The absolute movement is started each time the configured event occurs. If this happens while the movement is already in progress, the event is taken into account in principle. Whether or not the current movement is affected depends on the parameter settings. If the absolute position can still be reached within the current period with the current speed and acceleration settings, then the event has no effect. If the position cannot be reached until the next period, the movement will take longer.
Example without using "PositionParID" ("Execute" only set for one cycle):
The first rising edge of the "Execute" input specifies a target position, movement parameters, etc. The "WaitingForEvent" output is set to TRUE as soon as everything is configured and the drive accepts an event.
The next two rising edges of the "Execute" input change the absolute target position and the movement parameters.
The first two events on the drive each start a movement to the specified position. The first of the two events marked in green occurs shortly before the deceleration ramp (see green speed curve). This prolongs the movement by a period. The second of the events marked in green occurs earlier in the period and does not prolong the movement. The event marked in red is ignored because the function block was aborted by calling an MC_Stop function block.
Example without using "PositionParID" ("Execute" remains set):
The only difference from the previous example is that the "Execute" input remains set for longer than one task cycle here. This affects the "InPosition" and "CommandAborted" outputs.
Example using "PositionParID" ("Execute" set for only one cycle):
The behavior is identical to that in the example for mode mcCYCLIC. The difference is that any event that occurs – even when a movement is already active – allows movement towards a new target position (see event marked in green).