Siemens SIMATIC S7-1200 - Page 753

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
System Manual, V4.2, 09/2016, A5E02486680-AK
753
Table 10- 74 MC_CommandTable command types
Command type
Description
Empty The empty serves as a placeholder for any commands to be added. The empty entry is
ignored when the command table is processed
Halt Pause axis.
Note: The command only takes place after a "Velocity setpoint" command.
Positioning Relative Positions the axis based upon distance. The command moves the axis by the given dis-
tance and velocity.
Positioning Absolute Positions the axis based upon location. The command moves the axis to the given loca-
tion, using the velocity specified.
Velocity setpoint
Moves the axis at the given velocity.
Wait
Waits until the given period is over. "Wait" does not stop an active traversing motion.
Separator Adds a "Separator" line above the selected line. The separator line allows more than one
profile to be defined in a single command table.
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.
Override response
The MC_CommandTable task can be
aborted by the following motion control
tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
MC_CommandTable
The new MC_CommandTable task aborts the
following active motion control tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
MC_CommandTable
•
The current motion control job with the
launch of the first "Positioning Relative",
"Positioning Absolute", "Velocity setpoint"
or "Halt" command