Move Done Criteria
Move Done status is used to determine when the All Systems Go-Position
signal should be asserted at the HLFB output. The Move Done Criteria
consist of two parameters: the “In-Range Window” and the “Verify Time”.
These parameters are explained in the screen capture, taken from MSP,
below.
Move Done Criteria Setup
How Move Done Works
Move Done status is achieved when the Move Done criteria are met. In the
above figure, Move Done occurs when the motor is within +/-10 encoder
counts of the commanded position (the In-Range Window) for a
minimum of 10.1 milliseconds (the Verify Time).
Note: If the encoder leaves the In-Range window during the time
qualification period, the Move Done timer automatically resets. The timer
will begin a fresh countdown as soon as the motor comes back in range.
Because encoder resolution, mechanical systems, and settling
performance requirements vary by application, you may need to
15 10 5 0 5 10 15
Move Direction
Encoder Scale
(1 line = 1 count)
Commanded Position (0) Actual Position (count 5)
In-Range Window +/- 10 counts
ENCODER