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C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n
7 - 5 3
7_
7.6.3.1 Basic Rules of Executing Instructions
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Defining input and output pins
Common inputs and outputs in motion control function blocks are listed below. Usually, a function block consists
of at least one or a part of the input/output pins listed below. For example, a function block contains either
Execute or Enable input pin based on the properties of the motion control function block.
Inputs
Name Description Date Type
Setting value
(Default)
En Receiving the logic status in front of the instruction BOOL True/False (False)
Enable Enabling motion control function block BOOL True/False (False)
Execute Executing motion control function block BOOL True/False (False)
Outputs
Name Description Date Type Setting value(Default)
Eno
Transfering the input logic state of the
En
to the
next serial instruction
BOOL True/False (False)
Done The execution of the function block is completed BOOL True/False (False)
Valid The output pin value is valid BOOL True/False (False)
Busy
The motion control function block is listed for
execution
BOOL True/False (False)
Active
Axes are been controlled by function blocks BOOL True/False (False)
CommandAbort
ed(Aborted)
Aborts execution for motion control function blocks BOOL True/False (False)
Error Error occurs in function blocks BOOL True/False (False)
A motion control function block usually consists of Execute or Enable input pin and is used to either execute or
enable a motion control function block. In addition, a motion control function block has Busy and Done output pins.
The Busy and Done outputs refer to the status of motion control function blocks. When execution of motion control
function blocks can be aborted by another motion control function block, the CommandAborted/Aborted output pin
appears in the function block. Nevertheless, when Error output pin is True, this indicates error during function block
execution.
A motion control function block not only has Execute/Enable input, but also include the input value/state. The
characteristics are described below.
- Use input value
▓
When a function block contains Execute input, each input value is used once Execute input signal
changes from False to True. However, when Execute is re-triggered, input values are not updated as a result.
▓
When a function block contains Enable input, each input value is used once Enable input signal changes
from False to True. Compare to Execute input, function blocks of Enable input usually have more input values