Technical data

Technology functions
CPU 317T: Technology Functions
6-48 A5E00251798-03
MC_MoveAbsolute - Example of "Overlay motion 3"
The signal profile below shows the "overlaying" reaction of the (Mode = 2)
"MC_MoveAbsolute" technology function with reversal.
Reversal
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. The value of destination position 1000 of the currently busy
MC_MoveAbsolute command is higher than destination position 700. The next
MC_MoveAbsolute must therefore reverse the sense of direction.
"MC_MoveAbsolute" decelerates the axis with Deceleration = 10 in order to reach
0 at destination position 1000. Completion of the command is reported with
Done_1 at FB1.
After it has reached destination position 1000, the axis decelerates (Axis_1) with
Acceleration = 10 to the final speed -30. This is a bumpless transition, as the
zoomed view shows. The axis approaches destination position 700 with
Deceleration = 10. Done_2 reports the destination position at FB2, and Busy_2 is
toggled to FALSE state.