engco

I split the attached program as before the same method.  first part

I could control position, after moving it return home 

1- start I0.0

2- move to position by enable  I0.5 then  return to home position automatically 

3-reverse direction I0.3 and here is the problem that i am still not able to control it. 

when i press I0.3 it gives output without stoping. when i press I0.5 after I0.3 it returns to forward direction( which means that the absolute move always give its output on the forward direction) so how to use it with direction this is the missed ring. if you can connect it to me it will help me to pas this step.

Thanks for sharing the code. My comments will follow after some thoughts.

I am sorry to say I will not be able to help you for a while after this post. (sad smile) Not everywhere in the world has access to good internet all the time.

I am not the only person in this Forum able to help you. So if someone from our community kindly volunteers time to follow up on your thread.. please do give feedback in more detail. Please make it easy for them to "see" your results.

1.
MC_MoveVelocity causes speed movement in the selected direction until stopped by another command (MC_Halt or another move instruction for example). Please see my example for an idea of how to structure the speed control instruction.

The idea is to not use the MC_MoveVelocity but only the MC_MoveAbsolute instruction. The MC_MoveVelocity was your gateway for discovering how motion instruction can do a task.

2.
MC_MoveAbsolute will not work if the axis is not homed. Interlinking MC_Home and MC_MoveAbsolute as you have now is not a great idea. Code sequencing with memory bits that ensure the MC_Home is done first and then MC_MoveAbsolute.

After you used MC_Home, you do not need to call it again - unless you loose "enable" (M0.0). After the axis is homed / referenced, the MC_MoveAbsolute can move the axis as you want. Toggle between two positions can be done as:

Correction notes: Do not use M0.3 and "Toggl" should be Toggle.

3.
Be careful on how you interlink blocks to each other. Use M-flags to make coding to ensure a structure and a sequence to follow one step after another step.

I hope someone else helps you when you need help. This is not difficult to do, so you are able to get it done on your own. Good luck!

Greetings.
w

engco

Thank you for your help, but you didn't  mention how to synchronize between direction control and position control

If you are standing on absolute position 0.0 then moving to absolute 30.0 will cause a forward motion. When you are on absolute position 30.0 then asking for absolute 0.0 will cause a reverse movement.

Put my code in your program and test it and report to the forum.

FIN