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Programming

CPU 317T: Technology Functions

5-10 A5E00251798-03

Commands without defined termination

These commands can not report completion and thus do not have an output

parameter Done. Instead, they return a status message to indicate the first time the

required operating state has been reached. If the axis is to be accelerated to a

certain velocity, for example, the output parameter InVelocity (FB

MC_MoveVelocity) is set to indicate the first time this velocity has been reached.

The command continues to be processed, and the FB outputs will be updated until

the command is overridden or if an error occurs. The status of the technology

function then changes and CommandAborted is set TRUE.

Overriding commands with the same FB

The application may require the override of a busy command with a command of

the same type, e.g. positioning to 200 overrides positioning to 100. In this case,

use a FB that has a different instance DB compared to the command you want to

override. Otherwise, the busy ("old") command can no longer be monitored at the

FB outputs. This may present a problem, in particular if the start of the new

command is prevented as a result of error.

Each one of the instance DBs has its own input buffer. If commands with the same

instance DB follow in rapid succession, a consistency problem may develop in the

input buffer. New commands are thus rejected with error (0x804C) as long as the

input buffer is busy. In this case, it is also no longer possible to monitor the

command based on the FB outputs.

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