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Hello experts,
need some help in writing a logic for
PTO
 application where i want to run a servo motor having incremental encoder.
for my project, i have cpu 1215c dc/dc/dc FW 4.0, and hmi ktp 700, TIA PORTAL V13.
i want to run the servo motor in a cycle , when  push button [cycle start]  is pressed. 
example:
i have a start point A [home position] and an end point D [ final position].
motor has to travel A to D , suppose 1000 pulses overall.
1). now i want motor to travel the path, in 3 different speed and different no. of pulses.
start from home A  travel till B suppose 500 pulses say speed x
                   from  B to C  say 300 pulses with speed y
                   from C to D [final point] say rest 200 pulses with speed z.
after it reaches the final position there is a delay of say 10 seconds and then it moves back to its home position [A] with full speed.
2). if cycle return is pressed when motor is already moving forward or it is reversing as per the cycle and  say it has travel some number of pulses be it is moving forward of backward,  it must moves back to home positon [A]  exactly.
3). if motor is moving forward or reverse, and power goes down, so when power comes back,  on pressing the reference command (from hmi or push button) it must go to its home [A] exactly.
any help is greatly appreciated.
regards,