Siemens 6AV6651-7KA01-3AA4 - S7-1200 + KTP400 Basic Starter Kit 6AV6651-7KA01-3AA4 Benutzerhandbuch
Produktcode
6AV6651-7KA01-3AA4
Motion control is easy
10.5 Motion control instructions
Easy Book
226
Manual, 03/2014, A5E02486774-AF
Override response
The MC_Halt task can be aborted by the
The MC_Halt task can be aborted by the
following motion control tasks:
•
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
The new MC_Halt task aborts the following
active motion control tasks:
•
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
10.5.6
MC_MoveAbsolute (Position axis absolutely) instruction
Table 10- 16 MC_MoveAbsolute instruction
LAD / FBD
SCL
Description
"MC_MoveAbsolute_DB"(
Axis:=_multi_fb_in_,
Execute:=_bool_in_,
Position:=_real_in_,
Velocity:=_real_in_,
Done=>_bool_out_,
Busy=>_bool_out_,
CommandAborted=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
Use the MC_MoveAbsolute
instruction to start a positioning
motion of the axis to an absolute
position.
In order to use the
In order to use the
MC_MoveAbsolute instruction, the
axis must first be enabled and also
must be homed.
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_MoveAbsolute_DB" is the name of the instance DB.
Table 10- 17 Parameters for the MC_MoveAbsolute instruction
Parameter and type
Data type
Description
Axis
IN
TO_Axis_1
Axis technology object
Execute
IN
Bool
Start of the task with a positive edge (Default value: False)
Position
IN
Real
Absolute target position (Default value: 0.0)
Limit values: -1.0e
Limit values: -1.0e
12
≤ Position ≤ 1.0e
12
Velocity
IN
Real
Velocity of axis (Default value: 10.0)
This velocity is not always reached because of the configured
This velocity is not always reached because of the configured
acceleration and deceleration and the target position to be
approached.
Limit values: Start/stop velocity ≤ Velocity ≤ maximum velocity
Limit values: Start/stop velocity ≤ Velocity ≤ maximum velocity
Done
OUT
Bool
TRUE = Absolute target position reached