KAS : In Position Window in PLCopen Motion

THe KAS PLCopen Motion engine has 2 parameters for monitoring if the actual motor position stays within a window after motion is complete. They are:

These parameters are accessed using the MC_WriteParam and MC_ReadBoolPar function blocks. Here is sample code:

The following scope picture is a recording of motion using the MC_MoveRelative function block and shows areas that are inside and outside the in-position window. The position window was set at 50. The relative move was from position 380 to position 880. Note the in-position monitor (parameter 1011) is only TRUE after motion is complete. The additional  sections showing  positions outsides the in-position window were created by manually moving the motor out of position after the motion command was completed and the motor commanded  position remained at 880. These out of in-position areas are when the actual position is less than  880-50.