Page 1 ___________________ S7-1500 Motion Control V13 Update 3 Preface ___________________ Guide to documentation S7-1500 / ET 200MP ___________________ Introduction SIMATIC ___________________ Basics S7-1500 ___________________ S7-1500 Motion Control V13 Guidelines Update 3 ___________________ Using versions Function Manual ___________________ Configuring ___________________ Programming ___________________ Downloading to CPU ___________________ Commissioning...
Page 2 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 3: Preface
Further support ● The range of technical documentation for the individual SIMATIC products and systems is available on the Internet (http://www.siemens.com/simatic-tech-doku-portal). ● The online catalog and the online ordering system is available on the Internet (http://mall.automation.siemens.com). S7-1500 Motion Control V13 Update 3...
Page 4 Siemens recommends 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.
Page 5: Table Of Contents
Table of contents Preface ..............................3 Guide to documentation S7-1500 / ET 200MP..................13 Introduction .............................. 15 Integrated Motion Control Functionality of the CPU S7-1500 ..........15 Principle of operation of S7-1500 Motion Control ..............16 Basics ..............................20 Functions ..........................20 Scale ............................
Page 6 Table of contents 3.14.4 Active homing with zero mark and proximity switch .............. 43 3.14.5 Active homing with zero mark ....................46 3.14.6 Active homing with digital input ....................48 3.14.7 Passive homing with zero mark and proximity switch ............50 3.14.8 Passive homing with zero mark .....................
Page 7 Table of contents Configuring .............................. 91 Adding and configuring drives in the device configuration ............. 91 6.1.1 Add and configure PROFINET IO drives ................91 6.1.2 Add and configure PROFIBUS DP drives................94 6.1.3 Adding and configuring drives with analog connections ............96 Add technology object ......................
Page 8 Table of contents 6.8.3 Opening the parameter view ....................163 6.8.4 Working with the parameter view ..................164 6.8.4.1 Overview ..........................164 6.8.4.2 Filtering the parameter table ....................164 6.8.4.3 Sorting the parameter table ....................165 6.8.4.4 Transferring parameter data to other editors ............... 165 6.8.4.5 Indicating errors ........................
Page 9 Table of contents Diagnostics ............................214 10.1 Introduction ........................... 214 10.2 Diagnostic concept ........................ 214 10.3 Technology alarms ........................ 215 10.4 Errors in Motion Control instructions ..................219 10.5 Speed-controlled axis technology object ................220 10.5.1 Status and error bits ......................220 10.5.2 Motion status .........................
Page 10 Table of contents 11.2 S7-1500 Motion Control V1 ....................282 11.2.1 MC_Power ..........................282 11.2.1.1 MC_Power: Enable, disable technology objects V1 ............282 11.2.1.2 MC_Power: Function chart V1 ..................... 286 11.2.2 MC_Home ..........................287 11.2.2.1 MC_Home: Home technology objects, set home position V1 ..........287 11.2.3 MC_MoveJog ........................
Page 11 Table of contents A.2.11 DynamicDefaults tags (positioning axis/synchronous axis) ..........340 A.2.12 PositionLimits_SW tags (positioning axis/synchronous axis) ..........340 A.2.13 PositionLimits_HW tags (positioning axis/synchronous axis) ..........341 A.2.14 Homing tags (positioning axis/synchronous axis) ..............342 A.2.15 Override tags (positioning axis/synchronous axis) ............... 343 A.2.16 PositionControl tags (positioning axis/synchronous axis) .............
Page 12 Table of contents 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 SINAMICS drives ......................... 396 A.7.1 Homing SINAMICS drives with external zero marks ............
Page 13: Guide To Documentation S7-1500 / Et 200Mp
This arrangement enables you to access the specific content you require. Basic information System Manual and Getting Started describe in detail the configuration, installation, wiring and commissioning of the SIMATIC S7-1500 and ET 200MP systems. The STEP 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.
Page 14 Guide to documentation S7-1500 / ET 200MP Manual Collection S7-1500 / ET 200MP The Manual Collection contains the complete documentation on the SIMATIC S7-1500 automation system and the ET 200MP distributed I/O system gathered together in one file. You can find the Manual Collection on the Internet (http://support.automation.siemens.com/WW/view/en/86140384).
Page 15: Introduction
Introduction Integrated Motion Control Functionality of the CPU S7-1500 S7-1500 Motion Control supports controlled positioning and moving of axes and is an integral part of every CPU S7-1500 as well as every CPU S7-1500SP. The Motion Control functionality supports the technology objects rotation axis, positioning axis, synchronous axis and external encoders.
Page 16: Principle Of Operation Of S7-1500 Motion Control
Introduction 2.2 Principle of operation of S7-1500 Motion Control Principle of operation of S7-1500 Motion Control Overview You create a project, configure technology objects, and load the 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.
Page 17 Introduction 2.2 Principle of operation of S7-1500 Motion Control TIA Portal The TIA Portal supports you in the planning and commissioning of Motion Control functionality: ● Integrating and configuring hardware ● Creating and configuring technology objects ● Creating the user program ●...
Page 18 Introduction 2.2 Principle of operation of S7-1500 Motion Control ● Synchronous axis technology object The synchronous axis technology object ("TO_SynchronousAxis") includes all functions of the positioning axis technology object. You can also interconnect the axis with a master value so that the axis follows the position change of a leading axis in synchronous operation.
Page 19 Introduction 2.2 Principle of operation of S7-1500 Motion Control Drives and encoders Drives permit the movement of the axis. They are integrated into the hardware configuration. When you perform a Motion Control job in your user program, the technology object takes over the control of the drive and the reading in of values from position encoders.
Page 20: Basics
Basics Functions You can perform the Motion Control function by means of Motion Control instructions in your user program or the TIA Portal (under Commissioning). The following table shows the functions that are supported by technology objects: Function Speed axis Positioning axis Synchronous axis External encoder...
Page 21: Scale
Basics 3.2 Scale Scale For information on the number of technology objects that may be used, refer to the technical specifications of the utilized CPU. A synchronous axis requires twice as many resources as a speed-controlled axis or positioning axis. You can configure two fewer speed or positioning axes for every synchronous axis you use.
Page 22: Positioning Axis Technology Object
Basics 3.4 Positioning axis technology object Positioning axis technology object The positioning axis technology object calculates position setpoints, taking account of the specified dynamics, and outputs corresponding speed control setpoints to the drive. All movements of the positioning axis occur under position control. For absolute positioning, the physical position must be known to the positioning axis technology object.
Page 23: Synchronous Axis Technology Object
Basics 3.5 Synchronous axis technology object Synchronous axis technology object The synchronous axis technology object follows the position change of a leading axis in relative synchronous operation. A relative gearing exists, for example, when two mechanically coupled rollers are driven by the same motor: Leading axis (driven axis) Following axis Relative position relationship...
Page 24 Basics 3.5 Synchronous axis technology object The figure below shows the basic principle of operation of the synchronous axis technology object: S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 25: External Encoder Technology Object
Basics 3.6 External encoder technology object External encoder technology object The external encoder technology object detects a position, and makes it available to the controller. 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.
Page 26: Axis Types
Basics 3.7 Axis types Axis types Axes can be configured with different axis types: ● Positioning and synchronous axes can be configured as rotary or linear axis. ● Speed axes are always rotary axes. Depending on the execution of the mechanics, an axis is implemented as a linear axis or rotary axis: ●...
Page 27: Units Of Measure
Basics 3.9 Units of measure Units of measure The table below shows the supported units of measure for position and velocity: Position Velocity nm, μm, mm, m, km mm/s, mm/min, mm/h, m/s, m/min, m/h, km/min, km/h in, ft, mi in/s, in/min, ft/s, ft/min, mi/h °, rad °/s, °/min, rad/s, rad/min The acceleration is configured accordingly as unit of measure of the position/s².
Page 28: Drive And Encoder Connection
Basics 3.10 Drive and encoder connection 3.10 Drive and encoder connection 3.10.1 Brief description A speed axis is assigned a drive. A positioning axis/synchronous axis is assigned a drive and an encoder. An external encoder is assigned an encoder. The setpoint value at the drive is specified either with PROFIdrive message frames, or with an analog output.
Page 29: Frames
Basics 3.10 Drive and encoder connection 3.10.2 Frames The transmission of the encoder value occurs either in a frame together with the setpoint (frame 3 or frame 5), or in a separate encoder frame (frame 81 or frame 83). The following figure represents the relationship between the technology objects and the drives / encoders: Explanation of the figure: ●...
Page 30 Basics 3.10 Drive and encoder connection Frame types The following table shows the supported PROFIdrive frame types for the assignment of drives and encoders: Frame Brief description Standard frames 16 bit speed setpoint (NSET) • 16 bit actual speed value (NACT), •...
Page 31: Setting Reference Values
Basics 3.10 Drive and encoder connection 3.10.3 Setting reference values The reference values for the drive connection and encoder connection must be set identically in the controller, and in the drive or encoder. The setpoint speed setpoint NSET and the actual speed value NACT are transmitted in the PROFIdrive frame as a percentage value relative to the reference speed.
Page 32: Tags
Basics 3.10 Drive and encoder connection 3.10.4 Tags The following technology object tags are relevant for the connection of drives and encoders: Drive frame .Actor.Interface.Telegram Frame number .Actor.DriveParameter.Reference Reference velocity / reference speed for the velocity / Speed speed (NSET), which is transmitted as a percentage value .Actor.DriveParameter.MaxSpeed Maximum value for the setpoint speed of the drive...
Page 33: Safety Functions In The Drive
Basics 3.11 Safety functions in the drive 3.11 Safety functions in the drive 3.11.1 Brief description The safety functions are internal drive functions and are described in detail in the relevant drive documentation. The following section describes the reactions to the supported safety functions at the controller end .
Page 34: Safe Stop 1 (Ss1)
Basics 3.11 Safety functions in the drive 3.11.3 Safe Stop 1 (SS1) The Safe Stop 1 (SS1) safety function brings a drive to standstill quickly and safely via a drive-internal rapid stop ramp. Safe Torque Off (STO) is activated after standstill. STO ensures that no torque generating energy acts on a drive.
Page 35: Actual Values
Basics 3.12 Actual values 3.12 Actual values 3.12.1 Brief description For position-controlled motion and positioning, the controller must know the actual position value. The actual position value is provided by a PROFIdrive frame. The actual value is updated after a one-off transition of the operating mode from STOP to RUN. The actual values are represented incrementally or absolutely in the PROFIdrive frame, and standardized in the controller to the technological unit.
Page 36: Tags
Basics 3.12 Actual values Absolute actual value with the setting absolute (measuring range > traversing range) The axis position results directly from the actual encoder value. The traversing range must be within an encoder measuring range. This means that the zero point of the encoder must not be located in the traversing range.
Page 37: Mechanics
Basics 3.13 Mechanics 3.13 Mechanics 3.13.1 Brief description For the display and processing of the technology object's position, the decisive factor is whether the position is represented as a unit of length (linear axis) or as a rotary unit (rotary axis).
Page 38: Tags
Basics 3.13 Mechanics 3.13.2 Tags The following technology object tags are relevant for the setting of the mechanics: Type of motion .Properties.MotionType Indication of linear or rotary motion 0: Linear motion 1: Rotary motion Load gear .LoadGear.Numerator Load gear counter .LoadGear.Denominator Load gear denominator Leadscrew pitch...
Page 39: Homing
Basics 3.14 Homing 3.14 Homing 3.14.1 Brief description With homing, you create the relationship between the position in the technology object and the mechanical position. 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. With incremental actual values this process is called homing;...
Page 40: Terms
Basics 3.14 Homing Homing mode Depending on the type of homing mark and of the homing mark search, a distinction is made among the following homing modes (Page 41): ● Homing with zero mark via PROFIdrive frame and proximity switch ●...
Page 41: Homing Mode
Basics 3.14 Homing Home position offset The difference between the homing mark position and the home position is the home position offset. An offset between homing mark position and home position only has an effect during active homing. The offset is traversed after the synchronization of the axis via the Motion Control instruction "MC_Home".
Page 42 Basics 3.14 Homing Homing with digital input The system checks the state of the digital input, as soon as the actual value of the axis or encoder moves in the assigned homing direction. 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.
Page 43: Active Homing With Zero Mark And Proximity Switch
Basics 3.14 Homing 3.14.4 Active homing with zero mark and proximity switch The following examples show homing motions 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: ●...
Page 44 Basics 3.14 Homing Example of homing in the negative direction The move to the homing mark occurs in the negative 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.
Page 45 Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Start of active homing via the Motion Control instruction "MC_Home" 2. Approach to the proximity switch 3. Detection of the proximity switch in the homing direction, while moving at homing velocity 4.
Page 46: Active Homing With Zero Mark
Basics 3.14 Homing 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 S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 47 Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Start of active homing via the Motion Control instruction "MC_Home" 2. Move to the homing mark in the homing direction with the homing velocity 3. Detection of the homing mark When the homing mark is detected, the position of the axis or encoder is set depending on the configured mode: –...
Page 48: Active Homing With Digital Input
Basics 3.14 Homing 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 ●...
Page 49 Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Start of active homing via the Motion Control instruction "MC_Home" 2. Detection of the rising edge at the digital input, while moving at homing velocity 3. Approach to the homing mark 4.
Page 50: Passive Homing With Zero Mark And Proximity Switch
Basics 3.14 Homing 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 S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 51 Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Enablement of passive homing via the Motion Control instruction "MC_Home". 2. Motion due to a Motion Control job from the application The detection of the proximity switch and of the homing mark is enabled when the actual position value of the axis or encoder moves in the assigned homing direction.
Page 52: Passive Homing With Zero Mark
Basics 3.14 Homing 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 S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 53 Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Enablement of passive homing via the Motion Control instruction "MC_Home". 2. Motion due to a Motion Control job from the application The detection of the homing mark is enabled when the actual position value of the axis or encoder moves in the assigned homing direction.
Page 54: Passive Homing With Digital Input
Basics 3.14 Homing 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 S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 55: Direction Reversal At The Hardware Limit Switch (Reversing Cam)
Basics 3.14 Homing Motion sequence The motion occurs in the following sequence: 1. Enablement of passive homing via the Motion Control instruction "MC_Home". 2. Motion due to a Motion Control job from the application The detection of the homing mark at the digital input is enabled when the actual position value of the axis or encoder moves in the assigned homing direction.
Page 56: Direct Homing
Basics 3.14 Homing 3.14.11 Direct homing Depending on the configured mode, the position of the positioning axis/synchronous axis or external encoder technology objects can be absolutely or relatively set with "MC_Home". Set position absolutely Proceed as follows to set the position absolutely: 1.
Page 57: Resetting The "Homed" Status
Basics 3.14 Homing 3.14.13 Resetting the "Homed" status Incremental encoder In the following cases, the "Homed" status is reset, and the technology object must be rehomed. ● Errors in the sensor system / encoder failure ● Initiation of active homing with the Motion Control instruction "MC_Home" with "Mode"...
Page 58: Tags
Basics 3.14 Homing 3.14.14 Tags The following technology object tags are relevant for homing: Status indicators StatusWord.X11 (HomingCommand) Homing command active StatusWord.X5 (HomingDone) Technology object is homed ErrorWord.X10 (HomingFault) Error occurred during homing Approach to the proximity switch .Homing.ApproachDirection Start direction or approach direction for the ap- proach to the proximity switch .Homing.ApproachVelocity Velocity for the approach to the proximity switch...
Page 59: Control
Basics 3.15 Control 3.15 Control 3.15.1 Brief description The position controller of the positioning axis/synchronous axis is a closed-loop P controller with pre-control of velocity. If the drive supports Dynamic Servo Control (DSC), then a closed-loop position controller in 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.
Page 60: Control Structure
Basics 3.15 Control 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: S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 61: Tags
Basics 3.16 Position-related monitoring 3.15.3 Tags The following technology object tags are relevant for control: Parameter .PositionControl.Kv Proportional gain in the position control .PositionControl.Kpc Velocity pre-control in the position control (in %) .PositionControl.EnableDSC Enabling DSC 3.16 Position-related monitoring 3.16.1 Brief description The following functions are available in the positioning axis/synchronous axis technology object for monitoring positioning and motion: ●...
Page 62: Positioning Monitoring
Basics 3.16 Position-related monitoring 3.16.2 Positioning monitoring Positioning monitoring monitors the behavior of the actual position at the end of the setpoint calculation. As soon as the setpoint velocity reaches the value zero, the actual position value must be located within a tolerance time in the positioning window. The setpoint must not exit the positioning window during the minimum dwell time.
Page 63: Following Error Monitoring
Basics 3.16 Position-related monitoring 3.16.3 Following error monitoring The following error in the positioning axis/synchronous axis technology object is monitored based on a velocity-dependent following error limit. The permissible following error depends on the setpoint velocity. A constant permissible following error can be specified for velocities less than an adjustable velocity low limit.
Page 64: Tags
Basics 3.16 Position-related monitoring 3.16.4 Tags The following technology object tags are relevant for positioning monitoring: Status indicators .StatusWord.X7 (Standstill) Is set to the value TRUE , when the actual velocity value goes below the velocity threshold, and does not exit it within the minimum dwell time.
Page 65: Traversing Range Limitation
Basics 3.17 Traversing range limitation 3.17 Traversing range limitation 3.17.1 Brief description Hardware and software limit switches limit the permissible traversing range and operating range of the positioning axis/synchronous axis. Before use, they must be enabled in the configuration or in the user program. The following figure shows the relationship between operating range, maximum traversing range and the limit switches: 3.17.2...
Page 66 Basics 3.17 Traversing range limitation Retracting The position of the axis when the hardware limit switch is detected is stored internally on the CPU. The status of the approached hardware limit switch is reset only after the hardware limit switch is left and the axis is once again in the maximum traversing range. To be able to traverse the axis again after reaching the hardware limit switch and to reset the status of the hardware limit switch, follow the steps below: 1.
Page 67: Software Limit Switch
Basics 3.17 Traversing range limitation 3.17.3 Software limit switch The operating range of the axis is limited with software limit switches. Relative to the traversing range, always position the software limit switches within the hardware limit switches. Since the positions of the software limit switches can be flexibly configured, the operating range of the axis can be individually adapted in accordance with the current velocity profile.
Page 68: Tags
Basics 3.17 Traversing range limitation 3.17.4 Tags The following technology object tags are relevant for software limit switches: Status indicators .StatusWord.X15 (SWLimitMinActive) Negative software limit switch is enabled .StatusWord.X16 (SWLimitMaxActive) Positive software limit switch is enabled .ErrorWord.X8 (SWLimit) An alarm is pending, that a software limit switch was violated Control bits .PositonLimits_SW.Active...
Page 69: Motion Control And Limits For Dynamics
Basics 3.18 Motion control and limits for dynamics 3.18 Motion control and limits for dynamics 3.18.1 Brief description Motion control of the axis occurs by means of velocity profiles (Page 70). The velocity profiles are calculated in accordance with the specifications for dynamics. A velocity profile defines the behavior of the axis during approach, braking and changes in velocity.
Page 70: Velocity Profile
Basics 3.18 Motion control and limits for dynamics 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.
Page 71: Emergency Stop Deceleration
Basics 3.18 Motion control and limits for dynamics Velocity profile with jerk limit The following figure shows velocity, acceleration and jerk: A velocity profile with jerk limit is employed for a continuous acceleration and deceleration sequence. The jerk can be specified. 3.18.3 Emergency stop deceleration When stopping with the emergency stop ramp, the axis is braked to a standstill without a jerk...
Page 72: Tags
Basics 3.18 Motion control and limits for dynamics 3.18.4 Tags The following technology object tags are relevant for motion control: Status .StatusWord Status indicators for an active motion .Position Setpoint position .Velocity Setpoint velocity / setpoint speed .ActualPosition Actual position .ActualVelocity Actual velocity .ActualSpeed...
Page 73: Synchronous Operation
Basics 3.19 Synchronous operation 3.19 Synchronous operation 3.19.1 Brief description The functionality of relative gearing is provided by the synchronous axis technology object. The change of the leading axis position setpoint is multiplied by a specified 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.
Page 74: Relative Gearing
Basics 3.19 Synchronous operation 3.19.2 Relative gearing The gear ratio is specified as the relationship between two integers at the Motion Control instruction "MC_GearIn". The result is a linear transmission function. With relative gearing, there is a relative correlation between the leading axis and the following axis. The change of the leading axis position setpoint results from the change in the position setpoint of the leading axis multiplied by the gear ratio.
Page 75 Basics 3.19 Synchronous operation Synchronous motion When a synchronous axis is synchronized to a master value, the "synchronous" status is displayed by the parameter "MC_GearIn.InGear" = TRUE as well as in the tag of the .StatusWord.X22 (Synchronous) technology object. The following axis follows the dynamics of the leading axis according to the gear ratio.
Page 76: Master Value Coupling
Basics 3.19 Synchronous operation Homing with active synchronous operation A position offset at the following axis is not compensated with relative gearing. This means a new offset results when homing the following axis during an active synchronous operation. A job for active homing at a following axis overrides synchronous operation. NOTICE Drive damage The position of the leading axis can change suddenly during homing of the leading axis.
Page 77: Tags
Basics 3.19 Synchronous operation The following rules apply to the master value coupling: ● Positioning axes and synchronous axes can specify master values. A leading axis can output the master value to several following axes. ● The synchronous axis can be interconnected with different master values. All interconnections required during operation must be set up during configuration of the synchronous axis technology object.
Page 78: Operational Sequence
Basics 3.20 Operational sequence 3.20 Operational sequence 3.20.1 Organization Blocks for Motion Control Description When you create a technology object, organization blocks are automatically created for processing the technology objects. The Motion Control functionality of the technology objects creates its own execution level, and is called according to the Motion Control application cycle.
Page 79 Basics 3.20 Operational sequence Application cycle You can set the application cycle in which the MC-Servo [OB91] is called in the properties of the organization block in "General > Cycle Time": ● Synchronous to the bus MC-Servo [OB91] is called synchronously with or at a reduced ratio to a bus system. You set the send clock in the properties of the selected bus system.
Page 80: Process Image Partition "Ob Servo Pip
Basics 3.20 Operational sequence 3.20.2 Process image partition "OB Servo PIP" The process image partition "OB Servo PIP" is made available in isochronous mode for Motion Control. All drives and encoders used by Motion Control are assigned to this process image partition.
Page 81 Basics 3.20 Operational sequence Overflows If the set application cycle is not adhered to, for example because the application cycle is too short, overflows can occur. The CPU will not tolerate overflow of MC-Servo [OB91]. An overflow will cause the CPU to change to STOP mode.
Page 82 Basics 3.20 Operational sequence 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]: S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 83: Operating Modes
Basics 3.20 Operational sequence 3.20.4 Operating modes This section examines the behavior of Motion Control in each operating mode, and in the transitions between operating modes. A general description of the operating modes can be found in system manual S7-1500. Operating modes and transitions The CPU has three operating modes: STOP, STARTUP and RUN.
Page 84 Basics 3.20 Operational sequence Operating mode transitions The following table shows the behavior of Motion Control in the transitions between the operating modes: Operating mode transition Behavior ① POWER ON → STOP The CPU performs a restart of the technology objects. The technology objects are reinitialized with the values from the load memory.
Page 85: Guidelines
Guidelines Guidelines on use of motion control The guidelines described here present the basic procedure for using Motion Control 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.
Page 86: Using Versions
Using versions Overview of versions The technology version for S7-1500 Motion Control includes the version of the technology objects and the version of the Motion Control instructions. Only one technology version can be operated on a CPU. This means that operation of two different technology versions side- by-side is not possible on one CPU.
Page 87 Using versions 5.1 Overview of versions Compatibility list The table below shows the compatibility of the technology version with the CPU version: Technology Technology object Motion Control Instruction V1.0, V1.1, V1.0 Speed axis V1.0 MC_Power V1.0 V1.5 Positioning axis V1.0 MC_Home V1.0 External encoder V1.0 MC_MoveJog V1.0...
Page 88 Using versions 5.1 Overview of versions Parameter "Mode" of the Motion Control instruction "MC_Home" 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. The table below shows a comparison of the "MC_Home.Mode"...
Page 89: Changing A Technology Version
Using versions 5.2 Changing a technology version Changing a technology version Before you can access all the benefits of a new technology version, you need to change the technology version for existing projects. Changing technology version to V2.0 To change the technology version to V2.0, follow these steps: 1.
Page 90 Using versions 5.2 Changing a technology version Resetting the parameter "Mode" of the Motion Control instruction "MC_Home" When the technology version is changed from V1.0 to V2.0, the "MC_Home.HomingMode" (V1.0) parameter is renamed to "MC_Home.Mode" (V2.0). The assignment of the parameter values is changed as well.
Page 91: Configuring
Requirements ● The SIMATIC S7-1500 device is created in the project. ● The desired drive can be selected in the hardware catalog. If the drive is not available in the Hardware Catalog, then it must be installed in the "Extras"...
Page 92 Configuring 6.1 Adding and configuring drives in the device configuration Enable isochronous operation of the drive in the device configuration PROFINET drives can always be operated in isochronous mode or non-isochronous mode. Isochronous mode, however, increases the quality of the position control of the drive. Proceed as follows if you want to control the drive in isochronous mode: 1.
Page 93 Configuring 6.1 Adding and configuring drives in the device configuration 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.
Page 94: Add And Configure Profibus Dp Drives
Adding and configuring other PROFIBUS drives may differ from the description in certain respects. Requirements ● The SIMATIC S7-1500 device is created in the project. ● You have a basic knowledge of how to configure PROFIBUS DP networks. ● The desired drive can be selected in the hardware catalog.
Page 95 Configuring 6.1 Adding and configuring drives in the device configuration Setting isochronous mode 1. Select the network view. 2. Select the DP master system. 3. In the properties dialog, select the tab "General > Constant bus cycle time". 4. Select the desired "Constant DP bus cycle times". Select drive in the configuration of the technology object 1.
Page 96: Adding And Configuring Drives With Analog Connections
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 configuring an analog output module in the device configuration 1. Open the device configuration of the PLC.
Page 97 Configuring 6.1 Adding and configuring drives in the device configuration Adding and configuring a technology module 1. Switch to the device view of the PLC. 2. In the hardware catalog, open the folder "TM > Count > TM Count 2X24V". 3.
Page 98 Configuring 6.1 Adding and configuring drives in the device configuration Checking the encoder connection / drive connection The encoder data are applied to the position control cycle clock. If in doubt, check the following settings: 1. Switch to the device view of the PLC. 2.
Page 99: Add Technology Object
The "Add new object" dialog box opens. 4. Select the "Motion Control" technology. 5. Open the folder "Motion Control" > "SIMATIC S7-1500". 6. If you want to add an axis from an older version, then click on the Version entry and select an alternative version of the technology.
Page 100: Working With The Configuration Editor
Configuring 6.3 Working with the configuration editor Working with the configuration editor You configure the properties of a technology object in the configuration window. To open the configuration window of the technology object in the project view, follow these steps: 1.
Page 101: Compare Values
Configuring 6.4 Compare values Compare values If there is an online connection to the CPU, the "Compare values" function appears in the configuration of the technology object. The "Compare values" function provides the following options: ● Comparison of configured start values of the project with the start values in the CPU and the actual values ●...
Page 102: Configuring The Speed-Control Axis Technology Object
Configuring 6.5 Configuring the Speed-Control Axis technology object Configuring the Speed-Control Axis technology object 6.5.1 Configuration - Basic Parameters Configure the basic properties of the technology object in the "Basic Parameters" configuration window. Axis name Define the name of the speed axis in this field. The technology object is listed in the project navigation under this name.
Page 103 Configuring 6.5 Configuring the Speed-Control Axis technology object 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"...
Page 104: Configuration - Data Exchange
Configuring 6.5 Configuring the Speed-Control Axis technology object 6.5.2.2 Configuration - Data exchange Data exchange with the drive In this area, you can configure the data transmission to the drive. Message frame type (drive type PROFIdrive) In the drop-down list, select the frame for the drive. The specification must match the setting in the device configuration.
Page 105: Extended Parameters
Configuring 6.5 Configuring the Speed-Control Axis technology object 6.5.3 Extended Parameters 6.5.3.1 Configuration - Mechanics Configure the connection of the load to the drive in the "Mechanics" configuration window. 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.
Page 106 Configuring 6.5 Configuring the Speed-Control Axis technology object Smoothing time / jerk You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the "Jerk" box: ● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Maximum jerk"...
Page 107: Configuration - Dynamic Defaults
Configuring 6.5 Configuring the Speed-Control Axis technology object 6.5.3.3 Configuration - Dynamic Defaults In the "Dynamic defaults" configuration window, configure the default values for speed, acceleration, deceleration and jerk of the axis. The default values have an effect, when values < 0 are specified in Motion Control instructions for the "Velocity", "Acceleration", "Deceleration"...
Page 108 Configuring 6.5 Configuring the Speed-Control Axis technology object Smoothing time / jerk You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the "Jerk" box: ● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Jerk" box. The value 0 means that the jerk is disabled.
Page 109: Configuration - Emergency Stop
Configuring 6.5 Configuring the Speed-Control Axis technology object 6.5.3.4 Configuration - Emergency stop In the "Emergency stop" configuration window, you can configure the emergency stop deceleration of the axis. In the event of an error, and when disabling the axis, the axis is brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"...
Page 110: Configuring The Positioning Axis/Synchronous Axis Technology Object
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Configuring the positioning axis/synchronous axis technology object 6.6.1 Configuration - Basic Parameters Axis name Define the name of the positioning axis/synchronous axis in this field. The technology object is listed in the project navigation under this name. The variables of the technology object can be used in the user program under this name.
Page 111: Hardware Interface
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.2 Hardware interface 6.6.2.1 Configuration - 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.
Page 112 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 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 technology object. The power unit is switched on and the analog setpoint speed input is enabled.
Page 113: Configuration - Encoder
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.2.2 Configuration - Encoder For position control, positioning axes/synchronous axes require an actual position value in the form of an encoder position. The encoder position is transmitted to the controller by means of a PROFIdrive frame.
Page 114: Configuration - Data Exchange
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.2.3 Configuration - Data exchange Configuration - Data exchange In the "Data exchange" configuration window, you can configure the data exchange of the drive and the encoder. The configuration varies according to the drive type and encoder coupling: ●...
Page 115 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Data exchange with encoder In this area, you can configure how the encoder data are to be evaluated. The specifications must match those in the device configuration. ● Encoder message frame: The encoder data can be transferred only with encoder message frame 83.
Page 116 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Encoder type Linear incremental Distance between two increments: In this field, you can configure the distance between two steps of the encoder. Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine value (Gn_XIST1) resolution within the incremental actual value (Gn_XIST1).
Page 117 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Data exchange with encoder In this area, you can configure the encoder frame and the criteria for how the encoder data are to be evaluated. The specifications must match those in the device configuration. ●...
Page 118 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Encoder type Linear incremental Distance between two increments: In this field, you can configure the distance between two steps of the encoder. Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine value (Gn_XIST1) resolution within the incremental actual value (Gn_XIST1).
Page 119 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Data exchange with encoder In this area, you can configure how the encoder data are to be evaluated. The specifications must match those in the device configuration. ● Encoder message frame: The encoder data is transmitted with the drive frame.
Page 120 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Encoder type Linear incremental Distance between two increments: In this field, you can configure the distance between two steps of the encoder. Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine value (Gn_XIST1) resolution within the incremental actual value (Gn_XIST1).
Page 121 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Data exchange with encoder In this area, you can configure how the encoder data are to be evaluated. The specifications must match those in the device configuration. ● Encoder message frame: The encoder data can be transferred only with encoder message frame 83.
Page 122 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Encoder type Linear incremental Distance between two increments: In this field, you can configure the distance between two steps of the encoder. Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine value (Gn_XIST1) resolution within the incremental actual value (Gn_XIST1).
Page 123 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Data exchange with encoder In this area, you can configure the encoder frame and the criteria for how the encoder data are to be evaluated. The specifications must match those in the device configuration. ●...
Page 124: Configuration - Master Value Interconnections (Synchronous Axis Only)
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Encoder type Linear incremental Distance between two increments: In this field, you can configure the distance between two steps of the encoder. Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine value (Gn_XIST1) resolution within the incremental actual value (Gn_XIST1).
Page 125: Extended Parameters
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4 Extended Parameters 6.6.4.1 Configuration - Mechanics Configuration - Mechanics In the "Mechanics" configuration window, you can configure the mounting type of the encoder, and the adaptation of the encoder value to the mechanical conditions. Type of encoder mounting In the drop-down list, select how the encoder is mounted on the mechanism.
Page 126 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Position parameter ● 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 leadscrew makes one revolution. ●...
Page 127 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Load gear ● Consider load gear and leadscrew pitch for encoder evaluation Activate the check box, if you want to perform the configuration based on the gear ratio and the leadscrew pitch. Deactivate the check box, if you want to perform the configuration based on the motor revolution and the resulting distance.
Page 128 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 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.
Page 129: Configuration - Position Monitoring
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.2 Configuration - Position monitoring Configure the hardware and software limit switches of the axis in the "Position monitoring" configuration window. Enable HW limit switches The check box activates the function of the negative and positive hardware limit switches. The negative hardware limit switch is located on the side in the negative direction of travel, and the positive hardware limit switch on the side in the positive direction of travel.
Page 130: Configuration - Dynamic Limits
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Negative / positive HW limit switch level selection Select the triggering signal level ("Lower level" / "Upper level") of the hardware limit switch. At "Lower level", the input signal is FALSE after the axis has reached or passed the hardware limit switch.
Page 131 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Note A change in the maximum velocity influences the acceleration and deceleration values of the axis. The ramp-up and ramp-down times are retained. The "maximum deceleration" for active homing with change of direction at the hardware limit switch must be set sufficiently large, to brake the axis before reaching the mechanical endstop.
Page 132: Configuration - Dynamic Defaults
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.4 Configuration - Dynamic Defaults In the "Dynamic defaults" configuration window, configure the default values for velocity, acceleration, deceleration and jerk of the axis. The default values have an effect, when values < 0 are specified in Motion Control instructions for the "Velocity", "Acceleration", "Deceleration"...
Page 133 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Smoothing time / jerk You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the "Jerk" box: ● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Jerk" box. The value 0 means that the jerk is disabled.
Page 134: Configuration - Emergency Stop
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.5 Configuration - Emergency stop In the "Emergency stop" configuration window, you can configure the emergency stop deceleration of the axis. In the event of an error, and when disabling the axis, the axis is brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"...
Page 135: Homing
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.6 Homing Homing means matching the position value of a technology object to the real, physical location of the drive. Absolute positions on the axis can only be approached with a homed axis.
Page 136 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Active homing Configuration - Active homing Configure the parameters for active homing in the "Active Homing" configuration window. "Active Homing" is performed using the Motion Control instruction "MC_Home" Mode = 3 and 5.
Page 137 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Zero mark via PROFIdrive frame and proximity switch Enable direction reversal at the hardware limit switch Select this check box to use the hardware limit switch as a reversing cam for the home position approach.
Page 138 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Zero mark via PROFIdrive frame Enable direction reversal at the hardware limit switch Select this check box to use the hardware limit switch as a reversing cam for the home position approach. After the axis has reached the hardware limit switch during active homing, it is ramped down at the configured maximum deceleration rate and the direction is then reversed.
Page 139 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Digital input, homing mark In this field, select the PLC tag of the digital input, which should act as a homing mark (reference cam). In order to be able to select an 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.
Page 140 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Home position offset In the case of a differing switch position and home position, enter the corresponding home position offset in this field. The axis approaches the home position at approach velocity. Home position In this field, configure the absolute coordinate of the home position.
Page 141 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Zero mark via PROFIdrive frame and proximity switch Homing direction Select the direction in which the zero mark should be approached for homing. The next zero mark after exiting the proximity switch is used. The following options are available: ●...
Page 142 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Zero mark via PROFIdrive frame Homing direction Select the direction in which the next zero mark should be approached for homing. The following options are available: ● Positive Axis moves in the direction of higher position values. ●...
Page 143 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Homing mark via digital input Digital input In this dialog field, select a digital input which should act as a homing mark (reference cam). Homing direction Select the direction in which the homing mark should be approached for homing. The following options are available: ●...
Page 144: Position Monitoring
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.7 Position monitoring Configuration - Positioning monitoring In the "Positioning Monitoring" configuration window, configure the criteria for monitoring the target position. Positioning window: In this field, configure the size of the positioning window. If the axis is located within this window, then the position is considered to be "reached".
Page 145 Configuring 6.6 Configuring the positioning axis/synchronous axis technology object Following error: In this field, configure the permissible following error for low velocities (without dynamic adaptation). Beginning of dynamic adaptation: In this field, configure the velocity above which the following error should be dynamically adapted.
Page 146: Configuration - Control Loop
Configuring 6.6 Configuring the positioning axis/synchronous axis technology object 6.6.4.8 Configuration - Control loop In the "Control loop" configuration window, configure the gain Kv of the position control loop. The Kv factor affects the following parameters: ● Positioning accuracy and stop control ●...
Page 147: Configuring The External Encoder Technology Object
Configuring 6.7 Configuring the External Encoder technology object Configuring the External Encoder technology object 6.7.1 Configuration - Basic Parameters Configure the basic properties of the technology object in the "Basic Parameters" configuration window. Name of the external encoder Define the name of the external encoder in this field. The technology object is listed in the project navigation under this name.
Page 148: Hardware Interface
Configuring 6.7 Configuring the External Encoder technology object 6.7.2 Hardware interface 6.7.2.1 Configuration - Encoder The external encoder records the position of an externally controlled drive. The encoder required for this purpose communicates the encoder position to the controller by means of a PROFIdrive frame.
Page 149: Configuration - Data Exchange
Configuring 6.7 Configuring the External Encoder technology object 6.7.2.2 Configuration - Data exchange Configuration - Data exchange In the "Data transmission" configuration window, configure the data transmission to the encoder. The configuration varies according to the encoder coupling: ● Encoder to technology module (Page 149) ●...
Page 150 Configuring 6.7 Configuring the External Encoder technology object Encoder type Rotary cyclic absolute Steps per revolution: 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.
Page 151 Configuring 6.7 Configuring the External Encoder technology object Encoder to PROFINET/PROFIBUS Data exchange with encoder In this area, you can configure the encoder frame and the criteria for how the encoder data are to be evaluated. The specifications must match those in the device configuration. Encoder message frame In the drop-down list, select the frame of the encoder.
Page 152 Configuring 6.7 Configuring the External Encoder technology object Encoder type Linear incremental 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 In this field, configure the number of bits for fine value (GN_XIST1) resolution within the incremental actual value (GN_XIST1).
Page 153: Extended Parameters
Configuring 6.7 Configuring the External Encoder technology object 6.7.3 Extended Parameters 6.7.3.1 Configuration - Mechanics Configuration - Mechanics Configure the encoder parameters for the position of the externally controlled drive in the "Mechanics" configuration window. The configuration varies according to the type of encoder: ●...
Page 154 Configuring 6.7 Configuring the External Encoder technology object Rotary Measuring gearbox ● Number of encoder revolutions / number of load revolutions The gear ratio of the measuring gearbox is specified as the ratio between encoder revolutions and load revolutions. Specify here an integral number of load revolutions and the resulting number of encoder revolutions.
Page 155: Homing
Configuring 6.7 Configuring the External Encoder technology object 6.7.3.2 Homing Configuration - Homing Configure the parameters for homing the external encoder in the "Homing" configuration window. Homing is performed using the Motion Control instruction "MC_Home" Mode = 2, 8 and 10. Note Parameter "MC_Home.Mode"...
Page 156 Configuring 6.7 Configuring the External Encoder technology object Zero mark via PROFIdrive frame and proximity switch Homing direction Select the direction in which the zero mark should be approached for homing. The next zero mark after exiting the proximity switch is used. The following options are available: ●...
Page 157 Configuring 6.7 Configuring the External Encoder technology object Zero mark via PROFIdrive frame Homing direction Select the direction in which the next zero mark should be approached for homing. The following options are available: ● Positive Axis moves in the direction of higher position values. ●...
Page 158 Configuring 6.7 Configuring the External Encoder technology object Homing mark via digital input Digital input, homing mark In this dialog field, select a digital input which should act as a homing mark (reference cam). Homing direction Select the direction in which the homing mark should be approached for homing. The following options are available: ●...
Page 159: Parameter View
Configuring 6.8 Parameter view See also Configuration - Homing (Page 155) Zero mark via PROFIdrive frame (Page 157) Zero mark via PROFIdrive frame and proximity switch (Page 156) 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.
Page 160 Configuring 6.8 Parameter view Function scope The following functions are available for analyzing the parameters of the technology objects and for enabling targeted monitoring and modification. Display functions: ● Display of parameter values in offline and online mode ● Display of status information of the parameters ●...
Page 161: Structure Of The Parameter View
Configuring 6.8 Parameter view 6.8.2 Structure of the parameter view 6.8.2.1 Toolbar The following functions can be selected in the toolbar of the parameter view. Symbol Function Explanation Select navigation structure Toggle between function-based navigation and the view for the data structure of the technology data block.
Page 162: Parameter Table
Configuring 6.8 Parameter view 6.8.2.3 Parameter table The table below shows the meaning of the individual columns of the parameter table. You can show or hide the columns as required. ● Column "Offline" = X: Column is visible in offline mode. ●...
Page 163: Opening The Parameter View
Configuring 6.8 Parameter view Column Explanation Offline Online Data type Data type of the parameter. The display field is empty for parameters that are not contained in the technol- ogy data block. Retain Designates the value as a retentive value. The values of retentive parameters are retained even after the voltage supply is switched off.
Page 164: Working With The Parameter View
Configuring 6.8 Parameter view 6.8.4 Working with the parameter view 6.8.4.1 Overview The following table provides an overview of the functions of the Parameter view in online and offline mode described in the following. ● Column "Offline" = X: This function is possible in offline mode. ●...
Page 165: Sorting The Parameter Table
Configuring 6.8 Parameter view 6.8.4.3 Sorting the parameter table The values of the parameters are arranged in rows. The parameter table can be sorted by any displayed column. ● In columns containing numerical values, sorting is based on the magnitude of the numerical value.
Page 166: Indicating Errors
Configuring 6.8 Parameter view 6.8.4.5 Indicating errors Error indication Parameter assignment errors that result in compilation errors (e.g., limit violation) are indicated in the Parameter view. Every time a value is entered in the Parameter view, a check is made for process-related and syntax errors and displayed with the following indicators: ●...
Page 167 Configuring 6.8 Parameter view Defining new start values To define start values for parameters in the Parameter view, follow these steps: 1. Open the Parameter view of the technology object. 2. Enter the desired start values in the "Start value project" column. The value must match the data type of the parameter and must not exceed the value range of the parameter.
Page 168: Monitoring Values Online In The Parameter View
Configuring 6.8 Parameter view 6.8.4.7 Monitoring values online in the parameter view You can monitor the values currently taken by the parameters of the technology object in the CPU (monitor values) directly in the Parameter view. Requirements ● There is an online connection. ●...
Page 169: Modifying Values
Configuring 6.8 Parameter view 6.8.4.8 Modifying values With the Parameter view, you can modify values of the technology object in the CPU. You can assign values to the parameter once (Modify value) and modify them immediately. The modify request is executed as quickly as possible without reference to any particular point in the user program.
Page 170: Comparing Values
Configuring 6.8 Parameter view Bad modify values ● Modify values with process-related errors can be transmitted. ● Modify values with syntax errors cannot be transmitted. 6.8.4.9 Comparing values You can use comparison functions to compare the following memory values of a parameter: ●...
Page 171 Configuring 6.8 Parameter view Symbol in "Compare result" column Symbol Meaning The compare values are equal and error-free. The compare 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.
Page 172: Programming
Programming Introduction The "Programming" section contains general information on supplying and evaluating the Motion Control instructions and on technology data blocks. An overview of the Motion Control instructions can be found in the Functions (Page 20) section. You can transmit jobs to the technology object by means of Motion Control instructions in the user program.
Page 173: Evaluating The Technology Data Block
Programming 7.2 Technology data block 7.2.2 Evaluating the technology data block Description Access to data in the technology data block occurs in accordance with the access to standard data blocks. Reading values from the technology data block In your user program you can read actual values (e.g. current position) and status information, or detect error messages in the technology object.
Page 174 Programming 7.2 Technology data block DINT/BOOL data types (e.g. .Senso[n].ActiveHoming.Direction) Changes are only permitted in the defined value range. Value changes outside the value range are not applied. If you enter invalid values, the programming error OB (OB 121) is started. You write changes using direct assignments. The changes are retained until the next POWER OFF of the CPU or restart of the technology object.
Page 175: Evaluate Statusword, Errorword And Warningword
Programming 7.2 Technology data block 7.2.3 Evaluate StatusWord, ErrorWord and WarningWord To be able to use individual status and error information from the "StatusWord", "ErrorWord" and "WarningWord" data double words, the evaluation can be performed as described below. For consistent evaluation, you should avoid using bit addressing to access these data double words in the technology data block.
Page 176 Programming 7.2 Technology data block Example The following example shows how you can read and save the fifth bit "HomingDone" of the data word "StatusWord": Status.Temp := .StatusWord; Copy status word Status.HomingDone := Status.Temp.X5; Copy individual bits per bit access L .StatusWord Copy status word...
Page 177: Change Restart-Relevant Data
Programming 7.2 Technology data block 7.2.4 Change restart-relevant data In order to change restart-relevant data in the technology data block, write to the starting values of the tags in load memory using the extended instruction "WRIT_DBL". In order for the changes to be applied, a restart of the technology object must be performed. Whether changes to the value of a tag are relevant for the restart can be found in the description of the tags in the Appendix (Page 332).
Page 178: Motion Control Instructions
Programming 7.3 Motion Control instructions Motion Control instructions 7.3.1 Motion Control instruction parameters Description When creating your user program, take account of the following explanations of the Motion Control instruction parameters. Reference to the technology object The specification of the technology object to the Motion Control instruction occurs as follows: ●...
Page 179 Programming 7.3 Motion Control instructions Job status The following output parameters indicate the status of the job processing: ● Motion Control instructions with "Done" parameter The normal completion of a job is indicated with parameter "Done" = TRUE. ● Motion Control instructions without "Done" parameter The achievement of the job target is indicated by means of other parameters (e.g.
Page 180 Programming 7.3 Motion Control instructions Example of parameter behavior The behavior of the parameters of Motion Control instructions is shown by way of the example of two "MC_MoveAbsolute" jobs. Using "Exe_1", an "MC_MoveAbsolute" job (A1) with target position 1000.0 is initiated. "Busy_1"...
Page 181: Add Motion Control Instructions
Programming 7.3 Motion Control instructions 7.3.2 Add Motion Control instructions You add Motion Control instructions to a program block in the same way as other instructions. You control all available functions of the technology object using the Motion Control instructions. Requirements The technology object was created.
Page 182 Programming 7.3 Motion Control instructions 6. Input parameters without a default value (e.g. "Axis"), must be supplied. Mark the technology object in the Project Navigator, and drag and drop it to <...> in 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.
Page 183: Starting Motion Control Jobs
Programming 7.4 Starting Motion Control jobs Starting Motion Control jobs Description Motion Control jobs are started by setting the "Execute" or "Enable" parameter of the Motion Control instruction. The call of the Motion Control instructions for a technology object should occur in an execution level.
Page 184: Tracking Active Jobs
Programming 7.5 Tracking active jobs 3. Check job status Parameter "Done" of the Motion Control instruction indicates successful completion of a job (target reached, in this case). If an error is detected, the "Error" parameter of the Motion Control instruction is set to TRUE, and the job is rejected.
Page 185: Motion Control Instructions With "Done" Parameter
Programming 7.5 Tracking active jobs 7.5.2 Motion Control instructions with "Done" parameter Description Jobs for Motion Control 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.
Page 186 Programming 7.5 Tracking active jobs The behavior of the parameters is presented by way of example for various situations: Complete execution of job If the Motion Control job has been fully processed to the point of completion, then this is indicated in the "Done"...
Page 187 Programming 7.5 Tracking active jobs Job termination If the Motion Control job is aborted during processing by another job, then this is indicated in the "CommandAborted" parameter with the value TRUE. The signal status of the "Execute" parameter influences the indication duration in the "CommandAborted" parameter: You set "Execute"...
Page 188 Programming 7.5 Tracking active jobs Error during job execution If an error occurs during execution of the Motion Control job, then this is indicated in the "Error" parameter with the value TRUE. The signal status of the "Execute" parameter influences the indication duration in the "Error" parameter: You set "Execute"...
Page 189: Motion Control Instructions Without "Done" Parameter
Programming 7.5 Tracking active jobs 7.5.3 Motion Control instructions without "Done" parameter Description Motion Control instructions without the "Done" parameter use a special parameter to achieve the job target (e.g. "InVelocity", "InGear"). The target state or the movement is paused until the job is canceled or an error occurs.
Page 190 Programming 7.5 Tracking active jobs The assigned velocity is reached and maintained The achievement of the assigned velocity is indicated in the "InVelocity" parameter with the value TRUE. The "Execute" has no effect on the indication duration in the "InVelocity" parameter.
Page 191 Programming 7.5 Tracking active jobs The job is aborted prior to reaching the assigned velocity If the Motion Control job is aborted by another job before reaching the assigned velocity, then this is indicated in the "CommandAborted" parameter with the value TRUE. The signal status of the "Execute"...
Page 192 Programming 7.5 Tracking active jobs An error has occurred prior to reaching the assigned velocity If an error occurs during execution of the Motion Control job before the assigned velocity has been reached, this is indicated in the "Error" parameter with the value TRUE. The signal status of the "Execute"...
Page 193: Motion Control Instruction "Mc_Movejog
Programming 7.5 Tracking active jobs 7.5.4 Motion Control instruction "MC_MoveJog" Description An "MC_MoveJog" job is started by setting the "JogForward" or "JogBackward" parameter. The job objective is fulfilled when the assigned velocity is reached and the axis travels at constant velocity. When the assigned velocity is reached and maintained, this is indicated in the "InVelocity"...
Page 194 Programming 7.5 Tracking active jobs The job is aborted during execution If the Motion Control job is aborted during processing by another job, then this is indicated in the "CommandAborted" parameter with the value TRUE. The behavior of the "CommandAborted" parameter is independent of reaching the assigned velocity. Jog mode is controlled by the "JogForward"...
Page 195 Programming 7.5 Tracking active jobs An error occurs during the execution of the job If an error occurs during execution of the Motion Control job, this is indicated in the "Error" parameter with the value TRUE. The behavior of the "Error" parameter is independent of reaching the assigned velocity.
Page 196: Ending Motion Control Jobs
Programming 7.6 Ending Motion Control jobs Ending Motion Control jobs When ending a job, a distinction is made between error-free completion of the job, and the termination of a motion. Completion of the job The completion of a Motion Control job is indicated as described in the Tracking running jobs (Page 184) section.
Page 197: Restart Of Technology Objects
Programming 7.7 Restart of technology objects Restart of technology objects Description After the CPU is switched on, or after technology objects are downloaded into the CPU, the system automatically initializes the technology objects with the start values from the technology data blocks. If restart-relevant changes are detected during a reload into the CPU, a restart of the technology object is automatically performed.
Page 198: Downloading To Cpu
Downloading to CPU Description When downloading to the CPU S7-1500, it is always verified that the project files are consistent online and offline after the download. The data of the technology objects are saved in technology data blocks. The conditions for downloading blocks thus apply when loading new or modified technology objects.
Page 199: Commissioning
The commissioning of other components of your automation system depends on the particular equipment configuration. Commissioning (not Motion Control) is described in the Automation System S7-1500 (http://support.automation.siemens.com/WW/view/en/59191792) system manual. Commissioning guidelines These guidelines serve as recommendations for commissioning equipment with Motion Control.
Page 200 Commissioning 9.2 Commissioning guidelines Procedure Proceed as follows to commission the Motion Control-specific components of your equipment: Step Action to be performed Supported by TIA Portal Turn on CPU Turn on the power supply and the CPU. "Disable" position con- Set the gain (Kv factor) of the position control loop to zero.
Page 201 Commissioning 9.2 Commissioning guidelines Step Action to be performed Supported by TIA Portal Checking the reference Traverse the axis in jog mode at low velocity in the positive "Technology object > Hard- • speed direction. ware interface > Data ex- ⇒...
Page 202: Axis Control Panel
Commissioning 9.3 Axis control panel Axis control panel 9.3.1 Function and structure of the axis control panel Description You traverse individual axes with the axis control panel. A user program is necessary for the operation of the axis control panel. With the axis control panel, you take over master control for a technology object and control the movements of the axis.
Page 203 Commissioning 9.3 Axis control panel The following table lists the elements of the axis control panel: Area Element Description Master control In the "Master control" area, you take over master control of the technology object, or return it to your user program. "Activate"...
Page 204 Commissioning 9.3 Axis control panel Area Element Description Modify The "Control" area displays the parameters for traversing with the axis control panel according to the selected operating mode. Position Position to which the axis is homed. (Homing and set home position modes only) Distance Distance the axis is traversed.
Page 205 Commissioning 9.3 Axis control panel Operating mode The following table shows the operating modes of the axis control panel: Operating mode Description Homing This function corresponds to active homing. The parameters for homing (Page 39) must be con- figured. Homing is not possible with an absolute encoder. The technology object is not referenced when this mode is used with an absolute encoder.
Page 206: Using The Axis Control Panel
Commissioning 9.3 Axis control panel 9.3.2 Using the axis control panel Requirement ● The CPU must be in RUN mode. ● The project has been created and downloaded to the CPU. ● The technology object is disabled by your user program (MC_Power.Enable = FALSE). ●...
Page 207: Optimization
Commissioning 9.4 Optimization Optimization 9.4.1 Function and structure of the optimization Description The "Optimization" function supports you in determining the optimal gain (Kv factor) for the position control 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.
Page 208 Commissioning 9.4 Optimization The following table lists the elements of optimization: Area Element Description Master control In the "Master control" area, you take over master control of the technology object, or return it to your user program. "Activate" button With the "Activate" button, you set up an online connection to the CPU and take over master control for the selected technology object.
Page 209 Commissioning 9.4 Optimization Area Element Description Optimize gain In the "Optimize gain setting" area, you make the settings for optimization of the gain. setting Gain Current velocity gain (Kv) With the symbol beside the box, you open a list of values. The list of values contains the following gain values: Online actual value •...
Page 210: Optimize Position Controller
Commissioning 9.4 Optimization 9.4.2 Optimize position controller Requirement ● The CPU must be in RUN mode. ● The project has been created and downloaded to the CPU. ● The technology object is disabled by your user program (MC_Power.Enable = FALSE). ●...
Page 211 Commissioning 9.4 Optimization 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: S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 212 Commissioning 9.4 Optimization The following trace recording shows a curve in which the gain is optimal and the overall response is steady: Transferring the position control gain (Kv) to the project Proceed as follows to transfer the determined gain (Kv) into your project: 1.
Page 213: Simulation Mode
Commissioning 9.5 Simulation mode Simulation mode S7-1500 Motion Control offers the option to traverse axes without real hardware in simulation mode. This allows speed, positioning and synchronous axes to be simulated in the CPU without a drive. Simulation mode is only possible for the drive connection via PROFIdrive. To traverse axes in simulation mode, follow these steps: 1.
Page 214: Diagnostics
The Diagnostics chapter is limited to describing the diagnostic concept for Motion Control, and describing the Diagnostics view of the individual technology objects in the TIA Portal. For more information about system diagnostics with the S7-1500 CPU, refer to the "Diagnostics" (http://support.automation.siemens.com/WW/view/en/59192926) function manual. 10.2...
Page 215: Technology Alarms
Diagnostics 10.3 Technology alarms 10.3 Technology alarms Description If an error occurs at a technology object (e.g. approaching a hardware limit switch), then a technology alarm is triggered and indicated. The impact of a technology alarm on the technology object is specified by the alarm reaction. Alarm classes Technology alarms are divided into three classes: ●...
Page 216 Diagnostics 10.3 Technology alarms Display of technology alarms A technology alarm is displayed in the following locations: ● TIA Portal – "Technology object > Diagnostics > Status and error bits" Display of pending technology alarms for each technology object. – "Technology object > Commissioning > Axis control panel" Display of the last pending technology alarm for each technology object.
Page 217 Diagnostics 10.3 Technology alarms Alarm reaction A technology alarm always contains an alarm reaction, which describes the impact on the technology object. The alarm reaction is specified by the system. The following list shows possible alarm reactions: ● No reaction (warnings only) .ErrorDetail.Reaction = 0 The processing of Motion Control jobs continues.
Page 218 Diagnostics 10.3 Technology alarms Acknowledging technology alarms You can acknowledge technology alarms as follows: ● TIA Portal – "Technology object > Diagnostics > Status and error bits" Click "Confirm" to acknowledge all alarms and warnings pending for the selected technology object. (Not possible for external encoder technology object) –...
Page 219: Errors In Motion Control Instructions
Diagnostics 10.4 Errors in Motion Control instructions 10.4 Errors in Motion Control instructions Description Errors in Motion Control instructions (e.g. invalid parameter value setting) are indicated at the "Error" and "ErrorID" output parameters. Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated at the Motion Control instruction: ●...
Page 220: Speed-Controlled Axis Technology Object
Diagnostics 10.5 Speed-controlled axis technology object 10.5 Speed-controlled axis technology object 10.5.1 Status and error bits Description You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The Diagnostics function is available in online operation.
Page 221 Diagnostics 10.5 Speed-controlled axis technology object Motion status The following table shows the possible axis motion status values: Status Description Done (no active job) No motion job is active at the technology object. (.StatusWord.X6 (Done)) The axis is being moved by a jog mode job from the Motion Control instruction "MC_MoveJog", or from the axis control panel.
Page 222 Diagnostics 10.5 Speed-controlled axis technology object Error The following table shows the possible errors: Error Description System An internal system error has occurred. (.ErrorWord.X0 (SystemFault)) Configuration Configuration error One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data were incorrectly modified during runtime of the user program.
Page 223: Motion Status
Diagnostics 10.5 Speed-controlled axis technology object 10.5.2 Motion status Description You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA Portal to monitor the motion status of the axis. The Diagnostics function is available in online operation.
Page 224: Profidrive Frame
Diagnostics 10.5 Speed-controlled axis technology object 10.5.3 PROFIdrive frame Description The "Technology object > Diagnostics > PROFIdrive frame" diagnostics 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"...
Page 225: Positioning Axis/Synchronous Axis Technology Object
Diagnostics 10.6 Positioning axis/synchronous axis technology object 10.6 Positioning axis/synchronous axis technology object 10.6.1 Status and error bits Description You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The Diagnostics function is available in online operation.
Page 226 Diagnostics 10.6 Positioning axis/synchronous axis technology object Status limit switch The following table shows the possibilities for enabling the software and hardware limit switches: Limit switch Description Negative software limit The negative software limit switch was approached. switch approached (.StatusWord.X15 (SWLimitMinActive)) Positive software limit switch The positive software limit switch was approached.
Page 227 Diagnostics 10.6 Positioning axis/synchronous axis technology object Status Description Synchronization Synchronous axis only The axis is synchronized to the master value of a leading axis. (.StatusWord.X21 (Synchronizing)) Gearing Synchronous axis only The axis is synchronized and moves synchronously to the leading axis. (.StatusWord.X22 (Synchronous)) Warnings The following table shows the possible warnings:...
Page 228 Diagnostics 10.6 Positioning axis/synchronous axis technology object Error The following table shows the possible errors: Error Description System An internal system error has occurred. (.ErrorWord.X0 (SystemFault)) Configuration Configuration error One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data were incorrectly modified during runtime of the user program.
Page 229: Motion Status
Diagnostics 10.6 Positioning axis/synchronous axis technology object 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. 10.6.2 Motion status Description You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA Portal to monitor the motion status of the axis.
Page 230: Profidrive Frame
Diagnostics 10.6 Positioning axis/synchronous axis technology object 10.6.3 PROFIdrive frame Description The "Technology object > Diagnostics > PROFIdrive frame" diagnostics function is used in the TIA Portal to monitor the PROFIdrive frame returned by the drive and encoder. The display of the Diagnostics function is available in online operation. "Drive"...
Page 231: External Encoder Technology Object
Diagnostics 10.7 External encoder technology object 10.7 External encoder technology object 10.7.1 Status and error bits Description You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The Diagnostics function is available in online operation.
Page 232: Motion Status
Diagnostics 10.7 External encoder technology object Error The following table shows the possible errors: Error Description System An internal system error has occurred. (.ErrorWord.X0 (SystemFault)) Configuration Configuration error One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data were incorrectly modified during runtime of the user program.
Page 233: Profidrive Frame
Diagnostics 10.7 External encoder technology object 10.7.3 PROFIdrive frame Description The "Technology object > Diagnostics > PROFIdrive interface" diagnostic function 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"...
Page 234: Instructions
Instructions 11.1 S7-1500 Motion Control V2 11.1.1 MC_Power 11.1.1.1 MC_Power: Enable, disable technology objects V2 Description The Motion Control instruction "MC_Power" is used to enable and disable technology objects. Applies to ● Synchronous axis ● Positioning axis ● Speed axis ●...
Page 235 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_POWER" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Axis Technology object Enable INPUT BOOL FALSE TRUE The technology object is enabled. FALSE The technology object is disabled.
Page 236 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default value Description Busy OUTPUT BOOL FALSE TRUE The job is being executed. Error OUTPUT BOOL FALSE TRUE An error occurred in Motion Control instruction MC_Power. The cause of the error can be found in the "ErrorID"...
Page 237 Instructions 11.1 S7-1500 Motion Control V2 Drive connection by means of PROFIdrive When coupling a drive with PROFIdrive, the setpoint, enabling, and drive status are transmitted via the PROFIdrive frame. ● Enable technology object and drive The parameter ""Enable" = TRUE" is used to enable the technology object. The drive is enabled according to the PROFIdrive standard.
Page 238: Mc_Power: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.1.2 MC_Power: Function chart V2 Function chart: Enabling a technology object, and example for alarm response A technology object is enabled with "Enable_1= TRUE". Successful enabling can be read ① from "Status_1" at time .
Page 239: Mc_Home
Instructions 11.1 S7-1500 Motion Control V2 11.1.2 MC_Home 11.1.2.1 MC_Home: Home technology objects, set home position V2 Description With the Motion Control instruction "MC_Home", you create the relationship between the position in the technology object and the mechanical position. The position value in the technology object is assigned to a homing mark at the same time.
Page 240 Instructions 11.1 S7-1500 Motion Control V2 Requirement ● The technology object has been configured correctly. ● "Mode" = 2, 3, 5, 8, 10 The technology object must be enabled. ● "Mode" = 0, 1, 6, 7, 8 The encoder values must be valid. (.StatusSensor[n].State = 2) Override response ●...
Page 241 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_Home" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Axis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Position INPUT LREAL...
Page 242 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default value Description Absolute encoder adjustment (absolute) The current position is set to the value of the parameter "Position". The calculated absolute value offset is stored retentively in the CPU. (.StatusSensor[n].
Page 243 Instructions 11.1 S7-1500 Motion Control V2 Resetting the "Homed" status The "Homed" status of a technology object is reset under the following conditions (.StatusWord.X5 (HomingDone)): ● Technology objects with incremental actual values: – Starting an "MC_Home" job with "Mode" = 3, 5, 8, 10 (After successful completion of the homing operation, the "Homed"...
Page 244: Mc_Movejog
Instructions 11.1 S7-1500 Motion Control V2 See also Error ID (Page 386) 11.1.3 MC_MoveJog 11.1.3.1 MC_MoveJog: Move axes in jog mode V2 Description With the Motion Control instruction "MC_MoveJog", you can move an axis in jog mode. Dynamic behavior during movement is defined with the parameters "Velocity", "Jerk", "Acceleration"...
Page 245 Instructions 11.1 S7-1500 Motion Control V2 Override response The "MC_MoveJog" 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 ●...
Page 246 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_MoveJog" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object JogForward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in the positive direction at the velocity specified in pa- rameter "Velocity".
Page 247 Instructions 11.1 S7-1500 Motion Control V2 Behavior with setpoint velocity / setpoint speed zero (Velocity" = 0.0) An "MC_MoveJog" job with "Velocity" = 0.0 stops the axis with the configured deceleration. When the setpoint velocity / setpoint speed zero is reached, the parameter "InVelocity" will indicate the value TRUE.
Page 248: Mc_Movejog: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.3.2 MC_MoveJog: Function chart V2 Function chart: Moving an axis in jog mode The axis is moved in the negative direction in jog mode via "Jog_B". When the setpoint velocity -50.0 is reached, this is signaled via "InVel" = TRUE. After "Jog_B" is reset, the axis is braked and brought to a standstill.
Page 249: Mc_Movevelocity
Instructions 11.1 S7-1500 Motion Control V2 This error is resolved by resetting the two inputs "Jog_F" and "Jog_B". ③ During the braking ramp, "Jog_F" is set at time . The axis is accelerated to the last configured velocity. When the setpoint velocity 100.0 is reached, this is signaled via "InVel"...
Page 250 Instructions 11.1 S7-1500 Motion Control V2 Override response The "MC_MoveVelocity" 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 ●...
Page 251 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_MoveVelocity" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Velocity INPUT LREAL...
Page 252 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default value Description Current INPUT BOOL FALSE Maintain current velocity FALSE Disabled The values of parameters "Velocity" and "Direction" are taken into account. TRUE Enabled The values at the parameters "Velocity" and "Direction"...
Page 253 Instructions 11.1 S7-1500 Motion Control V2 Moving an axis with constant velocity / speed Proceed as follows to move an axis with constant velocity / speed: 1. Check the requirements indicated above. 2. At the parameter "Velocity", specify the velocity / speed, with which the axis should be moved.
Page 254: Mc_Movevelocity: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.4.2 MC_MoveVelocity: Function chart V2 Function chart: Moving an axis with specification of velocity, and the response to an overriding job A "MC_MoveVelocity" job (A1) initiated via "Exe_1" accelerates the axis and signals at time ①...
Page 255: Mc_Moverelative
Instructions 11.1 S7-1500 Motion Control V2 The running "MC_MoveVelocity" job (A2) is overridden by another "MC_MoveVelocity" job (A1). The abort is signaled via "Abort_2". The axis is accelerated to the new setpoint velocity 50.0. Before the setpoint velocity is reached, the current "MC_MoveVelocity" job A1) is ③...
Page 256 Instructions 11.1 S7-1500 Motion Control V2 Override response The "MC_MoveRelative" 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 ●...
Page 257 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_MoveRelative" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Positioning Technology object Axis Execute INPUT BOOL FALSE Start of the job with a positive edge Distance INPUT LREAL...
Page 258 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default value Description 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.
Page 259: Mc_Moverelative: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.5.2 MC_MoveRelative: Function chart V2 Function chart: Relative positioning of an axis, and the response to an overriding job S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 260: Mc_Moveabsolute
Instructions 11.1 S7-1500 Motion Control V2 Section The axis is moved by an "MC_MoveRelative" job (A1) by the distance ("Distance") 1000.0 (the starting position ① here is 0.0). When the axis reaches the target position, this is signaled at time via "Done_1".
Page 261 Instructions 11.1 S7-1500 Motion Control V2 Override response The "MC_MoveAbsolute" 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 ●...
Page 262 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_MoveAbsolute" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Positioning Technology object Axis Execute INPUT BOOL FALSE Start of the job with a positive edge Position INPUT REAL...
Page 263 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default value Description 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...
Page 264: Mc_Moveabsolute: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.6.2 MC_MoveAbsolute: Function chart V2 Function chart: Absolute positioning of an axis, and the response to an overriding job S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 265: Mc_Movesuperimposed
Instructions 11.1 S7-1500 Motion Control V2 Section An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the ① target position, this is signaled at time via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2) with target position 1500.0 is started.
Page 266 Instructions 11.1 S7-1500 Motion Control V2 Applies to ● Synchronous axis ● Positioning axis Requirements ● The technology 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 ●...
Page 267 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_MoveSuperimposed" Motion Control instruction: Parameter Declaration Data type Default Description value Axis InOut TO_PositioningAxis Axis technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Distance INPUT LREAL...
Page 268 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default Description value 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" param- eter.
Page 269: Mc_Movesuperimposed: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.7.2 MC_MoveSuperimposed: Function chart V2 Function chart: Superimposed positioning of axes S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 270: Mc_Gearin
Instructions 11.1 S7-1500 Motion Control V2 ① Section Using "Exe_1", an "MC_MoveRelative" job with a distance of 50.0 is initiated. At the point in time , using "Exe_2", a MC_MoveSuperimposed job with a distance of 50.0 is initiated. The axis is traversed with the added dynamic values of both jobs with the distance 50 + 50 = 100.0.
Page 271 Instructions 11.1 S7-1500 Motion Control V2 Requirements ● The technology object has been configured correctly. ● The leading axis is a positioning axis or synchronous axis. ● The following axis is a synchronous axis. ● The leading axis is specified as possible leading axis in the configuration of the following axis in "Technology object >...
Page 272 Instructions 11.1 S7-1500 Motion Control V2 Parameter The following table shows the parameters of the "MC_GearIn" Motion Control instruction: Parameter Declaration Data type Default Description value Master InOut TO_PositioningAxis Leading axis technology object Slave InOut TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL...
Page 273 Instructions 11.1 S7-1500 Motion Control V2 Parameter Declaration Data type Default Description value 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"...
Page 274: Mc_Gearin: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 11.1.8.2 MC_GearIn: Function chart V2 Function chart: Synchronizing and switching the master value Using "Exe_1", an "MC_GearIn" job (A1) is initiated. The following axis (TO_Slave) is ① 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.
Page 275: Mc_Halt
Instructions 11.1 S7-1500 Motion Control V2 11.1.9 MC_Halt 11.1.9.1 MC_Halt: 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".
Page 276 Instructions 11.1 S7-1500 Motion Control V2 Override response The "MC_Halt" 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 ●...
Page 277 Instructions 11.1 S7-1500 Motion Control V2 Parameters The following table shows the parameters of the "MC_Halt" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Deceleration INPUT LREAL...
Page 278: Mc_Halt: Function Chart V2
Instructions 11.1 S7-1500 Motion Control V2 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 S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 279: Mc_Reset
Instructions 11.1 S7-1500 Motion Control V2 Section An axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is sig- ① naled via "InVel_1". At time , the "MC_MoveVelocity" job is overridden by an "MC_Halt" job (A2). The job termination is signaled via "Abort_1".
Page 280 Instructions 11.1 S7-1500 Motion Control V2 Override response ● Parameter "Restart" = FALSE: Processing of the instruction "MC_Reset" can be aborted by other Motion Control jobs. The MC_Reset job does not abort any running Motion Control jobs. ● Parameter "Restart" = TRUE: The processing of the instruction "MC_Reset"...
Page 281 Instructions 11.1 S7-1500 Motion Control V2 Restarting a technology object Proceed as follows to restart a technology 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"...
Page 282: S7-1500 Motion Control V1
Instructions 11.2 S7-1500 Motion Control V1 11.2 S7-1500 Motion Control V1 11.2.1 MC_Power 11.2.1.1 MC_Power: Enable, disable technology objects V1 Description The Motion Control instruction "MC_Power" is used to enable and disable technology objects. Applies to ● Positioning axis ● Speed axis ●...
Page 283 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_POWER" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Axis Technology object Enable INPUT BOOL FALSE TRUE The technology object is enabled. FALSE The technology object is disabled.
Page 284 Instructions 11.2 S7-1500 Motion Control V1 Parameter Declaration Data type Default value Description Busy OUTPUT BOOL FALSE TRUE The job is being executed. Error OUTPUT BOOL FALSE TRUE An error occurred in Motion Control instruction MC_Power. The cause of the error can be found in the "ErrorID"...
Page 285 Instructions 11.2 S7-1500 Motion Control V1 Drive connection by means of PROFIdrive When coupling a drive with PROFIdrive, the setpoint, enabling, and drive status are transmitted via the PROFIdrive frame. ● Enable technology object and drive The parameter ""Enable" = TRUE" is used to enable the technology object. The drive is enabled according to the PROFIdrive standard.
Page 286: Mc_Power: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.1.2 MC_Power: Function chart V1 Function chart: Enabling a technology object, and example for alarm response A technology object is enabled with "Enable_1= TRUE". Successful enabling can be read ① from "Status_1" at time .
Page 287: Mc_Home
Instructions 11.2 S7-1500 Motion Control V1 11.2.2 MC_Home 11.2.2.1 MC_Home: Home technology objects, set home position V1 Description With the Motion Control instruction "MC_Home", you create the relationship between the position in the technology object and the mechanical position. The position value in the technology object is assigned to a homing mark at the same time.
Page 288 Instructions 11.2 S7-1500 Motion Control V1 Requirement ● The technology object has been configured correctly. ● "HomingMode" = 2, 3, 4, 5, 8 The technology object must be enabled. ● "HomingMode" = 0, 1, 2, 6, 7 The encoder values must be valid. (.StatusSensor[n].State = 2) Override response ●...
Page 289 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_Home" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Axis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Position INPUT LREAL...
Page 290 Instructions 11.2 S7-1500 Motion Control V1 Parameter Declaration Data type Default value Description Absolute encoder adjustment (relative) The current position is shifted by the value of the parameter "Position". The calculated absolute value offset is stored retentively in the CPU. (.StatusSensor[n].
Page 291 Instructions 11.2 S7-1500 Motion Control V1 Resetting the "Homed" status The "Homed" status of a technology object is reset under the following conditions (.StatusWord.X5 (HomingDone)): ● Technology objects with incremental actual values: – Starting an "MC_Home" job with "HomingMode" = 2, 3, 4, 5 (After successful completion of the homing operation, the "Homed"...
Page 292: Mc_Movejog
Instructions 11.2 S7-1500 Motion Control V1 See also Error ID (Page 386) 11.2.3 MC_MoveJog 11.2.3.1 MC_MoveJog: Move axes in jog mode V1 Description With the Motion Control instruction "MC_MoveJog", you can move an axis in jog mode. Dynamic behavior during movement is defined with the parameters "Velocity", "Jerk", "Acceleration"...
Page 293 Instructions 11.2 S7-1500 Motion Control V1 Override response The "MC_MoveJog" job 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 ●...
Page 294 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_MoveJog" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object JogForward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in the positive direction at the velocity specified in pa- rameter "Velocity".
Page 295 Instructions 11.2 S7-1500 Motion Control V1 Behavior with setpoint velocity / setpoint speed zero (Velocity" = 0.0) An "MC_MoveJog" job with "Velocity" = 0.0 stops the axis with the configured deceleration. When the setpoint velocity / setpoint speed zero is reached, the parameter "InVelocity" will indicate the value TRUE.
Page 296: Mc_Movejog: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.3.2 MC_MoveJog: Function chart V1 Function chart: Moving an axis in jog mode The axis is moved in the negative direction in jog mode via "Jog_B". When the setpoint velocity -50.0 is reached, this is signaled via "InVel" = TRUE. After "Jog_B" is reset, the axis is braked and brought to a standstill.
Page 297: Mc_Movevelocity
Instructions 11.2 S7-1500 Motion Control V1 This error is resolved by resetting the two inputs "Jog_F" and "Jog_B". ③ During the braking ramp, "Jog_F" is set at time . The axis is accelerated to the last configured velocity. When the setpoint velocity 100.0 is reached, this is signaled via "InVel"...
Page 298 Instructions 11.2 S7-1500 Motion Control V1 Override response The "MC_MoveVelocity" 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 ●...
Page 299 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_MoveVelocity" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Velocity INPUT LREAL...
Page 300 Instructions 11.2 S7-1500 Motion Control V1 Parameter Declaration Data type Default value Description Current INPUT BOOL FALSE Maintain current velocity FALSE Disabled The values of parameters "Velocity" and "Direction" are taken into account. TRUE Enabled The values at the parameters "Velocity" and "Direction"...
Page 301 Instructions 11.2 S7-1500 Motion Control V1 Moving an axis with constant velocity / speed Proceed as follows to move an axis with constant velocity / speed: 1. Check the requirements indicated above. 2. At the parameter "Velocity", specify the velocity / speed, with which the axis should be moved.
Page 302: Mc_Movevelocity: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.4.2 MC_MoveVelocity: Function chart V1 Function chart: Moving an axis with specification of velocity, and the response to an overriding job A "MC_MoveVelocity" job (A1) initiated via "Exe_1" accelerates the axis and signals at time ①...
Page 303: Mc_Moverelative
Instructions 11.2 S7-1500 Motion Control V1 The running "MC_MoveVelocity" job (A2) is overridden by another "MC_MoveVelocity" job (A1). The abort is signaled via "Abort_2". The axis is accelerated to the new setpoint velocity 50.0. Before the setpoint velocity is reached, the current "MC_MoveVelocity" job A1) is ③...
Page 304 Instructions 11.2 S7-1500 Motion Control V1 Override response The "MC_MoveRelative" job 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 ●...
Page 305 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_MoveRelative" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Positioning Technology object Axis Execute INPUT BOOL FALSE Start of the job with a positive edge Distance INPUT LREAL...
Page 306 Instructions 11.2 S7-1500 Motion Control V1 Parameter Declaration Data type Default value Description 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.
Page 307: Mc_Moverelative: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.5.2 MC_MoveRelative: Function chart V1 Function chart: Relative positioning of an axis, and the response to an overriding job S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 308: Mc_Moveabsolute
Instructions 11.2 S7-1500 Motion Control V1 Section The axis is moved by an "MC_MoveRelative" job (A1) by the distance ("Distance") 1000.0 (the starting position ① here is 0.0). When the axis reaches the target position, this is signaled at time via "Done_1".
Page 309 Instructions 11.2 S7-1500 Motion Control V1 Override response The "MC_MoveAbsolute" job 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 ●...
Page 310 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_MoveAbsolute" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Positioning Technology object Axis Execute INPUT BOOL FALSE Start of the job with a positive edge Position INPUT REAL...
Page 311 Instructions 11.2 S7-1500 Motion Control V1 Parameter Declaration Data type Default value Description 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...
Page 312: Mc_Moveabsolute: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.6.2 MC_MoveAbsolute: Function chart V1 Function chart: Absolute positioning of an axis, and the response to an overriding job S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 313: Mc_Halt
Instructions 11.2 S7-1500 Motion Control V1 Section An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the ① target position, this is signaled at time via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2) with target position 1500.0 is started.
Page 314 Instructions 11.2 S7-1500 Motion Control V1 Override response The "MC_Halt" job 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 ●...
Page 315 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_Halt" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_SpeedAxis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Deceleration INPUT LREAL...
Page 316 Instructions 11.2 S7-1500 Motion Control V1 See also Error ID (Page 386) S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 317: Mc_Halt: Function Chart V1
Instructions 11.2 S7-1500 Motion Control V1 11.2.7.2 MC_Halt: Function chart V1 Function chart: Stopping an axis, and the response to an overriding job Section An axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is sig- ①...
Page 318: Mc_Reset
Instructions 11.2 S7-1500 Motion Control V1 11.2.8 MC_Reset 11.2.8.1 MC_Reset: Acknowledge alarms, restart technology objects V1 Description All technology alarms that can be acknowledged in the user program are acknowledged with the Motion Control instruction "MC_Reset". Acknowledgment also resets the "Error" and "Warning"...
Page 319 Instructions 11.2 S7-1500 Motion Control V1 Parameters The following table shows the parameters of the "MC_Reset" Motion Control instruction: Parameter Declaration Data type Default value Description Axis InOut TO_Axis Technology object Execute INPUT BOOL FALSE Start of the job with a positive edge Restart INPUT BOOL...
Page 320 Instructions 11.2 S7-1500 Motion Control V1 Restarting a technology object Proceed as follows to restart a technology 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"...
Page 321: Appendix
Appendix Tags of the technology object SpeedAxis A.1.1 Legend Name of the tag Data type Data 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".
Page 322: Variable Simulation (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.3 Variable simulation (speed axis) The tag structure .Simulation. contains the configuration for the simulation signal. In simulation mode, you can simulate axes without a real drive in the CPU. Tags Legend (Page 321) Data type Values...
Page 323: Loadgear Tags (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis Data type Values Description EnableDriveOutput BOOL "Enable output" for analog drives FALSE: disabled TRUE: enabled EnableDrive UDINT 0 to 65535 Byte number for the "enable output" OutputAddress EnableDrive UDINT 0 to 7 Bit number for the "enabling output"...
Page 324: Dynamiclimits Tags (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.6 DynamicLimits tags (speed axis) The tag structure .DynamicLimits. 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 - Dynamic values were limited).
Page 325: Override Tags (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.8 Override tags (speed axis) The tag structure .Override. contains the configuration 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.
Page 326: Statusword Tag (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.10 StatusWord tag (speed axis) The .StatusWord tag contains the status information of the technology object. Notes on the evaluation of the individual bits (e.g. bit 0, "Enable") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Page 327 Appendix A.1 Tags of the technology object SpeedAxis Data type Values Description 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"...
Page 328: Errorword Tag (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.11 ErrorWord tag (speed axis) The .ErrorWord tag indicates errors at the technology object (technology alarms). Notes on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the section Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Page 329: Errordetail Tags (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.12 ErrorDetail tags (speed axis) The tag structure .ErrorDetail. contains the alarm number and the effective local alarm reaction to the technology alarm that is currently pending at the technology object. A list of the technology alarms and alarm reactions can be found in the appendix, Technology Alarms (Page 368).
Page 330: Warningword Tag (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.13 WarningWord tag (speed axis) The .WarningWord tag indicates pending warnings at the technology object. Notes on the evaluation of the individual bits (e.g. bit 11, "FollowingErrorWarning") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section. Legend (Page 321) Data type Values...
Page 331: Controlpanel Tags (Speed Axis)
Appendix A.1 Tags of the technology object SpeedAxis A.1.14 ControlPanel tags (speed axis) The tag structure .ControlPanel. contains no application-relevant data. This tag structure is internally used. Tags Legend (Page 321) Data type Values Description ControlPanel. STRUCT Input. STRUCT Command.
Page 332: Internaltotrace Tags (Speed Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.1.15 InternalToTrace tags (speed axis) The tag structure .InternalToTrace. contains no application-relevant data. This tag structure is internally used. Tags Legend (Page 321) Data type Values Description InternalToTrace. ARRAY [1..4] OF STRUCT DINT...
Page 333: Actual Values And Setpoints (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.2 Actual values and setpoints (positioning axis/synchronous axis) The following tags indicate the setpoint and actual values of the technology object. Tags Legend (Page 332) Data type Values Description Position LREAL Setpoint position Velocity...
Page 334: Actor Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.4 Actor tags (positioning axis/synchronous axis) The tag structure .Actor. contains the controller-side configuration for the drive. Tags Legend (Page 332) Data type Values Description Actor. STRUCT Type DINT Drive connection 1: PROFIdrive frame 0: Analog output...
Page 335 Appendix A.2 Tags of the positioning axis/synchronous axis technology object Data type Values Description DriveParameter. ReferenceSpeed LREAL 0.0 to 1.0E12 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".
Page 336: Sensor[N] Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.5 Sensor[n] tags (positioning axis/synchronous axis) The tag structure .Sensor[n]. contains the controller end configuration for the encoder, and the configuration for active and passive homing. Tags Legend (Page 332) Data type Values Description...
Page 337 Appendix A.2 Tags of the positioning axis/synchronous axis technology object Data type Values Description FineResolution UDINT 0 to 31 Number of bits for fine resolution Gn_XIST1 Xist1 (cyclic actual encoder value) FineResolution UDINT 0 to 31 Number of bits for fine resolution Gn_XIST2 Xist2 (absolute value of the encoder) Determinable...
Page 338: Loadgear Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.6 LoadGear tags (positioning axis/synchronous axis) The tag structure .LoadGear. contains the configuration for the load gear. Tags Legend (Page 332) Data type Value range Description LoadGear. STRUCT Numerator UDINT 1 to Load gear counter...
Page 339: Modulo Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.9 Modulo tags (positioning axis/synchronous axis) The tag structure .Modulo. contains the modulo configuration. Tags Legend (Page 332) Data type Values Description Modulo. STRUCT Enable BOOL FALSE: Modulo conversion disabled TRUE: Modulo conversion enabled When modulo conversion is enabled, a check is made for modulo length >...
Page 340: Dynamicdefaults Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.11 DynamicDefaults tags (positioning axis/synchronous axis) The tag structure .DynamicDefaults. 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 instruction (exceptions: MC_MoveJog.Velocity, MC_MoveVelocity.Velocity).
Page 341: Positionlimits_Hw Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.13 PositionLimits_HW tags (positioning axis/synchronous axis) The tag structure .PositionLimits_HW. contains the configuration for position monitoring with hardware limit switches. Hardware limit switches are used to limit the traversing range of a positioning axis. Tags Legend (Page 332) Data type...
Page 342: Homing Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.14 Homing tags (positioning axis/synchronous axis) The tag structure .Homing. contains the configuration for homing the TO. Tags Legend (Page 332) Data type Values Description Homing. STRUCT AutoReversal BOOL Reversal at the hardware limit switches FALSE: no TRUE: yes...
Page 343: Override Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.15 Override tags (positioning axis/synchronous axis) The tag structure .Override. contains the configuration for the override parameters. The override parameters are used to apply a correction percentage to default values.
Page 344: Positioncontrol Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.16 PositionControl tags (positioning axis/synchronous axis) The tag structure .PositionControl. contains the settings for position control. Tags Legend (Page 332) Data type Values Description PositionControl. STRUCT LREAL 0.0 to Proportional gain in the position control 2147480.0 ("Kv"...
Page 345: Followingerror Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.17 FollowingError tags (positioning axis/synchronous axis) The tag structure .FollowingError. contains the configuration for following error monitoring. If the permissible following error is exceeded, then technology alarm 521 is output, and the technology object is disabled (alarm reaction: remove enable).
Page 346: Positionmonitoring Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.18 PositionMonitoring tags (positioning axis/synchronous axis) The tag structure .PositioningMonitoring. contains the configuration for position monitoring at the end of a positioning motion. If the actual position value at the end of a positioning motion is reached within the tolerance time and remains in the positioning window for the minimum dwell time, then .StatusWord.X5 (Done) is set in the technology data block.
Page 347: Standstillsignal Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.19 StandstillSignal tags (positioning axis/synchronous axis) The tag structure .StandstillSignal. contains the configuration for the standstill signal. If the actual velocity value is below the velocity threshold, and does not exceed it during the minimum dwell time, then the standstill signal .StatusWord.X7 (Standstill) is set.
Page 348: Statusdrive Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.21 StatusDrive tags (positioning axis/synchronous axis) The tag structure .StatusDrive. indicates the status of the drive. Tags Legend (Page 332) Data type Values Description StatusDrive. STRUCT InOperation BOOL Operational status of the drive FALSE: Drive not ready.
Page 349: Statussensor[N] Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.22 StatusSensor[n] tags (positioning axis/synchronous axis) The tag structure .StatusSensor[n]. indicates the status of the measuring system. Tags Legend (Page 332) Data type Values Description StatusSensor[n]. ARRAY [1..1] OF STRUCT State DINT...
Page 350: Statussynchronizedmotion Tags (Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.23 StatusSynchronizedMotion tags (synchronous axis) The tag structure .StatusSynchronizedMotion. indicates the status of the synchronous operation. Tags Legend (Page 332) Data type Value range Description StatusSynchronizedMotion. STRUCT ActualMaster DB_ANY When a "MC_GearIn"...
Page 351: Statusword Tag (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.24 StatusWord tag (positioning axis/synchronous axis) The .StatusWord tag contains the status information of the technology object. Notes on the evaluation of the individual bits (e.g. bit 5, "HomingDone") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Page 352 Appendix A.2 Tags of the positioning axis/synchronous axis technology object Data type Values Description Bit 10 "VelocityCommand" 0: No "MC_MoveVelocity" job active 1: "MC_MoveVelocity" job active Bit 11 "HomingCommand" 0: No "MC_Home" job in process 1: "MC_Home" job in process Bit 12 "ConstantVelocity"...
Page 353: Errorword Tag (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object Data type Values Description Bit 23 "SuperimposedMotionCommand" 0: No superimposed motion active 1: Superimposed motion active Bit 24... Reserved Bit 31 See also Evaluating the technology data block (Page 173) A.2.25 ErrorWord tag (positioning axis/synchronous axis) The .ErrorWord tag indicates errors at the technology object (technology alarms).
Page 354 Appendix A.2 Tags of the positioning axis/synchronous axis technology object Data type Values Description Bit 8 "SWLimit" Software limit switch reached or overshot. Bit 9 "HWLimit" Hardware limit switch reached or overshot. Bit 10 "HomingFault" Error during homing process The homing cannot be completed. Bit 11 "FollowingErrorFault"...
Page 355: Errordetail Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.26 ErrorDetail tags (positioning axis/synchronous axis) The tag structure .ErrorDetail. contains the alarm number and the effective local alarm reaction to the technology alarm that is currently pending at the technology object.
Page 356: Warningword Tag (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.27 WarningWord tag (positioning axis/synchronous axis) The .WarningWord tag indicates pending warnings at the technology object. Notes on the evaluation of the individual bits (e.g. bit 11, "FollowingErrorWarning") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Page 357: Controlpanel Tags (Positioning Axis/Synchronous Axis)
Appendix A.2 Tags of the positioning axis/synchronous axis technology object A.2.28 ControlPanel tags (positioning axis/synchronous axis) The tag structure .ControlPanel. contains no application-relevant data. This tag structure is internally used. Tags Legend (Page 332) Data type Values Description ControlPanel. STRUCT Input.
Page 358: Internaltotrace Tags (Positioning Axis/Synchronous Axis)
Appendix A.3 Tags of the technology object external encoder A.2.29 InternalToTrace tags (positioning axis/synchronous axis) The tag structure .InternalToTrace. contains no application-relevant data. This tag structure is internally used. Tags Legend (Page 332) Data type Values Description InternalToTrace. ARRAY [1..4] OF STRUCT DINT...
Page 359: Actual Values And Setpoints (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.2 Actual values and setpoints (external encoder) The following tags indicate the setpoint and actual values of the technology object. Tags Legend (Page 358) Data type Values Description ActualPosition LREAL Actual position ActualVelocity LREAL Actual velocity...
Page 360 Appendix A.3 Tags of the technology object external encoder Data type Values Description Interface. AddressIn UDINT 0 to 65535 Input address for the PROFIdrive frame AddressOut UDINT 0 to 65535 Output address for the PROFIdrive frame Telegram UDINT PROFIdrive frame of the encoder 3: Actual values via drive frame (NSET (32 bit), NACT (32 bit), actual encoder value, signs of life)
Page 361: Mechanics Tags (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.4 Mechanics tags (external encoder) The tag structure .Mechanics. contains the configuration of the mechanics. Tags Legend (Page 358) Data type Value range Description Mechanics. LeadScrew LREAL 0.0 to 1.0E12 Leadscrew pitch A.3.5 LoadGear tags (external encoder)
Page 362: Modulo Tags (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.7 Modulo tags (external encoder) The tag structure .Modulo. contains the modulo configuration. Tags Legend (Page 358) Data type Values Description Modulo. STRUCT Enable BOOL FALSE: Modulo conversion disabled TRUE: Modulo conversion enabled When modulo conversion is enabled, a check is made for modulo length >...
Page 363: Statussensor Tags (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.9 StatusSensor tags (external encoder) The tag structure .StatusSensor. indicates the status of the measuring system. Tags Legend (Page 358) Data type Values Description StatusSensor. STRUCT State DINT Status of the actual encoder value: 0: "NOT_VALID (not valid) 1: "Waiting_FOR_VALID (waiting for valid status) 2: "VALID (valid)
Page 364: Statusword Tag (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.10 StatusWord tag (external encoder) The .StatusWord tag contains the status information of the technology object. Notes on the evaluation of the individual bits (e.g. bit 5, "HomingDone") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Page 365: Errorword Tag (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.11 ErrorWord tag (external encoder) The .ErrorWord tag indicates errors at the technology object (technology alarms). Notes on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the section Evaluating StatusWord, ErrorWord and WarningWord (Page 175). Legend (Page 358) Data type Values...
Page 366: Errordetail Tags (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.12 ErrorDetail tags (external encoder) The tag structure .ErrorDetail. contains the alarm number and the effective local alarm reaction to the technology alarm that is currently pending at the technology object.
Page 367: Warningword Tag (External Encoder)
Appendix A.3 Tags of the technology object external encoder A.3.13 WarningWord tag (external encoder) The .WarningWord tag indicates pending warnings at the technology object. Notes on the evaluation of the individual bits (e.g. bit 11, "FollowingErrorWarning") can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section. Legend (Page 358) Data type Values...
Page 368: Technology Alarms
Appendix A.4 Technology alarms Technology alarms A.4.1 Overview The following table shows an overview of the technology alarms and the corresponding alarm reactions. When a technology alarm occurs, evaluate the entire indicated alarm text, in order to find the precise cause. Legend Number of the technology alarm (corresponds to .ErrorDetail.Number)
Page 369 Appendix A.4 Technology alarms Response Error bit Warning bit Restart Alarm text 204 Remove enable X0 (SystemFault) Commissioning error. 304 Stop with emergency X2 (UserFault) Limit value for velocity is zero. stop ramp 305 Stop with emergency X2 (UserFault) Limit value for acceleration/deceleration stop ramp is zero.
Page 370 Appendix A.4 Technology alarms Response Error bit Warning bit Restart Alarm text 531 Remove enable X9 (HWLimit) Positive HW limit switch reached. • Negative HW limit switch reached. • Incorrect traverse direction with ac- • tive hardware limit switch 531 Remove enable X9 (HWLimit) Hardware limit switch polarity is re- •...
Page 371: Technology Alarms 101-110
Appendix A.4 Technology alarms A.4.2 Technology alarms 101-110 Technology alarm 101 Alarm reaction: Remove enable Restart: required Alarm text Solution Error in the configuration Faulty load gear factors. Adjust the specified value. Illegal value for the configuration data Actor.DriveParameter.MaxSpeed. Adjust the specified value. Illegal value for the configuration data DynamicLimits.MaxVelocity.
Page 372 Appendix A.4 Technology alarms Alarm text Solution Parameter of standstill monitoring faulty. Invalid value in StandStillSig- Adjust the specified value. nal.MinDwellTime. Parameter of the following error monitoring faulty. Illegal value in Adjust the specified value. FollowingError.MaxValue. Drive or message frame type not suitable for DSC. Adjust the specified value.
Page 373 Appendix A.4 Technology alarms Technology alarm 104 Alarm reaction: Stop with maximum dynamic values Restart: Not required Alarm text Solution Error in the specification of software limit switches. Negative switch greater than positive switch when axis is not Change the position of the software limit switches. modulo axis.
Page 374 Appendix A.4 Technology alarms Technology alarm 107 Alarm reaction: Remove enable Restart: required Alarm text Solution Configuration error encoder. Configuration error. Connect a suitable device. Check the device (I/Os). The driver needs a smaller servo cycle clock. Compare the configuration in HW Config and the tech- nology object.
Page 375: Technology Alarms 201-204
Appendix A.4 Technology alarms Technology alarm 110 Alarm reaction: No reaction Restart: Not required Alarm text Solution Configuration is being internally adapted. Illegal value for Actor.MaxSpeed (Actor.MaxSpeed greater Correct the reference value in the drive as well as in the than 2*Actor.Reference Speed;...
Page 376: Technology Alarms 304-342
Appendix A.4 Technology alarms Technology alarm 204 Alarm reaction: Remove enable Restart: Not required Alarm text Solution Commissioning error Sign-of-life failure between controller and TIA Portal. Check the connection properties. A.4.4 Technology alarms 304-342 Technology alarm 304 Alarm reaction: Stop with emergency stop ramp Restart: Not required Alarm text Solution...
Page 377 Appendix A.4 Technology alarms Technology alarm 307 Alarm reaction: Stop with maximum dynamic values Restart: Not required Alarm text Solution The numeric value range of the position was reached. Negative Enable the "Modulo" setting for the technology object. Positive Enable the "Modulo" setting for the technology object. Technology alarm 308 Alarm reaction: Remove enable Restart: Not required...
Page 378 Appendix A.4 Technology alarms Technology alarm 323 Alarm reaction: No reaction Restart: Not required Alarm text Solution MC_Home was not executed because this would result in the Enable the "Modulo" setting for the technology object. numerical value range being exceeded. Enter a valid position value for the use of MC_Home instruction.
Page 379: Technology Alarms 401-431
Appendix A.4 Technology alarms A.4.5 Technology alarms 401-431 Technology alarm 401 Alarm reaction: Remove enable Restart: Not required Alarm text Solution Error accessing logical address. The requested logical address is invalid. Connect a suitable device. Check the device (I/Os). Check the topological configuration in HW Config. The requested logical output address is invalid.
Page 380 Appendix A.4 Technology alarms Technology alarm 412 Alarm reaction: Remove enable Restart: Not required Alarm text Solution Violation of the range limit for the incremental actual value. Range violation in positive direction. Home the axis/encoder to a valid actual value range. Range violation in negative direction.
Page 381: Technology Alarms 501-550
Appendix A.4 Technology alarms A.4.6 Technology alarms 501-550 Technology alarm 501 Alarm reaction: No reaction Restart: Not required Alarm text Solution Programmed velocity limited. Check the value for the speed of the Motion Control instruction. Check the configuration of the dynamic limits. Technology alarm 502 Alarm reaction: No reaction Restart: Not required...
Page 382 Appendix A.4 Technology alarms Technology alarm 504 Alarm reaction: No reaction Restart: Not required Alarm text Solution Speed setpoint monitoring active. Check the mechanical configuration. Check the encoder connection. Check the configuration of the speed setpoint interface. Check the configuration of the control loop. Check the value for the maximum speed DynamicLimits.MaxVelocity.
Page 383 Appendix A.4 Technology alarms Technology alarm 531 Alarm reaction: Remove enable Restart: See "Restart" column Alarm text Solution Restart Positive HW limit switch reached. Acknowledge the alarm. Movements in the negative direction are al- lowed after acknowledgment. Negative HW limit switch reached. Acknowledge the alarm.
Page 384 Appendix A.4 Technology alarms Technology alarm 534 Alarm reaction: Remove enable Restart: Not required Alarm text Solution Software limit switch passed. Negative The software limit switch was exceeded. Acknowledge the alarm. Movements in the positive direction are allowed after acknowledgment. Positive The software limit switch was exceeded.
Page 385: Technology Alarm 601
Appendix A.4 Technology alarms A.4.7 Technology alarm 601 Technology alarm 601 Alarm reaction: Stop with maximum dynamic values Restart: Not required Alarm text Solution The lead axis specified at the MC_GearIn.Master parameter is Specify all master value interconnections for the configu- not configured or not available.
Page 386: Error Id
Appendix A.5 Error ID Error ID Errors in Motion Control instructions are reported by means of "Error" and "ErrorID" parameters. Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated at the Motion Control instruction: ● Invalid status of the technology object, which prevents the execution of the job. ●...
Page 387 Set a valid following axis at parameter "Slave". 16#8FFF Unspecified error Please contact the Siemens agent at your local agency or branch. You will find information on whom to contact at: Contact information for Industry Automation and Drive Tech- nologies (http://www.siemens.com/automation/partner)
Page 388: Mc_Power Function Chart
Appendix A.6 MC_Power function chart See also Errors in Motion Control instructions (Page 219) 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 ① The axis decelerates with the configured emergency stop deceleration. S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 389: Stopmode 1
Appendix A.6 MC_Power function chart A.6.1.2 StopMode 1 Function chart: Enabling a technology object and disabling with "StopMode" = 1 ① The deceleration ramp depends on the configuration in the drive. S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 390: Alarm Response "Stop With Maximum Dynamic Values
Appendix A.6 MC_Power function chart 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" ① The axis decelerates with the configured maximum deceleration. ②...
Page 391: Alarm Response "Remove Enable
Appendix A.6 MC_Power function chart 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" ① The deceleration ramp depends on the configuration in the drive. ② ② The technology alarm is acknowledged at time S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 392: Analog Drive Connection
Appendix A.6 MC_Power function chart A.6.2 Analog drive connection A.6.2.1 StopMode 0 Function chart: Enabling a technology object and disabling with "StopMode" = 0 ① The axis decelerates with the configured emergency stop deceleration. S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 393: A.6.2.2 Stopmode 1
Appendix A.6 MC_Power function chart A.6.2.2 StopMode 1 Function chart: Enabling a technology object and disabling with "StopMode" = 1 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. S7-1500 Motion Control V13 Update 3 Function Manual, 07/2014, A5E03879256-AC...
Page 394: Alarm Response "Stop With Maximum Dynamic Values
Appendix A.6 MC_Power function chart A.6.2.3 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" ① The axis decelerates with the configured maximum deceleration. ②...
Page 395: Alarm Response "Remove Enable
Appendix A.6 MC_Power function chart A.6.2.4 Alarm response "Remove enable" Function chart: Enabling a technology object and occurrence of a technology alarm with alarm reaction "Remove enable" ① The deceleration ramp depends on the configuration in the drive. ② ② The technology alarm is acknowledged at time The behavior of the ready signal of the drive "DI DriveReadyInput"...
Page 396: Sinamics Drives
Appendix A.7 SINAMICS drives SINAMICS drives A.7.1 Homing SINAMICS drives with external zero marks For SINAMICS drives with external zero marks, synchronization during homing must always occur on the left side of 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.
Page 397: Glossary
Glossary Absolute value encoder Position encoder which outputs the position in the form of a digital numerical value. This numerical value is unique within the entire resolution range of the absolute value encoder. Axis control panel The axis control panel allows you to move the axis in manual mode, optimize the axis settings, and test the operation of the axis in your system.
Page 398 Glossary 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. GSD file As a Generic Station Description, this file contains all properties of a PROFINET or PROFIBUS device that are necessary for its configuration.
Page 399 Glossary PROFIdrive PROFIdrive is a profile specified by the PNO (PROFIBUS user organization) for PROFIBUS DP and PROFINET IO for speed- and position-controlled drives. PROFIdrive frame Frame for communication according to PROFIdrive. Proximity switch Position switch which is activated with the moving part without mechanical contact. Restart The technology object is reinitialized with the current configuration parameters.
Page 400: Index
Index Absolute actual value, 35 Gear ratio, 74 Absolute value adjustment, 39, 56 Gearing, 74 Active homing, 39, 43, 46, 48, 136 Actuator, 19 Axis control panel, 202, 206 Axis type, 26 Hardware limit switches, 65, 129 Hardware limit switches, 65, 129 Home position, 40 Homing mark, 40 Clock reduction, 78...
Page 401 Index MC-Servo OB, 78, 80 Mechanics, 37, 38, 125 Modulo, 26, 110 Modulo, 26, 110 Motion Control Instruction, 18, 20, 178, 181, 183 Position limits, 65, 67, 68, 129 Position monitoring, 61, 63, 64, 144, 145 Principle of operation, 16 Optimize position controller, 207, 210 Process response, 78, 80, 80 PROFIdrive, 28, 31...
Page 402 Index Speed axis Add, 99 Velocity profile, 70 Basics, 17, 21 Configuration, 102 Diagnostics, 220, 223, 224 Functions, 20 Tags, 321 Zero mark, 40 Synchronous axis Add, 99 Basics, 18, 23 Diagnostics, 225, 229, 230 Functions, 20 Tags, 332 Synchronous operation, 73, 74, 76, 124 Tags of the positioning axis technology object, 332 Tags of the synchronous axis technology object, 332 Tags of the technology object external encoder, 358...

This manual is also suitable for:

Simatic s7-1500 motion control v13

Siemens SIMATIC S7-1500 Function Manual

1 Guide to Documentation S7-1500 / ET 200MP

2 Introduction

3 Basics

4 Guidelines

5 Using Versions

6 Configuring

7 Programming

8 Downloading to CPU

9 Commissioning

10 Diagnostics

11 Instructions

Appendix

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Summary of Contents for Siemens SIMATIC S7-1500