Mc_Commandtable Instruction - Siemens SIMATIC S7 System Manual

102BTechnology instructions
9.3 Basic motion control
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
9.3.2.9

MC_CommandTable instruction

Table 9- 41 MC_CommandTable instruction
LAD / FBD
STEP 7 automatically creates the DB when you insert the instruction.
1
In the SCL example, "MC_CommandTable_DB" is the name of the instance DB.
2
Table 9- 42 Parameters for the MC_CommandTable instruction
Parameter and type
Axis IN
Table IN
Execute IN
StartIndex IN
EndIndex IN
Done OUT
362
SCL
"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_);
Data type
TO_Axis_1
TO_CommandTable_1
Booll
Int
Int
Bool
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
Initial value Description
- Axis technology object
- Command table technology object
FALSE Start job with rising edge
1 Start command table processing with this step
Limits: 1 ≤ StartIndex ≤ EndIndex
32 End command table processing with this step
Limits: StartIndex ≤ EndIndex ≤ 32
FALSE MC_CommandTable processing completed
successfully
Description
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).
S7-1200 Programmable controller
System Manual, 11/2011, A5E02486680-05