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Basics

3.18 Motion control and limits for dynamics

S7-1500 Motion Control V13 Update 3

Function Manual, 07/2014, A5E03879256-AC

3.18.2

Velocity profile

A velocity profile without jerk limit and a velocity profile with jerk limit are both supported for

Motion Control of the axis.
The dynamic values for the motion are specified in the Motion Control job. Alternatively the

dynamic default values can be used. The defaults and the limits for velocity, acceleration,

deceleration and jerk are set in the configuration.
To influence velocity, a velocity override can override the current traversing velocity.

Velocity profile without jerk limit

The following figure shows velocity, acceleration and jerk:

Summary of Contents for Simatic S7-1500

Page 1: ..._________________ ___________________ ___________________ ___________________ ___________________ SIMATIC S7 1500 S7 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC Preface Guide to documentation S7 1500 ET 200MP 1 Introduction 2 Basics 3 Guidelines 4 Using versions 5 Configuring 6 Programming 7 Downloading to CPU 8 Commissioning 9 Diagnostics 10 Instructions 11 Appendix A ...

Page 2: ... by personnel qualified for the specific task in accordance with the relevant documentation in particular its warning notices and safety instructions Qualified personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens produc...

Page 3: ...ee The Technology object placeholder represents the name of the technology object Example Technology object Configuration Basic parameters The TO placeholder represents the name set in tags for the respective technology object Example TO Actor Type This documentation contains pictures of the devices described The pictures may differ in minor details from the devices supplied You should also observ...

Page 4: ...ds strongly that you regularly check for product updates For the secure operation of Siemens products and solutions it is necessary to take suitable preventive action e g cell protection concept and integrate each component into a holistic state of the art industrial security concept Third party products that may be in use should also be considered You can find more information about industrial se...

Page 5: ...23 3 6 External encoder technology object 25 3 7 Axis types 26 3 8 Modulo setting 26 3 9 Units of measure 27 3 10 Drive and encoder connection 28 3 10 1 Brief description 28 3 10 2 Frames 29 3 10 3 Setting reference values 31 3 10 4 Tags 32 3 11 Safety functions in the drive 33 3 11 1 Brief description 33 3 11 2 Safe Torque Off STO 33 3 11 3 Safe Stop 1 SS1 34 3 11 4 Safe Stop 2 SS2 34 3 12 Actual...

Page 6: ...ng 61 3 16 1 Brief description 61 3 16 2 Positioning monitoring 62 3 16 3 Following error monitoring 63 3 16 4 Tags 64 3 17 Traversing range limitation 65 3 17 1 Brief description 65 3 17 2 Hardware limit switches 65 3 17 3 Software limit switch 67 3 17 4 Tags 68 3 18 Motion control and limits for dynamics 69 3 18 1 Brief description 69 3 18 2 Velocity profile 70 3 18 3 Emergency stop deceleration...

Page 7: ...axis technology object 110 6 6 1 Configuration Basic Parameters 110 6 6 2 Hardware interface 111 6 6 2 1 Configuration Drive 111 6 6 2 2 Configuration Encoder 113 6 6 2 3 Configuration Data exchange 114 6 6 3 Configuration master value interconnections synchronous axis only 124 6 6 4 Extended Parameters 125 6 6 4 1 Configuration Mechanics 125 6 6 4 2 Configuration Position monitoring 129 6 6 4 3 C...

Page 8: ...sWord ErrorWord and WarningWord 175 7 2 4 Change restart relevant data 177 7 3 Motion Control instructions 178 7 3 1 Motion Control instruction parameters 178 7 3 2 Add Motion Control instructions 181 7 4 Starting Motion Control jobs 183 7 5 Tracking active jobs 184 7 5 1 Introduction 184 7 5 2 Motion Control instructions with Done parameter 185 7 5 3 Motion Control instructions without Done param...

Page 9: ..._Home 239 11 1 2 1 MC_Home Home technology objects set home position V2 239 11 1 3 MC_MoveJog 244 11 1 3 1 MC_MoveJog Move axes in jog mode V2 244 11 1 3 2 MC_MoveJog Function chart V2 248 11 1 4 MC_MoveVelocity 249 11 1 4 1 MC_MoveVelocity Move axes at predefined velocity V2 249 11 1 4 2 MC_MoveVelocity Function chart V2 254 11 1 5 MC_MoveRelative 255 11 1 5 1 MC_MoveRelative Relative positioning...

Page 10: ... Appendix 321 A 1 Tags of the technology object SpeedAxis 321 A 1 1 Legend 321 A 1 2 Actual values and setpoints speed axis 321 A 1 3 Variable simulation speed axis 322 A 1 4 Actor tags speed axis 322 A 1 5 LoadGear tags speed axis 323 A 1 6 DynamicLimits tags speed axis 324 A 1 7 DynamicDefaults tags speed axis 324 A 1 8 Override tags speed axis 325 A 1 9 StatusDrive tags speed axis 325 A 1 10 St...

Page 11: ...2 27 WarningWord tag positioning axis synchronous axis 356 A 2 28 ControlPanel tags positioning axis synchronous axis 357 A 2 29 InternalToTrace tags positioning axis synchronous axis 358 A 3 Tags of the technology object external encoder 358 A 3 1 Legend 358 A 3 2 Actual values and setpoints external encoder 359 A 3 3 Sensor tags external encoder 359 A 3 4 Mechanics tags external encoder 361 A 3 ...

Page 12: ...56 AC A 6 2 Analog drive connection 392 A 6 2 1 StopMode 0 392 A 6 2 2 StopMode 1 393 A 6 2 3 Alarm response Stop with maximum dynamic values 394 A 6 2 4 Alarm response Remove enable 395 A 7 SINAMICS drives 396 A 7 1 Homing SINAMICS drives with external zero marks 396 Glossary 397 Index 400 ...

Page 13: ...7 online help supports you in the configuration and programming Device information Manuals contain a compact description of the module specific information such as properties terminal diagrams characteristics technical specifications General information The function manuals contain detailed descriptions on general topics regarding the SIMATIC S7 1500 and ET 200MP systems e g diagnostics communicat...

Page 14: ...e Internet http support automation siemens com WW view en 38715968 Applications Tools Applications Tools supports you with various tools and examples for solving your automation tasks Solutions are shown in interplay with multiple components in the system separated from the focus in individual products You can find Applications Tools on the Internet http support automation siemens com WW view en 2...

Page 15: ... Motion Control functionality supports the technology objects rotation axis positioning axis synchronous axis and external encoders Drives with PROFIdrive capability and drives with analog setpoint interface are controlled by means of standardized Motion Control instructions according to PLCopen The axis control panel and comprehensive online and diagnostic functions support easy commissioning and...

Page 16: ...e configuration into the CPU using the TIA Portal The Motion Control functionality is processed in the CPU You control the technology objects with the Motion Control instructions in your user program The TIA Portal provides additional functions for commissioning optimization Page 199 and diagnostics Page 214 The following figure shows schematically the user interfaces and the integration of Motion...

Page 17: ...cts e g a drive in the controller You can call the functions of the technology objects by means of Motion Control instructions in your user program The technology objects provide open and closed loop control of the movement of the real objects and report status information e g the current position The configuration of the technology objects represents the properties of the real object The configur...

Page 18: ...point and actual values and status information of the technology object The TIA Portal automatically creates the technology data block when the technology object is created You access the data of the technology data block with your user program Motion Control instructions With the Motion Control instructions you perform the desired functionality in the technology objects The Motion Control instruc...

Page 19: ...of values from position encoders Drives and encoders with PROFIdrive capability are connected by means of PROFIdrive frames The following connections are possible PROFINET IO PROFIBUS DP Technology module TM Drives with analog setpoint interfaces are connected using an analog output AQ and an optional enable signal Analog inputs and outputs are made available by means of corresponding IO modules A...

Page 20: ... objects X X X X MC_Home Page 239 Homing technology objects setting home position X X X MC_MoveJog Page 244 Moving axes in jog mode X X X MC_MoveVelocity Page 249 Moving axes with the specified speed X X X MC_MoveRelative Page 255 Position axis relatively X X MC_MoveAbsolute Page 260 Position axis absolutely X X MC_MoveSuperimposed Page 265 Superimposed positioning of axes X X MC_GearIn Page 270 S...

Page 21: ...s for every synchronous axis you use 3 3 Speed controlled axis technology object The speed axis technology object calculates speed setpoints taking account of the specified dynamics and outputs them to the drive All movements of the speed axis occur under speed control The system takes account of an existing load gear A drive is assigned to each speed axis by means of a PROFIdrive frame or by mean...

Page 22: ...h positioning axis is assigned a drive by means of a PROFIdrive frame or by means of an analog setpoint interface and an encoder by means of a PROFIdrive frame The relationship between the encoder values and a defined position is created by assigning parameters to the mechanical properties and the encoder settings as well as to a homing process The technology object can also perform movements with...

Page 23: ...is occur under position control If the synchronous axis is operated without synchronous operation the dynamic limits configured at the technology object apply If the synchronous axis is operated as following axis in synchronous operation the following dynamic limits apply depending on the status of the synchronous operation Synchronization During synchronization dynamic limits configured at the te...

Page 24: ... Synchronous axis technology object S7 1500 Motion Control V13 Update 3 24 Function Manual 07 2014 A5E03879256 AC The figure below shows the basic principle of operation of the synchronous axis technology object ...

Page 25: ...homing process The following figure shows the basic principle of operation of the external encoder technology object Specification of the position occurs according to the selected system of units Linear system of units The position is specified as a linear measure e g millimeters mm Rotary system of units The position is specified as an angular measure e g degrees Note The positioning axis synchro...

Page 26: ...ure e g degrees 3 8 Modulo setting The positioning axis synchronous axis and external encoder technology objects can be enabled with the Modulo setting If an axis is moved in only one direction the position value continually increases To limit the position value to a recurring reference system you can enable the Modulo setting When modulo is enabled the position value of the technology object is r...

Page 27: ...accordingly as unit of measure of the position s The jerk is configured accordingly as unit of measure of the position s The speed is configured as revolutions per unit of time 1 s 1 min 1 h Note When setting or changing the units of measurement note the effect on the depiction and the user program Depiction in the technology data block Supply to the parameters in the user program Input and displa...

Page 28: ...d exclusively via PROFIdrive message frames PROFIdrive PROFIdrive is the standardized standard profile for drive technology in the connection of drives and encoders via PROFIBUS DP and PROFINET IO Drives that support the PROFIdrive profile are connected according to the PROFIdrive standard Communication between controller and drive encoder is by means of various PROFIdrive message frames Each of t...

Page 29: ...xplanation of the figure The setpoint of a speed axis is transmitted to a drive via PROFIdrive frame 1 2 3 or 5 The encoder value of an external encoder is transmitted via PROFIdrive frame 81 or 83 The setpoint of a positioning axis synchronous axis is transmitted to a drive via PROFIdrive frame 1 2 3 or 5 Encoder value of the positioning axis synchronous axis The encoder value can be transmitted ...

Page 30: ...2 32 bit speed setpoint NSET 32 bit actual speed NACT Signs of life 3 32 bit speed setpoint NSET 32 bit actual speed NACT Encoder actual value Signs of life 5 32 bit speed setpoint NSET 32 bit actual speed NACT Dynamic Servo Control DSC Encoder actual value Signs of life Standard frames encoder 81 Encoder actual value Signs of life 83 32 bit actual speed NACT Encoder actual value Signs of life Whe...

Page 31: ... applicable technology object Setting in the TIA Portal Controller tag in the technology data block PROFIdrive parameter Frame TO Actor Interface Telegram P922 Reference speed in rpm TO Actor DriveParameter ReferenceSpeed SINAMICS drives P2000 Maximum speed of the motor in rpm TO Actor DriveParameter MaxSpeed SINAMICS drives P1082 Encoder message frame TO Sensor n Interface Telegram P922 Encoder s...

Page 32: ...erenceSpeed Encoder frame TO Sensor n Interface Telegram Frame number TO Sensor n System Encoder system linear or rotary TO Sensor n Type Encoder type incremental absolute or cyclically abso lute TO Sensor n Parameter StepsPer Revolution Increments per revolution for rotary encoder TO Sensor n Parameter Determinable Revolutions Number of differentiable encoder revolutions for a multi turn absolute...

Page 33: ... Control you must evaluate it separately in the user program 3 11 2 Safe Torque Off STO The Safe Torque Off STO safety function is the most common and basic internal safety function in the drive STO ensures that no torque generating energy acts on a drive This prevents an unintended startup of the controller The pulses of the drive are eliminated The drive is reliably torque free This state is mon...

Page 34: ... is achieved technology alarm 421 is output and the technology object is disabled alarm reaction Remove enable When the SS1 signal is no longer present in the drive you can enable the technology object again after the acknowledgment of the alarm 3 11 4 Safe Stop 2 SS2 The Safe Stop 2 SS2 safety function brings a drive to standstill quickly and safely via a drive internal rapid stop ramp When stand...

Page 35: ...e actual value in the PROFIdrive frame is based on an incremental value After POWER ON position zero is displayed The actual value is updated after a one time transition of the operating mode from STOP to RUN in the STOP and RUN operating modes The relationship between the technology object and the mechanical position must be recreated by means of homing Page 39 3 12 3 Absolute actual value The ac...

Page 36: ...olute value within its measuring range The controller includes the traversed measuring ranges and thus determines the correct axis position beyond the measuring range When the controller is switched off the traversed measuring ranges are saved in the retentive memory area of the controller At the next power on the stored overflows are taken into account in the calculation of the actual position va...

Page 37: ...rties and configurations of the mechanics Positioning axis synchronous axis The following configuration options for mechanics are supported Load gear Leadscrew pitch linear axes only Type of encoder mounting On the motor side before the load gear On the load side after the load gear and as applicable the leadscrew External e g odometer Inversion of the setpoint Inversion of the setpoint External e...

Page 38: ...rator Load gear counter TO LoadGear Denominator Load gear denominator Leadscrew pitch TO Mechanics LeadScrew Leadscrew pitch Type of encoder mounting TO Sensor n MountingMode Type of encoder mounting TO Sensor n Parameter Distance PerRevolution Load distance per encoder revolution with an externally mounted encoder Inversion TO Actor InverseDirection Setpoint inversion TO Sensor n InverseDirection...

Page 39: ... occur by means of an independent movement for homing active homing by means of a homing mark during an application initiated movement passive homing or by means of direct position assignment A distinction is made between the following types of homing Active homing Active homing initiates a homing movement and performs the necessary approach to the homing mark When the homing mark is detected the ...

Page 40: ... external zero mark is used as a homing mark The zero mark is detected at the drive module or encoder module and transmitted in the PROFIdrive frame Perform the setting and evaluation as an encoder zero mark or external zero mark at the drive module and sensor module An edge at the digital input The falling or rising edge at a digital input is used as a homing mark Proximity switch If there are se...

Page 41: ...he reversing cam in the opposite direction 3 14 3 Homing mode Various homing modes are available for the positioning axis synchronous axis and external encoder technology objects with incremental encoders The homing mode is set in the configuration Homing with zero mark via PROFIdrive frame and proximity switch The system checks for when the proximity switch is reached After the proximity switch i...

Page 42: ...ction When the homing mark is reached setting of the digital input in the specified homing direction the actual position of the technology object is set to the homing mark position Note The digital inputs must be placed into the process image partition PIP OB Servo The filter time of the digital inputs must be set smaller than the duration of the input signal at the reference point switch See also...

Page 43: ...ons in the positive and negative directions Example of homing in the positive direction The approach to the homing mark and the home position occurs in the positive direction The following figure shows the homing motion with the following settings Active homing with zero mark and proximity switch Approach in the positive direction Homing in the positive direction Positive home position offset ...

Page 44: ...e direction by means of a direction reversal during the homing process The move to the home position causes another direction reversal and occurs in the positive direction The following figure shows the homing motion with the following settings Active homing with zero mark and proximity switch Approach in the positive direction Homing in the negative direction Positive home position offset ...

Page 45: ...e in the tag TO Homing HomePosition minus TO Sensor n ActiveHoming HomePositionOffset Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for ...

Page 46: ...46 Function Manual 07 2014 A5E03879256 AC 3 14 5 Active homing with zero mark The following figure shows an example of the homing motion with the following settings Active homing with zero mark Homing in the positive direction Positive home position offset ...

Page 47: ...e in the tag TO Homing HomePosition minus TO Sensor n ActiveHoming HomePositionOffset Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for ...

Page 48: ...879256 AC 3 14 6 Active homing with digital input The following figure shows an example of the homing motion with the following settings Active homing with digital input Approach in the positive direction Homing mark on the positive side of the digital input Positive home position offset ...

Page 49: ...e tag TO Homing HomePosition minus TO Sensor n ActiveHoming HomePositionOffset Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for technol...

Page 50: ...tion Manual 07 2014 A5E03879256 AC 3 14 7 Passive homing with zero mark and proximity switch The following figure shows an example of the homing motion with the following settings Passive homing with zero mark and proximity switch Homing in the positive direction ...

Page 51: ...ark is detected the position of the axis or encoder is set depending on the configured mode Parameter Mode to MC_Home 2 8 Position value in parameter Position Parameter Mode to MC_Home 10 Position value in tag TO Homing HomePosition Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology v...

Page 52: ... V13 Update 3 52 Function Manual 07 2014 A5E03879256 AC 3 14 8 Passive homing with zero mark The following figure shows an example of the homing motion with the following settings Passive homing with zero mark Homing in the positive direction ...

Page 53: ...ark When the homing mark is detected the position of the axis or encoder is set depending on the configured mode Parameter Mode to MC_Home 2 8 Position value in parameter Position Parameter Mode to MC_Home 10 Position value in tag TO Homing HomePosition Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the fram...

Page 54: ...l 07 2014 A5E03879256 AC 3 14 9 Passive homing with digital input The following figure shows an example of the homing motion with the following settings Passive homing with digital input Homing in the positive direction Homing mark on the positive side of the digital input ...

Page 55: ...otion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 3 14 10 Direction reversal at the hardware limit switch reversing cam During active homing the...

Page 56: ... relatively Proceed as follows to set the position relatively 1 In the Motion Control instruction MC_Home enter the relative position in the Position parameter 2 Call the Motion Control instruction MC_Home with parameter Mode 1 The position is set to the current position plus the value specified in the Position parameter 3 14 12 Absolute value adjustment In absolute value adjustment Motion Control...

Page 57: ... Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 Initiation of passive homing with the Motion Control instruction MC_Home with Mode 2 8 10 after successful completion of the homing process the status Homed is set again Replacement of the CPU Replacement of the SIMATIC Memory Card POWER OFF Memory reset Modification of the encoder configurat...

Page 58: ...Sensor n AbsEncoderOffset Calculated offset after the absolute value adjust ment Parameters for active homing TO Sensor n ActiveHoming Mode Homing mode TO Sensor n ActiveHoming SideInput Side of the digital input TO Sensor n ActiveHoming Direction Homing direction or approach direction TO Sensor n ActiveHoming DigitalInput Address Byte number of the I O address of the digital input TO Sensor n Act...

Page 59: ...n the drive can optionally be used Dynamic Servo Control DSC In drives that support Dynamic Servo Control DSC you can optionally use the closed loop position controller in the drive The position controller in the drive is usually implemented with a rapid speed control cycle This improves the control performance for digitally coupled drives The communication times between controller and drive are a...

Page 60: ...tion Control V13 Update 3 60 Function Manual 07 2014 A5E03879256 AC 3 15 2 Control structure The following figure shows the effective control structure without DSC The following figure shows the effective control structure with DSC ...

Page 61: ...e following functions are available in the positioning axis synchronous axis technology object for monitoring positioning and motion Positioning monitoring Page 62 The actual position value must reach a positioning window within a specified time and remain in this positioning window for a minimum dwell time Following error monitoring Page 63 The following error is monitored based on a velocity dep...

Page 62: ... time then TO StatusWord X6 Done is set in the technology data block This completes a Motion Control job The following figure shows the chronological sequence and the positioning window Positioning monitoring does not make any distinction between how the setpoint interpolation was completed The end of setpoint interpolation can for example be reached as follows by the setpoint reaching the target ...

Page 63: ...imum velocity Calculation of the following error The following error is the difference between the position setpoint and the actual position value The transmission times of the setpoint to the drive and of the actual position value to the controller are taken into account in the calculation of the following error i e subtracted out Warning limit A warning limit can be specified for the following e...

Page 64: ...ningMonitoring MinDwellTime Minimum dwell time in the positioning window TO PositioningMonitoring Window Positioning window Standstill signal TO StandstillSignal VelocityThreshold Velocity threshold for the standstill signal TO StandstillSignal MinDwellTime Minimum dwell time below the velocity threshold The following technology object tags are relevant for following error monitoring Status indica...

Page 65: ...ardware limit switches are limit position switches that limit the maximum permissible traversing range of the axis Select the positions of the hardware limit switches so that there is adequate braking distance for the axis when needed The axis should come to a standstill before a mechanical endstop Approaching the hardware limit switches In the monitoring of range limitation no distinction is made...

Page 66: ...e the axis away from the hardware limit switch until it leaves it The axis must then be within the maximum traversing range If you traverse the axis in the direction of the limit switch before the axis has left it the monitoring will be triggered again The following diagram shows the response of the status word when reaching the hardware limit switch and when releasing the axis again Figure 3 1 St...

Page 67: ...hes are outside the modulo range then the monitoring has no effect It is not checked whether the positions of the software limit switches are within the modulo range Approaching the software limit switches At the beginning of a positioning motion it is not checked whether the software limit switches will be approached by approaching the specified target position If the software limit switches are ...

Page 68: ...itMaxActive Positive hardware limit switch is enabled TO ErrorWord X9 HWLimit An alarm is queued a hardware limit switch was violated Control bits TO PositonLimits_HW Active Enables disables the monitoring of the hardware limit switches Parameter TO PositonLimits_HW MinSwitchLevel Level selection for enablement of the lower hard ware limit switch FALSE At low level the signal is enabled TRUE At hi...

Page 69: ...in velocity During positioning a velocity profile is calculated that moves the axis to the target point Maximum values for velocity acceleration and jerk result from the properties of the drive and the mechanics These maximum values can be configured in the limits for dynamics The limits for dynamics are in effect as limits for every motion generated by means of the technology object The configura...

Page 70: ...ted for Motion Control of the axis The dynamic values for the motion are specified in the Motion Control job Alternatively the dynamic default values can be used The defaults and the limits for velocity acceleration deceleration and jerk are set in the configuration To influence velocity a velocity override can override the current traversing velocity Velocity profile without jerk limit The follow...

Page 71: ...using the configured emergency stop deceleration In the following cases the configured emergency stop deceleration is in effect For an emergency stop ramp that has been enabled via the Motion Control instruction MC_Power with parameter StopMode 0 For a technology alarm with the local alarm response Stop with emergency stop ramp This emergency stop deceleration can be set greater than the maximum d...

Page 72: ...leration Setpoint acceleration TO ActualAcceleration Actual acceleration Override TO Override Velocity Velocity override Dynamic limit values TO DynamicLimits MaxVelocity Dynamic limit for maximum velocity TO DynamicLimits MaxAcceleration Dynamic limit for maximum acceleration TO DynamicLimits MaxDeceleration Dynamic limit for maximum deceleration TO DynamicLimits MaxJerk Dynamic limit for maximum...

Page 73: ...fied gear ratio and passed on to the following axis as change in the position setpoint The relative gearing couples a following axis to a leading axis as if the axes were connected via a mechanical transmission Leading axis driven axis Following axis Relative position relationship The following axis is synchronized to the leading axis by means of the Motion Control instruction MC_GearIn which repr...

Page 74: ...onization is begins by starting an MC_GearIn job When a synchronous axis synchronizes to a master value it is displayed in the tag of the TO StatusWord X21 Synchronizing technology object Active motion jobs are overridden The dynamic values acceleration delay jerk of the following axis for the synchronization are specified at MC_GearIn The following axis is synchronized and moves synchronously to ...

Page 75: ...er value a following error occurs which is monitored by the following error monitoring The response characteristic of gearing is expressed as a linear correlation between the master value and the slave value g Gear ratio transformation ratio φ Position offset between master value and slave value in synchronous operation The position offset is derived from the synchronization and is constant therea...

Page 76: ...pensation motions at the following axis and drive damage could result If homing of the leading axis is required during active synchronous operation keep the master value jump and its effects on the following axis to a minimum 3 19 3 Master value coupling The master value for synchronous operation is provided by a leading axis The master values are always the position setpoints of the leading axis ...

Page 77: ...connection A or interconnection B Interconnections A and B cannot be enabled at the same time because it would be a recursive interconnection Note The master values and slave values are coupled without conversion into the relevant configured user unit If the leading axis is a linear axis millimeters and the following axis is a rotary axis degrees for example the unit is not converted during synchr...

Page 78: ...e Motion Control application cycle The following blocks are created MC Servo OB91 Calculation of the Position Controller MC Interpolator OB92 Evaluation of the motion control instructions generation of setpoints and monitoring functionality The organization blocks are protected know how protection The program code cannot be viewed or changed The frequency relationship of the two organization block...

Page 79: ...the technology objects in one cycle If the processing time of the technology objects is longer than the application cycle overflows Page 80 will occur You can check the runtime of MC Servo OB91 and MC Interpolator OB92 with the expanded instruction RT_INFO Clock reduction CPU V1 5 and higher You can reduce the application cycle of the MC Servo OB91 relative to the send clock of an isochronous PROF...

Page 80: ...n the user program As of CPU version V1 5 you can access the process image partition TPA OB Servo in your user program This makes it possible to evaluate the process image partition using the trace and logic analyzer function 3 20 3 Operational Sequence and Timeouts When processing the motion control functionality the organization blocks MC Servo OB91 and MC Interpolator OB92 are called and proces...

Page 81: ... CPU will not tolerate overflow of MC Servo OB91 An overflow will cause the CPU to change to STOP mode The following figure shows the operational sequence if there is an overflow of MC Servo OB91 The execution of an MC Interpolator OB92 may only be interrupted by an MC Servo OB91 call If more interruptions occur the CPU switches to STOP mode The following figure shows the sequence when an MC Inter...

Page 82: ... Manual 07 2014 A5E03879256 AC The CPU tolerates a maximum of three consecutive overflows of MC Interpolator OB92 If more overflows occur the CPU switches to STOP mode The following figure shows the sequence if there are four consecutive individual overflows of MC Interpolator OB92 ...

Page 83: ...ure shows the operating modes and the operating mode transitions STOP mode In STOP mode the user program is not processed and al process outputs are disabled Thus no Motion Control jobs are executed The technology data blocks are updated STARTUP mode Before the CPU starts processing of the cyclical user program the startup OBs are processed one time In STARTUP mode the process outputs are disabled...

Page 84: ...ng mode transition Behavior POWER ON STOP The CPU performs a restart of the technology objects The technology objects are reinitialized with the values from the load memory STOP STARTUP Not relevant to Motion Control STARTUP RUN The process outputs are enabled RUN STOP When the CPU changes to RUN mode after STOP mode all technology objects are disabled in accordance with the alarm response remove ...

Page 85: ...trol with the CPU S7 1500 These guidelines serve as recommendations Requirements A project with a CPU S7 1500 has been created Procedure Proceed as follows to use Motion Control with the CPU S7 1500 1 Add technology object Page 99 2 Working with the configuration editor Page 100 3 Programming Page 172 4 Downloading to CPU Page 198 5 Functional test in the Commissioning window Page 199 6 Diagnostic...

Page 86: ...nology version Changing the version of the Motion Control instructions You change the version of the Motion Control instructions in the Instructions task card in the folder Technology Motion Control S7 1500 Motion Control If the Motion Control instruction version used does not correspond to the compatibility list the relevant Motion Control instructions are highlighted in red in the program editor...

Page 87: ...MoveRelative V1 0 MC_MoveAbsolute V1 0 MC_Halt V1 0 MC_Reset V1 0 V1 6 V2 0 Speed axis V2 0 Positioning axis V2 0 External encoder V2 0 Synchronous axis V2 0 MC_Power V2 0 MC_Home V2 0 MC_MoveJog V2 0 MC_MoveVelocity V2 0 MC_MoveRelative V2 0 MC_MoveAbsolute V2 0 MC_Halt V2 0 MC_Reset V2 0 MC_GearIn V2 0 MC_MoveSuperimposed V2 0 Innovations Synchronous axis Relative gearing MC_GearIn MC_MoveSuperi...

Page 88: ...e V2 0 Direct homing absolute 0 Direct homing absolute Direct homing relative 1 Direct homing relative Passive homing 2 Passive homing without reset Passive homing with configured home position 3 Active homing Active homing 4 Reserved Active homing with configured home position 5 Active homing with configured home position Absolute encoder adjustment relative 6 Absolute encoder adjustment relative...

Page 89: ...ct with a CPU V1 6 2 Open the programming editor e g by opening the OB1 The technology objects and Motion Control instructions are highlighted in red after the CPU is replaced 3 In the Instructions task card open the technology version V2 0 in the Technology Motion Control S7 1500 Motion Control folder 4 Save and compile the project The version of the technology objects and Motion Control instruct...

Page 90: ...alues is changed A comparison of the MC_Home Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 You can find additional information about the MC_Home Mode parameter in the description of the Motion Control instruction MC_Home Page 239 The value configured at the MC_Home HomingMode parameter V1 0 is lost As a note on renaming the following text...

Page 91: ...scription file GSD Adding a drive and frame in the device configuration 1 Open the device configuration and change to the network view 2 In the hardware catalog open the folder Additional Field Devices PROFINET IO Drives Siemens AG SINAMICS 3 Select the desired drive with the desired version then drag it to the network view 4 Assign the drive to the PROFINET interface of the PLC 5 Open the drive i...

Page 92: ...he port of the PLC with the port of the drive Configuring the PLC as the sync master and setting isochronous mode 1 Select the device view of the PLC 2 In the properties dialog select the tab PROFINET Interface X1 Advanced options Realtime settings Synchronization 3 Select Sync master from the Synchronization role drop down list 4 Click the Domain settings button 5 Open the Domain Management Sync ...

Page 93: ... the bus Result The PROFINET IO drive is now configured so that it can be controlled in the PROFINET IO network in isochronous mode The properties of the SINAMICS drive must be configured according to the configuration of the axis with a separate STARTER program Checking isochronous mode on the drive If the configuration sequence described above is not adhered to during configuration of the axis a...

Page 94: ...der Additional Field Devices PROFIBUS DP Drives Siemens AG SINAMICS 3 Select the folder of the desired drive with the desired version then drag the drive object to the network view 4 Assign the drive to the PROFIBUS interface of the PLC 5 Open the drive in the device view 6 Drag a standard frame from the hardware catalog to the slot of the device overview of the drive For more information on suita...

Page 95: ...figured drive is assigned to the PIP OB Servo process image Checking configuring the properties of the MC Servo 1 Open the Program blocks folder in the project navigator 2 Select the MC Servo organization block 3 Select the Properties command in the shortcut menu 4 Select the Cycle time entry in the area navigation 5 The option Synchronous to the bus must be selected in the dialog box 6 A PROFINET...

Page 96: ...nology object Page 99 Frames Page 29 6 1 3 Adding and configuring drives with analog connections A description is provided below of how to add and configure a drive with an analog drive connection and an encoder An incremental encoder and a technology module in the rack of the PLC is used as an example of the connection Requirements The SIMATIC S7 1500 device is created in the project Adding and c...

Page 97: ...nder Reaction to CPU STOP select the item Continue working Selecting the drive and encoder in the configuration of the technology object 1 Add a new positioning axis synchronous axis technology object or open the configuration of an existing positioning axis synchronous axis 2 Open the configuration Hardware interface Drive 3 Select Analog drive connection from the Drive type drop down list 4 Sele...

Page 98: ...settings 1 Switch to the device view of the PLC 2 Select the module technology 3 Open the properties dialog Basic Parameters I O Addresses 4 The following settings apply for the input and output addresses MC Servo must be select the Organization block PIP OB Servo must be select the Process image 5 Select the analog module 6 Open the properties dialog Name of the Analog Module I O Addresses 7 The ...

Page 99: ...TO_SpeedAxis object for a speed axis TO_PositioningAxis for a positioning axis TO_SynchronousAxis for a synchronous axis or TO_ExternalEncoder for an external encoder 8 In the Name field adapt the name of the axis to your requirements 9 Select the Manual option if you want to change the suggested data block number 10 Click on Further Information if you want to add your own information to the techn...

Page 100: ...erface extended parameters Configuration editor icons Icons in the area navigation of the configuration show additional details about the status of the configuration The configuration contains default values and is complete The configuration contains only default values With these default values you can use the technology object without additional changes The configuration contains values set by t...

Page 101: ...ues of the project to the CPU as actual values Symbols and operator controls If there is an online connection to the CPU the actual values are displayed at the parameters In addition to the actual values of the parameters the following symbols appear Symbol Description Start value in CPU matches the configured Start value in the project Start value in CPU does not match the configured Start value ...

Page 102: ...onfiguration Drive In the Drive configuration window configure which drive type and which drive you want to use Drive type In the drop down list select whether you want to deploy a PROFIdrive drive or a drive with an analog drive connection PROFIdrive drives are connected to the controller by means of a digital communication system PROFINET or PROFIBUS The communication occurs via PROFIdrive frame...

Page 103: ...d Note If you do not use an enable output the drive cannot be immediately disabled on the part of the system due to error reactions or monitoring functions A controlled stop of the drive is not guaranteed Enable ready input drive type Analog drive connection In the Ready input field select the PLC tag of the digital input with which the drive is to report its operational readiness to the technolog...

Page 104: ...a percentage of the reference speed in the range from 200 to 200 Reference speed drive type analog drive connection The reference speed of the drive is the speed with which the drive spins when there is an output of 100 at the analog output The reference speed must be configured in the drive and transferred into the configuration of the technology object The analog value that is output at 100 depe...

Page 105: ...lutions 6 5 3 2 Configuration Dynamic limits In the Dynamic limits configuration window configure the maximum values for speed acceleration deceleration and jerk of the axis Maximum speed In this field define the maximum permitted speed of the axis Maximum acceleration maximum deceleration ramp up time ramp down time Set the desired acceleration in the Ramp up time or Acceleration fields The desir...

Page 106: ...n differ the smoothing time of the deceleration ramp is calculated and used according to the jerk of the acceleration ramp The smoothing time of the deceleration is adapted as follows Acceleration Deceleration A shorter smoothing time is used for the deceleration ramp compared with the acceleration ramp Acceleration Deceleration A longer smoothing time is used for the deceleration ramp compared wi...

Page 107: ...k parameters The default values can be applied separately for each of the parameters just listed Speed In this field define the default value for the speed of the axis Acceleration deceleration ramp up time ramp down time Set the desired default value for acceleration in the Ramp up time or Acceleration fields The desired deceleration can be set in the Ramp down time or Deceleration fields The rel...

Page 108: ...er the smoothing time of the deceleration ramp is calculated and used according to the jerk of the acceleration ramp The smoothing time of the deceleration is adapted as follows Acceleration Deceleration A shorter smoothing time is used for the deceleration ramp compared with the acceleration ramp Acceleration Deceleration A longer smoothing time is used for the deceleration ramp compared with the...

Page 109: ...nstruction MC_Power input parameter StopMode 0 Emergency stop deceleration Emergency stop ramp down time Configure the deceleration value for emergency stop in the Emergency stop deceleration field or the Emergency stop ramp down time field The relationship between emergency stop ramp down time and emergency stop deceleration can be seen in the following equation The configuration of the emergency...

Page 110: ...bject can be used in the user program under this name Axis type In this selection configure whether the axis should perform linear or rotary motions Units of measure In the drop down list select the desired measurement system for the position and velocity of the axis Modulo Select the check box Enable modulo if you want to employ a recurring unit of measure for the axis e g 0 360 for an axis of th...

Page 111: ...evice configuration and add a PROFIdrive drive in the network view in the event that no PROFIdrive drive can be selected Analog output drive type Analog drive connection In the Output field select the PLC tag of the analog output over which the drive is to be controlled If an output was selected then it can be configured using the Device configuration button In order to be able to select an output...

Page 112: ...abled In order to be able to select a ready input a digital input module must have been added in the device configuration and the PLC tag name for the digital input must be defined Note The enable output and the ready input can be separately enabled The following conditions apply to the enabled ready input The axis is not enabled MC_Power Status TRUE until a signal is pending at the ready input If...

Page 113: ...technology module TM Technology module In the Technology module field select a technology module that has already been configured and the channel to be used Only technology modules set to the Position detection for motion control mode are displayed for selection If no technology module is available for selection change to the device configuration and add a technology module If you have selected a ...

Page 114: ...y module TM Data exchange with the drive In this area you can configure the data exchange with the drive Drive message frame Since the analog drive is controlled via an analog signal the selection of the frame type is omitted Reference speed The reference speed of the drive is the speed with which the drive spins when there is an output of 100 at the analog output The reference speed must be confi...

Page 115: ...volutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value Gn_XIST1 Bits for the multiplication factor of the absolute value of the fine resolution Gn_XIST2 In this field configure t...

Page 116: ...bsolute value of the fine resolution Gn_XIST2 Invert encoder direction Select this check box if you would like to invert the actual value of the encoder Analog driver connection PROFIdrive encoder on PROFINET PROFIBUS Data exchange with the drive In this area you can configure the data exchange with the drive Drive message frame Since the analog drive is controlled via an analog signal the selecti...

Page 117: ...eld configure the number of steps that the encoder resolves per revolution Number of revolutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value Gn_XIST1 Bits for fine resolution in...

Page 118: ...ctual value Gn_XIST1 Bits for fine resolution in the absolute actual value Gn_XIST2 In this field configure the number of bits for fine resolution within the absolute actual value Gn_XIST2 Invert encoder direction Select this check box if you would like to invert the actual value of the encoder PROFIdrive Drive Encoder to Drive Data exchange with the drive In this area you can configure the data e...

Page 119: ...Number of revolutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value Gn_XIST1 Bits for the multiplication factor of the absolute value of the fine resolution Gn_XIST2 In this field...

Page 120: ...iplication factor of the absolute value of the fine resolution Gn_XIST2 In this field configure the number of reserved bits for the multiplication factor of the absolute value of the fine resolution Gn_XIST2 Invert encoder direction Select this check box if you would like to invert the actual value of the encoder PROFIdrive drive Encoder on the technology module TM Data exchange with the drive In ...

Page 121: ...volutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value Gn_XIST1 Bits for the multiplication factor of the absolute value of the fine resolution Gn_XIST2 In this field configure t...

Page 122: ...lication factor of the absolute value of the fine resolution Gn_XIST2 In this field configure the number of reserved bits for the multiplication factor of the absolute value of the fine resolution Gn_XIST2 Invert encoder direction Select this check box if you would like to invert the actual value of the encoder PROFIdrive drive PROFIdrive encoder on PROFINET PROFIBUS Data exchange with the drive I...

Page 123: ...this field configure the number of steps that the encoder resolves per revolution Number of revolutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value Gn_XIST1 Bits for fine resolu...

Page 124: ...In this field configure the number of reserved bits for fine resolution within the absolute actual value Gn_XIST2 Invert encoder direction Select this check box if you would like to invert the actual value of the encoder 6 6 3 Configuration master value interconnections synchronous axis only You can interconnect a synchronous axis with multiple leading axes You can only actively interconnect one l...

Page 125: ...Page 126 Linear External Measuring System Page 126 Axis type Rotary Rotary On the motor shaft Page 127 Rotary On the load side Page 127 Rotary External Measuring System Page 128 Linear On the motor shaft The encoder is firmly mechanically connected with the motor shaft Motor and encoder form a unit Load gear Consider load gear and leadscrew pitch for encoder evaluation Activate the check box if yo...

Page 126: ...Linear On the motor side The encoder is mechanically connected with the load side of the gear Load gear Number of motor revolutions number of load revolutions The gear ratio of the load gear is specified as the ratio between motor revolutions and load revolutions Specify here an integral number of motor revolutions and the resulting number of load revolutions Select the same values for the number ...

Page 127: ...t Consider load gear and leadscrew pitch for encoder evaluation In this field configure the distance by which the load is moved when the leadscrew makes one revolution Leadscrew pitch select Consider load gear and leadscrew pitch for encoder evaluation In this field configure the distance by which the load is moved when the motor makes one revolution Distance per encoder revolution In this field c...

Page 128: ...and load revolutions if no load gear is present Rotary External Measuring System An external measuring system provides the position values of the rotary load motion Load gear Number of motor revolutions number of load revolutions The gear ratio of the load gear is specified as the ratio between motor revolutions and load revolutions Specify here an integral number of motor revolutions and the resu...

Page 129: ...y be canceled after the return into the permitted traversing range The digital inputs of the hardware limit switch are evaluated by default in cyclical data exchange In the settings for the input module under I O addresses select the entry MC Servo for Organization block and the entry PIP OB servo for Process image if the hardware limit switches are to be evaluated in the position control cycle of...

Page 130: ...ts a fault After acknowledging the error the axis can again be moved in the direction of its working range Note Enabled software limit switches only affect a homed axis Position of negative positive SW limit switch Configure the operating range of the axis using the positions of the negative and positive software limit switches 6 6 4 3 Configuration Dynamic limits In the Dynamic limits configurati...

Page 131: ...othing time box Note The configured smoothing time displayed in the configuration applies only to the acceleration ramp If the values of the acceleration and deceleration differ the smoothing time of the deceleration ramp is calculated and used according to the jerk of the acceleration ramp The smoothing time of the deceleration is adapted as follows Acceleration Deceleration A shorter smoothing t...

Page 132: ...y for each of the parameters just listed The default values for acceleration and deceleration additionally have an effect on the traversing motions of active homing Velocity In this field define the default value for the velocity of the axis Acceleration deceleration ramp up time ramp down time Set the desired default value for acceleration in the Ramp up time or Acceleration fields The desired de...

Page 133: ...ion differ the smoothing time of the deceleration ramp is calculated and used according to the jerk of the acceleration ramp The smoothing time of the deceleration is adapted as follows Acceleration Deceleration A shorter smoothing time is used for the deceleration ramp compared with the acceleration ramp Acceleration Deceleration A longer smoothing time is used for the deceleration ramp compared ...

Page 134: ...rol instruction MC_Power input parameter StopMode 0 Emergency stop deceleration Emergency stop ramp down time Configure the deceleration value for emergency stop in the Emergency stop deceleration field or the Emergency stop ramp down time field The relationship between emergency stop ramp down time and emergency stop deceleration can be seen in the following equation The configuration of the emer...

Page 135: ...rk is detected the position of the axis is set according to the configuration Passive homing During passive homing the motion control instruction MC_Home does not carry out any homing motion The traversing motion required for this step must be implemented by the user via other motion control instructions Active traversing motions are not aborted upon start of passive homing When the homing mark is...

Page 136: ..._Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 Selecting the ho...

Page 137: ... for seeking the proximity switch Positive is the approach direction in the direction of positive position values negative in the direction of negative position values Homing direction Select the direction in which the zero mark should be approached for homing Approach velocity In this field specify the velocity at which the proximity switch is sought during the home position approach A possibly c...

Page 138: ... the direction of positive position values negative in the direction of negative position values Approach velocity In the Zero mark via PROFIdrive frame homing mode the approach velocity for traversing the home position offset is used Homing velocity In this field specify the velocity at which the axis approaches the zero mark for homing Home position offset In the case of a differing zero mark po...

Page 139: ...rection Select the approach direction for seeking the homing mark Positive is the approach direction in the direction of positive position values negative in the direction of negative position values Homing direction Select the direction in which the homing mark should be approached for homing Homing mark Select the switch position of the digital input that is to be used as homing mark When a digi...

Page 140: ... the parameters for passive homing in the Passive Homing homing on the fly configuration window The homing function Passive homing is performed using the Motion Control instruction MC_Home Mode 2 8 and 10 Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in ...

Page 141: ...ection of lower position values Current The currently effective approach direction is used for homing Home position In this field configure the absolute coordinate of the home position The home position configured here is in effect when the Motion Control instruction MC_Home is executed with Mode 10 Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motio...

Page 142: ... The currently effective approach direction is used for homing Home position In this field configure the absolute coordinate of the home position The home position configured here is in effect when the Motion Control instruction MC_Home is executed with Mode 10 Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within ...

Page 143: ...e generated The selection of the positive or negative side ensures that the homing mark is always evaluated based on the same mechanical position The positive side is the switch position with a greater position value the negative side is the switch position with the lesser position value The selection of the side is independent of the approach direction and independent of whether it causes a risin...

Page 144: ...is is stopped and a positioning alarm is displayed Configuration Following error In the Following Error configuration window configure the permissible deviation of the actual position of the axis from the setpoint position The following error can be dynamically adapted to the current velocity of the axis Enable following error monitoring Activate this check box if you want to enable following erro...

Page 145: ...ing error will be adapted up to the maximum following error at the maximum velocity Configuration Standstill signal In the Standstill Signal configuration window configure the criteria for standstill detection Standstill window In this field configure the size of the standstill window For standstill to be indicated the velocity of the axis must be within this window Minimum dwell time in the stand...

Page 146: ...ing error and a higher dynamic response is achieved For basic information refer to the section Control Page 59 Precontrol In this box configure the percentage velocity precontrol of the position control loop Gain In the input field enter the gain Kv of the control loop Dynamic Servo Control DSC For position controlled axes positioning axes synchronous axes the position control can occur either in ...

Page 147: ...r can be used in the user program under this name Type of the external encoder In this selection configure whether the external encoder records linear or rotary motions Units of measure In the drop down list select the desired measurement system for the position and velocity of the external encoder Modulo Select the check box Activate modulo if you want to employ a recurring unit of measure for th...

Page 148: ...d the channel to be used Only technology modules set to the Position detection for motion control mode are displayed for selection If no technology module is available for selection change to the device configuration and add a technology module If you have selected a technology module you can change to the configuration of the technology module using the Device configuration button You can operate...

Page 149: ... encoder data are to be evaluated The specifications must match those in the device configuration Encoder type Rotary incremental Steps per revolution In this field configure the number of steps that the encoder resolves per revolution Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of bits for fine resolution within the incremental actual value...

Page 150: ...ncremental Distance between two increments In this field you can configure the distance be tween two steps of the encoder Bits for fine resolution in the incremental actual value Gn_XIST1 In this field configure the number of bits for fine resolution within the incremental actual value Gn_XIST1 Encoder type Linear absolute Distance between two increments In this field you can configure the distanc...

Page 151: ...on In this field configure the number of steps that the encoder resolves per revolution Number of revolutions In this field configure the number of revolutions that the absolute value encoder can detect Bits for fine resolution in the incremental actual value GN_XIST1 In this field configure the number of reserved bits for fine resolution within the incremental actual value GN_XIST1 Bits for fine ...

Page 152: ...type Linear absolute Distance between two increments In this field you can configure the distance be tween two steps of the encoder Bits for fine resolution in the incremental actual value GN_XIST1 In this field configure the number of bits for fine resolution within the incremental actual value GN_XIST1 Bits for fine resolution in the absolute actual value GN_XIST2 In this field configure the num...

Page 153: ...ew pitch Deactivate the check box if you want to perform the configuration based on the encoder revolution and the resulting distance Number of encoder revolutions number of load revolutions The gear ratio of the load gear is specified as the ratio between motor revolutions and load revolutions Specify here an integral number of motor revolutions and the resulting number of load revolutions Positi...

Page 154: ...ed as the ratio between encoder revolutions and load revolutions Specify here an integral number of load revolutions and the resulting number of encoder revolutions Select the same values for the number of motor revolutions and load revolutions if no load gear is present Position parameter Distance per encoder revolution In this field configure the value indicated by the external measuring system ...

Page 155: ... The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 Selecting the homing mode ...

Page 156: ...oach direction is used for homing Home position In this field configure the absolute coordinate of the home position The home position configured here is in effect when the Motion Control instruction MC_Home is executed with Mode 10 Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology v...

Page 157: ...n this field configure the absolute coordinate of the home position The home position configured here is in effect when the Motion Control instruction MC_Home is executed with Mode 10 Note Parameter MC_Home Mode The MC_Home Mode parameter for S7 1200 Motion Control and S7 1500 Motion Control has been standardized within the framework of technology version V2 0 This results in a new assignment of t...

Page 158: ...enerated The selection of the positive or negative side ensures that the homing mark is always evaluated based on the same mechanical position The positive side is the switch position with a greater position value the negative side is the switch position with the lesser position value The selection of the side is independent of the approach direction and independent of whether it causes a rising o...

Page 159: ...via PROFIdrive frame and proximity switch Page 156 6 8 Parameter view 6 8 1 Introduction to the parameter view The Parameter view provides you with a general overview of all relevant parameters of a technology object You obtain an overview of the parameter settings and can easily change them in offline and online mode Toolbar Page 161 Parameter view tab Parameter table Page 162 Navigation Page 161...

Page 160: ...e PLC Start value project Monitor value Display of the parameter comparison of the memory values of a parameter Operator control functions Navigation for quickly changing between the parameters and parameter structures Text filter for faster searches for particular parameters Sorting function for customizing the order of parameters and parameter groups to requirements Memory function for backing u...

Page 161: ...structure in the currently active view Text filter After entry of a character string Display of all parameters contain ing the specified string in one of the currently visible columns Selection of compare values Selection of parameter values that are to be compared with one another in online mode Start value project Start value PLC Only in online mode Save window settings Saves your display settin...

Page 162: ...tion using status symbols X Compare result Result of the Compare values function This column is displayed when there is an online connection X Start value project Configured start value in the project Error indication if entered values have a syntax or process related error X X Default value Value that is pre assigned to the parameter The display field is empty for parameters that are not containe...

Page 163: ...e parameter is visible in the selection list of the HMI by default X X Comment Brief description of the parameter X X 6 8 3 Opening the parameter view Requirement The technology object was added in the project navigator Procedure 1 Open the Technology objects folder in the project tree 2 Open the technology object in the project tree 3 Double click the Configuration object 4 Select the Parameter v...

Page 164: ...g the parameter table You can filter the parameters in the parameter table in the following ways With the text filter With the subgroups of the navigation Both filter methods can be used simultaneously With the text filter Texts that are visible in the parameter table can be filtered This means only texts in displayed parameter rows and columns can be filtered 1 Enter the desired character string ...

Page 165: ... header Result The entire parameter table is sorted by the selected column A triangle with tip facing up appears in the column header Clicking the column header again changes the sorting as follows Symbol Parameter table is sorted in ascending order Symbol Parameter table is sorted in descending order No symbol The sorting is removed again The parameter table assumes the default display The prefix...

Page 166: ... message of the compiler you can directly open the Parameter view functional navigation containing the parameter causing the error in situations where the parameter is not displayed in the configuration dialog 6 8 4 6 Editing start values in the project With the Parameter view you can edit the start values in the project in offline mode and online mode You make value changes in the Start value pro...

Page 167: ...logy object to the CPU the parameters take the defined value at startup if they are not declared as retentive Retain column Error indication When a start value is input a check is made for process related and syntax errors and the result is indicated Bad start values are indicated by Red error symbol in the Status of configuration offline mode or Compare result online mode depending on the selecte...

Page 168: ...logy object is downloaded to the CPU The Parameter view of the technology object is open Procedure As soon as the Parameter view is online the following columns are additionally displayed Compare result Start value PLC Monitor value Modify value Selection for transmission The Monitor value column shows the current parameter values on the CPU Display All columns that are only available online have ...

Page 169: ...ject is downloaded to the CPU The Parameter view of the technology object is open The parameter can be modified associated field in the Modify value column has a light orange background Procedure To modify parameters immediately follow these steps Enter the desired modify values in the Modify values column of the parameter table The selected parameters are modified once and immediately with the sp...

Page 170: ...on The technology object is downloaded to the CPU The Parameter view of the technology object is open Procedure To compare the start values on the various target systems follow these steps 1 Click the Selection of compare values icon A selection list containing the comparison options opens Start value project Start value PLC default setting 2 Select the desired comparison option The selected compa...

Page 171: ...pare values are not equal and error free At least one of the two compare values has a process related or syntax error The comparison cannot be performed At least one of the two compare values is not available e g snapshot Symbol in the navigation The symbols are shown in the same way in the navigation if the comparison result applies to at least one of the parameters below the displayed navigation...

Page 172: ...tus is indicated in the output parameters The technology data block is available to you as an additional interface to the technology object Via your user program you can access the technology data block s data 7 2 Technology data block 7 2 1 Introduction The properties of real objects are configured by means of the technology objects and saved in a technology data block The technology data block c...

Page 173: ...ed in the CPU on the SIMATIC Memory Card load memory Required changes in the technology data block In the following cases it may be necessary for the user program to write values to the technology data block Adaptation of the configuration of the technology object e g dynamic limits software limit switches Use of overrides Adaptation of position control e g Kv parameter Effectiveness of changes in...

Page 174: ... found in the Restarting Technology Objects Page 197 section Note Save changes with WRIT_DBL Changes to immediately effective tags are lost on POWER OFF of the CPU or restart of the technology object If changes in the technology data block should also be retained after POWER OFF of the CPU or restart of the technology object you must write the changes to the starting value in load memory using the...

Page 175: ...ion of the individual bits can be found in the Appendix StatusWord Page 351 ErrorWord Page 353 WarningWord Page 356 Requirements The technology object has been created Procedure To evaluate the individual bits in the data word StatusWord proceed as follows 1 Crate a global data structure Name the data structure e g as Status 2 Create a double word DWORD in the data structure Status Name the data s...

Page 176: ...wing example shows how you can read and save the fifth bit HomingDone of the data word StatusWord SCL Status Temp TO StatusWord Copy status word Status HomingDone Status Temp X5 Copy individual bits per bit access STL L TO StatusWord Copy status word T Status Temp U Status Temp X5 Copy individual bits per bit access Status HomingDone ...

Page 177: ...ed Procedure To change restart relevant data proceed as follows 1 Create a data block and fill it with the restart relevant values that you want to change in the technology data block In doing so the data types must match the tags to be changed 2 Write the values from your data block to the starting values of the tags of the technology data block in load memory using the extended instruction WRIT_...

Page 178: ... Motion Control instructions Motion Control instructions with Execute parameter With a rising edge at the Execute parameter the job is started and the values pending in the input parameters are applied Subsequently changed parameter values are not applied until the next job start Resetting the Execute parameter does not end the job but does have an effect on the indication duration of the job stat...

Page 179: ...ed the parameter Busy shows the value TRUE If a job was ended or aborted Busy shows the value FALSE CommandAborted parameter If a job was aborted by another job CommandAborted shows the value TRUE Error parameter If an error occurs in the Motion Control instruction the Error parameter shows the value TRUE The ErrorID parameter shows the cause of the error As long as the Execute or Enable parameter...

Page 180: ...1 with target position 1000 0 is initiated Busy_1 is set to TRUE The axis is accelerated to the specified velocity and moved to the target position see TO_1 Velocity and TO_1 Position Before the target position is reached the job is overridden at time by another MC_MoveAbsolute job A2 The abort is signaled via Abort_1 and Busy_1 is set to FALSE The axis is braked to the velocity specified in A2 an...

Page 181: ...ogram block in the Project Navigator the program block must be called in the cyclical program The program block is opened in the programming editor and the available instructions are displayed 2 In the Instructions task card open the Technology Motion Control S7 1500 Motion Control folder 3 Drag and drop the Motion Control instruction e g MC_Power into the desired segment of the program block The ...

Page 182: ...the Axis parameter After specifying the technology object in the Axis parameter the following buttons are available to you To open the configuration of the technology object click on the toolbox icon To open the diagnostics of the technology object click on the stethoscope icon 7 Add additional Motion Control instructions in accordance with steps 3 through 6 See also Tracking active jobs Page 184 ...

Page 183: ...s the technology object been released To execute motion jobs the technology object must be enabled Enabling is performed using the Motion Control instruction MC_Power The MC_Power Status parameter must show the value TRUE Is a technology alarm pending To perform motion jobs no technology alarms may be pending After resolving the error acknowledge any possibly pending alarms using the Motion Contro...

Page 184: ...E and ErrorID 16 8001 status information during job processing indicates that a technology alarm was triggered A list of the ErrorIDs can be found in the appendix Error Detection Page 386 Additional information An option for the evaluation of the individual status bits error bits and warning bits can be found in the Evaluating StatusWord ErrorWord and WarningWord Page 175 section 7 5 Tracking acti...

Page 185: ... instructions with the Done parameter are started with a positive edge at the Execute parameter If the job was completed without errors and without interruption by another job e g MC_ MoveAbsolute target position reached then the Done parameter shows the value TRUE The following Motion Control instructions have a Done parameter MC_Home MC_MoveRelative MC_MoveAbsolute MC_MoveSuperimposed MC_Halt MC...

Page 186: ...ng of the job to FALSE The job is started with a positive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value while the job is still busy or retain the TRUE value until the job has been completed While the job is active the Busy parameter shows the value TRUE When the job is complete for example for Motion Control instruction MC_MoveAbsolute target positi...

Page 187: ...ositive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value while the job is still busy or retain the TRUE value until the job has been completed While the job is active the parameter Busy shows the value TRUE During job execution the job is aborted by another Motion Control job When the job is aborted the Busy parameter changes to FALSE and CommandAborte...

Page 188: ... started with a positive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value while the job is still busy or retain the TRUE value until the job has been completed While the job is active the Busy parameter shows the value TRUE An error occurs during the execution of the job When the error occurs the Busy parameter changes to FALSE and the Error parameter ...

Page 189: ...locity parameter InVeloctity MC_GearIn parameter InGear MC_MoveJog parameter InVelocity The special behavior of MC_MoveJog is described in the section Motion Control Instruction MC_MoveJog Page 193 The behavior of the parameter is shown for various situations using the Motion Control instruction MC_MoveVelocity as an example Example MC_MoveVelocity An MC_MoveVelocity job is started with a positive...

Page 190: ...cation duration in the InVelocity parameter The job is started with a positive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value before or after the parameterized velocity has been reached While the job is active the parame ter Busy shows the value TRUE When the assigned velocity is reached the InVelocity parameter changes to TRUE The Busy and InVelocit...

Page 191: ...to FALSE The job is started with a positive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value while the job is still busy or retain the TRUE value until the job is aborted While the job is active the Busy parameter shows the value TRUE During job execution the job is aborted by another Motion Control job When the job is aborted the Busy parameter change...

Page 192: ... the occurrence of the error to FALSE The job is started with a positive edge at the Execute parameter Depending on the program Execute can be reset to the FALSE value while the job is still busy or retain the TRUE value until the error has occurred While the job is active the Busy parameter shows the value TRUE An error occurs during the execution of the job When the error occurs the Busy paramet...

Page 193: ...ers is presented below for various example situations The assigned velocity is reached and maintained If the Motion Control job has been performed up to the point of reaching the assigned velocity then this is indicated in the InVelocity parameter with the value TRUE Jog mode is controlled by the JogForward parameter Jog mode is controlled by the JogBackward parameter The job is started by setting...

Page 194: ...dent of reaching the assigned velocity Jog mode is controlled by the JogForward parameter Jog mode is controlled by the JogBackward parameter The job is started by setting the JogForward or JogBackward parameter While the job is processing the Busy parameter shows the value TRUE During job execution the job is aborted by another Motion Control job When the job is aborted the Busy parameter changes...

Page 195: ...s independent of reaching the assigned velocity Jog mode is controlled by the JogForward parameter Jog mode is controlled by the JogBackward parameter The job is started by setting the JogForward or JogBackward parameter While the job is active the Busy parameter shows the value TRUE An error occurs during the execution of the job When the error occurs the Busy parameter changes to FALSE and Error...

Page 196: ...icated as described in the Tracking running jobs Page 184 section Termination of a motion If a motion must be aborted you can perform the following measures Execute MC_Halt Page 275 To abort a motion and stop the axis you can use the MC_Halt instruction Disable MC_Power Page 234 In an emergency you can stop the axis using an emergency stop ramp For this purpose set the Enable parameter of the MC_P...

Page 197: ...tatus Online start value changed as well as in the tag of technology object TO StatusWord X3 OnlineStartValuesChanged Restarting a technology object A restart of the technology object is triggered by the user by means of the MC_Reset Motion Control instruction with parameter Restart TRUE During a restart all configuration data of the technology object are loaded from load memory into work memory I...

Page 198: ...echnology objects Load in RUN mode When loading in the CPU s RUN mode it is checked whether a load without restart of the technology objects is possible If restart relevant configuration values were changed then a restart of the technology object is automatically performed after the load into the CPU Loading a technology object is only possible if the technology object is disabled You cannot downl...

Page 199: ...trol is described in the Automation System S7 1500 http support automation siemens com WW view en 59191792 system manual 9 2 Commissioning guidelines These guidelines serve as recommendations for commissioning equipment with Motion Control The procedure is described using the example of a positioning axis technology object Requirement The configuration of the following components is complete CPU B...

Page 200: ...amming Motion Control instructions Evaluating pending messages Evaluate the message display in the inspector window Re solve the causes of pending technology alarms Acknowledge the technology alarms Page 215 Inspector window Diagnos tics Message display Check hardware limit switches Click the hardware limit switches Check for correct message display technology alarm 531 Acknowledge the technology ...

Page 201: ... gain Kv of the position control loop For this purpose adapt following error limits as needed Technology object Commis sioning Optimization Transfer the gain Kv to the project Enter the gain Kv that you determined by means of the optimi zation function in your configuration data Load your project into the CPU Technology object Configu ration Extended parameters Control loop Enable Motion Control s...

Page 202: ...ration of the drive or of the technology object Furthermore any synchronized following axis is moved as well when moving a leading axis with the axis control panel Therefore perform the following protective measures before operation with the axis control panel Ensure that the EMERGENCY OFF switch is within the reach of the operator Enable the hardware limit switches Enable the software limit switc...

Page 203: ...r ror message the online connection to the CPU may be impaired because the communication load is too high In this case the alarm Error during commission ing Sign of life failure between controller and TIA Portal is displayed To eliminate this error adapt the sign of life monitoring in the warning Until master control is returned the user program has no influence on the func tions of the technology...

Page 204: ...tive direction according to the selected operating mode Backward button With the Backward button you start a motion in the negative direction according to the selected operating mode Stop button With the Stop button you cancel a job or stop the axis Axis status The Axis status area displays the status of the axis and the status of the drive Drive ready The drive is ready to execute setpoints Error...

Page 205: ...n The motion runs for as long as you hold down the left mouse button Velocity specifica tion speed setpoint The axis is moved at the specified velocity or speed until you stop the movement The motion commands are performed according to the setpoints assigned under Controller Positioning relative The positioning is executed as a controlled relative traversing motion according to the defaults assign...

Page 206: ...rol area to assume master control over the technology object and to set up an online connection to the CPU A warning message is displayed 2 If necessary adapt the sign of life monitoring and confirm with OK 3 In the Axis area click the Enable button to enable the technology object 4 In the drop down list in the Operation mode area select the desired function of the axis control panel 5 In the Cont...

Page 207: ...ol of the axis The axis velocity profile is recorded by means of Trace function to this effect for the duration of a configurable positioning movement Then you can evaluate the recording and adapt the gain accordingly The Optimization function for the positioning axis and synchronous axis technology objects can be found in the Project Navigator under Technology object Commissioning The Optimizatio...

Page 208: ...atedly without a direct er ror message the online connection to the CPU may be impaired because the communication load is too high In this case the alarm Error during commission ing Sign of life failure between controller and TIA Portal is displayed To eliminate this error adapt the sign of life monitoring in the warning Until master control is returned the user program has no influence on the fun...

Page 209: ...ration Presetting of the acceleration for a test step Maximum ve locity Presetting of the maximum velocity for a test step Forward button With the Forward button you start a test step for optimization in the positive direc tion Backward button With the Backward button you start a test step for optimization in the negative direction Trace The Trace function is displayed In the lower area of the Opt...

Page 210: ...er a start value for the gain Start with a low value 6 Click the Forward or Start button to start a test step for the optimization For the specified duration a setpoint is output according to the specified distance The axis moves by the specified distance A trace recording of the motion setpoint and actual values is created automatically You will find a full description of the trace function in th...

Page 211: ... 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC 211 The following trace recording shows a curve with a long settling time The following trace recording shows a curve with overshoot when approaching the setpoint ...

Page 212: ...n Kv to the project Proceed as follows to transfer the determined gain Kv into your project 1 Click on the icon next to the Gain box A list of values is displayed 2 Enter the measured gain value in the Project start value box of the value list 3 In the Axis area click the Disable button to disable the technology object 4 In the Master control area click the Deactivate button to return master contr...

Page 213: ...figure the hardware the technology objects and your user program 2 For the each axis to be simulated set the technology object tag TO Simulation Mode to the value 1 3 If the hardware configured under point 1 is not connected to the CPU change the Configuration time for central and distributed I O parameter to a low value e g 2000 ms You can find the parameter in the CPU properties in the Startup a...

Page 214: ... relates to technology objects technology alarms status information are additionally displayed in the Diagnostics window of the respective technology object During Motion Control if an error occurs at a technology object e g approaching a hardware limit switch then a technology alarm Page 215 is triggered and a corresponding message is displayed in the TIA Portal as well as on HMI devices In your ...

Page 215: ...into three classes Warning can be acknowledged The processing of Motion Control jobs continues The current motion of the axis can be influenced e g by limitation of the current dynamic values to the configured limit values Alarm must be acknowledged Motion jobs are aborted in accordance with the alarm reaction In order to continue job processing after resolving the cause of error you must acknowle...

Page 216: ...e displayed Additionally the archive view is available to you The message display can also be enabled at a connected HMI and displayed CPU Online diagnostics Display of the technology alarms that have been recorded in the diagnostics buffer User program Tags TO ErrorDetail Number and TO ErrorDetail Reaction Indication of the number and the reaction for the last technology alarm that occurred Tag T...

Page 217: ... with maximum dynamic values TO ErrorDetail Reaction 2 Active motion commands are aborted The axis is braked with the dynamic values configured under Technology object Extended parameters Dynamic limits and brought to a standstill The configured maximum jerk is taken into account at the same time Stop with emergency stop ramp TO ErrorDetail Reaction 3 Active motion commands are aborted The axis is...

Page 218: ...to acknowledge all alarms and warnings pending for the selected technology object Not possible for external encoder technology object Inspector window Diagnostics Message display You can acknowledge the alarms and warnings for all technology objects either individually or all at once HMI At an HMI with enabled message display you can acknowledge the alarms and warnings for all technology objects e...

Page 219: ...ror indication If an error occurs in a Motion Control instruction the Error parameter shows the value TRUE The cause of the error can be found in the value of the ErrorID parameter Jobs at the technology object are rejected when Error TRUE Running jobs are not influenced by rejected jobs If Error TRUE and ErrorID 16 8001 are indicated during the job processing then a technology alarm has occurred ...

Page 220: ...t is enabled The axis can be controlled with Motion Control instruc tions TO StatusWord X0 Enable Error An error has occurred at the technology object Detailed information about the error is avail able in the Error area and in the TO ErrorDetail Number and TO ErrorDetail Reaction tags of the technology object TO StatusWord X1 Error Restart active The technology object is being reinitialized TO Sta...

Page 221: ... the axis control panel TO StatusWord X10 VelocityCommand Constant speed The axis is traversing at a constant speed or is at a standstill TO StatusWord X12 ConstantVelocity Accelerating The axis is being accelerated TO StatusWord X13 Accelerating Decelerating The axis is being decelerated TO StatusWord X14 Decelerating Warnings The following table shows the possible warnings Warning Description Co...

Page 222: ...truction or in its utilization TO ErrorWord X2 UserFault Drive Error in the drive TO ErrorWord X4 DriveFault Data exchange Error in communication with a connected device TO ErrorWord X7 CommunicationFault I O Error accessing a logical address TO ErrorWord X13 PeripheralError Job rejected Command cannot be executed A Motion Control instruction cannot be executed because the necessary conditions hav...

Page 223: ...f the axis TO Velocity Speed override Speed setpoint correction as percentage The speed setpoint specified in motion control instructions or set by the axis control panel are superimposed with an override signal and corrected as a percentage Valid speed correction values range from 0 0 to 200 0 TO Override Velocity Dynamic limits area This area displays the limit values for the dynamic parameters ...

Page 224: ...ics function is used in the TIA Portal to monitor the PROFIdrive frame that the drive returns to the controller The Diagnostics function is available in online operation Drive area This area displays the following parameters contained in the PROFIdrive frame that the drive returns to the controller Status words SW1 and SW2 The setpoint speed that was output to the drive NSET The actual speed that ...

Page 225: ...is homed The relationship between the position at the technology object and the mechanical position was successfully created TO StatusWord X5 HomingDone Error An error has occurred at the technology object Detailed information about the error is avail able in the Error area and in the TO ErrorDetail Number and TO ErrorDetail Reaction tags of the technology object TO StatusWord X1 Error Restart act...

Page 226: ...active job No motion job is active at the technology object TO StatusWord X6 Done Homing job The technology object is executing a homing job from the Motion Control instruction MC_Home or from the axis control panel TO StatusWord X11 HomingCommand Jog The axis is being moved by a jog mode job from the Motion Control instruction MC_MoveJog or from the axis control panel TO StatusWord X9 JogCommand ...

Page 227: ...and moves synchronously to the leading axis TO StatusWord X22 Synchronous Warnings The following table shows the possible warnings Warning Description Configuration adapted One or several configuration parameters are adjusted internally at a certain time TO WarningWord X1 ConfigurationFault Job rejected Command cannot be executed A Motion Control command cannot be executed because necessary precon...

Page 228: ...ical address TO ErrorWord X13 PeripheralError Job rejected Command cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been fulfilled e g technology object not homed TO ErrorWord X3 CommandNotAccepted Homing Error during a homing process TO ErrorWord X10 HomingFault Positioning The axis was not correctly positioned at the end of a positionin...

Page 229: ...usPositioning TargetPosition Actual position Actual position of the axis If the technology object is not homed then the value is displayed relative to the position that existed when the technology object was enabled TO ActualPosition Actual velocity Actual velocity of the axis TO ActualVelocity Velocity override Percentage correction of the velocity override The velocity setpoint specified in moti...

Page 230: ...nction is available in online operation Drive area This area displays the following parameters contained in the PROFIdrive frame that the drive returns to the controller Status words SW1 and SW2 The setpoint speed that was output to the drive NSET The actual speed that was signaled from the drive NACT Encoder area This area displays the following parameters contained in the PROFIdrive frame that t...

Page 231: ... technology object and the mechanical position was successfully created TO StatusWord X5 HomingDone Error An error has occurred at the technology object Detailed information about the error is avail able in the Error area and in the TO ErrorDetail Number and TO ErrorDetail Reaction tags of the technology object TO StatusWord X1 Error Restart active The technology object is being reinitialized TO S...

Page 232: ...ror in the encoder system TO ErrorWord X5 SensorFault Data exchange Missing or faulty communication TO ErrorWord X7 CommunicationFault Additional information An option for the evaluation of the individual status bits can be found in the Evaluating StatusWord ErrorWord and WarningWord Page 175 section 10 7 2 Motion status Description You use the Technology object Diagnostics Motion status diagnosti...

Page 233: ...unction is used in the TIA Portal to monitor the PROFIdrive frame of the encoder The display of the diagnostics function is available in the online mode TO Encoder area This area displays the following parameters contained in the PROFIdrive frame that the encoder returns to the controller Status word G1_ZSW The actual position value G1_XIST1 cyclic actual encoder value The actual position value G1...

Page 234: ...oning axis Speed axis External encoder Requirements The technology object has been configured correctly Override response A MC_Power job cannot be aborted by any other Motion Control job A MC_Power job with the parameter Enable TRUE enables a technology object but does not thereby abort any other Motion Control instructions Disabling the technology object parameter Enable FALSE aborts all Motion C...

Page 235: ...on Extended parameters Emergency stop ramp Enabling is then removed TO DynamicDefaults EmergencyDeceleration 1 Immediate stop When a technology object is disabled the setpoint zero is output and the enabling is removed The axis is braked depending on the configuration in the drive and is brought to a standstill 2 Stop with maximum dynamic values When the technology object is disabled the axis brak...

Page 236: ... is present then the axis brakes to the setpoint zero using the maximum deceleration configured in Technology object Configuration Extended parameters Dynamic limits TO DynamicLimits MaxDeceleration This braking ramp can be overridden by Motion Control jobs Note Automatic enabling after acknowledgement of a technology alarm If the technology object is disabled due to a technology alarm then it wil...

Page 237: ...og drive connection The setpoint is output via an analog output Optionally you can configure an enabling signal via digital output TO Actor Interface EnableDriveOutput and a readiness signal via digital input TO Actor Interface DriveReadyInput Enable technology object and drive With the parameter Enable TRUE the enabling output Enable drive output is set If the drive reports back the readiness sig...

Page 238: ...rom Velocity Axis_1 At time an error occurs in the technology object which results in the disabling of the technology object alarm response remove enable The axis is braked depending on the configuration in the drive and is brought to a standstill When the technology object is disabled Status_1 is reset Since the axis was not disabled using Enable_1 FALSE the selected StopMode does not apply The c...

Page 239: ...standardized within the framework of technology version V2 0 This results in a new assignment of the parameter values for the MC_Home Mode parameter A comparison of the MC_Home Mode parameter for technology versions V1 0 and V2 0 is available in the section Version overview Page 86 The preset values under Technology object Configuration Extended parameters Dynamic default values are used for the d...

Page 240: ...ns of MC_Power Enable FALSE MC_Home job with parameter Mode 3 5 9 An MC_Home job for passive homing does not abort any other Motion Control jobs An MC_Home job for active homing is aborted by Disabling the technology object with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job An MC_Home job for active h...

Page 241: ...ion 2 Passive homing without reset Functions like Mode 8 with the difference that the homed status is not reset when the function is enabled 3 Active homing The TO positioning axis synchronous axis performs a homing movement according to the configuration After the completion of the movement the axis is positioned at the value of the Position parameter 4 Reserved 5 Active homing Position parameter...

Page 242: ...ng passive homing A running job for passive homing is abort ed 10 Passive homing Position parameter has no effect When the homing mark is detected the actual value is set to the home position configured under Technology object Configuration Extended parameters Homing Passive homing TO Homing HomePosition Done OUTPUT BOOL FALSE TRUE Job is completed Busy OUTPUT BOOL FALSE TRUE The job is being exec...

Page 243: ...eps 1 Check the requirements indicated above 2 Specify the desired homing function in the Mode parameter 3 Initialize the necessary parameters with values and start the homing operation with a positive edge at the Execute parameter If the Done parameter shows the value TRUE then the MC_Home job has been completed according to the selected Mode The Homed status of the technology object is indicated...

Page 244: ...ruction MC_MoveJog you can move an axis in jog mode Dynamic behavior during movement is defined with the parameters Velocity Jerk Acceleration and Deceleration Positioning axis synchronous axis A velocity is specified in the Velocity parameter Speed axis A speed is specified at the Velocity parameter Applies to Synchronous axis Positioning axis Speed axis Requirement The technology object has been...

Page 245: ...ing the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_MoveJog job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job ...

Page 246: ...ation configured in Tech nology object Configuration Extended parame ters Dynamic defaults is used TO DynamicDefaults Acceleration Deceleration INPUT LREAL 1 0 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 INPUT LR...

Page 247: ... in jog mode Proceed as follows to move an axis in jog mode 1 Check the requirements indicated above 2 Move the axis in the positive direction with JogForward or in the negative direction with JogBackward The current motion state is indicated in Busy InVelocity and Error Note Behavior when changing the override If the velocity speed is influenced during constant motion by a change in the override ...

Page 248: ...tive direction via Jog_F When the setpoint velocity 50 0 is reached this is signaled via InVel TRUE At time if Jog_F is set the setpoint velocity is changed to 100 0 by means of Vel_Input Alternatively you can also change the setpoint velocity via the velocity override InVel is reset The axis is being accelerated When the new setpoint velocity 100 0 is reached this is signaled via InVel TRUE If Jo...

Page 249: ...Velocity 11 1 4 1 MC_MoveVelocity Move axes at predefined velocity V2 Description With the Motion Control instruction MC_MoveVelocity you can move an axis with a constant velocity Dynamic behavior during movement is defined with the parameters Velocity Jerk Acceleration and Deceleration Positioning axis synchronous axis A velocity is specified in the Velocity parameter Speed axis A speed is specif...

Page 250: ...g the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_MoveVelocity job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job ...

Page 251: ...xtended parame ters Dynamic defaults is used TO DynamicDefaults Acceleration Deceleration INPUT LREAL 1 0 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 INPUT LREAL 1 0 Jerk Value 0 0 Constant acceleration velocity ...

Page 252: ...UTPUT BOOL FALSE TRUE The job is being executed CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job The cause of the error can be found in the ErrorID parameter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Behavior with setpoint velocity setpoint speed zero Velocity...

Page 253: ...RUE then the setpoint velocity setpoint speed was reached The axis continues moving at this constant velocity The parameters InVelocity and Busy show the value TRUE until the MC_MoveVelocity job is overridden by another Motion Control job Note Behavior when changing the override If the velocity speed is influenced during constant motion by a change in the override TO Override Velocity then the InV...

Page 254: ...ity and the response to an overriding job A MC_MoveVelocity job A1 initiated via Exe_1 accelerates the axis and signals at time via InVel_1 that the setpoint velocity 50 0 has been reached At time the task is overridden via another MC_MoveVelocity job A2 The abort is signaled via Abort_1 When the new setpoint velocity 15 0 is reached this is signaled via InVel_2 The axis then continues moving at t...

Page 255: ...ignaled via Abort_1 When the new setpoint velocity 15 0 is reached this is signaled via InVel_2 The axis then continues moving at the constant velocity 15 0 11 1 5 MC_MoveRelative 11 1 5 1 MC_MoveRelative Relative positioning of axes V2 Description With the Motion Control instruction MC_MoveRelative you can move an axis relative to the position that exists at the beginning of job processing Dynami...

Page 256: ...ing the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_MoveRelative job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job ...

Page 257: ...T LREAL 1 0 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 INPUT LREAL 1 0 Deceleration Value 0 0 The specified value is used Value 0 0 not permitted Value 0 0 The deceleration configured in Tech nology obje...

Page 258: ... error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Moving an axis relative to the starting position Proceed as follows to move an axis relative to the starting position 1 Check the requirements indicated above 2 Specify distance to be moved in the Distance parameter 3 Start the MC_MoveRelative job with a positive edge at the parameter Ex...

Page 259: ...0 Motion Control V2 S7 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC 259 11 1 5 2 MC_MoveRelative Function chart V2 Function chart Relative positioning of an axis and the response to an overriding job ...

Page 260: ...ection A running MC_MoveRelative job A1 is overridden by another MC_MoveRelative job A2 The abort is signaled at time via Abort_1 The axis is then moved at the new velocity by the distance Distance 500 0 When the new target position is reached this is signaled via Done_2 11 1 6 MC_MoveAbsolute 11 1 6 1 MC_MoveAbsolute Absolute positioning of axes V2 Description With the Motion Control instruction ...

Page 261: ...ing the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_MoveAbsolute job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job ...

Page 262: ...lue 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 INPUT LREAL 1 0 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...

Page 263: ...error occurred during execution of the job The job is rejected The cause of the error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Moving an axis to an absolute position Proceed as follows to move an axis to an absolute position 1 Check the requirements indicated above 2 Specify the desired target position at the Position parameter 3 Star...

Page 264: ...0 Motion Control V2 S7 1500 Motion Control V13 Update 3 264 Function Manual 07 2014 A5E03879256 AC 11 1 6 2 MC_MoveAbsolute Function chart V2 Function chart Absolute positioning of an axis and the response to an overriding job ...

Page 265: ...g movement is defined with the parameters VelocityDiff Jerk Acceleration and Deceleration The dynamic values are added to the values of the basic motion The duration of the basic motion is not extended by a superimposed motion The dynamic of the total axis motion is the sum of the dynamic values of the basic motion and the superimposed motion The behavior of the total motion depends on the type of...

Page 266: ...object has been configured correctly The technology object is enabled Override response The MC_MoveSuperimposed job is aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job Starting a MC_MoveSuperimposed job aborts an active MC_MoveSuperimposed job ...

Page 267: ...s Velocity Acceleration INPUT LREAL 1 0 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 INPUT LREAL 1 0 Deceleration Value 0 0 The specified value is used Value 0 0 not permitted Value 0 0 The deceleration co...

Page 268: ...ErrorID param eter ErrorID OUTPUT WORD 0 Error ID Page 386 for parameter Error Starting superimposed positioning motion To start a superimposed positioning motion with the MC_MoveSuperimposed Motion Control instruction follow these steps 1 Check the requirements indicated above 2 Specify the additional distance to be moved in the Distance parameter 3 Start the MC_MoveSuperimposed job with a positi...

Page 269: ...ions 11 1 S7 1500 Motion Control V2 S7 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC 269 11 1 7 2 MC_MoveSuperimposed Function chart V2 Function chart Superimposed positioning of axes ...

Page 270: ...ve gearing between a leading axis and a following axis Dynamic behavior of the following axis during synchronization is defined with the parameters Jerk Acceleration and Deceleration You specify the gear ratio as the relationship between two integers numerator denominator with the parameters RatioNumerator and RatioDenominator You can change the gear ratio during operation by placing a new MC_Gear...

Page 271: ...following axis is enabled Override response The MC_GearIn job is aborted by Disabling the following axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_GearIn job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job ...

Page 272: ...ot permitted Value 0 0 The acceleration configured in Technology object Configuration Extended parameters Dynamic defaults is used TO DynamicDefaults Acceleration Deceleration INPUT LREAL 1 0 Deceleration Value 0 0 The specified value is used Value 0 0 not permitted Value 0 0 The deceleration configured in Technology object Configuration Extended parameters Dynamic defaults is used TO DynamicDefau...

Page 273: ...ynchronous operation with the MC_GearIn Motion Control instruction follow these steps 1 Check the requirements indicated above 2 Specify the leading axis the following axis and the gear ratio at the corresponding parameters 3 Start the MC_GearIn job with a positive edge at the parameter Execute The following axis is synchronized to the master value of the leading axis If the InGear parameter shows...

Page 274: ...e following axis TO_Slave is synchronized to the leading axis TO_Master_1 InGear_1 signals at time that the following axis is synchronized and moves synchronously to the leading axis At time synchronous operation is overridden by another MC_GearIn job A2 The abort is signaled via Abort_1 The following axis is synchronized to the new leading axis TO_Master_2 InGear_2 signals at time that the follow...

Page 275: ...Stop axes V2 Description With the Motion Control instruction MC_Halt you can brake an axis to a standstill Dynamic behavior during the braking process is defined with the parameters Jerk and Deceleration Applies to Synchronous axis Positioning axis Speed axis Requirement The technology object has been configured correctly The technology object is enabled ...

Page 276: ...ing the axis with MC_Power Enable FALSE MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job Starting a MC_Halt job aborts the following active Motion Control jobs MC_Home job Mode 3 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job MC_GearIn job MC_MoveSuperimposed job ...

Page 277: ...TO DynamicDefaults Jerk Done OUTPUT BOOL FALSE TRUE Zero velocity reached Busy OUTPUT BOOL FALSE TRUE The job is being executed CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job The job is rejected The cause of the error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 00...

Page 278: ...Motion Control V2 S7 1500 Motion Control V13 Update 3 278 Function Manual 07 2014 A5E03879256 AC See also Error ID Page 386 11 1 9 2 MC_Halt Function chart V2 Function chart Stopping an axis and the response to an overriding job ...

Page 279: ...an MC_MoveVelocity job A1 The job termination is signaled via Abort_2 When the setpoint velocity 50 0 is reached this is signaled via InVel_1 The axis is then moved with constant velocity 11 1 10 MC_Reset 11 1 10 1 MC_Reset Acknowledge alarms restart technology objects V2 Description All technology alarms that can be acknowledged in the user program are acknowledged with the Motion Control instruc...

Page 280: ...chnology object is reinitialized with the config ured start values FALSE Acknowledgement of queued technology alarms Done OUTPUT BOOL FALSE TRUE Error has been acknowledged Restart has been executed Busy OUTPUT BOOL FALSE TRUE The job is being executed Command Aborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during ex...

Page 281: ...logy object 1 Check the requirements indicated above 2 Set the parameter Restart TRUE 3 Perform the restart with a positive edge at the input parameter Execute If the Done parameter shows the value TRUE then the restart of the technology object has been completed Additional information on a restart can be found in the Restarting Technology Objects Page 197 section See also Error ID Page 386 ...

Page 282: ...ositioning axis Speed axis External encoder Requirements The technology object has been configured correctly Override response A MC_Power job cannot be aborted by any other Motion Control job A MC_Power job with the parameter Enable TRUE enables a technology object but does not thereby abort any other Motion Control instructions Disabling the technology object parameter Enable FALSE aborts all Mot...

Page 283: ...on Extended parameters Emergency stop ramp Enabling is then removed TO DynamicDefaults EmergencyDeceleration 1 Immediate stop When a technology object is disabled the setpoint zero is output and the enabling is removed The axis is braked depending on the configuration in the drive and is brought to a standstill 2 Stop with maximum dynamic values When the technology object is disabled the axis brak...

Page 284: ... is present then the axis brakes to the setpoint zero using the maximum deceleration configured in Technology object Configuration Extended parameters Dynamic limits TO DynamicLimits MaxDeceleration This braking ramp can be overridden by Motion Control jobs Note Automatic enabling after acknowledgement of a technology alarm If the technology object is disabled due to a technology alarm then it wil...

Page 285: ...og drive connection The setpoint is output via an analog output Optionally you can configure an enabling signal via digital output TO Actor Interface EnableDriveOutput and a readiness signal via digital input TO Actor Interface DriveReadyInput Enable technology object and drive With the parameter Enable TRUE the enabling output Enable drive output is set If the drive reports back the readiness sig...

Page 286: ...rom Velocity Axis_1 At time an error occurs in the technology object which results in the disabling of the technology object alarm response Remove enable The axis is braked depending on the configuration in the drive and is brought to a standstill When the technology object is disabled Status_1 is reset Since the axis was not disabled using Enable_1 FALSE the selected StopMode does not apply The c...

Page 287: ...HomingMode parameter and the configuration under Technology object Configuration Extended parameters Homing The preset values under Technology object Configuration Extended parameters Dynamic default values are used for the dynamic values Acceleration Deceleration and Jerk Applies to Positioning axis External encoder The following table shows which modes are possible with each of the technology ob...

Page 288: ...echnology object by means of MC_Power Enable FALSE MC_Home job with parameter HomingMode 4 5 9 An MC_Home job for passive homing does not abort any other Motion Control jobs An MC_Home job for active homing is aborted by Disabling the technology object with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job An MC_...

Page 289: ...he value of parameter Position 2 Passive homing When the homing mark is detected the actual value is set to the value of the Posi tion parameter 3 Passive homing Position parameter has no effect When the homing mark is detected the actual value is set to the home position configured under Technology object Configuration Extended parameters Homing Passive homing TO Homing HomePosition 4 Active homi...

Page 290: ... absolute value offset is stored retentively in the CPU TO StatusSensor n AbsEncoderOffset 8 Passive homing without reset Functions like HomingMode 2 with the difference that the homed status is not reset when the function is enabled 9 Canceling passive homing A running job for passive homing is abort ed Done OUTPUT BOOL FALSE TRUE Job is completed Busy OUTPUT BOOL FALSE TRUE The job is being exec...

Page 291: ...requirements indicated above 2 Specify the desired homing function in the HomingMode parameter 3 Initialize the necessary parameters with values and start the homing operation with a positive edge at the Execute parameter If the Done parameter shows the value TRUE then the MC_Home job has been completed according to the selected HomingMode The Homed status of the technology object is indicated und...

Page 292: ...tion Control instruction MC_MoveJog you can move an axis in jog mode Dynamic behavior during movement is defined with the parameters Velocity Jerk Acceleration and Deceleration Positioning axis A velocity is specified in the Velocity parameter Speed axis A speed is specified at the Velocity parameter Applies to Positioning axis Speed axis Requirement The technology object has been configured corre...

Page 293: ...is aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job Starting a MC_MoveJog job aborts the following active Motion Control jobs MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job ...

Page 294: ...ation configured in Tech nology object Configuration Extended parame ters Dynamic defaults is used TO DynamicDefaults Acceleration Deceleration INPUT LREAL 1 0 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 INPUT LR...

Page 295: ... in jog mode Proceed as follows to move an axis in jog mode 1 Check the requirements indicated above 2 Move the axis in the positive direction with JogForward or in the negative direction with JogBackward The current motion state is indicated in Busy InVelocity and Error Note Behavior when changing the override If the velocity speed is influenced during constant motion by a change in the override ...

Page 296: ...tive direction via Jog_F When the setpoint velocity 50 0 is reached this is signaled via InVel TRUE At time if Jog_F is set the setpoint velocity is changed to 100 0 by means of Vel_Input Alternatively you can also change the setpoint velocity via the velocity override InVel is reset The axis is being accelerated When the new setpoint velocity 100 0 is reached this is signaled via InVel TRUE If Jo...

Page 297: ... 2 4 MC_MoveVelocity 11 2 4 1 MC_MoveVelocity Move axes at predefined specified velocity V1 Description With the Motion Control instruction MC_MoveVelocity you can move an axis with a constant velocity Dynamic behavior during movement is defined with the parameters Velocity Jerk Acceleration and Deceleration Positioning axis A velocity is specified in the Velocity parameter Speed axis A speed is s...

Page 298: ... aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job Starting a MC_MoveVelocity job aborts the following active Motion Control jobs MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job ...

Page 299: ...xtended parame ters Dynamic defaults is used TO DynamicDefaults Acceleration Deceleration INPUT LREAL 1 0 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 INPUT LREAL 1 0 Jerk Value 0 0 Constant acceleration velocity ...

Page 300: ...UTPUT BOOL FALSE TRUE The job is being executed CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job The cause of the error can be found in the ErrorID parameter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Behavior with setpoint velocity setpoint speed zero Velocity...

Page 301: ...RUE then the setpoint velocity setpoint speed was reached The axis continues moving at this constant velocity The parameters InVelocity and Busy show the value TRUE until the MC_MoveVelocity job is overridden by another Motion Control job Note Behavior when changing the override If the velocity speed is influenced during constant motion by a change in the override TO Override Velocity then the InV...

Page 302: ...ity and the response to an overriding job A MC_MoveVelocity job A1 initiated via Exe_1 accelerates the axis and signals at time via InVel_1 that the setpoint velocity 50 0 has been reached At time the task is overridden via another MC_MoveVelocity job A2 The abort is signaled via Abort_1 When the new setpoint velocity 15 0 is reached this is signaled via InVel_2 The axis then continues moving at t...

Page 303: ...bort is signaled via Abort_1 When the new setpoint velocity 15 0 is reached this is signaled via InVel_2 The axis then continues moving at the constant velocity 15 0 11 2 5 MC_MoveRelative 11 2 5 1 MC_MoveRelative Relative positioning of axes V1 Description With the Motion Control instruction MC_MoveRelative you can move an axis relative to the position that exists at the beginning of job processi...

Page 304: ...is aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job Starting a MC_MoveRelative job aborts the following active Motion Control jobs MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job ...

Page 305: ...T LREAL 1 0 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 INPUT LREAL 1 0 Deceleration Value 0 0 The specified value is used Value 0 0 not permitted Value 0 0 The deceleration configured in Tech nology obje...

Page 306: ... error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Moving an axis relative to the starting position Proceed as follows to move an axis relative to the starting position 1 Check the requirements indicated above 2 Specify distance to be moved in the Distance parameter 3 Start the MC_MoveRelative job with a positive edge at the parameter Ex...

Page 307: ...0 Motion Control V1 S7 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC 307 11 2 5 2 MC_MoveRelative Function chart V1 Function chart Relative positioning of an axis and the response to an overriding job ...

Page 308: ...e cycle Section A running MC_MoveRelative job A1 is overridden by another MC_MoveRelative job A2 The abort is sig naled at time via Abort_1 The axis is then moved at the new velocity by the distance Distance 500 0 When the new target position is reached this is signaled via Done_2 11 2 6 MC_MoveAbsolute 11 2 6 1 MC_MoveAbsolute Absolute positioning of axes V1 Description With the Motion Control in...

Page 309: ...is aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job Starting a MC_MoveAbsolute job aborts the following active Motion Control jobs MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job ...

Page 310: ...lue 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 INPUT LREAL 1 0 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...

Page 311: ...error occurred during execution of the job The job is rejected The cause of the error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error Moving an axis to an absolute position Proceed as follows to move an axis to an absolute position 1 Check the requirements indicated above 2 Specify the desired target position at the Position parameter 3 Star...

Page 312: ...0 Motion Control V1 S7 1500 Motion Control V13 Update 3 312 Function Manual 07 2014 A5E03879256 AC 11 2 6 2 MC_MoveAbsolute Function chart V1 Function chart Absolute positioning of an axis and the response to an overriding job ...

Page 313: ...is applied only to one cycle Section A running MC_MoveAbsolute job A1 is overridden at time by another MC_MoveAbsolute job A2 The abort is signaled via Abort_1 The axis is braked to the changed velocity and moved to the new target position 1500 0 When the new target position is reached this is signaled via Done_2 11 2 7 MC_Halt 11 2 7 1 MC_Halt Stop axes V1 Description With the Motion Control inst...

Page 314: ...is aborted by Disabling the axis with MC_Power Enable FALSE MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job Starting a MC_Halt job aborts the following active Motion Control jobs MC_Home job HomingMode 4 5 MC_Halt job MC_MoveAbsolute job MC_MoveRelative job MC_MoveVelocity job MC_MoveJog job ...

Page 315: ...TO DynamicDefaults Jerk Done OUTPUT BOOL FALSE TRUE Zero velocity reached Busy OUTPUT BOOL FALSE TRUE The job is being executed CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job The job is rejected The cause of the error can be found in the ErrorID parame ter ErrorID OUTPUT WORD 16 00...

Page 316: ...Instructions 11 2 S7 1500 Motion Control V1 S7 1500 Motion Control V13 Update 3 316 Function Manual 07 2014 A5E03879256 AC See also Error ID Page 386 ...

Page 317: ...ob termination is signaled via Abort_1 The axis is braked to a standstill Successful completion of the MC_Halt job is signaled via Done_2 Section The axis is moved with an MC_MoveVelocity job A1 When the setpoint velocity 50 0 is reached this is signaled via InVel_1 Next the MC_MoveVelocity job is overridden by an MC_Halt job A2 The job termi nation is signaled via Abort_1 During the braking proce...

Page 318: ...tion MC_Reset with Restart TRUE Upon restart of the technology object the new configuration data are applied in the technology data block Applies to Positioning axis Speed axis External encoder Requirements The cause of the error for a pending technology alarm has been resolved For a restart the technology object must be disabled MC_Power Status FALSE and MC_Power Busy FALSE Override response Para...

Page 319: ...ledged Restart has been executed Busy OUTPUT BOOL FALSE TRUE The job is being executed Comman dAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by another job Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job The job is rejected The cause of the error can be found in the ErrorID parameter ErrorID OUTPUT WORD 16 0000 Error ID Page 386 for parameter Error ...

Page 320: ...logy object 1 Check the requirements indicated above 2 Set the parameter Restart TRUE 3 Perform the restart with a positive edge at the input parameter Execute If the Done parameter shows the value TRUE then the restart of the technology object has been completed Additional information on a restart can be found in the Restarting Technology Objects Page 197 section See also Error ID Page 386 ...

Page 321: ...art value in load memory are made using the extended instruction WRIT_DBL write to DB in load memory Changes will not take effect until after restart of the technology object RON Read only The tag cannot and must not be changed Description Description of the tag L Linear specification R Rotary specification Access to the tags is with TO tag name The placeholder TO represents the name of the techno...

Page 322: ...Actor tag name contains the controller side configuration for the drive Tags Legend Page 321 Tag Data type Values W Description Actor STRUCT Type DINT RON Drive connection 1 PROFIdrive frame 0 Analog output InverseDirection BOOL RES Inversion of the setpoint FALSE no TRUE yes Interface STRUCT AddressIn UDINT 0 to 65535 RON Input address for the PROFIdrive frame AdressOut UDINT 0 to 65535 RON Outpu...

Page 323: ...t number for the ready input DriveParameter ReferenceSpeed LREAL 0 0 to 1 0E12 RES Reference value 100 for the setpoint speed of the drive N set The setpoint speed is transmitted in the PROFIdrive frame as a standardized value from 200 to 200 of the ReferenceSpeed For setpoint specification via an analog output the analog output can be operated in the range from 117 to 117 insofar as the drive per...

Page 324: ...ration of the axis MaxDeceleration LREAL 0 0 to 1 0E12 DIR Maximum permissible deceleration of the axis MaxJerk LREAL 0 0 to 1 0E12 DIR Maximum permissible jerk on the axis A 1 7 DynamicDefaults tags speed axis The tag structure TO DynamicDefaults tag name contains the configuration of the dynamic defaults These settings will be used if you specify a dynamic value less than 0 0 in a Motion Control...

Page 325: ...d Page 321 Tag Data type Values W Description Override STRUCT Velocity LREAL 0 0 to 200 0 DIR Velocity or speed override Percentage correction of the velocity speed A 1 9 StatusDrive tags speed axis The tag structure TO StatusDrive tag name indicates the status of the drive Tags Legend Page 321 Tag Data type Values W Description StatusDrive STRUCT InOperation BOOL RON Operational status of the dri...

Page 326: ...y object disabled 1 Technology object enabled Bit 1 Error 0 No error present 1 Error present Bit 2 RestartActive 0 No Restart active 1 Restart active The technology object is being reinitialized Bit 3 OnlineStartValuesChanged 0 Restart tag unchanged 1 Change to Restart tag For the changes to be applied the technology object must be reinitialized Bit 4 ControlPanelActive Axis control panel 0 disabl...

Page 327: ...scription Bit 12 ConstantVelocity 0 The axis accelerates or decelerates 1 Velocity setpoint reached The axis is traversing at this constant velocity or is at a standstill Bit 13 Accelerating 0 No acceleration process active 1 Acceleration process active Bit 14 Decelerating 0 No deceleration process active 1 Deceleration process active Bit 15 Bit 31 Reserved ...

Page 328: ...tem error Bit 1 ConfigurationFault Configuration error One or more configuration parameters are inconsistent or invalid Bit 2 UserFault Error in the user program in a motion control instruction or in its use Bit 3 CommandNotAccepted Command cannot be executed A Motion Control command cannot be executed because neces sary preconditions are not met Bit 4 DriveFault Error in the drive Bit 5 Reserved ...

Page 329: ...at the technology object A list of the technology alarms and alarm reactions can be found in the appendix Technology Alarms Page 368 Tags Legend Page 321 Tag Data type Values W Description ErrorDetail STRUCT Number UDINT RON Alarm number Reaction DINT 0 to 5 RON Effective alarm reaction 0 No reaction 1 Stop with current dynamic values 2 Stop with maximum dynamic values 3 Stop with emergency stop r...

Page 330: ...ating StatusWord ErrorWord and WarningWord Page 175 section Tag Legend Page 321 Tag Data type Values W Description Warning Word DWORD RON Bit 0 Reserved Bit 1 ConfigurationFault Configuration error One or several configuration parameters are adjusted internally Bit 2 Reserved Bit 3 CommandNotAccepted Command cannot be executed A Motion Control command cannot be executed because neces sary precondi...

Page 331: ... internally used Tags Legend Page 321 Tag Data type Values W Description ControlPanel STRUCT Input STRUCT Command ARRAY 1 2 OF STRUCT ReqCounter UDINT DIR Type UDINT DIR Position LREAL DIR Velocity LREAL DIR Acceleration LREAL DIR Deceleration LREAL DIR Jerk LREAL DIR Param LREAL DIR TimeOut LREAL DIR EsLifeSign UDINT DIR Output STRUCT Command ARRAY 1 2 OF STRUCT AckCounter UDINT RON Error BOOL RO...

Page 332: ...es Value range of the tag minimum value to maximum value If no specific value is shown the value range limits of the relevant data type apply or the information under Description W Effectiveness of changes in the technology data block DIR Immediate Changes to the value are made with a direct assignment and are immediately effective RES Restart Changes to the start value in load memory are made usi...

Page 333: ...setpoint speed ActualPosition LREAL RON Actual position ActualVelocity LREAL RON Actual velocity ActualSpeed LREAL RON Actual speed of the motor with analog setpoint 0 0 Acceleration LREAL RON Setpoint acceleration ActualAcceleration LREAL RON Actual acceleration A 2 3 Simulation tag positioning axis synchronous axis The tag structure TO Simulation tag name contains the configuration for the simul...

Page 334: ...rame or the analog setpoint Telegram UDINT RON PROFIdrive frame of the drive 1 NSET 16 bit NACT 16 bit 2 NSET 32 bit NACT 32 bit signs of life 3 NSET 32 bit NACT 32 bit actual encoder value signs of life 5 NSETP 32 bit NACT 32 bit actual encoder value sign of life DSC NSET setpoint speed NACT actual speed value EnableDriveOutput BOOL RON Enable output for analog drives FALSE disabled TRUE enabled ...

Page 335: ...ve N set The setpoint speed is transmitted in the PROFIdrive frame as a standardized value from 200 to 200 of the ReferenceSpeed For setpoint specification via an analog output the analog output can be operated in the range from 117 to 117 insofar as the drive permits this MaxSpeed LREAL 0 0 to 1 0E12 RES Maximum value for the setpoint speed of the drive N set PROFIdrive MaxSpeed 2 ReferenceSpeed ...

Page 336: ...emental 1 Absolute 2 External Interface AddressIn UDINT 0 to 65535 RON Input address for the PROFIdrive frame AddressOut UDINT 0 to 65535 RON Output address for the PROFIdrive frame Telegram UDINT RON PROFIdrive frame of the encoder 3 Actual values via drive frame NSET 32 bit NACT 32 bit actual encoder value signs of life 5 Actual values from drive frame NSETP 32 bit NACT 32 bit actual encoder val...

Page 337: ...h 2 Digital input SideInput BOOL DIR Side of the digital input for active homing FALSE Negative side TRUE Positive side Direction DINT DIR Homing direction homing mark approach direction 1 Positive homing direction 2 Negative homing direction HomePosition Offset LREAL 1 0E12 to 1 0E12 DIR Home position offset Digital InputAddress UDINT 0 to 65535 RON Byte number of the digital input DigitalInput B...

Page 338: ...1 to 4294967295 RES Load gear denominator A 2 7 Mechanics tags positioning axis synchronous axis The tag structure TO Mechanics tag name contains the configuration of the mechanics Tags Legend Page 332 Tag Data type Value range W Description Mechanics STRUCT LeadScrew LREAL 0 0 to 1 0E12 RES Leadscrew pitch A 2 8 Properties tags positioning axis synchronous axis The tag structure TO Properties tag...

Page 339: ...ynamicLimits tags positioning axis synchronous axis The tag structure TO DynamicLimits tag name contains the configuration of the dynamic limits During Motion Control no dynamic values greater than the dynamic limits are permitted If you have specified greater values in a Motion Control instruction then motion is performed using the dynamic limits and a warning is indicated alarm 501 to 503 Dynami...

Page 340: ...ion LREAL 0 0 to 1 0E12 DIR Default acceleration Deceleration LREAL 0 0 to 1 0E12 DIR Default deceleration Jerk LREAL 0 0 to 1 0E12 DIR Default jerk EmergencyDeceleration LREAL 0 0 to 1 0E12 DIR Emergency stop deceleration See also Evaluating the technology data block Page 173 A 2 12 PositionLimits_SW tags positioning axis synchronous axis The tag structure TO PositionLimits_SW tag name contains t...

Page 341: ...ctive both negative and positive hardware limit switches are enabled or disabled MinSwitchLevel BOOL RES Level selection for enabling of the negative hardware limit switch FALSE Lower level low enabled TRUE Upper level high enabled MinSwitchAddress UDINT 0 to 65535 RON Byte number for the negative hardware limit switch MinSwitchBitNumber UDINT 0 to 7 RON Bit number for the negative hardware limit ...

Page 342: ...itches FALSE no TRUE yes ApproachDirection BOOL DIR Direction of approach to the homing position switch FALSE Negative side TRUE Positive direction ApproachVelocity LREAL L 0 0 to 10000 0 mm s R 0 0 to 360000 0 s DIR Approach velocity Velocity during active homing with which the axis moves toward the proximity switch and toward home position ReferencingVelocity LREAL L 0 0 to 1000 0 mm s R 0 0 to ...

Page 343: ...on for the override parameters The override parameters are used to apply a correction percentage to default values An override change takes effect immediately and is performed with the dynamic settings in effect in the Motion Control instruction Tags Legend Page 332 Tag Data type Values W Description Override STRUCT Velocity LREAL 0 0 to 200 0 DIR Velocity or speed override Percentage correction o...

Page 344: ...pe Values W Description PositionControl STRUCT Kv LREAL 0 0 to 2147480 0 DIR Proportional gain in the position control Kv 0 0 Kpc LREAL 0 0 to 150 0 DIR Velocity pre control in the position control Recommended setting Isochronous drive connection via PROFIdrive 100 0 Non isochronous drive connection via PROFIdrive 0 0 to 100 0 Analog drive connection 0 0 to 100 0 EnableDSC BOOL RES Dynamic Servo C...

Page 345: ...ology alarm 522 Tags Legend Page 332 Tag Data type Values W Description FollowingError STRUCT EnableMonitoring BOOL RES FALSE Following error monitoring disabled TRUE Following error monitoring enabled MinValue LREAL L 0 0 to 1 0E12 R 0 001 to 1 0E12 DIR Permissible following error at velocities below the value of MinVelocity MaxValue LREAL L 0 0 to 1 0E12 R 0 002 to 1 0E12 DIR Maximum permissible...

Page 346: ... Control job If the tolerance time is exceeded then technology alarm 541 Positioning monitoring with supplemental value 1 Target area not reached within the positioning tolerance time will be indicated If the minimum dwell time is not met then technology alarm 541 Positioning monitoring with supplemental value 2 Target area exited within the minimum dwell time will be indicated Tags Legend Page 33...

Page 347: ...ption StandstillSignal STRUCT Configuration for the standstill signal VelocityThreshold LREAL 0 0 to 1 0E12 DIR Velocity threshold If velocity is below this threshold then the minimum dwell time begins MinDwellTime LREAL 0 0 to 1 0E12 DIR Minimum dwell time See also Evaluating the technology data block Page 173 A 2 20 StatusPositioning tags positioning axis synchronous axis The tag structure TO St...

Page 348: ... of the drive Tags Legend Page 332 Tag Data type Values W Description StatusDrive STRUCT InOperation BOOL RON Operational status of the drive FALSE Drive not ready Setpoints will not be exe cuted TRUE Drive ready Setpoints can be executed CommunicationOK BOOL RON Cyclic BUS communication between controller and drive FALSE Not established TRUE Established Error BOOL RON FALSE No error at the drive ...

Page 349: ...StatusSensor n ARRAY 1 1 OF STRUCT State DINT RON Status of the actual encoder value 0 NOT_VALID not valid 1 Waiting_FOR_VALID waiting for valid status 2 VALID valid CommunicationOK BOOL RON Cyclic BUS communication between controller and encoder FALSE Not established TRUE Established Error BOOL RON FALSE No error in the measuring system TRUE Error in the measuring system AbsEncoderOffset LREAL RO...

Page 350: ...ructure TO StatusSynchronizedMotion tag name indicates the status of the synchronous operation Tags Legend Page 332 Tag Data type Value range W Description StatusSynchronizedMotion STRUCT ActualMaster DB_ANY RON When a MC_GearIn job is started the number of the technology data block of the currently used leading axis is displayed ActualMaster 0 with disabled synchronous op eration See also Synchro...

Page 351: ...bled Bit 1 Error 0 No error present 1 Error present Bit 2 RestartActive 0 No Restart active 1 Restart active The technology object is being reinitialized Bit 3 OnlineStartValuesChanged 0 Restart tag unchanged 1 Change to Restart tag For the changes to be applied the technolo gy object must be reinitialized Bit 4 ControlPanelActive Axis control panel 0 disabled 1 enabled Bit 5 HomingDone Homing sta...

Page 352: ...ctive 0 Negative software limit switch not reached 1 Negative software limit switch reached or exceeded Bit 16 SWLimitMaxActive 0 Positive software limit switch not reached 1 Positive software limit switch reached or exceeded Bit 17 HWLimitMinActive 0 Negative hardware limit switch not reached 1 Negative Hardware limit switch reached or exceeded Bit 18 HWLimitMaxActive 0 Positive hardware limit sw...

Page 353: ...epted can be found in the Evaluating StatusWord ErrorWord and WarningWord Page 175 section Tag Legend Page 332 Tag Data type Values W Description ErrorWord DWORD RON Bit 0 SystemFault System error Bit 1 ConfigurationFault Configuration error One or more configuration parameters are inconsistent or invalid Bit 2 UserFault Error in the user program in a motion control instruction or in its use Bit 3...

Page 354: ...homing process The homing cannot be completed Bit 11 FollowingErrorFault Following error limits exceeded Bit 12 PositioningFault Positioning error Bit 13 PeripheralError Error accessing a logical address Bit 14 Positioning axis technology object Reserved Synchronous axis technology object SynchronousError Error during synchronous operation The leading axis specified at the Motion Control instructi...

Page 355: ...object A list of the technology alarms and alarm reactions can be found in the appendix Technology Alarms Page 368 Tags Legend Page 332 Tag Data type Values W Description ErrorDetail STRUCT Number UDINT RON Alarm number Reaction DINT 0 to 5 RON Effective alarm reaction 0 No reaction 1 Stop with current dynamic values 2 Stop with maximum dynamic values 3 Stop with emergency stop ramp 4 Remove enabl...

Page 356: ...ag Data type Values W Description Warning Word DWORD RON Bit 0 Reserved Bit 1 ConfigurationFault Configuration error One or several configuration parameters are adjusted internally Bit 2 Reserved Bit 3 CommandNotAccepted Command cannot be executed A Motion Control command cannot be executed because necessary preconditions are not met Bit 4 Reserved Bit 5 Reserved Bit 6 DynamicError Specified dynam...

Page 357: ...ernally used Tags Legend Page 332 Tag Data type Values W Description ControlPanel STRUCT Input STRUCT Command ARRAY 1 2 OF STRUCT ReqCounter UDINT DIR Type UDINT DIR Position LREAL DIR Velocity LREAL DIR Acceleration LREAL DIR Deceleration LREAL DIR Jerk LREAL DIR Param LREAL DIR TimeOut LREAL DIR EsLifeSign UDINT DIR Output STRUCT Command ARRAY 1 2 OF STRUCT AckCounter UDINT RON Error BOOL RON Er...

Page 358: ...a type of the tag Values Value range of the tag minimum value to maximum value If no specific value is shown the value range limits of the relevant data type apply or the information under Description W Effectiveness of changes in the technology data block DIR Immediate Changes to the value are made with a direct assignment and are immediately effective RES Restart Changes to the start value in lo...

Page 359: ... velocity ActualAcceleration LREAL RON Actual acceleration A 3 3 Sensor tags external encoder The tag structure TO Sensor tag name contains the CPU side configuration for the encoder and the configuration for active and passive homing Tags Legend Page 358 Tag Data type Values W Description Sensor STRUCT Type DINT RES Encoder type 0 Incremental 1 Absolute 2 Cyclically absolute InverseDirection BOOL...

Page 360: ...two encoder pulses StepsPer Revolution UDINT 1 to 8388608 RES Increments per rotary encoder revolution FineResolution Xist1 UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST1 cyclic actual encoder value FineResolution Xist2 UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST2 abso lute value of the encoder Determinable Revolutions UDINT 0 to 8388608 RES Number of differentiable...

Page 361: ...external encoder The tag structure TO LoadGear tag name contains the configuration for the load gear Tags Legend Page 358 Tag Data type Value range W Description LoadGear STRUCT Numerator UDINT 1 to 4294967295 RES Load gear counter Denominator UDINT 1 to 4294967295 RES Load gear denominator A 3 6 Properties tags external encoder The tag structure TO Properties tag name contains the configuration f...

Page 362: ...lo STRUCT Enable BOOL RES FALSE Modulo conversion disabled TRUE Modulo conversion enabled When modulo conversion is enabled a check is made for modulo length 0 0 Length LREAL 0 001 to 1 0E12 RES Modulo length StartValue LREAL 1 0E12 to 1 0E12 RES Modulo start value A 3 8 Homing tags external encoder The tag structure TO Homing tag name contains the configuration for homing the TO Tags Legend Page ...

Page 363: ...s W Description StatusSensor STRUCT State DINT RON Status of the actual encoder value 0 NOT_VALID not valid 1 Waiting_FOR_VALID waiting for valid status 2 VALID valid CommunicationOK BOOL RON Cyclic BUS communication between controller and encoder FALSE Not established TRUE Established Error BOOL RON FALSE No error in the measuring system TRUE Error in the measuring system AbsEncoderOffset LREAL R...

Page 364: ...atus 0 Technology object disabled 1 Technology object enabled Bit 1 Error 0 No error present 1 Error present Bit 2 RestartActive 0 No Restart active 1 Restart active The technology object is being reinitialized Bit 3 OnlineStartValuesChanged 0 Restart tag unchanged 1 Change to Restart tag For the changes to be applied the technology object must be reinitialized Bit 4 Reserved Bit 5 HomingDone Homi...

Page 365: ...m error Bit 1 ConfigurationFault Configuration error One or more configuration parameters are inconsistent or invalid Bit 2 UserFault Error in the user program in a motion control instruction or in its use Bit 3 CommandNotAccepted Command cannot be executed A Motion Control command cannot be executed because neces sary preconditions are not met Bit 4 Reserved Bit 5 SensorFault Error in the encoder...

Page 366: ...nding at the technology object A list of the technology alarms and alarm reactions can be found in the appendix Technology Alarms Page 368 Tags Legend Page 358 Tag Data type Values W Description ErrorDetail STRUCT Number UDINT RON Alarm number Reaction DINT 0 to 5 RON Effective alarm reaction 0 No reaction 1 Stop with current dynamic values 2 Stop with maximum dynamic values 3 Stop with emergency ...

Page 367: ... Data type Values W Description Warning Word DWORD RON Bit 0 Reserved Bit 1 ConfigurationFault Configuration error One or several configuration parameters are adjusted internally Bit 2 Reserved Bit 3 CommandNotAccepted Command cannot be executed A Motion Control command cannot be executed because neces sary preconditions are not met Bit 4 Bit 31 Reserved A 3 14 InternalToTrace tags external encode...

Page 368: ...t Alarm text Indicated alarm test limited List of the technology alarms No Response Error bit Warning bit Restart Alarm text 101 Remove enable X1 Configuration Fault X Error in the configuration 104 Stop with maximum dynamic values X1 Configuration Fault Error in the specification of software limit switches 105 Remove enable X1 Configuration Fault X Configuration mode drive actuator 106 Remove ena...

Page 369: ... this would result in the numerical value range being exceeded 341 Remove enable X10 HomingFault Error in homing data 342 Stop with emergency stop ramp X10 HomingFault Reference cam encoder zero mark was not found 401 Remove enable X13 Peripheral Error Error accessing logical address 411 Remove enable X5 SensorFault Encoder at the logical address disrupted 412 Remove enable X5 SensorFault Violatio...

Page 370: ... polarity is re versed axis cannot be freed Both hardware limit switches are active axis cannot be freed 533 Stop with maximum dynamic values X8 SWLimit Software limit switch reached 534 Remove enable X8 SWLimit Software limit switch passed 541 Remove enable X12 Postioning Fault Positioning monitoring error 550 Follow up setpoints X4 DriveFault The drive performs a autonomous movement 601 Stop wit...

Page 371: ...onXist1 Adjust the specified value The set fine resolution for Gn_XIST1 in Sensor Parameter FineResolutionXist1 is not consistent with the setting in PROFIdrive parameter P979 Adjust the specified value Illegal value for the configuration data Actor Interface Telegram Adjust the specified value The set encoder type is invalid Illegal value in Sensor Type Adjust the specified value The set encoder ...

Page 372: ...gal value in DynamicDefaults Velocity Adjust the specified value Invalid value in DynamicDefaults Acceleration Adjust the specified value Illegal value DynamicDefaults Deceleration Adjust the specified value Illegal value in DynamicDefaults Jerk Adjust the specified value Illegal value in DynamicDefaults EmergencyDeceleration Adjust the specified value Illegal value in PositionLimits_SW MinPositio...

Page 373: ...heck the device I Os Compare the configuration in HW Config and the tech nology object The driver needs a smaller servo cycle clock Connect a suitable device Check the device I Os Compare the configuration in HW Config and the tech nology object Error in internal communication Check the project for consistency and reload it into the controller Technology alarm 106 Alarm reaction Remove enable Rest...

Page 374: ...red Alarm text Solution Configuration error encoder driver System has no communication with encoder Internal system error Check the project for consistency and reload it into the controller Encoder driver not initialized during ramp up An attempt is being made to release an axis or encoder although the driver is not finished initializing Technology alarm 109 Alarm reaction Remove enable Restart No...

Page 375: ...he configuration of the technology object on Actor MaxSpeed 1 17 The delay time to reach the tolerance window of positioning monitoring PositionMonitoring ToleranceTime is limited Change the configuration datum The emergency deceleration Dynam icDefaults EmergencyDeceleration is too low and is set to the minimum value possible A 4 3 Technology alarms 201 204 Technology alarm 201 Alarm reaction Rem...

Page 376: ...ero value for the maximum speed DynamicLimits MaxVelocity in the dynamic limits Technology alarm 305 Alarm reaction Stop with emergency stop ramp Restart Not required Alarm text Solution Limit value for acceleration deceleration is zero Acceleration Enter a non zero value for the maximum acceleration DynamicLimits MaxAcceleration in the dynamic limits Deceleration Enter a non zero value for the ma...

Page 377: ...ired Alarm text Solution The numeric value range of the position was exceeded Negative Enable the Modulo setting for the technology object Positive Technology alarm 321 Alarm reaction Stop with emergency stop ramp Restart Not required Alarm text Solution Axis is not homed To perform absolute positioning you need to home the technology object Technology alarm 322 Alarm reaction No reaction Restart ...

Page 378: ... Technology alarm 341 Alarm reaction Remove enable Restart Not required Alarm text Solution Error in homing data The approach velocity is zero Homing ApproachVelocity Check the configuration for homing Homing Approach Velocity The homing velocity is zero Homing ReferencingVelocity Check the configuration for homing Homing ReferencingVelocity Technology alarm 342 Alarm reaction Stop with emergency ...

Page 379: ...eaction Remove enable Restart Not required Alarm text Solution Encoder at the logical address disrupted Alarm message from encoder Check the device in regard to function connections and I Os General hardware error of the encoder Encoder dirty Error reading the absolute value of the encoder Compare the encoder type in the drive or encoder pa rameter P979 with the configuration data of the technol o...

Page 380: ...equested failed PROFIdrive Drive has shut down Technology alarm 431 Alarm reaction Remove enable Restart Not required Alarm text Solution Communication with device disrupted PROFIdrive Drive at bus failed station failure Check the device in regard to function connections and I Os PROFIdrive Signs of life of drive faulty Check the device in regard to function connections and I Os Compare the clock ...

Page 381: ...rm reaction No reaction Restart Not required Alarm text Solution Programmed acceleration deceleration limited Acceleration Check the value for the acceleration of the Motion Con trol instruction Check the configuration of the dynamic limits Deceleration Check the value for the deceleration of the Motion Con trol instruction Check the configuration of the dynamic limits Technology alarm 503 Alarm r...

Page 382: ...xVelocity Enter a value Actor MaxSpeed for the Velocity parameter at the Motion Control instruction Technology alarm 521 Alarm reaction Remove enable Restart Not required Alarm text Solution Window of the following error monitoring exceeded Check the configuration of the control loop Check the direction of the encoder Check configuration of the following error monitoring Technology alarm 522 Alarm...

Page 383: ...t switch Retract the axis in the opposite direction Hardware limit switch polarity is reversed axis cannot be freed Check the mechanical configuration of the hardware limit switch X Both hardware limit switches are active axis cannot be freed Check the mechanical configuration of the hardware limit switch X Technology alarm 533 Alarm reaction Stop with maximum dynamic values Restart Not required A...

Page 384: ...ed Alarm text Solution Positioning monitoring error Target range not reached The target range was not reached within the positioning tolerance time Check the configuration of the positioning monitoring Check configuration of the control loop Exit target range again The target area was exited within the minimum dwell time Check the configuration of the positioning monitor ing Check configuration of...

Page 385: ...d axis specified at the MC_GearIn Master parameter is not configured or not available Specify all master value interconnections for the configu ration required in operation for the synchronous axis technology object If a restart is performed for a lead axis in synchronous operation the alarm is displayed and the following axis is stopped with the maximum dynamic values Acknowledge the alarm after ...

Page 386: ...e Axis parameter Check the value in the Axis parameter 16 8003 Invalid velocity Set a valid velocity value at parameter Velocity 16 8004 Invalid acceleration Set a valid acceleration value at parameter Acceleration 16 8005 Invalid deceleration Set a valid deceleration value at parameter Deceleration 16 8006 Invalid jerk Set a valid jerk value at parameter Jerk 16 8007 Invalid direction Set a valid...

Page 387: ...ry available The maximum number of motion control jobs has been reached Reduce the number of jobs to be executed parameter Execute FALSE 16 8015 Error acknowledgement with MC_Reset not possible Error in the configuration of the technology object Check the configuration of the technology object 16 8016 The actual values are not valid The actual values must be valid in order to execute a MC_Home job...

Page 388: ...4 A5E03879256 AC See also Errors in Motion Control instructions Page 219 A 6 MC_Power function chart A 6 1 Drive connection via PROFIdrive A 6 1 1 StopMode 0 Function chart Enabling a technology object and disabling with StopMode 0 The axis decelerates with the configured emergency stop deceleration ...

Page 389: ...t S7 1500 Motion Control V13 Update 3 Function Manual 07 2014 A5E03879256 AC 389 A 6 1 2 StopMode 1 Function chart Enabling a technology object and disabling with StopMode 1 The deceleration ramp depends on the configuration in the drive ...

Page 390: ...A5E03879256 AC A 6 1 3 Alarm response Stop with maximum dynamic values Function chart Enabling a technology object and occurrence of a technology alarm with alarm response Stop with maximum dynamic values The axis decelerates with the configured maximum deceleration The technology alarm is acknowledged ...

Page 391: ...l 07 2014 A5E03879256 AC 391 A 6 1 4 Alarm response Remove enable Function chart Enabling a technology object and occurrence of a technology alarm with alarm response Remove enable The deceleration ramp depends on the configuration in the drive The technology alarm is acknowledged at time ...

Page 392: ...ontrol V13 Update 3 392 Function Manual 07 2014 A5E03879256 AC A 6 2 Analog drive connection A 6 2 1 StopMode 0 Function chart Enabling a technology object and disabling with StopMode 0 The axis decelerates with the configured emergency stop deceleration ...

Page 393: ...n Manual 07 2014 A5E03879256 AC 393 A 6 2 2 StopMode 1 Function chart Enabling a technology object and disabling with StopMode 1 The deceleration ramp depends on the configuration in the drive The behavior of the ready signal of the drive DI DriveReadyInput is manufacturer specific ...

Page 394: ...aximum dynamic values Function chart Enabling a technology object and occurrence of a technology alarm with alarm response Stop with maximum dynamic values The axis decelerates with the configured maximum deceleration The technology alarm is acknowledged at time The behavior of the ready signal of the drive DI DriveReadyInput is manufacturer specific ...

Page 395: ...sponse Remove enable Function chart Enabling a technology object and occurrence of a technology alarm with alarm reaction Remove enable The deceleration ramp depends on the configuration in the drive The technology alarm is acknowledged at time The behavior of the ready signal of the drive DI DriveReadyInput is manufacturer specific ...

Page 396: ...the external zero mark s signal That is to say with a positive direction of travel synchronization is done on a positive edge and with a negative direction of travel synchronization is done on a negative edge By inverting the signal synchronization can also be done on the right sight of the signal of the external zero mark The inversion can be configured in the drive using SINAMICS parameter P490 ...

Page 397: ...e axis is specified as a linear measure e g millimeters mm For rotary axes the position of the axis is specified as an angular measure e g degrees Communication processor CP Module for expanded communications tasks covering special applications for example in the area of security Communications module CM Module for communications tasks which is used as an interface expansion of the CPU for example...

Page 398: ...g you create the relationship between the position in the technology object and the mechanical position of the axis The position value in the technology object is assigned to a homing mark at the same time This homing mark represents a known mechanical position Incremental encoder Position encoder which outputs the position change incrementally in the form of a digital numerical value Kv factor Ve...

Page 399: ...movement of a following axis to a leading axis Technology data block The technology data block represents the technology object and contains all configuration data setpoint and actual values and status information of the technology object Technology interrupt If an error occurs at a technology object e g approaching a hardware limit switch then a technology interrupt is triggered and indicated The...

Page 400: ... 214 219 List of ErrorIDs 386 Errors in Motion Control instructions 214 219 386 External encoder Add 99 Basics 18 25 Configuration 147 Diagnostics 231 232 233 Functions 20 Tags 358 F Following error monitoring 61 63 64 144 G Gear ratio 74 Gearing 74 H Hardware limit switches 65 129 Hardware limit switches 65 129 Home position 40 Homing mark 40 I Incremental actual value 35 Interpolator OB 78 80 J ...

Page 401: ... monitoring 61 63 64 144 145 Principle of operation 16 Process response 78 80 80 PROFIdrive 28 31 Programming 172 178 183 197 Scale 21 Synchronous operation 73 74 76 77 124 Technology alarms 214 368 Technology data block 18 172 175 177 Technology object 17 20 21 23 25 99 110 197 Unit of measure 27 Versions 86 89 S7 1500 Motion Control actual value 35 S7 1500 Motion Control commissioning 199 199 20...

Page 402: ... alarms Basics 214 List of the technology alarms 368 Technology data block Analyzing 173 Basics 18 172 Change restart relevant data 177 Evaluate StatusWord ErrorWord and WarningWord 175 Tags of the positioning axis technology object 332 Tags of the synchronous axis technology object 332 Tags of the technology object external encoder 358 Tags of the technology object SpeedAxis 321 Technology object...

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