ET_PositioningMode - General Information
Relative
Relative motion without period
The axis is on the position 100.
You would like to move +50 units. -> The axis moves forwards to the position 150.
You would like to move -50 units. -> The axis moves backwards to the position 50.
Relative motion with period (endless behavior)
The axis has a period 0...360 degrees.
The axis is on the position 200.
You would like to move by +250 degrees. -> The axis moves forwards to the position 90.
You would like to move by -250 degrees. -> The axis moves backwards to the position 310.
Absolute
Absolute motion without period
The axis is on the position 100.
You would like to move to the position 150. -> The axis moves forwards to the position 150.
You would like to move to the position 50. -> The axis moves backwards to the position 50.
Absolute motion with period (endless behavior)
The axis has a period 0...360 degrees.
The axis is on the position 100.
You would like to move forwards to the position 400. -> The axis moves forwards to the position 40.
You would like to move backwards to the position -40. -> The axis moves backwards to the position 320.
PeriodicShort
The positioning mode PeriodicShort calculates and uses the shortest distance between a start position and a target position for synchronous and asynchronous movements of a periodic auxiliary axis.
The target position is calculated into the period of the axis. The resulting position replaces the target position transferred by you.
The selected axis must have a period length > 0.0 configured.
Since the orientation (SCARA) is not periodic, the positioning mode PeriodicShort is not available for calls of the method MoveSync() and MoveASync() with the input i_etComponent = ET_RobotComponent.OrientationX...ET_RobotComponent.OrientationZ.
PeriodicShort results in a forward movement (PeriodicShort versus Absolute)
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PeriodicShort results in a backward movement (PeriodicShort versus Absolute)
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