Answer: The internal buffer currently contains 15 movements. When a movement is accepted, it is stored in this buffer. Aborting movements and stop/stops are handled separately.
In this case, you can continue to call the motion functionblock in the next cycles, until it returns 'CommandAccepted'. |
Answer: MC_WriteParameter is used for writing SoftMotion parameters, which are different from SoE objects.
The conversion can also be done as follows:
Alternatively, one can use the standard function blocks for writing SoE objects, like ETC_SoE_IDNWrite or ETC_SoE_IDNWrite4. |