Move Complete Criteria

The effect of the move complete criteria parameters can be summarized with the following equation:

Move Complete = (Profile Complete [OR Motor Off])
   [AND (Run/Stop == Stop)]
   [AND (In Position == Active) ]
   [AND (Delay == Done)]
   [AND (| position - target position | < Deadband)]
where [...] = optional criteria.

If you enable the Motor Off checkbox, any condition that causes the axis to turn its motor off (a kill or exceeding the following error limit) satisfies this basic requirement for Move Complete. In other words, either Profile Complete OR Motor Off must be True for Move Complete to be True.

The next three criteria, Run/Stop, In Position, and Delay, are optional conditions that are logically ANDed to further qualify the Move Complete status. If the Run/Stop checkbox is enabled, the axis must also be logically stopped for the move to be considered complete. This value is set with using Run/Stop Threshold in the Move Status Settings.

If the In Position checkbox is enabled, the in-position input signal is used as a criteria for move complete, and the move is only complete if the in-position signal is active.

Note  The in-position signal can only be added through MAX for NI PCI-7390 motion controllers. For NI 7330/7340/7350 controllers, use the Configure Motion I/O Map VI or function to map the in-position input to a general-purpose I/O line and the Write Trajectory Data VI or function to add this signal to the move complete criteria.

If the Delay checkbox is enabled, the axis must wait a user-defined delay after the other criteria are met before the move is considered complete. The user-defined delay is typically used to wait the mechanical settling time so that a move is not considered complete until vibrations in the mechanical system have damped out. It also can be used to compensate for PID pull-in time due to the integral term. This pull-in is typically at velocities below the Run/Stop threshold.

Finally, if the Deadband checkbox is enabled, the axis checks its final stopping position versus its target position and only sets the Move Complete status if the absolute value of the difference is less than the configured distance.

A non-zero value for Minimum Pulse guarantees the move complete status stays in the True state for at least this minimum time, even if another move starts immediately. You can use this feature to make sure the host does not miss a Move Complete status when checking for move complete status.