Motion Complete (Mc) - Festo CPX Series Manual

3. Drive functions

3.1.6 Motion Complete (MC)

Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Motion Complete (MC) defines whether a positioning task is
active. Motion Complete rules:
MC = 0 is set at the start of a positioning task, and this
before ACK = 1 for:
Start record or direct mode
(position or force control)
Jog mode
Start homing
Identification and movement test.
MC = 0 is not set for:
Stop
Disable controller
MC = 1 is set:
if the MC condition for the started positioning task is
met (compare this with the list of positioning tasks
when MC = 0 is set).
if the drive has been stopped or disabled and
speed = 0.
MC is set after device has been switched on for the
first time (status Drive (controller) disabled")
In the case of force control, the breakaway force can re
sult in the MC condition possibly being met already at the
beginning of the task. Here, the criteria for the MC condi
tion can be influenced by the monitoring time, tolerance,
and other parameters.
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