Technical data

Technology functions
CPU 317T: Technology Functions
6-46 A5E00251798-03
MC_MoveAbsolute - Example of "Overlay motion 2"
The signal profile shown below shows the "overlaying" response of the technology
function "MC_MoveAbsolute" (Mode = 2) in situations where the current velocity
lower than 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 speed 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" approaches destination position 1000 at the
final speed 50 set by the first command. Done_1 reports completion of the
command at FB1.
After it has reached destination position 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to the final speed 70 set by the second command. The axis
approaches destination position 1500 with Deceleration = 10. Done_2 reports the
destination position at FB2, and Busy_2 is toggled to FALSE state.