s71200 Motion Control Function Manual en-US en-US PDF
s71200 Motion Control Function Manual en-US en-US PDF
Preface
___________________
S7-1200 Motion Control 2
SIMATIC
STEP 7
S7-1200 Motion Control V13 SP1
Function Manual
11/2014
A5E03790551-AD
Legal information
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Preface ...................................................................................................................................................... 3
1 Using S7-1200 Motion Control ................................................................................................................... 9
1.1 Introduction ...............................................................................................................................9
1.1.1 Motion functionality of the CPU S7-1200 ..................................................................................9
1.1.2 Hardware components for motion control ...............................................................................10
1.2 Basics for working with S7-1200 Motion Control ....................................................................13
1.2.1 Drive connection via PTO .......................................................................................................13
1.2.1.1 CPU outputs relevant for motion control .................................................................................13
1.2.1.2 How the pulse interface works ................................................................................................17
1.2.1.3 Relationship between the signal type and the direction of travel ...........................................18
1.2.2 PROFIdrive/analog drive connection ......................................................................................22
1.2.2.1 Drive and encoder connection ................................................................................................22
1.2.2.2 PROFIdrive .............................................................................................................................23
1.2.2.3 Closed loop control .................................................................................................................24
1.2.2.4 Process response ...................................................................................................................25
1.2.3 Hardware and software limit switches ....................................................................................30
1.2.4 Jerk limit ..................................................................................................................................31
1.2.5 Homing ....................................................................................................................................32
1.3 Guidelines on use of motion control .......................................................................................33
1.4 Using versions ........................................................................................................................34
1.4.1 Overview of versions...............................................................................................................34
1.4.2 Changing a technology version ..............................................................................................37
1.4.3 Compatibility list of tags ..........................................................................................................38
1.4.4 Status of limit switch ...............................................................................................................42
1.5 Positioning axis technology object ..........................................................................................43
1.5.1 Integration of the positioning axis technology object ..............................................................43
1.5.2 Tools of the positioning axis technology object ......................................................................47
1.5.3 Adding a positioning axis technology object ...........................................................................50
1.5.4 Configuring the positioning axis technology object.................................................................51
1.5.4.1 Working with the configuration dialog .....................................................................................51
1.5.4.2 Compare values ......................................................................................................................52
1.5.4.3 Basic parameters ....................................................................................................................53
1.5.4.4 Extended parameters..............................................................................................................68
1.5.4.5 Parameter view .......................................................................................................................95
See also
Hardware components for motion control (Page 10)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
Use of the command table technology object (Page 117)
Command table technology object tools (Page 117)
CPU S7-1200
CPU S7-1200 combines the functionality of a programmable logic controller with motion
control functionality for operation of drives. The motion control functionality takes over the
control and monitoring of the drives.
Signal board
You add further inputs and outputs to the CPU with the signal boards.
You can use the digital outputs as pulse generator outputs for controlling drives as required.
In CPUs with relay outputs, the pulse signal cannot be output on the onboard outputs
because the relays do not support the necessary switching frequencies. To be able to work
with the PTO (Pulse Train Output) on these CPUs, you must use a signal board with
digital outputs.
You can use the analog outputs for controlling connected analog drives as required.
PROFINET
Use the PROFINET interface to establish the online connection between the CPU S7-1200
and the programming device. In addition to the online functions of the CPU, additional
commissioning and diagnostic functions are available for motion control.
PROFINET still supports the PROFIdrive profile for connecting PROFIdrive-capable drives.
See also
Motion functionality of the CPU S7-1200 (Page 9)
CPU outputs relevant for motion control (Page 13)
On-board Q0.0 Q0.1 Q0.2 Q0.3 Q0.4 Q0.5 Q0.6 Q0.7 Q1.0 Q1.1
CPU 1211 100 100 100 100 - - - - - -
(DC/DC/DC) kHz kHz kHz kHz
CPU 1212 100 100 100 100 30 kHz 30 kHz - - - -
(DC/DC/DC) kHz kHz kHz kHz
CPU 1214(F) 100 100 100 100 30 kHz 30 kHz 30 kHz 30 kHz 30 kHz 30 kHz
(DC/DC/DC) kHz kHz kHz kHz
CPU 1215(F) 100 100 100 100 30 kHz 30 kHz 30 kHz 30 kHz 30 kHz 30 kHz
(DC/DC/DC) kHz kHz kHz kHz
CPU 1217 1 MHz 1 MHz 1 MHz 1 MHz 100 100 100 100 100 100 kHz
(DC/DC/DC) kHz kHz kHz kHz kHz
Signal board Qx.0 Qx.1 Qx.2 Qx.3 - - - - - -
Signal board DI2/DO2 20 kHz 20 kHz - - - - - - - -
x DC24V 20kHz
Signal board DI2/DO2 200 200 - - - - - - - -
x DC24V 200kHz kHz kHz
Signal board DO4 200 200 200 200 - - - - - -
x DC24V 200kHz kHz kHz kHz kHz
Signal board DI2/DO2 200 200 - - - - - - - -
x DC5V 200kHz kHz kHz
Signal board DO4 200 200 200 200 - - - - - -
x DC5V 200kHz kHz kHz kHz kHz
Note
If pulse generator outputs with different limit frequencies are used in accordance with the
signal type, the low limit frequency is used in each case.
Signal type "Pulse A and direction B" is an exception. With this type of signal, the limit
frequency of the pulse generator output is always used.
Note
Access to pulse generator outputs via the process image
The firmware takes control via the corresponding pulse generator and direction outputs if the
PTO (Pulse Train Output) is selected and assigned to an axis.
With this takeover of the control function, the connection between the process image and I/O
output is also disconnected. Although the user has the option of writing the process image of
pulse generator and direction outputs via the user program or watch table, this is not
transferred to the I/O output. Accordingly, it is also not possible to monitor the I/O output via
the user program or watch table. The information read reflects the value of the process
image and does not match the real status of the I/O output.
For all other CPU outputs that are not used permanently by the CPU firmware, the status of
the I/O output can be controlled or monitored via the process image, as usual.
Acceleration/deceleration limits
The following limits apply to acceleration and deceleration:
Jerk limits
The following limits apply to the jerk:
Jerk Value
Minimum jerk 4.0E-3 pulses/s3
Maximum jerk 1.0E+10 pulses/s3
See also
CPU outputs relevant for motion control (technology version V1...3) (Page 253)
How the pulse interface works (Page 17)
Relationship between the signal type and the direction of travel (Page 18)
Hardware and software limit switches (Page 30)
Jerk limit (Page 31)
Homing (Page 32)
Hardware components for motion control (Page 10)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
(The statements made here also apply to servo motors with pulse interface.)
See also
CPU outputs relevant for motion control (Page 13)
Relationship between the signal type and the direction of travel (Page 18)
Hardware and software limit switches (Page 30)
Jerk limit (Page 31)
Homing (Page 32)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
1.2.1.3 Relationship between the signal type and the direction of travel
The CPU outputs the velocity and direction of travel via two outputs.
The relationships between the configuration and direction of travel differ depending on the
selected signal type. You can configure the following signal types in the axis configuration
under "Basic parameters > General":
"PTO (pulse A and direction B)"
"PTO (count up A, count down B)" (as of V4)
"PTO (A/B phase-shifted)" (as of V4)
"PTO (A/B phase-shifted - fourfold)" (as of V4)
You configure the direction under "Extended Parameters > Mechanics" in the axis
configuration. If you select the "Invert direction" option, the direction logic described below
for the respective signal type is inverted.
Invert direction
If you select the "Invert rotation signal" option, the direction logic is inverted:
PTO (pulse A and direction B)
0 V at direction output (low level) positive direction of rotation
5 V/24 V at direction output (high level) negative direction of rotation
The specified voltage depends on the hardware used. The voltages indicated do not
apply to the differential outputs of CPU 1217.
PTO (count up A, count down B)
The outputs "Pulse output down" and "Pulse output up" are swapped.
PTO (A/B phase-shifted)
The "Signal A" and "Signal B" outputs are swapped.
"PTO (A/B phase-shifted - fourfold)
The "Signal A" and "Signal B" outputs are swapped.
See also
CPU outputs relevant for motion control (Page 13)
How the pulse interface works (Page 17)
Hardware and software limit switches (Page 30)
Jerk limit (Page 31)
Homing (Page 32)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
1.2.2.2 PROFIdrive
PROFIdrive is the standardized standard profile for drive technology in the connection of
drives and encoders via PROFINET IO. Drives and encoders that support the PROFIdrive
profile are connected according to the PROFIdrive standard.
Communication between controller and drive/encoder is by means of various PROFIdrive
telegrams. Each of the telegrams has a standardized structure. Depending on the
application, you can select the applicable telegram. Control words and status words as well
as setpoints and actual values are transmitted in the PROFIdrive telegrams.
Controller structure
The following figure shows the controller structure of an S7-1200 Motion Control:
The MC-Interpolator [OB92] calculates the setpoint position for the axis. The difference
between the setpoint and actual position is multiplied by the value of the position controller.
The resulting value is added to the precontrol value and output as setpoint speed at
the drive.
The encoder records the actual position of the axis and returns it to the controller via a
PROFIdrive telegram or a HSC (high speed counter) interface.
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.
The following blocks are created:
MC-Servo [OB91]
Calculation of the Position Controller
MC-Interpolator [OB92]
Evaluation of the motion control instructions, generation of setpoints and
monitoring functionality
The organization blocks are protected (know-how protection). The program code cannot be
viewed or changed.
The frequency relationship of the two organization blocks to one another is always 1:1.
MC-Servo [OB91] is always executed before MC-Interpolator [OB92].
You can set the application cycle and the priority of the organization blocks according to your
requirements for control quality and system load.
Application cycle
You can set the application cycle in which the MC-Servo [OB91] is called in the properties of
the organization block under "General > Cycle time".
The MC-Servo [OB91] is called cyclically with the specified application cycle.
The selected application cycle must be long enough to be able to process the technology
objects in one cycle. If the processing time of the technology objects is longer than the
application cycle, overflows (Page 26) will occur.
You can check the runtime of MC-Servo [OB91] and MC-Interpolator [OB92] with the
extended instruction "RT_INFO".
Priority
You can configure the priority of the organization blocks as needed in their properties under
"General > Properties > Priority":
MC-Servo [OB91]
Priority 17 to 26 (default value 25)
MC-Interpolator [OB92]
Priority 17 to 26 (default value 24)
The priority of MC-Servo [OB91] must be at least one higher than the priority of the
MC-Interpolator [OB92].
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.
The following figure shows the operational sequence if there is an overflow of
MC-Servo [OB91]:
The following figure shows the sequence if there are four consecutive individual overflows of
MC-Interpolator [OB92]:
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 S7-1200.
STOP mode
In STOP mode the user program is not processed and all process outputs are disabled.
Thus no Motion Control jobs are executed.
The technology data blocks are updated.
STARTUP mode
Before the CPU starts processing of the cyclical user program, the startup OBs are
processed one time.
In STARTUP mode, the process outputs are disabled. Motion Control jobs are rejected.
The technology data blocks are updated.
RUN mode
The user program is processed in RUN mode.
In RUN mode, the programmed Motion Control jobs are cyclically called and processed.
The technology data blocks are updated.
RUN STOP When the CPU changes to RUN mode after STOP mode, all technology objects
are disabled in accordance with the error response "remove enablement".
Running Motion Control jobs are terminated.
Hardware limit switches are limit switches that limit the maximum "permitted traversing
range" of the axis. Hardware limit switches are physical switching elements that must be
connected to interrupt-capable inputs of the CPU.
Software limit switches limit the "working range" of the axis. They should fall inside the
hardware limit switches relative to the traversing range. Since the positions of the software
limit switches can be flexibly set, the working range of the axis can be adapted on an
individual basis, depending on the current traversing profile. In contrast to hardware limit
switches, software limit switches are implemented exclusively via the software and do not
require their own switching elements.
Hardware and software limit switches must be activated prior to use in the configuration or in
the user program. Software limit switches are only active after homing the axis.
See also
CPU outputs relevant for motion control (Page 13)
How the pulse interface works (Page 17)
Relationship between the signal type and the direction of travel (Page 18)
Jerk limit (Page 31)
Homing (Page 32)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
Position limits (Page 70)
The jerk limit gives a "smoothed" velocity profile of the axis motion. This ensures,
for example, soft starting and braking of a conveyor belt.
See also
Behavior of the axis when using the jerk limit (Page 80)
CPU outputs relevant for motion control (Page 13)
How the pulse interface works (Page 17)
Relationship between the signal type and the direction of travel (Page 18)
Hardware and software limit switches (Page 30)
Homing (Page 32)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
1.2.5 Homing
Homing means matching the axis coordinates of the technology object to the real, physical
location of the drive. For position-controlled axes the entries and displays for the position
refer exactly to these axis coordinates. Therefore, agreement between the axis coordinates
and the real situation is extremely important. This step is necessary to ensure that the
absolute target position of the axis is also achieved exactly with the drive.
In the S7-1200 CPU, axis homing is implemented with the motion control instruction,
"MC_Home". The following homing modes exist:
Homing modes
Active homing
In active homing mode, the motion control instruction "MC_Home" performs the required
reference point approach. When the homing switch is detected, the axis is homed
according to the configuration. Active traversing motions are aborted.
Passive homing
During passive homing, the "MC_Home" Motion Control instruction does not carry out any
homing motion. The travel required for this step must be implemented by the user via
other Motion Control instructions. When the homing switch is detected, the axis is homed
according to the configuration. Active traversing motions are not aborted upon start of
passive homing.
Direct homing absolute
The axis position is set regardless of the homing switch. Active traversing motions are not
aborted. The value of input parameter "Position" of motion control instruction "MC_Home"
is set immediately as the reference point of the axis.
Direct homing relative
The axis position is set regardless of the homing switch. Active traversing motions are not
aborted. The following statement applies to the axis position after homing:
New axis position = current axis position + value of parameter "Position"
of instruction "MC_Home".
See also
CPU outputs relevant for motion control (Page 13)
How the pulse interface works (Page 17)
Relationship between the signal type and the direction of travel (Page 18)
Hardware and software limit switches (Page 30)
Jerk limit (Page 31)
Integration of the positioning axis technology object (Page 43)
Tools of the positioning axis technology object (Page 47)
Homing (positioning axis technology object as of V2) (Page 83)
Requirements
To use the positioning axis technology object, a project with a CPU S7-1200 must
be created.
Procedure
Follow the steps below in the order given to use motion control with the CPU S7-1200.
Use the following links for this purpose:
1. Adding a positioning axis technology object (Page 50)
2. Working with the configuration dialog (Page 51)
3. Download to CPU (Page 138)
4. Function test of the axis in the commissioning window (Page 140)
5. Programming (Page 146)
6. Diagnostics of the axis control (Page 166)
Technology version
You can check the currently selected technology version in the "Instructions" task card in
folder "Technology > Motion Control > S7-1200 Motion Control" and in the
"Add new object" dialog.
Select the technology version in the "Instructions" task card in folder "Technology
> Motion Control > S7-1200 Motion Control".
If a technology object with an alternative version is added in the "Add new object" dialog,
the technology version will also be changed.
Note
The selection of an alternative technology version will also affect the Motion Control
Instructions version (task card).
The technology objects and Motion Control instructions will only be converted to the selected
version upon compilation or "Download to device".
Compatibility list
See also
Changing a technology version (Page 37)
Compatibility list of tags (Page 38)
Status of limit switch (Page 42)
Note
Compatibility of the technology object tags
When switching between V1...3 and V4, please see the compatibility list (Page 38) if you
are using tags of the technology object in your user program, watch tables, etc.
See also
Overview of versions (Page 34)
Status of limit switch (Page 42)
See also
Overview of versions (Page 34)
Changing a technology version (Page 37)
Tags of the positioning axis technology object as of V4 (Page 211)
V1...3 V4 or higher
<Axis name>.ErrorBits.HwLimitMin <Axis name>.ErrorBits.HWLimit AND
<Axis name>.StatusBits.HWLimitMinActive
<Axis name>.ErrorBits.HwLimitMax <Axis name>.ErrorBits.HWLimit AND
<Axis name>.StatusBits.HWLimitMaxActive
<Axis name>.ErrorBits.SwLimitMinReached <Axis name>.ErrorBits.SWLimit AND (<Axis name>.Position =
<Axis name>.PositioningLimits_SW.MinPosition)
<Axis name>.ErrorBits.SwLimitMinExceeded <Axis name>.ErrorBits.SWLimit AND (<Axis name>.Position <
<Axis name>.PositioningLimits_SW.MinPosition)
<Axis name>.ErrorBits.SwLimitMaxReached <Axis name>.ErrorBits.SWLimit AND (<Axis name>.Position =
<Axis name>.PositioningLimits_SW.MaxPosition)
<Axis name>.ErrorBits.SwLimitMaxExceeded <Axis name>.ErrorBits.SWLimit AND (<Axis name>.Position >
<Axis name>.PositioningLimits_SW.MaxPosition)
See also
Overview of versions (Page 34)
Changing a technology version (Page 37)
Compatibility list of tags (Page 38)
CPU hardware
The physical drive is controlled and monitored by the CPU hardware.
Drive
The drive represents the unit of power unit and motor. You can use stepper motors and
servo motors with pulse, PROFIdrive or analog interfaces.
User program
You start Motion Control instructions jobs in the CPU firmware with the user program.
The following jobs for controlling the axis are possible:
Enable and disable axis
Position axis absolutely
Position axis relatively
Move axis with velocity set point
Run axis commands as movement sequence (technology as of V2, PTO only)
Moving axes in jog mode
Stop axis
Reference axis; set reference point
Change dynamic settings of axis
Continuously read motion data of the axis
Write tag of axis
Acknowledge error
You determine the command parameters with the input parameters of the Motion Control
instructions and the axis configuration. The output parameters of the instruction give you up
to date information about the status and any errors of the command.
Before starting a command for the axis, you must enable the axis with the Motion Control
instruction "MC_Power".
You can read out configuration data and current axis data with the tags of the technology
object. You can change individual, changeable tags of the technology object
(e.g. the current acceleration) from the user program.
You can also change the dynamic settings of the axis with the Motion Control instruction
"MC_ChangeDynamic" and write additional configuration data with "MC_WriteParam".
You can read the current motion status of the axis with the Motion Control instruction
"MC_ReadParam".
CPU firmware
The motion control jobs started in the user program are processed in the CPU firmware.
When using the axis control panel, Motion Control jobs are triggered by operating the axis
control panel. The CPU firmware performs the following jobs depending on the configuration:
Calculate the exact motion profile for motion jobs and emergency stop situations
Position control for drive connection via PROFIdrive/analog drive connection
Control of the pulse and direction signal for drive connection via PTO
Control of the drive enable
Monitoring of the drive and the hardware and software limit switches
Up to date feedback of status and error information to the Motion Control instructions in
the user program
Writing of current axis data into the data block of the technology object
See also
Tags of the positioning axis technology object as of V4 (Page 211)
CPU outputs relevant for motion control (Page 13)
Relationship between the signal type and the direction of travel (Page 18)
Tools of the positioning axis technology object (Page 47)
Hardware and software limit switches (Page 30)
Homing (Page 32)
Drive control via the technology object. Reading axis status for display on the control panel
Readout of the current status and error information of the technology object
Configuration
Use the "Configuration" tool to configure the following properties of the positioning axis
technology object:
Selection of the PTOs (Pulse Train Output)/PROFIdrive drives/analog outputs to be used
and configuration of the drive interface
Properties of the mechanics and the transmission ratio of the drive (or machine/plant)
Properties of the position limits and the position monitoring
Properties of the dynamics and the homing
Parameters of the control loop
Save the configuration in the data block of the technology object.
Commissioning
Use the "Commissioning" tool to test the function of your axis without having to create a user
program. When the tool is started, the axis control panel will be displayed.
The following commands are available on the axis control panel:
Enabling and disabling the axis
Move axis in jog mode
Position axis in absolute and relative terms
Home axis
Acknowledge errors
The dynamic values can be adjusted accordingly for the motion commands.
The axis control panel also shows the current axis status.
With drive connection via PROFIdrive / analog output, tuning supports you in determining the
optimal gain for the control loop.
Diagnostics
Use the "Diagnostics" tool to keep track of the current status and error information for the
axis and drive.
See also
CPU outputs relevant for motion control (Page 13)
Relationship between the signal type and the direction of travel (Page 18)
Integration of the positioning axis technology object (Page 43)
Hardware and software limit switches (Page 30)
Homing (Page 32)
Configuring the positioning axis technology object (Page 51)
Axis control panel (Page 140)
Axis - Diagnostics (Page 166)
Requirements
A project with a CPU S7-1200 has been created.
Procedure
To add a positioning axis technology object in the project tree, follow these steps:
1. Open the "CPU > Technology objects" folder in the project tree.
2. Double-click the "Add new object" command.
The "Add new object" dialog opens.
3. Select the "Motion Control" technology.
4. Open the "Motion Contro > S7-1200 Motion Control" folder.
5. Select the desired technology version in the "Version" column.
6. Select the "TO_PositioningAxis" object.
7. Enter the name of the axis in the "Name" input box.
8. To change the automatically assigned data block number, select the "Manual" option.
9. To display additional information about the technology object, click "Additional
information".
10.Confirm your entry with "OK".
Result
The new technology object is created and saved to the "Technology objects" folder in the
project tree.
The organization blocks MC-Servo [OB91] and MC-Interpolator [OB92] are automatically
created in the "Program blocks" folder. The technology objects are processed in these
organization blocks. The position controller is calculated in the MC-Servo [OB91].
The MC-Interpolator [OB92] takes over the evaluation of the Motion Control instructions,
the setpoint generation and the monitoring functionality.
See also
Guidelines on use of motion control (Page 33)
See also
Guidelines on use of motion control (Page 33)
Basic parameters (Page 53)
Extended parameters (Page 68)
Icon Description
Start value in CPU matches the configured Start value in the project
Start value in CPU does not match the configured Start value in the project
The comparison of the Start value in CPU with the configured Start value in the project
cannot be performed
Use the button to show the start value of the CPU and the start value of the project for
the respective parameter.
The actual value and the start value in the project can be changed directly and then
downloaded to the CPU. The change of the actual value is transferred directly to the CPU for
directly modifiable parameters.
Configuration - General
Configure the basic properties of the positioning axis technology object in the "General"
configuration window.
Axis name
Define the name of the axis or the name of the positioning axis technology object in this field.
The technology object is listed under this name in the project tree.
Drive
Select the type of drive connection:
PTO (Pulse Train Output)
The drive is connected via a pulse generator output, an optional enable output and an
optional ready input.
Analog drive connection
The drive is connected via an analog output, an optional enable output and an optional
ready input.
All movements of the axis are position-controlled.
PROFIdrive
The drive is connected via PROFINET. Communication between controller and drive is by
means of PROFIdrive telegrams.
All movements of the axis are position-controlled.
If you select the "Analog drive connection" or "PROFIdrive", additional elements are added
to the navigation of the configuration:
Encoder
Modulo
Position monitoring
Control loop
In the additional configuration windows, you configure the encoders that are to be connected
and the resulting options for position control and position monitoring.
Unit of measurement
Select the desired unit for the dimension system of the axis in the drop-down list.
The selected unit is used for further configuration of the positioning axis technology object
and for displaying the current axis data.
The values at the input parameters (Position, Distance, Velocity, ...) of the Motion Control
instructions also refer to this unit.
Note
Later changes to the dimension system may not be converted correctly in all the
configuration windows of the technology object. In this case check the configuration of all
axis parameters.
You may have to adapt the values of the input parameters of the Motion Control instructions
to the new unit of measurement in the user program.
See also
CPU outputs relevant for motion control (Page 13)
Relationship between the signal type and the direction of travel (Page 18)
Configuration - General ("Axis" technology object V1...3) (Page 257)
Configuration - Drive
Hardware interface
The pulses are output to the power unit of the drive by fixed assigned digital outputs.
In CPUs with relay outputs, the pulse signal cannot be output at these outputs because the
relays do not support the necessary switching frequencies. To be able to work with the
PTO (Pulse Train Output) on these CPUs, you must use a signal board with digital outputs.
Note
The PTO requires the functionality of a high-speed counter (HSC). An internal HSC is used
for this, the count of which cannot be evaluated.
Signal type
Select the signal type in the drop-down list. The following signal types are available:
PTO (pulse A and direction B)
A pulse output and a direction output are used for controlling the stepper motor.
PTO (count up A, count down B)
One pulse output each for motion in positive direction and negative direction is used for
controlling the stepper motor.
PTO (A/B phase-shifted)
Both pulse outputs for Phase A and for Phase B run at the same frequency.
The period of the pulse outputs is evaluated at the drive end as a step.
The phase offset between Phase A and Phase B determines the direction of the motion.
PTO (A/B phase offset - quadruple)
Both pulse outputs for Phase A and for Phase B run at the same frequency.
All positive edges and all negative edges of Phase A and Phase B are evaluated as a
step at the drive end.
The phase offset between Phase A and Phase B determines the direction of the motion.
The following table shows the parameters to be configured depending on the signal type:
Hardware interface
The reference speed is output to the power unit of the drive by means of permanently
assigned analog outputs.
Configure the inputs and outputs for the control of the drive in this area:
Analog output
In this field, select the PLC tag of the analog output via which the drive is controlled.
When you open the autocompletion, all output addresses are displayed
with 16 bits (WORD, INT, UINT).
You can also enter an address, for example QW20. If the address is valid, the name
"Axis_1_AnalogOutput" for this address is generated and inserted in the tag table.
Selection of enable output
Select the enable output for the drive enable in this field.
Selection of ready input
Select the ready input for the "Drive ready" feedback of the drive in this field
Drive enable is controlled by Motion Control instruction "MC_Power" and enables power to
the drive. The drive signals "Drive ready" to the CPU if it is ready to start executing
movement after receiving the drive enable. If the drive does not have any interfaces of this
type, you do not have to configure the parameters. In this case, select the value TRUE for
the ready input.
Configuration - Encoder
Encoder connection
Depending on the selection of the encoder connection, you configure various parameters in
the "Encoder" configuration window. The following encoder connections are possible:
Encoder on drive (Page 60)
Encoder on high-speed counter (HSC) (Page 62)
Encoder on technology module (TM) (Page 64)
PROFIdrive encoder on PROFINET (Page 66)
Encoder type
Select the encoder type in the "Encoder type" box. The following encoder types can be
selected:
Linear incremental
Linear absolute
Rotary incremental
Rotary absolute
Configure the various parameters depending on the selected encoder type. Depending on
the selected encoder type, configure the following parameters:
HSC interface
Select the operating mode of the high-speed counter in the "Operating mode" box.
Depending on the operating mode, configure the various inputs:
Encoder type
Select the encoder type in the "Encoder type" box. The following encoder types can
be selected:
Linear incremental
Rotary incremental
Configure the various parameters depending on the selected encoder type. Depending on
the selected encoder type, configure the following parameters:
Encoder type
Select the encoder type in the "Encoder type" box. The following encoder types can be
selected:
Linear incremental
Linear absolute
Rotary incremental
Rotary absolute
Configure the various parameters depending on the selected encoder type. Depending on
the selected encoder type, configure the following parameters:
Encoder selection
In the "PROFIdrive encoder" box, select a PROFIdrive encoder on PROFINET.
Encoder type
Select the encoder type in the "Encoder type" box. The following encoder types can
be selected:
Linear incremental
Linear absolute
Rotary incremental
Rotary absolute
Configure the various parameters depending on the selected encoder type. Depending on
the selected encoder type, configure the following parameters:
Mechanics
Invert direction
You can use the "Invert direction" check box to adapt the control system to the direction logic
of the drive.
The direction logic is inverted according to the selected mode of the pulse generator:
PTO (pulse A and direction B)
0 V at direction output positive direction of rotation
5 V/24 V at direction output negative direction of rotation
The specified voltage depends on the hardware used. The indicated values do not apply
to the differential outputs of CPU 1217.
PTO (count up A, count down B)
The outputs "Pulse output down" and "Pulse output up" are swapped.
PTO (A/B phase-shifted)
The "Phase A" and "Phase B" outputs are swapped.
"PTO (A/B phase-shifted - fourfold)
The "Phase A" and "Phase B" outputs are swapped.
Position parameters
Depending on the selected encoder installation type, configure the following position
parameters:
Enable modulo
Select the "Enable modulo" check box to use a recurring reference system for the axis
(for example, 0.0 to 359.9).
Modulo length
In this field, define the length of the modulo range (for example, 360).
Position limits
See also
Configuration - Position limits (Page 71)
Behavior of axis when position limits is tripped (Page 73)
Changing the position limits configuration in the user program (Page 75)
Note
The digital inputs are set to a filter time of 6.4 ms by default. If these are used as hardware
limit switches, undesired decelerations may occur. If this occurs, reduce the filter time for the
relevant digital inputs.
The filter time can be set under "Input filter" in the device configuration of the digital inputs.
Select level
In the drop-down list, select the signal level available at the CPU when the hardware limit
switch is approached.
Selection of "Low level" (normally closed contact)
0 V (FALSE) at CPU input corresponds to hardware limit switch approached
Selection of "High level" (normally open contact)
5 V / 24 V (TRUE) at the CPU input = hardware limit switch approached
(the actual voltage depends on the hardware used)
Note
The enabled software limit switch only affects a homed axis.
See also
Requirements for hardware limit switches (Page 70)
Behavior of axis when position limits is tripped (Page 73)
Changing the position limits configuration in the user program (Page 75)
Configuration - Homing - Active (Page 83)
The "SW limit switch approached" error is displayed in the initiating Motion Control
instruction, at "MC_Power", and in the technology object tags. Instructions for eliminating
errors can be found in the Appendix under "List of ErrorIDs and ErrorInfos".
When a software limit switch is overtraveled, the axis behaves differently depending on the
drive connection:
Drive connection via PROFIdrive / analog output
When a software limit switch is overtraveled, the axis is disabled and, depending on the
configuration, braked at the drive and brought to a standstill.
Drive connection by means of PTO (Pulse Train Output)
You can learn about the behavior of the axis when a software limit switch is
overtraveled in the sections "Software limit switches in conjunction with a
homing operation (Page 179)" and "Software limit switches in conjunction with
dynamic changes (Page 184)".
Use additional hardware limit switches if a mechanical endstop is located after the software
limit switches and there is a risk of mechanical damage.
See also
Requirements for hardware limit switches (Page 70)
Configuration - Position limits (Page 71)
Changing the position limits configuration in the user program (Page 75)
See also
Compatibility list of tags (Page 38)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
Requirements for hardware limit switches (Page 70)
Configuration - Position limits (Page 71)
Behavior of axis when position limits is tripped (Page 73)
Dynamics
Motion jobs started in the user program are performed with the selected acceleration /
deceleration.
The limits for acceleration and deceleration with drive connection via PTO (Pulse Train
Output) can be found in section CPU outputs relevant for motion control (Page 13).
Note
Changes to the velocity limits ("start/stop velocity" and "maximum velocity") influence
the acceleration and deceleration values of the axis. The ramp-up and ramp-down times
are retained.
Note
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
An enabled jerk limit is not considered here.
Note
Smoothing time V2...3
The set smoothing time visible in the configuration only applies to the acceleration ramp.
If the values for acceleration and deceleration differ, the smoothing time of the
deceleration ramp is calculated according to the jerk of the acceleration ramp and used.
(See also Behavior of the axis when using the jerk limit (Page 80)
The smoothing time of the deceleration is adapted as follows:
Acceleration > deceleration
The smoothing time used for the deceleration ramp is shorter than that for the
acceleration ramp.
Acceleration < deceleration
The smoothing time used for the deceleration ramp is greater than that for the
acceleration ramp.
Acceleration = deceleration
The smoothing times of the acceleration and deceleration ramp are equal.
The relation between smoothing times and jerk is shown in the following equation:
Motion jobs started in the user program are performed with the selected jerk.
The limits for jerk with drive connection via PTO (Pulse Train Output) can be found in section
CPU outputs relevant for motion control (Page 13).
See also
Behavior of the axis when using the jerk limit (Page 80)
Hardware components for motion control (Page 10)
CPU outputs relevant for motion control (Page 13)
Configuration - Dynamics - Emergency stop (Page 79)
Changing the configuration of dynamics in the user program (Page 81)
Velocity
The velocity values configured in the "General dynamics" configuration window are once
again displayed in this information area.
Deceleration
Set the deceleration value for emergency stop in the "Emergency deceleration" or
"Emergency stop ramp-down time" field.
The relation between emergency stop ramp-down time and emergency deceleration is
shown in the following equation:
The specified emergency deceleration must be sufficient to bring the axis to a standstill in a
timely manner in the event of an emergency (for example, when the hardware limit switch is
approached prior to reaching the mechanical endstop).
The configured maximum velocity of the axis must be used as a basis for selecting the
emergency deceleration.
Limit values:
The limits indicated below refer to the "Pulses/s2" unit of measurement.
As of CPU firmware V3
0.005 emergency stop deceleration 9.5E9
CPU Firmware V1...2
0.28 emergency stop deceleration 9.5E9
The limits for other units of measurement must be converted to conform to the
given mechanics.
See also
Configuration - Dynamics - General (Page 76)
Changing the configuration of dynamics in the user program (Page 81)
t Time axis
v Velocity
a Acceleration
j Jerk
tru Rampup time
ta Time taken for the axis to accelerate
trd Deceleration time
td Time taken for the axis to decelerate
t1 Smoothing time of the acceleration ramp
t2 Smoothing time of the deceleration ramp
The example shows travel in which the deceleration value is twice the acceleration
value . The resulting ramp-down time trd is therefore only half the length of the
ramp-up time tru.
Acceleration and deceleration change abruptly without a jerk limit. Acceleration
and deceleration change gradually with activated jerk limiter. As the jerk applies to entire
motion, the rate is the same for the increase and decrease in acceleration and deceleration.
The step value j becomes infinitely high as soon as the change is made without jerk limit.
The step is limited to the configured value when the jerk limit is activated.
The smoothing time t1 given in the configuration applies to the acceleration ramp.
The deceleration ramp smoothing time t2 is calculated from the configured jerk value and the
configured deceleration.
See also
Configuration - Dynamics - General (Page 76)
Note
After changes to this parameter, it may be necessary to adapt the positions of the hardware
limit switches and other safety-relevant settings.
Jerk limit
You can also activate and deactivate the jerk limit at runtime of the user program and
change the value for the jerk. To do this, use the technology object tag
<Axis name>.DynamicDefaults.Jerk.
If you enter a value > 0.004 pulse/s3 for the jerk, the jerk limit is activated with the
specified value.
If you enter a value = 0.0 for the jerk, the jerk limit is deactivated.
Refer to the description of the technology object tags in the appendix for information on
when changes to the configuration parameter take effect.
See also
Changing configuration of dynamic values in user program
("Axis" technology object V1...3) (Page 266)
Compatibility list of tags (Page 38)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
Configuration - Dynamics - General (Page 76)
Configuration - Dynamics - Emergency stop (Page 79)
Digital inputs
In this area, you configure the homing switch:
Input homing switch
Select the digital input for the homing switch in this field.
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a homing switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
homing switch, the home position may not be detected. The filter time can be set under
"Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the
homing switch.
Note
If possible, use one of the following measures to ensure that the machine does not travel
to a mechanical endstop in the event of a direction reversal:
Keep the approach velocity low.
Increase the configured acceleration/deceleration.
Increase the distance between the hardware limit switch and the mechanical endstop.
Approach/homing direction
With the direction selection, you determine the approach direction used during active homing
to search for the homing switch, as well as the homing direction. The homing direction
specifies the travel direction the axis uses to approach the configured end of the homing
switch to carry out the homing operation.
Approach velocity
In this field, specify the velocity at which the homing switch is to be searched for during the
homing procedure.
Limits (independent of the selected unit of measurement):
Start/stop velocity approach velocity maximum velocity
Homing velocity
In this field, specify the velocity at which the homing switch is to be approached for homing.
Limits (independent of the selected unit of measurement):
Start/stop velocity Homing velocity Maximum velocity
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
Digital inputs
In this area, you configure the homing switch:
Input homing switch
Select the digital input for the homing switch in this field. The input must be
interrupt-capable. The onboard CPU inputs and the inputs of an inserted signal board can
be selected as inputs for the homing switch.
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a homing switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
homing switch, the home position may not be detected. The filter time can be set under
"Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the homing
switch.
Select level
In the drop-down list, select the level of the homing switch that is to be used for homing.
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
Note
If passive homing is carried out without an axis motion command (axis at a standstill),
homing will be executed upon the next rising or falling edge at the homing switch.
See also
Configuration - Homing - General (Axis technology object V2...3) (Page 263)
Passive homing
You can change the end of the homing switch for passive homing during the user program
runtime. Use the following technology object tag for this purpose:
<Axis name>.Sensor[1].PassiveHoming.SideInput
for changing the side of the homing switch
<Axis name>.Sensor[1].PassiveHoming.Mode
for changing the homing mode
Refer to the description of the technology object tags (Page 211) in the appendix for
information on when changes to the configuration parameter take effect.
Active homing
You can change the direction of approach, the side of the homing switch, the approach
velocity, the homing velocity, and the home position offset for active homing during the
program runtime of the user program. Use the following technology object tags for
this purpose:
<Axis name>.Homing.AutoReversal
for changing the auto reverse at the HW limit switch
<Axis name>.Homing.ApproachDirection
for changing the approach/homing direction
<Axis name>.Sensor[1].ActiveHoming.SideInput
for changing the side of the homing switch
<Axis name>.Homing.ApproachVelocity
for changing the approach velocity
<Axis name>.Homing.ReferencingVelocity
for changing the homing velocity
<Axis name>.Sensor[1].ActiveHoming.HomePositionOffset
for changing the home position offset
<Axis name>.Sensor[1].ActiveHoming.Mode
for changing the homing mode
Refer to the description of the technology object tags in the appendix for information on
when changes to the configuration parameter take effect.
See also
Compatibility list of tags (Page 38)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
Position monitoring
Positioning window
In this field, configure the size of the positioning window.
Tolerance time
In this field, configure the tolerance time within which the position value must reach the
positioning window.
Following error
In this field, configure the permissible following error for low velocities
(without dynamic adaptation).
Maximum velocity
This box shows the maximum velocity configured under "Dynamics > General".
Standstill window
In this field, configure the size of the standstill window.
Precontrol
In this field, configure the velocity precontrol of the position control loop as a percentage.
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
Display of value deviations and option for direct correction
Display of configuration errors
Display of value changes as a result of parameter dependencies
Display of all memory values of a parameter: Start value PLC,
Start value project, Monitor value
Display of the parameter comparison of the memory values of a parameter
Operator control functions:
Navigation for quickly changing between the parameters and parameter structures.
Text filter for faster searches for particular parameters.
Sorting function for customizing the order of parameters and parameter groups to
requirements.
Memory function for backing up structural settings of the Parameter view.
Monitoring and modifying of parameter values online.
Function for saving a snapshot of parameter values of the CPU in order to capture
momentary situations and to respond to them.
Function for applying a snapshot of parameter values as start values.
Download of modified start values to the CPU.
Comparison functions for comparing parameter values with one another.
Validity
The Parameter view is available for the following technology objects:
PID_Compact
PID_3Step
CONT_C (S7-1500 only)
CONT_S (S7-1500 only)
TCONT_CP (S7-1500 only)
TCONT_S (S7-1500 only)
TO_Axis_PTO (S7-1200 Motion Control)
TO_Positioning_Axis (S7-1200 Motion Control)
TO_CommandTable_PTO (S7-1200 Motion Control)
TO_CommandTable (S7-1200 Motion Control)
Toolbar
The following functions can be selected in the toolbar of the parameter view.
Navigation
Within the "Parameter view" tab, the following alternative navigation structures can
be selected.
Navigation Explanation
Functional navi- In the functional navigation, the structure of the parameters is
gation based on the structure in the configuration dialog ("Functional
view" tab), commissioning dialog, and diagnostics dialog.
The last group "Other parameters" contains all other parameters
of the technology object.
Data navigation In the data navigation, the structure of the parameters is based on
the structure in the instance DB.
The last group "Other parameters" contains the parameters that
are not contained in the instance DB.
You can use the "Select navigation structure" drop-down list to toggle the
navigation structure.
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.
Column "Online" = X: Column is visible in online mode (online connection to the CPU).
Requirement
The technology object has been added in the project tree, i.e., the associated instance DB of
the instruction has been created.
Procedure
1. Open the "Technology objects" folder in the project tree.
2. Open the technology object in the project tree.
3. Double-click the "Configuration" object.
4. Select the "Parameter view" tab in the top right corner.
Result
The Parameter view opens. Each displayed parameter is represented by one row in the
parameter table.
The displayable parameter properties (table columns) vary depending on whether you are
working with the Parameter view in offline or online mode.
In addition, you can selectively display and hide individual table columns.
See also
Default setting of the parameter view (Page 103)
Default settings
To enable you to work efficiently with the Parameter view, you can customize the parameter
display and save your settings.
The following customizations are possible and can be saved:
Show and hide columns
Change column width
Change order of the columns
Toggle navigation
Select parameter group in the navigation
Selection of compare values
Toggle navigation
To toggle the display form of the parameters, follow these steps:
1. Select the desired navigation in the Select navigation structure drop-down list.
Data navigation
Functional navigation
See also Navigation (Page 99).
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.
Column "Online" = X: This function is possible in online mode.
Sorting by column
1. Position the cursor in the header cell of the desired column.
The background of this cell turns blue.
2. Click the column header.
Result
The entire parameter table is sorted by the selected column. A triangle with tip facing up
appears in the column header.
Clicking the column header again changes the sorting as follows:
Symbol : Parameter table is sorted in ascending order.
Symbol : Parameter table is sorted in descending order.
No symbol: The sorting is removed again. The parameter table assumes the default
display.
The ../ prefix in the Name in DB column is ignored when sorting.
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 input in the Parameter view, a check is made for process-related and
syntax errors and the result is indicated.
Bad values are indicated by:
Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
and/or
Table field with red background
If you click the bad field, a roll-out error message appears with information of the
permissible value range or the required syntax (format)
Compilation error
From the error message of the compiler, you can directly open the Parameter view
(functional navigation) containing the parameter causing the error in situations where the
parameter is not displayed in the configuration dialog.
Boundary conditions
If other parameters depend on the parameter whose start value was changed, the start
value of the dependent parameters are also adapted.
If a parameter of a technology object is not editable, it is also not editable in the
parameter view. The ability to edit a parameter can also depend on the values of other
parameters.
Error indication
When a start value is input, a check is made for process-related and syntax errors and the
result is indicated.
Bad start values are indicated by:
Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
and/or
Red background in the Start value project field
If you click on the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)
Symbol Meaning
The start value of the parameter corresponds to the default value and is valid. A start value has not
yet been defined by the user.
The start value of the parameter contains a value defined by the user. The start value is different than
the default value. The start value is error-free and valid.
The start value of the parameter is invalid (syntax or process-related error).
The input box has a red background. When clicked, the roll-out error message indicates the cause of
the error.
Only for S7-1200 Motion Control:
The start value of the parameter is valid but contains warnings.
The input box has a yellow background.
Requirements
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
1. Start the monitoring by clicking .
As soon as the Parameter view is online, the following columns are additionally
displayed:
Compare result
Start value PLC
Monitor value
Modify value
Selection for transmission
The "Monitor value" column shows the current parameter values on the CPU.
Meaning of the additional columns: see Parameter table (Page 100)
Display
All columns that are only available online have an orange background:
Requirements
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
To show the current parameter values, follow these steps:
1. In the Parameter view, click the Create snapshot of monitor values" icon .
Result
The current monitor values are transferred once to the "Snapshot" column of the
parameter table.
You can analyze the values "frozen" in this way while the monitor values continue to be
updated in the "Monitor values" column.
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.
DANGER
Danger when modifying:
Changing the parameter values while the plant is operating may result in severe damage to
property and personal injury in the event of malfunctions or program errors.
Make sure that dangerous states cannot occur before you use the "Modify" function.
Requirements
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
To modify parameters immediately, follow these steps:
1. Enter the desired modify values in the Modify values column of the parameter table.
2. Check whether the check box for modifying is selected in the
"Select for transmission" column.
The modify values and associated check boxes of dependent parameters are
automatically adapted at the same time.
3. Click the Modify all selected parameters immediately and once icon .
The selected parameters are modified once and immediately with the specified values and
can be monitored in the "Modify values" column. The check boxes for modifying in the
"Selection for transmission" column are automatically cleared after the modify request
is complete.
Error indication
When a start value is input, a check is made immediately for process-related and syntax
errors and the result is indicated.
Bad start values are indicated by:
Red background in the Modify value field
and
If you click the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)
Comparing values
You can use comparison functions to compare the following memory values of a parameter:
Start value project
Start value PLC
Snapshot
Requirements
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
To compare the start values on the various target systems, follow these steps:
1. Click the "Selection of compare values" icon .
A selection list containing the comparison options opens:
Start value project - Start value PLC (default setting)
Start value project - Snapshot
Start value PLC - Snapshot
2. Select the desired comparison option.
The selected comparison option is executed as follows:
A scales symbol appears in the header cells of the two columns selected for
comparison.
Symbols are used in the "Compare result" column to indicate the result of the
comparison of the selected columns.
Symbol Meaning
The compare values are equal and error-free.
At least one of the two compare values has a process-related or syntax error.
The comparison cannot be performed. At least one of the two compare values is not available
(e.g., snapshot).
Requirements
The technology object is of type "PID_Compact" or "PID_3Step".
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
To apply optimized values from the CPU, follow these steps:
1. Click the "Create snapshot of monitor values and accept setpoints of this snapshot as
start values" icon .
Result
The current monitor values are applied to the "Snapshot" column and their setpoints are
copied to the "Start value project" column as new start values.
Note
Applying values of individual parameters
You can also apply the values of individual parameters that are not marked as a setpoint
from the "Snapshot" column to the "Start values project" column. To do so, copy the values
and insert them into the "Start value project" column using the "Copy" and "Paste"
commands in the shortcut menu.
DANGER
Danger when changing parameter values
Changing the parameter values while the plant is operating may result in severe damage to
property and personal injury in the event of malfunctions or program errors.
Make sure that dangerous states cannot occur before you reinitialize the setpoints.
Requirements
The technology object is of type "PID_Compact" or "PID_3Step".
There is an online connection.
The technology object is downloaded to the CPU.
The program execution is active (CPU in "RUN").
The Parameter view of the technology object is open.
Procedure
To initialize all setpoints, follow these steps:
1. Enter the desired values in the "Start value project" column.
Ensure that the start values are free of process-related and syntax errors.
Result
The setpoints in the CPU are initialized with the start values from the project.
Configuration
Configure the following properties of the "Command Table" technology object with the
"Configuration" tool:
You can create one or more movement sequences by configuring individual jobs.
You can configure the graphic display to check your movement sequence using an axis
already configured or a configurable default axis.
The movement sequence data are saved in the data block of the technology object.
Requirements
A project with a CPU S7-1200 has been created.
The CPU firmware version is V2.1 or higher
Procedure
Proceed as follows to add a "Command table" technology object in the project tree:
1. Open the "CPU > Technology objects" folder in the project tree.
2. Double-click the "Add new object" command.
The "Add new object" dialog opens.
3. Select the "Motion Control" technology.
4. Open the "Motion Contro > S7-1200 Motion Control" folder.
5. Select the desired technology version in the "Version" column.
6. Select the "TO_CommandTable" object.
7. Enter the name of the command table in the "Name" input box.
8. To change the automatically assigned data block number, select the "Manual" option.
9. To display additional information about the technology object, click "Additional
information".
10.Confirm your entry with "OK".
Result
The new technology object is created and saved to the "Technology objects" folder in the
project tree.
See also
Guidelines on use of motion control (Page 33)
Basic parameters (Page 121)
Extended parameters (Page 135)
Icon Description
Start value in CPU matches the configured Start value in the project
Start value in CPU does not match the configured Start value in the project
The comparison of the Start value in CPU with the configured Start value in the project
cannot be performed
Use the button to show the start value of the CPU and the start value of the project for
the respective parameter.
The actual value and the start value in the project can be changed directly and then
downloaded to the CPU. The change of the actual value is transferred directly to the CPU for
directly modifiable parameters.
Configuration - General
Configure the name of the technology object in the "General" configuration window.
Name
Define the name of the command table or the name of the "Command table" technology
object in this field. The technology object is listed under this name in the project tree.
See also
Configuration - Command table (Page 121)
Shortcut menu commands - Command table (Page 125)
Working with the trend diagram (Page 127)
Shortcut menu commands - Curve chart (Page 131)
Transition from "Complete command" to "Blend motion" (Page 132)
Changing the command table configuration in the user program (Page 134)
Note
Small deviations are possible between the time behavior and position in the trend shown and
the real movement of the axis. Movements in response to software limit switches being
reached are not shown.
Enable warnings
Activate the display of warnings in the command table with this check box.
Column: Step
Shows the step number of the command.
Column: Velocity
In this column, you enter the velocity for the selected command:
Command "Positioning Relative"
The command will move the axis at the given velocity.
The given velocity will not be reached if the travel path selected is not large enough.
Command "Positioning Absolute"
The command will move the axis at the given velocity.
The given velocity will not be reached if the target position is too close to the
starting position.
Command " Velocity set point"
The command will move the axis at the given velocity.
The given velocity will not be reached during the command if too short a
runtime is selected.
Limit values (independent of the selected user unit):
For the commands: "Positioning Relative" and "Positioning Absolute"
1.0e-12 velocity 1.0e12
For the command: "Velocity set point"
-1.0e12 velocity -1.0e-12
1.0e-12 velocity 1.0e12
Velocity = 0.0
Column: Duration
Enter the duration of the selected command in this column:
Command " Velocity set point"
The command will move the axis for the specified duration. The duration includes both
the acceleration phase and the constant travel phase. The next command will be
processed once the duration is over.
Command "Wait"
Waits until the given duration is over.
Limit values (independent of the selected user unit):
0.001s duration 64800s
See also
Configuration - General (Page 121)
Shortcut menu commands - Command table (Page 125)
Working with the trend diagram (Page 127)
Shortcut menu commands - Curve chart (Page 131)
Transition from "Complete command" to "Blend motion" (Page 132)
Changing the command table configuration in the user program (Page 134)
Cut
Removes the selected lines or content of the selected cell and saves them/it in the clipboard.
Selected lines will be deleted and the subsequent lines of the command table shifted up.
Copy
Copies the selected lines or content of the selected cell and saves them/it in the clipboard.
Paste
Selected lines:
Pastes the lines from the clipboard into the table above the selected line.
Selected cell:
Pastes the content of the clipboard into the selected line.
This shortcut menu command can only be executed if there are enough empty lines at the
end of the command table.
Replace
Replaces the selected lines with the lines in the clipboard.
Delete
Deletes the selected lines. The lines below in the command table shift up.
See also
Configuration - General (Page 121)
Configuration - Command table (Page 121)
Working with the trend diagram (Page 127)
Shortcut menu commands - Curve chart (Page 131)
Transition from "Complete command" to "Blend motion" (Page 132)
Changing the command table configuration in the user program (Page 134)
Ruler
Velocity curve
Start/stop velocity
Position curve
Trend view
Selecting commands
Commands can be selected in the trend view and in the command table:
Click on a point on the velocity or position curve in the trend view.
The corresponding command will be highlighted in the command table.
Select a command in the command table.
The corresponding section of curve will be highlighted.
Range which the curve values and / or limits are within. (see Selecting in the shortcut menu)
You set the position within range with the drag cursor.
See also
Configuration - General (Page 121)
Configuration - Command table (Page 121)
Shortcut menu commands - Command table (Page 125)
Shortcut menu commands - Curve chart (Page 131)
Transition from "Complete command" to "Blend motion" (Page 132)
Changing the command table configuration in the user program (Page 134)
Zoom 100%
Selects a zoom factor which will show 100% of the curve values and / or limits.
Undo zoom
Undoes the last zoom change.
Scaling on trends
Scales the axes so the position and velocity trends are visible.
See also
Configuration - General (Page 121)
Configuration - Command table (Page 121)
Shortcut menu commands - Command table (Page 125)
Working with the trend diagram (Page 127)
Transition from "Complete command" to "Blend motion" (Page 132)
Changing the command table configuration in the user program (Page 134)
A job with high velocity is appended to a previous A job with high velocity is overlapped with a previous
positioning job. The positioning job terminates at its target positioning job. The first positioning job terminates without
position at velocity "0". The second job starts from standstill. standstill at its target position. The second job starts with the
new velocity.
Transition from higher to lower velocity Transition from higher to lower velocity
A job with low velocity is appended to a previous positioning A job with low velocity is overlapped with a previous
job. The positioning job terminates at its target position at positioning job. The first positioning job terminates without
velocity "0". The second job starts from standstill. standstill at its target position. The first job starts with the
new velocity.
Transition from lower to higher velocity Transition from higher to lower velocity
See also
Configuration - General (Page 121)
Configuration - Command table (Page 121)
Shortcut menu commands - Command table (Page 125)
Working with the trend diagram (Page 127)
Shortcut menu commands - Curve chart (Page 131)
Changing the command table configuration in the user program (Page 134)
See also
Compatibility list of tags (Page 38)
Configuration - General (Page 121)
Configuration - Command table (Page 121)
Shortcut menu commands - Command table (Page 125)
Working with the trend diagram (Page 127)
Shortcut menu commands - Curve chart (Page 131)
Transition from "Complete command" to "Blend motion" (Page 132)
Note
If the default axis has been selected under "Use axis parameters of", the unit of
measurement can be edited. If a configured axis has been selected, the unit of measurement
for this axis will be displayed.
Configuration - Dynamics
Configure the acceleration and deceleration and the jerk limit for the default axis in the
"Dynamics" configuration window.
Note
If the default axis has been selected under "Use axis parameters of", the following fields can
be edited. If a configured axis has been selected, the values of this axis will be displayed.
Acceleration / deceleration
Set the desired acceleration of the default axis in the "Acceleration" field.
The desired deceleration can be set in the "Deceleration" field.
Motion jobs configured in the command table will be calculated with the selected
acceleration / deceleration.
Limit values:
1.0e-12 acceleration 1.0e12
1.0e-12 deceleration 1.0e12
Jerk
Set the desired jerk for ramping up and ramping down in the "Jerk" field.
Motion jobs configured in the command table will be calculated with the selected jerk.
Limit values:
1.0e-12 jerk 1.0e12
Note
If the default axis has been selected under "Use axis parameters of", the following fields can
be edited. If a configured axis has been selected, the values of this axis will be displayed.
CAUTION
Possible malfunctions of the axis when loading without hardware configuration
The hardware configuration is modified when the following modifications are made to the
axis configuration:
Modification of the pulse generator (PTO)
Modification of the HW limit switch address
Modification of the homing switch address
Modification of the address of the PROFIdrive telegram
Modification of the address of the analog output
Modification of address of enable output or ready input
If the modified configuration of the axis is loaded with the context menu commands
"Software" or "Software (all blocks)" without downloading the hardware configuration, this
can lead to malfunctions of the axis.
Ensure that the current hardware configuration is downloaded to the CPU under the
listed conditions.
Also note the following when deleting data blocks and downloading data blocks
with reinitialization:
The axis must be disabled when downloading a positioning axis technology object.
When downloading a command table technology object, no MC_CommandTable
command with this command table must be active (parameter "Busy" = FALSE).
When downloading an MC_Power instance data block, no MC_Power instruction must be
active (parameter "Busy" = FALSE).
From technology version V3.0, Motion Control technology objects (data blocks) can also be
downloaded in CPU RUN mode.
Technology objects lower than V3.0 cannot be downloaded in CPU RUN mode.
Select one of the actions described below to download the modified version of a Motion
Control technology object (from version V3.0) to the work memory:
Technology object positioning axis and command table
Change the CPU operating mode from STOP to RUN.
Technology object positioning axis
Disable the axis and execute a "Restart" using the Motion Control instruction
"MC_Reset".
Technology object command table
Ensure that the command table is not being used. Download the data block of the
command table to the work memory using the extended instruction "READ_DBL".
See also
Guidelines on use of motion control (Page 33)
MC_Reset: Acknowledge fault as of V4 (Page 321)
1.8 Commissioning
Note
Response times of the axis control panel
The response time during axis control panel operation depends on the communication load
of the CPU. Close all other online windows of the TIA Portal to minimize the response time.
CAUTION
Additional axes in automatic mode
The Manual control is active for one axis only. If additional axes are in automatic mode,
dangerous situations may arise as a result.
In this happens, disable all other axes.
"Enable" button
Click "Enable" to enable the axis in "Manual control" mode. When the axis is enabled,
the axis control panel functions can be used.
If the axis cannot be enabled because certain conditions are not met, note the error
message in the "Error message" box. Information on eliminating errors is available in the
appendix under "List of ErrorIDs and ErrorInfos". After the error has been corrected,
enable the axis again.
"Disable" button
Click "Disable" if you want to temporarily disable the axis in "Manual control" mode.
"Command" area
Operation in the "Command" area is only possible if the axis is enabled. You can select one
of the following command inputs:
Jog
This command is equivalent to Motion Control command "MC_MoveJog" in the
user program.
Positioning
This command is equivalent to the Motion Control commands "MC_MoveAbsolute"
and "MC_MoveRelative" in the user program. The axis must be homed for
absolute positioning.
Homing
This command is equivalent to Motion Control command "MC_Home" in the
user program.
The "Set reference point" button corresponds to Mode = 0 (direct homing absolute)
The "Active homing" button corresponds to Mode = 3 (active homing)
For active homing, the homing switch must be configured in the axis configuration.
The values for approach velocity, homing velocity, and reference position offset are taken
from the axis configuration unchanged.
Depending on the selection, the relevant boxes for entry of setpoints and the buttons for
starting the command are displayed.
Jerk limitation can be activated and deactivated using the "Activate jerk limit" button.
By default, the jerk is applied with 10% of the configured value. This value can be changed
as required.
Error message
The "Error message" box shows the current error. In "Manual control" mode, the error entry
can be deleted by pressing the "Acknowledge" button once the error is eliminated.
Note
Initial values for velocity, acceleration / deceleration and jerk
For safety reasons, the "Velocity", "Acceleration/deceleration" and "Jerk" parameters are
initialized with values equivalent to only 10% of the configured values when the axis control
panel is activated. The "Jerk" parameter is only used for technology object "Axis" V2.0
and higher.
The values in the configuration view displayed when you select
"Extended parameters > Dynamics > General" are used for initialization.
The "Velocity" parameter on the control panel is derived from the "Maximum velocity" and
the "Acceleration/deceleration" parameters from "Acceleration" in the configuration.
The "Velocity", "Acceleration/deceleration" and "Jerk" parameters can be changed in the axis
control panel; this does not affect the values in the configuration.
See also
Guidelines on use of motion control (Page 33)
1.8.2 Tuning
The movement of axes with drive connection via PROFIdrive/analog output is
position-controlled.
The "Tuning" function supports you in determining the optimal gain (Kv factor) for the
control loop (Page 94) of the axis. The axis velocity profile is recorded by means of the Trace
function for this purpose for the duration of a configurable positioning movement.
Then you can evaluate the recording, and adapt the gain accordingly.
The "Tuning" function for the positioning axis technology object can be found in the project
tree under "Technology object > Commissioning".
The "Tuning" dialog is divided into the following areas:
Master control
Axis
Optimize gain setting
Trace
Note
No transfer of the parameters
The configured parameter values are discarded after master control is returned. Transfer the
values as needed into your configuration.
Master control
In this area, you can 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. Note the following when taking
over master control:
To take over master control, the technology object must be disabled in the
user program.
Until master control is returned, the user program has no influence on the functions of
the technology object. Motion Control jobs from the user program to the technology
object are rejected with the error ("ErrorID" = 16#8203).
CAUTION
Additional axes in automatic mode
The master control is only applied for the selected technology object. If additional
axes are in automatic mode, dangerous situations may arise as a result.
In this happens, disable all other axes.
"Deactivate" button
With the "Deactivate" button, you return master control to your user program.
Axis
In this area, enable or disable the technology object for operation with the axis control
panel/tuning:
"Enable" button
With the "Enable" button, you enable the selected technology object.
"Disable" button
With the "Disable" button, you disable the selected technology object.
Trace
The Trace function is displayed in the lower area of the "Tuning" dialog.
With each test step, a Trace recording of the required parameters is automatically started
and displayed after completion of the test step. After master control has been returned,
the Trace recording is deleted.
You will find a full description of the Trace function in the section on using the trace and logic
analyzer function in the TIA Portal help.
1.9 Programming
See also
Creating a user program (Page 147)
Programming notes (Page 150)
Behavior of the Motion Control commands after POWER OFF and restart (Page 152)
Monitoring active commands (Page 153)
Error displays of the Motion Control statements (Page 164)
Requirement
The technology object has been created and configured without errors.
Before creating and testing the user program, it is advisable to test the function of the axis
and the corresponding parts of the system with the axis command table.
Procedure
Proceed as follows to create the user program in accordance with the principles
described below:
1. In the project tree, double-click your code block (the code block must be called in the
cyclic program).
The code block is opened in the programming editor and all available instructions
are displayed.
2. Open the "Technology" category and the "Motion Control" and
"S7-1200 Motion Control" folders.
3. Use a drag-and-drop operation to move the "MC_Power" instruction to the desired
network of the code block.
The dialog box for defining the instance DB opens.
4. In the next dialog box, select from the following alternatives:
Single instance
Click "Single instance" and select whether you want to define the name and number of
the instance DB automatically or manually.
Multi-instance
Click "Multi-instance" and select whether you want to define the name of the
multi-instance automatically or manually.
5. Click "OK".
The Motion Control instruction "MC_Power" is inserted into the network.
Parameters marked with "<???>" must be initialized; default values are assigned to all
other parameters.
Parameters displayed in black are required for use of the Motion Control instruction.
6. Select the technology object in the project tree and drag-and-drop it on <???>.
After the selection of the technology object data block, the following buttons are available:
Click the stethoscope icon if you want to open the diagnostics dialog for the
technology object.
Click the toolbox icon if you want to open the configuration view of the technology object.
Click the arrow down icon to view additional parameters of the Motion Control instruction.
Result
You have created the basic configuration for axis control in the user program.
Initialize the input parameters of Motion Control instructions in other parts of the user
program to initiate the desired jobs for the "Axis" technology object.
Evaluate the output parameters of the Motion Control instructions and the tags of the data
block to track the initiated jobs and the status of the axis.
Refer to the detailed description for details on the parameters of Motion Control instructions.
See also
Overview of the Motion Control statements (Page 146)
Programming notes (Page 150)
Behavior of the Motion Control commands after POWER OFF and restart (Page 152)
Monitoring active commands (Page 153)
Error displays of the Motion Control statements (Page 164)
See also
Overview of the Motion Control statements (Page 146)
Creating a user program (Page 147)
Behavior of the Motion Control commands after POWER OFF and restart (Page 152)
Monitoring active commands (Page 153)
Error displays of the Motion Control statements (Page 164)
Tracking jobs from higher priority classes (execution levels) (Page 176)
1.9.4 Behavior of the Motion Control commands after POWER OFF and restart
A POWER OFF or CPU-STOP aborts all active motion control jobs. All CPU outputs,
including pulse and direction outputs, are reset.
After a subsequent POWER ON or CPU restart (CPU RUN), the technology objects and the
motion control jobs will be reinitialized.
All actual data of the technology objects as well as all status and error information of the
previously active motion control jobs are reset to their initial values.
Before the axis can be reused, it must be enabled again using the Motion Control instruction
"MC_Power". If homing is required, the axis must be homed again with Motion Control
instruction "MC_Home". When an absolute encoder is used, homing is retained after
POWER OFF.
See also
Overview of the Motion Control statements (Page 146)
Creating a user program (Page 147)
Programming notes (Page 150)
Monitoring active commands (Page 153)
Error displays of the Motion Control statements (Page 164)
The behavior of the status bits is presented below for various example situations:
"Execute" changes its value to FALSE during processing of "Execute" changes its value to FALSE after completion of
the command the command
The command is started with a positive edge at the input parameter "Execute". Depending on the programming,
"Execute" can still be reset to the value FALSE during the command, or the value TRUE can be retained until after
completion of the command.
While the command is active, the output parameter "Busy" indicates the value TRUE.
With conclusion of the command (for example, for Motion Control instruction "MC_Home": Homing was successful),
output parameter "Busy" changes to FALSE and "Done" to TRUE.
If "Execute" retains the value TRUE until after completion of the command, then "Done" also remains TRUE and
changes its value to FALSE together with "Execute".
If "Execute" has been set to FALSE before the command is complete, "Done" indicates the value TRUE for only one
execution cycle.
Abort command
If the Motion Control command is aborted during execution, this is indicated by the value
TRUE in output parameter "CommandAborted". The signal status of the input parameter
"Execute" influences the display duration at the output parameter "CommandAborted":
"Execute" changes its value to FALSE before the command "Execute" changes its value to FALSE after the command is
is aborted. aborted.
The command is started with a positive edge at the input parameter "Execute". Depending on the programming,
"Execute" can still be reset to the value FALSE during the command, or the value TRUE can be retained until after
completion of the command.
While the command is active, the output parameter "Busy" indicates the value TRUE.
During command execution, the command is aborted by another Motion Control command. If the command is
aborted, output parameter "Busy" changes to FALSE and "CommandAborted" to TRUE.
If "Execute" retains the value TRUE until after the command is aborted, then "CommandAborted" also remains
TRUE and changes its value to FALSE together with "Execute".
If "Execute" has been set to FALSE before the command is aborted, "CommandAborted" indicates the value TRUE for
only one execution cycle.
"Execute" changes its value to FALSE before the error oc- "Execute" changes its value to FALSE after the error occurs
curs
The command is started with a positive edge at the input parameter "Execute". Depending on the programming,
"Execute" can still be reset to the value FALSE during the command, or the value TRUE can be retained until after
completion of the command.
While the command is active, the output parameter "Busy" indicates the value TRUE.
An error occurred during command execution. When the error occurs, the output parameter "Busy" changes to FALSE
and "Error" to TRUE.
If "Execute" retains the value TRUE until after the error occurs, then "Error" also remains TRUE and only changes its
value to FALSE together with "Execute".
If "Execute" has been set to FALSE before the error occurs, "Error" indicates the value TRUE for only one
execution cycle.
The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the FALSE value before or after the parameterized velocity has been reached. While the job is active, the
parameter "Busy" shows the value TRUE.
When the assigned velocity is reached, the "InVelocity" parameter changes to TRUE. The "Busy" and "InVelocity"
parameters retain the TRUE value until the "MC_MoveVelocity" command is overridden by another Motion Control
command or stopped by an error.
"Execute" changes its value to FALSE before the command "Execute" changes its value to FALSE after the command is
is aborted. aborted.
The command is started with a positive edge at the input parameter "Execute". Depending on the programming,
"Execute" can still be reset to the value FALSE during the command, or the value TRUE can be retained until after the
command is aborted.
While the command is active, the output parameter "Busy" indicates the value TRUE.
During command execution, the command is aborted by another Motion Control command. If the command is
aborted, output parameter "Busy" changes to FALSE and "CommandAborted" to TRUE.
If "Execute" retains the value TRUE until after the command is aborted, then "CommandAborted" also remains
TRUE and changes its status to FALSE together with "Execute".
If "Execute" has been reset to FALSE before the command is aborted, "CommandAborted" indicates the value
TRUE for only one execution cycle.
Note
Under the following conditions, an abort is not indicated in output parameter
"CommandAborted":
The parameterized velocity has been reached, input parameter "Execute" has the value
FALSE, and a new Motion Control command is initiated.
"Execute" changes its value to FALSE before the error oc- "Execute" changes its value to FALSE after the error occurs
curs
The command is started with a positive edge at the input parameter "Execute". Depending on the programming,
"Execute" can still be reset to the value FALSE during the command, or the value TRUE can be retained until after the
error has occurred.
While the command is active, the output parameter "Busy" indicates the value TRUE.
An error occurred during command execution. When the error occurs, the output parameter "Busy" changes to
FALSE and "Error" to TRUE.
If "Execute" retains the value TRUE until after the error has occurred, then "Error" also remains TRUE and only
changes its status to FALSE together with "Execute".
If "Execute" has been reset to FALSE before the error occurs, "Error" indicates the value TRUE for only one
execution cycle.
Note
Under the following conditions, an error is not indicated in output parameter "Error":
The parameterized velocity has been reached, input parameter "Execute" has the value
FALSE, and an axis error occurs (software limit switch is approached, for example).
The error of the axis is only indicated in the "MC_Power" Motion Control instruction.
The behavior of the status bits is presented below for various example situations:
Jog mode is controlled by input parameter "JogForward" Jog mode is controlled by input parameter "JogBackward".
The command is started with a positive edge at the input parameter "JogForward" or "JogBackward".
While the command is active, the output parameter "Busy" indicates the value TRUE.
When the parameterized velocity is reached, the output parameter "InVelocity" changes to TRUE.
When the input parameter "JogForward" or "JogBackward" is reset to the value FALSE, the axis motion ends.
The axis starts to decelerate. As a result, the axis no longer moves at constant velocity and the output parameter
"InVelocity" changes its status to FALSE.
If the axis has come to a standstill, the motion control command is complete and the output parameter "Busy" changes
its value to FALSE.
Jog mode is controlled by input parameter "JogForward". Jog mode is controlled by input parameter "JogBackward".
The command is started with a positive edge at the input parameter "JogForward" or "JogBackward".
While the command is active, the output parameter "Busy" indicates the value TRUE.
During command execution, the command is aborted by another motion control command. If the command is aborted,
output parameter "Busy" changes to FALSE and "CommandAborted" to TRUE.
When the input parameter "JogForward" or "JogBackward" is reset to the value FALSE, the output parameter
"CommandAborted" changes its value to FALSE.
Note
The command abort is indicated in the output parameter "CommandAborted" for only one
execution cycle, if all conditions below are met:
The input parameters "JogForward" and "JogBackward" have the value FALSE (but the axis
is still decelerating) and a new motion control command is initiated.
Jog mode is controlled by input parameter "JogForward". Jog mode is controlled by input parameter "JogBackward".
The command is started with a positive edge at the input parameter "JogForward" or "JogBackward".
While the command is active, the output parameter "Busy" indicates the value TRUE.
An error occurred during command execution. When the error occurs, the output parameter "Busy" changes to
FALSE and "Error" to TRUE.
When the input parameter "JogForward" or "JogBackward" is reset to the value FALSE, the output parameter
"Error" changes its value to FALSE.
Note
An error occurrence is indicated in the output parameter "Error" for only one execution cycle,
if all the conditions below are met:
The input parameters "JogForward" and "JogBackward" have the value FALSE
(but the axis is still decelerating) and a new error occurs (software limit switch is approached,
for example).
See also
Overview of the Motion Control statements (Page 146)
Creating a user program (Page 147)
Programming notes (Page 150)
Behavior of the Motion Control commands after POWER OFF and restart (Page 152)
Monitoring active commands (Page 153)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
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 block. If restart-relevant changes are detected during a reload into the CPU,
a restart of the technology object is automatically performed.
If restart-relevant data have been changed in RUN mode by the user program, then the
technology object must be reinitialized by the user in order for the changes to be used.
If changes in the technology data block should also be retained after the restart of the
technology object, then you must write the changes to the start value in load memory using
the extended instruction "WRIT_DBL".
Restart necessary
If a restart of the technology object is necessary, this will be indicated under "Technology
object > Diagnostics > Status and error bits > Status messages > Restart required", and in
the tags of the technology object <Axis name>.StatusBits.RestartRequired.
Status messages
Error messages
The output window below shows the first reported and still unacknowledged error.
See also
StatusBits tags as of V4 (Page 244)
ErrorBits tags as of V4 (Page 248)
Diagnostics - Status and error bits ("Axis" technology object V1...3) (Page 276)
Compatibility list of tags (Page 38)
Motion status (Page 169)
Status Description
Current position The "Current position" box indicates the current axis position. If the axis is not homed,
the value indicates the position value relative to the enable position of the axis.
(Tag of technology object: <Axis name>.Position)
Current velocity The "Current velocity" box indicates the current axis velocity.
(Tag of technology object: <Axis name>.Velocity)
Target position The "Target position" box indicates the current target position of an active positioning
command or of the axis command table. The value of the "Target position" is only valid during
execution of a positioning command.
(Tag of technology object: <Axis name>.StatusPositioning.TargetPosition)
Remaining travel distance The "Remaining travel distance" box indicates the travel distance currently remaining for an
active positioning command or the axis command table. The "Remaining travel distance" value
is only valid during execution of a positioning command.
(Tag of technology object: <Axis name>.StatusPositioning.Distance)
See also
Position tag as of V4 (Page 211)
Velocity tag as of V4 (Page 212)
StatusPositioning tags as of V4 (Page 241)
Compatibility list of tags (Page 38)
Status and error bits (technology objects as of V4) (Page 166)
See also
DynamicDefaults tags as of V4 (Page 230)
Compatibility list of tags (Page 38)
"Drive" area
This area displays the following parameters contained in the PROFIdrive telegram from the
drive to the controller:
Status words "SW1" and "SW2"
The setpoint speed that was output to the drive (NSET)
The actual speed that was signaled from the drive (NACT)
"Encoder" area
This area displays the following parameters contained in the PROFIdrive telegram from the
encoder to the controller:
Status word "G1_ZSW"
The actual position value "G1_XIST1" (cyclic actual encoder value)
The actual position value "G1_XIST2" (absolute value of the encoder)
1.11 Appendix
In this example, several positioning axis technology objects, each with its own axis
configuration, use the same PTO. Each axis must be called in the user program with a
separate call of Motion Control instruction "MC_Power" with a separate instance data block.
Only one axis at a time may use the PTO. The axis that is currently using the PTO indicates
this with tag <Axis name>.StatusBits.Activated = TRUE.
The tags of the activated axis ("Positioning axis_2" here) show the following typical indicators
in the user program:
<Axis name>.StatusBits.Activated = TRUE
<Axis name>.ErrorBits.HWUsed = FALSE
To switch from one positioning axis technology object to another, follow the steps described
below. In the example, a switch is made from "Positioning axis_2" to "Positioning axis_1":
1. End any active traversing motions of activated "Positioning axis_2"
2. Disable "Positioning axis_2" with the associated Motion Control instruction "MC_Power"
using input parameter Enable = FALSE
3. To verify that "Positioning axis_2" has been disabled, use an AND operation of output
parameter Status = FALSE of Motion Control instruction "MC_Power" and technology
object tag <Axis name>.StatusBits.Enable = FALSE.
4. Deactivate the conditional call of the Motion Control instructions for "Positioning axis_2".
5. Activate the conditional call of the Motion Control instruction for "Positioning axis_1".
At the first call of the corresponding Motion Control instruction "MC_Power", "Positioning
axis_2" is deactivated and "Positioning axis_1" is activated.
6. Enable "Positioning axis_1" with the associated Motion Control instruction "MC_Power"
using input parameter Enable = TRUE.
7. To verify that "Positioning axis_1" has been enabled, use an AND operation of output
parameter Status = TRUE of Motion Control instruction "MC_Power" and technology
object tag <Axis name>.StatusBits.Enable = TRUE.
It is also always possible to cyclically call all Motion Control instructions of all axes working
with a single PTO.
When an axis is enabled (here "Positioning axis_2"), this axis becomes active.
In contrast to the conditional call, the Motion Control instructions of the deactivated axes
(here "Positioning axis_1" and "Positioning axis_x") indicate errors. The tags of these axes
indicate the status <Axis name>.StatusBits.Activated = FALSE and <Axis
name>.ErrorBits.HWUsed = TRUE.
Use the conditional call of the Motion Control instructions if you want to implement the user
program without error indicators.
See also
Tags of the positioning axis technology object as of V4 (Page 211)
Using multiple drives with the same PTO (Page 175)
Tracking jobs from higher priority classes (execution levels) (Page 176)
Special cases when using software limit switches for drive connection via PTO (Page 179)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
The changeover between drives can be controlled, if required, by the user program via a
digital output. If different axis configurations are required for the different drives,
a changeover between these configurations is required for the PTO. For additional
information on this topic, refer to "Using multiple axes with the same PTO (Page 172)".
See also
Tags of the positioning axis technology object as of V4 (Page 211)
Using multiple axes with the same PTO (Page 172)
Tracking jobs from higher priority classes (execution levels) (Page 176)
Special cases when using software limit switches for drive connection via PTO (Page 179)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Refer to the following flow chart to see how you start Motion Control commands in a higher
priority class (for example, hardware interrupt OB) and continue tracking in the program
cycle OB:
Depending on the frequency of the Motion Control commands you want to start, you will
have to generate a sufficient number of instance data blocks. Users determine which
instance data block is currently used in the DBx_used tags.
See also
Tags of the positioning axis technology object as of V4 (Page 211)
Using multiple axes with the same PTO (Page 172)
Using multiple drives with the same PTO (Page 175)
Special cases when using software limit switches for drive connection via PTO (Page 179)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
1.11.4 Special cases when using software limit switches for drive connection via PTO
Example 1:
During a travel command, a homing job (for example, Set reference point) offsets the current
axis position in the direction of the software limit switch. It is still possible to bring the axis to
a standstill before reaching the software limit switch:
The green curve shows the motion without the homing job. The axis brakes at the configured deceleration and comes
to a standstill at a position before the software limit switch.
A new axis position is set as a result of the homing job. The area between the old and new axis position is thus
"skipped".
Based on the new axis position, the axis would theoretically be stopped with the configured deceleration at a position
after the software limit switch (red curve).
Because braking with the configured deceleration is no longer sufficient, the axis actually follows the blue curve.
Following constant motion, the axis brakes at the configured emergency stop deceleration and comes to a standstill at
the position of the software limit switch.
Example 2:
During a travel command, a homing job (for example, Set reference point) offsets the current
axis position in the direction of the software limit switch. In contrast to example 1, it is no
longer possible to bring the axis to a standstill before reaching the software limit switch.
The axis overruns the position of the software limit switch.
The green curve shows the motion without the homing job. The axis brakes at the configured deceleration and
comes to a standstill at a position before the software limit switch.
A new axis position is set as a result of the homing job. The area between the old and new axis position is
thus "skipped".
Based on the new axis position, the axis would theoretically be stopped with the configured deceleration at a
position well after the software limit switch (red curve).
Because braking with the configured deceleration is no longer sufficient, the axis actually follows the blue curve.
The axis brakes with the configured emergency stop deceleration. However, the emergency stop deceleration is
not sufficient to stop the axis at the position of the software limit switch. The position of the software limit switch
is overrun.
Example 3:
During a braking operation, a homing job (for example, Set reference point) offsets the
current axis position in the direction of the software limit switch. It is still possible to bring the
axis to a standstill before reaching the software limit switch:
The green curve shows the motion without the homing job. The axis brakes at the configured deceleration and comes
to a standstill at a position before the software limit switch.
A new axis position is set as a result of the homing job. The area between the old and new axis position is
thus "skipped".
Based on the new axis position, the axis would theoretically be stopped with the configured deceleration at a position
after the software limit switch (red curve).
Because braking with the configured deceleration is no longer sufficient, the axis actually follows the blue curve.
Following constant motion, the axis brakes at the configured emergency stop deceleration and comes to a standstill
at the position of the software limit switch.
Example 4:
During a braking operation, a homing job (for example, Set reference point) offsets the
current axis position in the direction of the software limit switch. In contrast to example 3,
it is no longer possible to bring the axis to a standstill before reaching the software limit
switch. The axis overruns the position of the software limit switch.
The green curve shows the motion without the homing job. The axis brakes at the configured deceleration and comes
to a standstill at a position before the software limit switch.
A new axis position is set as a result of the homing job. The area between the old and new axis position
is thus "skipped".
Based on the new axis position, the axis would theoretically be stopped with the configured deceleration at a position
well after the software limit switch (red curve).
Because braking with the configured deceleration is no longer sufficient, the axis actually follows the blue curve.
The axis brakes with the configured emergency stop deceleration. However, the emergency stop deceleration is
not sufficient to stop the axis at the position of the software limit switch. The position of the software limit switch
is overrun.
See also
Software limit switches and software limit switch position changes. (Page 183)
Software limit switches in conjunction with dynamic changes (Page 184)
Behavior of axis when position limits is tripped (Page 73)
1.11.4.2 Software limit switches and software limit switch position changes.
An incorrect change in the position of the software limit switch during the runtime of the user
program can abruptly reduce the distance between the current axis position and the position
of the software limit switch.
The axis response is similar to that described in Software limit switches in conjunction with a
homing operation (Page 179).
See also
Software limit switches in conjunction with a homing operation (Page 179)
Software limit switches in conjunction with dynamic changes (Page 184)
Behavior of axis when position limits is tripped (Page 73)
Example 1:
During axis motion, an active motion command is overridden by another motion command
with a lower deceleration:
The green curve shows the motion of an active command without this command being overridden. The axis brakes at
the configured deceleration and comes to a standstill at a position before the software limit switch.
Based on the overriding motion command with lower deceleration, the axis would theoretically be stopped with the
configured deceleration at a position after the software limit switch (red curve).
Because braking with the configured deceleration of the overriding motion command is no longer sufficient, the axis
actually follows the blue curve. Following a constant motion, the axis brakes at the emergency stop deceleration and
comes to a standstill at the position of the software limit switch.
Example 2:
During braking of the axis, an active motion command is overridden by another motion
command with a lower deceleration:
The green curve shows the motion of an active command without this command being overridden. The axis brakes at
the configured deceleration and comes to a standstill at a position before the software limit switch.
Based on the overriding motion command with lower deceleration, the axis would theoretically be stopped at a
position well after the software limit switch (red curve).
Because braking with the configured deceleration of the overriding motion command is no longer sufficient, the axis
actually follows the blue curve. Following a constant motion, the axis brakes at the emergency stop deceleration and
comes to a standstill at the position of the software limit switch.
See also
Software limit switches in conjunction with a homing operation (Page 179)
Software limit switches and software limit switch position changes. (Page 183)
Behavior of axis when position limits is tripped (Page 73)
16#862B Inconsistent PROFIBUS parameterization; the sum of Ti and To is greater than one DP cycle
16#0030 Value has an incorrect number format or is Download error-free configuration to the controller;
outside the valid number range enable the axis again with instruction "MC_Power"
16#862C Parameter of standstill monitoring is faulty. Invalid value in
<Axis name>.StandStillSignal.MinDwellTime
16#0030 Value has an incorrect number format or is Download error-free configuration to the
outside the valid number range controller; enable the axis again with
instruction "MC_Power"
Correct the incorrect value online;
acknowledge error with instruction
"MC_Reset" and restart the command,
if necessary
16#862D Parameter of following error monitoring is faulty. Invalid value in
<Axis name>.FollowingError.MinValue
16#0030 Value has an incorrect number format or is Download error-free configuration to the
outside the valid number range controller; enable the axis again with
instruction "MC_Power"
Correct the incorrect value online;
acknowledge error with instruction "MC_Reset"
and restart the command, if necessary
16#862E Invalid value for the configuration date <Axis name>.Modulo.Length
16#0030 Value has an incorrect number format or is Download error-free configuration to the
outside the valid number range controller; enable the axis again with
instruction "MC_Power"
Correct the incorrect value online;
acknowledge error with instruction "MC_Reset"
and restart the command, if necessary
16#862F Invalid value for the configuration date <Axis name>.Modulo.StartValue
16#0030 Value has an incorrect number format or is Download error-free configuration to the
outside the valid number range controller; enable the axis again with
instruction "MC_Power"
Correct the incorrect value online;
acknowledge error with instruction "MC_Reset"
and restart the command, if necessary
Internal errors
See also
Tags of the positioning axis technology object as of V4 (Page 211)
ErrorIDs and ErrorInfos (Page 279)
Error displays of the Motion Control statements (Page 164)
Using multiple axes with the same PTO (Page 172)
Using multiple drives with the same PTO (Page 175)
Tracking jobs from higher priority classes (execution levels) (Page 176)
Special cases when using software limit switches for drive connection via PTO (Page 179)
<Axis name>.Position
Setpoint position of the axis
(indicated in the configured unit of measurement)
If the axis is not homed, the tag indicates the position value relative to the enable position of the axis.
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
See also
Motion status (Page 169)
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.Velocity
Setpoint velocity of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
See also
Motion status (Page 169)
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.ActualPosition
Actual position of the axis
(indicated in the configured unit of measurement)
If the axis is not homed, the tag indicates the position value relative to the enable position of the axis.
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
<Axis name>.ActualVelocity
Actual velocity of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
<Axis name>.Actor.Type
Drive connection
Positioning axis technology object as of V5:
0 = The drive is connected via an analog output. All movements of the axis are position-controlled.
1 = The drive is connected via PROFIdrive telegrams. All movements of the axis are position-controlled.
2 = The drive is connected via a pulse interface.
Positioning axis technology object V4:
The drive is connected via a pulse interface.
Data type Start value Access Effective HMI
DInt 2 R - X
<Axis name>.Actor.InverseDirection
Invert direction
FALSE = The direction is not inverted.
TRUE = The direction is inverted.
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 2, 9 -
<Axis name>.Actor.DirectionMode
Permitted direction of rotation
0 = Both directions
1 = Positive direction
2 = Negative direction
Data type Start value Access Effective HMI
Int 0 R - X
WP 2, 9 -
<Axis name>.Actor.Interface.EnableDriveOutput
Enable output (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Actor.Interface.DriveReadyInput
Ready input (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Actor.Interface.PTO
Pulse output (internal parameter)
Data type Start value Access Effective HMI
DWord 0 - - -
<Axis name>.Actor.DriveParameter.PulsesPerDriveRevolution
Pulses per motor revolution
Data type Start value Access Effective HMI
DInt 1000.0 R - X
WP 2, 9 -
See also
Tag of the axis technology object V1...3 (Page 296)
Sensor[1] tags as of V5
Legend
<Axis name>.Sensor[1].Type
Encoder type (internal parameter)
0 = incremental
1 = Absolute
Data type Start value Access Effective HMI
DInt 0 - - -
<Axis name>.Sensor[1].InverseDirection
Inversion of the actual value
FALSE: Actual value is not inverted
TRUE: Actual value is inverted
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 2, 9 -
<Axis name>.Sensor[1].System
Encoder system
0 = Linear encoder
1 = Rotary encoder
Data type Start value Access Effective HMI
DInt 1 R - X
WP 2, 9 -
<Axis name>.Sensor[1].MountingMode
Type of encoder mounting
0 = Drive end
2 = External
Data type Start value Access Effective HMI
DInt 0 R - X
WP 2, 9 -
Sensor[1].Interface tags as of V5
Legend
<Axis name>.Sensor[1].Interface.Type
Encoder connection (internal parameter)
0 = PROFIdrive encoder on PROFINET
1 = Encoder on technology module (TM)
2 = Encoder on drive
4 = Encoder on high-speed counter
Data type Start value Access Effective HMI
DInt 4 - - -
<Axis name>.Sensor[1].Interface.AddressIn
Input address for the PROFIdrive telegram (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Sensor[1].Interface.AddressOut
Output address for the PROFIdrive telegram (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Sensor[1].Interface.HSC
High-speed counter to which the encoder transfers the actual value (internal parameter)
Data type Start value Access Effective HMI
DWord - - - -
Sensor[1].Parameter tags as of V5
Legend
<Axis name>.Sensor[1].Parameter.Resolution
Resolution of a linear encoder (offset between two encoder pulses)
Data type Start value Access Effective HMI
Real 0.001 R - X
WP 2, 9 -
<Axis name>.Sensor[1].Parameter.StepsPerRevolution
Increments per rotary encoder revolution
Data type Start value Access Effective HMI
UDInt 2048 R - X
WP 2, 9 -
<Axis name>.Sensor[1].Parameter.FineResolutionXist1
Number of bits for fine resolution Gn_XIST1 (cyclic actual encoder value)
Data type Start value Access Effective HMI
UDInt 11 R - X
WP 2, 9 -
<Axis name>.Sensor[1].Parameter.FineResolutionXist2
Number of bits for fine resolution Gn_XIST2 (absolute value of the encoder)
Data type Start value Access Effective HMI
UDInt 9 R - X
WP 2, 9 -
<Axis name>.Sensor[1].Parameter.DeterminableRevolutions
Number of differentiable encoder revolutions for a multi-turn absolute value encoder
(For a single-turn absolute value encoder = 1; for an incremental encoder = 0)
Data type Start value Access Effective HMI
UDInt 1 R - X
WP 2, 9 -
<Axis name>.Sensor[1].Parameter.DistancePerRevolution
Load distance per revolution of an externally mounted encoder
Data type Start value Access Effective HMI
Real 100.0 R - X
WP 2, 9 -
Sensor[1].ActiveHoming tags as of V4
Legend
<Axis name>.Sensor[1].ActiveHoming.Mode
Active homing mode
Positioning axis technology object as of V5:
<Axis name>.Sensor[1].ActiveHoming.SideInput
End of the homing switch to which the axis is homed during active homing
FALSE = Lower end
TRUE = Upper end
Data type Start value Access Effective HMI
Bool FALSE RW 1, 8, 10 X
<Axis name>.Sensor[1].ActiveHoming.DigitalInputAddress
Symbolic input address of the homing switch (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Sensor[1].ActiveHoming.HomePositionOffset
Home position offset (active homing)
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 0.0 RW 1, 8, 10 X
<Axis name>.Sensor[1].ActiveHoming.SwitchLevel
Selection of signal level that is present at the CPU input when the homing switch is reached
FALSE = Low level (Low-active)
TRUE = High level (High-active)
Data type Start value Access Effective HMI
Bool TRUE RW 1, 8, 10 X
See also
Tag of the axis technology object V1...3 (Page 296)
Sensor[1].PassiveHoming tags as of V4
Legend
<Axis name>.Sensor[1].PassiveHoming.Mode
Passive homing mode
Positioning axis technology object as of V5:
0 = Zero mark via PROFIdrive telegram (not PTO)
1 = Zero mark via PROFIdrive telegram and proximity switch (not PTO)
<Axis name>.Sensor[1].PassiveHoming.SideInput
End of the homing switch to which the axis is homed during passive homing
FALSE = Lower end
TRUE = Upper end
Data type Start value Access Effective HMI
Bool FALSE RW 1, 7, 10 X
<Axis name>.Sensor[1].PassiveHoming.DigitalInputAddress
Symbolic input address of the homing switch (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.Sensor[1].PassiveHoming.SwitchLevel
Selection of level that is present at the CPU input when the homing switch is reached
FALSE = Low level (Low-active)
TRUE = High level (High-active)
Data type Start value Access Effective HMI
Bool TRUE RW 1, 7, 10 X
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.Units.LengthUnit
Configured unit of measurement of the parameter
-1 = "Pulse"
1005 = "" (degrees)
1013 = "mm"
1010 =: "m"
1018 = "ft"
1019 = "in"
Data type Start value Access Effective HMI
Int 1013 R - X
WP 2, 9 -
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.Mechanics.LeadScrew
Distance per revolution
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 10.0 R - X
WP 2, 9 -
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.Modulo.Enable
Enable modulo
FALSE = Modulo conversion deactivated
TRUE = Modulo conversion activated
When modulo conversion is enabled, a check is made for modulo length > 0.0
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 2, 9 -
<Axis name>.Modulo.Length
Modulo length
Data type Start value Access Effective HMI
Real 360.0 R - X
WP 2, 9 -
<Axis name>.Modulo.StartValue
Modulo start value
Data type Start value Access Effective HMI
Real 0.0 R - X
WP 2, 9 -
<Axis name>.DynamicLimits.MaxVelocity
Maximum velocity of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 250.0 R - X
WP 2, 9 -
<Axis name>.DynamicLimits.MinVelocity
Start/stop velocity of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 10.0 R - X
WP 2, 9 -
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.DynamicDefaults.Acceleration
Acceleration of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 48.0 RW 1, 5, 6, 10 X
<Axis name>.DynamicDefaults.Deceleration
Deceleration of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 48.0 RW 1, 5, 6, 10 X
<Axis name>.DynamicDefaults.EmergencyDeceleration
Emergency stop deceleration of the axis
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 120.0 RW 1, 5, 6, 10 X
<Axis name>.DynamicDefaults.Jerk
Jerk during acceleration and deceleration ramp of the axis
(indicated in the configured unit of measurement)
The jerk is activated if the configured jerk is greater than 0.00004 mm/s.
Data type Start value Access Effective HMI
Real 192.0 RW 1, 5, 10 X
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.PositionLimitsSW.Active
Activation of the software limit switches
FALSE = The software limit switches are deactivated.
TRUE = The software limit switches are activated.
Data type Start value Access Effective HMI
Bool FALSE RW 1, 5, 6. 10 X
<Axis name>.PositionLimitsSW.MinPosition
Position of the low software limit switch
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real -10000.0 RW 1, 5, 6, 10 X
<Axis name>.PositionLimitsSW.MaxPosition
Position of the high software limit switch
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 10000.0 RW 1, 5, 6, 10 X
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.PositionLimitsHW.Active
Activation of the hardware limit switches
FALSE = The hardware limit switches are deactivated.
TRUE = The hardware limit switches are activated.
Data type Start value Access Effective HMI
Bool FALSE RW 1, 5, 6, 10 X
<Axis name>.PositionLimitsHW.MinSwitchLevel
Selection of signal level that is present at the CPU input when the low hardware limit switch is reached
FALSE = Low level (Low-active)
TRUE = High level (High-active)
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 2, 9 -
<Axis name>.PositionLimitsHW.MinSwitchAddress
Symbolic input address of the low hardware limit switch (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
<Axis name>.PositionLimitsHW.MaxSwitchLevel
Selection of signal level that is present at the CPU input when the high hardware limit switch is reached
FALSE = Low level (Low-active)
TRUE = High level (High-active)
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 2, 9 -
<Axis name>.PositionLimitsHW.MaxSwitchAddress
Input address of the high hardware limit switch (internal parameter)
Data type Start value Access Effective HMI
VREF - - - -
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.Homing.AutoReversal
Activation of auto reverse at the hardware limit switch during active homing
FALSE = Auto reversal at the hardware limit switch is deactivated.
TRUE = Auto reversal at the hardware limit switch is activated.
Data type Start value Access Effective HMI
Bool FALSE RW 1, 8, 10 X
<Axis name>.Homing.ApproachDirection
Approach and homing direction of axis during active homing
FALSE = Negative approach direction for finding the homing switch and negative homing direction
TRUE = Positive approach direction for finding the homing switch and positive homing direction
Data type Start value Access Effective HMI
Bool TRUE RW 1, 8, 10 X
<Axis name>.Homing.ApproachVelocity
Approach velocity of the axis during active homing
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 200.0 RW 1, 8, 10 X
<Axis name>.Homing.ReferencingVelocity
Homing velocity of the axis during active homing
(indicated in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 40.0 RW 1, 8, 10 X
See also
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.PositionControl.Kv
Proportional gain in the position control
("Kv" > 0.0)
Data type Start value Access Effective HMI
Real 10.0 R - X
WP 10 -
<Axis name>.PositionControl.Kpc
Velocity precontrol of the position control as a percentage
Data type Start value Access Effective HMI
Real 100.0 R - X
WP 10 -
<Axis name>.FollowingError.EnableMonitoring
Enable following error monitoring
FALSE = Following error monitoring disabled
TRUE = Following error monitoring enabled
Data type Start value Access Effective HMI
Bool TRUE R - X
WP 9 -
<Axis name>.FollowingError.MinValue
Permissible following error at velocities below the value of "MinVelocity".
Data type Start value Access Effective HMI
Real 10.0 R - X
WP 10 -
<Axis name>.FollowingError.MaxValue
Maximum permissible following error which may be reached at the maximum velocity.
Data type Start value Access Effective HMI
Real 100.0 R - X
WP 10 -
<Axis name>.FollowingError.MinVelocity
"MinValue" is permissible below this velocity, and is held constant.
Data type Start value Access Effective HMI
Real 10.0 R - X
WP 10 -
<Axis name>.PositioningMonitoring.ToleranceTime
Tolerance time
Maximum permitted duration from reaching velocity setpoint zero until entrance into the positioning window.
Data type Start value Access Effective HMI
Real 1.0 R - X
WP 10 -
<Axis name>.PositioningMonitoring.MinDwellTime
Minimum dwell time in positioning window
Data type Start value Access Effective HMI
Real 0.1 R - X
WP 10 -
<Axis name>.PositioningMonitoring.Window
Positioning window
Data type Start value Access Effective HMI
Real 1.0 R - X
WP 10 -
<Axis name>.PositioningMonitoring.Enable
Enable position monitoring
FALSE = Position monitoring disabled
TRUE = Position monitoring enabled
Data type Start value Access Effective HMI
Bool FALSE R - X
WP 9 -
<Axis name>.StandstillSignal.VelocityThreshold
Velocity threshold
If velocity is below this threshold, then the minimum dwell time begins.
Data type Start value Access Effective HMI
Real 5.0 R - X
WP 10 -
<Axis name>.StandstillSignal..MinDwellTime
Minimum dwell time
Data type Start value Access Effective HMI
Real 0.01 R - X
WP 10 -
<Axis name>.StatusPositioning.Distance
Current distance of axis from target position
(indicated in the configured unit of measurement)
The value of the tag is only valid during execution of a positioning command with "MC_MoveAbsolute",
"MC_MoveRelative", or the axis control panel.
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
<Axis name>.StatusPositioning.TargetPosition
Target position of the axis
(indicated in the configured unit of measurement)
The value of the tag is only valid during execution of a positioning command with "MC_MoveAbsolute",
"MC_MoveRelative", or the axis control panel.
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
See also
Motion status (Page 169)
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.StatusDrive.InOperation
Operational status of the drive
FALSE = Drive not ready. Setpoints will not be executed.
TRUE = Drive ready. Setpoints can be executed.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusDrive.CommunicationOK
Cyclic BUS communication between controller and drive
FALSE = Communication not established
TRUE = Communication established
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusSensor.State
Status of the encoder value
0 = Invalid
1 = Wait for status valid
2 = Valid
Data type Start value Access Effective HMI
DInt 0 RCCP, RP - X
<Axis name>.StatusSensor.CommunicationOK
Cyclic BUS communication between controller and encoder
FALSE = Communication not established
TRUE = Communication established
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusSensor.AbsEncoderOffset
Home point offset to the value of an absolute value encoder.
The value will be retentively stored in the CPU.
Data type Start value Access Effective HMI
Real 0.0 RCCP, RP - X
<Axis name>.StatusBits.Activated
Activation of the axis
FALSE = The axis is not activated.
TRUE = The axis is activated. It is connected to the assigned PTO (Pulse Train Output).
The data of the technology data block will be updated cyclically.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.Enable
Enable status of the axis
FALSE = The axis is not enabled.
TRUE = The axis is enabled and ready to accept Motion Control commands.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.HomingDone
Homing status of the axis
FALSE = The axis is not homed.
TRUE = The axis is homed and is capable of executing absolute positioning commands.
The axis does not have to be homed for relative positioning.
The status is FALSE during active homing.
The status remains TRUE during passive homing if the axis was already homed beforehand.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.Done
Command execution on the axis
FALSE = A Motion Control command is active on the axis.
TRUE = A Motion Control command is not active on the axis.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.Error
Error status on the axis
FALSE = No error is active on the axis.
TRUE = An error occurred on the axis.
Additional information about the error is available in automatic control at the "ErrorID" and "ErrorInfo" parameters of the
Motion Control instructions.
In manual mode, the "Error message" box of the axis control panel displays detailed information about the cause of error.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.StandStill
Standstill of the axis
FALSE = The axis is in motion.
TRUE = The axis is at a standstill.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.PositioningCommand
Execution of a positioning command
FALSE = A positioning command is not active on the axis.
TRUE = The axis is executing a positioning command of the "MC_MoveRelative" or
MC_MoveAbsolute Motion Control instruction.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.VelocityCommand
Execution of a command with velocity specification
FALSE = A command with velocity specification is not active on the axis.
TRUE = The axis is executing a motion command with velocity specification of the "MC_MoveVelocity" or MC_MoveJog
Motion Control instruction.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.HomingCommand
Execution of a homing command
FALSE = A homing command is not active on the axis.
TRUE = The axis is executing a homing command of the "MC_Home" Motion Control instruction.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.CommandTableActive
Execution of a command table
FALSE = A command table is not active on the axis.
TRUE = The axis is controlled by "MC_CommandTable" Motion Control instruction.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.ConstantVelocity
Constant velocity
FALSE = The axis is accelerating, decelerating, or at a standstill.
TRUE = The setpoint velocity has been reached. The axis is moving at constant velocity.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.Accelerating
Acceleration process
FALSE = The axis is decelerating, moving at constant velocity, or at a standstill.
TRUE = The axis is accelerating.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.Decelerating
Deceleration process
FALSE = The axis is accelerating, moving at constant velocity, or at a standstill.
TRUE = The axis is decelerating.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.ControlPanelActive
Activation status of the axis control panel
FALSE = "Automatic mode" is activated. The user program has control priority over the axis.
TRUE = The "Manual control" mode was enabled in the axis control panel. The axis control panel has control priority over
the axis. The axis cannot be controlled from the user program.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.DriveReady
Operational status of the drive
FALSE = The drive is not ready. Setpoints will not be executed.
TRUE = The drive is ready. Setpoints can be executed.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.RestartRequired
Restart of axis required
FALSE = A restart of the axis is not required.
TRUE = Values were modified in the load memory. To download the values to the work memory while the CPU is in RUN
mode, the axis must be restarted. Use the MC_Reset Motion Control instruction to do this.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.SWLimitMinActive
Status of the low software limit switch
FALSE = The axis is kept within its configured work area.
TRUE = The low software limit switch was reached or exceeded.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.SWLimitMaxActive
Status of the high software limit switch
FALSE = The axis is kept within its configured work area.
TRUE = The high software limit switch was reached or exceeded.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.HWLimitMinActive
Status of the low hardware limit switch
FALSE = The axis is kept within its configured permitted traversing range.
TRUE = The low hardware limit switch was reached or exceeded.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.StatusBits.HWLimitMaxActive
Status of the high hardware limit switch
FALSE = The axis is kept within its configured permitted traversing range.
TRUE = The high hardware limit switch was reached or exceeded.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
See also
Status and error bits (technology objects as of V4) (Page 166)
Tag of the axis technology object V1...3 (Page 296)
<Axis name>.ErrorBits.SystemFault
Internal system error
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.ErrorBits.ConfigFault
Incorrect configuration of the axis
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.ErrorBits.DriveFault
Error in the drive. Loss of the "Drive ready" signal.
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.ErrorBits.SWLimit
Software limit switch reached or exceeded
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
<Axis name>.ErrorBits.HWLimit
Hardware limit switch reached or exceeded
Data type Start value Access Effective HMI
Bool FALSE RCCP - X
<Axis name>.ErrorBits.DirectionFault
Impermissible motion direction
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP, RP - X
<Axis name>.ErrorBits.HWUsed
Another axis is using the same PTO (Pulse Train Output) and is enabled with "MC_Power".
Data type Start value Access Effective HMI
Bool FALSE RCCP, RP - X
See also
Status and error bits (technology objects as of V4) (Page 166)
Tag of the axis technology object V1...3 (Page 296)
See also
Tag of the axis technology object V1...3 (Page 296)
See also
Tag of the axis technology object V1...3 (Page 296)
<Command table>.Command[n].Type
Command type
0 = "Empty" command
2 = "Hold" command
5 = "Relative positioning" command
6 = "Absolute positioning" command
7 = "Velocity setpoint" command
151 = "Wait" command
Data type Start value Access Effective HMI
Int 0 RW - X
<Command table>.Command[n].Position
Target position/traversing distance of the command
Data type Start value Access Effective HMI
Real 0.0 RW - X
<Axis name>.Command[n].Velocity
Command velocity
Data type Start value Access Effective HMI
Real 0.0 RW - X
<Command table>.Command[n].Duration
Command duration
Data type Start value Access Effective HMI
Real 0.0 RW - X
<Command table>.Command[n].NextStep
Mode for the transition to the next command
0 = "Complete command"
1 = "Blend movement"
Data type Start value Access Effective HMI
Int 0 RW - X
<Command table>.Command[n].StepCode
Command step code
Data type Start value Access Effective HMI
Word 0 RW - X
See also
Tags of the command table technology object V1...3 (Page 314)
1.11.10.1 CPU outputs relevant for motion control (technology version V1...3)
The number of usable drives depends on the CPU, the number of PTOs (pulse train outputs)
and the number of available pulse generator outputs.
The following tables provide information about the relevant dependencies:
The maximum number of controllable PTOs (drives) applies regardless of the use of a
signal board.
The following table shows the number of usable drives per CPU or signal board:
The following table shows the address assignment of the pulse and direction outputs:
CPU S7-1200 Outputs PTO1 *) Outputs PTO2 **) Outputs PTO3 *) Outputs PTO4 **)
Pls. Dir. Pls. Dir. Pls. Dir. Pls. Dir.
CPU 1211C, CPU Ax.0 Ax.1 Ax.2 Ax.3 Ax.4 Ax.5 Ax.6 Ax.7
CPU 1212C, Signal Ay.0 Ay.1 Ay.2 Ay.3 Ay.0 Ay.1 Ay.2 Ay.3
CPU 1214C, board
CPU1215C
(DC/DC/DC)
CPU 1211C, CPU - - - - - - - -
CPU 1212C, Signal Ay.0 Ay.1 Ay.2 Ay.3 Ay.0 Ay.1 Ay.2 Ay.3
CPU 1214C, board
CPU 1215C
(AC/DC/RLY)
CPU 1211C, CPU - - - - - - - -
CPU 1212C, Signal Ay.0 Ay.1 Ay.2 Ay.3 Ay.0 Ay.1 Ay.2 Ay.3
CPU 1214C, board
CPU 1215C
(DC/DC/RLY)
* If a DC/DC/DC CPU variant is used together with a DI2/DO2 signal board, the signals of
the PTO1/3 can be generated via the onboard CPU outputs or via the signal board.
** If a DC/DC/DC CPU variant is used together with a DO4 signal board, the signals for
PTO1/3 or PTO2/4 can be generated via the onboard CPU outputs or via the signal board.
PTO3 and PTO4 are only available for CPUs with the article numbers xxxxxxx-1xx31-xxxx.
Note
Access to pulse generator outputs via the process image
The firmware takes control via the corresponding pulse generator outputs if the PTO
(Pulse Train Output) is selected and assigned to an axis.
With this takeover of the control function, the connection between the process image and I/O
output is also disconnected. Although the user has the option of writing the process image of
pulse generator outputs via the user program or watch table, this is not transferred to the I/O
output. Accordingly, it is also not possible to monitor the I/O output via the user program or
watch table. The information read reflects the value of the process image and does not
match the real status of the I/O output.
For all other CPU outputs that are not used permanently by the CPU firmware, the status of
the I/O output can be controlled or monitored via the process image, as usual.
Pulse output Limit frequencies for Limiting frequencies of the Limiting frequencies
technology object technology object of the technology
positioning axis V1 positioning axis V2/V3 object positioning axis V2/V3
with CPU < V3.0 with CPU V3.0
On-board (MLFB article 2 Hz f 100 kHz 2 Hz f 100 kHz 1 Hz f 100 kHz
number xxxxxxx-1xx30-xxxx)
On-board (MLFB - article 2 Hz f 100 kHz 2 Hz f 100 kHz 1 Hz f 100 kHz
number xxxxxxx-1xx31xxxx) (PTO 1+2) (PTO 1+2) (PTO 1+2)
2 Hz f 20 kHz 2 Hz f 20 kHz 1 Hz f 20 kHz
(PTO 3+4) (PTO 3+4) (PTO 3+4)
Signal board 2 Hz f 20 kHz 2 Hz f 20 kHz 1 Hz f 20 kHz
DI2/DO2 x DC24V 20kHz
Signal board 2 Hz f 100 kHz 2 Hz f 200 kHz 1 Hz f 200 kHz
DI2/DO2 x DC24V 200kHz
Signal board 2 Hz f 100 kHz 2 Hz f 200 kHz 1 Hz f 200 kHz
DO4 x DC24V 200kHz
Signal board 2 Hz f 100 kHz 2 Hz f 200 kHz 1 Hz f 200 kHz
DI2/DO2 x DC5V 200kHz
Signal board 2 Hz f 100 kHz 2 Hz f 200 kHz 1 Hz f 200 kHz
DO4 x DC5V 200kHz
Drive signals
For motion control, you can optionally parameterize a drive interface for "Drive enabled" and
"Drive ready". When using the drive interface the digital output for the drive enable and the
digital input for "drive ready" can be freely selected.
Acceleration/deceleration limits
The following limits apply to acceleration and deceleration:
Jerk limits
The following limits apply to the jerk:
See also
CPU outputs relevant for motion control (Page 13)
V1...3
Axis name:
Define the name of the axis or the name of the "Axis" technology object in this box.
The technology object is listed under this name in the project navigation.
Hardware interface
The pulses are output to the power unit of the drive by fixed assigned digital outputs.
In CPUs with relay outputs, the pulse signal cannot be output on these outputs because
the relays do not support the necessary switching frequencies. A signal board with digital
outputs must be used to enable you to work with the PTO (Pulse Train Output)
on these CPUs.
Note
The PTO requires the functionality of a fast counter (HSC). An HSC is used for this purpose
with CPU version <V3.0. The HSC is then no longer available to the user. An internal HSC is
used for this with CPU version V3.0.
The count can not be evaluated from its input address.
The assignment between PTO and HSC is fixed. When the user activates PTO1,
it is connected to the HSC1. If the PTO2 is activated, this is connected with the HSC2.
In the "Pulse generator selection" drop-down list, select the PTO (Pulse Train Output) which
is to provide the pulses for controlling the stepper motors or servo motors with pulse
interface. If the pulse generators and high-speed counters are not used elsewhere in the
device configuration, the hardware interface can be configured automatically. In this case,
the PTO selected in the drop-down list is displayed with a white background. The interfaces
used are listed in the output boxes "Output source", "Pulse output", "Direction output" and
"Assigned fast counter".
Proceed as follows if you wish to change the interfaces or if the PTO could not be
automatically configured (entry in the "Pulse generator selection" drop-down list is
highlighted in red):
1. Click on the "Device configuration" button.
The pulse generator device configuration opens.
Enlarge the property window of the device configuration if the configuration of the pulse
generator is not visible.
4. In the "Pulse generator as:" dropdown list select the "PTO" entry.
5. In the "Output source:" dropdown list select the "Integrated CPU output" or "Signal board
output" entry. The "Signal board output" entry can only be selected for PTO1 or for PTO1
and PTO2 depending on the installed signal board. For more detailed information, see
section: CPU outputs relevant for motion control (Page 13)
6. Go back to the axis configuration.
Unless the corresponding fast counter has already been used elsewhere, the PTO boxes
of the "General" axis configuration are not shaded red. If this is not the case, correct the
configuration based on the error messages.
User unit
Select the desired unit for the dimension system of the axis in the dropdown list.
The selected unit is used for additional configuration of the "Axis" technology object and for
displaying the current axis data.
The values at the input parameters (Position, Distance, Velocity, ...) of the Motion Control
instructions also refer to this unit.
Note
Later changing of the dimension system may not be converted correctly in all the
configuration windows of the technology object. In this case check the configuration of all
axis parameters.
The values of the input parameters of the Motion Control instructions may have to be
adapted to the new unit of measurement in the user program.
See also
Configuration - General (Page 53)
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a reference point switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
reference point switch, the reference point may not be detected. The filter time can be set
under "Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the reference
point switch.
Permitting direction reversal after reaching the HW limit switch (active homing only)
Activate the check box to use the hardware limit switch as a reversing cam for the homing
procedure. The hardware limit switches must be activated for direction reversal. If the CPU
firmware V1.0 is used, both hardware limit switches must be configured. If CPU firmware as
of V2.0 is used, only the hardware limit switch in the approach direction must be configured.
If the hardware limit switch is reached during active homing, the axis brakes at the
configured deceleration (not with the emergency stop deceleration) and reverses direction.
The reference point switch is then sensed in reverse direction.
If the direction reversal is not active and the axis reaches the hardware limit switch during
active homing, the homing procedure is aborted with an error and the axis is braked at the
emergency stop deceleration.
Note
Use one of the following measures to ensure that the machine does not travel to a
mechanical endstop in the event of a direction reversal:
Keep the approach velocity low
Increase the configured acceleration/deceleration
Increase the distance between hardware limit switch and mechanical stop
Note
Depending on the start position of the axis and the configuration of the homing
parameters, the homing procedure sequence can differ from the diagram in the
configuration window.
Passive homing
With passive homing, the traversing motions for purposes of homing must be
implemented by the user via motion commands. The end of the reference point switch on
which homing occurs depends on the following factors:
"Approach direction" configuration
"Reference point switch" configuration
Current travel direction during passive homing
The table below presents details on the effect of factors:
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a homing switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
homing switch, the home position may not be detected. The filter time can be set under
"Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the
homing switch.
Active level
In the drop-list, select the level of the homing switch that is to be used for homing.
See also
Sequence - Active homing (Page 87)
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
Note
If passive homing is carried out without an axis motion command (axis at a standstill),
homing will be executed upon the next rising or falling edge at the homing switch.
Note
If possible, use one of the following measures to ensure that the machine does not travel to
a mechanical endstop in the event of a direction reversal:
Keep the approach velocity low.
Increase the configured acceleration/deceleration.
Increase the distance between the hardware limit switch and the mechanical endstop.
Approach/homing direction
With the direction selection, you determine the approach direction used during active homing
to search for the homing switch, as well as the homing direction. The homing direction
specifies the travel direction the axis uses to approach the configured end of the homing
switch to carry out the homing operation.
Velocity
In this box, specify the velocity at which the homing switch is to be searched for during the
homing procedure.
Limits (independent of the selected unit of measurement):
Start/stop velocity approach velocity maximum velocity
Homing velocity
In this box, specify the velocity at which the reference point switch is to be approached
for homing.
Limits (independent of the selected unit of measurement):
Start/stop velocity Homing velocity Maximum velocity
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
Changing configuration of dynamic values in user program ("Axis" technology object V1...3)
You can change the following configuration parameters during runtime of the user program
in the CPU:
NOTICE
After changes to this parameter, it may be necessary to adapt the positions of the hardware
limit switches and other safety-relevant settings.
See also
Changing the configuration of dynamics in the user program (Page 81)
V4
Axis name
Define the name of the axis or the name of the positioning axis technology object in this field.
The technology object is listed under this name in the project tree.
Hardware interface
The pulses are output to the power unit of the drive by fixed assigned digital outputs.
In CPUs with relay outputs, the pulse signal cannot be output on these outputs because
the relays do not support the necessary switching frequencies. A signal board with digital
outputs must be used to enable you to work with the PTO (Pulse Train Output) on
these CPUs.
Note
The PTO requires the functionality of a high-speed counter (HSC). An internal HSC is used
for this, the count of which cannot be evaluated.
Signal type
Select the desired signal type in the drop-down list. The following signal types are available:
PTO (pulse A and direction B)
A pulse output and a direction output are used for controlling the stepper motor.
PTO (count up A, count down B)
One pulse output each for motion in positive direction and negative direction is used for
controlling the stepper motor.
PTO (A/B phase offset)
Both pulse outputs for Phase A and for Phase B run at the same frequency.
The period of the pulse outputs is evaluated at the drive end as a step.
The phase offset between Phase A and Phase B determines the direction of the motion.
PTO (A/B phase offset - quadruple)
Both pulse outputs for Phase A and for Phase B run at the same frequency.
All positive edges and all negative edges of Phase A and Phase B are evaluated as a
step at the drive end.
The phase offset between Phase A and Phase B determines the direction of the motion.
Activate direction output (signal type "PTO (pulse A and direction B)")
You can deactivate and activate the direction output in "pulse and direction" mode.
This option enables you to limit the motion direction.
Pulse output down (signal type "PTO (count up A, count down B)")
Select the desired pulse output for motions in negative direction in this field.
You can select the output using a symbolic address or assign it to an absolute address.
Phase A (signal types "PTO (A/B phase offset)" and "PTO (A/B phase offset - quadruple)")
Select the desired pulse output for Phase A signals in this field.
You can select the output using a symbolic address or assign it to an absolute address.
Phase B (signal types "PTO (A/B phase offset)" and "PTO (A/B phase offset - quadruple)")
Select the desired pulse output for Phase B signals in this field.
You can select the output using a symbolic address or assign it to an absolute address.
User unit
Select the desired unit for the dimension system of the axis in the drop-down list.
The selected unit is used for further configuration of the positioning axis technology object
and for displaying the current axis data.
The values at the input parameters (Position, Distance, Velocity, ...) of the Motion Control
instructions also refer to this unit.
Note
Later changing of the dimension system may not be converted correctly in all the
configuration windows of the technology object. In this case check the configuration of all
axis parameters.
The values of the input parameters of the Motion Control instructions may have to be
adapted to the new unit of measurement in the user program.
See also
Configuration - Mechanics (positioning axis technology object V4) (Page 271)
Position limits (Page 70)
Dynamics (Page 76)
Homing (positioning axis technology object as of V2) (Page 83)
Invert direction
You can use the "Invert direction" check box to adapt the control system to the direction logic
of the drive.
The direction logic is inverted according to the selected mode of the pulse generator:
PTO (pulse A and direction B)
0 V at direction output positive direction of rotation
5 V/24 V at direction output negative direction of rotation
The specified voltage depends on the hardware used. The indicated values do not apply
to the differential outputs of CPU 1217.
PTO (count up A, count down B)
The outputs "Pulse output down" and "Pulse output up" are swapped.
PTO (A/B phase offset)
The "Phase A" and "Phase B" outputs are swapped.
"PTO (A/B phase offset - quadruple)
The "Phase A" and "Phase B" outputs are swapped.
See also
Configuration - Drive signals (positioning axis technology object V4) (Page 270)
Position limits (Page 70)
Dynamics (Page 76)
Homing (positioning axis technology object as of V2) (Page 83)
Relationship between the signal type and the direction of travel (Page 18)
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a homing switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
homing switch, the home position may not be detected. The filter time can be set under
"Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the homing
switch.
Active level
In the drop-list, select the level of the homing switch that is to be used for homing.
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the home
position.
Note
If passive homing is carried out without an axis motion command (axis at a standstill),
homing will be executed upon the next rising or falling edge at the homing switch.
Note
The digital inputs are set to a filter time of 6.4 ms by default.
When the digital inputs are used as a homing switch, this can result in undesired
decelerations and thus inaccuracies. Depending on the homing velocity and extent of the
homing switch, the home position may not be detected. The filter time can be set under
"Input filter" in the device configuration of the digital inputs.
The specified filter time must be less than the duration of the input signal at the homing
switch.
Active level
In the drop-list, select the level of the homing switch that is to be used for homing.
Note
If possible, use one of the following measures to ensure that the machine does not travel to
a mechanical endstop in the event of a direction reversal:
Keep the approach velocity low.
Increase the configured acceleration/deceleration.
Increase the distance between the hardware limit switch and the mechanical endstop.
Approach/homing direction
With the direction selection, you determine the approach direction used during active homing
to search for the homing switch, as well as the homing direction. The homing direction
specifies the travel direction the axis uses to approach the configured end of the homing
switch to carry out the homing operation.
Approach velocity
In this box, specify the velocity at which the homing switch is to be searched for during the
homing procedure.
Limits (independent of the selected unit of measurement):
Start/stop velocity approach velocity maximum velocity
Homing velocity
In this box, specify the velocity at which the homing switch is to be approached for homing.
Limits (independent of the selected unit of measurement):
Start/stop velocity Homing velocity Maximum velocity
Home position
The position configured in the Motion Control instruction "MC_Home" is used as the
home position.
1.11.10.3 Diagnostics - Status and error bits ("Axis" technology object V1...3)
You use the "Status and error bits" diagnostic function to monitor the most important status
and error messages for the axis in the TIA Portal. The diagnostic function display is available
in online mode in "Manual control" mode and in "Automatic control" when the axis is active.
The status error messages have the following meaning:
Status Description
Enabled The axis is enabled and ready to be controlled via Motion Control commands.
(Tag of technology object: <Axis name>.StatusBits.Enable)
Homed The axis is homed and is capable of executing absolute positioning commands of Motion Control
instruction "MC_MoveAbsolute". The axis does not have to be homed for relative positioning.
Special situations:
During active homing, the status is FALSE.
If a homed axis undergoes passive homing, the status is set to TRUE during passive homing.
(Tag of technology object: <Axis name>.StatusBits.HomingDone)
Axis error An error has occurred in the "Axis" technology object. Additional information about the error is
available in automatic control at the ErrorID and ErrorInfo parameters of the Motion Control
instructions. In manual mode, the "Error message" box of the axis control panel displays detailed
information about the cause of error.
(Tag of technology object: <Axis name>.StatusBits.Error)
Axis control panel The "Manual control" mode was enabled in the axis control panel. The axis control panel has
enabled control priority over the "Axis" technology object. The axis cannot be controlled from the
user program.
(Tag of technology object: <Axis name>.StatusBits.ControlPanelActive)
Restart necessary A modified configuration of the axis was downloaded to the load memory in CPU RUN operating
mode. To download the modified configuration to the work memory, you need to restart the axis.
Use the Motion Control instruction MC_Reset to do this.
Drive status
Status Description
Drive ready The drive is ready for operation.
(Tag of technology object: <Axis name>.StatusBits.DriveReady)
Drive error The drive has reported an error due to loss of its "Drive ready" signal.
(Tag of technology object: <Axis name>.ErrorBits.DriveFault)
Status Description
Standstill The axis is at a standstill.
(Tag of technology object: <Axis name>.StatusBits.StandStill)
Acceleration The axis accelerates.
(Tag of technology object: <Axis name>.StatusBits.Acceleration)
Constant velocity The axis travels at constant velocity.
(Tag of technology object: <Axis name>.StatusBits.ConstantVelocity)
Deceleration The axis decelerates (slows down).
(Tag of technology object: <Axis name>.StatusBits.Deceleration)
Status Description
Positioning The axis executes a positioning command of the Motion Control instruction
"MC_MoveAbsolute", "MC_MoveRelative" or the axis control panel.
(Tag of technology object: <Axis name>.StatusBits.PositioningCommand)
Travel with velocity The axis executes a command with velocity specification of the Motion Control instruction
specification "MC_MoveVelocity", "MC_MoveJog" or the axis control panel.
(Tag of technology object: <Axis name>.StatusBits.SpeedCommand)
Homing The axis executes a homing command of the Motion Control instruction "MC_Home"
or the axis control panel.
(Tag of technology object: <Axis name>.StatusBits.Homing)
Command table active The axis is controlled by Motion Control instruction "MC_CommandTable".
(as of technology object (Tag of technology object: <Axis name>.StatusBits.CommandTableActive)
Axis V2.0)
Error messages
Error Description
Lower SW limit switch was reached The lower software limit switch has been reached.
(Tag of technology object: <Axis name>.ErrorBits.SwLimitMinReached)
Lower SW limit switch was exceeded The lower software limit switch has been exceeded.
(Tag of technology object: <Axis name>.ErrorBits.SwLimitMinExceeded)
Upper SW limit switch was reached The upper software limit switch has been reached.
(Tag of technology object: <Axis name>.ErrorBits.SwLimitMaxReached)
Upper SW limit switch was exceeded The upper software limit switch has been exceeded.
(Tag of technology object: <Axis name>.ErrorBits.SwLimitMaxExceeded)
Lower HW limit switch was reached The lower hardware limit switch has been reached.
(Tag of technology object: <Axis name>.ErrorBits.HwLimitMin)
Upper HW limit switch was reached The upper hardware limit switch has been reached.
(Tag of technology object: <Axis name>.ErrorBits.HwLimitMax)
PTO and HSC already in use A second axis is using the same PTO (Pulse Train Output) and HSC
(High Speed Counter) and is enabled with "MC_Power".
(Tag of technology object: <Axis name>.ErrorBits.HwUsed)
Configuration error The "Axis" technology object was incorrectly configured or editable configuration
data were modified incorrectly during runtime of the user program.
(Tag of technology object: <Axis name>.ErrorBits.ConfigFault)
Internal error An internal error has occurred.
(Tag of technology object: <Axis name>.ErrorBits.SystemFault)
See also
Status and error bits (technology objects as of V4) (Page 166)
Internal errors
See also
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Using multiple axes with the same PTO (Page 172)
Configuration error
16#0002 Number format of value is invalid Correct the configuration and download it
16#0008 Velocity is greater than the maximum velocity to the controller
16#8613 During active homing, direction reversal at the hardware limit switch is activated although the hard-
ware limit switches are not configured
16#0001 - Correct the configuration and download it
to the controller
Internal errors
See also
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Using multiple axes with the same PTO (Page 172)
<Axis name>.Config.General.PTO
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWORD DW#16#00000000 - - -
<Axis name>.Config.General.HSC
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWORD DW#16#00000000 - - -
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.DriveInterface.EnableOutput
Tags cannot be evaluated in the user program.
Data type Start value Access Effective HMI
- - - - -
<Axis name>.Config.DriveInterface.ReadyInput
Tags cannot be evaluated in the user program.
Data type Start value Access Effective HMI
- - - - -
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.Mechanics.PulsesPerDriveRevolution
Increments per motor revolution
Data type Start value Access Effective HMI
DInt L#1000 R - X
<Axis name>.Config.Mechanics.LeadScrew
Distance per revolution (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 1.0E+001 R - X
<Axis name>.Config.Mechanics.InverseDirection
Invert direction
Data type Start value Access Effective HMI
Bool FALSE R - X
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.DynamicLimits.MinVelocity
Start/stop velocity of axis (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 1.0E+001 R - X
<Axis name>.Config.DynamicLimits.MaxVelocity
Maximum velocity of axis (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 2.5E+002 R - X
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.DynamicDefaults.Acceleration
Acceleration of axis (specified in the configured dimension unit)
Data type Start value Access Effective HMI
Real 4.8E+001 RW 5 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
<Axis name>.Config.DynamicDefaults.Deceleration
Deceleration of axis (specified in the configured dimension unit)
Data type Start value Access Effective HMI
Real 4.8E+001 RW 5, 6 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
<Axis name>.Config.DynamicDefaults.EmergencyDeceleration
Emergency stop deceleration of axis (specified in the configured dimension unit)
Data type Start value Access Effective HMI
Real 1.2E+002 RW 2, 5, 6 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.PositionLimits_SW.Active
TRUE = The software limit switches are activated
Data type Start value Access Effective HMI
Bool FALSE RW 4 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
<Axis name>.Config.PositionLimits_SW.MinPosition
Position of lower software limit switch (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real -1.0E+004 RW 4 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
<Axis name>.Config.PositionLimits_SW.MaxPosition
Position of upper software limit switch (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 1.0E+004 RW 4 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.PositionLimits_HW.Active
TRUE = The hardware limit switches are active.
Data type Start value Access Effective HMI
Bool FALSE RW 3, 4 CPU Firmware V1.0 X
1, 5, 6 CPU firmware as of V2.0
<Axis name>.Config.PositionLimits_HW.MinSwitchedLevel
TRUE = 24 V at CPU input corresponds to lower hardware limit switch approached
FALSE = 0 V at CPU input corresponds to lower hardware limit switch approached
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.Config.PositionLimits_HW.MinFallingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - - -
<Axis name>.Config.PositionLimits_HW.MinRisingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - - -
<Axis name>.Config.PositionLimits_HW.MaxSwitchedLevel
TRUE = 24 V at CPU input corresponds to upper hardware limit switch approached
FALSE = 0 V at CPU input corresponds to upper hardware limit switch approached
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.Config.PositionLimits_HW.MaxFallingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - - -
<Axis name>.Config.PositionLimits_HW.MaxRisingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - - -
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.Config.Homing.AutoReversal
TRUE = Direction reversal at hardware limit switch enabled (active homing)
FALSE = Direction reversal at hardware limit switch disabled (active homing)
Data type Start value Access Effective HMI
Bool TRUE R - Technology object "Axis" V1.0 X
RW 1, 8 Technology object "Axis" V2.0
<Axis name>.Config.Homing.Direction
TRUE = Positive approach direction to search for reference point switch and positive homing direction (active homing)
FALSE = Negative approach direction to search for reference point switch and positive homing direction (active homing)
Data type Start value Access Effective HMI
Bool TRUE R - Technology object "Axis" V1.0 X
RW 1, 8 Technology object "Axis" V2.0
<Axis name>.Config.Homing.Offset
Home position offset /specified in the configured unit of measurement (active homing)
Data type Start value Access Effective HMI
Real 0.0 R - Technology object "Axis" V1.0 X
RW 1, 8 Technology object "Axis" V2.0
<Axis name>.Config.Homing.FastVelocity
Approach velocity / specified in the configured unit of measurement (active homing)
Data type Start value Access Effective HMI
Real 2.0E+002 R - Technology object "Axis" V1.0 X
RW 1, 8 Technology object "Axis" V2.0
<Axis name>.Config.Homing.SlowVelocity
Homing velocity / specified in the configured unit of measurement (active homing)
Data type Start value Access Effective HMI
Real 4.0E+001 R - Technology object "Axis" V1.0 X
RW 1, 8 Technology object "Axis" V2.0
<Axis name>.Config.Homing.FallingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - - -
<Axis name>.Config.Homing.RisingEvent
Tag cannot be evaluated in the user program.
Data type Start value Access Effective HMI
DWord DW#16#00000000 - -
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.MotionStatus.Position
Current position of the axis (specified in the configured unit of measurement) If the axis is not homed, the tag indicates the
position value relative to the enable position of the axis.
Data type Start value Access Effective HMI
Real 0.0 R - X
<Axis name>.MotionStatus.Velocity
Current velocity of the axis (specified in the configured unit of measurement)
Data type Start value Access Effective HMI
Real 0.0 R - X
<Axis name>.MotionStatus.Distance
Current distance to the target position of the axis (specified in the configured unit of measurement) The value of the tag is
only valid during execution of a positioning command with "MC_MoveAbsolute" or "MC_MoveRelative" or of the axis com-
mand table.
Data type Start value Access Effective HMI
Real 0.0 R - X
<Axis name>.MotionStatus.TargetPosition
Target position of axis (specified in the configured unit of measurement) The value of the tag is only valid during execution
of a positioning command with "MC_MoveAbsolute" or "MC_MoveRelative" or of the axis command table.
Data type Start value Access Effective HMI
Real 0.0 R - X
See also
Motion status (Page 169)
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.StatusBits.Activated
TRUE = The axis is activated. It is connected to the assigned PTO (Pulse Train Output). The data of the technology data
block will be updated cyclically.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Enable
TRUE = The axis is enabled and ready to take on Motion Control commands.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.HomingDone
TRUE = The axis is homed and is capable of executing absolute positioning commands. The axis does not have to be
homed for relative positioning.
The status is FALSE during active homing. The status remains TRUE during passive homing if the axis has already been
homed.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Done
TRUE = No Motion Control command is active on the axis.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Error
TRUE = An error occurred in the axis technology object. Detailed information about the error is available in automatic
mode in the "ErrorID" and "ErrorInfo" parameters of the Motion Control instructions. In manual mode, the "Error message"
box of the axis control panel displays detailed information about the cause of error.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.StandStill
TRUE = The axis is at a standstill.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.PositioningCommand
TRUE = The axis is executing a positioning command.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.SpeedCommand
TRUE = The axis is executing a travel command at predefined velocity.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Homing
TRUE = The axis is executing a homing command of the "MC_Home" Motion Control instruction or axis command table.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.CommandTableActive
TRUE = The axis is controlled by Motion Control instruction "MC_CommandTable".
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.ConstantVelocity
TRUE = The axis travels at constant velocity.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Acceleration
TRUE = The axis accelerates.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.Deceleration
TRUE = The axis decelerates (slows down).
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.ControlPanelActive
TRUE = The "Manual control" mode has been enabled in the axis command table. The axis command table has control
priority over the "Axis" technology object. The axis cannot be controlled from the user program.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.DriveReady
TRUE = The drive is ready.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.StatusBits.RestartRequired
TRUE = Values were modified in the load memory.
To download the values in the CPU RUN operating mode to the work memory, you need to restart the axis. Use the Motion
Control instruction MC_Reset to do this.
Data type Start value Access Effective HMI
Bool FALSE R - X
See also
Status and error bits (technology objects as of V4) (Page 166)
Tags of the positioning axis technology object as of V4 (Page 211)
<Axis name>.ErrorBits.SystemFault
TRUE = Internal system error.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.ConfigFault
TRUE = Incorrect configuration of axis.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.DriveFault
TRUE = The drive has reported an error due to loss of its "Drive ready" signal.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.SwLimitMinReached
TRUE = The lower software limit switch has been reached.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.SwLimitMinExceeded
TRUE = The lower software limit switch has been exceeded.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.SwLimitMaxReached
TRUE = The upper software limit switch has been reached.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.SwLimitMaxExceeded
TRUE = The upper software limit switch has been exceeded.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.HwLimitMin
TRUE = The lower hardware limit switch has been approached.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.HwLimitMax
TRUE = The upper hardware limit switch has been approached.
Data type Start value Access Effective HMI
Bool FALSE R - X
<Axis name>.ErrorBits.HwUsed
TRUE = A second axis is using the same PTO (Pulse Train Output) and is enabled with "MC_Power".
Data type Start value Access Effective HMI
Bool FALSE R - X
See also
Status and error bits (technology objects as of V4) (Page 166)
Tags of the positioning axis technology object as of V4 (Page 211)
See also
Tags of the positioning axis technology object as of V4 (Page 211)
See also
Tags of the positioning axis technology object as of V4 (Page 211)
<Command table>.Config.Command.Command[x].Type
Command type
0 = "Empty" command
2 = "Hold" command
5 = "Relative positioning" command
6 = "Absolute positioning" command
7 = "Velocity setpoint" command
151 = "Wait" command
Data type Start value Access Effective HMI
Int 0 RW - X
See also
Tags of the command table technology object as of V4 (Page 251)
2.1.1 MC_Power
Description
The Motion Control instruction "MC_Power" enables or disables an axis.
Requirements
The positioning axis technology object has been configured correctly.
There is no pending enable-inhibiting error.
Override response
Execution of "MC_Power" cannot be aborted by a Motion Control command.
Disabling the axis (input parameter "Enable" = FALSE) aborts all Motion Control commands
for the associated technology object in accordance with the selected "StopMode".
Parameters
Deceleration: max. 30 ms
Output frequency < 100 Hz
Note
If the axis is switched off due to an error, it will be enabled again automatically after the error
has been eliminated and acknowledged. This requires that the input parameter "Enable" has
retained the value TRUE during this process.
Disabling an axis
To disable an axis, you can follow the steps described below:
1. Bring the axis to a standstill.
You can identify when the axis is at a standstill in the tag of the technology object
<Axis name>.StatusBits.StandStill.
2. Set input parameter "Enable" to FALSE after standstill is reached.
3. If output parameters "Busy" and "Status" and tag of technology object <Axis
name>.StatusBits.Enable indicate the value FALSE, disabling of the axis is complete.
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_Power: Function chart as of V4 (Page 320)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
An axis is enabled and then disabled again. When the drive has signaled "Drive ready" back to the CPU,
the successful enable can be read out via "Status_1".
Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and
acknowledged with "MC_Reset". The axis is then enabled again.
See also
MC_Power: Enable, disable axes as of V4 (Page 316)
2.1.2 MC_Reset
Description
Motion Control instruction "MC_Reset" can be used to acknowledge "Operating error with
axis stop" and "Configuration error". The errors that require acknowledgment can be found
in the "List of ErrorIDs and ErrorInfos" under "Remedy".
The axis configuration can be downloaded to the work memory after a download in
RUN mode.
Requirements
The positioning axis technology object has been configured correctly.
The cause of a pending configuration error requiring acknowledgment has been
eliminated (for example, acceleration in positioning axis technology object has been
changed to a valid value).
Override response
The MC_Reset command cannot be aborted by any other Motion Control command.
The new MC_Reset command does not abort any other active Motion Control commands.
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Download to CPU (Page 138)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
2.1.3 MC_Home
Description
Motion Control instruction "MC_Home" is used to match the axis coordinates to the real,
physical drive position. Homing is required for absolute positioning of the axis.
The following types of homing can be executed:
Active homing (Mode = 3)
The homing procedure is executed automatically.
Passive homing (Mode = 2)
During passive homing, the "MC_Home" Motion Control instruction does not carry out any
homing motion. The travel required for this step must be implemented by the user via
other Motion Control instructions. When the homing switch is detected, the axis is homed.
Direct homing absolute (Mode = 0)
The current axis position is set to the value of parameter "Position".
Direct homing relative (Mode = 1)
The current axis position is offset by the value of parameter "Position".
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
No MC_CommandTable command may be active upon start with Mode = 0, 1, or 2.
Override response
The override response depends on the selected mode:
Mode = 0, 1
The MC_Home command cannot be aborted by any other Motion Control command.
The MC_Home command does not abort any active Motion Control commands.
Position-related motion commands are resumed after homing according to the new homing
position (value at input parameter: "Position").
Mode = 2
The MC_Home command can be aborted by the following Motion Control commands:
MC_Home command Mode = 2, 3
The new MC_Home command aborts the following active Motion Control command:
MC_Home command Mode = 2
Position-related motion commands are resumed after homing according to the new homing
position (value at input parameter: "Position").
Mode = 3
The MC_Home command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_Home command aborts the following active Motion Control commands:
MC_Home command Mode = 2, 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
Homing an axis
To home the axis, follow these stops:
1. Check the requirements indicated above.
2. Provide the necessary input parameters with values and start the homing operation with a
rising edge at input parameter "Execute".
3. If output parameter "Done" and technology object tag <Axis
name>.StatusBits.HomingDone indicate the value TRUE, homing is complete.
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
2.1.4 MC_Halt
Description
The "MC_Halt" Motion Control instruction stops all movements and brings the axis to a
standstill with the configured deceleration. The standstill position is not defined.
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_Halt command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_Halt command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_Halt: Function chart as of V4 (Page 330)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 5.0
The axis is braked by an MC_Halt command until it comes to a standstill. The axis standstill is signaled via "Done_2".
While an MC_Halt command is braking the axis, this command is aborted by another motion command. The abort is
signaled via "Abort_2".
See also
MC_Halt: Stop axes as of V4 (Page 328)
2.1.5 MC_MoveAbsolute
Description
The "MC_MoveAbsolute" Motion Control instruction starts an axis positioning motion to move
it to an absolute position.
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
The axis is homed.
Override response
The MC_MoveAbsolute command can be aborted by the following
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveAbsolute command aborts the following active
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_MoveAbsolute: Function chart as of V4 (Page 334)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
An axis is moved to absolute position 1000.0 with an MC_MoveAbsolute command. When the axis reaches the target
position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveAbsolute command, with target
position 1500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes to a
standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via "Done_2".
An active MC_MoveAbsolute command is aborted by another MC_MoveAbsolute command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity to the new target position 1500.0. When the new target position
is reached, this is signaled via "Done_2".
See also
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
2.1.6 MC_MoveRelative
Description
The "MC_MoveRelative" Motion Control instruction starts a positioning motion relative to the
start position.
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_MoveRelative command can be aborted by the following
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveRelative command aborts the following active
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_MoveRelative: Function chart as of V4 (Page 339)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
The axis is moved by an MC_MoveRelative command by the distance ("Distance") 1000.0. When the axis reaches the
target position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveRelative command, with
travel distance 500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis
comes to a standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via
"Done_2".
An active MC_MoveRelative command is aborted by another MC_MoveRelative command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity by the new distance ("Distance") 500.0. When the new target
position is reached, this is signaled via "Done_2".
See also
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
2.1.7 MC_MoveVelocity
Description
The Motion Control instruction "MC_MoveVelocity" moves the axis constantly at the
specified velocity.
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
Override response
MC_MoveVelocity can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveVelocity command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
Note
PLCopen Version 2.0
The Motion Control instruction "MC_MoveVelocity" is compatible to PLCopen Version 2.0 as
of V4.
The "InVelocity" and "Busy" parameters show their status regardless of the "Execute"
parameter until the command is overridden or stopped by an error. For more information,
refer to the section " Tracking active commands (Page 157).
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_MoveVelocity: Function chart as of V4 (Page 344)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
An active MC_MoveVelocity command signals via "InVel_1" that its target velocity has been reached. It is then aborted
by another MC_MoveVelocity command. The abort is signaled via "Abort_1". When the new target velocity 15.0 is
reached, this is signaled via "InVel_2". The axis then continues moving at the new constant velocity.
An active MC_MoveVelocity command is aborted by another MC_MoveVelocity command prior to reaching its target
velocity. The abort is signaled via "Abort_1". When the new target velocity 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the new constant velocity.
See also
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
2.1.8 MC_MoveJog
Description
Motion control instruction "MC_MoveJog" moves the axis constantly at the specified velocity
in jog mode. You use this Motion Control instruction, for example, for testing and
commissioning purposes.
Requirements
The positioning axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_MoveJog command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveJog command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_MoveJog: Function chart as of V4 (Page 348)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 5.0
The axis is moved in the positive direction in jog mode via "Jog_F". When the target velocity 50.0 is reached, this is
signaled via "InVel_1". After "Jog_F" is reset, the axis is braked to a standstill.
The axis is moved in the negative direction in jog mode via "Jog_B". When the target velocity -50.0 is reached,
this is signaled via "InVel_1".
When "Jog_B" is set, the value at parameter "Velocity" changes to 25.0. "InVel_1" is reset and the axis is braked.
When the new target velocity -25.0 is reached, this is signaled via "InVel_1". After "Jog_B" is reset, the axis is braked
to a standstill.
See also
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
2.1.9 MC_CommandTable
Description
The Motion Control instruction "MC_CommandTable" combines multiple individual axis
control commands in one movement sequence. "MC_CommandTable" is available for axes
with drive connection via PTO (Pulse Train Output).
Requirements
The positioning axis technology object has been inserted and correctly configured.
The drive is connected via PTO (Pulse Train Output).
The command table technology object has been inserted and correctly configured.
The axis is enabled.
Override response
The MC_CommandTable command can be aborted by the following Motion Control
commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_CommandTable command aborts the following active Motion Control
commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The active Motion Control command is canceled by the start of the first
"Positioning Relative", "Positioning Absolute", "Velocity set point" or "Halt" command.
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
2.1.10 MC_ChangeDynamic
Description
Motion Control instruction "MC_ChangeDynamic" allows you to change the following settings
of the axis:
Change the ramp-up time (acceleration) value
Change the ramp-down time (deceleration) value
Change the emergency stop ramp-down time (emergency stop deceleration) value
Change the smoothing time (jerk) value
For the effectiveness of the change, refer to the description of the tag (Page 211).
Requirements
The positioning axis technology object has been configured correctly.
Override response
A MC_ChangeDynamic command cannot be aborted by any other Motion Control command.
A new MC_ChangeDynamic command does not abort any active Motion Control commands.
Parameters
Note
At the input parameters "RampUpTime", "RampDownTime", "EmergencyRampTime" and
"JerkTime", values can be entered which exceed the admissible limits of the resulting
parameters: "Acceleration", "Deceleration", "Emergency stop deceleration" and "Jerk".
Ensure that your inputs are within the valid range, taking into consideration the equations
and limits in section "Dynamic (Page 76)".
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Changing the configuration of dynamics in the user program (Page 81)
Changing the homing configuration in the user program (Page 90)
Tags of the positioning axis technology object as of V4 (Page 211)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
S7-1200 Motion Control V1...3 (Page 360)
2.1.11 MC_ReadParam
Description
The Motion Control instruction "MC_ReadParam" enables continuous reading of motion data
and status messages of an axis. The current value of the corresponding tags is determined
at the start of the command.
The following motion data and status messages can be read:
As of technology version V4:
Setpoint position of the axis
Setpoint and actual velocity of the axis
Current distance of axis from target position
Target position of the axis
Additional as of technology version V5:
Actual position of the axis
Actual velocity of the axis
Current following error
Drive status
Encoder status
Status bits
Error bits
Requirements
The positioning axis technology object has been configured correctly.
Override response
A MC_ReadParam command cannot be aborted by any other Motion Control command.
A new MC_ReadParam command does not abort any active Motion Control commands.
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
S7-1200 Motion Control V1...3 (Page 360)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_WriteParam: Write tag of positioning axis as of V4 (Page 358)
2.1.12 MC_WriteParam
Description
Motion Control instruction "MC_WriteParam" enables the writing of tags of the positioning
axis technology object in the user program. In contrast to the value assignment of the tags in
the user program, "MC_WriteParam" can also change values of read-only tags.
You can learn about the tags, the conditions under which they can be written and the time at
which they take effect in the description of the technology object tags (Page 211).
With drive connection via PROFIdrive/analog output, some parameters require a restart of
the technology object after writing with "MC_WriteParam". If a restart is required, this will be
indicated in the tags of the technology object <Axis name>.StatusBits.RestartRequired.
The change of the parameter value becomes effective with these parameters after the restart
with the enabling of the technology object (MC_Power.Status = TRUE).
Requirements
The positioning axis technology object has been configured correctly.
To write tags that are read-only in the user program, the axis must be disabled.
Override response
A MC_WriteParam command cannot be aborted by any other Motion Control command.
A new MC_WriteParam command does not abort any active Motion Control commands.
Parameters
See also
Overview of the Motion Control statements (Page 146)
List of ErrorIDs and ErrorInfos (technology objects as of V4) (Page 187)
Tags of the positioning axis technology object as of V4 (Page 211)
S7-1200 Motion Control V1...3 (Page 360)
MC_Power: Enable, disable axes as of V4 (Page 316)
MC_Reset: Acknowledge fault as of V4 (Page 321)
MC_Home: Home axes, set reference point as of V4 (Page 323)
MC_Halt: Stop axes as of V4 (Page 328)
MC_MoveAbsolute: Absolute positioning of axes as of V4 (Page 331)
MC_MoveRelative: Relative positioning of axes as of V4 (Page 336)
MC_MoveVelocity: Move axes at preset rotational speed as of V4 (Page 341)
MC_MoveJog: Move axes in jog mode as of V4 (Page 345)
MC_CommandTable: Run axis commands as motion sequence as of V4 (Page 349)
MC_ChangeDynamic: Change dynamic settings of axis as of V4 (Page 352)
MC_ReadParam: Continuously read motion data of a positioning axis as of V4 (Page 355)
2.2.1 MC_Power
Description
The Motion Control instruction "MC_Power" enables or disables an axis.
Requirements
The axis technology object has been configured correctly.
There is no pending enable-inhibiting error.
Override response
Execution of "MC_Power" cannot be aborted by a Motion Control command.
Disabling the axis (input parameter "Enable" = FALSE) aborts all Motion Control commands
for the associated technology object in accordance with the selected "StopMode".
Parameters
Note
If the axis is switched off due to an error, it will be enabled again automatically after the error
has been eliminated and acknowledged. This requires that the input parameter "Enable" has
retained the value TRUE during this process.
Disabling an axis
To disable an axis, you can follow the steps described below:
1. Bring the axis to a standstill.
You can identify when the axis is at a standstill in the tag of the technology object
<Axis name>.StatusBits.StandStill.
2. Set input parameter "Enable" to FALSE after standstill is reached.
3. If output parameters "Busy" and "Status" and the tag of technology object
<Axis name>.StatusBits.Enable indicate the value FALSE, disabling of the axis
is complete.
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_Power: Function chart V1...3 (Page 364)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
An axis is enabled and then disabled again. When the drive has signaled "Drive ready" back to the CPU,
the successful enable can be read out via "Status_1".
Following an axis enable, an error has occurred that caused the axis to be disabled. The error is eliminated and
acknowledged with "MC_Reset". The axis is then enabled again.
See also
MC_Power: Enable, disable axis V1...3 (Page 360)
2.2.2 MC_Reset
Description
Motion Control instruction "MC_Reset" can be used to acknowledge "Operating error with
axis stop" and "Configuration error". The errors that require acknowledgement can be found
in the "List of ErrorIDs and ErrorInfos" under "Remedy".
From version V3.0, the axis configuration can be downloaded to the work memory in RUN
operating mode.
Requirements
The axis technology object has been configured correctly.
The cause of a pending configuration error requiring acknowledgement has been
eliminated (for example, acceleration in positioning axis technology object has been
changed to a valid value).
Override response
The MC_Reset command cannot be aborted by any other Motion Control command.
The new MC_Reset command does not abort any other active Motion Control commands.
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
Download to CPU (Page 138)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
2.2.3 MC_Home
Description
Motion Control instruction "MC_Home" is used to match the axis coordinates to the real,
physical drive position. Homing is required for absolute positioning of the axis. The following
types of homing can be executed:
Active homing (Mode = 3)
The homing procedure is executed automatically.
Passive homing (Mode = 2)
During passive homing, the "MC_Home" Motion Control instruction does not carry out any
homing motion. The traversing motion required for this must be implemented by the user
via other Motion Control instructions. When the homing switch is detected, the axis is
homed.
Direct homing absolute (Mode = 0)
The current axis position is set to the value of parameter "Position".
Direct homing relative (Mode = 1)
The current axis position is offset by the value of parameter "Position".
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
No MC_CommandTable command may be active upon start with Mode = 0, 1, or 2.
Override response
The override response depends on the selected mode:
Mode = 0, 1
The MC_Home command cannot be aborted by any other Motion Control command.
The MC_Home command does not abort any active Motion Control commands.
Position-related motion commands are resumed after homing according to the new homing
position (value at input parameter: "Position").
Mode = 2
The MC_Home command can be aborted by the following Motion Control commands:
MC_Home command Mode = 2, 3
The new MC_Home command aborts the following active Motion Control command:
MC_Home command Mode = 2
Position-related motion commands are resumed after homing according to the new homing
position (value at input parameter: "Position").
Mode = 3
The MC_Home command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_Home command aborts the following active Motion Control commands:
MC_Home command Mode = 2, 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
Note
Axis homing is lost under the following conditions:
Disabling of axis by the "MC_Power" Motion Control instruction
Changeover between automatic mode and manual control
Upon start of active homing. After successful completion of the homing operation,
axis homing is again available.
After POWER OFF -> POWER ON of the CPU
After CPU restart (RUN-STOP -> STOP-RUN)
Homing an axis
To home the axis, follow these stops:
1. Check the requirements indicated above.
2. Initialize the necessary input parameters with values, and start the homing operation with
a rising edge at input parameter "Execute"
3. If output parameter "Done" and technology object tag <Axis
name>.StatusBits.HomingDone indicate the value TRUE, homing is complete.
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
2.2.4 MC_Halt
Description
The "MC_Halt" Motion Control instruction stops all movements and brings the axis to a
standstill with the configured deceleration. The standstill position is not defined.
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_Halt command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_Halt command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_Halt: Function chart V1...3 (Page 373)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 5.0
The axis is braked by an MC_Halt command until it comes to a standstill. The axis standstill is signaled via "Done_2".
While an MC_Halt command is braking the axis, this command is aborted by another motion command. The abort is
signaled via "Abort_2".
See also
MC_Halt: Halt axes V1...3 (Page 371)
2.2.5 MC_MoveAbsolute
Description
The "MC_MoveAbsolute" Motion Control instruction starts an axis positioning motion to move
it to an absolute position.
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
The axis is homed.
Override response
The MC_MoveAbsolute command can be aborted by the following
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveAbsolute command aborts the following active
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_MoveAbsolute: Function chart V1...3 (Page 376)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
An axis is moved to absolute position 1000.0 with an MC_MoveAbsolute command. When the axis reaches the target
position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveAbsolute command, with target
position 1500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis comes to a
standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via "Done_2".
An active MC_MoveAbsolute command is aborted by another MC_MoveAbsolute command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity to the new target position 1500.0. When the new target position
is reached, this is signaled via "Done_2".
See also
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
2.2.6 MC_MoveRelative
Description
The "MC_MoveRelative" Motion Control instruction starts a positioning motion relative to the
start position.
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_MoveRelative command can be aborted by the following
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveRelative command aborts the following active
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_MoveRelative: Function chart V1...3 (Page 380)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
The axis is moved by an MC_MoveRelative command by the distance ("Distance") 1000.0. When the axis reaches the
target position, this is signaled via "Done_1". When "Done_1" = TRUE, another MC_MoveRelative command, with
travel distance 500.0, is started. Because of the response times (e.g., cycle time of user program, etc.), the axis
comes to a standstill briefly (see zoomed-in detail). When the axis reaches the new target position, this is signaled via
"Done_2".
An active MC_MoveRelative command is aborted by another MC_MoveRelative command. The abort is signaled via
"Abort_1". The axis is then moved at the new velocity by the new distance ("Distance") 500.0. When the new target
position is reached, this is signaled via "Done_2".
See also
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
2.2.7 MC_MoveVelocity
Description
Motion control instruction "MC_MoveVelocity" moves the axis constantly at the specified
velocity.
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
Override response
MC_MoveVelocity can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveVelocity command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_MoveVelocity: Function chart V1...3 (Page 385)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 10.0
An active MC_MoveVelocity command signals via "InVel_1" that its target velocity has been reached. It is then aborted
by another MC_MoveVelocity command. The abort is signaled via "Abort_1". When the new target velocity 15.0 is
reached, this is signaled via "InVel_2". The axis then continues moving at the new constant velocity.
An active MC_MoveVelocity command is aborted by another MC_MoveVelocity command prior to reaching its target
velocity. The abort is signaled via "Abort_1". When the new target velocity 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the new constant velocity.
See also
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
2.2.8 MC_MoveJog
Description
Motion control instruction "MC_MoveJog" moves the axis constantly at the specified velocity
in jog mode. You use this Motion Control instruction, for example, for testing and
commissioning purposes.
Requirements
The axis technology object has been configured correctly.
The axis is enabled.
Override response
The MC_MoveJog command can be aborted by the following Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_MoveJog command aborts the following active Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_MoveJog: Function chart V1...3 (Page 388)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
Function chart
The following values were configured in the configuration window Dynamics > General:
Acceleration: 10.0
Deceleration: 5.0
The axis is moved in the positive direction in jog mode via "Jog_F". When the target velocity 50.0 is reached, this is
signaled via "InVelo_1". After " Jog_F" is reset, the axis brakes again until it comes to a standstill.
The axis is moved in the negative direction in jog mode via "Jog_B". When the target velocity 50.0 is reached, this is
signaled via "InVelo_1". After " Jog_B" is reset, the axis brakes again until it comes to a standstill.
See also
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
2.2.9 MC_CommandTable
Description
The Motion Control instruction "MC_CommandTable" combines multiple individual axis
control commands in one movement sequence.
Requirements
The axis technology object has been inserted in V2 and correctly configured.
The command table technology object has been inserted and correctly configured.
The axis is enabled.
Override response
The MC_CommandTable command can be aborted by the following
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The new MC_CommandTable command aborts the following active
Motion Control commands:
MC_Home command Mode = 3
MC_Halt command
MC_MoveAbsolute command
MC_MoveRelative command
MC_MoveVelocity command
MC_MoveJog command
MC_CommandTable command
The active Motion Control command is cancelled by the start of the first
"Positioning Relative", "Positioning Absolute", "Velocity set point" or "Halt" command.
Parameters
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_ChangeDynamic: Change dynamic settings of axis V2...3 (Page 391)
2.2.10 MC_ChangeDynamic
Description
Motion Control instruction "MC_ChangeDynamic" allows you to change the following settings
of the axis:
Change the ramp-up time (acceleration) value
Change the ramp-down time (deceleration) value
Change the emergency stop ramp-down time (emergency stop deceleration) value
Change the smoothing time (jerk) value
For the effectiveness of the change, refer to the description of the tag (Page 296).
Requirements
The axis technology object has been inserted in Version V2.
The axis technology object has been configured correctly.
Override response
A MC_ChangeDynamic command cannot be aborted by any other Motion Control command.
A new MC_ChangeDynamic command does not abort any active Motion Control commands.
Parameters
Note
At the input parameters "RampUpTime", "RampDownTime", "EmergencyRampTime" and
"JerkTime", values can be entered which exceed the admissible limits of the resulting
parameters: "Acceleration", "Deceleration", "Emergency stop deceleration" and "Jerk".
Please note the equations and limits in "Axis technology object" -> "Configuring the
technology object" -> "Dynamics" and ensure that the values you input are within the
valid range.
See also
Overview of the Motion Control statements (Page 146)
S7-1200 Motion Control as of V4 (Page 316)
ErrorIDs and ErrorInfos (Page 279)
Tag of the axis technology object V1...3 (Page 296)
MC_Power: Enable, disable axis V1...3 (Page 360)
MC_Reset: Acknowledge fault V1...3 (Page 365)
MC_Home: Home axes, set reference point V1...3 (Page 367)
MC_Halt: Halt axes V1...3 (Page 371)
MC_MoveAbsolute: Absolute positioning of axes V1...3 (Page 374)
MC_MoveRelative: Relative positioning of axes V1...3 (Page 378)
MC_MoveVelocity: Move axes at preset rotational speed V1...3 (Page 382)
MC_MoveJog: Move axes in jog mode V1...3 (Page 386)
MC_CommandTable: Run axis commands as motion sequence V2...3 (Page 389)
A H
Add empty line, 125 Hardware and software limit switches
Add separator line, 125 Function, 30
Axis and command table technology object Hardware configuration for Motion Control S7-1200, 10
List of ErrorIDs and ErrorInfo, 187 Homing
Homing modes, 32
B
I
Basic knowledge
Required, 3 Insert empty line, 125
Insert separator line, 125
Interpolator OB, 25, 26
C
Closed loop control, 94
J
Command table technology object
Add new object, 118 Jerk limit
Basic parameters, 121 Function, 31
Command table configuration, 121
Command.Command[1...32] tags, 251
Configuration window icons, 119 M
Configuring activate warnings, 121
Manual
Configuring duration, 124
Purpose, 3
Configuring position / travel path, 123
Scope, 3
Configuring the command type, 122
MC_ChangeDynamic
Configuring the next step, 124
Instruction, 352
Configuring the step code, 125
Parameter, 353
Configuring use axis parameters of, 121
MC_CommandTable
Configuring velocity, 123
Instruction, 349
Extended parameters, 135
Parameter, 350
General configuration, 121
MC_Halt
Tools, 117
Function chart, 330
Usage, 117
Instruction, 328
Parameter, 372
Parameters, 329
D
MC_Home
Direction output and travel direction Instruction, 323
relation, 18 Parameter, 325
MC_MoveAbsolute
Function chart, 334
F Instruction, 331
Parameter, 332
Following error monitoring, 93
R
Reinitialization of technology objects, 165
Required basic knowledge, 3
Restart of technology objects, 165
S
Scope
Manual, 3
Servo motor, 10
Servo OB, 25, 26
Standstill signal, 94
Stepper motor, 10
T
Technology object command table: Shortcut menu
commands,
TO_PositioningAxis, 50
Tuning, 143