Finish Positioning (continuing an aborted positioning process)

This status enables the continuation of an aborted positioning process ( MoveAbsolut or MoveRelative ) to the target position preselected.

An aborted positioning process can only be continued from the "Standstill" axis status.

If no positioning process has been aborted before starting FinishPositioning , or if no valid target position is known, the xDone output is set immediately and no movement is executed.

In the FinishPositioning status, the following actions are executed:

Generation of the motion profile for the FinishPositioning function to the target position that has been valid last.

Modulo axes and linear axes are supported.

If the xContinuousUpdate input is set, the profile is recalculated if the lrVel , lrAcc , lrDec or lrJerk input is changed after the start.

Inputs for this operating mode

Name Data type	Information/possible settings
xFinishPositioning BOOL	FALSE Ã¤ TRUE	Activate relative positioning. Cancellation of the function via the xAbort , xHalt or xQspApplication input.
xContinuousUpdate BOOL	TRUE	Inputs lrPos_Dist , lrVel , lrAcc , lrDec and lrJerk are checked cyclically with regard to changes and are accepted, Control input ContinuousUpdate
lrVel LREAL	Velocity in [unit/s] Specification of the maximum velocity at which positioning is to be carried out. Only positive values permissible.
lrAcc LREAL	Acceleration in [unit/s ² ] Specification of the maximum velocity variation which is to be used for acceleration. Only values higher than 0 are permissible.
lrDec LREAL	Deceleration in [unit/s ² ] Specification of the velocity variation which is to be used for maximum deceleration to standstill. Only values higher than 0 are permissible.
lrJerk LREAL	Jerk in [unit/s ³ ] Only positive values permissible. With the value 0, the jerk defined in the axis data (subindex 43 ) is used. If this jerk is not defined, linear ramps are used for traversing.

Outputs for this operating mode

Name Data type	Value/meaning
lrActPos LREAL	Current position in [unit]
lrActVel LREAL	Current velocity in [unit/s]
lrActFollowingError LREAL	Current following error in [unit]
lrSetPosOut LREAL	Setpoint position in [unit]
lrSetVelOut LREAL	Setpoint velocity in [unit/s]
xConstantVelocity BOOL	TRUE	The speed specified lrVel has been reached for the first time.
xAccelerating BOOL	TRUE	Axis is accelerated. (Increase in the speed value.)
xDecelerating BOOL	TRUE	Axis is decelerated/braked. (Decrease in the speed value.)
xDirectionPositive BOOL	TRUE	Axis traverses in positive direction.
xDirectionNegative BOOL	TRUE	Axis traverses in negative direction.
xInPosition BOOL	TRUE	Target position reached The behaviour of the output can be parameterised via the parameters in the Axis Ref subindex 130 and 131.