Technical data

Technology functions
CPU 317T: Technology Functions
6-44 A5E00251798-03
MC_MoveAbsolute - Example of "Overlay motion 1"
The signal profile shown below shows the "overlaying" behavior of the technology
function "MC_MoveAbsolute" (Mode = 2) in situations where the current velocity
exceeds the new velocity.
Current velocity > new velocity
Absolute positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration ramp (Acceleration = 10.) Before it reaches the destination
position (Position = 1000), a further MC_MoveAbsolute command is started
(positive edge Exe_2 at FB2.) Busy_2 reports that the new command is busy.
The current positioning command is not canceled, but rather "overlaid" by setting
Mode = 2 at FB2. "MC_MoveAbsolute" decelerates with Deceleration = 10, so that
the final velocity 30 defined in the overlaying MC_MoveAbsolute command is
reached at destination position 1000. Completion of the command is reported with
Done_1 at FB1.
After it reaches the destination position 1000, the axis (Axis_1) continues operation
at a velocity of 30 and approaches the destination position 1500 with
Deceleration = 10. Done_2 reports the destination position, and Busy_2 is toggled
to FALSE.