[AXIS_#]WRAPPED=1 |

[AXIS_#]WRAPPED_ROTARY=1 |

* The motion is always greater than 0 degrees but never greater than 360 degrees |

* If 0 is the result of a calculation or is taken from a #-parameter (not a literal "0", "+0" or "-0"), then the sign is undefined. The equivalent +360 and -360 can be used instead. |

## 2. Open questions* Can motions of more than 360 degrees be commanded? (answer: No -- irc conversation 2009/01/16) * What does G10 L2 A- mean? * Should G91.2 modify the behavior of non-wrapped axes (my impression from Stuart --JeffEpler) or not (ChrisRadek?'s opinion) |

## 3. FAQs* Can motions of more than 360 degrees be commanded? [Yes use G91] |

* (if you think something is underspecified above, add it here) |

a + k*360(a any number, k an integer) are equivalent positions. For example, all the following rotary axis positions are equivalent:

... -1050 -690 -330 30 390 750 1110 ...

Specifies that this axis is wrapped. In this case, there are no soft limits applied to the axis. Otherwise, the normal soft limits are applied as in emc2.2. If unspecified, defaults to 0. Should only be specified for axes 3, 4, 5 (corresponding to A, B and C)

- The motion is to an angle equivalent to theta
- If the sign of the axis-word is "+", then the motion is counterclockwise
- If the sign of the axis word is "-", then the motion is clockwise
- The sign of a nonzero number (including the result of a calculation or a number takenf from a #-parameter) is "+" if the number is positive and "-" if it is negative.
- The sign of a literal "0" and "+0" is "+", and the sign of a literal "-0" is "-".

- Can motions of more than 360 degrees be commanded? [Yes use G91]
- what's shown on the DRO? (answer: position modulo 360, always nonnegative -- irc conversation 2009/01/16)