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104 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 5 MotionView Software Configuration
Blended
If the indexing configuration Type is set to Blended, the acceleration and
deceleration parameters are not programmable. Instead, they are calculated
internally by the drive based on distance and velocity between the two points of
the move. The index table contains the position and velocities necessary to
assemble the profile.
Figure 55 - Example of Blended Indexing
Rotary Absolute
With an Rotary Absolute based move, the direction of travel depends on the
current position of the motor and is not necessarily the shortest path to the end
position. For starting positions less than the end position, within the unwind, the
result is motion in the positive direction; while starting positions greater than the
end position, within the unwind, results in motion in the negative direction.
The command position can be greater than the unwind value. Negative position
values are equivalent to their corresponding positive values and are useful when
rotating the axis through 0. For example, -90° is the same as +270°. When the
position is greater than or equal to the unwind value, the axis moves through
more than one revolution of the unwind before stopping at an absolute position.
The actual position on each revolution through the unwind will start at zero
regardless of the number of revolutions actually performed.
Rotary Absolute mode is only possible when Rotary Unwind mode is set up in
the General category.
Figure 56 - Rotary Absolute Move
IMPORTANT
The full profile is assembled by stitching together a sequence of positions and
velocities rather than complete move operations.
Position
Ve
lo
ci
ty
Index 1
Index 2
Index 3
Index 4
30°
0°
315°
225°