User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
235
10.5.10
MC_CommandTable (Run axis commans as movement sequence) instruction
Table 10- 24 MC_CommandTable instruction
LAD / FBD
SCL
Description
"MC_CommandTable_DB"(
Axis:=_multi_fb_in_,
CommandTable:=_multi_fb_in_,
Execute:=_bool_in_,
StartIndex:=_uint_in_,
EndIndex:=_uint_in_,
Done=>_bool_out_,
Busy=>_bool_out_,
CommandAborted=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_,
CurrentIndex=>_uint_out_,
Code=>_word_out_);
Executes a series of individual
motions for a motor control axis
that can combine into a
movement sequence.
Individual motions are configured
in a technology object command
table for pulse train output
(TO_CommandTable_PTO).
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_CommandTable_DB " is the name of the instance DB.
Table 10- 25 Parameters for the MC_CommandTable instruction
Parameter and type
Data type
Initial value
Description
Axis
IN
TO_Axis_1
-
Axis technology object
Table
IN
TO_CommandTable_1
-
Command table technology object
Execute
IN
Bool
FALSE
Start job with rising edge
StartIndex IN Int 1 Start command table processing with this step
Limits: 1 ≤ StartIndex ≤ EndIndex
EndIndex IN Int 32 End command table processing with this step
Limits: StartIndex ≤ EndIndex ≤ 32
Done OUT Bool FALSE MC_CommandTable processing completed
successfully
Busy
OUT
Bool
FALSE
Operation in progress
CommandAborted OUT Bool FALSE The task was aborted during processing by
another task.
Error OUT Bool FALSE An error occurred during processing. The cause is
indicated by the parameters ErrorID and ErrorInfo.
ErrorID
OUT
Word
16#0000
Error identifier
ErrorInfo
OUT
Word
16#0000
Error information
Step
OUT
Int
0
Step currently in process
Code OUT Word 16#0000 User defined identifier of the step currently in
process