Siemens SIMATIC S7-1200 - 10.3.8 Monitoring active commands; 10.3.8.1 Monitoring MC instructions with a Done output parameter

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
760 System Manual, V4.2, 09/2016, A5E02486680-AK
10.3.8
Monitoring active commands
10.3.8.1
Monitoring MC instructions with a "Done" output parameter
Motion control instructions with the output parameter "Done" are started by the input
parameter "Execute" and have a defined conclusion (for example, with motion control
instruction "MC_Home": Homing was successful). The task is complete and the axis is at a
standstill.
● The output parameter "Done" indicates the value TRUE, if the task has been successfully
completed.
● The output parameters "Busy", "CommandAborted", and "Error" signal that the task is still
being processed, has been aborted or an error is pending. The motion control instruction
"MC_Reset" cannot be aborted and thus has no "CommandAborted" output parameter.
– During processing of the motion control task, the output parameter "Busy" indicates
the value TRUE. If the task has been completed, aborted, or stopped by an error, the
output parameter "Busy" changes its value to FALSE. This change occurs regardless
of the signal at input parameter "Execute".
– Output parameters "Done", "CommandAborted", and "Error" indicate the value TRUE
for at least one cycle. These status messages are latched while input parameter
"Execute" is set to TRUE.
The tasks of the following motion control instructions have a defined conclusion:
● MC_Reset
● MC_Home
● MC_Halt
● MC_MoveAbsolute
● MC_MoveRelative