Siemens Simatic S7-1500 - Page 60

A5E33284667-AF Page 59
Extended instructions
Basic instructions
Communication
Technology
S7-300
S7-400
S7-1200 S7-1500
Description LAD/FBD
STL
(not S7-1200)
SCL
Torque data
Force/torque limiting / fixed stop detection
✔
Specify additive torque
MC_TorqueAdditive
✔
Set high and low torque limits
MC_TorqueRange
T ✔
Activate and deactivate force/torque limit/
fixed stop detection
MC_TorqueLimiting
Motions (kinematics)
T
Interrupt execution of motion
MC_GroupInterrupt
T
Continue execution of motion
MC_GroupContinue
T
Stop motion
MC_GroupStop
T
Position kinematics absolutely with linear path
motion
MC_MoveLinearAbsolute
T
Relative positioning of kinematics with linear
path motion
MC_MoveLinearRelative
T
Position kinematics absolutely with circular
path motion
MC_MoveCircularAbsolute
T
Relative positioning of kinematics with circular
path motion
MC_MoveCircularRelative