Technical data

Technology functions
CPU 317T: Technology Functions
6-42 A5E00251798-03
MC_MoveAbsolute - Example of "Append motion"
The signal profile below shows the "appending" reaction of the (Mode = 1)
"MC_MoveAbsolute" technology function.
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 aborted, but rather "appended" by setting
Mode = 1 at FB2. "MC_MoveAbsolute" decelerates the axis with Deceleration = 10,
and then approaches the destination position 1000, According to the initiated
command. Completion of the command is reported with Done_1.
When the destination position 1000 is reached, the system appends the second
MC_MoveAbsolute command for immediate execution without time gap (see the
zoom view.) The axis (Axis_1) approaches the destination position 1500, based on
the default acceleration and deceleration values. Done_2 outputs a message when
the destination position is reached, and Busy_2 is toggled to FALSE.