A user can monitor variables or scope function via software to check the status of the digital output (DO), MC_OK (DO code is 0x17). Please note that DO: MC_OK is available in PR mode only. It cannot be activated in other control modes. When DO: CMD_OK is triggered, it indicates that the PR command is complete (use CMD_OK to detect if the internal position command is complete). At this time, DO: TPOS activates to indicate that the target position is reached. Then, DO: MC_OK becomes ON to show the position command has output and the positioning is complete. Sometimes DO: TPOS is activated even when the PR command is not delivered. At this time, the positioning is not yet complete. This will cause the system to take the wrong action. If DO: MC_OK is used, it ensures the position command actually executes and the target position is reached. Timing chart: