use the Move Axis block to override the power-up move
profile selection, and move the axis using a different velocity profile.
Select Override Profile and select both the desired axis and motion
profile—Trapezoidal, S-Curve, or Parabolic. Enter values or expressions
for the desired position or distance, speed, acceleration, and deceleration.
Speed, acceleration, and deceleration values can be entered either as
percentages of the current 100% values, or directly in the position units of
the axis. See the Motion Settings section of the Control Setting Blocks
chapter for information on the three types of move profiles.
Merged Moves
You can also use absolute or incremental moves to terminate the motion
produced by a previous Jog Axis, Position Lock Cam, Time Lock Cam, or
Gear Axes block. The axis stops either at a specified position, or after a
specified distance. Select Merge from Jog, Cam, or Gear, and select the
desired axis and type of move—absolute or incremental only—and the
speed of merge (see the following paragraphs). Enter values or
expressions for the desired position or distance, speed, acceleration, and
deceleration. Select other options as needed.