8.9.1
8.9.2
8.10
9
Technology instructions....................................................................................................................... 409
9.1
High-speed counter .................................................................................................................... 409
9.1.1
9.1.2
Configuration of the HSC ........................................................................................................... 417
9.2
PID control ................................................................................................................................. 418
9.2.1
9.2.2
PID_Compact instruction ........................................................................................................... 422
9.2.3
9.2.4
PID_3Step instruction ................................................................................................................ 428
9.2.5
9.2.6
9.2.7
9.3
Motion control ............................................................................................................................. 441
9.3.1
Phasing ...................................................................................................................................... 446
9.3.2
9.3.3
Configuring the axis ................................................................................................................... 449
9.3.4
9.3.5
Motion control instructions ......................................................................................................... 455
9.3.5.1
MC instruction overview ............................................................................................................. 455
9.3.5.2
9.3.5.3
9.3.5.4
9.3.5.5
9.3.5.6
9.3.5.7
9.3.5.8
9.3.5.9
9.3.6
9.3.6.1
9.3.6.2
9.3.6.3
Homing ....................................................................................................................................... 486
9.3.6.4
Jerk limit ..................................................................................................................................... 491
9.3.7
Commissioning........................................................................................................................... 492
9.3.8
Monitoring active commands ..................................................................................................... 497
9.3.8.1
9.3.8.2
9.3.8.3
10
Communication ................................................................................................................................... 509
10.1
10.2
PROFINET ................................................................................................................................. 512
10.2.1
Local/Partner connection ........................................................................................................... 512
S7-1200 Programmable controller
System Manual, 03/2014, A5E02486680-AG
Table of contents
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