Siemens 6AV6651-7KA01-3AA4 - S7-1200 + KTP400 Basic Starter Kit 6AV6651-7KA01-3AA4 Manuale Utente
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6AV6651-7KA01-3AA4
Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
Manual, 03/2014, A5E02486774-AF
239
Override response
An MC_ChangeDynamic command cannot be aborted by any other Motion Control
command.
A new MC_ChangeDynamic command does not abort any active Motion Control jobs.
A new MC_ChangeDynamic command does not abort any active Motion Control jobs.
Note
The input parameters "RampUpTime", "RampDownTime", "EmergencyRampTime" and
The input parameters "RampUpTime", "RampDownTime", "EmergencyRampTime" and
"RoundingOffTime" can be specified with values that makes the resultant axis parameters
"acceleration", "delay", "emergency stop-delay" and "jerk" outside the permissible limits.
Make sure you keep the MC_ChangeDynamic parameters within the limits of the dynamic
Make sure you keep the MC_ChangeDynamic parameters within the limits of the dynamic
configuration settings for the axis technology object.
10.5.12
MC_WriteParam (write parameters of a technology object) instruction
You use the MC_WriteParam instruction to write a select number of parameters to change
the functionality of the axis from the user program.
Table 10- 29 MC_WriteParam instruction
LAD / FBD
SCL
Description
"MC_WriteParam_DB"(
Parameter:=_variant_in_,
Value:=_variant_in_,
Execute:=_bool_in_,
Done:=_bool_out_,
Error:=_real_out_,
ErrorID:=_word_out_,
ErrorInfo:=_word_out_);
You use the MC_WriteParam
instruction to write to public
parameters (for example,
acceleration and user DB values).
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_WriteParam_DB" is the name of the instance DB.
You can write to the parameters that are public. You cannot write to "MotionStatus" and
"StatusBits". The valid parameters are listed in the table below:
Writeable parameter name
Writeable parameter name
Actor.InverseDirection
DynamicDefaults.Acceleration
Actor.DirectionMode
DynamicDefaults.Deceleration
Actor.DriveParameter.PulsesPerDriveRevolution DynamicDefaults.Jerk
Sensor[1].ActiveHoming.Mode
Sensor[1].ActiveHoming.Mode
DynamicDefaults.EmergencyDeceleration
Sensor[1].ActiveHoming.SideInput
PositionLimitsHW.Active
Sensor[1].ActiveHoming.Offset
PositionLimitsHW.MaxSwitchedLevel
Sensor[1].ActiveHoming.SwitchedLevel
PositionLimitsHW.MinSwitchedLevel