750-671 [Steppercontroller]
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107
Expanded Positioning Functions
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.2.12 Expanded Positioning Functions
2.1.2.12.1
Rotary Axis
The "Rotary axis" function is activated by the parameter Rotary_Axis_Period
being written with a value other than zero. If the Rotary_Axis_Period
parameter is zero, a linear and limited movement range is assumed.
The position is repeated with a rotary axis every 2
π
or 360°. The
Rotary_Axis_Period parameter indicates how many motor steps correspond to
one rotation around the axis by 2
π
or 360.
The actual value for rotary axis is always within the range 0 …
Rotary_Axis_Period. This ensures that no internal overrun occurs with relative
motion repeated any number of times.
Parameter
Linear axis
Rotary axis
Rotary_Axis_Period
0
Microsteps per revolution > 0
Working range
Drive_Range_Neg
…
Drive_Range_Pos
Limited to Drive_Range_Neg …
Drive_Range_Pos when Drive_Range_Neg >=0
or Drive_Range_Pos < Rotary_Axis_Period,
otherwise unrestricted
Actual value
Working range
0 … Rotary_Axis_Period, periodic
Setpoint value
Working range
Absolute Positioning:
0 …
Rotary_Axis_Period
Relative Positioning:
-8388607 … 8388607.
Can be repeated any
number of times.
No internal overrun
The setpoint setting distinguishes between absolute and relative positioning.
2.1.2.12.1.1
Relative Positioning
The target position is added to the current position for relative positioning.
The "Rotary axis" mode is initially ignored during calculation of the position;
as a result, the "virtual target" may lie outside the range 0 … 2
π
. This allows
relative positioning to be performed over several revolutions. The actual
value, however, is reported only within the range 0 … 2
π
; the number of
completed revolutions can not be determined.
The direction of movement depends on the sign for the relative setpoint.
