Hello,

I have an issue with an axis controlled by the Siemens library block LAxisCtrl_PosAxis.

I am trying to move an arm of a cup bacwards and forwards, so rotary motion.

Jog and homing are ok, but when I try to command the axis to a negative AbsolutePos it just goes forwards. Already tried giving it negative speed in the parameters and it just went forwards (clockwise) at full speed. Any tips? The arm is composed of two sinchronous motors with enchoder controlled by an S120, one for the rotation of the arm, on for the rotation of a cup mounted at the end of said arm.

The rotation is set from -180° to 180° (modulo start at -180° and length 360°.

Hello,

LAxisCtrl_PosAxis block has input structure LAxisCtrl_typeAxisConfig for axis configuration.It include configuration for absolute positioning in structure LAxisCtrl_typePosAbsolute.

Check the setting for direction parameter, which is set to 1 : positive as default. You can change it to 2 : negative or 3 : shortest way.

Yuu can find it in manual for LAXISCtrl library.

With regards

Martin