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IP 240
10.4.2 Rotary Axis
In the case of a rotary axis, the traverse path is closed and is not limited. A revolution can comprise
a maximum of 9,999,999 increments.
The rotary axis is defined by the following values:
•
The initial value of the rotary axis is always "0".
•
The final value of the rotary axis points to the same position as the initial value. It must be
assigned in the configuration of the IP 240 and may lie between +1 and +9,999,999.
•
The maximum counting value marks the highest displayable value. It is the result of:
maximum counting value of the rotary axis = final value -1
All positioning values must lie between "0" and [final value - 1]
Positioning with ascending actual value (positive direction)
If the actual value reaches the maximum counting value for the rotary axis, the count is continued
with actual value "0".
Positioning with descending actual value (negative direction):
If the actual value reaches "0", counting is continued with the maximum counting value for the
rotary axis.
Example:
Assuming a final value of 3600, the counting sequence is as follows:
- positive direction:
- negative direction:
Half of the final value is permitted as maximum distance for ranges BEE1 to BEE3, but may not
exceed 999,999 increments (distance for range BEE1 0.5·[final value for the rotary axis]).
To offset the zero point, you can specify a positive or negative zero offset (NVER). However, the
zero offset value may not exceed the final value specified for the rotary axis (NVER +/- [final
value for the rotary axis]).
Beginning and end of the rotary axis
9,999,999
0
Warning
When a position has been selected, the IP 240 always chooses the direction of
travel so as to reach the new setpoint over the shortest possible path. It bases its
choices on the assumption that the component to be positioned can be rotated
without restriction in both directions. If there is a restriction (such as the length of
a cable), the IP 240 must be configured for a linear axis.
EWA 4NEB 811 6120-02a
...
3597
...
3
1
Rotating table
Fig. 10-11. Rotary Axis
3598
3599 0
1
2
1
0
3599 3598 3597 ...
Endless conveyor belt
9,999,899
100
0
Beginning/end
Positioning
2
3
...
10-15
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