Siemens SIMATIC S7-1500 Motion Control V13 - Page 305

Instructions
11.2 S7-1500 Motion Control V1
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
305
Parameters
The following table shows the parameters of the "MC_MoveRelative" Motion Control
instruction:
Parameter
Declaration
Data type
Default value
Description
Axis InOut TO_Positioning
Axis
- Technology object
Execute
INPUT
BOOL
FALSE
Start of the job with a positive edge
Distance INPUT LREAL 0.0 Distance for the positioning process
(negative or positive)
Velocity INPUT LREAL -1.0 Setpoint velocity for the positioning
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The velocity configured in "Technology
object > Configuration > Advanced parameters >
Default dynamics" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The acceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The deceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
Value > 0.0: Constant-acceleration velocity profile;
the specified jerk is used
Value = 0.0: Trapezoid velocity profile
Value < 0.0: The jerk configured in "Technology
object > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Done
OUTPUT
BOOL
FALSE
TRUE
Target position reached
Busy
OUTPUT
BOOL
FALSE
TRUE
The job is being executed.
CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by
another job.