Siemens SIMATIC S7 System Manual page 366

102BTechnology instructions
9.3 Basic motion control
Parameter and type
ChangeJerkEnable
JerkEnable
ChangeRoundingOff
RoundingOffTime
Done
Error
ErrorID
ErrorInfo
Prerequisites for MC_ ChangeDynamic execution:
● The technology object TO_Axis_PTO V2.0 must be correctly configured.
● The axis must be released.
Override response
Override response
The MC_ChangeDynamic task can be
stopped by any other motion control task.
Note
The input parameters "RampUpTime", "RampDownTime", "EmergencyRampTime" and
"RoundingOffTime" can be specified with values that makes the resultant axis parameters
"acceleration", "delay", "emergency stop-delay" and "jerk" outside the permissible limits.
Make sure you keep the MC_ChangeDynamic parameters within the limits of the dynamic
configuration settings for the axis technological object.
366
Data type
IN Bool
IN Bool
IN Bool
IN Real
OUT Bool
OUT Bool
OUT Word
IN Word
Description
TRUE = Change the jerk limitation according to the input
parameter JerkEnable. Inital value: FALSE
TRUE = Enable the jerk limitation. Inital value: FALSE
Status of the affected variable stored in: <Axisname>.
Config.DynamicDefaults.JerkActive.
TRUE Change ramp in according to the input parameter
RoundingOffTime. Inital value: FALSE
Ramp (in seconds) that is applied to the acceleration and
deceleration of the axis. Inital value: 0.20
Status of the affected variable stored in: <Axisname>.
Config.DynamicDefaults.Jerk .
TRUE = The modified values are written to the technology DB.
Inital value: FALSE
TRUE = An error has occurred during processing. The cause of
the error can be found in the ErrorID and ErrorInfo parameters.
Inital value: FALSE
Error identifier. Inital value: 16#0000
Error information. Inital value: 16#0000
A new MC_ChangeDynamic task cancels
any current motion control tasks.
S7-1200 Programmable controller
System Manual, 11/2011, A5E02486680-05