Siemens SIMATIC S7-1200 - Page 683

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
System Manual, V4.2, 09/2016, A5E02486680-AK
683
Other motion commands
The speed controlled mode remains active until one of the following commands becomes
active:
● MC_MoveAbsolute
● MC_MoveRelative
● MC_MoveVelocity (PositionControlled = TRUE)
● MC_MoveJog (PositionControlled = TRUE)
● MC_Home:
– Active homing (Mode 3)
– Other modes (passive, direct, adjustment of absolute value sensor) are refused with
ErrorId:
ErrorId 8207: "Command rejected" / "Auftrag abgewiesen"
ErrorInfo 006B: "Aufruf im Speed controlled Mode unzulässig".
Axis TODB
The axis TODB displays the operation mode if one of the three motion instructions,
MC_Power, MC_MoveVelocity, or MC_MoveJog, are executed with the speed controlled
operation mode:
● Axis.Statusbit.NonPositionControlled = TRUE
● Axis.Position = 0.0
Calculation of new setpoint position
The setpoint position must be recalculated after a mode change from speed-controlled to
closed loop during motion:
● With Precontrol (kpc > 0): Position = ActualPosition + ActualVelocity * vtc
● Without Precontrol (kpc = 0): Position = ActualPosition + ActualVelocity / kv (vtc =
substitute time constate of precontrol; kv = gain of position control)
Software limit switches
During speed controlled mode, the software limit switches are not active.
Hardware limit switches
Hardware limit switches are supported during speed controlled mode.