Chapter 7 Motion Control Programming - An input value exceeds a range. After a motion control function block is started, the input values which are not in ranges allowed will be limited, or result in an error occurring in the motion control function block. If an error occurring in a motion control function block results in an error occurring in an axis, the motion control function block is applied incorrectly. You should prevent incorrect values from being generated in an applied program. - Outputs are mutually exclusive .
If the a motion control function block has an Execute input which is set to True, either the Busy output, the Done If the a motion control function block has an Enable input, the Valid output and the Error output are mutually output, the CommandAborted / Aborted output, or the Error output can be set to True. exclusive, and only the Valid output or the Error output can be set to True.
- Time when output data/states are valid If the input that a motion control function block has is the Execute input, the Done output, the Error output, the CommandAborted output, and data output are reset when there is a transition in the Execute input’s signal from high to low, but the execution of the function block does not stop when there is a transition in the Execute input’s signal from high to low. Even if the Execute input in a motion control function block is reset before the execution of the motion control function block is complete, output states will still be generated and retained for one cycle.
If a motion control function block is started again before the execution of the motion control function block is complete, the motion control function block will not give feedback to the Done output and the CommandAborted output, and an error will occur. If the input that a motion control function block has is the Enable input, the Valid output, the Busy output, and the Error output are reset when there is a transition in the Enable input’s signal from high to low. (MC_Power has different behaviors on the inputs and outputs, refer to MC_Power for details.) - Characteristic of the Done output executed successfully.
The Done output in a motion control function block will be set to True after the motion control function block is - Characteristic of the Busy output If the input that a motion control function block has is the Execute input, the motion control function block uses the Busy output to indicate that the execution of the motion control function block is not complete, and new output states (values) are expected to be generated. The Busy output is set to True when there is a transition in output are set to True, the Busy output are reset. the Execute input’s signal from low to high.
When the Done output, the CommandAborted output, and the Error If the input that a motion control function block has is the Enable input, the motion control function block uses the Busy output to indicate that the execution of the motion control function block is not complete, and new output states (values) are expected to be generated. The Busy output in a motion control function block is set to 7_ True when there is a transition in the Enable input’s signal from low to high, and is set to True when the motion control function block is executed. When the Busy output is set to True, output states (values) still change.
- Characteristic of the CommandAborted output The CommandAborted output in a motion control function block is set to True when the execution of the motion control function block is interrupted by a command. - Relation between the Enable input and the Valid output If the input that a motion control function block has is the Enable input, the motion control function block uses the Valid output to indicate whether output data/states are valid. The Valid output is set to True only when the Enable input is set to true and output data/state are valid. If an error occurs in a motion control function block, output data/states will 7-19