‘In Target’ as well as ‘Motion Ended’ status reporting for any axis
- Both single and multi-axis motion applications
A user can define TargetRadius and TargetTime parameters for each axis. When a motion has ended, and the actual position of an axis is within the defined parameter, the InTarget bit is raised.
The trajectory to a final point is calculated based on speed, acceleration and deceleration parameters configured by a user.
The same G-MAS function is used to execute both modes. The PTP motion function is fully compatible with PLCopen standards.
For purposes of a MoveAndSettle, a user can measure the actual motion time and the profiler time
Once an axis is InTarget, a Motion Ended event can be sent to a requestor.
In multi-axis applications, after all Group members are InTarget, the Group enters the InTarget state, and a Motion Ended event can be sent to a requestor.