AKD DRV.MOTIONSTAT Bits 11 and 15

Bits 11 “Motion task target position reached” and Bit 15 “Drive actual position is within the motion task target position window MT.POSWND” in the DRV.MOTIONSTAT are very similar.

To clarify behavior, the bits in DRV.MOTIONSTAT (links point to AKD Online Help in a new window) work as follows:

• Bit 11 will be set be set after the motion task has finished it’s “trajectory” AND the actual position is within the motion task target position window (MT.TPOSWND).
• Bit 15 will be set if the actual position is within the motion task target position window (MT.POSWND). The difference is that Bit 15 does not wait until trajectory complete.