Siemens SIMATIC S7-1200 - Page 743

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
System Manual, V4.2, 09/2016, A5E02486680-AK
743
Table 10- 65 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
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 accel-
eration and deceleration and the target position to be approached.
Limit values: Start/stop velocity ≤ Velocity ≤ maximum velocity
Direction
IN
Int
Direction of rotation (Default value: 0)
Done
OUT
Bool
TRUE = Absolute target position reached
Busy
OUT
Bool
TRUE = The task is being executed.
CommandAborted
OUT
Bool
TRUE = During execution the task was aborted by another task.
Error OUT Bool TRUE = An error has occurred during execution of the task. The
cause of the error can be found in parameters "ErrorID" and "ErrorIn-
fo".
ErrorID
OUT
Word
Error ID for parameter "Error" (Default value: 0000)
ErrorInfo
OUT
Word
Error info ID for parameter "ErrorID" (Default value: 0000)
You can configure the positioning axis as a Modulo axis. When using a modulo axis, you can
select the motion direction with the "Direction" input parameter. Motion control ignores the
"Direction" input if the axis is not a Modulo axis.
The following table shows the valid values for the Direction input:
Value
Enumeration
Comment
0
SIGN_OF_VELOCITY
Sign of velocity defines the motion direction
1
POSITIVE
Motion with positive velocity
2
NEGATIVE
Motion with negative velocity
3
SHORTEST_WAY
Motion with shortest distance to the destination