The absolute movement is started every time the configured event occurs. If this happens while a movement is already in progress, the event will be rejected. If the "PositionParID" input is not used, this mode functions like "mcONCE" mode since a new target position can only be specified by a new rising edge of the "Execute" input.
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 first event on the drive starts a movement to the specified position. The event marked in green above causes the "WaitingForEvent" output to be reset temporarily since the drive is executing a "movement". Since no new target position is specified in this case, no actual movement is performed (target position = current position). The duration of this phase depends on the task class cycle time and the amount of any configured cyclic data.
The next rising edge of the "Execute" input specifies a new target position and new movement parameters, which will then be used after the next event. The two events marked in red above are ignored. The first of the two is not used because all events are rejected while a movement is active in this mode. The second is ignored because function block execution 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 movement parameters, etc. are specified on the first rising edge of the "Execute" input. The "WaitingForEvent" output is set to TRUE as soon as everything is configured and the drive accepts an event.
The subsequent events on the drive start a movement to the position that corresponds to the value of the ACOPOS ParID specified on the "PositionParID" function block input.
The next rising edge of the "Execute" input specifies new movement parameters, which will then be used after the next event.
The two events marked in red above are ignored. The first of the two is not used because events are rejected while a movement is active in this mode. The second is ignored because function block execution was aborted by calling an MC_Stop function block.