The behavior I get is that the axis is always moving backward at the end, regardless of activation point or target position. If I do the same sequence with MLC (same velocity commands, ramps, target position) I see that the velocity ramps down from 100 RPM to 10 RPM and continues in the positive direction until it reaches the target position. The additional distance travelled, after reaching 10 RPM, could be more than 180 deg but never more than 360 deg, and never moves backwards. See examples below. This is the behavior I hope for in my use case. This could be for a printing/converting machine, or a press transfer in automotive industry, where many axis are connnected to a virtual master who has to stop from production speed to an absolute position and should not move backward in the process. Best regards, Brian
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