Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
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J6 axis. When J6 crosses the 180 point in the CW direction, turns counter is
incremented and Rz flips from -180 to 180 and when J6 goes past the 180
point in the CCW direction, turns counter is decremented and Rz flips from
180.0001 to -179.9999 .
The range of turns counter is limited to +/-127 but the actual max number of
turns is geometry dependent. The 3 Turns Counters are elements of a single array
attribute of the target coordinate system which contain J1, J4 or J6 axes turns
counters.
Tips:
•
If Rz reaches the point 180 but does not cross it, it does not flip and stays at 180 . If Rz reaches the point -180 , it
flips to +180 .
•
If either the work frame or the tool frame offset on Rz is not 0, turns counters still increment when J6 crosses the 180
point, but Rz is flipped when J6 crosses the (180 + offset on Rz) point. In other words flip is shifted by offset on Rz as
shown. See below for details.
Rz, J6 axis position and turns counter trends and tables