Siemens SIMATIC S7-1500 Function Manual page 310

Instructions
11.2 S7-1500 Motion Control V1
Parameters
The following table shows the parameters of the "MC_MoveAbsolute" Motion Control
instruction:
Parameter Declaration
Axis InOut
Execute INPUT
Position INPUT
Velocity INPUT
Acceleration INPUT
Deceleration INPUT
Jerk INPUT
Direction INPUT
Done OUTPUT
310
Data type Default value
TO_Positioning -
Axis
BOOL FALSE
REAL 0.0
LREAL -1.0
LREAL -1.0
LREAL -1.0
LREAL -1.0
INT 3
BOOL FALSE
Description
Technology object
Start of the job with a positive edge
Absolute target position
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
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
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
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)
Direction of rotation of the axis
Is only evaluated with "modulo" enabled.
"Technology object > Configuration > Basic parame-
ters > Enable modulo
1 Positive direction of rotation
2 Negative direction of rotation
3 Shortest path
TRUE Target position reached.
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC