MC_Move......Done

The successful completion of an axis move command is indicated by the “Done” signal of the corresponding function block. There are three conditions checked to indicate the successful completion of a move command. The first thing verified in order to set MC_Move…Done to TRUE is the flag AxisHasJob. If the option Position Range Monitoring AND/OR the option Target Position Monitoring in Global section of corresponding axis parameter is set to TRUE then the flags AxisInPositionWindow and AxisIsAtTargetPosition are checked respectively for their TRUE status, provided AxisHasJob has had a transition from TRUE to FALSE.

In short, the possible combinations checked for a successful completion of a move command are

  1. If Position Range Monitoring = TRUE and Target Position Monitoring = TRUE, then the condition checked for is FALSE status of AxisHasJob AND TRUE status of AxisIsAtTargetPosition (implicit checking for TRUE status of AxisInPositionWindow)
  2. If Position Range Monitoring = TRUE and Target Position Monitoring = FALSE, then the conidtion checked for is FALSE status of  AxisHasJob AND TRUE status of AxisInPositionWindow
  3. If Position Range Monitoring = FALSE and Target Position Monitoring = FALSE, then the condition checked for is FALSE status of AxisHasJob

NOTE:

Position Range Monitoring and Target Position Monitoring are options in TwinCAT System Manager in the Global section of the corresponding axis parameters.

 

The figures below depict the behaviour of MC_Move...Done signal based on different types of MC_Move...Execute signal. The sequence designed here consists of two consecutive move commands.

In the following figure, MC_Move...Execute is set TRUE throughout the positioning period of the axis and is set to FALSE only when MC_Move...Done signal is seen to be TRUE. The MC_Move...Done remains TRUE untill MC_Move...Execute is TRUE indicating that the command has been successfully completed.

MC_Move......Done 1:

 

In the following figure the MC_Move...Execute remains TRUE only for first few cycles after the positioning command for an axis is issued. The MC_Move...Done remains TRUE for one cycle indicating that the command has been successfully completed.

MC_Move......Done 2: