Siemens 6AV6651-7KA01-3AA4 - S7-1200 + KTP400 Basic Starter Kit 6AV6651-7KA01-3AA4 사용자 설명서
제품 코드
6AV6651-7KA01-3AA4
Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
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
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
Limits: 1 ≤ StartIndex ≤ EndIndex
EndIndex
IN
Int
32
End command table processing with this step
Limits: StartIndex ≤ EndIndex ≤ 32
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