User guide

3. Drive functions
3−17
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
3.1.6 Motion Complete (MC)
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.