L_MC1P: AxisRef status 'xInPosition' is reset by the function 'xHalt' (corrected from V03.27.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.27.00
(Update via Package Manager)
Response of the new version:
The status 'Target position reached' is now also set correctly when the functions xHalt and xAbort are activated.
If the actual position does not leave the target position window, xInPosition=True remains pending, regardless of the activation of the functions xHalt and xAbort.
What happens?
The status 'Target position reached' (xInPosition=True) is falsely reset when one of the functions xHalt or xAbort is activated following a completed positioning movement.
It is expected that the status xInPosition=TRUE remains pending as long as the actual position has not left the target position window.
In fact, when xHalt or xAbort is activated, the status 'Target position reached' is reset to xInPosition=FALSE.
When does the behaviour occur?
Activation of the stop function (xHalt) or the abort function (xAbort) following a completed movement via a Move FB.
The target position of the Move FB has been reached beforehand and is
the status 'Target position reached' has been set accordingly in the AxisRef (xInPosition = TRUE).
The described behaviour does not occur if the function Quick Stop (QSP) is executed after a positioning or the controller is locked or a new positioning is executed with a Move FB.
