102BTechnology instructions
9.3 Basic motion control
S7-1200 Programmable controller
362
System Manual, 11/2011, A5E02486680-05
Override response
The MC_MoveJog task can be aborted by
the following motion control tasks:
MC_Home Mode = 3
MC_Halt
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
The new MC_MoveJog task aborts the
following active motion control tasks:
MC_Home Mode = 3
MC_Halt
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
9.3.2.9
MC_CommandTable instruction
Table 9- 41 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 9- 42 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
Booll
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
