Command Status Follow-Up
Original instructions
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Description
There are two ways for the user to get the information about the status of a command:
Representation in FBD
Representation:
NOTE: The command status follow-up is the only PTO function which doesn’t need to be enabled (via EN input) in FBD representation.
NOTICE
UNINTENDED EQUIPMENT OPERATION
Link the motion bloc output to the CMB_NB input of the CMB_status DFB through an intermediate static byte value.
Failure to follow these instructions can result in equipment damage.
Representation in LD
Representation:
Representation in IL
Representation: 
CAL FBI_x (Channel := (*T_PTO_BMX*), Cmd_Nb := (*BYTE*), Done => (*BOOL*), Busy => (*BOOL*), Active => (*BOOL*), CommandAborted => (*BOOL*), Error => (*BOOL*))
where x is a number.
Representation in ST
Representation: 
FBI_x (Channel := (*T_PTO_BMX*), Cmd_Nb := (*BYTE*), Done => (*BOOL*), Busy => (*BOOL*), Active => (*BOOL*), CommandAborted => (*BOOL*),Error => (*BOOL*));
where x is a number.
Input/Output Description
Inputs description:
Name
Type
Description
Channel
T_PTO_BMX
The IODDT of the PTO channel to which the command has been sent. This pin is also repeated as an output of the block.
Cmd_Nb
BYTE
The number of the command.
This object corresponds either to:
  • The output of a PTO EF
  • The CMD_SENT_NB (%MWr.m.c.13) object – converted to BYTE type - after use of the WRITE_CMD instruction.
Outputs description:
Name
Type
Description
Done
BOOL
The command has been executed and completed successfully
Busy
BOOL
The command has been accepted by the PTO channel but is not completed yet.
Active
BOOL
The command is being executed.
CommandAborted
BOOL
The command has been aborted before completion.
Error
BOOL
An error has been detected before the command completion.
The boolean outputs "Done", "Busy", "CommandAborted" and "Error" indicate the current status of the command. As required by the PLCopen standard, these outputs are mutually exclusive: only one will be set TRUE at a given time.
NOTE: If Cmd_Nb is different from 0, at least one of these outputs will be TRUE, except during one PLC cycle when all outputs will be FALSE, immediatly after the Cmb_Nb input value is modified.
For buffered commands:
For non-buffered commands, the values for Active and Busy are TRUE when the command is being executed.
NOTE: The DFB outputs will remain unchanged as long as there is no change in the status of the specified command or up to the moment the command number is re-used by another command. If, after a periode of time a new command is sent that has the same command number, the outputs of the DFB will then change to reflect the status of this new command.