Standard sequence of a travel command

The “normally” sequence of a travel command is shown in the following flow diagram.
Coarse distinction is made between these four stages:

StartUp:

Test the system and the ready status of the motor.

Start positioning:

Write all variables and calculate the desired target position with the appropriate “Start type”. Subsequently, start the travel command.

Evaluate status:

Monitor the terminal state and, if necessary, dynamically change the target position.

Error handling:

In case of error, procure the necessary information from the CoE and evaluate it.