Phases:

•The state of the micro is read in order to define the sign of the movement speed.
Assuming parameter zcFlag.0 = 0, since if the axis is in zone A the velocity contained in parameter velPos will be assumed positive.

•Preliminary Mission 1: The axis moves at the velocity (+velPos) until it encounters the rising edge of the micro, then decelerates and stops at position P1.

•Preliminary Mission 2: The axis moves at the speed (-velPos) until it encounters the falling edge of the micro, then decelerates and stops at position P2.

•Final Mission (CYCLE0): The axis performs the final movement with a maximum stroke equal to the value of the spSch parameter, with the new speed set (+velZc).
When the first CH0 encoder is found with the micro in 1, the mission is stopped and the axis stops in PF.

•The new actual real position is assigned by the value obtained by summing the delta position (PF-quote read on the first CH0 encoder with the micro in 1) to the Preset parameter.

•The predefined variable c0_done is updated by setting to 1 the axis bit.

Legend:

•A, area where the micro reads 0

•B, area where the micro reads 1

•PS, initial start point for mva_zc()

•PF, target stop point for mva_zc()

•P1, intermediate point 1

•P2, intermediate point 2

•Qmin, axis minimum position

•Qmax, axis maximum position

•CH0, 0 channel of the incremental encoder

Phases:

•The state of the micro is read in order to define the sign of the movement speed.
Assuming parameter zcFlag.0 = 0, since if the axis is in zone A the velocity contained in parameter velPos will be assumed negative.

•Preliminary Mission 1: The axis moves at the velocity (-velPos) until it encounters the falling edge of the micro, then decelerates and stops at position P1.

•Final Mission (CYCLE0): The axis performs the final movement with a maximum stroke equal to the value of the spSch parameter, with the new speed set (+velZc).
When the first CH0 encoder is found with the micro in 1, the mission is stopped and the axis stops in PF.

•The new actual real position is assigned by the value obtained by summing the delta position (PF-quote read on the first CH0 encoder with the micro in 1) to the Preset parameter.

•The predefined variable c0_done is updated by setting to 1 the axis bit.

Legend:

•A, area where the micro reads 0

•B, area where the micro reads 1

•PS, initial start point for mva_zc()

•PF, target stop point for mva_zc()

•P1, intermediate point 1

•P2, intermediate point 2

•Qmin, axis minimum position

•Qmax, axis maximum position

•CH0, 0 channel of the incremental encoder