problem with move absolute

I have not downloaded the program as I do not have that amount of free time lately.

What I will say is a fairly normal way to handle power up situations and you can use that as guidance for comparison on how your process matches any of these concepts.

Often there are home limit switches and physical over travel limit switches to use at power up and to protect run-away conditions from damaging anything.

Sometimes the limit switch actuator is single sided, sometimes it is dual sided and you can hit it from either direction.  Note this takes a little more effort to work.

What I have seen a lot more is at power up, the system moves towards one overtravel limit switch, hits a home switch, stops, moves back the way it came, then slows way down for a precise homing, and moves back towards the home limit switch.  If it matters, you can do it several times to verify the home switch repeatability is sufficient for your process to operate, and if so, enable automatic mode for motion control to happen.

If you have absolute encoders, you will know where the system is even after power up, so you only have to home the system once during commissioning, or to handle drift in your process motion controls (like due to wear).

If you have normal every day encoders, you need to have a home position system, and some mechanical allowances to allow movement towards home at power up.

If you are able to keep power to your encoders, you can save some headache when control power is restored and only require homing sequencing on loss of complete power.  This is often preferred and saves so much time at startup, many customers expect or demand it.

I hope this is useful. 

engco

any comment that would help?

engco

when I cut the power of the motor then return it back it stucked at the last value without taking the new position.  I don't know how to commission it or find a solution.

engco,

When doing motion control using absolute move (MC_MoveAbsolute),
the motion needs to be homed first by MC_Home.
As you know many homing routine methods are available.

The "axis is homed" state is however lost as soon as the EN pin on MC_Power is switched off. This is can not been seen in the "actual position" reading. It only reflects in the status bit. In this case MC_Home needs to be triggered again.

To remedy this you have x3 options:
a) Do not use absolute movements
b) Do not disable MC_Power - in your case not really a problem to do so.
c) Force MC_Home to set continue from the current position.

This is in general terms part of your problem.

The other portion is hard for me to diagnose without me changing your code.

w