MC_CommandTable: Run axis commands as motion sequence V4...5 (S7-1200) - Motion Control

S7-1200 Motion Control (S7-1200)
ft:publication_title
S7-1200 Motion Control (S7-1200)
Product
Motion Control
Version
V20
Publication date
11/2024
Language
en-US
MC_CommandTable: Run axis commands as motion sequence V4...5

Description

The Motion Control instruction "MC_CommandTable" combines multiple individual axis control commands in one movement sequence. "MC_CommandTable" is available for axes with drive connection via PTO (Pulse Train Output).

Requirements

  • The positioning axis technology object has been inserted and correctly configured.

  • The drive is connected via PTO (Pulse Train Output).

  • The command table technology object has been inserted and correctly configured.

  • The axis is enabled.

Override response

The MC_CommandTable command can be aborted by the following Motion Control commands:

  • MC_Home command Mode = 3

  • MC_Halt command

  • MC_MoveAbsolute command

  • MC_MoveRelative command

  • MC_MoveVelocity command

  • MC_MoveJog command

  • MC_CommandTable command

The new MC_CommandTable command aborts the following active Motion Control commands:

  • MC_Home command Mode = 3

  • MC_Halt command

  • MC_MoveAbsolute command

  • MC_MoveRelative command

  • MC_MoveVelocity command

  • MC_MoveJog command

  • MC_CommandTable command

The active Motion Control command is canceled by the start of the first "Positioning Relative", "Positioning Absolute", "Velocity set point" or "Halt" command.

Parameters

Parameter

Declaration

Data type

Default value

Description

Axis

INPUT

TO_SpeedAxis

-

Axis technology object

CommandTable

INPUT

TO_CommandTable

-

Command table technology object

Execute

INPUT

BOOL

FALSE

Command table start with positive edge

StartStep

INPUT

INT

1

Defines the step at which the execution of the command table should begin

Limit values:

1 ≤ StartStep ≤ EndStep

EndStep

INPUT

INT

32

Defines the step up to which the execution of command table should take place

Limit values:

StartStep ≤ EndStep ≤ 32

Done

OUTPUT

BOOL

FALSE

TRUE

Command table has been successfully executed

Busy

OUTPU

BOOL

FALSE

TRUE

The command table is being executed

CommandAborted

OUTPUT

BOOL

FALSE

TRUE

The command table was canceled by another command.

Error

OUTPUT

BOOL

FALSE

TRUE

An error occurred during execution of the command table. The cause of the error can be found in parameters "ErrorID" and "ErrorInfo".

ErrorID

OUTPUT

WORD

16#0000

Error ID for parameter "Error"

ErrorInfo

OUTPUT

WORD

16#0000

Error info ID for parameter "ErrorID"

CurrentStep

OUTPUT

INT

0

Step in command table currently being executed

StepCode

OUTPUT

WORD

16#0000

User-defined numerical value / bit pattern of the step currently being executed