Siemens 6AV6651-7KA01-3AA4 - S7-1200 + KTP400 Basic Starter Kit 6AV6651-7KA01-3AA4 Manuel D’Utilisation
Codes de produits
6AV6651-7KA01-3AA4
Motion control is easy
10.5 Motion control instructions
Easy Book
228
Manual, 03/2014, A5E02486774-AF
Override response
The MC_MoveAbsolute task can be
The MC_MoveAbsolute 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_MoveAbsolute task aborts
the following active motion control tasks:
•
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
10.5.7
MC_MoveRelative (Position axis relatively) instruction
Table 10- 18 MC_MoveRelative instruction
LAD / FBD
SCL
Description
"MC_MoveRelative_DB"(
Axis:=_multi_fb_in_,
Execute:=_bool_in_,
Distance:=_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_MoveRelative
instruction to start a positioning
motion relative to the start position.
In order to use the
In order to use the
MC_MoveRelative instruction, the
axis must first be enabled.
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_MoveRelative_DB " is the name of the instance DB.
Table 10- 19 Parameters for the MC_MoveRelative 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)
Distance
IN
Real
Travel distance for the positioning operation (Default value: 0.0)
Limit values: -1.0e
Limit values: -1.0e
12
≤ Distance ≤ 1.0e
12
Velocity
IN
Real
Velocity of axis (Default value: 10.0)
This velocity is not always reached on account of the configured
This velocity is not always reached on account of the configured
acceleration and deceleration and the distance to be traveled.
Limit values: Start/stop velocity ≤ Velocity ≤ maximum velocity
Limit values: Start/stop velocity ≤ Velocity ≤ maximum velocity
Done
OUT
Bool
TRUE = Target position reached