Siemens SIMATIC S7-1200 Reference Manual page 60

Basic instructions
Torque data
✔
Specify additive torque
✔
Set high and low torque limits
Activate and deactivate force/torque limit/
✔
T
fixed stop detection
Motions (kinematics)
T
Interrupt execution of motion
T
Continue execution of motion
T
Stop motion
Position kinematics absolutely with linear path
T
motion
Relative positioning of kinematics with linear
T
path motion
Position kinematics absolutely with circular
T
path motion
Relative positioning of kinematics with circular
T
path motion
A5E33284667-AF
Extended instructions
Description
Technology
STL
LAD/FBD
(not S7-1200)
Force/torque limiting / fixed stop detection
MC_TorqueAdditive
MC_TorqueRange
MC_TorqueLimiting
MC_GroupInterrupt
MC_GroupContinue
MC_GroupStop
MC_MoveLinearAbsolute
MC_MoveLinearRelative
MC_MoveCircularAbsolute
MC_MoveCircularRelative
Communication
SCL
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