Siemens SIMATIC S7-1200 Manual page 236

Motion control is easy
10.5 Motion control instructions
You can create the desired movement sequence in the "Command Table" configuration
window and check the result against the graphic view in the trend diagram.
You can select the command types that are to be used for processing the command table.
Up to 32 jobs can be entered. The commands are processed in sequence.
Table 10- 26 MC_CommandTable command types
Command type
Empty
Halt
Positioning Relative
Positioning Absolute
Velocity setpoint
Wait
Separator
Prerequisites for MC_CommandTable execution:
● The technology object TO_Axis_PTO V2.0 must be correctly configured.
● The technology object TO_CommandTable_PTO must be correctly configured.
● The axis must be released.
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Description
The empty serves as a placeholder for any commands to be added. The empty entry is
ignored when the command table is processed
Pause axis.
Note: The command only takes place after a "Velocity setpoint" command.
Positions the axis based upon distance. The command moves the axis by the given
distance and velocity.
Positions the axis based upon location. The command moves the axis to the given
location, using the velocity specified.
Moves the axis at the given velocity.
Waits until the given period is over. "Wait" does not stop an active traversing motion.
Adds a "Separator" line above the selected line. The separator line allows more than one
profile to be defined in a single command table.
Easy Book
Manual, 03/2014, A5E02486774-AF