102BTechnology instructions
9.3 Basic motion control
S7-1200 Programmable controller
352
System Manual, 11/2011, A5E02486680-05
Table 9- 30 Override response
Mode
Description
0 or 1
The MC_Home task cannot be aborted by any other motion control task. The new MC_Home task does not
abort any active motion control tasks. Position-related motion tasks are resumed after homing according to
the new homing position (value at the Position input parameter).
2
The MC_Home task can be aborted by the following motion control tasks:
MC_Home task Mode = 2, 3: The new MC_Home task aborts the following active motion control task.
MC_Home task Mode = 2: Position-related motion tasks are resumed after homing according to the new
homing position (value at the Position input parameter).
3
The MC_Home task can be aborted by the following
motion control tasks:
MC_Home Mode = 3
MC_Halt
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
The new MC_Home task aborts the following active
motion control tasks:
MC_Home Mode = 2, 3
MC_Halt
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
9.3.2.4
MC_Halt instruction
Table 9- 31 MC_Halt instruction
LAD / FBD
SCL
Description
"MC_Halt_DB"(
Axis:=_multi_fb_in_,
Execute:=_bool_in_,
Done=>_bool_out_,
Busy=>_bool_out_,
CommandAborted=>_bool_out_,
Error=>_bool_out_,
ErrorID=>_word_out_,
ErrorInfo=>_word_out_);
Use the MC_Halt instruction to stop all
motion and to brings the axis to a stand-
still. The stand-still position is not defined.
In order to use the MC_Halt instruction,
the axis must first be enabled.
1
STEP 7 automatically creates the DB when you insert the instruction.
2
In the SCL example, "MC_Halt_DB" is the name of the instance DB.
Table 9- 32 Parameters for the MC_Halt 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
Done
OUT
Bool
TRUE = Zero velocity reached
Busy
OUT
Bool
TRUE = The task is being executed.
