Step 10: Ready, axis has moved!

The axis motion is triggered by setting the value of the StartMotion variable in the function block MC_Move_Relative_1 to value TRUE. The current actual position of the axis can then be read in the “Position” variable at the FB MC_ReadActualPosition_1.

The figure below shows the state of the function blocks and variables at the end of the motion. The end of the motion is clearly visible since the “Done” variable now has the value TRUE. This output remains TRUE until a falling edge is detected at the “Execute” input. This is obtained by resetting the variable to FALSE.