I have been using this last suggestion for about a year. I set the drive up in such a way that 1mm of travel is 1deg of travel. The axis is setup as linear and so is the drive. I set the modulo for each at 360mm and I convert RPM commands to mm/min commands in the PLC application. For example, 10rpm = 3600 mm/min. This works ok but I still often need to make the commands independently because 3600mm/min on the rotary axis is not fast enough for my other axes which run much faster.
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