TIP Kinematics: sequence of position commands

Hi,

One of the new features of the S7-1500T CPU configured with TIA V15 is the Kinematics objects.

One feature of this new object is to be possible to “cascade” several position commands.

An example of this type of configuration is show in the help (information system) under:  Programming a PLC, Instructions, Instructions (S7-1200, S7-1500), Technology(S7-1200, S7-1500),Motion Control  (S7-1200,S7-1500, S7-1500T),S7-1500 Motion Control (S7-1500, S7-1500T),S7-1500 Motion Control V4 (S7-1500, S7-1500T), kinematics motion (S7-1500T), MC_MoveLinearAbsolute V4 (S7-1500 T).

Some interesting details of the help pictures:

- Each movement calls the MC_MoveLinearAbsolute block and has an own instance DB

- Both are connected to same axis.

- Buffer mode is one to the first movement and two for the next.

- Transition parameter is 0 for the first movement (the other movements could have different values).

Some additional TIPS:

- It is interesting place blocks to power, reset and homing to right position the axis before to start an absolute movement.

- Setpoint is an array [1..4] of LReal, independently of how many axis are used.

-  TransitionParameter is an array [1..5] of LReal. The TransitionParameter[1] could be used as “round” factor beween movements.

- To cascade the movements I suggest connect the Activate from the antecessor to the Execute of the successor block.

In the attached file there is a sample program and a cast about the operation.