Delta RMC151 - Manual (Page 126)

RMC70/150 and RMCTools User Manual
Nearest Absolute
The axis will move in the direction that
gives the shortest path to the Command
Position, as shown below:
The axis will move as if it were a linear
axis. Therefore, the axis will move to
the Command Position in the direction of
increasing position units, as shown
below:
Example 3: Multiple Rotations
This example illustrates how to use the Absolute option in the Direction command
parameter to move a rotary axis through multiple revolutions.
Consider a rotary axis with a single-turn encoder with a Position Unwind value of 360
and a Position Offset of 0. Therefore, the position range extends from 0 up to, but not
including, 360. The current position of the axis is 0. You issue a Move Absolute
command with the Absolute option in the Direction command parameter. The following
illustrations explain how the axis will behave for various values of the Position command
parameter:
Position command parameter = 360 Position command parameter = 540
The axis will move 1 revolution in the
positive direction. The final position will
be 0.
The axis will move 1.5 revolutions in the
positive direction. The final position will
be 180.
Position command parameter =
3600
Position command parameter = -
3600
The axis will move 10 revolutions in the
positive direction. The final position will
be 0.
The axis will move 10 revolutions in the
negative direction. The final position will
be 0.
106 Delta Computer Systems, Inc.