Chapter 7 Motion Control Programming Whether the current instruction execution has been completed or not depends on the completion output parameter of the instruction. As the completion output parameter is TRUE, it indicates that the instruction execution is completed and the buffered instruction execution starts. See the completion output parameters of instructions in the following table so as to judge the instruction execution state in a buffer mode. 7_ 7.7 Execution of Function Block Instructions The execution of the motion control instrucitons is controlled by the input parameters, and the status and execution results are indicated on the outputs.
This section introduces the definition and function of the common interface of function block instructions. 7.7.1 The Interface of a Motion Control Function Block Common inputs and outputs in motion control function blocks are listed below. A function block has one or a part of the inputs/outputs listed below. For example, a function block has either the Execute input or the Enable input, based on the properties of the motion control function block. 7-17 Instruction name Is it a buffered Can it be followed by a Completion output instruction? buffered instruction?
parameter of an (Yes or No) (Yes or No) instruction MC MoveAbsolute _ Yes Yes Done MC MoveRelative _ Yes Yes Done MC MoveAdditive _ Yes Yes Done MC MoveSuperImposed _ No No —— MC MoveVelocity _ Yes Yes InVelocity MC Home _ No Yes Done MC Stop _ No Yes Done=True and Execute=False MC Halt _ Yes Yes Done MC TorqueControl _ Yes Only for MC TorqueControl/MC Halt _ _ InTorque MC Power _ No Yes Status MC HalfSuperimposed _ No No —— MC CamIn _ Yes Yes EndOfProfile MC GearOut _ No Yes Done MC GearIn _ Yes Yes InGear MC GearOut _ No Yes Done MC PhasingAbsolute _ Yes Only for MC PhasingAbsolute/ _ MC PhasingRelative _ Done MC PhasingRelative _ Yes Only for MC PhasingAbsolute/ _ MC PhasingRelative _ Done MC VelocityControl _ Yes Only for MC VelocityControl/MC Halt InVelocity