User Manual

Motion control is easy
10.5 Motion control instructions
Easy Book
Manual, 03/2014, A5E02486774-AF
237
Override response
The MC_CommandTable task can be
aborted by the following motion control
tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
MC_CommandTable
The new MC_CommandTable task aborts
the
following active motion control tasks:
•
MC_Home Mode = 3
•
MC_Halt
•
MC_MoveAbsolute
•
MC_MoveRelative
•
MC_MoveVelocity
•
MC_MoveJog
•
MC_CommandTable
•
The current motion control job with the
launch of the first "Positioning Relative",
"Positioning Absolute", "Velocity setpoint"
or "Halt" command
10.5.11
MC_ChangeDynamic (Change dynamc settings for the axis) instruction
Table 10- 27 MC_ChangeDynamic instruction
LAD / FBD
SCL
Description
"MC_ChangeDynamic_DB"(
Execute:=_bool_in_,
ChangeRampUp:=_bool_in_,
RampUpTime:=_real_in_,
ChangeRampDown:=_bool_in_,
RampDownTime:=_real_in_,
ChangeEmergency:=_bool_in_,
EmergencyRampTime:=_real_in_,
ChangeJerkTime:=_bool_in_,
JerkTime:=_real_in_,
Done=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
Changes the dynamic settings of
a motion control axis:
• Change the ramp-up time
(acceleration) value
• Change the ramp-down time
(deceleration) value
• Change the emergency stop
ramp-down time (emergency
stop deceleration) value
• Change the smoothing time
(jerk) value
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_ChangeDynamic_DB " is the name of the instance DB.