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Motion Control SW
6 Command Table
NOTE: The command table in the B1100 servo controllers is limited to 31 entries, and is
flash only, for this reason it is not possible to write or modify the table over a serial interface!
The command table functionality can be used for programming sequences directly in the
controller. The following examples illustrate the possibilities of the command table. The
shown command table can be loaded from the defaults ‘CT_Example.lmc’.
The first sequence ID1, ID2 and ID3 shows a simple sequence GoTo 50mm wait until motion
is completed and then go back to 0mm.
The second sequence ID5..12 repeats 5 times the Sequence GoTo 50mm GoTo 0mm
1. ID 5: Set Command Table To Var 1= 0
2. ID 6: GoTo 50mm
3. ID 7: Wait Until In Target Position
4. ID 8: GoTo 0mm
5. ID 9: Wait until Motion Done
6. ID 10: Increment Command Table Var 1
7. ID 11: If Command Table To Var 1< 5 Then GoTo ID 6 Else GoTo ID 12
8. ID 12: No Operation End of Sequence
The third sequence ID14..23 changes the maximal current of the position controller set A
(UPID 13A6), goes to 50mm wait until motion completed, tests if part is present (Act Pos <
48), goes back to 0mm, sets Normal Force (Current) and sets CT Var 1 = 0 if part was
present else set CT Var1 = 1.
Page 84/105 User Manual Motion Control SW / 07.09.2011 NTI AG / LinMot