Transitions Between Function Blocks
This table presents how the execution of a function block (function block 1) can be terminated by another function block (function block 2).
|
Function block 1 |
Function block 2 |
||||
|
MC_Jog |
MC_Home |
MC_MoveAbsolute |
MC_MoveAdditive |
MC_MoveRelative |
|
|
MC_Jog |
Immediately |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_Home |
Not permitted |
Not permitted |
Not permitted |
Not permitted |
Not permitted |
|
MC_MoveAbsolute |
Motor standstill |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_MoveAdditive |
Motor standstill |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_MoveRelative |
Motor standstill |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_MoveVelocity |
Motor standstill |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_TorqueControl |
Motor standstill |
Not permitted |
Immediately |
Immediately |
Immediately |
|
MC_Stop |
Not permitted |
Not permitted |
Not permitted |
Not permitted |
Not permitted |
|
MC_Halt |
Motor standstill |
Not permitted |
Not permitted |
Not permitted |
Not permitted |
|
Function block 1 |
Function block 2 |
|||
|
MC_MoveVelocity |
MC_TorqueControl |
MC_Stop |
MC_Halt |
|
|
MC_Jog |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_Home |
Not permitted |
Not permitted |
Immediately |
Not permitted |
|
MC_MoveAbsolute |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_MoveAdditive |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_MoveRelative |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_MoveVelocity |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_TorqueControl |
Immediately |
Immediately |
Immediately |
Immediately |
|
MC_Stop |
Not permitted |
Not permitted |
Immediately |
Not permitted |
|
MC_Halt |
Not permitted |
Not permitted |
Immediately |
Immediately |
The execution of function block 2 is started on the fly, that is, without delay. The execution of function block 1 is aborted.
|
Function block 1 (MC_MoveAbsolute) starts at position 0 |
oPosition = 100 oVelocity = 1000 |
|
Function block 2 (MC_MoveVelocity) starts at position 60 |
Velocity = 2000 |
The execution of function block 2 first decelerates the motor to a standstill with the adjusted deceleration ramp. The execution of function block 1 is aborted thereafter. The movement as per function block 2 starts as soon as the motor has come to a standstill.
|
Function block 1 (MC_MoveVelocity) starts at position 0 |
Velocity = 1000 |
|
Function block 2 (MC_MoveAbsolute) starts at position 100 |
oPosition = 400 oVelocity = 2000 |
Function block 1 cannot be aborted by the new function block. Function block 2 is not executed.
