Determining When Motion is Complete

The Done output on MC_MoveRelative, MC_MoveAbsolute, MC_Stop, MC_StepLimitSwitch, and MC_StepRefPulse, indicates that the controllers motion profiler has completed the calculations for the move as specified by the function block inputs. The axis may physically be in motion and still settling on the final commanded position based on tuning parameters, load inertia, friction, and other factors. To determine when the actual motion has reached the commanded position, use the P_SET Global variable.

Note that P_SET will be ON any time the actual position is within a certain distance of the commanded position, as specified by Servopack Pn 522, so it is recommended to use P_SET in conjunction with the Done out of a motion function block.