Execution Order of Movement Function Blocks
When buffered movements or blending movements are commanded, the function block instance that commands the subsequent movement must not be executed earlier than the function block instance that commanded the previous movement.
If this order is violated, then the new error SMC_FB_WASNT_CALLED_DURING_MOTION is reported and the axis switches to the state Errorstop.
Example 10. Example
movement1(); movement2();
Procedure. Correct execution order
Execution of
movement1()Execution of
movement2()as soon asmovement1()is active
Procedure. Invalid execution order
Execution of
movement2()Execution of
movement1()as soon asmovement2()is active
This results in the SMC_MOVING_WITHOUT_ACTIVE_MOVEMENT error.