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Adding a Technological object
1. In the Project tree, expand the node "Technological Objects" and select "Add new object". Select the "CommandTable" icon (rename if required), and click "OK" to open the
configuration editor for the CommandTable object. You can create the desired movement sequence in the "Command Table" configuration
window, and check the result against the graphic view in the trend diagram.
You can select the command types that are to be used for processing the command table.
Up to 32 steps can be entered. The commands are processed in sequence, easily producing
a complex motion profile. 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
distance and velocity.
Positioning Absolute Positions the axis based upon location. The command moves the axis to the given
location, 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.
In the figure below, "Command complete" is used as the transition to the next step. This type
of transition allows your device to decelerate to the start/stop speed and then accelerate
once again at the start of the next step. ① Axis decelerates to the start/stop speed between steps.
In the figure below, "Blending motion" is used as the transition to the next step. This type of
transition allows your device to maintain its velocity into the start of the next step, resulting in
a smooth transition for the device from one step to the next. Using blending can shorten the
total time required for a profile to execute completely. Without blending, the example takes
seven seconds to run. With blending, the execution time is reduced by one second to a total
of six seconds① Axis continues to move and accelerates or decelerates to the next step velocity, saving time and
mechanical wear.The operation of your CommandTable is controlled by an MC_CommandTable instruction,
as shown below:The CPU calculates motion tasks in "slices" or segments of 10 ms. As one slice is being
executed, the next slice is waiting in the queue to be executed. If you interrupt the motion
task on an axis (by executing another new motion task for that axis), the new motion task
may not be executed for a maximum of 20 ms (the remainder of the current slice plus the
queued slice). If the axis is switched off due to an error, it will be enabled again automatically after the
error has been eliminated and acknowledged. This requires that the Enable input
parameter has retained the value TRUE during this process. The MC_Power motion control instruction enables
or disables an axis. Before you can enable or
disable the axis, ensure the following conditions:
 The technology object has been configured
correctly.