S7 Technology en en-US
S7 Technology en en-US
S7 Technology en en-US
What's new in
S7-Technology 1
Programming 5
Function Manual
Technology functions 6
Appendix 9
03/2008
A5E00251798-06
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 3
Preface
Further Support
If you have any technical questions, please get in touch with your Siemens representative or
responsible agent.
You will find your contact person at:
http://www.siemens.com/automation/partner
You will find a guide to the technical documentation offered for the individual SIMATIC Products
and Systems here at:
http://www.siemens.com/simatic-tech-doku-portal
The online catalog and order system is found under:
http://mall.automation.siemens.com/
Training Centers
Siemens offers a number of training courses to familiarize you with the SIMATIC S7 automation
system. Please contact your regional training center or our central training center in D 90327
Nuremberg, Germany for details:
Telephone: +49 (911) 895-3200.
Internet: http://www.sitrain.com
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4 Function Manual, 03/2008, A5E00251798-06
Table of contents
1 What's new in S7-Technology.................................................................................................................. 15
2 Application and benefits........................................................................................................................... 17
2.1 Compact and integrated...............................................................................................................17
2.2 The world of "SIMATIC" ...............................................................................................................17
2.3 Integration of the PLCopen-compliant motion control functions in STEP 7................................18
2.4 Supported components and systems ..........................................................................................18
2.5 Components and what they are used for.....................................................................................22
2.5.1 Hardware components.................................................................................................................22
2.5.2 Configuration tools .......................................................................................................................23
2.5.3 Technology functions and Technology DBs ................................................................................26
3 Technology Objects ................................................................................................................................. 29
3.1 Axes - Basics ...............................................................................................................................29
3.1.1 Axis technologies .........................................................................................................................29
3.1.2 Special modes of operation .........................................................................................................30
3.1.3 Axis types.....................................................................................................................................30
3.1.4 Hydraulic axes..............................................................................................................................31
3.1.5 Real and virtual axes ...................................................................................................................34
3.1.6 Difference between "Axis" and "Drive".........................................................................................34
3.1.7 Base coordinate system - superimposing coordinate system .....................................................36
3.1.8 Homing.........................................................................................................................................38
3.1.9 Absolute encoder adjustment ......................................................................................................40
3.1.10 Data record changeover ..............................................................................................................40
3.2 "Speed-controlled axis" technology object...................................................................................41
3.3 "Positioning axis" technology object ............................................................................................42
3.3.1 Position Control............................................................................................................................43
3.3.1.1 Setpoint superimposition..............................................................................................................46
3.3.1.2 Dynamic response adaptation .....................................................................................................47
3.3.1.3 Preparation of manipulated variables for the electric axis ...........................................................48
3.3.1.4 Manipulated variable superimposition .........................................................................................49
3.3.1.5 Dynamic Servo Control (DSC) .....................................................................................................50
3.3.1.6 Speed-controlled operation of a position-controlled axis.............................................................51
3.4 "Synchronization axis" technology object ....................................................................................51
3.4.1 Structure of the "Synchronization axis" technology object...........................................................52
3.4.2 Synchronized group .....................................................................................................................52
3.4.3 Gearing ........................................................................................................................................56
3.4.4 Camming......................................................................................................................................57
3.4.5 Superimposing synchronism........................................................................................................62
3.4.6 Relative / absolute synchronism ..................................................................................................63
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Table of contents
4.7.15.1 Configuration..............................................................................................................................328
4.7.15.2 Settings ......................................................................................................................................329
4.7.15.3 Default setting ............................................................................................................................331
4.8 Cam Configuration .....................................................................................................................337
4.8.1 Inserting cams............................................................................................................................338
4.8.2 Defining cams ............................................................................................................................340
4.8.3 Creating cams with CamEdit......................................................................................................341
4.8.3.1 Interpolation ...............................................................................................................................342
4.8.3.2 Interpolation(2) ...........................................................................................................................344
4.8.3.3 Scaling and shift.........................................................................................................................345
4.8.4 Creating cams using CamTool...................................................................................................353
4.8.5 Motion laws in accordance with VDI ..........................................................................................354
4.8.5.1 Working ranges and motion transitions .....................................................................................354
4.8.5.2 Defining a cam disk with segments ...........................................................................................356
4.9 Configuring output cams ............................................................................................................357
4.9.1 Inserting output cams.................................................................................................................357
4.9.2 Configuration - Output cam........................................................................................................360
4.9.3 High-speed output cams ............................................................................................................362
4.10 Configuring cam tracks ..............................................................................................................362
4.10.1 Inserting cam tracks...................................................................................................................362
4.10.2 Configuration - Cam track ..........................................................................................................365
4.10.3 Default - cam track.....................................................................................................................367
4.11 Configuring measuring inputs ....................................................................................................370
4.11.1 Inserting a measuring input........................................................................................................370
4.11.2 Configuration - Measuring input.................................................................................................372
4.12 Configuring external encoders ...................................................................................................373
4.12.1 Inserting external encoders........................................................................................................374
4.12.2 Defaults - External encoder .......................................................................................................383
4.12.3 External encoder - Synchronization with incremental encoders................................................383
4.12.4 Setting the standstill signal ........................................................................................................385
4.12.5 Configuration..............................................................................................................................386
4.12.6 Mechanics ..................................................................................................................................387
4.12.7 actual value ................................................................................................................................388
4.12.7.1 Actual value - "Actual value" tab ................................................................................................388
4.12.7.2 Actual value - "Extrapolation" tab...............................................................................................389
4.12.8 Homing.......................................................................................................................................394
4.12.8.1 Homing - "Passive homing" tab .................................................................................................394
4.13 Copying the configuration data from another station .................................................................401
5 Programming ......................................................................................................................................... 403
5.1 Time pattern of CPU 31xT .........................................................................................................403
5.2 Time pattern of WinLC T (MICROBOX T) .................................................................................408
5.3 Cycles of the Technology CPU ..................................................................................................413
5.4 Assigning system clocks ............................................................................................................415
5.5 Sequence and programming model...........................................................................................417
5.6 Accessing address spaces of CPU 31xT...................................................................................419
5.7 Accessing address spaces of MICROBOX T ............................................................................421
5.8 Monitoring active commands .....................................................................................................424
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Table of contents
S7-Technology
14 Function Manual, 03/2008, A5E00251798-06
What's new in S7-Technology 1
What's new in S7-Technology V4.1
Cam track
Use the new "Cam track" technology object if you want to use several output cams of the
same type on one axis.
The cam track is configured in S7T Config and activated by calling the "MC_CamTrack"
technology function. You can read the switching state of the individual output cams by calling
the "MC_ReadCamTrackData" technology function. You can edit the parameters of the cam
track in the user program by calling the "MC_WriteCamTrackData" technology function.
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What's new in S7-Technology
S7-Technology
16 Function Manual, 03/2008, A5E00251798-06
Application and benefits 2
2.1 Compact and integrated
The Technology CPU integrates Motion Control functions in a SIMATIC CPU in order to
combine the functionality of a SIMATIC CPU S7-300 with PLCopen-compliant Motion Control
functions.
The Technology CPU is integrated to 100 % into the SIMATIC and TIA world and
demonstrates its high performance when used in coupled motion sequences.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 17
Application and benefits
2.3 Integration of the PLCopen-compliant motion control functions in STEP 7
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18 Function Manual, 03/2008, A5E00251798-06
Application and benefits
2.4 Supported components and systems
S7-Technology
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Application and benefits
2.4 Supported components and systems
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Application and benefits
2.4 Supported components and systems
S7-Technology
Function Manual, 03/2008, A5E00251798-06 21
Application and benefits
2.5 Components and what they are used for
Technology CPU
The control unit of the Technology CPU performs the tasks known from a standard CPU of
the S7-300 family. The integrated technology controls, evaluates and monitors all hardware
components at DP(DRIVE) which are required by the Motion Control tasks. CPU 31xT
features 4 integrated digital inputs and 8 integrated digital outputs. MICROBOX T features 8
integrated digital outputs.
MPI/DP
The MPI/DP interface is used to connect additional SIMATIC components, such as a PG,
OP, S7 controllers and distributed I/O. Its operation as DP interface allows the configuration
of large, extended networks.
S7-Technology
22 Function Manual, 03/2008, A5E00251798-06
Application and benefits
2.5 Components and what they are used for
DP(DRIVE)
The Technology CPU operates the DP(DRIVE) PROFIBUS interface in isochronous mode.
All hardware components addressed by the integrated technology must be available at the
DP(DRIVE). That includes components of the MICROMASTER, SIMODRIVE,
MASTERDRIVES, SINAMICS, and SIMODRIVE Sensor family.
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SIMATIC STEP 7
STEP 7 represents the global platform for configuring and programming the Technology
CPU. All configuration tools required are called in SIMATIC Manager of STEP 7.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 23
Application and benefits
2.5 Components and what they are used for
SIMATIC S7-Technology
SIMATIC S7-Technology is an options package used to configure Motion Control
functionality of your Technology CPU. SIMATIC S7-Technology is fully integrated in STEP 7
after installation. Tools included in its installation:
● Technology Objects Management
● S7-Tech Library
● S7T Config, including STARTER
LAD/FBD/STL
You program your application and Motion Control jobs in the LAD/FBD/STL block editor. You
read the actual values of your Motion Control application from the user program to analyze
information and errors.
S7-Tech Library
The S7-Tech Library is compliant with technology functions to PLCopen standard and is
called in your user program as function block. You use these to control your Motion Control
commands.
S7T Config
You configure the technology technology objects required to implement your motion control
task in S7T Config.
The STARTER functionality for the drives from the MICROMASTER and SINAMICS families
is integrated in S7T Config.
CamTool (optional)
You can purchase the optional SCOUT CamTool which provides an easy-to-use graphical
interface for creating cam disks.
S7-Technology
24 Function Manual, 03/2008, A5E00251798-06
Application and benefits
2.5 Components and what they are used for
HW Config
HW Config is used to configure the hardware of your Technology CPU and the subnets at
the DP/MPI and DP(DRIVE) interfaces.
Technology functions
The PLCopen-compliant technology functions are called in the user program of the
controller. Technology functions form the command interface to the technology objects. The
user program can monitor the status of Motion Control commands by evaluating the output
parameters of the technology function.
Technology Objects
The physical drives are mapped to technology objects and their properties parameterized at
the technology objects. Each technology object is mapped to the STEP 7 user program as
Technology DB to indicate its status. Technology objects may be interconnected and be
logically linked to hardware components. All technology objects such as axes, cam disks,
output cams, measuring inputs or external encoders are configured in S7T Config.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 25
Application and benefits
2.5 Components and what they are used for
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Technology functions
All Motion Control jobs are initiated in the Technology CPU by means of technology
functions. The integrated technology processes the jobs according to the sequence initiated
by the control system.
Motion Control commands address the technology objects you configured in S7T Config.
The technology objects are addressed by setting the number of the corresponding
Technology DB.
The command is initiated by a signal transition (positive edge) at input parameter Execute or
Enable. The output parameters of the technology functions return information about job done
and job cancel messages, and error messages if job initiation failed.
S7-Technology
26 Function Manual, 03/2008, A5E00251798-06
Application and benefits
2.5 Components and what they are used for
Technology DB
The integrated technology writes the actual values of the technology object to the allocated
technology DB. Status and error messages generated in the course of job processing will
also be written to the technology DB.
The technology DBs are always non-retentive and are write protected in the AS, irrespective
of any object properties set at the DBs.
DB - MCDevice
The status of integrated technology is mapped to the Technology DB "MCDevice".
"MCDevice" contains information about the maximum and average job processing time of
Motion Control commands, and about any errors of integrated technology.
In addition, the "MCDevice" technology DB makes it possible to display the status of the
integrated I/O and 32 completed messages (DoneFlag) of some Technology functions.
Which completed messages are displayed you can choose with the input parameter
DoneFlag of the Technology function.
DB - Trace
S7T Config features the graphical TraceTool which can be used to analyze system
parameters and actual values.
In addition to the system parameters of integrated technology, the tool supports logging of up
to 8 variables of the S7 user program, (two DINT values, two DWORD values, and four
REAL values). The Trace Technology DB interfaces the control system with the integrated
technology.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 27
Application and benefits
2.5 Components and what they are used for
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28 Function Manual, 03/2008, A5E00251798-06
Technology Objects 3
3.1 Axes - Basics
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Technology Objects
3.1 Axes - Basics
Simulation mode
Simulation mode is used to test the programmed sequences in the controller and the
interaction between different axes based on trace recordings without moving the axis. This
mode is only supported for real axes.
During simulation mode all drives must be connected and be operating without faults. An
axis is simulated internally by setting the actual values equal to the setpoint values. The
following error in simulation mode always equals zero.
S7-Technology
30 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.1 Axes - Basics
A rotary axis with a motion range from 0 ° to 360 °" has a modulo start value of 0 °, and a modulo
length of 360 °.
The axis position is reset to 0 ° when it reaches its high limit (360 °.) When it passes the low
limit (0 °), the axis position is set to the modulo start value plus the modulo length (360 °.)
The position profile is linear within the modulo length.
Note
If linear or rotary axes are not configured for operation as unidirectional modulo axes, the
position value increments continuously.
The variables representing the setpoint and actual position are of the data type REAL, with a
resolution of 23 binary digits (mantissa.) Positioning precision of the axis therefore
deteriorates proportionally to the increase of the position value. For this reason you should
preferably use modulo axes for infinite axes, or reset the position to zero at appropriate
times.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 31
Technology Objects
3.1 Axes - Basics
Encoder
Technology CPU
Position
controller
Q Q
A DP(DRIVE)
Setpoint
D
P
T
hydraulic
reservoir
P
U
S7-Technology
32 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.1 Axes - Basics
Example of the control of a variable speed pump using switching directional valves
Example of the control of switching directional valves and of a variable speed pump
encoder encoder
P
T
P
U
Q
U
Speed pump
Setpoints position controller
A variable speed pump controls the flow volume (Q) for cylinder movement. The Technology
CPU handles the control of the variable speed pump by setting an analog output at
DP(DRIVE). The control of 4/3 switching directional valves must be handled in the user
program by setting digital outputs. An encoder can be used to log the cylinder position.
This variable speed pump control only allows unidirectional control of the hydraulic by the
Technology CPU, that is, as speed-controlled, position-controlled, or synchronization axis.
The reversal of direction must be handled in the user program by setting the 4/3 switching
directional valves and activating separate valve profiles.
The example shows that a single hydraulic axis (variable speed pump) can be used
alternatively to control several cylinders or hydraulic drives. in this case, use a separate pair
of valve profiles for each hydraulic drive of the shared axis.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 33
Technology Objects
3.1 Axes - Basics
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Note
Hydraulic axes are real axes with valve profile.
S7-Technology
34 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.1 Axes - Basics
Note
An axis can only execute functions which the connected drive actually supports. The
supported functions such as operation with SIMODRIVE 611U or MASTERDRIVES MC are
described in the drive documentation (for further information please also refer to the
corresponding product descriptions.)
S7-Technology
Function Manual, 03/2008, A5E00251798-06 35
Technology Objects
3.1 Axes - Basics
t
a
t
t v
Base coordinate system
+
t
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s
t
a
v
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t
Superimposing coordinate system
S7-Technology
36 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.1 Axes - Basics
All coordinates (time/distance, time/velocity and time/acceleration) are added at a given time
to return the cumulative coordinate system.
Basic motion commands:
● "MC_MoveAbsolute"
● "MC_MoveRelative"
● "MC_MoveAdditive"
● "MC_MoveVelocity"
● "MC_MoveToEndPos"
● "MC_GearIn"
● "MC_GearOut"
● "MC_CamIn"
● "MC_CamOut"
● "MC_Phasing"
These commands affect the base coordinate system.
Commands for superimposing motions:
● "MC_MoveSuperImposed"
● "MC_GearInSuperImposed"
● "MC_GearOutSuperImposed"
● "MC_CamInSuperImposed"
● "MC_CamOutSuperImposed"
● "MC_PhasingSuperImposed"
These commands affect the superimposing coordinate system.
The "MC_Home" command may have an effect on both coordinate systems, depending on
the value at input parameter Mode.
The vectors of the coordinate systems are indicated as system variables at the axis.
Values of the base coordinate system at the axis:
● basicmotion.positionbasicmotion.velocitybasicmotion.acceleration
Values of the superimposing coordinate system at the axis:
● superimposedmotion.positionsuperimposedmotion.velocity
● superimposedmotion.acceleration
Cumulative coordinates:
● positioningstate.commandposition: Position setpoint (total)
● motionstatedata.commandvelocity: Velocity setpoint (total)
● motionstatedata.commandacceleration: Acceleration setpoint (total)
Only one basic motion and one superimposing motion may be active at the axis at any given
time. A superimposing may also be active without active basic motion.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 37
Technology Objects
3.1 Axes - Basics
3.1.8 Homing
The position entries and displays for position-controlled axes refer to the axis coordinate
system. The axis coordinate system must be synchronized with the real, physical position of
the axis.
Note
Note the following:
• Absolute encoders must be adjusted only once.
• The homing position of axes with incremental is retained when the CPU goes into STOP,
and is lost after POWER OFF
• A homed axis must be homed again after its initialization (Restart) when operated with
incremental measuring system.
• Motion commands with relative position definitions ("MC_MoveRelative", for example) can
be executed both in homed / non-homed state.
• Motion commands with absolute positioning at a non-homed axis:
– Executable if "no" was selected from the drop-down list in S7T Config, Axis > Homing
dialog box, "Active homing" tab
– Not executable if "yes" was selected from the drop-down list in S7T Config,
Axis > Homing dialog box, "Active homing" tab
Incremental encoders are synchronized using the MC_Home technology function. In active
homing, either the reference point coordinate, or the reference point coordinate minus the
reference point offset will be set at a defined mechanical position of the axis.
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38 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.1 Axes - Basics
Homing modes
● Active homing
In active homing mode, the "MC_Home" technology function performs the required
reference point approach. Any active motions will be canceled for this operation. Homing
modes available in S7T Config:
– Reference cam and encoder zero mark
– Encoder zero mark only
– External zero mark only
● Passive homing
In passive homing mode, the "MC_Home" technology function does not technology
function does execute a reference point approach. Active motion commands will not be
affected. The "reference point approach" required must be implemented by means of
external functions or in the user program.
Homing modes available for configuration in S7T Config:
– Reference cam and encoder zero mark
– Encoder zero mark only
– External zero mark only
– Default setting
● Direct homing
The axis position is set without making allowances for reference cams or zero marks. The
axis must be at a standstill in order to allow precise assignment of the reference point to a
mechanical position.
● Correct position value
An offset value is subtracted from the current axis position. Current motions and homing
operations are not affected.
● Correct the internal axis coordinate system
An offset value is subtracted from the current position of the base or superimposed
coordinate system. Current motions and homing operations are not affected.
Note
Device-specific properties
The reference cam can be connected either to the integrated inputs of the CPU or to a
slave on DP(DRIVE) for homing with reference cam and encoder zero mark.
In homing mode with "external zero mark only", the external zero mark must be
connected to the input device where the encoder is also registered, for example, at the
drive or at IM 174/ADI4.
For further information on device-specific conditions and additional parameter settings,
refer to the supplementary information on SIMODRIVE 611U, MASTERDRIVE-MC,
SINAMICS S120 or IM 174/ADI4 on your product CD-ROM and to the manuals.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 39
Technology Objects
3.1 Axes - Basics
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Introduction
You can create several axis data records to change controller parameters, or to toggle from
motor encoder mode to machine encoder mode while the system is in run, for example.
The axes listed below support multiple data records:
● Speed-controlled axes
● Positioning axes
● Synchronization axes
S7-Technology
40 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.2 "Speed-controlled axis" technology object
Note
Virtual axes only have one data record.
Configuration
Create the date record in the axis configuration in S7T Config. Program the data record
using the Axis Wizard. Call the "MC_ChangeDataset" technology function to change the data
record in RUN..
Use the "Speed-controlled axis" technology object if you only want to preset, control and
monitor the speed of an axis when the position is irrelevant.
Technology functions
Technology functions supported by the technology object:
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Function Manual, 03/2008, A5E00251798-06 41
Technology Objects
3.3 "Positioning axis" technology object
Use this technology object to move the axis to a defined position and to control and
monitor that position.
The positioning axis contains all functions of the speed-controlled axis.
Technology functions
Technology functions supported by the technology object:
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42 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.3 "Positioning axis" technology object
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When position control is active, controllers, monitoring, and compensation are active. The
monitoring functions are disabled in certain modes, for example, the position-related
monitoring functions for torque or pressure limiting.
All compensation functions can be enabled/disabled.
Encoder systems, actual value calculation, and monitoring functions are active on the actual
value side when position control is not activated. Compensation functions are not taken into
account.
The servomonitoring.controlstate system variable indicates whether the position controller is
active.
S7-Technology
Function Manual, 03/2008, A5E00251798-06 43
Technology Objects
3.3 "Positioning axis" technology object
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When the mode is changed from speed-controlled to position-controlled mode while the axis
is in motion, the equivalent time of the position controller is required to set the setpoint. The
equivalent time is set during configuration in dynamicData.positionTimeConstant (electrical
axis) or in dynamicQFData.positionTimeConstant (hydraulic functionality).
S7-Technology
44 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.3 "Positioning axis" technology object
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Note
Controllers featuring a precontrol function should be used as shown below:
• P-action controller with pre-control for the electric axis
• DSC to improve the control quality with greater kv values for digitally coupled drives (only
with P-action controllers with pre-control)
• PID controller at hydraulic axes. The actual value can optionally be set directly at the D-
action element)
S7-Technology
Function Manual, 03/2008, A5E00251798-06 45
Technology Objects
3.3 "Positioning axis" technology object
Balancing filters
Balancing filters are used to delay setpoints by the value of the process transition time,
before these are compared with the actual value and multiplied by the position control gain,
and are then set again at the process.
When precontrol is active, allowance can be made in the balancing filter for the process
response prior to formation of the system deviation from the position setpoint and actual
position.
● A PT1 filter is used as a balancing filter with the configuration data element setting
balanceFilterMode = MODE_1. Its time constant is set in
dynamicData.velocityTimeConstant for an electrical axis and in
dynamicQFdata.qOutputTimeConstant for a hydraulic axis.
● The following parameters are taken into consideration when the configuration date
balanceFilterMode = MODE_2 (V3.1 and higher) is set in the balancing filter:
– The equivalent time of the speed control loop
– The dead time determined by the system for the drive
– A dead time that can be input in additive increments by the user
● The equivalent time of the speed control loop, including the dead time determined by the
system with respect to the drive, plus an additive dead time that can be entered by the
user are taken into account in the balance filter with the configuration data element
balanceFilterMode = MODE_2 (V3.1 or later).
● The equivalent time of the speed-control loop is included in settings with DSC .
We recommend you use the setting balanceFilterMode = MODE_2 for the balancing filter.
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46 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.3 "Positioning axis" technology object
Note
An axis operated with setpoint superimposition cannot be switched back directly to normal
position-controlled mode. You first have to reset the setpoint superimpositions to zero.
Superimposition has an effect on the position of the positioning axis. The superimposition
also applies to the active position control and interpolator in following mode.
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Note
Set T1 unequal to T2.
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Function Manual, 03/2008, A5E00251798-06 47
Technology Objects
3.3 "Positioning axis" technology object
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3.3 "Positioning axis" technology object
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Function Manual, 03/2008, A5E00251798-06 49
Technology Objects
3.3 "Positioning axis" technology object
Drive
Bias control
.3& Qsoll
W3/&
Actual position
[ist [ist Qist
For position control with DSC (Dynamic Servo Control), the system calculates both the
position controller and the speed controller in the drive. This allows you to set significantly
higher gain factors (Kv) for the position controller. The position and speed control
parameters are calculated within the same cycle. Hence, the position control and its
subordinate control loop, meaning the speed controller, are calculated at precisely the same
speed.
The actual values changes are smaller compared to the clock than the actual value in the
Technology CPU. The position controller can be corrected more exactly by having a more
exact actual value.
This allows tuning of the controller's low-signal response, so that you can set significantly
higher gain factors.
DSC allows you to set a higher Kv ratio for the sampling times. This increases the dynamics
in the reference variable sequence and of disturbance response at highly dynamic drives.
DSC is supported by all drives which support message frame 5, 6, or 105 and 106.
DSC is only useful for P-action position controllers.
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50 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
Note
The position controller requires tuning. For further information please refer to "Optimizing the
position controller - Overview (Page 853)."
A synchronization axis is a "following axis" which follows a "leading axis." Use the
"synchronization axis" technology object to use the motion and position values of a leading
axis as a master setpoint.
The synchronization axis contains all functions of the speed-controlled and positioning
axes.
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Function Manual, 03/2008, A5E00251798-06 51
Technology Objects
3.4 "Synchronization axis" technology object
Technology functions
Technology functions supported by the technology object:
Example
A leading axis (master) generates a master setpoint. The synchronization object processes
this value based on defined criteria, meaning that the gear ratio, scaling, offset, and the cam
disk, and assigns it to the following axis as a control variable.
Note
The master setpoints and slave values are coupled without physical conversion in the
relevant programmed unit. If, for example, the system operates with a linear leading axis (in
mm units) and a slave rotary axis (in degree units), then one millimeter corresponds to one
degree at a conversion ratio of 1:1.
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52 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
Synchronized group
A synchronized group consists at least of these elements:
● A leading axis that returns the master setpoint
Leading axes can be formed by real and virtual positioning and synchronization axes, or
by external encoders
● A synchronous object
● A following axis
Objects in gearing mode
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Function Manual, 03/2008, A5E00251798-06 53
Technology Objects
3.4 "Synchronization axis" technology object
Cam coupling
In the same way, you can use several cams disk for camming. You can use the "MC_CamIn"
or "MC_CamInSuperimposed" technology functions in the user program for dynamic
changeover of the cam disks.
Example of camming with several cam disks:
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54 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
Superimposing synchronism
Superimposing synchronism responds similar to superimposed positioning motions with
regard to the basic motion on the axis (motion or synchronism).
The interconnection conditions for superimposing synchronism and basic synchronism are
identical. Same as a basic synchronization object, you can logically link a superimposing
synchronization object with several leading axes or cam disks.
Rules
The following rules apply to the interconnection:
● Control values can be used at multiple instances A leading axis can output the master
setpoint to several following axes Positioning axes, synchronization axes, virtual axes or
external encoders can determine master setpoints.
● The synchronization object can be interconnected with several master setpoints and cam
disks. Allowances must be made in the configuration of the synchronization object for all
combinations required for operation.
● An axis may feature up to two synchronization objects (basic synchronism and
superimposing synchronism.)
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Technology Objects
3.4 "Synchronization axis" technology object
3.4.3 Gearing
Define the transformation ratio and gear ratio as a function of the ratio between two integers
and an offset at the "MC_GearIn" and "MC_GearInSuperImposed" technology functions. You
can modify the offset at later time using the "MC_Phasing" and "MC_PhasingSuperImposed"
technology functions.
Response characteristic
The response characteristic of gearing can be expressed as a linear correlation between the
master setpoint and the slave value.
Direction
The gear ratio can be defined by a positive or negative value. Resultant response:
● Positive gear ratio:
The leading and following axes move in the same direction.
● Negative gear ratio:
The leading and following axes move in opposite direction.
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56 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
Relative coupling does not result in a compensating motion, meaning the offset changes:
You reset the axis position at the technology function "MC_Home" (Mode = 3 or 4).
3.4.4 Camming
Camming is characterized by a dynamic transmission ratio between the leading and
following axes, and by an offset. The transmission ratio is described by a cam disk (transfer
function.)
Scaling and offset of the cam disk used is possible both at the leading axis and at the
following axis. This enables individual adaptation of a cam disk in terms of its definition range
and range of values.
Synchronization of the following axis to a position within the cam disk is also possible, as is a
cam disk changeover at the end of a currently active cam disk.
Response characteristic
The response characteristics of camming are defined by a cam disk (y = f(x)).
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Function Manual, 03/2008, A5E00251798-06 57
Technology Objects
3.4 "Synchronization axis" technology object
[
(x = master setpoint; y = slave value)
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58 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
MasterAbsolute = 1; SlaveAbsolute = 1
In absolute synchronous operation, the effective cam disk precisely represents the
configured cam disk. The cam disk is not shifted in the coordinate system "Slave value =
f(master setpoint)."
During synchronization, the system approaches the cam disk point which is assigned to the
actual master position. A synchronization motion is not initiated if the following axis is already
positioned on a cam disk point at the start of camming.
Relative synchronism with the leading axis, and absolute with the following axis
MasterAbsolute = 0; SlaveAbsolute = 1
When operating with camming relative to the leading axis, the system evaluates
userdefault.cammingsettings.camstartpositionmaster the system variable and sets this value
as start position for camming.
You obtain the effective cam disk by shifting the configured cam disk along the abscissa in
the "following value = f(master setpoint)" coordinate system, so that
userdefault.cammingsettings.camstartpositionmaster coincides with the actual position of
the following axis at the start of camming. As synchronism is absolute to the following axis,
the axis is not shifted along the ordinate of the coordinate system.
During synchronization the following axis approaches the following value on the cam disk
which is assigned to userdefault.cammingsettings.camstartpositionmaster.
A synchronization motion is not initiated if the following axis has already reached this
position.
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Function Manual, 03/2008, A5E00251798-06 59
Technology Objects
3.4 "Synchronization axis" technology object
Absolute synchronism with the leading axis, and relative with the following axis
MasterAbsolute = 1; SlaveAbsolute = 0
You obtain the effective cam disk by shifting the configured cam disk along the ordinate in
the "slave value = f(master setpoint)" coordinate, so that its start position coincides with the
actual following axis position. As synchronism is absolute to the leading axis, the axis will not
be shifted along the abscissa of the coordinate system.
During synchronization, the following axis moves by a distance defined by the difference
between the slave value at the actual position of the leading axis set in the cam disk
definition and the start position of the cam disk. The following axis is positioned on the point
of the effective cam disk assigned to the actual position of the leading axis.
If the leading axis has reached the start position, or a certain cam disk point of which the
slave value corresponds with that of the start position, the axis will not perform a
synchronizing motion.
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60 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
MasterAbsolute = 0; SlaveAbsolute = 0
When operating with camming relative to the master, the system evaluates system variable
userdefault.cammingsettings.camstartpositionmaster and sets this value as start position for
camming.
You obtain the effective cam disk by shifting the configured cam disk along the abscissa in
the "slave value=f(master value)" coordinate system in order to shift
userdefault.cammingsettings.camstartpositionmaster and the actual leading axis position.
The start position of the cam disk must coincide with the start position of the active following
axis.
During synchronization the following axis approaches the following value on the cam disk
which is assigned to the userdefault.cammingsettings.camstartpositionmaster .
During synchronization, the following axis travels by the distance defined by the difference
between the following values at userdefault.cammingsettings.camstartpositionmaster and at
the cam disk start position. The following axis is positioned on the point of the effective cam
disk assigned to the actual position of the leading axis.
A synchronization motion is not initiated if the following axis has already reached this
position.
Note
Any point of the cam disk can be set as the starting point for camming. This can be the
starting point, the end point, or any point within the cam disk.
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Function Manual, 03/2008, A5E00251798-06 61
Technology Objects
3.4 "Synchronization axis" technology object
Superimposed motion
Superimposing synchronism responds similar to superimposed positioning motions with
regard to the basic motion on the axis (motion or synchronism).
Several simultaneous superimposing movements are not possible at the axis:
● Superimposing positioning motion
● Superimposing synchronism
Superimposing synchronism can be active without concurrently active basic motion or basic
synchronism.
For further information on superimposing motions at an axis, refer to the corresponding
descriptions of the technological functions.
Coordinates
The basic synchronization object is referenced to the base coordinates when the axis
operates in absolute synchronism and the slave position is defined.
The superimposing synchronization object is referenced to the superimposing coordinates
when the axis operates in absolute synchronism and the slave position is defined.
Synchronism with reference to base coordinates and superimposing synchronism with
reference to superimposing coordinates do not influence each other.
The cumulative coordinate is derived from the base and superimposing coordinates.
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62 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
Monitoring
The output values of a synchronization object (and thus the motion element of
superimposing axis synchronism) can be read from system variable currentslavedata at the
synchronization object.
The examples refer to "immediate synchronization." The actual positions of the participating
axes are relevant to this use. For position-dependent synchronization, evaluate the
"Synchronization position" instead of the "actual position."
S7-Technology
Function Manual, 03/2008, A5E00251798-06 63
Technology Objects
3.4 "Synchronization axis" technology object
Absolute synchronism
Configure "absolute synchronism" at the "MC_CamIn" technology function using the
following input parameters:
● MasterAbsolute = TRUE
● SlaveAbsolute = TRUE
Absolute synchronism is the simplest use case, as it uses the basic cam. The assignment is
thus defined permanently by the cam. The following axis position is derived from a certain
leading axis position precisely as you can read it from the cam.
During activation of synchronous operation, the following axis is moved from its current
position to the position derived from the cam.
Relative synchronism
A cam with an offset to the basic cam is applied in relative synchronism. We distinguish the
following variants:
● The cam is shifted along the abscissa (MasterAbsolute = FALSE;
SlaveAbsolute = TRUE)
● The cam is shifted along the ordinate (MasterAbsolute = TRUE; SlaveAbsolute = FALSE)
● The cam is shifted in any direction (MasterAbsolute = FALSE; SlaveAbsolute = FALSE)
Example 1 - Cam is shifted along the abscissa
Settings:
● MasterAbsolute = FALSE
● SlaveAbsolute = TRUE
With these settings you produce an effective cam by shifting the basic cam along the
abscissa.
The amount by which the cam is shifted along the abscissa depends on the position the
leading axis had at the time camming was activated, and on the
userdefault.cammingsettings.camstartpositionmaster system variable of the synchronization
object. The cam is shifted so that the point of the basic cam on the leading axis coordinate
userdefault.cammingsettings.camstartpositionmaster coincides with the actual leading axis
position.
The first diagram applies to userdefault.cammingsettings.camstartpositionmaster = 0, and
the second applies to userdefault.cammingsettings.camstartpositionmaster = 180.
The following axis moves from its current position to the position of the shifted cam.
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Technology Objects
3.4 "Synchronization axis" technology object
S7-Technology
Function Manual, 03/2008, A5E00251798-06 65
Technology Objects
3.4 "Synchronization axis" technology object
The cam start position (smallest X value) is relevant instead of system variable
userdefault.cammingsettings.camstartpositionmaster in this context. The cam is shifted so
that its start point is shifted to the actual position of the following axis.
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66 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.4 "Synchronization axis" technology object
The following axis usually has to perform a compensating motion at the start of synchronism
in order to reach the cam point which is assigned to the current leading axis position. The
drawings show this as "motion of the following axis."
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Function Manual, 03/2008, A5E00251798-06 67
Technology Objects
3.5 "Cam disk" technology object
Use the "Cam disk" technology object to implement complex motion sequences. A "cam
disk" defines the dependency of a following axis position on the leading axis position.
A cam disk can also be used to define a valve profile for a hydraulic axis.
Technology functions
Technology functions supported by the technology object:
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68 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.5 "Cam disk" technology object
3.5.1 Scaling
When a cam disk is defined in S7T Config based on segments, the various cam segments
can be provided in a standard form scaled to factor 1, meaning that the range of values and
the defined range corresponds with the completed interval [0,1].
Mapping of a real cam disk segment to the scaled range:
\
\P
\N
<LN \LN
\LN I]LN
<LN
\L
[LN
\J ;LN
[LN
]LN
[ ;LN
[J [L [N [P
The segments can also be entered in the real range.
Advantages of scaling
● Definite description of the motion for similar tasks
● Independence of real units and ranges of the leading and following axes.
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Function Manual, 03/2008, A5E00251798-06 69
Technology Objects
3.5 "Cam disk" technology object
If the cam disk is operated in cyclic mode and absolute to the following axis, all successive
start and end point values of the cam disk should match.
Any mismatch will cause a step response at the cam disk transition, and thus trigger
synchronization monitoring.
If the cam disk is operated in cyclic mode and relative to the following axis, the successive
start and end point values of the cam disk do not have to match.
The system automatically sets the start point value at the end point at the cam disk
transition. This results in no jumps occurring in the cam disk transition.
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Technology Objects
3.5 "Cam disk" technology object
Non-cyclic mode means that the cam disk is only executed once. Camming is terminated
when the end or start point of the cam is reached
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Function Manual, 03/2008, A5E00251798-06 71
Technology Objects
3.5 "Cam disk" technology object
Continuity check
The system checks the continuity of a cam disk in the definition and value ranges, and
corrects any discontinuity found.
During this process, the points of discontinuity are examined separately for the definition
range / range of values, and are rated for one of the following corrective actions:
● If the absolute value of the gap between segments exceeds a maximum, a correction is
made by interpolation between the two segments. This inserts a new segment according
to the defined interpolation mode. The cam disk type is included in this action if a
segment is inserted in the edge area.
● If the absolute value of the gap between segments is greater than the minimum and less
than the maximum, a correction is made by joining the segment end points. The mean
value of the spacing of the function is used for the correction. The shape of the segments
is affected as a result.
● If the absolute value of the spacing between segments or interpolation points is less than
the minimum value, a correction is not made. The discontinuity point is retained. When
this discontinuity point is accessed, the right-hand edge point is output.
The maximum value can be set in the "Interpolation" tab when you interpolate using
CamEdit. The "minimum value" corresponds with the entry "ignore gaps", and the
"maximum" with the entry "join points".
In the case of an interpolation with the "MC_CamInterpolate" technology function, the
minimum and maximum values amount to 1e-004. each. Segment end points can therefore
only be joined by interpolation using CamEdit.
The point of discontinuity is corrected according to the rating of the definition range /range of
values.
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Technology Objects
3.5 "Cam disk" technology object
Condition Result
Deviation < minimum Discontinuity retained
Minimum < deviation < maximum Joins segment points
Deviation > maximum Interpolation (new segment)
The correction is controlled for the definition range and the range of values each by the
definition of the minimum and the maximum shape deviation.
● Function continuity can be achieved by linear interpolation
● Continuity in the derivatives can be achieved by spline interpolation
If the continuity condition can not be adhered to due to the selected interpolation method or
the programmed geometry, a message is output to that effect.
If an interpolation edge point lies within the programmed geometry, all geometry elements up
to the edge points are rejected. If an interpolation edge point lies outside the programmed
geometry, an end point is extrapolated according to the interpolation method used and taking
into account the geometry characteristic.
Note
After interpolation, new polynomials or interpolation points can only be inserted after
resetting the cam with ("MC_CamClear".)
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Function Manual, 03/2008, A5E00251798-06 73
Technology Objects
3.5 "Cam disk" technology object
You can select the interpolation type using the "MC_CamInterpolate" technology function
and CamEdit:
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74 Function Manual, 03/2008, A5E00251798-06
Technology Objects
3.5 "Cam disk" technology object
Cam type
The cam disk type describes its application and the resultant interpolation of the points of
discontinuity at the edges of the cam disk:
● not cyclic (discontinuity at the edge points)
The technology CPU uses the cam disk as defined, including any discontinuity at the
edges. This also applies when the cam disk is operated in cyclic mode. However, the
acceleration limits and inertia of the mechanical system and drive play a decisive role.
● cyclic absolute (constant position and speed at the edge points)
The cam disk is interpolated so that its position and velocity remain constant at the edges
when operating in cyclic mode. The following axis values and velocities (cam gradients)
are identical at the cam edge points.
● cyclic relative (constant speed at the edge points)
The technology CPU converts the cam disk so that its velocity remains constant at the
edges in cyclic mode. The values and velocities (cam gradients) at the cam edges are
identical. The following axis values are not be calibrated.
In "cyclic absolute" or "cyclic relative" mode, the Technology CPU can only calculate the cam
disk if a sufficient distance lies between the first defined position of the cam disk and the end
of the definition range. The same applies to the first defined position and the start of the
definition range.
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Function Manual, 03/2008, A5E00251798-06 75
Technology Objects
3.5 "Cam disk" technology object
The basic cam consists of two polynomials. In order to be able to interpolate the cam
according to its given interpolation mode (non-cyclic, absolute and relative cyclic mode), the
end of the definition range (range of leading axis values) is extended from 1.00 to 1.50 in the
examples shown in the next section. Within this extended range, the cam is interpolated
according to the interpolation mode set.
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Technology Objects
3.5 "Cam disk" technology object
Interpolation:
linear, cyclic relative
Input parameter
"MC_CamInterpolate":
Mode = 0
CamMode = 0
StartPoint = 0.0
EndPoint = 1.5
Result:
The basic cam remains
unchanged; it is extended
along a linear coordinate,
based on its initial gradient.
S7-Technology
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Technology Objects
3.5 "Cam disk" technology object
Interpolation:
cubic splines,
cyclic absolute
Input parameter
"MC_CamInterpolate":
Mode = 1CamMode = 1Sta
rtPoint = 0.0EndPoint = 1.5
Result:
The basic cam remains
unchanged. The cam is
extended within the
extended definition range
according to the
interpolation mode; the
interpolated cam operates
at constant position and
velocity
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3.5 "Cam disk" technology object
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Technology Objects
3.5 "Cam disk" technology object
Interpolation:
Bezier splines,
cyclic relative
Input parameter
"MC_CamInterpolate":
Mode = 2CamMode = 0Sta
rtPoint = 0.0EndPoint = 1.5
Result:
The basic cam remains
unchanged. The cam is
extended within the
definition range according
to the interpolation mode;
the interpolated cam
operates at constant
velocity
Conditions:
● Any different values defined at the "MC_CamInterpolate" technology function for
StartPoint and EndPoint determine the range of the master values. Any interpolation
points or segments set outside the defined range will be truncated. The limits of the
interpolation cams are not maintained if the value 0.0 is set at StartPoint and EndPoint.
● In order to to interpolate the cam disk if CamMode = 0 or CamMode = 1 , you should
always set values at StartPoint or EndPoint that cover a range greater than the range of
the interpolated cam. Interpolation according to default parameters is not possible if this
condition is not met. The technology function "MC_CamInterpolate" outputs the warning
0027 . S7T Config outputs an alarm if the cam was interpolated in CamEdit.
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Technology Objects
3.5 "Cam disk" technology object
Example:
The "MC_CamSectorAdd" technology function is used to define a polynomial in the definition
range from 0 to 0.9. In order to be able to interpolate the cam disk in the edge area
according to given interpolation rules, you should at least define the range 0 to 1.0 at
"MC_CamInterpolate."
● "Linear interpolation" (Mode = 0) does not make any sense if the cam disk is to be
interpolated in "cyclic relative" (CamMode = 0) or "cyclic absolute" (CamMode = 1) mode.
Instead, select "cubic splines" (Mode = 1) or "Bezier splines" (Mode = 2.)
● If you define several segments by polynomials at technology function
"MC_CamSectorAdd" you should always make sure that the start point of a polynomial
matches the end point of the partner polynomial, or that a sufficient definition gap exists
between the various polynomials Interpolation will fail otherwise The cam disk may show
any step response after its interpolation Any input of partially overlapping segments
prevents compliance with interpolation rules and warning 0027 will be output at the
"MC_CamInterpolate" technology function. The cam disk may produce a step at this
position
● If the cam disk is to be interpolated in "non-cyclic" mode (CamMode = 2) the definition
range of the "MC_CamSectorAdd" (X-min to X-max) should correspond with the definition
range of the "MC_CamInterpolate" technology function (StartPoint to EndPoint.)
● Rule for cyclic relative interpolation:
The velocity remains constant at the cam transition
V(X-min) = V(X-max)
● Rule for cyclic absolute interpolation:
The velocity and position remain constant the cam transition
V(X-min) = V(X-max),
Y(X-min) = Y(X-max)
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Technology Objects
3.6 "Output cam" technology object
Use the "Output cam" technology object to generate control signals based on the axis
position. You can evaluate the control signals in the user program, or set these at digital
outputs. I/O supported:
• Digital outputs of integrated technology
• Digital outputs of a standard slave on DP(DRIVE)
• Digital outputs of SINAMICS Terminal Modules TM15 or TM17
The Technology CPU distinguishes between the output cams listed below:
● Position-based cam (Page 83)
Position-based cams are activated between the starting position and the end position.
The position-based cam is deactivated outside this range.
● Switching output cam (Page 85)
Switching cams are set when the starting position is reached, and must be reset by the
user program.
● Time-based cam (Page 86)
Time-based cams are set for a defined period when the starting position is reached.
Interconnections
The "Output cam" technology object can be interconnected with the technology objects listed
below:
● Positioning axes
● Synchronization axes
● External encoders
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Technology Objects
3.6 "Output cam" technology object
Technology functions
Technology functions supported by the technology object:
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The cam output is inverted when the starting position is greater that the end position
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Technology Objects
3.6 "Output cam" technology object
Switching characteristics
The switching characteristic of position-based cams is determined by the starting and end
positions.
At the "Output cam" technology object an "effective direction" can be defined additionally at
the technology object.
Inverted output
The inverted output function interchanges the cam activation range and the cam deactivation
range.
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Technology Objects
3.6 "Output cam" technology object
Switching characteristics
The switching action of switching output cams is determined by the starting position and by
the direction of movement.
Action: Condition:
Switching output cam • The output cam is enabled by calling the "MC_CamSwitch"
activation technology function (positive edge at input parameter Execute)
• The direction of motion corresponds with the effective direction
(input parameter Direction)
• The starting position (input parameter OnPosition) is passed
Switching output cam The output cam is deactivated by calling the "MC_CamSwitch"
deactivation technology function (input parameter Mode = 1)
Note
The switching output cam is not activated if the cam starting position is not passed, for
example, as a result of actual value settings.
Note
The output cam is deactivated at the cam starting position if the motion direction = effective
direction or if the output cam was activated by the "MC_CamSwitch" technology function.
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Technology Objects
3.6 "Output cam" technology object
Switching characteristics
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The switching action of time-based cams is determined by the starting position and the cam
activation time.
At the "Output cam" technology object an effective direction can be defined additionally at
the technology object.
Note
Time-based cams can not be retriggered.
Inverted output
The time-based cam is activated for inverted output, and is deactivated at the cam
deactivation position for the duration of a specified time.
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Technology Objects
3.6 "Output cam" technology object
Reaction
The diagram below shows the ON and OFF switching action of output cams, without
hysteresis, derivative time, and without cam deactivation time.
The switching action depends only on the position (position setpoint or actual position).
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Technology Objects
3.6 "Output cam" technology object
Effective direction
You can define a default effective direction when you activate output cams. The output cam
is only activated if the motion corresponds with the set effective direction.
There are two options:
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Technology Objects
3.6 "Output cam" technology object
3.6.5 Hysteresis
Mechanical backlash may cause fluctuation of the actual position value which may lead to
unwanted transitions of the output cam's switching state. This effect can be prevented by
setting a hysteresis.
Hysteresis conditions
● The hysteresis is always active when the axis reverses its direction.
● The direction of motion is not redefined within the hysteresis.
● Within the hysteresis, the switching state of position-based cams is not changed.
● This current switching state will be set if modified output cam switching conditions are
detected after the cam has moved out of the hysteresis window.
The diagram below shows the results of the effective direction (= positive)
The height of the green hatched area corresponds with the hysteresis.
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Technology Objects
3.6 "Output cam" technology object
Hysteresis range
The high limit of the hysteresis is set to a quarter of a modulo axis range and a quarter of a
non-modulo axis range. The working range is defined by the software limit switches. The
working range cannot be limited if a SW limit switch does not exist. You receive an error
message if this maximum setting is exceeded.
● Hysteresis of position-based cams
The hysteresis is enabled immediately after a reversal is detected. Position-based cams
are switched off when they move out of the hysteresis window.
● Hysteresis of time-based cams
The deactivation response of a time-based cam is determined by the cam activation time
and not by the hysteresis.
The function is set at the Hysteresis input parameter of the "MC_CamSwitch" or
"MC_CamSwitchTime" technology functions.
_______ Output cam activation at input parameter Delay = 0 (no time-based offset)
- - - - - - Output cam activation at input parameter Delay < 0
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Technology Objects
3.6 "Output cam" technology object
Note
Note:
• The integrated technology calculates the dynamic switching position as a function of the
axis velocity and defined time-based offset. The reference velocity is derived from the
axis velocity at the time of activation of the output cam. Subsequent velocity changes are
ignored in the calculation of output cam switching points.
• The offset of the calculated switching position may exceed the length of modulo axes.
• Long derivative action times exceeding one modulo cycle may lead to heavy fluctuation of
the switching position of actual value output cams (actual value profile.) Use setpoint
output cams if required.
• The dynamic derivative action of modulo axes can be greater than one modulo length.
The system, however, does not collect switching operations. One switching operation is
active in the system at any given point in time. A switching operation is completed when
the output cam is switched off.
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Technology Objects
3.7 "Cam track" technology object
Use the "Cam track" technology object if you want to use several output cams of the same
type on one axis or an external encoder. Up to 32 individual output cams can be used in a
cam track. The switching signals of the individual output cams can be evaluated in the
user program. The switching states of all the individual output cams can be switched as a
total result to digital outputs. The following IO devices can be used:
• Digital outputs of integrated technology
• Digital outputs of a standard slave on DP(DRIVE)
• Digital outputs of SINAMICS Terminal Modules TM15 or TM17
The following output cam types can be selected for a cam track:
● Position-based cam (Page 95)
Position-based cams are activated between the starting position and the end position.
The position-based cam is deactivated outside this range.
● Time-based cam (Page 97)
Time-based cams are set for a defined period when the starting position is reached.
● Time-based output cam with maximum ON length
In the case of time-based output cams with maximum ON length, the ON period of the
output cam is limited by the maximum ON length in addition to the duration. The output
cam is switched off when the ON period or the maximum ON length is exceeded.
The selected cam type applies to all the output cams of a cam track. Position-based cams
and time-based cams have the same switching behavior in the cam track as that of the
"Output cam" technology object.
Interconnections
The "Cam track" technology object can be interconnected with the technology objects listed
below:
● Positioning axes
● Synchronization axes
● External encoders
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Technology Objects
3.7 "Cam track" technology object
Table 3-1 Comparison of the "Output cam" and "Cam track" technology objects
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Technology Objects
3.7 "Cam track" technology object
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The cam track used as an example is defined with three individual output cams (N1 ... N3).
The starting and end positions of the individual output cams are specified in the pre-
assignment in S7T Config. The positions of the individual refer to the respective cam track
beginning.
In the example the output cam N2 is parameterized as invalid. The output cam N2 is not
taken into account as either a hardware output cam or as a software output cam. The validity
of an output cam can be parameterized in S7T Config in the pre-assignment.
The track length determines the part of the cam track to be used. The cam track is applied
and used at the axis reference position. The track length to be used is determined when
calling up the "MC_CamTrack" technology function.
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The cam track is always created in the positive direction on the axis reference position in
accordance with your track length.
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Technology Objects
3.7 "Cam track" technology object
Technology functions
Technology functions supported by the technology object:
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21SRVLWLRQ 2))SRVLWLRQ
21UDQJH 21UDQJH
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The cam output is inverted when the starting position is greater that the end position
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Technology Objects
3.7 "Cam track" technology object
Switching characteristics
The switching characteristic of position-based cams is determined by the starting and end
positions.
At the "Output cam" technology object an "effective direction" can be defined additionally at
the technology object.
Inverted output
The inverted output function interchanges the cam activation range and the cam deactivation
range.
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Technology Objects
3.7 "Cam track" technology object
Switching characteristics
21SHULRG
21SRVLWLRQ
The switching action of time-based cams is determined by the starting position and the cam
activation time.
At the "Output cam" technology object an effective direction can be defined additionally at
the technology object.
Note
Time-based cams can not be retriggered.
Inverted output
The time-based cam is activated for inverted output, and is deactivated at the cam
deactivation position for the duration of a specified time.
Switching characteristics
In the case of time-based cams with a maximum ON length, a maximum ON length is taken
into consideration in addition to the time-based cam function.
The maximum ON length is defined in S7T Config in the pre-assignment of the cam track.
A time-based cam with a maximum ON length switches off when the configured time has
expired, or the maximum ON length has been exceeded (depending on which event occurs
first).
The maximum ON length is effective in both traversing directions of the axis, and the cam
track's switch-on position is the reference position.
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Technology Objects
3.7 "Cam track" technology object
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Technology Objects
3.7 "Cam track" technology object
Note
An unfavorable selection of the cam track length and the modulo length can lead to
undesired acyclic overrides. Avoid the following constellations:
• Cam track projects beyond the modulo length, or cam track length > modulo length
(with cyclic and non-cyclic creation of the cam track)
• Modulo length and cam track length are not in an integer relation to each other
(with cyclic creation of the cam track)
Tip
With cyclic creation of the cam track, select a cam track length that is twice as large as the
modulo length if you want to switch the cams only in every second modulo cycle.
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Technology Objects
3.8 "Measuring input" technology object
Use the "Measuring input" technology object for precise and fast logging of actual position
values.
Technology functions
Technology functions supported by the technology object:
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Technology Objects
3.8 "Measuring input" technology object
Activation / deactivation
Measuring inputs are activated / deactivated by calling the "MC_MeasuringInput" technology
function.
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0HDVXULQJ
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at positive
edge)
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The measuring command is canceled and an error is indicated at the technology function
and at the technology DB if a trigger signal is not recognized within the measuring range.
The order by which the start and end values are specified is irrelevant to non-modulo axes. If
the initial value is greater than the end value, the values are interchanged.
If the start value is greater than the end value at a modulo axis, the valid range is extended
from the start value beyond the modulo transition of the axis to the end value.
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Technology Objects
3.9 "External encoder" technology object
Use the "External encoder" technology object to return the position or angle of a
mechanical component as a master setpoint to the Technology CPU.
The "External encoder" technology object returns the actual position and velocity values of a
distance measuring system. The technology object does not control the effective drive
component.
Technology functions
Technology functions supported by the technology object:
Interconnection
The "External encoder" technology object can be interconnected with the following
technology objects:
● "Synchronization axis" technology object as leading axis
● "Output cam" technology object as actual position value
● "Measuring input" technology object as actual position value
Wiring
Encoders supported by the "External encoders" technology object:
● Analog absolute encoder (sensor analog) wired to an analog input module of ET 200M or
ET 200S
● Incremental encoder (rectangular TTL) wired to analog drive interface IM 174/ADI4
● Absolute encoder (SSI) wired to analog drive interface IM 174/ADI4
● Incremental or absolute encoders wired to the encoder input of a DP drive
● Absolute encoder SIMODRIVE Sensor Isochron (message frame 81)
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Technology Objects
3.9 "External encoder" technology object
Examples
● You can use the second encoder interface of a double-axis module can be used to wire
an external encoder to SIMODRIVE 611U
● A second encoder can be wired to MASTERDRIVES MC using an encoder module
● Isochronous PROFIBUS encoders can be operated directly on DP(DRIVE)
● SINAMICS S120 supports the connection of a second encoder via SMC 30, SME 20,
SME 25
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Technology Objects
3.9 "External encoder" technology object
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Configuring 4
4.1 Fundamental procedure for configuration
Steps to perform in order to implement motion control commands:
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
1. Create a new project SIMATIC Manager and add a SIMATIC 300 station.
2. Open HW Config by selecting the "SIMATIC 300" station and double-clicking "Hardware".
3. In the "Hardware catalog" view, select the "SIMATIC Technology CPU" hardware profile from the "Profile" drop-
down list.
4. Copy a mounting rail from the "Hardware catalog" view to the station window of HW Config.
5. Drag-and-drop a power supply module to the mounting rail (for example: "PS 307 5A".)
6. Drag-and-drop the relevant Technology CPU from the HW catalog to the selected row containing the rail. This
opens the message box shown below.
Minimize transfer times by increasing the transmission rate at the MPI/DP interface.
For further information, refer to the message box help.
7. Close the message box
Set the PROFIBUS properties of DP(DRIVE) in the next dialog box.
8. Click "New" to create a new "Subnet" (DP master system). Make sure that the Technology CPU is the only
master station on DP(DRIVE).
Set address 0 at the DP(DRIVE) in order to enhance operating performance.
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
9. Select the "Network settings" tab from the properties dialog box of the PROFIBUS network
Select a transmission rate of 12 Mbps. Do not change the "DP" profile of the PROFIBUS network.
To enhance performance of the DP(DRIVE) system:
• Set the 0 value at "Highest PROFIBUS address".
• Deactivate the "Enable cyclic broadcast of bus parameters" option. Click "Bus parameters," and then reset
the check box.
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
10. Click "Options". Set the "Activate constant bus cycle time" check box in the next dialog box.
As the value for the constant DP bus cycle time, enter the time required for isochronous operation of the drive
components on DP(DRIVE). Observe the device-specific properties and the quantity framework of the
components supported for operation on DP(DRIVE).
Retain the defaults of all other options offered in this dialog box.
Note:
You can also make the settings using the properties dialog boxes of the drives. The equidistant DP cycle and
the cycle time are then automatically activated or aligned.
11. Close all dialog boxes of HW Config by clicking "OK".
12. Increase the transmission rate at the MPI/DP interface (see step 6). Save and compile the hardware
configuration data and download these to the target system.
13. In HW Config, double-click the technology (slot 3), and then select the "Technology System Data" tab. Set the
"Generate Technology System Data" check box. Confirm your settings with
"OK".
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
14. Save and compile the hardware configuration data and download these to the target system. Adapt the PG / PC
interface.
Download the hardware configuration and firmware data of the integrated technology to the target system.
Result: After you compiled the data, the project dialog box in SIMATIC Manager shows the "Technology" folder
that contains the "Technology Objects".
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Basic procedure
The next steps below describe the basic procedure of configuring the drives based on the
example of a SIMODRIVE 611 universal.
For detailed information on the HW configuration of drives, refer to the product information
and to the relevant drive documentation.
Step Description
1. Open the HW catalog, and then open the folder
"SIMATIC Technology > PROFIBUS DP(DRIVE) > Drives > SIMODRIVE".
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
2. Select the required drive component (example: "SIMODRIVE 611 universal"). Drag-and-drop this component to
the DP master system.
The "Properties – PROFIBUS interface SIMODRIVE 611 U DP2, DP3" dialog box opens.
3. Set the relevant PROFIBUS address 4, for example. Confirm your entry with "OK".
The "Properties - Drive" dialog box opens.
Close the dialog box with "OK".
4. Select the "Configuration" tab on the "DP Slave Properties" dialog box and select the required message frame.
For details on selecting message frames and supported functions, refer to "Message frame types and their
functions (Page 113)".
Select for example the message frame 102 for the operation of one axis on SIMODRIVE611 universal as
positioning or synchronization axis without DSC with torque reduction).
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Step Description
5. Select the "Synchronous operation" tab and set the "Synchronize drive with equidistant DP cycle" check box.
As a result of the settings made in the PROFIBUS network configuration, the DP cycle time is activated and
displayed on this dialog box The DP cycle coefficient is adapted accordingly.
If you do not configure the cycle time in the network properties the coefficients must be adapted in this dialog
box in order to obtain the relevant cycle time (example: 16 for a DP cycle of 2.00 ms).
The DP cycle of the DP(DRIVE) interface is always an integer multiple of 0.5 ms and is mainly determined by
the number and type of components to be operated on the network.
Also observe the drive-specific help available in this dialog box when you define the DP cycle.
6. For this example, set the "To" time coefficient to obtain a time of 0.5 ms. Do not change the default value of the
"Ti" coefficient.
7. Click "Alignment".
This triggers the following settings:·
• The constant bus cycle is activated
• The DP cycle of the master system will be adapted to the drive properties
• All drive components of the same family receive the same parameter configuration
8. Close the dialog box with "OK".
9. Save and compile the hardware configuration data and download these to the target system.
If you have set the "Generate technology system data" check box in the technology properties, the system will
generate the system data for the HW configuration and for the technology firmware.
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
Note
Drive components of different families must be calibrated manually. To do so, note down the
set values and then transfer these to the corresponding dialog boxes.
Note
When changing the message frame type of a drive component in HW Config, you also need
to adapt the selection of the message frame in the interface configuration of the
corresponding technology object in S7T Config.
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
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Configuring
4.2 Configuring the technology CPU and drives in HW Config
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Configuring
4.3 Technology Objects Management
Prerequisites
● SIMATIC Manager is open
● The Technology CPU was configured in HW Config, and the configuration data were
saved
Step Significance
1. In SIMATIC Manager, select "Technology objects" from the "Technology" folder to run "Technology Objects
Management".
2.
Select "Technology Objects", and then select the Edit > Open object command in SIMATIC Manager.
You can also start S7T Config without running "Technology Objects Management".
3. Select "Technology objects" from the "Technology“ folder in SIMATIC Manager, and then select Options >
Configure technology.
Using the menu command in SIMATIC Manager to start it is useful if you do want not create any new technology
objects, and therefore do not have to create any new technology DBs.
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Configuring
4.3 Technology Objects Management
Toolbar
The toolbar contains the essential menu commands.
Work area
Each STEP 7 project is opened in a separate working window on your working area. Each
window shows all existing technology DBs:
● The upper area of the window shows the technology DBs you already created.
● The bottom section of the working area lists the technology objects for which you have
not yet generated any technology data blocks.
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Configuring
4.3 Technology Objects Management
Prerequisite
● The configuration of the Technology CPU in S7T Config is completed, saved and
compiled.
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Configuring
4.3 Technology Objects Management
Note
For further information on using "Technology Objects Management", refer to the
corresponding Online Help system.
Prerequisite
● You concluded the configuration of the Technology CPU and drives in HW Config by
executing the Station > Save and compile command.
● The configuration of the Technology CPU is successfully completed in S7T Config and
saved.
Step Description
1. In SIMATIC manager, double-click "Technological objects".
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Configuring
4.3 Technology Objects Management
Step Description
The "Technology Objects Management" dialog opens. (Example):
Note
Delete any previously downloaded technology DB of this name from the CPU. You can then
download the renamed technology DB with the new DB number to the CPU.
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Configuring
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Note
Technology DBs copied in the block folder of SIMATIC Manager must be verified. The
corresponding DBs are not valid as technology DBs under the following conditions:
• If marked in red in the dialog box mentioned above
In this case, select "Technology DBs in block folder," and then click "Delete."
• If not listed in the previously mentioned dialog box
In this case, delete the block from the block folder of the SIMATIC Manager.
Prerequisites
● SIMATIC Manager is open
● The Technology CPU was configured in HW Config, and the configuration data were
saved
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Select "Technology objects", and then select Edit > Open Object in order to run "Technology
Objects Management".
Select the Options > Configure technology in "Technology Objects Management" in order to
open S7T Config and to configure the technology objects. S7T Config starts automatically if
you have not yet created any technology objects.
You can also start S7T Config without running "Technology Objects Management". Select
"Technology objects" from the "Technology“ folder in SIMATIC Manager, and then select
Options > Configure technology. Using the menu command in SIMATIC Manager to start it is
useful if you do want not create any new technology objects, and therefore do not have to
create any new technology DBs.
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Navigator
The Navigator visualizes the project structure of the technology, and the assignment of the
configured technology objects. Identical objects are indicated by the same icons. The system
indicates online mode by highlighting the icons with a corresponding background color, or by
displaying additional icons (connector icons) which characterize the interconnection of the
PG/PC with the PLC. Please refer to the S7T Config online help for a detailed description.
You can open the relevant configuration dialog box by double-clicking an object on the
working area.
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Work area
The technology object configuration dialog boxes, for example, for setting configuration data,
defaults and limits, are displayed on the working area. The tabs indicate the technology
objects for which you have opened the relevant dialog box. You can open dialog boxes for
several technology objects.
All the modifiable parameters in the working area are assigned high and low limits which are
indicated by a tooltip in S7T Config.
Detail View
The details view outputs information about the elements you selected in Navigator. The view
shows different tabs, depending on the object you selected. The number of tabs depends on
the active dialog boxes on the working area, and on the project status (offline or online).
To obtain information about an object in the detail view:
1. Select the relevant object in the Navigator. The detail view shows all tabs available for
this object.
2. Click the tab in the detail view The tab content is shown
Title bar
The title bar contains the project name and the name of the active configuration dialog box of
the selected technology object.
Menu bar
The menu bar contains the menus currently supported in S7T Config.
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Toolbar
The toolbar icons provide quick access to frequently used and currently available menu
commands by means of mouse click. If you position the cursor briefly on an icon, a tooltip for
this function is displayed. The status bar displays additional information.
Grayed-out symbols indicate functions which cannot be executed in the current working
state.
Status bar
The status bar shows context-sensitive information and the project status (offline or online
mode).
Offline mode
Communication with the Technology CPU is down when S7T Config is operated in offline
mode. In this mode, you can create new technology objects, configure drives using the
integrated STARTER tool, and compile the technology data.
Online mode
S7T Config communication with the Technology CPU is up when operated in online mode. In
this mode you can perform diagnostics operations, download new project data to the device,
and edit parameters in the CPU.
The system checks technology data consistency when you change to online mode. This
check verifies the availability or connection of the devices, drives and technology objects
configured in the technology. If an inconsistency is found, or an error occurs (for example
deviation of the existing configuration in the target system from the offline configuration in
S7T Config), the corresponding objects are highlighted on a red background in the
Navigator.
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CAUTION
In order to ensure isochronous control of the drives, do not connect the programming
device (PG/PC) to the DP(DRIVE) interface.
Prerequisite
● The Technology CPU was configured in HW Config and configuration data were
compiled.
Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".
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Step Description
2. Select the "Positioning" technology from the "General" tab, for example, for the configuration of a positioning
axis.
Disable the "Positioning" technology when you configure a speed-controlled axis.
You can edit the name, enter an author, define a version name, and enter a comment. "Technology Objects
Management" applies the name of the technology object as symbolic name to the technology DB of the object
in STEP 7.
3. Click on the "OK" button.
Result: The Axis Wizard appears.
Note
You define the axis technology (speed, positioning, synchronous operation) once when you configure a new
axis. In order to change the axis technology at a later time, you must delete and recreate the axis.
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Step Description
4. Select the axis type and the motor type from the next dialog box.
Click "Continue".
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Step Description
5. Select the physical units for axis configuration and for the user program from the list in the next dialog box.
Note: The physical unit settings only apply to this axis. The list may also show physical units which are
irrelevant to this axis due to the axis configuration.
Example: The value "1000.0" with positioning unit in [mm] set at input parameter Position of the
MC_MoveAbsolute" technology function is equivalent to a position value of 1000.0 mm.
Caution:
Numerical values set in the user programs (for motion commands, for example) are not converted into the new
units if you change the unit settings. The values always refer to the configured unit!
Click "Continue".
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Step Description
6. If you intend to operate the axis in modulo mode, set the "Modulo axis" check box, and enter the required
modulo length and start value.
Click "Continue".
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Step Description
7. On the next dialog box, select the drive component you want to connect to the axis.
The drop-down list shows all drives configured in HW Config. Drives already connected are no longer included
in the drop-down list. The program only shows the "Synchronize Sinamics devices" button if a SINAMICS S120
drive is configured in HW Config.
Select the "virtual axis" drive component in order to allocate a logic control function to the axis in a
synchronized group. The dialog box displays additional options if a real drive unit is selected.
Select the relevant "Axis" from the "Drive" box if the selected drive is a multiple axis module (for example,
SIMODRIVE 611 universal double-axis module, IM 174/ADI4, SINAMICS S120).
The "log. HW addresses", "Input" and "Output" display boxes show the drive's logical addresses you set in the
drive configuration in HW Config.
If you recreate the configuration, the default message frame type set in HW Config will be entered in the drop-
down list box (see Message frame types and their functions (Page 113) for further information.) If the message
frame set in HW Config is unknown or was edited by the user, so that it does not match any known standard
message frames, the telegram wizard helps you to make the correct selection from the drop-down list.
Enter the rated speed of the motor in the "Rated speed" input box. This value is relevant to speed assessment
and must therefore correspond with the drive configuration.
Click "Continue".
Result: The "Interaction axis - drive" dialog box opens. Confirm the dialog with "OK". The S7T Config Online
Help opens. Close the Online Help and continue the axis configuration.
Note
• The message frame type you configured in S7T Config for the interface of the technology object for the
drive component must match the message frame type of the component configured in HW Config.
• Ensure that the motor speed configured in the drive and the values entered in this dialog box are consistent.
If a SINAMICS drive is used, this dialog box furthermore contains the "Data transfer from drive" button with
which the values of the drive parameterization can be used.
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Step Description
8. Select the encoder of the drive from the next dialog box.
Select a default encoder which is to return its values to the CPU in the message frame configured in HW Config
(usually, the encoder directly connected to the drive). You can select a different encoder for axis position
detection from the list of configured encoders.
Open the drop-down list to select the message frame type used to exchange encoder data. Default is the
message frame configured in HW Config.
Define the settings specified in the encoder documentation or in drive configuration data in the "Encoder type",
"Encoder mode" and "Measuring system" drop-down lists.
Click "Continue".
Note
Ensure that the encoder data configured in the drive and the values entered in this dialog box are consistent. If
a SINAMICS drive is used, this dialog box furthermore contains the "Data transfer from drive" button with which
the values of the drive parameterization can be used.
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Step Description
9. In the next dialog box, define the encoder resolution and the multiplication factor of the cyclic actual value.
On the next dialog box, define the encoder resolution and the multiplication factor of the cyclic actual value.
For information on the encoder resolution, refer to the encoder documentation. Calibrate the multiplication
factor of the cyclic actual value based on the values used in the configuration of the drive component.
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Introduction
The "MC_ChangeDataset" technology function can be used to perform a data record
changeover at an axis. You can create data records for speed-controlled axes, positioning
axes and synchronization axes. Virtual axes always have only one data record.
The data record changeover function can be used, for example, to toggle between the motor
encoder and the machine encoder, or to edit controller parameters.
Note
When editing data record parameters, note that certain parameters must be identical in the
data records:
• Parameters changing the structure (different controller types such as PV or PID
controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for example)
The consistency check reports any illegal technology parameter settings when you configure
data records in S7T Config.
Prerequisite
● The axis is configured.
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Step Description
1. In the Navigator of S7T Config, open the configuration dialog box of the axis to which you want to add a data
record.
2. Set the "data record changeover" check box.
The check box is hidden if the axis already contains several data records.
3. Click "Add".
Result: A new data record is added to the axis.
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Step Description
7. Select the connection and message frame type for the second encoder. In the final step, enter the encoder
information ("Encoder type", "Encoder mode" and "Measuring system").
For the encoder configuration select settings from the documentation of the encoder or configuration settings of
the drive components to which the encoder is connected.
Click "Next". Continue by editing the steps in the wizard to complete the configuration.
8. In the axis configuration dialog box, select the data record to be loaded after CPU startup ("active after
startup").
Result: The "Encoder" table shows an overview of the configured encoders of the axis.
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Example
An incremental encoder is connected to SIMODRIVE 611U and returns 2048 p/rev (encoder
resolution). By default, the drive multiplies this number of pulses by the factor of 2048 (2 to
the power of 11). This factor must be entered at the "Multiplication factor of the cyclic actual
value" parameter.
Default
The "Multiplication factor of the cyclic actual value" is set to 0 by default. The system
automatically uses multiplication factor 2048 (2exp11).
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positioningstate.actualposition
sensordata.sensordata[n].incrementalposition sensordata.sensordata[n].position
Filter
Actual value
Differentiation TypeOfAxis.
speed
SmoothingFilter
Limit value
monitoring motionstatedata.
actualacceleration
sensordata.sensordata[n].acceleration
Data are logged within the position control cycle. These data can be used to calculate further
variables such as velocity and acceleration.
The system variables sensordata.sensordata[n].incrementalposition and
sensordata.sensordata[n].position are calculated in the position control cycle clock. All other
system variables are calculated in the corresponding execution cycle clock of the axis or
external encoder. For external encoders, the system variables sensordata.sensordata[n]….
are called sensordata… .
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4.5.4 Configuration
This dialog box also contains functions for managing the data records for a data record
changeover. If the technology object supports multiple data records, you can:
● Create new data records
● Delete data records
● Define which data record to load for the technology object during CPU startup, and
● Reconfigure the selected data record.
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4.5.6 Default
Stop time
The time set at "Stop time" is in effect when a moving axis is disabled, and if Stopmode = 2
is set at "MC_Power".
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Velocity profile
The velocity profile defines the response of the axis during startup and when braking, and to
velocity changes.
The technology functions do not use the default value. If you want to change the velocity
profile, use the Jerk input parameter.
You can choose between the following profiles:
● Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative direction of
the motion (jerk = 0).
● Constant
The profile shows a constant acceleration, the jerk profile is controllable (jerk <> 0).
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4.5.7 Limits
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Wiring
The HW limit switches can be wired to the four integrated digital inputs of the Technology
CPU, or to I/O modules such ET 200 or SINAMICS S120 with TM15/TM17 which are
operated on DP(DRIVE).
Traversing range
The permitted traversing range is monitored at the digital inputs of the hardware limit
switches.
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NOTICE
The hardware limit switch must be implemented as an NC contact.
The hardware limit switches must remain active after the axis has passed the permissible
traversing range until the mechanical end position is reached.
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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and 804B. It is
retracted from the HW limit switch (release motion) as described below:
● Manual retraction
The axis is returned manually to the permissible traversing range. The error at the
technology DB can only be acknowledged after it has been returned to this range.
● Retraction with drive
The error at the technology DB of the axis is acknowledged, but the error message and
the LimitSwitchActive bit remain active. The axis can now be returned to the permitted
traversing range. A reverse motion command once again triggers an axis error. The error
messages and the LimitSwitchActive status can be acknowledged after the axis has
moved out of the range of the limit switch.
The current position of the axis is saved upon reaching the HW limit switch is saved. Only
after this position, plus a safety range, has been passed is the axis considered to have left
the limit switch.
NOTICE
The controller may not be switched off after the axis has passed the HW limit switch in
order to avoid a conflict between polarity monitoring of the hardware limit switches and the
overrun monitoring of the hardware limit switches in direction of the valid range. In this
case, the axis is moved into the valid range without hardware limit switch monitoring, and is
then re-enabled.
When the controller is switched on, the axis must be positioned within the valid traversing
range.
Internal states are lost and the configuration is reloaded when the axis passes the hardware
limit switch. Reloading without loss of the approach information is only possible within the
valid range.
Exception: Deactivation of position limit monitoring after a polarity reversal error
Safety range
The safety range of the HW limit switches is calculated based on the configured resolution of
the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution (increments /
position) of "1000/unit" in the "Configure units" dialog box, meaning that the axis position is
calculated to an accuracy of 0.001 mm. The safety range in this example is a multiple of
1000 of the accuracy: 1 mm.
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Note
The response of software limit switches is determined by the axis configuration in terms of
the homing function. The limit switches of a configuration requiring a homed axis for the
execution of absolute motion commands ("Homing required: Yes" in the Axis > homing
dialog box) are not monitored if the axis is not homed. By contrast, if the execution of
absolute motion commands is allowed when the axis is not homed ("Homing required: No" in
the Axis > Homing dialog box) the software limit switches are monitored, regardless of the
homing state of the axis.
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Status-dependent acceleration
● Acceleration
Axis acceleration, independent of the direction of movement
● Deceleration
Axis deceleration, independent of the direction of movement
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Direction-dependent acceleration
● Acceleration
Acceleration in the positive motion direction and deceleration in the negative motion
direction
● Deceleration
Acceleration in the negative motion direction and deceleration in the positive motion
direction
Parameter settings with dynamic direction vector are useful, for example, for suspended
axes.
Emergency-stop deceleration
The set emergency-stop deceleration comes into effect when a moving axis is disabled and
Stopmode = 0 is set at "MC_Power."
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Note
When the axis moves onto the fixed end stop, and fixed end stop detection with "use
following error" is set, the entry in "Position tolerance after fixed end stop detection" should
be significantly less than that of "Following error for fixed end stop detection".
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Time constant T1
Here, you set time constant T1 of the PT2 position filter in the actual value system.
Time constant T2
Here, you set time constant T2 of the PT2 position filter in the actual value system.
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The parameters of this dialog can also be read from or written to the user program via
technology parameters.
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Extrapolation time
(Parameter 1110; configuration dataTypeOfAxis.Extrapolation.ExtrapolationTime)
Here, you set the time for the extrapolation. No extrapolation if the value entered is 0.0.
Time constant T1
(Parameter 1131 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T1)
Here, you set time constant T1 of the PT2 filter for the extrapolation in the actual value
system.
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Time constant T2
(Parameter 1132 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T2)
Here, you set time constant T2 of the PT2 position filter in the actual value system.
The filter acts on the actual position for the extrapolation. The velocity for the extrapolation is
taken over from the actual values of the axis or external encoder before application of the
smoothing filter (TypeOfAxis.smoothingFilter).
Time constant
(Parameter 1113 configuration data TypeOfAxis.Extrapolation.Filter.timeConstant)
Here, you enter the time constant for the filter.
The position is extrapolated based on the filtered or averaged velocity value. Averaging is via
the "time constant".
Tolerance window
(Parameter 1115 configuration data TypeOfAxis.Extrapolation.ToleranceRange.Value)
Enter the size of the tolerance window here.
If the master value is superimposed with high-frequency noise signals that the synchronous
operation cannot follow, this can cause the dynamic response limits to be exceeded or the
master value to briefly change directions during synchronization.
In this case, define a tolerance window to prevent the dynamic response limits from being
exceeded on the following axis or to prevent direction changes during synchronization.
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4.5.9 Control
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Note
When the Dynamic Servo Control (position controller in the drive) function is active, backlash
locking (limiting of manipulated variable for the drive) is not effective. Therefore, when DSC
is active, the backstop must be generated in the drive.
Drive
Use this input box to enter the maximum speed of the drive.
Controller parameters
For further details on the individual controller parameters and their optimal setting, please
refer to the chapter "Optimizing the position controller - overview (Page 853)".
Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the interpolator
and controller have a different duty factor. Optional interpolation mode settings at the fine
interpolator:
● No interpolation
● Linear interpolation (constant position for positioning axis)
● Interpolation with constant acceleration (constant acceleration at positioning axis)
● Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.
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The system provides a simple method compensating for the forces of static friction. During
startup from a standstill, a DT1 element adds a static friction compensation signal to the
manipulated variable.
decay
Amplitude
The friction compensation is added relative to the velocity setpoint. It is only active when
motion commands are executed.
The standstill identification for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay response are set
in the configuration.
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4.5.10 Homing
4.5.10.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must be
referenced to the position of the mechanical system of the machine each time power is
switched on. The axis is synchronized during homing, based on the activation of a certain
position value at a defined position of the axis mechanism.
Axes can be homed in:
● Active mode (reference point approach)
● Passive mode (flying referencing)
● Direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the reference
point and on the motion an axis may perform for homing.
Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing dialog box
in S7T Config.
Three homing modes are available for "Active homing":
● Reference cam and encoder zero mark
● Encoder zero mark only
● External zero mark only
Start of the homing function:
MC_Home Mode = 0 Determination of the reference point based on the axis configuration
Mode = 1 Determination of the reference point based on the axis configuration
Position = x The reference point is assigned the value of the Position input
parameter.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.
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Active homing mode with "reference cam and encoder zero mark"
After homing is started with the "MC_Home" technology function, the axis moves to the
reference cam and then approaches the referencing encoder zero mark, according to the
axis configuration. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:
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If homing is started by calling the "MC_Home" technology function the axis approaches the
referencing external zero mark in accordance with the configuration. The lower section of the
diagram shows the resultant motion sequence.
Meaning of the various parameters:
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Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.
In order to execute a reference point approach in "external zero mark" homing mode, select
"Signal transition" and "on the side of the external zero mark" values which correspond with
the drive's configuration or functionality. Instead of being used to configure the measuring
function in the drive, the "Signal transition" and "on external zero mark side" parameters
merely reflect their functionality in order to control the axis motion according to the
configuration.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing to encoder zero mark is used, for example, at axes for which the encoder can only
set one encoder zero mark in the entire traversing range of the axis. The homing command
initiates axis approach to the encoder zero mark. After the encoder zero mark is detected,
the axis approaches the shifted reference point at homing velocity. The axis position now
has the value defined in the reference point coordinate. The graphic in the figure shows the
resultant motion sequence. Meaning of the various parameters:
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MC_Home Mode = 2 The current position is assigned the value of the Position input
Position = x parameter at the reference point.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone= TRUE.
Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.
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Passive homing mode with "Reference cam and encoder zero mark"
After the axis has passed the reference cam, the next encoder zero mark triggers axis
homing. The axis position is set in the reference point to the value defined at the Position
input parameter of the "MC_Home" technology function.
Meaning of the various parameters:
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Axis homing starts with the detection of the external zero mark. The axis is set to the value of
the Position input parameter of the "MC_Home" technology function.
Meaning of the individual parameters:
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Note
• For homing with "external zero mark", connect the external zero mark as digital
measuring input to the drive component.
• In order to be able to execute the reference point approach in "external zero mark"
homing mode as required, you should always set values at "Direction of movement" and
"on the side of the external zero mark" which are compatible with drive configuration or
functionality. The "on the side of the external zero mark" and "Direction of movement"
parameters are not used to configure the measuring function in the drive and only reflect
their functionality.
• For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing mode with "Zero mark only" is used for axes, for example, which are equipped with
an encoder that outputs only one zero mark signal within the entire traversing range of the
axis
Axis homing starts with the detection of the encoder zero mark. The position value of the
axis is set to the value of the Position input parameter of the "MC_Home" technology
function after the encoder zero mark is detected.
Meaning of the various parameters:
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The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronous operation technology is set for the axis.
Positioning monitoring
At the end of a positioning motion, the function monitors the axis entry to the target position.
For this purpose, a positioning window and a time tolerance within which the end position
must be reached are specified. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before the
positive feedback of the positioning command is activated. This time can be used for
oscillating processes and control loops, for which the tolerance window should be less than
the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value reaches the
positioning window.
The axis technology DB returns error 8019 if the positioning monitoring function is triggered.
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If you specify a value in the "Enter velocity" input box, the corresponding function value is
displayed in the "Calculated following error" box. This allows you to control how large the
following error may be at the entered speed.
The "Following error monitoring" tab is shown for position-controlled real axes.
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Requirements in HW Config
● A Technology CPU was configured
● An analog control output (analog output module, or analog drive interface IM 174/ADI4) is
configured
● An encoder is configured (analog encoder, incremental or absolute encoder)
● The configuration was saved in HW Config
Note
Set "Standard telegram 3" in HW Config when using analog drive interface IM 174/ADI4.
Call "DP Slave properties" in HW Config by double-clicking the IM 174/ADI4 object.
Select the "Standard telegram 3" from the "Default" drop-down list in the "Configuration"
tab.
Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".
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Step Description
2. Select the "Speed control" and "Positioning" technologies in the "General" tab.
You can edit the name, enter an author, define a version name, and enter a comment. "Technology Objects
Management" applies the name of the technology object as symbolic name to the technology DB of the object
in STEP 7.
3. Click "OK" - this opens the axis wizard.
Note
You define the axis technology (speed, positioning, synchronous operation) once when you
configure a new axis. In order to change the axis technology at a later time, you must delete
and recreate the axis.
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4. Select a "linear," or "rotary" as well as "hydraulic" axis type in the next dialog box. The valve type is defined as
a "Q valve".
Click "Next".
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5. Select the physical units for axis configuration and for the user program from the list in the next dialog box.
Note:
The physical unit settings only apply to this axis. The list may also show physical units which are irrelevant to
this axis due to the axis configuration.
Example: The value "1000.0" with positioning unit in [mm] set at input parameter Position of the
MC_MoveAbsolute" technology function is equivalent to a position value of 1000.0 mm.
Caution:
Numerical values set in the user programs (for motion commands, for example) are not converted into the new
units if you change the unit settings. The values always refer to the configured unit!
Click "Next".
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6. Set the "Modulo axis" check box, and then type in the required modulo length and start value if you are going to
operate the axis in modulo mode.
Click "Next".
For further information about the procedure, refer to the chapters listed below:
• "Configuring hydraulic axes - Q output via IM 174/ADI4" (Page 193)
• "Configuring hydraulic axes - Q output via analog output module" (Page 199)
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1. Define the properties of the analog output module in the next dialog box.
Which output device are you using? Select the analog drive interface IM 174/ADI4.
Output Select the analog output of the drive interface.
log. HW addresses: Input, output The logical addresses can not be edited, as these are defined by the
selection of the analog output.
Which message frame type do you Only "Standard telegram 3" (here, "DP_Tel3") is permitted as message
want to use for the data transfer? frame type. The message frame must match the selection in HW Config.
Output of the inverted value Set this check box to set invert control output to the hydraulic drive.
Click "Next" when you completed your selection.
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2a. Assign an incremental sensor to the hydraulic axis in the subsequent dialog box. The encoder must support
"rectangular TTL" mode.
For information on using analog absolute encoders, refer to the chapter Configuring hydraulic axes - Q output
via analog output module (Page 199).
If you are using an absolute encoder, continue at step 2b.
Where is the position encoder Select the encoder interface of drive interface module IM 174/ADI4.
connected?
log. HW addresses: Input/output: The logical addresses can not be edited, as these are defined by the
encoders selected.
Which message frame type do you Only "Standard telegram 3" (here, "DP_Tel3") is permitted as message
want to use for the data transfer? frame type.
Encoder type: Select "Incremental encoder" from the drop-down list.
Measuring system: Select "Linear encoder system" or "Rotary encoder system", depending
on the encoder used.
Click "Next" after you completed your settings.
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Encoder resolution: For information on the encoder resolution, refer to the encoder
documentation.
Multiplication factor of the cyclic Calibrate the multiplication factor of the cyclic actual value based on the
actual value values used in the configuration of the drive component.
Click "Next" after you completed your settings.
You have successfully completed the axis configuration.
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2b. Assign an absolute encoder to the hydraulic axis in the subsequent dialog box. The encoder must support "SSI"
mode.
Where is the position encoder Select the encoder interface of drive interface module IM 174/ADI4.
connected?
log. HW addresses: Input/output: The logical addresses can not be edited, as these are defined by the
encoders selected.
Which message frame type do you Only "Standard telegram 3" (here, "DP_Tel3") is permitted as message
want to use for the data transfer? frame type.
Encoder type: Select "Absolute encoder" or "Absolute encoder cyclic absolute" from the
drop-down list
Measuring system: Select "Linear encoder system" or "Rotary encoder system", depending
on the encoder used.
Click "Next" after you completed your settings.
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3b. In the next dialog box, define the grid division of the used encoder as well as the multiplication factor of the
cyclic actual value. Calibrate the multiplication factor of the cyclic actual value based on the values used in the
configuration of the drive component.
Grid spacing The grid spacing describes the distance per encoder pulse.
Multiplication factor of the cyclic Encoders connected to a drive can provide pulses with a higher resolution
actual value than the actual encoder resolution (fine resolution).
The multiplication factor of the cyclic actual value is set to 0 by default.
The system automatically uses multiplication factor 2048 (211).
Example of a deviating value:
The absolute encoder connected to the drive returns 4096 (212) pulses
per revolution (encoder resolution). In this case, enter multiplier 12 for the
cyclic actual value.
Multiplication factor of the absolute The encoder actual value transferred at power on (startup) is multiplied by
actual value the multiplication factor of the absolute actual value.
The multiplication factor 0 is set by default for the absolute actual value.
The system automatically uses multiplication factor 512 (29.
The multiplication factors also have to be set at the drive!
• At SINAMICS S120: Parameters p0418 and p0419 (for encoder 1);
(effective value can be read in r0979.3 and r0979.4)
• At SIMODRIVE 611U: Parameters 1042 and 1043 (for encoder 1)
• At Masterdrives MC: Parameter 171
Number of the data bits: Total number of pulses
Example:
4096 pulses = 212
Exponent 12 = 12 data bits
Click "Next" after you completed your settings.
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Note
Conditions of enabling the hydraulic axis with position control using technology function
"MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile in S7T Config.
• The valve profile must be activated by the "MC_SetCharacteristic" technology function.
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1. Specify the properties of the analog output module in the subsequent dialog box.
Which output device are you using? Select "analog output module" from the drop-down list.
log. HW addresses: Output: Enter the HW address of the analog output module of ET 200M or ET
200S.
Format: Select the "left aligned" format for the analog output modules of ET 200M
and ET 200S.
Output of the inverted value: Set this check box if the analog value is reciprocal to the flow.
Resolution: For information on the resolution, refer to the hardware catalog of "HW
Config" (unsigned resolution).
Activate output for valve enable: Set this check box to use the enable status of technology function
"MC_Power" as control signal.
Logical address: If the "Valve enable output" check box is activated, you can set the logical
address of the enable output signal here.
Bit number: Enter the bit number for the enable output signal.
Click "Next" after you completed your settings.
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2. Parameterize an analog absolute encoder for the hydraulic axis in the subsequent dialog boxes. For information
on using incremental encoders (rectangular TTL) and absolute encoders (SSI), refer to the chapter "Configuring
hydraulic axes - Q output via IM 174/ADI4 (Page 193)".
Where is the position encoder Select "Encoder value input module" from the drop-down list.
connected?
log. HW addresses: Input: Enter the HW address of the analog input module of ET 200M or ET
200S.
Click "Next" after you completed your settings.
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Factor: / Offset: Set the Factor to define the gradient of the position value, and set the
Offset to define the shift.
Number of utilizable bits: Enter the number of utilizable data bits of the analog module.
Format: Select "left aligned" for the analog modules of ET 200M and ET 200S.
minimum raw value: Enter the minimum raw value of the analog module.
maximum raw value: Enter the maximum raw value of the analog module.
Error tolerance time: Enter an error tolerance time.
Activate filter: Set the check box to apply a PT1 filter to the analog value of the position.
Time constant PT1 filter You can enter a time constant for the PT1 filter if the "Activate filter" check
box was set.
Click "Next" after you completed your settings.
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Note
Conditions of enabling the hydraulic axis with position control using technology function
"MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile in S7T Config.
• The valve profile must be activated by the "MC_SetCharacteristic" technology function.
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Determining a valve profile using the Symbol Browser and the Trace tool
1. Verify that the hydraulic axis can be moved (hydraulic pressure present, valve ready, etc.).
2. Verify that the hydraulic axis was not assigned a valve profile ("Profiles" setting in the Navigator of S7T Config).
3. Enable the hydraulic axis by calling the "MC_Power" technology function in Mode = 2.
4. Program the following variables in S7T Config for the recording in Trace:
• actordata.qoutputvalue - Manipulated variable as percentage relative to the Q output
• sensordata.sensordata[n].velocity - Velocity of the hydraulic axis
5. Set system variable servosettings.additionalqoutputvalueswitch to YES in the symbol browser of S7T Config.
6. Start Trace.
7. Enter a small percentage at system variable servosettings.additionalqoutputvalue in the symbol browser to
move the axis. Enter value 0 to stop the axis.
8. Enter values between 0 % and 100 % in succession in order to obtain a sufficient number of interpolation points
for the valve profile.
9. In S7T Config, transfer the recorded values to the cam disk of the valve profile using CamEdit. Transfer the
manipulated variable to the "Master" column and the velocity value to the "Slave" column.
1. Verify that the hydraulic axis can be moved (hydraulic pressure present, valve ready, etc.).
2. Verify that the hydraulic axis was not assigned a valve profile ("Profiles" setting in the Navigator of S7T Config).
3. Enable the hydraulic axis by calling the "MC_Power" technology function in Mode = 0.
4. Program the following variables in S7T Config for the recording in Trace:
• actordata.qoutputvalue - Manipulated variable as percentage relative to the Q output
• sensordata.sensordata[n].velocity - Velocity of the hydraulic axis
5. Start Trace.
6. Move the axis at different velocities using the "MC_MoveVelocity" technology function with
PositionControl = FALSE.
Caution: The velocity displayed in sensordata.sensordata[n].velocity does not necessarily coincide with the
default velocity set at "MC_MoveVelocity" as you have not yet activated a valve profile.
You can stop the axis at a defined position in order to prevent the drive from moving to a fixed end stop. Use
technology function "MC_Stop" to set this position.
7. Set several velocity values up to maximum in succession in order to obtain a sufficient number of interpolation
points for the valve profile.
8. In S7T Config, transfer the recorded values to the cam disk of the valve profile using CamEdit. Transfer the
manipulated variable to the "Master" column and the velocity value to the "Slave" column.
Instead of using CamEdit to create the cam disk you can also use the "MC_CamClear",
"MC_CamSectorAdd" and "MC_CamInterpolate" technology functions.
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Enter the valve control output as a "%" unit in the "Master" column. The "Slave" column
contains the corresponding velocity values of the hydraulic axis.
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Example - Valve profiles for a variable speed pump with switching directional valve
In a system containing a variable speed pump with switching directional valve, negative
motion directions are achieved by controlling the switching directional valve. Use separate
valve profiles for the positive and negative direction of movement.
Example of a valve profile for positive direction of movement:
Enter the valve control output as a "%" unit in the "Master" column. The "Slave" column
contains the corresponding velocity values of the hydraulic axis. Any negative control values
which may briefly develop due to control functions are limited to 0 in row 1.
Example of a valve profile for negative direction of movement:
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The structure of the valve profile for negative direction of movement corresponds to that of
the positive direction of movement. The first value pair also limits negative manipulated
variables to 0.
Activate the relevant valve profile in the user program by calling the "MC_SetCharacteristic"
technology function, depending on the direction of movement.
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2. In the next dialog box, select the cam disks to use as valve profile for this hydraulic axis.
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Introduction
The "MC_ChangeDataset" technology function can be used to perform a data record
changeover at an axis. You can create data records for speed-controlled axes, positioning
axes and synchronization axes. Virtual axes always have only one data record.
The data record changeover function can be used, for example, to toggle between the motor
encoder and the machine encoder, or to edit controller parameters.
Note
When editing data record parameters, note that certain parameters must be identical in the
data records:
• Parameters changing the structure (different controller types such as PV or PID
controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for example)
The consistency check reports any illegal technology parameter settings when you configure
data records in S7T Config.
Prerequisite
● The axis is configured.
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Step Description
1. In the Navigator of S7T Config, open the configuration dialog box of the axis to which you want to add a data
record.
2. Set the "data record changeover" check box.
The check box is hidden if the axis already contains several data records.
3. Click "Add".
Result: A new data record is added to the axis.
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Step Description
7. Select the connection and message frame type for the second encoder. In the final step, enter the encoder
information ("Encoder type", "Encoder mode" and "Measuring system").
For the encoder configuration select settings from the documentation of the encoder or configuration settings of
the drive components to which the encoder is connected.
Click "Next". Continue by editing the steps in the wizard to complete the configuration.
8. In the axis configuration dialog box, select the data record to be loaded after CPU startup ("active after
startup").
Result: The "Encoder" table shows an overview of the configured encoders of the axis.
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positioningstate.actualposition
sensordata.sensordata[n].incrementalposition sensordata.sensordata[n].position
Filter
Actual value
Differentiation TypeOfAxis.
speed
SmoothingFilter
Limit value
monitoring motionstatedata.
actualacceleration
sensordata.sensordata[n].acceleration
Data are logged within the position control cycle. These data can be used to calculate further
variables such as velocity and acceleration.
The system variables sensordata.sensordata[n].incrementalposition and
sensordata.sensordata[n].position are calculated in the position control cycle clock. All other
system variables are calculated in the corresponding execution cycle clock of the axis or
external encoder. For external encoders, the system variables sensordata.sensordata[n]….
are called sensordata… .
You use the TypeOfAxis.NumberOfEncoders.Encoder_n.AnalogSensor.PositionFilter
configuration data element to activate or deactivate the actual position value. The filter is
only available for analog absolute encoders:
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4.6.8 Configuration
This dialog box also contains functions for managing the data records for a data record
changeover. If the technology object supports multiple data records, you can:
● Create new data records
● Delete data records
● Define which data record to load for the technology object during CPU startup, and
● Reconfigure the selected data record.
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4.6.10 Default
Stop time
The time set at "Stop time" is in effect when a moving axis is disabled, and if Stopmode = 2
is set at "MC_Power".
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Velocity profile
The velocity profile defines the response of the axis during startup and when braking, and to
velocity changes.
The technology functions do not use the default value. If you want to change the velocity
profile, use the Jerk input parameter.
You can choose between the following profiles:
● Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative direction of
the motion (jerk = 0).
● Constant
The profile shows a constant acceleration, the jerk profile is controllable (jerk <> 0).
4.6.11 Limits
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Wiring
The HW limit switches can be wired to the four integrated digital inputs of the Technology
CPU, or to I/O modules such ET 200 or SINAMICS S120 with TM15/TM17 which are
operated on DP(DRIVE).
Traversing range
The permitted traversing range is monitored at the digital inputs of the hardware limit
switches.
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The hardware limit switch must be implemented as an NC contact.
The hardware limit switches must remain active after the axis has passed the permissible
traversing range until the mechanical end position is reached.
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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and 804B. It is
retracted from the HW limit switch (release motion) as described below:
● Manual retraction
The axis is returned manually to the permissible traversing range. The error at the
technology DB can only be acknowledged after it has been returned to this range.
● Retraction with drive
The error at the technology DB of the axis is acknowledged, but the error message and
the LimitSwitchActive bit remain active. The axis can now be returned to the permitted
traversing range. A reverse motion command once again triggers an axis error. The error
messages and the LimitSwitchActive status can be acknowledged after the axis has
moved out of the range of the limit switch.
The current position of the axis is saved upon reaching the HW limit switch is saved. Only
after this position, plus a safety range, has been passed is the axis considered to have left
the limit switch.
NOTICE
The controller may not be switched off after the axis has passed the HW limit switch in
order to avoid a conflict between polarity monitoring of the hardware limit switches and the
overrun monitoring of the hardware limit switches in direction of the valid range. In this
case, the axis is moved into the valid range without hardware limit switch monitoring, and is
then re-enabled.
When the controller is switched on, the axis must be positioned within the valid traversing
range.
Internal states are lost and the configuration is reloaded when the axis passes the hardware
limit switch. Reloading without loss of the approach information is only possible within the
valid range.
Exception: Deactivation of position limit monitoring after a polarity reversal error
Safety range
The safety range of the HW limit switches is calculated based on the configured resolution of
the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution (increments /
position) of "1000/unit" in the "Configure units" dialog box, meaning that the axis position is
calculated to an accuracy of 0.001 mm. The safety range in this example is a multiple of
1000 of the accuracy: 1 mm.
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Note
The response of software limit switches is determined by the axis configuration in terms of
the homing function. The limit switches of a configuration requiring a homed axis for the
execution of absolute motion commands ("Homing required: Yes" in the Axis > homing
dialog box) are not monitored if the axis is not homed. By contrast, if the execution of
absolute motion commands is allowed when the axis is not homed ("Homing required: No" in
the Axis > Homing dialog box) the software limit switches are monitored, regardless of the
homing state of the axis.
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Status-dependent acceleration
● Acceleration
Axis acceleration, independent of the direction of movement
● Deceleration
Axis deceleration, independent of the direction of movement
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Direction-dependent acceleration
● Acceleration
Acceleration in the positive motion direction and deceleration in the negative motion
direction
● Deceleration
Acceleration in the negative motion direction and deceleration in the positive motion
direction
Parameter settings with dynamic direction vector are useful, for example, for suspended
axes.
Emergency-stop deceleration
The set emergency-stop deceleration comes into effect when a moving axis is disabled and
Stopmode = 0 is set at "MC_Power."
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Note
When the axis moves onto the fixed end stop, and fixed end stop detection with "use
following error" is set, the entry in "Position tolerance after fixed end stop detection" should
be significantly less than that of "Following error for fixed end stop detection".
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Time constant T1
Here, you set time constant T1 of the PT2 position filter in the actual value system.
Time constant T2
Here, you set time constant T2 of the PT2 position filter in the actual value system.
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The parameters of this dialog can also be read from or written to the user program via
technology parameters.
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Extrapolation time
(Parameter 1110; configuration dataTypeOfAxis.Extrapolation.ExtrapolationTime)
Here, you set the time for the extrapolation. No extrapolation if the value entered is 0.0.
Time constant T1
(Parameter 1131 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T1)
Here, you set time constant T1 of the PT2 filter for the extrapolation in the actual value
system.
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Time constant T2
(Parameter 1132 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T2)
Here, you set time constant T2 of the PT2 position filter in the actual value system.
The filter acts on the actual position for the extrapolation. The velocity for the extrapolation is
taken over from the actual values of the axis or external encoder before application of the
smoothing filter (TypeOfAxis.smoothingFilter).
Time constant
(Parameter 1113 configuration data TypeOfAxis.Extrapolation.Filter.timeConstant)
Here, you enter the time constant for the filter.
The position is extrapolated based on the filtered or averaged velocity value. Averaging is via
the "time constant".
Tolerance window
(Parameter 1115 configuration data TypeOfAxis.Extrapolation.ToleranceRange.Value)
Enter the size of the tolerance window here.
If the master value is superimposed with high-frequency noise signals that the synchronous
operation cannot follow, this can cause the dynamic response limits to be exceeded or the
master value to briefly change directions during synchronization.
In this case, define a tolerance window to prevent the dynamic response limits from being
exceeded on the following axis or to prevent direction changes during synchronization.
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4.6.13 Control
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Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the interpolator
and controller have a different duty factor. Optional interpolation mode settings at the fine
interpolator:
● No interpolation
● Linear interpolation (constant position for positioning axis)
● Interpolation with constant acceleration (constant acceleration at positioning axis)
● Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.
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The system provides a simple method compensating for the forces of static friction. During
startup from a standstill, a DT1 element adds a static friction compensation signal to the
manipulated variable.
decay
Amplitude
The friction compensation is added relative to the velocity setpoint. It is only active when
motion commands are executed.
The standstill identification for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay response are set
in the configuration.
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4.6.14 Homing
4.6.14.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must be
referenced to the position of the mechanical system of the machine each time power is
switched on. The axis is synchronized during homing, based on the activation of a certain
position value at a defined position of the axis mechanism.
Axes can be homed in:
● Active mode (reference point approach)
● Passive mode (flying referencing)
● Direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the reference
point and on the motion an axis may perform for homing.
Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing dialog box
in S7T Config.
Three homing modes are available for "Active homing":
● Reference cam and encoder zero mark
● Encoder zero mark only
● External zero mark only
Start of the homing function:
MC_Home Mode = 0 Determination of the reference point based on the axis configuration
Mode = 1 Determination of the reference point based on the axis configuration
Position = x The reference point is assigned the value of the Position input
parameter.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.
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Active homing mode with "reference cam and encoder zero mark"
After homing is started with the "MC_Home" technology function, the axis moves to the
reference cam and then approaches the referencing encoder zero mark, according to the
axis configuration. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:
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If homing is started by calling the "MC_Home" technology function the axis approaches the
referencing external zero mark in accordance with the configuration. The lower section of the
diagram shows the resultant motion sequence.
Meaning of the various parameters:
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Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.
In order to execute a reference point approach in "external zero mark" homing mode, select
"Signal transition" and "on the side of the external zero mark" values which correspond with
the drive's configuration or functionality. Instead of being used to configure the measuring
function in the drive, the "Signal transition" and "on external zero mark side" parameters
merely reflect their functionality in order to control the axis motion according to the
configuration.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing to encoder zero mark is used, for example, at axes for which the encoder can only
set one encoder zero mark in the entire traversing range of the axis. The homing command
initiates axis approach to the encoder zero mark. After the encoder zero mark is detected,
the axis approaches the shifted reference point at homing velocity. The axis position now
has the value defined in the reference point coordinate. The graphic in the figure shows the
resultant motion sequence. Meaning of the various parameters:
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MC_Home Mode = 2 The current position is assigned the value of the Position input
Position = x parameter at the reference point.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone= TRUE.
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Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.
Passive homing mode with "Reference cam and encoder zero mark"
After the axis has passed the reference cam, the next encoder zero mark triggers axis
homing. The axis position is set in the reference point to the value defined at the Position
input parameter of the "MC_Home" technology function.
Meaning of the various parameters:
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Axis homing starts with the detection of the external zero mark. The axis is set to the value of
the Position input parameter of the "MC_Home" technology function.
Meaning of the individual parameters:
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Note
• For homing with "external zero mark", connect the external zero mark as digital
measuring input to the drive component.
• In order to be able to execute the reference point approach in "external zero mark"
homing mode as required, you should always set values at "Direction of movement" and
"on the side of the external zero mark" which are compatible with drive configuration or
functionality. The "on the side of the external zero mark" and "Direction of movement"
parameters are not used to configure the measuring function in the drive and only reflect
their functionality.
• For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing mode with "Zero mark only" is used for axes, for example, which are equipped with
an encoder that outputs only one zero mark signal within the entire traversing range of the
axis
Axis homing starts with the detection of the encoder zero mark. The position value of the
axis is set to the value of the Position input parameter of the "MC_Home" technology
function after the encoder zero mark is detected.
Meaning of the various parameters:
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The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronous operation technology is set for the axis.
Positioning monitoring
At the end of a positioning motion, the function monitors the axis entry to the target position.
For this purpose, a positioning window and a time tolerance within which the end position
must be reached are specified. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before the
positive feedback of the positioning command is activated. This time can be used for
oscillating processes and control loops, for which the tolerance window should be less than
the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value reaches the
positioning window.
The axis technology DB returns error 8019 if the positioning monitoring function is triggered.
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If you specify a value in the "Enter velocity" input box, the corresponding function value is
displayed in the "Calculated following error" box. This allows you to control how large the
following error may be at the entered speed.
The "Following error monitoring" tab is shown for position-controlled real axes.
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Prerequisite
● The Technology CPU was configured in HW Config and configuration data were
compiled.
Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".
2. Activate the synchronous operation technology when you configure the axis.
This "Synchronization" technology requires the active "Positioning" and "Speed control" technologies. You can
not for this reason disable these technologies.
3. Go through the steps as described in the chapter "Configuring axes (Page 126)".
Result: The synchronization axis appears in the Navigator of S7T Config, and its corresponding synchronization
object will be created automatically. The object is automatically given the name of the axis with
_SYNCHRONOUS_OPERATION ending.
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Further procedures
For synchronous operation, assign the synchronization axis the corresponding leading axes
and / or cam disks.
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Prerequisite
● A following axis with the "Synchronism" technology was inserted in S7T Config.
● A leading axis or cam disk was inserted in S7T Config.
Step Description
1. In Navigator of S7T Config, double-click "Configuration" in the synchronization object (child object of the
synchronization axis).
2. In the next dialog box, assign the following axis one or several available leading axes. To do so, set the check
box in the left column, and then select the relevant coupling mode. Possible coupling modes:
Leading axis is a real axis:
• Setpoint coupling
• Actual value coupling with extrapolation
Leading axis is a virtual axis:
• Setpoint coupling
Leading axis is an external encoder:
• Actual value coupling with extrapolation
• Actual value coupling without extrapolation
Which one of the axes is to provide the master setpoints to the following axis is determined in runtime by calling
the relevant technology function, for example, "MC_GearIn" or "MC_CamIn".
3. From the bottom section of the dialog box, select the optional cam disks for the implementation of camming.
4. Click "Close"
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Prerequisites
● A synchronization axis was configured in S7T Config.
● A superimposing synchronization object was not configured for the axis
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Step Description
1. In S7T Config Navigator, select the synchronization axis at which you want to configure superimposing
synchronization. Select Expert > Superimposed synchronous object from the context menu.
Result: The Navigator shows a second synchronization object under synchronization axis.
2. Double-click the Configuration entry of the second synchronization object to open the configuration dialog box.
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Step Description
3. Finalize the synchronous group of the superimposing synchronism by assigning it a leading axis (including cam
disks as required). Set the corresponding check boxes, and then select the coupling type at the leading axes.
The synchronization-specific parameters of the superimposing synchronization object are configured and
assigned values as for basic synchronous operation.
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4.7.3 Synchronization
Coupling to the master setpoint during synchronization or desynchronization can be defined
differently according to the application.
It is determined by:
● The synchronization mode
● The synchronization point
● The position of the synchronization point
● The synchronization criterion
● The direction of synchronization (modulo axes only)
You can set the following synchronization modes in the "Dynamics" tab of the Synchronous
operation > Default dialog box:
● Leading axis-related synchronization profile: Synchronization and desynchronization with
master value reference
● Time-related synchronization profile: Synchronization and desynchronization on the basis
of specified dynamic values
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The leading axis-related synchronization profile is defined at parameters "Sync. length" and
"Desync. length".
Note
The synchronization profile depends on the velocity of the leading axis and on the set
synchronization length. Any dynamic definitions at the synchronization object will be ignored.
For this reason, dynamic response is limited only at the slave axis.
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Note
When synchronizing a synchronization axis with default dynamic values for which the start
point of synchronization is defined, the following axis accelerates to its target velocity along a
hyperbolic ramp.
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Note
If synchronization cannot be performed optimally a reversal of the motion may be
generated.
Any change of the velocity master setpoint is also applied correspondingly to the dynamic
values of the synchronization operation. A warning message is output if the configured
tolerance is exceeded.
The synchronization is canceled with error if the master setpoint is inverted while
synchronization is active.
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Synchronization direction
You can set the synchronization direction in the following dialog boxes:
● Gear synchronization
Axis_SYNCHRONOUS_OPERATION > Default dialog box, "Gear synchronization" tab,
"Synchronization direction"
● Cam synchronization
Axis_SYNCHRONOUS_OPERATION > Default dialog box, "Cam synchronization" tab,
"Synchronization direction"
The settings described below are valid for synchronization and desynchronization.
You can also program the settings at the userdefault.gearingsettings.synchronizingdirection
or userdefault.cammingsettings.synchronizingdirection system variables.
● Compatibility mode (SYSTEM_DEFINED)
The following axis is synchronized within the shortest possible distance. The direction will
be retained if synchronization of the moving following axis is possible in the currently set
direction. The direction is reversed if the current direction of motion has to be changed for
synchronization. The system calculates the motion sequences required for
synchronization.
● Shortest distance (SHORTEST_WAY)
The following axis is synchronized within the shortest possible distance.
● Negative synchronization direction (NEGATIVE_DIRECTION)
Only synchronization in negative direction is allowed, that is, transitions from negative to
positive velocities during synchronization must be avoided. If synchronization fails, S7T
Config outputs error message "50007 Error when activating/deactivating synchronous
operation".
● Positive synchronization direction (POSITIVE_DIRECTION)
Only synchronization in positive direction is allowed, that is, transitions from positive to
negative velocities during synchronization must be avoided. If synchronization fails, S7T
Config outputs error message "50007 Error when activating/deactivating synchronous
operation".
Compatibility mode is always used if Mode = 1 at "MC_CamIn" or "MC_GearIn".
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4.7.4 Synchronization
You can set the synchronization conditions in the "Gear synchronization" and "Cam
synchronization" tabs of the Synchronous operation > Default dialog box.
The synchronization condition is set using the "Synchronization" drop-down list box:
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Setting Meaning
Effective immediately Synchronization is performed immediately after the start of the function.
The settings in "Sync. pos. master setpoint", "Sync. pos. following axis" and
"Position reference" are not evaluated.
Default synchronization position of the The synchronization criterion depends on the position of the leading axis. The
leading axis synchronization position is defined in "Sync. pos. master setpoint".
The setting in "Sync. pos. following axis" is ignored.
Default synchronization position of the The synchronization criterion depends on the position of the following axis. The
following axis synchronization position is defined in "Sync. pos. following axis".
(only with gearing) The setting in "Sync. pos. master setpoint" is ignored.
Transition at the end of the active cam This can only be set with relative leading axis reference.
disk The synchronization criterion is the master setpoint position at the end of the
(only with camming) current cam disk cycle.
The setting in "Sync. pos. following axis" is ignored.
Default synchronization position of the The synchronization criterion depends on the position of the leading axis. The
leading axis and following axis synchronization position is defined in "Sync. pos. master setpoint".
In addition, an offset is generated at the following axis as a result of the setting in
"Sync. Pos. following axis", that is, instead of being synchronized with the
programmed (for example, via cam disk) following position but, the following axis
is synchronized with the "Sync. Pos. following axis" position plus the absolute
position value of the following axis from the cam disk.
Example:
The following axis is coupled to the master axis by way of cam disk.
The cam disk was created so that the following axis is set to position 70 when the
leading axis is at position 50.
If parameter "SyncPos following axis" = 80 the following axis is synchronized at
position 150 (70 + 80) when the leading axis is at position 50.
Coupling by way of the cam disk is still active (scaling remains the same),
however, with an offset of 80.
Effective immediately and Synchronization is performed immediately after the start of the function. The
synchronous position of the slave axis resulting phase shift between the leading and following slave axes results is
derived from the position of the following axis when the function was started. This
compensates for offset caused by the acceleration ramp of the following axis. The
synchronization motion is based on dynamic response defaults.
The setting in "Sync. pos. master setpoint" is ignored.
Last programmed setting Not usable
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Position reference
The synchronization mode is defined in the "Position reference" drop-down list box:
Setting Meaning
Synchronize from synchronization Synchronization starts at the synchronization position. The synchronization length
position is derived from the time-related synchronization profile in dynamic data, and for a
leading axis-related synchronization profile from the "Synchronization length"
parameter. The following axis is synchronized when this length has been passed.
Synchronize before synchronization In this synchronization mode, the following axis is in synchronism with the leading
position axis when it reaches the synchronization position.
The start position of the synchronization with time-related synchronization profile
is determined by the dynamic data, and with leading axis-related synchronization
profile by the "Synchronization length" parameter.
Synchronize symmetrically to In this mode, synchronism is reached at the middle of the synchronization length.
synchronization position The synchronization movement starts before the synchronization position is
reached and is stopped after the position has been passed.
The synchronization is performed depending on the profile in relation to the
synchronization length or dynamic defaults.
Last programmed setting Not usable
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Synchronization direction
Setting Meaning
Same direction as master Synchronization always takes place in the direction of motion of the following axis.
Compatibility mode Gearing:
The following axis is synchronized in positive direction
Camming:
The following axis is synchronized within the shortest distance.
Shortest path without direction preset The slave axis is synchronized over the shortest path.
Negative synchronization direction The axis is always synchronized in negative direction.
Positive synchronization direction The axis is always synchronized in positive direction.
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4.7.5 Desynchronization
You can set the desynchronization conditions in the "Gear synchronization" and "Cam
synchronization" tab of the Synchronous operation > Default dialog box.
Setting Meaning
Effective immediately Desynchronization starts immediately after the start of the function.
The settings in "DeSync. master setpoint", "Desync. following axis" and "Position
reference" are ignored.
Default desynchronization position of Desynchronization starts based on the following axis position set in "DeSync
the following axis following axis".
The settings in "DeSync. leading axis" are ignored.
Specified by the desynchronization Desynchronization starts based on the leading axis position set in "DeSync master
position of the leading axis setpoint".
The settings in "DeSync. following axis" are ignored.
End of cam disk cycle The desynchronization is performed at the end of the current cam disk cycle.
(only with camming)
Last programmed setting Not usable
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Position reference
The desynchronization mode is set in the "Position reference" drop-down list box:
Setting Meaning
Stop after desynchronization position Starts desynchronization at the desynchronization position.
The desynchronization length is derived from dynamic data for a time-based
synchronization profile, and from the "Desynchronization length" parameter for a
leading axis-related synchronization profile. Desynchronization starts after this
length has been passed.
Stop symmetrically to In this mode, desynchronization starts when the axis reaches the middle of the
desynchronization position desynchronization length. The desynchronization motion is started in advance of
the desynchronization position, and stopped when the position is passed.
Desynchronization is performed based on the profile in relation to the
desynchronization length or dynamic defaults.
Stop before desynchronization In this mode, desynchronization starts when the axis reaches the
position desynchronization position.
The start position of the desynchronization with time-related synchronization
profile is determined by the dynamic data, and with leading axis-related
synchronization profile by the "Synchronization length" parameter.
Last programmed setting Not usable
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4.7.7 Configuration
This dialog box also contains functions for managing the data records for a data record
changeover. If the technology object supports multiple data records, you can:
● Create new data records
● Delete data records
● Define which data record to load for the technology object during CPU startup, and
● Reconfigure the selected data record.
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4.7.9 Default
Stop time
The time set at "Stop time" is in effect when a moving axis is disabled, and if Stopmode = 2
is set at "MC_Power".
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Velocity profile
The velocity profile defines the response of the axis during startup and when braking, and to
velocity changes.
The technology functions do not use the default value. If you want to change the velocity
profile, use the Jerk input parameter.
You can choose between the following profiles:
● Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative direction of
the motion (jerk = 0).
● Constant
The profile shows a constant acceleration, the jerk profile is controllable (jerk <> 0).
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4.7.10 Limits
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Wiring
The HW limit switches can be wired to the four integrated digital inputs of the Technology
CPU, or to I/O modules such ET 200 or SINAMICS S120 with TM15/TM17 which are
operated on DP(DRIVE).
Traversing range
The permitted traversing range is monitored at the digital inputs of the hardware limit
switches.
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NOTICE
The hardware limit switch must be implemented as an NC contact.
The hardware limit switches must remain active after the axis has passed the permissible
traversing range until the mechanical end position is reached.
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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and 804B. It is
retracted from the HW limit switch (release motion) as described below:
● Manual retraction
The axis is returned manually to the permissible traversing range. The error at the
technology DB can only be acknowledged after it has been returned to this range.
● Retraction with drive
The error at the technology DB of the axis is acknowledged, but the error message and
the LimitSwitchActive bit remain active. The axis can now be returned to the permitted
traversing range. A reverse motion command once again triggers an axis error. The error
messages and the LimitSwitchActive status can be acknowledged after the axis has
moved out of the range of the limit switch.
The current position of the axis is saved upon reaching the HW limit switch is saved. Only
after this position, plus a safety range, has been passed is the axis considered to have left
the limit switch.
NOTICE
The controller may not be switched off after the axis has passed the HW limit switch in
order to avoid a conflict between polarity monitoring of the hardware limit switches and the
overrun monitoring of the hardware limit switches in direction of the valid range. In this
case, the axis is moved into the valid range without hardware limit switch monitoring, and is
then re-enabled.
When the controller is switched on, the axis must be positioned within the valid traversing
range.
Internal states are lost and the configuration is reloaded when the axis passes the hardware
limit switch. Reloading without loss of the approach information is only possible within the
valid range.
Exception: Deactivation of position limit monitoring after a polarity reversal error
Safety range
The safety range of the HW limit switches is calculated based on the configured resolution of
the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution (increments /
position) of "1000/unit" in the "Configure units" dialog box, meaning that the axis position is
calculated to an accuracy of 0.001 mm. The safety range in this example is a multiple of
1000 of the accuracy: 1 mm.
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Note
The response of software limit switches is determined by the axis configuration in terms of
the homing function. The limit switches of a configuration requiring a homed axis for the
execution of absolute motion commands ("Homing required: Yes" in the Axis > homing
dialog box) are not monitored if the axis is not homed. By contrast, if the execution of
absolute motion commands is allowed when the axis is not homed ("Homing required: No" in
the Axis > Homing dialog box) the software limit switches are monitored, regardless of the
homing state of the axis.
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Status-dependent acceleration
● Acceleration
Axis acceleration, independent of the direction of movement
● Deceleration
Axis deceleration, independent of the direction of movement
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Direction-dependent acceleration
● Acceleration
Acceleration in the positive motion direction and deceleration in the negative motion
direction
● Deceleration
Acceleration in the negative motion direction and deceleration in the positive motion
direction
Parameter settings with dynamic direction vector are useful, for example, for
suspended axes.
Emergency-stop deceleration
The set emergency-stop deceleration comes into effect when a moving axis is disabled and
Stopmode = 0 is set at "MC_Power."
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Note
When the axis moves onto the fixed end stop, and fixed end stop detection with "use
following error" is set, the entry in "Position tolerance after fixed end stop detection" should
be significantly less than that of "Following error for fixed end stop detection".
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Time constant T1
Here, you set time constant T1 of the PT2 position filter in the actual value system.
Time constant T2
Here, you set time constant T2 of the PT2 position filter in the actual value system.
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The parameters of this dialog can also be read from or written to the user program via
technology parameters.
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Extrapolation time
(Parameter 1110; configuration dataTypeOfAxis.Extrapolation.ExtrapolationTime)
Here, you set the time for the extrapolation. No extrapolation if the value entered is 0.0.
Time constant T1
(Parameter 1131 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T1)
Here, you set time constant T1 of the PT2 filter for the extrapolation in the actual value
system.
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Time constant T2
(Parameter 1132 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T2)
Here, you set time constant T2 of the PT2 position filter in the actual value system.
The filter acts on the actual position for the extrapolation. The velocity for the extrapolation is
taken over from the actual values of the axis or external encoder before application of the
smoothing filter (TypeOfAxis.smoothingFilter).
Time constant
(Parameter 1113 configuration data TypeOfAxis.Extrapolation.Filter.timeConstant)
Here, you enter the time constant for the filter.
The position is extrapolated based on the filtered or averaged velocity value. Averaging is via
the "time constant".
Tolerance window
(Parameter 1115 configuration data TypeOfAxis.Extrapolation.ToleranceRange.Value)
Enter the size of the tolerance window here.
If the master value is superimposed with high-frequency noise signals that the synchronous
operation cannot follow, this can cause the dynamic response limits to be exceeded or the
master value to briefly change directions during synchronization.
In this case, define a tolerance window to prevent the dynamic response limits from being
exceeded on the following axis or to prevent direction changes during synchronization.
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4.7.12 Control
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Note
When the Dynamic Servo Control (position controller in the drive) function is active, backlash
locking (limiting of manipulated variable for the drive) is not effective. Therefore, when DSC
is active, the backstop must be generated in the drive.
Drive
Use this input box to enter the maximum speed of the drive.
Controller parameters
For further details on the individual controller parameters and their optimal setting, please
refer to the chapter "Optimizing the position controller - overview (Page 853)".
Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the interpolator
and controller have a different duty factor. Optional interpolation mode settings at the fine
interpolator:
● No interpolation
● Linear interpolation (constant position for positioning axis)
● Interpolation with constant acceleration (constant acceleration at positioning axis)
● Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.
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The system provides a simple method compensating for the forces of static friction. During
startup from a standstill, a DT1 element adds a static friction compensation signal to the
manipulated variable.
decay
Amplitude
The friction compensation is added relative to the velocity setpoint. It is only active when
motion commands are executed.
The standstill identification for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay response are set
in the configuration.
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4.7.13 Homing
4.7.13.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must be
referenced to the position of the mechanical system of the machine each time power is
switched on. The axis is synchronized during homing, based on the activation of a certain
position value at a defined position of the axis mechanism.
Axes can be homed in:
● Active mode (reference point approach)
● Passive mode (flying referencing)
● Direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the reference
point and on the motion an axis may perform for homing.
Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing dialog box
in S7T Config.
Three homing modes are available for "Active homing":
● Reference cam and encoder zero mark
● Encoder zero mark only
● External zero mark only
Start of the homing function:
MC_Home Mode = 0 Determination of the reference point based on the axis configuration
Mode = 1 Determination of the reference point based on the axis configuration
Position = x The reference point is assigned the value of the Position input
parameter.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.
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Active homing mode with "reference cam and encoder zero mark"
After homing is started with the "MC_Home" technology function, the axis moves to the
reference cam and then approaches the referencing encoder zero mark, according to the
axis configuration. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:
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If homing is started by calling the "MC_Home" technology function the axis approaches the
referencing external zero mark in accordance with the configuration. The lower section of the
diagram shows the resultant motion sequence.
Meaning of the various parameters:
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Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.
In order to execute a reference point approach in "external zero mark" homing mode, select
"Signal transition" and "on the side of the external zero mark" values which correspond with
the drive's configuration or functionality. Instead of being used to configure the measuring
function in the drive, the "Signal transition" and "on external zero mark side" parameters
merely reflect their functionality in order to control the axis motion according to the
configuration.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing to encoder zero mark is used, for example, at axes for which the encoder can only
set one encoder zero mark in the entire traversing range of the axis. The homing command
initiates axis approach to the encoder zero mark. After the encoder zero mark is detected,
the axis approaches the shifted reference point at homing velocity. The axis position now
has the value defined in the reference point coordinate. The graphic in the figure shows the
resultant motion sequence. Meaning of the various parameters:
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MC_Home Mode = 2 The current position is assigned the value of the Position input
Position = x parameter at the reference point.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone= TRUE.
Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.
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Passive homing mode with "Reference cam and encoder zero mark"
After the axis has passed the reference cam, the next encoder zero mark triggers axis
homing. The axis position is set in the reference point to the value defined at the Position
input parameter of the "MC_Home" technology function.
Meaning of the various parameters:
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Axis homing starts with the detection of the external zero mark. The axis is set to the value of
the Position input parameter of the "MC_Home" technology function.
Meaning of the individual parameters:
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Note
• For homing with "external zero mark", connect the external zero mark as digital
measuring input to the drive component.
• In order to be able to execute the reference point approach in "external zero mark"
homing mode as required, you should always set values at "Direction of movement" and
"on the side of the external zero mark" which are compatible with drive configuration or
functionality. The "on the side of the external zero mark" and "Direction of movement"
parameters are not used to configure the measuring function in the drive and only reflect
their functionality.
• For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Homing mode with "Zero mark only" is used for axes, for example, which are equipped with
an encoder that outputs only one zero mark signal within the entire traversing range of the
axis
Axis homing starts with the detection of the encoder zero mark. The position value of the
axis is set to the value of the Position input parameter of the "MC_Home" technology
function after the encoder zero mark is detected.
Meaning of the various parameters:
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The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronous operation technology is set for the axis.
Positioning monitoring
At the end of a positioning motion, the function monitors the axis entry to the target position.
For this purpose, a positioning window and a time tolerance within which the end position
must be reached are specified. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before the
positive feedback of the positioning command is activated. This time can be used for
oscillating processes and control loops, for which the tolerance window should be less than
the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value reaches the
positioning window.
The axis technology DB returns error 8019 if the positioning monitoring function is triggered.
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If you specify a value in the "Enter velocity" input box, the corresponding function value is
displayed in the "Calculated following error" box. This allows you to control how large the
following error may be at the entered speed.
The "Following error monitoring" tab is shown for position-controlled real axes.
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Setpoint tolerance:
Enter the maximum setpoint tolerance.
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4.7.15.1 Configuration
following axis:
The name of the following axis (synchronized axis) is displayed in this field.
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Possible cams:
The list includes all configured cams. You can assign cams to the synchronous object for
camming.
In this dialog, take into account all the cams which you will use in the user program with the
associated synchronization axis.
4.7.15.2 Settings
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Synchronization
● Synchronization:
Define the time at which the following axis is synchronized with the leading axis.
● Position reference:
Define the position of the synchronization profile relative to the position of the
synchronization point.
● Synchronization direction: (only for modulo axes)
Define the synchronization direction.
● Master value SyncPos:
Enter the position of the synchronization point for the leading axis.
● Following axis SyncPos:
Enter the position of the synchronization point for the following axis.
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Desynchronization:
● Desynchronization:
Define the time at which synchronization of the following axis with the leading axis is
deactivated
● Position reference:
Define the position of the desynchronization profile relative to the position of the
desynchronization point.
● Desync. desync.:
Enter the position of the desynchronization point for the leading axis.
● Desync. desync.:
Enter the position of the desynchronization point for the following axis.
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4.7 Configuring synchronization axes
Synchronization
● Synchronization:
Define the time at which the following axis is synchronized with the leading axis.
● Position reference:
Define the position of the synchronization profile relative to the position of the
synchronization point.
● Synchronization direction: (only for modulo axes)
Define the synchronization direction.
● Master value SyncPos:
Enter the position of the synchronization point for the leading axis.
● Following axis SyncPos:
Enter the position of the synchronization point for the following axis.
Desynchronization
● Desynchronization:
Define the time at which synchronization of the following axis with the leading axis is
deactivated
● Position reference:
Define the position of the desynchronization profile relative to the position of the
desynchronization point.
● Master value desync.:
Enter the position of the desynchronization point for the leading axis.
● Following axis desync.:
Enter the position of the desynchronization point for the following axis.
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Profile setting:
Here you define the reference for the synchronization profile.
● Leading axis-related synchronization
● Time-related synchronization profile
● Last programmed setting
The default "last programmed setting" profile is not available in this version.
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Time-related synchronization
● Velocity:
Here you enter the maximum velocity.
● Velocity profile:
Here you select the velocity profile.
● Acceleration:
Enter the maximum acceleration at this parameter
● Deceleration:
Enter the maximum deceleration at this parameter.
● Jerk:
Enter the maximum jerk at this parameter.
The Velocity profile, Velocity, Acceleration, Deceleration, and Jerk parameters are only
evaluated for time-related synchronization profiles.
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4.8 Cam Configuration
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4.8 Cam Configuration
Requirement
● The data of the Technology CPU were configured in HW Config and compiled.
Step Description
1. To create a new cam disk in S7T Config using the CamEdit tool, double-click "Insert cam disk" in the Navigator
of S7T Config.
To create the cam disk using the optional SW package SCOUT CamTool, double-click "Insert cam disk with
CamTool". The entry is only visible if the optional package is installed.
In the next phases of this example we shall only refer to CamEdit. For a detailed description of the functions
and handling of SCOUT CamTool, refer to the "SIMOTION CamTool" manual.
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Step Description
2. Enter the name of the technology object in the "Insert cam disk" dialog box. Fields for the author, the version
number and a comment are additionally available.
Select whether the cam is to be defined using an interpolation point table or polynomials. Set the "Open editor
automatically" check box in order to automatically open the cam disk configuration dialog box:
Click "OK."
Result: The CamEdit dialog box opens.
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Step Description
3. Define the cam disk by means of the interpolation table or polynomials, depending on the type. Change the
scaling (Page 345) and the interpolation mode (Page 342) of the cam disk if necessary.
4. Close CamEdit.
Result: The technology object is inserted.
Note
If you want to insert new polynomials or interpolation points after the interpolation, the cam
disk has to be deleted beforehand.
The properties of leading and following axes are ignored during interpolation and in the
continuity check.
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4.8.3.1 Interpolation
Select the "Interpolation" tab of the CamEdit dialog box to define whether to retain gaps
between the segments of the cam disk, or whether to interpolate the cam between the end
points of particular segments. Gaps are inconsistencies in the curve characteristic. They
occur whenever cam segments do not overlap. If the individual segments overlap, you can
choose which cam segment is to have priority.
The settings shown can be made by setting the "Expert mode" check box:
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If the gap length is greater than the length defined in 1., interpolate with ...
At "Interpolation mode", you can select the mode of interpolation between gaps with a length
greater than the previously defined maximum.
● Linear (linear interpolation)
Continuous joining of gaps by inserting a linear segment between the interpolation points.
● Cubic splines (interpolation with cubic splines)
Continuous differentiable joining of gaps. The curve runs through the specified
interpolation points.
● Bezier splines (interpolation with Bezier splines)
The approximation trend runs along the defined interpolation points.
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4.8 Cam Configuration
4.8.3.2 Interpolation(2)
Set the type and range of the leading axis values of the cam disk in the "Interpolation(2)" tab
of CamEdit. These settings form the interpolation conditions.
Cam type
Set the mode of operation of the cam disk in the drop-down list box:
● Non-cyclic
The cam disk is not to be used in cyclic mode
● Cyclic absolute
The cam disk is to be operated in cyclic camming mode, absolute to the following axis
● Cyclic relative
The cam disk is to be operated in cyclic camming mode relative to the following axis.
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Settings scaling and shift within the range of leading axis values (master axis):
● Basic scaling
Enter the scaling coefficient for the leading axis in the "Basic scaling of the master axis".
The coordinate origin always forms the center of scaling.
Do not use any scaling values greater than 5. Greater values cause a roughness in the
cam profile.
● Scaling 1) and Scaling 2)
Use the scaling dialogs to define the scaling of up to two user-specific ranges of the
"master axis" (range of leading axis values). Use "from" and "to" to specify the range that
you want to scale. Enter the scaling factor under factor. You may not overlap two scaled
ranges. The center of scaling forms the start point of the scaling range.
● Shift
Under "Shift", you can enter a shift coefficient for the master axis (leading axis values).
The shift refers to the already scaled cam or to the basic form if you have not scaled the
range.
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Settings scaling and shift within the range of following axis values (slave axis):
● Basic scaling
Enter the scaling coefficient for the following axis in the "Basic scaling of the slave axis".
The coordinate origin always forms the center of scaling. Do not use any scaling values
greater than 5. Greater values cause a roughness in the cam profile.
● Scaling 1) and Scaling 2)
Use the scaling dialogs to define the scaling of up to two user-specific ranges of the
"slave axis" (range of following axis values). Use "from" and "to" to specify the range that
you want to scale. Enter the scaling factor under factor. You may not overlap two scaled
ranges. The center of scaling forms the start point of the scaling range.
● Shift
Under "Shift" you can enter a shift coefficient for the "slave axis" (following axis values).
The shift refers to the already scaled cam or, if you have not scaled the range, to the
basic form.
Note
If a scaled and/or shifted cam disk is used in more than one object, the scaling and shift
settings affect all relevant objects.
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Working ranges
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Motion transitions
Possible motion transitions in the various working ranges:
5 * 8 %
Y Yำ Y Yำ
D D Dำ Dำ
Y Y Y Y
5 D D D D
Y Yำ Yำ
Y
D D Dำ
Dำ
* Yำ Y Y Yำ
Dำ D Dำ D
Y Yำ Y Yำ
D D Dำ Dำ
8
Y Y Y Y
Dำ Dำ Dำ Dำ
Y Yำ Y Yำ
D D Dำ Dำ
% Yำ Yำ Yำ Yำ
Dำ Dำ Dำ Dำ
Note
The VDI Wizard supports the creation of cam disks in S7T Config. You can open it in the
CamEdit dialog box.
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4.9 Configuring output cams
References
● VDI Guideline 2143, Bl. 1: Motion Laws for Cam Mechanisms - Basic Theory Düsseldorf:
VDI-Verlag, 1980
● Volmer, J. (edited.): Mechanism Design - Cam Mechanisms, 2. Printed in Berlin
Published by Technik Verlag, 1989
Prerequisite
● The data of the Technology CPU were configured in HW Config and compiled.
● An axis or external encoder was created in S7T Config.
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Step Description
1. In S7T Config Navigator, double-click "Insert output cam".
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Step Description
2. Enter the name of the technology object in the "Insert output cam" dialog box. Fields for the author, the version
number and a comment are additionally available.
Activate the "Open editor automatically" check box in order to automatically open the output cam configuration
dialog box:
Further procedures
Configure the output cam in the Output cam > Configuration.
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4.9 Configuring output cams
Note
Output cams also take effect at non-homed axes.
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Output
Set the "Enable output" check box to assign a HW address and a logic operation to the
"Output Cam" technology object. If the output is disabled the output cam can only be
evaluated in the software.
HW address
The output cam is assigned only to one output. This may be an integrated digital output of
the Technology CPU, a digital output on DP(DRIVE), for example, at an ET200 station, or
the output of a TM15 or TM17 High-Feature module.
Several output cams can be connected to the same output.
The switching accuracy of the output cam is determined by:
● Output accuracy of the I/O
● Priority of the output cam in the system cycles
● Compensation for constant delay times
Logical operation
You can determine whether to interconnect the output cam with the output by means of
logical AND operation or by logical OR operation at the Output cam > Configuration dialog
box.
That is, all ORed output cams will be grouped and then logically linked at the output with the
output cams linked by AND logic.
OR logic with two output cams
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4.10 Configuring cam tracks
Note
High-speed and normal output cams may not share the same hardware address and bit
number. Always use separate addresses
Output cam output is performed independent of the processing cycle via interrupt.
The status of output cams are calculated based on the IPO cycle or on the position controller
cycle. When using integrated outputs, select the position controller cycle as the processing
cycle in the dialog Output cam > Configuration if you require up-to-date status displays.
When TM15 and TM17 output cams are used, the processing cycle does not affect the
status calculations.
Requirement
● The data of the Technology CPU were configured in HW Config and compiled.
● An axis or external encoder was inserted in S7T Config.
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Step Description
1. In S7T Config Navigator, double-click "Insert cam track".
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Step Description
2. Enter the name of the technology object in the "Insert output cam" dialog box. Fields for the author, the version
number and a comment are additionally available.
Activate the "Open editor automatically" check box in order to automatically open the cam track configuration
dialog box:
3. Click "OK" to confirm your entries.
Result: The technology object is inserted.
Further procedures
Configure the cam track in the Cam track > Configuration dialog box.
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● Name:
Shows the name of the technology object defined in the S7T Config Navigator.
● Output cam type:
Specify the type of the individual output cam here (position-based cam, time-based cam
or time-based cam with maximum ON length). The set cam type applies to all the
individual output cams of the cam track.
● Execution cycle:
The execution cycle is used to specify the cycle in which the cam track is to be executed
(IPO, IPO2 or servo clock / position controller cycle).
● Type of output cam value:
Specify whether the setpoints or the actual values of the axis or of the external encoders
are to be used for the current output cam switching points.
Rule for the setpoint reference: If the cam track is not being processed within the position
control cycle, it must be run within the same cycle as the axis.
● Integrated high-speed output cams / high-speed output cams on TM15/TM17-Modul
Select one of the two check boxes if you want to switch the output of the cam track as
high-speed output cams (Page 362). You can select between high-speed output cams of
the integrated I/Os of the technology CPU and high-speed output cams of a TM15/TM17-
Modul.
Release
If the ""Assign output" check box is activated, further selection possibilities are available:
● Output output cam inverted
Select this check box if the switching state of the cam track is to be output in inverted
form to a hardware output. This setting does not affect the switching state of the
individual output cams.
● HW address / bit number
Enter the hardware address and the bit number of the hardware output of the cam track
in these fields. A single output is assigned to a cam track. This may be an integrated
digital output of the Technology CPU, a digital output on DP(DRIVE), for example, at an
ET200 station, or the output of a TM15 or TM17 High-Feature module.
● Non-cyclic activated cam track can be activated outside the track range.
– Drop-down list box "Yes"
The cam track remains active if the axis or the external encoder travels beyond the
cam track. If the axis or the external encoder then travels back into the range of the
cam track, the configured cams switch again. Use the technology function
"MC_CamTrack" in the Mode = 1, to lock and/or deactivate the cam track.
– Drop-down list box "No"
The cam track is deactivated if the axis or the external encoder travels beyond the
cam track. A re-entry into the cam track range does not trigger any switch processes
of the cam track.
Note
Cam tracks also take effect at non-homed axes.
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Position-based cam
● Validity
If the check box is activated, the individual output cam is taken into consideration when
editing the cam track. Set individual output cams to invalid if the individual output cam is
not required or lies outside the track length.
● Start position
Define the start position of the individual output cam, referenced to the cam track
beginning, in this input box.
● End position
Define the end position of the individual output cam, referenced to the cam track
beginning, in this input box. If the direction of movement is positive, the individual output
cam switches on when the start position is reached and off again at the end position. If
the direction of movement is negative, the individual output cam switches on when the
end position is reached and off again at the start position.
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Time-based cam
● Validity
If the check box is activated, the individual output cam is taken into consideration when
editing the cam track. Set individual output cams to invalid if the individual output cam is
not required or lies outside the track length.
● Start position
Define the start position of the individual output cam, referenced to the cam track
beginning, in this input box.
● ON time
Define the ON time of the individual output cam in this input box. The individual output
cam is switched on when the start position is reached switched off again when the ON
time expires.
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● Validity
If the check box is activated, the individual output cam is taken into consideration when
editing the cam track. Set individual output cams to invalid if the individual output cam is
not required or lies outside the track length.
● Start position
Define the start position of the individual output cam, referenced to the cam track
beginning, in this input box.
● ON time
Define the ON time of the individual output cam in this input box.
● Max. ON length
Specify a maximum ON length for the individual output cam in this input box. The
individual output cam switches on when the start position is reached. After the ON time
has expired, or after the ON length has been exceeded, the individual output cam
switches off again.
Note
To read out the cam data of the cam track, use the technology function
"MC_ReadCamTrackData" in the user program. The technology function
"MC_WriteCamTrackData" can be used to write the modified cam data back to the cam
track.
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4.11 Configuring measuring inputs
Prerequisite
● The data of the Technology CPU were configured in HW Config and compiled.
● An axis or external encoder was inserted in S7T Config.
Step Description
1. In the S7T Config navigator, double-click "Insert measuring input".
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Step Description
2. Enter the name of the technology object in the "Insert cam measuring input" dialog box. Fields for the author,
the version number and a comment are additionally available. Set the "Open editor automatically" check box in
order to automatically open the measuring input configuration dialog box:
Further procedures
Configure the measuring input in the Measuring Input> Configuration dialog box.
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Local measuring:
Select the "Local measuring" option if the encoder system and the input of the measuring
input are located at the same rive or the same system.
● Measuring input number: (Input box is visible when "Global measuring" is used)
Enter the number of the measuring input at the drive or at the system here.
Global measuring:
Select the "Global measuring" option if the input of the measuring input is located at a
Terminal Module TM15/TM17.
● HW address: (Input box is visible when "Global measuring" is used)
Enter the hardware address of the Terminal Module TM15 / TM 17 here.
● Bit number: (Drop-down list box is visible when "Global measuring" is used)
Select the bit number of the input of the measuring input used respectively here.
Note
The measuring input must be located either on the drive component used, or on a
TM15/TM17 High Feature module. Other digital inputs can not be used as measuring
inputs. The measuring input can only be connected to the drive component containing the
encoder input. If the encoder input is connected to SIMODRIVE, for example, you can
only connect the measuring input to IM 174/ADI4 if the IM 174/ADI4 is also connected to
SIMODRIVE.
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4.12 Configuring external encoders
Requirement
● The Technology CPU was configured in HW Config
● You configured a drive component with a free encoder system, or a PROFIBUS encoder
SIMODRIVE sensor in HW Config. A PROFIBUS encoder SIMODRIVE sensor must be
operated in "isochronous mode". For details, refer to the product information, or to the
encoder documentation.
● The hardware configuration was compiled in HW Config and saved.
Step Description
1. Open the Navigator of S7T Config, and then double-click "Insert external encoder".
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Step Description
2. On the next dialog box, type in the technology object name, and optionally include the name of the author, the
version number and a comment.
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Step Description
3. The "External encoder configuration" wizard opens.
Select the encoder type "Linear" or "Rotary":
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Step Description
4. The "External encoder configuration - Units" dialog box opens.
Select the units, for example "degrees".
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Step Description
5. The "External encoder configuration - Modulo" dialog box opens.
If you want to use the external encoder as a modulo encoder, meaning that its position values are referenced to
a traversing range that is defined by the modulo start value and the modulo length, activate the check box.
Enter the values for the modulo start value and the modulo length.
The address information will be read from HW Config.
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Step Description
6. The "External encoder configuration - Encoder number" dialog box is opened if several encoder systems are
available.
If you configure only one drive or one encoder system in HW Config, the dialog box shown in step 7 is opened
immediately.
From the drop-down list, select the encoder system, or the drive component to which the encoder system is
connected, that is to be used as an external encoder.
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Step Description
7. After the encoder has been selected, the dialog box outputs additional information and a drop-down list for the
selection of the message frame type.
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Step Description
8. The "External encoder configuration - Encoder data" dialog box opens. The content of this dialog box depends
on the selected encoder type. The diagram shows the dialog box, for example, for the SIMODRIVE Sensor
encoder.
• IM 174/ADI4 settings
Enter the encoder data at IM 174/ADI4 which you configured in HW Config.
• Settings of the encoder systems on SIMODRIVE, MASTERDRIVES, etc.
Enter the same encoder data you set in the drive configuration.
• SIMODRIVE sensor settings
Enter the following values for the SIMODRIVE sensor:
Single-turn encoder Multiturn encoder
Parameters Encoder lines 8192 8192
Multiplication factor of the absolute actual value 1 1
Multiplication factor of the cyclic actual value 524288 128
Number of data bits 13 25
Confirm your entry by clicking "Continue".
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Step Description
10. The next dialog box below shows a summary of the configuration.
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In addition, set the expected reference point approach direction at configuration parameter
TypeOfAxis.Encoder_1.IncHomingEncoder.passiveApproachDirection.
Options available:
● APPROACH_NEGATIVE_PASSIVE(0)
Homing with approach to encoder zero mark in negative direction of movement.
● APPROACH_POSITIVE_PASSIVE(1)
Homing with approach to encoder zero mark in positive direction of movement.
● EDGE_POS_SIDE_NEG_PASSIVE(2)
Homing with approach to external zero mark in positive direction of movement.
● EDGE_POS_SIDE_POS_PASSIVE(3)
Homing with approach to external zero mark in negative direction of movement.
● EDGE_NEG_SIDE_NEG_PASSIVE(4)
Homing start after the external zero mark was passed in positive direction of movement.
● EDGE_NEG_SIDE_POS_PASSIVE(5)
Homing start after the external zero mark was passed in negative direction of movement
● ACTUAL_DIRECTION_PASSIVE(6)
Homing at the next edge of the external zero mark or encoder zero mark
The selected approach direction depends on the homing mode. The table below shows the
relationship between the approach direction and homing mode:
Note
Note that certain drive components do no support the reference point modes listed above.
For further details refer to the corresponding documentation.
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4.12.5 Configuration
The External encoder > Configuration dialog box shows the drive and encoder settings.
Click "Reconfigure external encoder" in order to open the encoder wizard and edit the
settings.
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Configuring
4.12 Configuring external encoders
4.12.6 Mechanics
You define the mechanical parameters of the external encoder in the External encoder >
Mechanics dialog box.
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Configuring
4.12 Configuring external encoders
Time constant T1
Here, you set time constant T1 of the PT2 position filter in the actual value system.
Time constant T2
Here, you set time constant T2 of the PT2 position filter in the actual value system.
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Configuring
4.12 Configuring external encoders
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Configuring
4.12 Configuring external encoders
The parameters of this dialog can also be read from or written to the user program via
technology parameters.
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Configuring
4.12 Configuring external encoders
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Extrapolation time
(Parameter 1110; configuration dataTypeOfAxis.Extrapolation.ExtrapolationTime)
Here, you set the time for the extrapolation. No extrapolation if the value entered is 0.0.
Time constant T1
(Parameter 1131 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T1)
Here, you set time constant T1 of the PT2 filter for the extrapolation in the actual value
system.
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Configuring
4.12 Configuring external encoders
Time constant T2
(Parameter 1132 configuration data TypeOfAxis.Extrapolation.ExtrapolationPositionFilter.T2)
Here, you set time constant T2 of the PT2 position filter in the actual value system.
The filter acts on the actual position for the extrapolation. The velocity for the extrapolation is
taken over from the actual values of the axis or external encoder before application of the
smoothing filter (TypeOfAxis.smoothingFilter).
Time constant
(Parameter 1113 configuration data TypeOfAxis.Extrapolation.Filter.timeConstant)
Here, you enter the time constant for the filter.
The position is extrapolated based on the filtered or averaged velocity value. Averaging is via
the "time constant".
Tolerance window
(Parameter 1115 configuration data TypeOfAxis.Extrapolation.ToleranceRange.Value)
Enter the size of the tolerance window here.
If the master value is superimposed with high-frequency noise signals that the synchronous
operation cannot follow, this can cause the dynamic response limits to be exceeded or the
master value to briefly change directions during synchronization.
In this case, define a tolerance window to prevent the dynamic response limits from being
exceeded on the following axis or to prevent direction changes during synchronization.
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Configuring
4.12 Configuring external encoders
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Configuring
4.12 Configuring external encoders
4.12.8 Homing
MC_Home Mode = 2 The current position is assigned the value of the Position input
Position = x parameter at the reference point.
After homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone= TRUE.
Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.
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Configuring
4.12 Configuring external encoders
Passive homing mode with "Reference cam and encoder zero mark"
After the axis has passed the reference cam, the next encoder zero mark triggers axis
homing. The axis position is set in the reference point to the value defined at the Position
input parameter of the "MC_Home" technology function.
Meaning of the various parameters:
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Configuring
4.12 Configuring external encoders
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Configuring
4.12 Configuring external encoders
Axis homing starts with the detection of the external zero mark. The axis is set to the value of
the Position input parameter of the "MC_Home" technology function.
Meaning of the individual parameters:
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Configuring
4.12 Configuring external encoders
Note
• For homing with "external zero mark", connect the external zero mark as digital
measuring input to the drive component.
• In order to be able to execute the reference point approach in "external zero mark"
homing mode as required, you should always set values at "Direction of movement" and
"on the side of the external zero mark" which are compatible with drive configuration or
functionality. The "on the side of the external zero mark" and "Direction of movement"
parameters are not used to configure the measuring function in the drive and only reflect
their functionality.
• For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.
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Configuring
4.12 Configuring external encoders
Homing mode with "Zero mark only" is used for axes, for example, which are equipped with
an encoder that outputs only one zero mark signal within the entire traversing range of the
axis
Axis homing starts with the detection of the encoder zero mark. The position value of the
axis is set to the value of the Position input parameter of the "MC_Home" technology
function after the encoder zero mark is detected.
Meaning of the various parameters:
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Configuring
4.12 Configuring external encoders
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Configuring
4.13 Copying the configuration data from another station
Step Description
1. Select the source station in SIMATIC Manager and then select Edit > Copy.
2. Select the destination project, and then select the Edit > Paste command.
After insertion, a new station with an unambiguous name is shown in the project. All STEP 7 components were
copied to this new station.
3. Open the hardware configuration of the new station. Add it to the configuration of the DP(DRIVE) interface, and
of the MPI/DP interface as required, because the logical network links or the networks are not included in the
copy operation. You should therefore create new network objects, and then adapt the settings for isochronous
operation of the configured drive component.
4. Save and compile the HW configuration. Close HW Config.
5. Select "Technology objects" in SIMATIC Manager, and then run "Technology Objects Management" by
selecting the Edit > Open object command.
Adapt the technology DBs you generated as required.
You have now created a new station which contains the data of the source station (save for
the difference in names.)
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Configuring
4.13 Copying the configuration data from another station
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Programming 5
5.1 Time pattern of CPU 31xT
The diagram below shows the cycles of integrated technology, and their influences on job
processing of the technology objects for CPU 31xT. The practical example shows a
sequence covering several position control cycles.
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Programming
5.1 Time pattern of CPU 31xT
The diagram represents time requirements of the various cycles in time slice units. The time
slice requirements vary, depending on the number of technology objects configured. The
time slices of the interpolator cycle, of interpolator cycle 2 and of the update cycle of the
technology DBs are not processed in all position control cycles.
DP communication, the position control cycle, the interpolator cycle, interpolator cycle 2 and
the Technology DB update cycle are executed with descending priority.
Command execution utilizes the interval between the position control cycles. The smaller this
interval, the more time is required for command execution.
Cycles selected in the example shown:
● Position control cycle = 1
Corresponds with a 1:1 ratio between the DP cycle and the position control cycle
● Interpolator cycle = 2
Corresponds with a 1:2 ratio between the DP cycle and the position control cycle
● Interpolator cycle 2 = 2
Corresponds with a 1:2 ratio between the interpolator cycle and interpolator cycle 2
● Update cycle of the technology DBs = multiple of the interpolator cycle
Factor 2 in the example shown
The cycles shown are synchronized with the DP cycle, or with DP communication.
● DP cycle
The DP cycle determines the intervals for data exchange with the DP I/O on DP(DRIVE).
Data are exchanged within the DP communication time slice. The constant bus cycle time
at the DP(DRIVE) must be activated at the corresponding parameters in HW Config. The
integrated technology in combination with the isochronous components on DP(DRIVE)
form the basis of isochronous operation.
● Position control cycle
The system also computes the axis position control within the time slice of the position
control cycle. The time requirements of this time slice remain near constant while the
Technology CPU is in operation.
The position control cycle clock determines the interval between the position control
cycles.
The value of the position control cycle clock can be set to a multiple of the DP cycle in
S7T Config. A clock ratio of 1:1 in order to enhance performance in terms of technology
object processing is advisable.
● Interpolator cycle
The time slice of the interpolator cycle is also used to compute the control variables. The
interpolator cycle clock determines the interval between two interpolator cycles. Time
slice requirements may increase briefly at the start of one or several commands.
● Interpolator cycle 2
Interpolator cycle 2 handles the same tasks as the interpolator cycle and can be used for
technology objects of lower priority classes.
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404 Function Manual, 03/2008, A5E00251798-06
Programming
5.1 Time pattern of CPU 31xT
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Function Manual, 03/2008, A5E00251798-06 405
Programming
5.1 Time pattern of CPU 31xT
The example shows the time profiles with insufficient DP cycle length. The clock ratios as
shown in the previous example apply:
● Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle 1.
Interpolator cycle 2, including the update of Technology DBs, cannot be started within this
cycle. The start will be postponed to the next cycle.
● Cycle 2
DP communication and the position control cycle interrupt the interpolator cycle. The time
slice of the interpolator cycle resumes after the interrupt is cleared. Next, the system
executes interpolator cycle clock 2, and initiates the technology DB update.
● Cycle 3
The Technology DB update is interrupted in order to execute tasks of higher priority (DP
communication, position control cycle / interpolator cycle). Same as in cycle 1, the
interpolator cycle cannot be terminated within this cycle.
● Cycle 4
The time slice of the interpolator cycle is resumed and concluded on completion of the
position control cycle. Next, the system executes the time slice of interpolator cycle 2 and
completes the update of the Technology DBs. This leaves only a narrow time slice for
command processing.
● Cycle 5
The sequence restarts at Cycle 5 as explained in Cycles 1 to 4.
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406 Function Manual, 03/2008, A5E00251798-06
Programming
5.1 Time pattern of CPU 31xT
The command start may briefly increase time requirements of the interpolator cycle. The
diagram shows a state which may lead to an "overflow" of the interpolator cycle. The same
clock ratios apply as in the previous examples:
● Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle 1.
Interpolator cycle 2, including the update of Technology DBs, cannot be started within this
cycle. The start will be postponed to a later cycle.
● Cycle 2
DP communication and the position control cycle interrupt the interpolator cycle. The time
slice of the interpolator cycle resumes after the interrupt is cleared.
● Cycle 3
The time slice of the interpolator cycle is interrupted again in order to execute DP
communication and the position control cycle. The system is still busy executing the
current interpolator cycle, and calls a new interpolator cycle. This action leads to an
"overflow" of the interpolator cycle. The Technology CPU goes into stop or tolerates this
overflow, depending on the system clock settings in S7T Config. In this example, at least
one overflow will be tolerated and processing is continued, meaning that the interpolator
cycle will be completed. Next, the system executes interpolator cycle 2 and updates the
Technology DBs. This leaves only a narrow time slice for command processing.
● Cycle 4
The interpolator cycle which should have been started in cycle 3 is skipped in this cycle,
that is, the system executes the time slice for command processing after the position
control cycle is completed.
● Cycle 5
Again, time requirements of the interpolator cycle are slight. The interpolator cycle,
interpolator cycle 2 and the Technology DB update can be processed in cycle 5.
Note
A narrow margin in the cycle time settings may lead to an overflow of interpolator cycle 2.
The number of tolerated overflows can be set interpolator cycle and interpolator cycle 2 in
the "System clock cycles" dialog of S7T Config (Target system > Set System Clock
Cycles command). The Technology CPU goes into STOP if the tolerated number of
overflow events is exceeded.
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Programming
5.2 Time pattern of WinLC T (MICROBOX T)
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Programming
5.2 Time pattern of WinLC T (MICROBOX T)
The diagram represents time requirements of the various cycles in time slice units. The time
slice requirements vary, depending on the number of technology objects configured. The
time slices of the interpolator cycle, of interpolator cycle 2 and of the update cycle of the
technology DBs are not processed in all position control cycles.
DP communication, the position control cycle, the interpolator cycle, interpolator cycle 2 and
the Technology DB update cycle are executed with descending priority. At the
MICROBOX T, the time for DP communication is also available for integrated technology
cycles, with the exception of the position control cycle.
Command execution utilizes the interval between the position control cycles. The smaller this
interval, the more time is required for command execution.
Cycles selected in the example shown:
● Position control cycle = 1
Corresponds with a 1:1 ratio between the DP cycle and the position control cycle
● Interpolator cycle = 2
Corresponds with a 1:2 ratio between the DP cycle and the position control cycle
● Interpolator cycle 2 = 2
Corresponds with a 1:2 ratio between the interpolator cycle and interpolator cycle 2
● Update cycle of the technology DBs = multiple of the interpolator cycle
Interpolator cycle 2 in the example shown
The cycles shown are synchronized with the DP cycle, or with DP communication.
● DP cycle
The DP cycle determines the intervals for data exchange with the DP I/O on DP(DRIVE).
Data are exchanged within the DP communication time slice. The constant bus cycle time
at the DP(DRIVE) must be activated at the corresponding parameters in HW Config. The
integrated technology in combination with the isochronous components on DP(DRIVE)
form the basis of isochronous operation.
● Position control cycle
The system also computes the axis position control within the time slice of the position
control cycle. The time requirements of this time slice remain near constant while the
Technology CPU is in operation.
The position control cycle clock determines the interval between the position control
cycles.
The value of the position control cycle clock can be set to a multiple of the DP cycle in
S7T Config. A clock ratio of 1:1 in order to enhance performance in terms of technology
object processing is recommended.
● Interpolator cycle
The time slice of the interpolator cycle is also used to compute the control variables. The
interpolator cycle clock determines the interval between two interpolator cycles. Time
slice requirements may increase briefly at the start of one or several commands.
● Interpolator cycle 2
Interpolator cycle 2 handles the same tasks as the interpolator cycle and can be used for
technology objects of lower priority classes.
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Programming
5.2 Time pattern of WinLC T (MICROBOX T)
● User Program
The user program and all interrupt OBs from WinLC T (MICROBOX T) are executed
within the time slice shown. The length of the time slice can be set on the WinLC T panel
to a percentage of the DP cycle time. You can set values between 10 % and 50 %.
The OB 1 cycle is executed within this time slice. However, it is not started synchronously
with the DP cycle. Once the time slice of the user program has ended, current program
execution will be interrupted, and is resumed at the start of the next time slice.
The time slice of the user program is called at each cycle clock of the DP cycle. The
WinLC T status changes to STOP if the time slice cannot be executed three times in
succession.
● Updating technology DBs
The technology DBs are updated within the time slice. Integrated technology with
firmware version V3.2.x or higher supports the distribution of technology DB updates to
different cycles (see also "Updating the technology DBs"). At firmware versions before
V3.2.x all the technology DBs are updated within this same time slice.
The update cycle of the technology DBs can be set to a multiple of the interpolator cycle
in S7T Config. The technology synchronization interrupt OB is called after each update of
the Technology DBs.
● Command processing
The commands of integrated technology are processed and monitored at indefinite
cycles. The time required to process current commands depends on the number of active
commands and on CPU load. Both the average and maximum command processing
times can be read from the CmdLoopDuration and MaxLoopDuration tags of the
MCDevice technology DB. Integrated technology with firmware version V3.2.x or higher
supports the start of axis commands within the interpolator cycle. Subsequent command
monitoring operations are again handled by means of the command processing functions
of the integrated technology.
● Windows / Idling cycle
The displayed time slice is available to Windows application. If this time slice is not further
used by Windows applications, a idling slice is inserted up until the next DP
communication.
The example above shows that cycle 1 only provides a small time slice for command
processing. In addition to DP communication and the position control cycle, the system also
processes the interpolator cycle and interpolator cycle 2, and the update of the Technology
DBs. This method provides additional time for command processing in the next cycles.
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Programming
5.2 Time pattern of WinLC T (MICROBOX T)
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The example shows the time profiles with insufficient DP cycle length. The clock ratios as
shown in the previous example apply:
● Cycle 1
The time required for the interpolator cycle exceeds the time available in Cycle 1.
Interpolator cycle 2, including the update of Technology DBs, cannot be started within this
cycle. The start will be postponed to the next cycle.
● Cycle 2
DP communication and the position control cycle interrupt the interpolator cycle. The time
slice of the interpolator cycle resumes after the interrupt is cleared. Next, the system
executes interpolator cycle clock 2, and initiates the technology DB update.
● Cycle 3
The Technology DB update is interrupted in order to execute tasks of higher priority (DP
communication, position control cycle / interpolator cycle). Same as in cycle 1, the
interpolator cycle cannot be terminated within this cycle.
● Cycle 4
The time slice of the interpolator cycle is resumed and concluded on completion of the
position control cycle. Next, the system executes the time slice of interpolator cycle 2 and
completes the update of the Technology DBs. This leaves only a narrow time slice for
command processing.
● Cycle 5
The sequence restarts at Cycle 5 as explained in Cycles 1 to 4.
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Programming
5.2 Time pattern of WinLC T (MICROBOX T)
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The command start may briefly increase time requirements of the interpolator cycle. The
diagram shows a state which may lead to an "overflow" of the interpolator cycle. The same
clock ratios apply as in the previous examples:
● Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle 1.
Interpolator cycle 2, including the update of Technology DBs, cannot be started within this
cycle. The start will be postponed to a later cycle.
● Cycle 2
DP communication and the position control cycle interrupt the interpolator cycle. The time
slice of the interpolator cycle resumes after the interrupt is cleared.
● Cycle 3
The time slice of the interpolator cycle is interrupted again in order to execute DP
communication and the position control cycle. The system is still busy executing the
current interpolator cycle, and calls a new interpolator cycle. This action leads to an
"overflow" of the interpolator cycle. The Technology CPU goes into stop or tolerates this
overflow, depending on the system clock settings in S7T Config. In this example, at least
one overflow will be tolerated and processing is continued, meaning that the interpolator
cycle will be completed. Next, the system executes interpolator cycle 2 and updates the
Technology DBs. This leaves only a narrow time slice for command processing.
● Cycle 4
The interpolator cycle which should have been started in Cycle 3 is not applicable in this
cycle, that is, the system executes the time slice for command processing after the
position control cycle is completed.
● Cycle 5
Again, time requirements of the interpolator cycle are slight. The interpolator cycle,
interpolator cycle 2 and the Technology DB update can be processed in cycle 5.
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Programming
5.3 Cycles of the Technology CPU
Note
A narrow margin in the cycle time settings may lead to an overflow of interpolator cycle 2.
The number of tolerated overflows can be set interpolator cycle and interpolator cycle 2 in
the "System clock cycles" dialog of S7T Config (Target system > Set System Clock
Cycles command). The Technology CPU goes into STOP if the tolerated number of
overflow events is exceeded.
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Programming
5.3 Cycles of the Technology CPU
Controller cycles
● OB1 cycle
The length of the OB1 cycle is determined by the number of instructions to be executed.
The OB1 cycle operates independent of the cycles of integrated technology.
● OB32 to OB35 cycle
The watchdog interrupt OBs are called within a time pattern of 1 s to 60 s. The watchdog
interrupts are called independent of the clocks and cycles of the integrated technology.
● OB65 cycle
The technology synchronization interrupt OB is called after each update of the
Technology DBs. The technology synchronization interrupt is coupled to the integrated
technology.
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5.4 Assigning system clocks
&\FOHVEDVHGRQFORFNV\QFKURQL]HG'3F\FOH
'3F\FOH &\FOHFDQEHDGMXVWHGLQ+:&RQILJ
8SGDWHRI7HFKQRORJ\'%V
DGMXVWDEOHLQ67&RQILJ
V\VWHPFORFNF\FOH
,QWHUSRODUFORFN
,QWHUSRODUFORFN
3RVFRQWUROOHUFORFN
7HFKQRORJ\REMHFW 7HFKQRORJ\REMHFW
7HFKQRORJ\REMHFW
7HFKQRORJ\REMHFWVFDQEHDVVLJQHGWRV\VWHPFORFNF\FOHV
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Programming
5.4 Assigning system clocks
Note
The following combinations are possible when selecting different execution cycles for an
output cam and the associated axis:
• Axis and output cam in the same cycle clock (interpolator cycle clock or interpolator cycle
clock 2)
• Axis in the interpolator cycle clock or interpolator cycle clock 2 and output cam in the
position control cycle.
• Axis in the interpolator cycle clock and actual value output cam in interpolator cycle clock
2.
The technology system clock of axes, external encoders, output cams and measuring inputs
are set in the Configuration dialog box of S7T Config.
The synchronization axis and the corresponding synchronization object must be operated
within the same execution cycle. Any change of the processing cycle of a synchronization
axis also has to be applied to the synchronization object:
1. In Navigator of S7T Config, select the synchronization object of the corresponding
synchronization axis.
2. Select the shortcut menu command Expert > Expert list
3. You can change the processing cycle clock in the Execution.executionlevel configuration
data element.
Change the default setting:
● if you detect command processing times of excess length
The execution times are available in the MaxLoopDuration and CmdLoopDuration
variables of the MCDevice technology DB.
● If you detect excess load on the Technology CPU
The load on the Technology CPU can be determined in online mode by selecting the
Target system > Device diagnostics > System load menu command.
Assign the "axis" and "external encoder" technology objects with low-priority tasks to
"interpolator cycle 2", and the "output cam" and "measuring input" technology objects to the
"interpolator cycle" or "interpolator cycle 2". Assign the "interpolator cycle" or the "position
control cycle" to the "Output cam" and "Measuring input" technology objects with high-priority
tasks.
If the command monitoring time is exceeded you can reduce command execution time by
taking the following measures:
● Set a longer DP cycle or position control cycle.
● Extend the technology DB update cycle, or distribute the update of individual technology
DBs to different cycles (for further information refer to "Updating the technology DBs
(Page 791)".)
● Assign interpolator cycle 2 to the low-priority technology objects. This reduces load on the
interpolator cycle and increases the time slices for command execution.
● Select the expert mode in Technology Objects Management and set "IPO synchronous"
command start for specific technology objects This setting forces the command to be
started within the time slice of the interpolator cycle in order to reduce load on the time
slice for command execution
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5.5 Sequence and programming model
Sequence model
The diagram below shows the command interface for the PLC and integrated technology.
Request buffer
OB XY cycle
Requests
Anwenderprogramm
User program technology object A Requests technology object B
Schritt1 1
Step
Schritt3 3
Step
Schritt4 4
Step Update of technology DBs
Schritt5 5
Step
Schritt6 6
Step
Update of technology DBs
Schritt7 7
Step
Schritt8 8
Step
Update of technology DBs
Schrittn n
Step
The sequential user program (OB 1 or the watchdog interrupt OBs) initiates a command and
enters this in the command buffer of integrated technology. "IPO synchronous" and "non-IPO
synchronous" commands are saved to separate input buffers. Each technology object is
capable of handling several commands in parallel without having to wait for discrete
commands to be processed.
Both the status and error messages, including the actual values of the technology object, are
updated alongside with the Technology DBs in the PLC. Updates run asynchronously to the
OB XY cycle, meaning that a new actual value is returned in each scan cycle of the user
program.
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Programming
5.5 Sequence and programming model
NOTICE
Do not call up technology functions in the restart OBs. The integrated technology can
neither accept nor execute commands in the restart phase.
Programming model
The diagram below shows the structure of a user program. The step sequence is
independent of processing in OB 1 or in a watchdog interrupt cycle (OB 32 to OB 35).
User program
Error routine for technology object:
Errors and warning occurring during request
Step n execution can be read at the technology DB.
Errors are identified based on the set
Scan technology ErrorStatus bit or ErrorID. Warnings are only
object status output based on the ErrorID.
• In the error routine program, define your
Error routine
response to possible errors and warnings.
for technology object
• At the end of your error routine,
New command acknowledge errors and warnings by
at technology object calling FB 402 "MC_Reset".
Command
error routine New command at technology object:
Example:
• The technology object has the required status!
Step n+1 • No unacknowledged errors are queued!
• Initiate the command with a positive edge at
Scan technology
input parameter Execute of the technology
object status t
function.
Error routine
for technology object Error routine for request:
The cause of an error preventing initiation of a
New command
commands is indicated at the output parameter
at technology object
ErrorID of the technology function.
Command • In the error routine, program your response to
error routine any possible errors. Repeat the command
as required.
• The error indicated at output parameter
ErrorID is cleared when a new command is
output to the same technology object
(there is no need to acknowledge the error
with FB 402 "MC_Reset“).
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5.6 Accessing address spaces of CPU 31xT
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Programming
5.6 Accessing address spaces of CPU 31xT
LQWHJUDWHGWHFKQRORJ\
,2LPDJH
DGGUHVVDUHDRIWKHFRQWUROOHU&38[7
SURFHVVLPDJH
XVHUSURJUDP
67(3FRPPDQGV
The user program can be used to access the entire address space of the PLC using STEP 7
commands.
WHFKQRORJ\REMHFWV
LQWHJUDWHGWHFKQRORJ\
,2LPDJH
DGGUHVVDUHDRIWKHFRQWUROOHU&38[7
SURFHVVLPDJH
Assign the addresses to be accessed by means of the technology objects to address space
64 to 1023. Technology objects cannot access addresses outside this space.
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5.7 Accessing address spaces of MICROBOX T
LQWHJUDWHGWHFKQRORJ\
,2LPDJH
XVHUSURJUDP
0&B5HDG3HULSKHU\
0&B:ULWH3HULSKHU\
DGGUHVVDUHDRIWKHFRQWUROOHU&38[7
SURFHVVLPDJH
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Programming
5.7 Accessing address spaces of MICROBOX T
XVHUSURJUDP
67(3FRPPDQGV
DGGUHVVDUHDRIWKHFRQWUROOHU0LFURER[7
SURFHVVLPDJH
LQWHJUDWHGWHFKQRORJ\
,2LPDJH
The user program can always access the entire address space of MICROBOX T by means
of STEP 7 commands. These addresses, however, must be assigned to the DP interface
(X1) in HW Config.
Direct access to addresses of the integrated I/O or addresses that have been assigned to
the DP(DRIVE) interface (X2), is not possible. If these addresses are accessed in the user
program the controller reacts as though these addresses were not in use physically.
DGGUHVVDUHDRIWKHFRQWUROOHU0LFURER[7
SURFHVVLPDJH
LQWHUJUDWHGWHFKQRORJ\
,2LPDJH
WHFKQRORJ\REMHFWV
Assign the addresses to be accessed by means of the technology objects to address space
64 to 1023. Technology objects cannot access addresses outside this space. The
technology objects can only access addresses that were assigned in HW Config to the
DP(DRIVE) interface (X2) or to the integrated I/O.
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5.7 Accessing address spaces of MICROBOX T
DGGUHVVDUHDRIWKHFRQWUROOHU0LFURER[7
SURFHVVLPDJH
LQWHUJUDWHGWHFKQRORJ\
,2LPDJH
XVHUSURJUDP
0&B5HDG3HULSKHU\
0&B:ULWH3HULSKHU\
Note
• " MC_ReadPeriphery"
If the "MC_ReadPeriphery" technology function is used to access address areas or
subareas that have been assigned to the DP interface (X1), invalid values are read for
these addresses.
• "MC_WritePeriphery"
If the "MC_WritePeriphery" technology function is used to access address areas or
subareas that have been assigned to the DP interface (X1), writing for these addresses is
not performed.
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5.8 Monitoring active commands
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5.8 Monitoring active commands
Note
Use different instance DBs in this case. You can no longer monitor the active command at
the output parameters of the technology function if you are using the same instance DB.
Start of the new command was prevented due to an error, for example. You can avoid this
problem by using different instance DBs.
Each one of the instance DBs is assigned a separate command buffer. A rapid sequence of
commands with the same instance DB may lead to consistency problems at the command
buffer. New commands are thus rejected with ErrorID = 804C as long as the command
buffer is being processed. This also prevents command monitoring at the output parameters
of the technology function.
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5.9 Start of axis commands in IPO synchronous mode
The "IPO synchronous" property allows the deterministic, faster on average start of axis
commands.
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5.10 Errors and warnings at the technology function
Note
Every "IPO synchronous" command start extends the processing of the interpolator cycle by
approx. 300 μs. Avoid a large number of concurrent "IPO synchronous" commands to
prevent an IPO overflow.
Note
To define a fixed order of command processing:
Analyze the Done, InGear, InSync or InClamping output parameters of the commands before
you transfer a new command to the TO.
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Programming
5.10 Errors and warnings at the technology function
The BIE-Bit is toggled from 1 to 0 if an error is detected. Output Q16.0 is assigned the value
TRUE.
Note
In order to validate the output parameters, you should always evaluate the BIE-Bit
immediately after the call of the technology function.
In the next step, check the Error and ErrorID parameters.
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5.11 Errors at the technology DB - MCDevice, Trace
Acknowledging errors
Eliminate the cause of any error detected in the ErrorID variable (ErrorID = 8xxx). Errors
indicated at the "MCDevice" and "Trace" technology DB cannot be acknowledged.
Siemens on the Internet (www.siemens.com)
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Programming
5.12 Errors and warnings at the technology DB – Axes, external encoders
Acknowledging warnings
Warnings at the (ErrorID = 00xx) technology DB may, but do not necessarily have to be
acknowledged by calling "MC_Reset".
However, observe the data volume at the ErrorBuffer[0..2] variable You can keep the
ErrorBuffer[0..2] variable clear for any incoming error messages by acknowledging the
warnings in due time.
Acknowledging errors
In order to acknowledge all errors, you first eliminate their cause and then acknowledge the
errors by executing "MC_Reset" (Restart = FALSE). You can then re-enable the technology
object by calling the "MC_Power" technology function.
CAUTION
Several unacknowledged errors may cause the CPU to go into STOP.
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5.13 Errors and warnings at the technology DB - Cam disk, measuring input, output cam
Acknowledging warnings
Warnings at the technology DB (ErrorID = 00xx) may, but do not necessarily have to be
acknowledged by calling "MC_Reset".
However, observe the data volume at the ErrorBuffer[0..2] variable. You can keep the
ErrorBuffer[0..2] variable clear for any incoming error messages by acknowledging the
warnings in due time.
Acknowledging errors
In order to acknowledge all errors, you first eliminate their cause and then acknowledge the
errors by executing "MC_Reset" (Restart = FALSE).
CAUTION
Several unacknowledged errors may cause the CPU to go into STOP.
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Programming
5.14 Response of virtual axes
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5.15 Symbolic programming with FC 400 "DB2INT"
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5.16 Programming axis-specific parameter changes
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5.16 Programming axis-specific parameter changes
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Programming
5.16 Programming axis-specific parameter changes
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Technology functions 6
6.1 Overview
Requirement
Motion control commands can be programmed with the help of function blocks, if:
● The station configuration in HW Config was saved and compiled
● The technology objects were inserted and configured in S7T Config
● The technology DBs were generated in the "Technology Objects Management" dialog
box of S7T Config
Define the reference to the technology object by means of the relevant technology DB
number.
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Technology functions
6.1 Overview
Function blocks
Programmable function blocks:
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6.1 Overview
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6.1 Overview
Note
If you want to use existing FBs from other projects, you can rename the FBs in SIMATIC
Manager. Note that the documentation refers to the default FB numbers.
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6.1 Overview
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6.1 Overview
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6.2 Technology functions - Single axes
Purpose
● Use the "MC_Power" technology function to enable or disable an axis.
● Use the technology function to specify the operating mode of the axis.
● Use the technology function to specify the emergency program for handling the axis when
it is disabled or at a CPU transition to STOP.
● Use the technology function to control the integrated brake control of the drivers (for
example when operating "hanging axes"). The brake control of the following drives is
supported:
– SIMODRIVE 611U universal
– SINAMICS S120
– MASTERDRIVES Motion Control Plus
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
● There may be no active errors at the technology DB which prevent enabling of the axis.
● The technology function may only be active once per axis.
Overriding commands
MC_Power commands can not be canceled by any other command.
An MC_Power command does not cancel any other commands with Enable = TRUE .
An MC_Power command cancels all other commands to this technology object with
Enable = FALSE.
New command - active single command (3) (Page 743)
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Technology functions
6.2 Technology functions - Single axes
Input parameters
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6.2 Technology functions - Single axes
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Technology functions
6.2 Technology functions - Single axes
NOTICE
An axis switched off due to an error is re-enabled with Enable = TRUE after the error has
been eliminated and acknowledged.
Note
The "MC_Power" technology function influences the following status bits of the Statusword
variable at the technology DB:
• DriveEnable
• FollowUpControl
• Simulation
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6.2 Technology functions - Single axes
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Technology functions
6.2 Technology functions - Single axes
Note
The selected StopMode is irrelevant if an axis is operating in following mode, as the axis can
not be decelerated dynamically! A rotating axis will therefore trail to a standstill within an
indefinite time.
NOTICE
When StopMode = 4 and camming is set, the following axis may restart before the leading
axis has reached a standstill!
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
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Technology functions
6.2 Technology functions - Single axes
MC_Power - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware up to V3.1.x
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6.2 Technology functions - Single axes
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Technology functions
6.2 Technology functions - Single axes
Purpose
● The "MC_Home" technology function establishes a position-based correlation between
the control and the mechanical system by means of a measuring system.
● Active and passive homing of an axis
The homing mode is always defined at the technology function The homing mode and
direction parameters must be set in S7T Config
● Setting a position value
The assigned position value is an absolute value which allows absolute and relative
motions.
● Relative correction / offset of the actual value
● Correction of the setpoint in the base coordinate system and superimposed coordinate
system. Only relative offset is supported
● Absolute encoder adjustment.
Supported for
● Positioning axes
● Synchronization axes
Note
Virtual axes only support Mode = 3, 4, 6 and 7.
Axes with incremental encoder only support Mode = 0, 1, 2, 3, 4, 6 and 7.
Axes with absolute encoder only support Mode = 3, 4, 5, 6 and 7 .
You can only set Mode = 3, 4, 6 and 7 if "no mode" was selected in the homing
configuration of the axis.
The axis status remains unchanged (homed/not homed) in Mode = 4, 6 and 7.
Mode = 2, 3 and 5 can only be used if the axis is not operating in "speed-controlled
mode" ("MC_MoveVelocity" - PositionControl = TRUE).
Prerequisites
● The axis must be enabled for position-controlled operation for Mode = 0, 1 and 2.
● No MC_Stop command may be active when the axis is operated in Mode = 0 and 1.
● The drive interface IM 174/ADI4 does not support the simultaneous execution of
MC_MeasuringInput and MC_Home commands.
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6.2 Technology functions - Single axes
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
Input parameters
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Technology functions
6.2 Technology functions - Single axes
Notes on Mode = 7.
The superimposing coordinate system can be modified by superimposing motions or homing
commands ("MC_Home" Mode = 7). The coordinates of the superimposed coordinate
system are transferred to the basic coordinate system according to the settings at
TypeOfAxis.DecodingConfig.transferSuperimposed configuration parameter. The
superimposing coordinate system is reset in this operation.
Set this configuration parameter to determine the time at which the coordinates of the
superimposing coordinate system should be activated at the base coordinate system.
Settings at the TypeOfAxis.DecodingConfig.transferSuperimposed configuration parameter:
● TRANSFER_STANDSTILL (default):
– Activation after the axis is at a standstill - the axis must be desynchronized
– Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
– Activation at axis restart
("Reset" with Restart = TRUE).
– Activation when commands are output to override the basic motion
● TRANSFER_MERGE:
– Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
– Activation at axis restart
("Reset" with Restart = TRUE).
– Activation when commands are output to override the basic motion
● TRANSFER_RESET:
– Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
– Activation at axis restart
("Reset" with Restart = TRUE).
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6.2 Technology functions - Single axes
NOTICE
Caution: In Mode = 7, the override response of the modules will differ.
Superimposing motions are no longer canceled by basic motions (exceptions).
Mode = 7 is always executed in the base coordinate system for axes operating in
following mode.
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
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Technology functions
6.2 Technology functions - Single axes
MC_Home - ErrorIDs
Valid for Integrated Technology with firmware version V4.1.x
This section describes applications with firmware up to V3.2.x
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
6.2.3 FB404 MC_Stop - Stopping an axis and preventing new motion commands
Purpose
● The "MC_Stop" technology function stops all motions and brings the axis to a standstill.
The standstill position is not defined.
● The command is completed (Done = TRUE) after the axis has stopped and
Execute = FALSE is set. That is, startup of the axis is prevented as long as
Execute = TRUE. This also applies if the axis was disabled and re-enabled in the
meantime with the MC_Power" technology function.
● Define the dynamic response of the axis to stop commands at the input parameters Jerk
and Deceleration.
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
Dynamic stopping requires that the axis is enabled for position-/speed-controlled operation.
The axis cannot be ramped down dynamically if operated in following mode or if it is in
disabled state!
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
Note
You should not disable the axis by means of "MC_Power" as long as the "MC_STOP"
command is active. However, if this does happen, the STOP condition at "MC_Power"
cancels the STOP motion you programmed at "MC_Stop". Dynamic axis motions are locked
as long as Execute = TRUE at "MC_Stop", irrespective of its activation with "MC_Power".
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Technology functions
6.2 Technology functions - Single axes
Input parameters
WARNING
"MC_Stop" is not executed if a numerical value which cannot be represented as REAL
value is set at the Deceleration or Jerk input parameters.
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6.2 Technology functions - Single axes
MC_Stop - example
a) A rotary axis is ramped down by the call of technology function "MC_Stop".
b) The axis rejects motion commands as long as the Execute = TRUE parameter is set at the
"MC_Stop" technology function.. The "MC_MoveVelocity" technology function reports an
error to indicate the active MC_Stop command.
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Technology functions
6.2 Technology functions - Single axes
MC_Stop - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware up to V3.1.x
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Technology functions
6.2 Technology functions - Single axes
Purpose
● The "MC_Halt" technology function stops all motions and brings the axis to a standstill.
The standstill position is not defined.
● Define the dynamic response of the moving axis at the input parameters Jerk
andDeceleration.
● The command is completed after the axis has reached a standstill, or if it is canceled by a
new motion command.
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
● The axis is enabled for speed- or position-controlled operation
● No active MC_Stop command
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
Input parameters
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6.2 Technology functions - Single axes
Note
Note that the Technology CPU reduces any active acceleration, based on dynamic
parameter settings (Jerk). The axis velocity may still increase for this reason after the
MC_Halt command has been initiated.
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Technology functions
6.2 Technology functions - Single axes
MC_Halt - example
a) A rotary axis is halted by the call of the "MC_Halt" technology function.
b) Another motion command overrides the active MC_Halt command. By contrast to
"MC_Stop", this action is supported for the "MC_Halt" command.
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MC_Halt - ErrorIDs
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6.2 Technology functions - Single axes
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6.2 Technology functions - Single axes
Purpose
● The technology function can be used to change between the data records of an axis.
● Several data sets can be used, for example to:
– Change over controller data while the system is running.
– changeover the encoder used while the system is in run (motor encoder, machine
encoder, ...).
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
● The corresponding data records must have been configured at the relevant technology
object.
● The encoders must be interconnected with the technology object in order to allow the
changeover. The encoders must return valid values at the time of changeover. You can
verify this by calling the "MC_ReadSysParameter" technology function with parameter
number 4050.
Interaction of commands
New command - active single command (3) (Page 743)
Input parameters
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Note
Differences in the data records in terms of parameters which have an influence on the
generation of control variables may also cause a step response of the axis in standstill state.
This status has an impact on gear ratio parameters or on all controller parameters, for
example.
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Encoder synchronization
If the current encoder does not match the encoder of the new data record the encoders are
synchronized according to the settings at input parameter SyncEncoder . The encoder
synchronization sets the actual position value of the current encoder at the new encoder.
The data record is changed over when synchronization is successfully completed.
Both encoders must rotate at the same speed in order to ensure precise synchronization.
Slip between the encoders or one of the encoders being in idle state will prevent the precise
interconnection of the encoder with the active process. Synchronization of the encoders
therefore fails, due to the difference between encoder values which develops in the period
between encoder synchronization and data record changeover.
The encoder synchronization is repeated cyclically if the data record cannot be changed over
immediately.
Note
If you change over the encoder alongside with the data record without synchronizing the
encoders, the axis may perform a compensating movement as a result of the different
encoder positions.
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MC_ChangeDataset - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Purpose
● The "MC_MoveAbsolute" technological function starts the positioning motion of an axis to
an absolute position.
● You define the dynamic response of the axis motion with the input parameters Velocity,
Jerk, Acceleration , and Deceleration.
● The function is terminated when the target position is reached.
● You can preset the direction of rotation of modulo axes.
● Define whether to trigger an active motion, or whether to append or overlay the motion at
input parameter Mode.
Supported for
● Positioning axes
● Synchronization axes
Prerequisites
● Axis is enabled for position-controlled operation
● The axis is homed if "Homing required" was selected in the configuration
● No active MC_Stop command
● Valid for appended and superimposing motions (Mode = 1, 2) gilt:
– Neither "MC_CamIn", nor "MC_GearIn" were started.
– No active basic synchronism
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
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Input parameters
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Phase "a"
The first rising edge at input parameter Execute (Exe_1) of FB1 starts absolute positioning of
the axis (Axis_1). Done_1 signals that the absolute target position of 1000 has been
reached.
Another positioning command is started on FB2 simultaneously with Done_1 = TRUE (input
parameter Execute (Exe_2)). ). Reaction times associated with command execution will
cause a brief standstill of the axis. Refer to the zoomed view. After this brief standstill, the
axis (Axis_1) moves to absolute position 1500. Done_2 reports that the axis has reached the
target position
Phase "b"
A second positive edge at input parameter Execute (Exe_1) of FB1 starts absolute
positioning of the axis (Axis_1).
A further positioning command is started at FB2 before the axis has reached target position
1000 (input parameter Execute (Exe_2)). Abort_1 reports cancellation of the active
positioning command at FB1. The axis (Axis_1) moves at the defined Deceleration = 10 to
velocity Velocity = 30. Done_2 at FB2 reports the axis at target position 1500.
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Direction reversed
Relative positioning is started with a positive edge at input parameter Execute (Exe_1) of
FB1. The axis (Axis_1) accelerates to its final velocity 50 at the defined Acceleration = 10.
Before the axis has reached its target position (Position = 1000) a further MC_MoveAbsolute
command is output (positive edge Exe_2 at FB2). Busy_2 reports that the new command is
active.
Instead of being canceled, the current positioning command is "overlaid" by setting Mode = 2
at FB2. The value of target position 1000 of the currently active MC_MoveAbsolute
command is higher than target position 700 of the next MC_MoveAbsolute command. You
therefore have to reverse the direction. "MC_MoveAbsolute" decelerates the axis with
Deceleration = 10 so that the axis has reached velocity 0 at target position 1000.
Completion of the command is reported with at FB1 with Done_1.
After having reached target position 1000, the axis decelerates (Axis_1) with Acceleration =
10 to velocity -30. The zoom view shows that there are no gaps at the transition. The axis
approaches target position 700 with Deceleration = 10. Done_2 reports at FB2 that the axis
has reached the target position; Busy_2 changes to FALSE.
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MC_MoveAbsolute - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● The "MC_MoveRelative" technology function starts the positioning motion of an axis at a
position relative to the start position.
If the axis was already in motion at the start of command execution and a "motion
override" was set with Mode = 0, the system uses the start position which is available
internally at the start of command execution. Allowances must be made for the reaction
time between the execution of a technology function and of a command, based on the
load and cycle time.
● You define the dynamic response of the axis motion with the input parameters Velocity,
Jerk, Acceleration, and Deceleration.
● Define whether to trigger an active motion, or whether to append or overlay the motion at
input parameter Mode.
Supported for
● Positioning axes
● Synchronization axes
Prerequisites
● Axis is enabled for position-controlled operation
● No active MC_Stop command
● Rule for saving and overlaying motions (Mode = 1, 2):
– Neither "MC_CamIn", nor "MC_GearIn" were started.
– No active basic synchronism
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
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Input parameters
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Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB1 starts relative positioning
of the axis (Axis_1). Done_1 changes to TRUE after the axis has reached Distance = 1000.
A second relative positioning command is started at FB2 in time with Done_1 = TRUE (input
parameter Execute (Exe_2)). Reaction times during command execution will cause a brief
standstill of the axis. Refer to the zoomed view. After a brief stop, the axis (Axis_1) continues
to move by a distance of 500. Done_2 reports completion of the command.
Phase "b"
A further positive edge at input parameter Execute (Exe_1) of FB1 starts relative positioning
of the axis (Axis_1).
A further positioning command is started at FB2 before the axis has reached target position
1000 (input parameter Execute (Exe_2)). Abort_1 reports cancellation of the active
positioning command at FB1. The axis (Axis_1) moves at the defined Deceleration = 10 to
velocity Velocity = 30. Done_2 at FB2 reports that the axis has travelled the Distance = 500.
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Direction reversed
Relative positioning is started with a positive edge at input parameter Execute (Exe_1) of
FB1. The axis (Axis_1) accelerates to its final velocity 50 at the defined Acceleration = 10. A
further MC_MoveRelative command is started (positive edge Exe_2 at FB2) before the axis
has travelled the defined distance (Distance = 1000). Busy_2 reports that the new command
is active.
Instead of being canceled, the current positioning command is "overlaid" by setting Mode = 2
at FB2. The direction is reversed, because a negative distance was set at FB2 (Distance = -
300). "MC_MoveRelative" decelerates the axis with Deceleration = 10 so that the axis has
reached 0 velocity after having traversed the distance 1000. Completion of the command is
reported with at FB1 with Done_1.
After having traversed the distance 1000, the axis accelerates (Axis_1) with Acceleration =
10 to velocity -30. The zoom view shows that there are no gaps at the transition. The axis
(Axis_1) covers the remaining distance at the set velocity and deceleration. Done_2 changes
to TRUE and Busy_2 changes to FALSE after the axis has covered the Distance = -300.
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MC_MoveRelative - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● The "MC_MoveAdditive" technology function starts axis positioning with user-definable
dynamic values to a position which is relative to the target position of the current
positioning command. This method allows the correction of a previously commanded
target position by a defined distance.
● Define the dynamic response of the motion at the input parameters Velocity,
Jerk,Acceleration, Deceleration.
● The axis stops at the target position
● An MC_MoveAdditive command overrides the active command
Supported for
● Positioning axes
● Synchronization axes
Prerequisites
● The axis must be enabled for position-controlled operation.
● The axis must be homed if "Homing required" was set in the configuration
– and if the axis is in motion
– or if "MC_MoveAdditive" overrides an active motion command (exception
"MC_MoveVelocity").
● Axis does not have to be homed
– if the axis is at a standstill
– if an active MC_MoveVelocity command is overridden
● An MC_Stop command is not being executed.
Note
When one of the following requirements applies, "MC_MoveAdditive" behaves like
"MC_MoveRelative":
• The axis is at a standstill at the start of the command
• A continuous function is overridden, that is, if the target position is not defined. In this
case, the target position depends on the override position and is derived from the
Distance and the position at the start of the operation.
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Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
Input parameters
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MC_MoveAdditive - example
Signal profile
Case a: Two MC_MoveAdditive commands are started in succession.
Case b: The second MC_MoveAdditive (FB 2) is started before the first is completed. This
action cancels the first command (FB 1). The target position is derived from the target
position of the first command, corrected by the distance of the second command.
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MC_MoveAdditive - ErrorIDs
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Purpose
● The "MC_MoveSuperImposed" technology function allows superimposed positioning of
an axis, for example, for pressure mark adjustment.
● Define the dynamic response of the motion at the input parameters VelocityDiff,
Jerk,Acceleration, Deceleration.
● The dynamic values of technology function "MC_MoveSuperImposed" add up to form the
dynamic values of the basic motion If the dynamic values derived from this addition
exceed the dynamic value configured in S7T Config (Dialog Default > Dynamic response
dialog box) the actual dynamic values are limited to the value configured in S7T Config.
The axis technology DB returns warning 0021 in this case.
● Active positioning or synchronization operations are not canceled.
● An active MC_MoveSuperImposed command is overridden by a new
MC_MoveSuperImposed command. The distance-to-go value of the canceled
MC_MoveSuperImposed is lost!
Supported for
● Positioning axes
● Synchronization axes
Prerequisites
● Axis is enabled for position-controlled operation
● No active MC_Stop command
● The axis velocity usually needs to be increased for superimposed positioning. For this
reason, the basic velocity of the axis may not have reached its maximum when this
positioning function is set.
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
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Input parameters
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MC_MoveSuperImposed - ErrorIDs
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Purpose
● The "MC_MoveVelocity" technology function initiates acceleration of the axis to the preset
velocity.
● Define motion dynamic response of the motion at the input parameters Jerk,
Acceleration, Deceleration.
● Allowances are made for any active velocity override function in the calculation of the
final velocity (InVelocity output parameter). Make allowances for this reaction in the user
program.
● You can use input parameter PositionControl to set position- or speed-controlled mode at
position-controlled axes.
● Use input parameter Mode to specify whether to trigger an active motion, to override the
current motion or to append the motion.
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
● The axis is enabled for speed- or position-controlled operation
● No active MC_Stop command
● Rule for appending motions (Mode = 1):
– Neither "MC_CamIn", nor "MC_GearIn" were started.
– No active basic synchronism
– "MC_MoveVelocity" cannot be saved and appended to an active
"MC_MoveVelocity" command
Interaction of commands
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
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Input parameters
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Note
At speed setpoint zero (Velocity = 0.0):
InVelocity is set when the axis has reached a standstill, and remains set as long as Execute
= 1. Command execution is completed when InVelocity is set, that is, Busy = FALSE, and
the technological function can neither report CommandAborted , nor Error .
Note
Speed-controlled operation is maintained until one of the following positioning commands is
started:
• "MC_MoveAbsolute"
• "MC_MoveRelative"
• "MC_MoveAdditive"
• "MC_MoveVelocity" (when PositionControl = TRUE)
• "MC_MoveToEndPos"
• "MC_GearIn"
• "MC_CamIn"
Restraints when speed control is active:
• Homing not possible ("MC_Home")
• The axis must operate position-controlled to be used as a leading axis with setpoint
coupling! When PositionControl = FALSE, the setpoint position of the axis is held
constant.
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Note
The effect of the software limit switch in speed-controlled mode depends on the settings in
S7T Config Axis >Limitations, "Position and velocity" tab, "Effect of the software limit
switches" drop-down list.
• Setting "Stop at software limit switch only when moving in position-controlled mode"
With this setting, the user program can command an axis operating in speed-controlled
mode to pass the software limit switch. Subsequent retraction is only possible if the
software limit switch is deactivated.
If the user program does not allow this deactivation you can only return the axis to
position-controlled mode by cycling POWER OFF / ON. You can then retract the axis.
• Setting "Stop at software limit switch in all modes of operation and force position-
controlled mode"
This setting allows you to stop the axis at the software limit switch if operated in speed-
controlled mode. The axis changes to position-controlled mode in the first step.
Retraction is not required.
Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB1 initiates axis motion
(Axis_1) at a velocity 50. The final velocity is reported at InVel_1.
A positive edge at input parameter Execute (Exe_2) of FB 2 overrides the current motion.
The override operation is reported to Abort_1. Abort_1 remains set as long Exe_1 is set at
FB1. After the override, the axis moves (Axis_1) at velocity 15.
Phase "b"
A further positive edge at input parameter Execute (Exe_1) overrides the current motion and
resets velocity 50.
A further command at FB2 (positive edge at Exe_2) overrides the motion before the axis has
reached a velocity 50. After the override, the axis moves (Axis_1) at velocity 15. The final
velocity is reported at InVel_2.
Parameter Exe_1 is only set briefly in phase "b"; Abort_1 is therefore returned only for the
duration of one cycle.
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MC_MoveVelocity - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● The "MC_MoveToEndPos" technology function moves the axis into contact with an
obstruction and holds it in this position, for example, at the end of the distance traversed.
● Define the dynamic response of the motion at the input parameters Velocity,
Jerk,Acceleration, Deceleration.
● The method and criteria for detecting the end position can be defined axis configuration
of S7T Config, for example, following error or torque.
● If drive torque can be limited, torque limiting at the technology function also influences the
end stop detection setting "use following error“ (in S7T Config)
Supported for
● Positioning axes (only electrical real axes)
● Synchronization axes (only electrical real axes)
Prerequisites
● Axis is enabled for position-controlled operation
● No active MC_Stop command
● End stop detection must be enabled for the axis.
Set the end stop detection criteria "use following error“ or "use torque" in the Axis >
Limiting > End stop dialog box of S7T Config.
Interaction of commands
● Other motion commands can override the current command before the fixed end stop is
reached.
● If the axis is clamped at the end stop (InClamping = TRUE) the system only accepts
motion commands which move the axis away from this position. The MC_MoveToEndPos
remains active until the drive has left the clamping tolerance window. New motion
commands in direction of the end stop can now be input. Any synchronization command
which is executed within the clamping tolerance window to initiate reversal in direction of
the end stop will be canceled.
● The MC_MoveToEndPos command can only override another active
MC_MoveToEndPos command if both set the same effective direction.
New command - active single command (2) (Page 741)
New command – active commands (2) (Page 746)
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Input parameters
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Note
If "use following error" is set at the "Fixed end stop" tab of the " Axis > Limits " dialog box in
the S7T Config axis configuration, following error monitoring is disabled if the technology
function is used.
If the fixed end stop breaks, the following error is reduced according to limits configured at
the drive. Neither dynamic values defined at the input parameters, nor limits set in the
technology object influence this operation.
Always reduce the following error before you stop the axis with "MC_Stop" or "MC_Halt."
Note
The initial velocity value is set to 0.0 for reasons of safety. This value is invalid in actual fact
and will lead to an error. Define a suitable value.
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MC_MoveToEndPos - example
a) An axis is moved to the fixed end stop with reduced torque. A following error is generated
based on the position setpoint > actual position value in order to maintain torque.
b) The clamping torque is doubled when a new command moves the axis towards the same
direction.
c) Clamping is terminated by starting a "MC_MoveRelative" command which releases the
axis from the clamping position. Clamping is terminated as soon as the position setpoint is
outside of the clamping tolerance window.
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MC_MoveToEndPos - ErrorIDs
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Purpose
● The "MC_SetTorqueLimit" technology function enables/disables torque limiting.
● From firmware of the integrated technology V4.1.x and higher, the torque limit is
maintained even after removal of the enable by the "MC-Power" technology function.
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
Prerequisites
● No active MC_Stop command
● The axis is enabled for speed- or position-controlled operation
● The torque reference for the axis must be set correctly in order to maintain the specified
torque The default value of the torque reference (Page 918) is 3.2 N/m.
● The drive must support torque reduction, and must be operated by one of the telegrams
101 to 106.
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Interaction of commands
New command - active single command (3) (Page 743)
Input parameters
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Note
Following error monitoring is disabled when the technology function is being used. Any
developed following error is eliminated based on the configured drive limits when torque is
increased or countering torque is reduced. Neither dynamic values defined at the input
parameters, nor limits set in the technology object influence this operation.
Always reduce the following error before you stop the axis with "MC_Stop" or "MC_Halt."
You should preferably stop the axis without position control using technology function
"MC_MoveVelocity" with PositionControl = FALSE and Velocity = 0.0 setting.
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MC_SetTorqueLimit - example
A value of 3.2 N/m is set by default for torque limiting (configuration parameter
TypeOfAxis.SetPointDriverInfo.maxTorque).
In the example below torque limiting is reduced to 1.6 N/m.
MC_SetTorqueLimit - ErrorIDs
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Purpose
● Activating a valve profile for a Q-valve (speed valve)
● The valve profile can also be changed while the hydraulic axis is in motion The optional
control signal compensation is limited
● A repeated call of the technology function with a positive edge at input parameter
Execute cancels the previous command.
Supported for
● Hydraulic speed-controlled axes
● Hydraulic positioning axes
● Hydraulic synchronization axes
Prerequisites
● The selected axis must be configured for operation as hydraulic axis
● The profile is mapped to a cam disk and configured in S7T Config as optional valve
profile.
Interaction of commands
New command - active single command (3) (Page 743)
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Input parameters
Note
Conditions to be met before you enable the hydraulic axis by calling technology function
"MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile.
• The valve profile must be activated by the "MC_SetCharacteristic" technology function.
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MC_SetCharacteristic - example
The characteristic valve profile is stored in cam disk (Cam_1). When called, it is used at the
hydraulic axis to determine control signals for motion commands.
MC_SetCharacteristic - ErrorIDs
Supported by Integrated Technology with firmware V3.2.x
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Purpose
● The "MC_GearIn" technology function starts basic gearing between the leading (master)
and following (slave) axes
● You define the dynamic response during synchronization of the following axis at the
dynamic parameters Velocity, Jerk, Acceleration, Deceleration .
● The gear ratio is defined as a function of the ratio between two integer numbers at the
input parameter (numerator / denominator)
● Synchronism can be relative to the start position (random position values upon reaching
synchronism) or absolute
● The gear ratio can be changed while the system is in RUN by requesting a new
MC_GearIn command. This operation does not require a stop of the leading or following
axis Transitions are executed according to specified acceleration or deceleration values
● The function can be started when the leading axis is at a standstill, or when it is in motion.
Supported for
● Synchronization axes
Prerequisites
● The leading axis is configured for operation as external encoder, or as positioning axis, or
as synchronization axis
● The following axis is configured for operation as synchronization axis
● The leading axis is set for use as master value at the base synchronization object of the
following axis
● The following axis is enabled for position-controlled operation
● No MC_Stop command is being executed at the following axis.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
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MC_GearIn - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware V3.0.x and V3.1.x.
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Purpose
● The "MC_GearOut" technology function ends basic gearing. Superimposing motions or
superimposed synchronism are not affected by this operation.
● Synchronous operation is stopped according to the default setting of the synchronization
object in S7T Config .
● The technology function is terminated after basic gearing of the following axis was
stopped.
Note
Use the technology function when the shutdown process should depend on the position
of the leading axis and/or of the following axis.
The "MC_Halt", "MC_Stop", "MC_MoveRelative", "MC_MoveAdditive",
"MC_MoveAbsolute", "MC_MoveVelocity" or "MC_MoveToEndPos" technology functions
can also be used to end synchronous operation of the following axis.
Supported for
● Synchronization axes
Prerequisites
● The axis must be operated as following axis (slave) for basic gearing. The command is
ignored if no basic gearing is active and the technology function reports Done = TRUE.
● No MC_Stop command in process at the following axis.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
Note
Simultaneous output of MC_GearIn and MC_GearOut to the same technology object may
cancel the MC_GearIn command (CommandAborted = TRUE). The "MC_GearOut"
technology function therefore reports Done = TRUE.
Do not start the MC_GearOut command unless the MC_GearIn has reported the
synchronized state (InGear = TRUE).
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MC_GearOut - example
The "MC_GearOut" technology function is called to stop basic gearing and to stop the axis
according to the configured mode. In this example we have a relative basic gearing with an
offset between the leading and following axes which has developed during synchronization.
The gear ratio is 1:1. The following axis should stop at position 180 °. Corresponding
settings:
Desynchronization: "Specification of desynchronization position for following axis"
Position reference: "Stop before desynchronization position"
Desynchronization following axis: 180 °
The axis is desynchronized based on the leading axis position. The following axis is
desynchronized within the desynchronization length of 100 ° covered by the leading axis.
The following axis covers half the distance of the leading axis (50 °).
Profile setting: "Leading axis-related synchronization profile"
Desynchronization Length: 100 °
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MC_GearOut - ErrorIDs
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Purpose
● The "MC_GearInSuperImposed" technology function starts superimposed gearing
between a leading axis and a following axis.
● Define the dynamic response during synchronization of the following axis at the dynamic
parameters Velocity, Jerk, Acceleration, Deceleration .
● The gear ratio is defined as a function of the ratio between two integer numbers at the
input parameter (numerator / denominator)
● Synchronism can be relative to the start position (random position values upon reaching
synchronism) or absolute
● The gear ratio can be changed while the system is in RUN by requesting a new
MC_GearInSuperImposed command. This operation does not require a stop of the
leading or following axis Transitions are executed according to specified acceleration or
deceleration values
● The function can be started when the leading axis is at a standstill, or when it is in motion.
Supported for
● Synchronization axes with superimposed synchronization object
Prerequisites
● The leading axis is configured for operation as external encoder, or as positioning axis, or
as synchronization axis
● The following axis is configured as synchronization axis with superimposed
synchronization object
● The leading axis is set as possible superimposing synchronization object of the following
axis
● The following axis is enabled for position-controlled operation
● No MC_Stop command is being executed at the following axis.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
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MC_GearInSuperImposed - ErrorIDs
Supported by Integrated Technology with firmware V3.2.x
This section describes applications with firmware V3.1.x
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Purpose
● The "MC_GearOutSuperImposed" technology function stops superimposed gearing. This
does not affect basic motions or basic synchronous operation.
● Superimposed gearing can be stopped immediately in Mode = 1 using the Deceleration
and Jerk input parameters. You can also desynchronize the axes if Mode = 0 according
to the default settings of the superimposing synchronization object in S7T Config .
● The technology function is terminated after superimposing synchronism of the following
axis is terminated.
Supported for
● Synchronization axes with superimposing synchronization object
Prerequisites
● The axis must be configured as following axis (slave) for operation on a system with
superimposed synchronization. The command is ignored and the technology function
reports Done = TRUE if no superimposing gearing is active
● An MC_Stop command is not being executed.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
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Note
Simultaneous output of MC_GearInSuperImposed and MC_GearOutSuperImpsed to the
same technology object may cancel the MC_GearInSuperImposed command
(CommandAborted = TRUE). The "MC_GearOutSuperImposed" technology function
therefore reports Done = TRUE.
Do not start the MC_GearOutSuperImposed command unless the MC_GearInSuperImposed
has reported the synchronized state (InGear = TRUE).
MC_GearOutSuperImposed - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Purpose
● The "MC_CamIn" technology function starts camming between the leading and following
axes (master and slave.)
● You can define the dynamic response during synchronization of the following axis at the
dynamic parameters Velocity, Jerk, Acceleration .
● You can scale the specified cam, and/or shift its position.
● The specified cam can optionally be run through once or periodically.
● The synchronism can be absolute or relative.
Supported for
● Synchronization axes
Prerequisites
● The leading axis is configured for operation as external encoder, or as positioning axis, or
as synchronization axis
● The following axis is configured for operation as synchronization axis
● In your configuration of the synchronization object of the following axis, you must have
selected the required cam disk and leading axis.
● The following axis is enabled for position-controlled operation
● No MC_Stop command is being executed at the following axis.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
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④ The SlaveOffset parameter shifts the entire cam along the Y coordinate.
⑤ The MasterOffset parameter shifts the cam along the X coordinate to generate a cam with phase shift.
MC_CamIn - Example - "Synchronization with the leading axis position (cyclic relative synchronism)"
Synchronization mode:
Relative camming, cyclic mode
In relative camming mode, the cam start and end values may assume any value along the Y
coordinate. At the end of a current cam cycle, the cam is added to the current Y value.
Synchronization condition:
The synchronization condition defined in the axis configuration or by input at the
corresponding parameters is active if Mode = 0:
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MC_CamIn - Example - "Synchronization with the leading axis position (cyclic absolute synchronism)"
Synchronization mode:
Absolute camming, cyclic mode
The Y values and gradients at the cam start and end position are identical. This allows you
to join the cams in cyclic mode without causing discontinuity.
Synchronization condition:
The synchronization condition defined in the axis configuration or by input at the
corresponding parameters is active if Mode = 0:
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Sequence
1. "Preset synchronization position of the leading axis" was set in S7T Config as the default
synchronization mode of the synchronization axis. The position reference was set to
"Synchronize from synchronization position", with Sync. Pos. master value 0.0.
Execute = 1 initiates synchronization with "Cam_1", starting at leading axis value 0.0.
2. The synchronization position is changed by using the "MC_WriteParameter" technology
function. To this purpose Parameter 4266 of the following axis is set to the value
"AT_THE_END_OF_CAM_CYCLE".
3. The cam instance of "Cam_2" is set at the CamTable input parameter.
4. Synchronization with "Cam_2" starts at the end of the active cams the next time Execute
= 1.
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MC_CamIn - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware V3.1.x
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Purpose
● "MC_CamOut" stops camming and the following axis. You can define the corresponding
conditions in the axis configuration
Note
Use the technology function when the shutdown process should depend on the position
of the leading axis and/or of the following axis.
The "MC_Halt", "MC_Stop", "MC_MoveRelative", "MC_MoveAdditive",
"MC_MoveAbsolute", "MC_MoveVelocity" or "MC_MoveToEndPos" technology functions
can also be used to end synchronous operation of the following axis.
Supported for
● Synchronization axes
Prerequisites
● The axis must be configured as following axis (Slave) for camming operations. The
command is ignored if no camming is active and the technology function reports
Done = TRUE.
● No active MC_Stop command
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
Input parameters
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6.3 Technology functions - Gearing/camming
Note
Simultaneous output of MC_CamIn and MC_CamOut to the same technology object may
cancel the MC_CamIn command (CommandAborted = TRUE). The "MC_CamOut"
technology function therefore reports Done = TRUE.
Do not start the MC_CamOut command unless the MC_CamIn has reported the camming
state (InSync = TRUE).
MC_CamOut - example
The "MC_CamOut" technology function is used to stop camming and to stop the axis
according to the configured mode. In this example, the following axis should stop at position
160 °. Corresponding settings:
Desynchronization: "at the following axis position"
Position reference: "Stop before desynchronization position"
Desynchronization following axis: 160 °
The axis is desynchronized based on the leading axis position. The following axis is
desynchronized within the desynchronization length of 80 ° covered by the leading axis. The
time from which desynchronization starts is calculated internally.
Profile setting: "Leading axis-related synchronization profile"
Desynchronization Length: 80 °
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MC_CamOut - ErrorIDs
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Purpose
● The "MC_CamInSuperImposed" technology function starts a superimposing camming
between the leading and following axes (master and slave.)
● Define the dynamic response during synchronization of the following axis at the dynamic
parameters Velocity, Jerk, Acceleration.
● You can scale the specified cam, and/or shift its position.
● The synchronism can be absolute or relative.
● The specified cam disk can be executed once or cyclically.
Supported for
● Synchronization axes with a superimposed synchronization object
Prerequisites
● The leading axis is configured for operation as external encoder, or as positioning axis, or
as synchronization axis
● The following axis is configured as synchronization axis with superimposing
synchronization object
● The leading axis is set as possible superimposing synchronization object of the following
axis
● The cam disk is marked available at the superimposing synchronization object.
● The following axis is enabled for position-controlled operation
● No active MC_Stop command at the following axis.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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MC_CamInSuperImposed - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware V3.1.x
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Purpose
● The "MC_CamOutSuperImposed" technology function stops superimposed camming.
This does not affect basic motions or basic synchronous operation.
● The command is completed when the slave axis is desynchronized according to the axis
configuration or to the dynamic response parameters of the technology function.
Supported for
● Synchronization axes with a superimposed synchronous object
Prerequisites
● The axis must be operated as a following axis (slave) for a superimposed camming
process. The command is ignored if no synchronous operation is active, and the
technology function reports Done = TRUE..
● An MC_Stop command is not being executed.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
Note
Simultaneous output of MC_CamInSuperImposed and MC_CamOutSuperImposed to the
same technology object may cancel the MC_CamInSuperImposed command
(CommandAborted = TRUE). The "MC_CamOutSuperImposed" technology function
therefore reports Done = TRUE.
Do not start the MC_CamOutSuperImposed command unless the MC_CamInSuperImposed
has reported the synchronous state (InGear = TRUE).
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MC_CamOutSuperImposed - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
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6.3.9 FB 424 MC_Phasing - Changing the phase shift between the leading axis and the
following axis
Changing the phase shift between the leading and following axes by calling FB424 "MC_Phasing"
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
Purpose
● The "MC_Phasing" technology function causes a phase shift of the leading axis relative to
the following axis. The actual position of the leading axis is not influenced.
● The effect on a following axis operating in camming mode is the same as a horizontal
cam shift.
● The phase reference can be either relative or absolute.
● The function can be started when the leading axis is at a standstill or in motion.
● Define the dynamic response of the motion with the input parameters Velocity, Jerk,
Acceleration, Deceleration.
Supported for
● Synchronous axes operating in camming or gearing mode
Prerequisites
● No active MC_Stop command at the following axis.
● The axis must be operated as a following axis in camming or gearing modes.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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MC_Phasing - Example
Use the "MC_Phasing" technology function to shift the phase position of a cam during
camming.
The Absolute = 1 setting defines the cam shift as an absolute value compared to the cam
definition. Repeated shifting with the same "PhaseShift" " value does not have any effect.
When Absolute = 0 , the shift change is relative, meaning that each command shifts the
phase position by the value defined at PhaseShift.
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MC_Phasing - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● The MC_PhasingSuperImposed technology function sets a superimposed phase shift
between the leading axis and following axis positions. The phase shift value is defined
based on the following axis position. The superimposed phase shift affects the following
axis. It does not influence the position of the leading axis.
● The effect on a following axis operating in camming mode is the same as a horizontal
cam shift.
● The phase reference can be either relative or absolute.
● The function can be started when the leading axis is at a standstill or in motion.
● Define the dynamic response of the motion at the input parameters Velocity,
Jerk,Acceleration, Deceleration.
Supported for
● Synchronous axes with a superimposed synchronous object operating in camming and
gearing mode
Prerequisites
● No active MC_Stop- command at the following axis
● The axis must be operated as a following axis (slave) in superimposed camming or
gearing modes.
Interaction of commands
New command - active single command (1) (Page 739)
New command – active commands (1) (Page 744)
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Input parameters
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MC_PhasingSuperImposed - example
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MC_PhasingSuperImposed - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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6.4 Technology functions - Cam disks
Supported for
● Cams
Prerequisites
● The cam must not be in use when you delete it.
● No MC_CamSectorAdd commands must be active (restriction only applies to firmware
V3.0.x of integrated technology).
Overriding commands
MC_CamClear commands can not be canceled by any other command.
MC_CamClear commands do not cancel any other commands.
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6.4 Technology functions - Cam disks
Input parameters
Note
It may take some time to delete cams with a large number of interpolation points or
polynomials. Other technology objects can not accept any new commands, not even
MC_Stop, within this period. Note that you can not cancel commands without a defined
termination ("MC_MoveVelocity", for example) within this time.
If the setting of the command monitoring time is too short in S7T Config , the deletion may
lead to a timeout and, thus, to a STOP of the Technology CPU.
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MC_CamClear - ErrorIDs
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Purpose
● The "MC_CamSectorAdd" technology function adds new interpolation points or
polynomials to a cam (unlimited number per command).
Supported for
● Cams
Prerequisites
● The cam is in edit mode
Edit mode is started by calling the "MC_CamClear" technology function and ends with
cam interpolation by the calling the "MC_CamInterpolate" technology function. The cam
can then be reused for camming.
Overriding commands
MC_CamSectorAdd commands can not be canceled by any other command.
MC_CamSectorAdd commands do not cancel any other commands.
Input parameters
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Note
Note the following:
• Only use mathematical functions up to the 3rd order when you add segments. Any
coefficients of a higher order may lead to inaccuracies due to the resolution of floating-
point values.
• Segments defined as polynomials are recalculated in the Technology CPU. When you
subsequently read out the values to S7T Config, deviating coefficients may be returned.
The y-coordinates of the start and end points may similarly also be swapped.
The cam shape, however, is retained.
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Example:
In the example, the ANY pointer refers to a range starting at address 16 in DB20. The data
structure of the polynomial is fixed and has a set length of 60 bytes.
Note
You can save yourself editing work by using UDT 20 from the "S7-Tech" library. UDT 20
contains the data structure of the polynomial. You can add up to 4 polynomials in one call by
repeating this structure.
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6.4 Technology functions - Cam disks
In our example, the ANY pointer refers to a range of interpolation points that begins at
address 6 in DB10 and consists of eight interpolation points (eight value pairs).
Note
Integrated technology with firmware V3.1.x or higher
This firmware version allows you to add all interpolation points and polynomials of the
MC_CamSectorAdd command in a single command execution cycle. You can add more than
30 interpolation points or more than 4 polynomials to the cam by running several
MC_CamSectorAdd commands.
Integrated Technology with firmware V3.0.x
With this firmware version, the insertion of interpolation points and polynomials is distributed
to several command execution cycles.
While one MC_CamSectorAdd command is running, no other MC_CamSectorAdd,
MC_CamClear, or MC_CamInterpolate commands are permitted to start.
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MC_CamSectorAdd - ErrorIDs
Valid for Integrated Technology with firmware version V4.1.x
This section describes applications with firmware up to V3.2.x
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Purpose
● The "MC_CamInterpolate" technology function interpolates a cam. After its interpolation,
the cam can be used for camming.
● Interpolation closes the gaps between the cam interpolation points and polynomials,
according to the specified type of interpolation.
Supported for
● Cams
Prerequisites
● The cam is in edit mode
Edit mode is started by calling the "MC_CamClear" technology function and ends with
cam interpolation by the calling the "MC_CamInterpolate" technology function. The cam
can then be reused for camming.
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6.4 Technology functions - Cam disks
Conditions
● Rule for interpolation points:
– The last superimposed interpolation point created takes priority.
– The value 1E-4 is used in the system for the continuity check.
● Rule for segments:
– Gaps between segments are filled with an interpolated cam.
– The segment start point is used if segments overlap; the previous
segment is truncated as of this position.
● Rule for mixed mode cams (segments and interpolation points):
– The start point takes priority as with pure segments.
● The cam is calculated in accordance with settings at input parameter CamMode. This
system may change the cam boundaries accordingly.
Overriding commands
MC_CamInterpolate commands can not be canceled by any other command.
MC_CamInterpolate commands do not cancel any other commands.
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Input parameters
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6.4 Technology functions - Cam disks
Note
It may take some time to interpolate cams with a large number of interpolation points or
polynomials. Other technology objects can not accept any new commands, not even
MC_Stop, within this period. Note that you can not cancel commands without a defined
termination ("MC_MoveVelocity", for example) within this time.
If the command monitoring time is set too short in S7T Config, the interpolation may lead to
timeout and subsequently to a STOP of the Technology CPU.
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6.4 Technology functions - Cam disks
1. A gap between two segments is closed automatically during interpolation. A gap smaller than a specific limit is
closed by joining the interpolation points.
If a cam is created in S7T Config, you can define the gap limit in expert mode (go to CamEdit > "Interpolation"
tab, and then select the "Expert mode" check box.
If the cam disk is created with the "MC_CamSectorAdd" technology function, the limit of the gap lies fixed at 1E-
04. Above this limit the gap is closed by interpolation. Below this limit the gap is closed by joining the points.
2. Where the end point of one segment and the start point of the next have the same x value, but different y values,
this discontinuity persists irrespective of the interpolation.
3. The start position of the successive segment (sector 2) is applied where two successive segments overlap. The
overlapping end position of the previous segment (sector 1) is truncated and therefore lost. Overlapping
segments are particularly prone to discontinuity at the segment limits, because as a result of the truncation,
sector 1 is assigned a random y value at the end of the segment (y(x1).
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6.4 Technology functions - Cam disks
MC_CamInterpolate - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x or higher
This section describes applications with firmware up to and including V3.1.x
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6.4 Technology functions - Cam disks
Purpose
● The "MC_GetCamPoint" technology function is used to determine the position of the
following axis relative to a leading axis position as well as the first and second derivation
of the cam point from an existing cam.
● The "MC_GetCamPoint" technology function is used to determine the position of a
leading axis relative to a following axis position from an existing cam.
– Because the same slave axis positions can be entered for various master axis
positions when the cam is defined, the master axis position must be defined more
precisely. This can be done at input parameter ApproachPosition. Enter an
approximation of the presumed leading axis position at this input parameter.
● If the cam was configured in S7T Config using CamEdit or CamTool, the scaling and shift
defined there are included when you calculate the positions. Cams created dynamically in
runtime are always unscaled and unshifted.
Any scaling or shift operations by the input parameters of the MC_CamIn technology
function are ignored when the positions are determined.
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Supported for
● Cams
Prerequisites
● The cam was interpolated without error (status at technology data block 2 = interpolated).
Overriding commands
MC_GetCamPoint commands can not be canceled by any other command.
MC_GetCamPoint commands do not cancel any other commands.
Input parameters
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Mode 1
Any number of leading axis positions may exist for a following axis position. You can specify
an assumed leading axis position via the input parameter ApproachPosition.
Example:
Following axis
6
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4
/HDGLQJD[LVSRVLWLRQ
/HDGLQJD[LVSRVLWLRQ
2
/HDGLQJD[LV
2 4 6 8 10
The corresponding leading axis position for following axis position = 4 is to be determined. In
the example shown, there are two leading axis positions for the following axis position.
Define which leading axis position is to be determined with the input parameter
ApproachPosition:
● ApproachPosition < 5
The position value of the leading axis position 1 is determined.
● ApproachPosition > 5
The position value of the leading axis position 2 is determined.
● ApproachPosition = 5
The value for ApproachPosition lies exactly between leading axis position 1 and leading
axis position 2. By definition, in this case the leading axis position with the lower position
value is determined. To avoid rounding effects, definite values for ApproachPosition
should be used.
The value for ApproachPosition may also lie outside the cam definition. For
ApproachPosition = -10 , in this example the value for the leading axis position 1 is
determined.
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6.4 Technology functions - Cam disks
Mode 2 and 3
If a cam disk is generated and interpolated in the Technology CPU, the result of the
interpolation cannot be checked in S7T Config. The following formulae apply for velocity and
acceleration:
MC_GetCamPoint - ErrorIDs
Valid for integrated technology with firmware V4.1.x or higher
This section describes applications with firmware V3.1.x
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6.5 Technology functions - output cams, cam tracks
Purpose
● The “MC_CamSwitch" technology function is used to enable/disable position-based cams
or uni-directional output cams, and to define their switching performance.
● In your cam configuration, you can define whether the switching positions are based on
setpoints or on actual values.
● Switching points can be advanced or retarded (rate time and deactivation time). The time
unit set in S7T Config applies to the axis.
● The current switching state of the output cam is saved to the technology DB.
Supported for
● Position-based cam
● Uni-directional output cam
Requirements
● The Output cam technology object must have been configured in S7T Config and the
current configuration must have been loaded into the Technology CPU.
● The technology DB of the output cam must have been generated and loaded to the
control system.
● An output cam configured as a setpoint output cam is only activated when the axis is in
position-controlled mode.
Overriding commands
MC_CamSwitch commands can only be canceled by another MC_CamSwitch command
output to the same TO. MC_CamSwitch commands do not cancel any other commands.
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Input parameters
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6.5 Technology functions - output cams, cam tracks
Note
Response when the drive of an actual value output cam fails:
An output cam configured as an actual value output cam in S7T Config requires a valid
encoder value. The associated output cam is therefore disabled when the drive fails. The
command is canceled with ErrorID = 8021 at the technology DB of the output cam.
Response when the drive of a setpoint output cam fails:
An output cam configured as a setpoint output cam in S7T Config does not require an
associated encoder value. The output cam remains active when the drive fails. The output
cam resumes switching operations at the configured positions after the error is
acknowledged and the drive is enabled.
Response to axis restart
The output cam is deactivated when its associated axis performs a restart ("MC_Reset",
Restart = TRUE). This always applies, regardless of whether the output cam was configured
as a setpoint or as an actual value cam in S7T Config.
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6.5 Technology functions - output cams, cam tracks
Call of FB1:
The "Enable output cam" operating mode is selected by setting input parameter Mode = 2.
The uni-directional output cam is enabled by a rising edge at input parameter Execute.
The direction of motion corresponds to the "positive effective direction" (input parameter
Direction = 1). The uni-directional output cam is activated when the starting position is
passed (input parameter OnPosition = 20) and remains in this state.
Call of FB 2:
The "Disable output cam" operating mode is selected by setting input parameter Mode = 1.
The uni-directional output cam is disabled by a rising edge at input parameter Execute.
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MC_CamSwitch - ErrorIDs
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6.5 Technology functions - output cams, cam tracks
Purpose
● The "MC_CamSwitchTime" technology function is used to activate/deactivate time-based
cams and to define their switching performance. Time-based cams are activated when
the starting position is reached, and are reset when the pulse period has expired.
● In your configuration, you can define whether the switching positions are based on
setpoints or actual values.
● All time definitions refer to the time base configured in S7T Config .
● The current activation state of the output cam is stored in the technology DB.
Supported for
● Time-based cam
Requirements
● The Output cam technology object must have been configured in S7T Config and the
current configuration must have been loaded into the Technology CPU.
● The technology DB of the output cam must have been generated and loaded to the
control system.
● An output cam configured as a setpoint output cam is only activated when the axis is in
position-controlled mode.
Overriding commands
MC_CamSwitchTime commands can only be canceled by another MC_CamSwitchTime
command output to the same TO. MC_CamSwitchTime commands do not cancel any other
commands.
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6.5 Technology functions - output cams, cam tracks
Input parameters
Note
Response when the drive of an actual value output cam fails:
An output cam configured as an actual value output cam in S7T Config requires a valid
encoder value. The associated output cam is therefore disabled when the drive fails. The
command is canceled with ErrorID = 8021 at the technology DB of the output cam.
Response when the drive of a setpoint output cam fails:
An output cam configured as a setpoint output cam in S7T Config does not require an
associated encoder value. The output cam remains active when the drive fails. The output
cam resumes switching operations at the configured positions after the error is
acknowledged and the drive is enabled.
Response to axis restart
The output cam is deactivated when its associated axis performs a restart ("MC_Reset",
Restart = TRUE). This always applies, regardless of whether the output cam was configured
as a setpoint or as an actual value cam in S7T Config.
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MC_CamSwitchTime - example
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6.5 Technology functions - output cams, cam tracks
MC_CamSwitchTime - ErrorIDs
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6.5 Technology functions - output cams, cam tracks
Purpose
● With the technology function "MC_CamTrack" you define the current operating mode of a
cam track.
● The switching state of the individual output cams of the cam tracks can be evaluated as
software cams in the software cam in the variable SingleCamState[0 ... 31].
● Depending on the configuration in S7T Config a common hardware output cam output is
switched for all the activated individual output cams.
Supported for
● Cam tracks
Prerequisites
● The cam track technology object must have been configured in S7T Config and the
current configuration must have been loaded into the technology CPU.
● The technology DB of the cam track must have been generated and loaded to the control
system.
● A cam track configured as a setpoint output cam is only activated when the axis is in
position-controlled mode.
Overriding commands
A command can only be canceled by another command output to the same technology
object, does not cancel any further commands.
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Input parameters
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6.5 Technology functions - output cams, cam tracks
NOTICE
When selecting the cam track length, ensure that no valid individual output cams are
located partially or completely outside the cam track length. If necessary, extend the cam
track length or remove the validity of the corresponding individual output cam.
Valid individual cams that are located partially or completely outside the cam track length
are projected into the range of the cam track length and cause unwanted switching states.
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6.5 Technology functions - output cams, cam tracks
The amount of glue is controlled by means of the time-based cams t1 to t3 and t4 to t6. The
beginning of the glue application is defined by means of the cam beginning SOC1 or SOC4
respectively.
To ensure that glue is not applied outside the workpiece lengths if the axis moves rapidly,
the maximum ON lengths are limited.
In the example the ON lengths EOC1max, EOC2max, and EOC3max ensure that glue is not
applied outside the glue application range. The same applies for the second glue application
range, irrespective of the axis speed.
MC_CamSwitch - ErrorIDs
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6.5 Technology functions - output cams, cam tracks
Purpose
● The technology function is used to read out the individual output cam data of a cam track
from the integrated technology.
● The Mode input parameter is used to determine whether the "actual values" of the
individual output cam data of a cam track or the currently effective individual cam data
are read out.
Supported for
● Cam tracks
Overriding commands
A command can only be canceled by another command output on the same technology
object. A command does not cancel any further commands.
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6.5 Technology functions - output cams, cam tracks
Input parameters
Note
You can save yourself editing work by using UDT 100 from the "S7-Tech" library. UDT 100
contains the data structure for reading the cam track data.
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MC_ReadCamTrackData - ErrorIDs
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6.5 Technology functions - output cams, cam tracks
Purpose
● The technology function is used to write the individual output cam data of a cam track into
the "actual values" of the integrated technology. The changed individual output cam data
can be found in online mode of S7T Config: Expert List of the cam track > System
variables tab > "Actual value" column > System variable userdefault. singlecamsettings.
cam. cam[x].
Supported for
● Cam tracks
Overriding commands
A command can only be canceled by another command output on the same technology
object. A command does not cancel any further commands.
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6.5 Technology functions - output cams, cam tracks
Input parameters
Note
You can save yourself editing work by using UDT 100 from the "S7-Tech" library. UDT 100
contains the data structure for writing the cam track data.
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MC_WriteCamTrackData - ErrorIDs
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6.6 Technology functions - measuring inputs, external encoders
Purpose
● The "MC_MeasuringInput" technology function is used to enable the acquisition of a
single measurement by means of a measuring input.
● A measuring input records the position of a configured axis or of an external encoder
based on the occurrence of an external event, such as a pressure mark or reference
cam.
● The measurement can be limited to a specific measuring range. The first measured value
within the range defined by the StartPosition and EndPosition is accepted
● When StartPosition = EndPosition, the measurement range is ignored.
● The function is terminated after the measured value has been recorded and output, or
when the measurement was canceled, for example, by another command.
● Several operating modes can be selected at input Mode, based on the drive and
measuring element used.
Supported for
● Measuring input
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Prerequisites
● The axis is enabled for position-controlled operation.
● The connected drive or measuring element supports the selected mode. Refer to the
relevant drive documentation for further information!
● The drive interface IM 174/ADI4 does not support the simultaneous execution of
MC_MeasuringInput and MC_Home commands.
Note
Make allowances for the drive response times. For further information, refer to the
relevant drive documentation (on the "S7-Technology" CD, for example).
Overriding commands
MC_MeasuringInput commands can only be canceled by another MC_MeasuringInput
command output to the same TO. MC_MeasuringInput commands do not cancel any other
commands.
Input parameters
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6.6 Technology functions - measuring inputs, external encoders
MC_MeasuringInput - example
The measuring input is activated. The actual position value (46.7, for example) will be saved
to MeasuringValue1 when the measuring input is detected.
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MC_MeasuringInput - ErrorIDs
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Purpose
● The "MC_ExternalEncoder" technology function controls an external encoder that can be
used, for example, as a real leading axis (master) for synchronous operation.
● The external encoder can be enabled / disabled
● Absolute encoder adjustment is supported
● Synchronization: The actual position value of an incremental encoder can be influenced
by corresponding settings or by passive homing.
Supported for
● External encoders
Prerequisites
● The encoder value must be valid. Check the variables Statusword.CyclicInterface and
Statusword.EncoderValid in the technology data block.
● You can only modify the actual position value of an enabled external encoder.
Overriding commands
MC_ExternalEncoder commands can only be canceled by another MC_ExternalEncoder
command output to the same TO. MC_ExternalEncoder commands do not cancel any other
commands.
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Input parameters
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MC_ExternalEncoder - example
An external encoder is enabled. The position value is zero prior to this enable. The position
value not updated until activation is completed. The position value is no longer updated if the
encoder is subsequently disabled, regardless whether the encoder can be moved. The
position changes to the actual value when the encoder is enabled again.
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MC_ExternalEncoder - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware up to V3.1.x
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6.7 Technology functions - Basic functions
Purpose
● Call the "MC_Reset" technology function to acknowledge all errors accepting
acknowledgment in the user program. Acknowledgment of fatal errors is only possible
either by cycling power, or by downloading the project data to the module again. The
acknowledgment also clears the entries at the ErrorID and ErrorBuffer parameters, and
resets the ErrorStatus bits in the technology DB.
● Call the technology function "MC_Reset" Restart = TRUE to start the initialization (restart)
of axes, output cams, cam tracks, cam disks, external encoders, and measuring inputs.
Axes with incremental encoder are in "non-homed" state after their initialization. The cam
originally configured in S7T Config is restored at the cam disks.
● If the technology function "MC_Reset" (Restart = TRUE or FALSE) is applied to the
technology data block "MCDevice"(Axis = DB No. of the MCDevice DB), the maximum
runtime of the command execution is reset to 0 (MaxLoopDuration at the MCDevice DB).
When using integrated technology with firmware V3.2x or higher, the system also sets the
TODBTaskOverflows (number of overflows in technology DB updates) variable to 0.
● The system continues command execution during a restart. However, the technology
object performing the restart cannot accept any commands for the duration of the restart.
Supported for
● Speed-controlled axes
● Positioning axes
● Synchronization axes
● Output cams
● Cam tracks
● Measuring inputs
● Cams
● External encoders
● MCDevice-DB
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Restart conditions
● "Axis" TO
Restart is only possible when the axis is disabled ("MC_Power" output parameter
Status = FALSE and Busy = FALSE)
● "External encoder" technology object
Restart is only possible when the external encoder is disabled (technology DB, variable
Statusword.DriveEnabled = FALSE)
● "Output cam" technology object
Restart is only possible if the output cam is disabled (technology DB variable Mode = 1)
● "Cam tracks" technology object
Restart is only possible if the output cam is disabled (technology DB variable Control = 2 /
INACTIVE)
● A restart of technology object "Measuring input"
is only possible if the measuring input is inactive (technology DB variable
Status = 0, 2 or 3)
● "Cam" technology object
Restart is only possible if the cam is not in use (technology DB, variable UserCount = 0)
Note
Set Restart = FALSE if you only want to clear the errors of a technology object.
Reinitialization of a technology object (Restart = TRUE) may take several hundred
milliseconds. The technology object is not available for the duration of this process.
Interaction of commands
New command - active single command (3) (Page 743)
Input parameters
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MC_Reset - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● Use the "MC_ActivateTO" technology function if you want to remove configured
technology functions temporarily or permanently out of cyclic processing of the integrated
technology. For standard operation it is not necessary to activate a technology objects
that was not deactivated beforehand.
● Avail the computing performance of the integrated technology to a better purpose.
Remove the technology objects that are not required from the cyclic processing of the
integrated technology by the "MC_ActivateTO" technology function.
● When a technology object is deactivated, it is no longer processed in the integrated
technology. A deactivated technology object cannot accept any commands and not
update the corresponding technology DB are longer until it has been activated again.
● The activation of a technology object cancels a previously valid deactivation.
● The activation status of a technology object can be read out by using Mode = 0. Call the
"MC_ActivateTO" technology function in a second instance if you want to check the
current activation or deactivation.
Note
You can also deactivate technology objects permanently in S7T Config.
Select the "Technology" object in the Navigator and then select the Edit > Object states
command.
The deactivation of the technology objects is stored in the project and also remains after
POWER OFF, POWER ON and restart.
Be sure to observe the relevant notes of the corresponding online help.
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Supported for
● Axes (real and virtual axis)
In the case of synchronized axes the corresponding synchronous objects are also
deactivated / activated.
● External encoders
● Output cam
● Cam tracks
● Measuring inputs
● Cams
Requirement
● The technology CPU must be in cyclic operation ("RUN" status.)
● The technology object may not be active or in use.
Overriding commands
MC_ActivateTO commands can not be canceled by any other command.
A MC_ActivateTO command does not cancel any other command.
Input parameters
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Note
Configuration data after deactivation and renewed activation
Configuration data that were changed during operation remain changed even after renewed
activation. If a required restart was not carried out before deactivation, the restart has to be
carried out after renewed activation.
Configuration data of the technology object cannot be changed while the technology object is
deactivated.
Note
System variables after deactivation and renewed activation
System variables are reinitialized after renewed activation, as if the technology object has
been restarted. The reinitialization has the following effects:
• A referenced axis with an incremental encoder loses its homing.
• As a measuring input the previous measured values are deleted.
• Position offsets in the basic or higher-level coordinate system are deleted.
Note
If the technology object of an axis is deactivated by using the "MC_ActivateTO" technology
function or in S7T Config , the corresponding drive can indicate an error in S7T Config ,
since cyclic communication with the drive was stopped.
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MC_ActivateTO - ErrorIDs
Valid for integrated technology with firmware V4.1.x or higher
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Purpose
● Use the "MC_ActivateDPSlave" technology function if you want to deactivate configured
DP slaves at the DP(DRIVE) temporarily or permanently. This makes sense, for example,
if plant units are to be separated temporarily from the DP(DRIVE) . For standard
operation it is not necessary to activate a DP slave that was not deactivated beforehand.
● A deactivated DP slave does not indicate a bus fault at the technology CPU.
● A deactivated DP slave no longer participates in cyclic data exchange at the DP(DRIVE) .
The minimum period for the DP cycle that can be set in HW Config continues to depend
on the number of configured DP slaves.
● If a deactivated DP slave remains at the DP(DRIVE), , it can continue to be configured by
means of the STARTER functionality of S7T Config .
● The activation status of a DP slave be read out by using Mode = 0. Call the
"MC_ActivateDPSlave" technology function in a second instance if you want to check the
current activation or deactivation.
Supported for
● Any DP slaves at DP(DRIVE)
Requirement
● The technology CPU must be in cyclic operation ("RUN" status.)
● Technology objects that reference addresses of the DP slave have to be deactivated.
Overriding commands
MC_ActivateDPSlave commands can not be canceled by any other command.
A MC_ActivateDPSlave command does not cancel any other command.
Input parameters
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Before deactivating the DP slave, ensure that all the technology objects that are connected
have been deactivated. Follow the instructions in the "MC_ActivateTO - Deactivating /
activating a technology object" chapter to this purpose.
After all the technology objects that are connected have been deactivated, the DP slave can
be deactivated and then removed from the bus.
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MC_ActivateDPSlave - ErrorIDs
Valid for integrated technology with firmware V4.1.x or higher
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Purpose
● The MC_ReadSysParameter technology function returns the value of the most important
system variables and configuration data of the TOs, for example, axis or output cam data.
The system variables and configuration data are addressed by setting a parameter
number
● The result is transferred to the corresponding output parameter, depending on the data
type of parameters read. The other outputs return a 0 value.
● Input parameter Index can be used to access multiple instances of the parameters
Multiple parameters exist in these areas:
– Data sets (Dataset_1 to Dataset_16)
– Encoders (Encoder_1 to Encoder_8)
– Synchronous objects (1 for synchronous object, 2 for superimposed synchronous
object)
Supported for
● System variable and configuration data
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Requirement
● The parameter defined by the parameter number and index must be configured in S7T
Config
● Check the validity of the encoder values before you read the encoder parameters. You
can validate the values of the currently active encoder by reading the
Statusword.EncoderValid and Statusword.CyclicInterface variables at the technology DB
of the axis or external encoder. In cases where axes are assigned several data records,
the status of the other encoder can be requested by calling the "MC_ReadSysParameter"
technology function with parameter number 4050.
Overriding commands
MC_ReadSysParameter commands can not be canceled by any other command.
MC_ReadSysParameter commands do not cancel any other commands.
Input parameters
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MC_ReadSysParameter - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● You can use the "MC_WriteParameter" technology function to edit the most important
system variable and configuration data of the TOs while the technology CPU is in RUN.
The system variables and configuration data are addressed by setting a parameter
number The change is active until the next POWER OFF / POWER ON cycle, or until the
CPU performs a memory reset. Exception: the value set during absolute encoder
adjustment is retained even under those conditions.
● Of the input parameters Value, ValueDInt, ValueDword1, ValueDword2 and ValueBool,
the system evaluates only the one that conforms to the relevant technology parameter
(for details, refer to the List of technology parameters).
● The technology function can only modify parameters identified in the list of technology
parameters by access mode "W" ("Write".)
● Input parameter Index can be used to access multiple instances of the parameters
Multiple parameters exist in these areas:
– Data sets (Dataset_1 to Dataset_16)
– Encoders (Encoder_1 to Encoder_8)
– Synchronous objects (1 for synchronous object, 2 for superimposed synchronous
object)
CAUTION
The use of this technology function is intended for experienced users. Wrong input
may result in uncontrolled response of the drive!
The system does not check the plausibility of your entries!
Incorrect entries may lead to inconsistency of the technology object.
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Supported for
● Parameters of the technology objects you configured in S7T Config .
Note that certain parameter changes require a system restart (for information, refer to the
list of technology parameters in the "Activation" column.)
Prerequisites
● The parameter defined by parameter number and index must be available and allow write
access. The data record defined by the index must be enabled in the Technology CPU
with the technology function "MC_ChangeDataset."
● Validate the encoder values before you write the encoder parameters (absolute encoder
adjustment, for example). You can query the encoder values of the currently active
encoder and check their validity by means of the Statusword.EncoderValid variable at the
technology DB of the axis or external encoder. In cases where axes are assigned several
data records, the status of the other encoder can be requested by calling the
"MC_ReadSysParameter" technology function with parameter number 4050.
Overriding commands
MC_WriteParameter commands can not be canceled by any other command.
MC_WriteParameter commands do not cancel any other commands.
Input parameters
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NOTICE
Observe the valid range limits of the parameters. The valid range limits are listed in the list
of technology parameters.
When editing data record parameters, note that certain parameters must be identical in the
data records:
• Parameters changing the structure (different controller types such as PV or PID
controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for example)
The system reports a configuration error if you assign invalid values to data record
parameters in runtime by means of the technology function "MC_WriteParameter". You
should therefore edit only the data record parameters you can compile as consistent project
when you configure these in S7T Config.
Note
To change several parameters which do not require a restart and come into effect
immediately in one pass, you should collect all parameter changes and then activate these.
To do this, proceed as follows:
1. Use "MC_WriteParameter" to set the technology parameter ParameterNumber = 4001
(activationmodechangedconfigdata) to COLLECT_CHANGED_CONFIG_DATA (82)..
This forms a collection of all subsequent changes at the relevant technology object.
2. Use "MC_WriteParameter" to change the relevant technology parameters.
3. Use "MC_WriteParameter" to set activationmodechangedconfigdata to
ACTIVATE_CHANGED_CONFIG_DATA (81) to apply all changes.
This procedure is called for when editing technology parameters requiring identical values in
all data records.
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Step Description
1. Read the current value of absolute encoder adjustment by calling the "MC_ReadSysParameter" technology
function and reading the input parameters described below, for example:
• Axis = Technology DB of the relevant axis
• Execute = rising edge to start the read operation
• ParameterNumber = 4010 parameter number of absolute encoder adjustment
• ValueDword1= DBx.DBD0 (temporary storage location)
• ValueDword2 = DBx.DBD4 (temporary storage location)
2. Call SFC82 "CREA_DBL" to generate a DBy in load memory of the Technology CPU. The DB is also generated
in work memory when you reset 0 at input parameter ATTRIB .
3. Call SFC84 "WRIT_DBL" to write the previously backed up data of the absolute encoder adjustment to the new
DB.
Step Description
1. Replace the Technology CPU, and then insert the MMC which contains the configuration data.
Note that the backup DB for absolute encoder adjustment is available in the RAM after startup of the technology
CPU.
2. Call the "MC_WriteParameter" technology function to restore the data of absolute encoder adjustment to the
nonvolatile memory of your technology CPU. Use these input parameters:
• Axis = Technology DB of the relevant axis
• Execute = rising edge to start the write operation
• ParameterNumber= 4010 = parameter number of absolute encoder adjustment
• ValueDword1 = DBx.DBD0 (x = number of the DB generated by SFC82)
• ValueDword2 = DBx.DBD4 (x = number of the DB generated by SFC82)
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MC_WriteParameter - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher
This section describes applications with firmware V3.0.x
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Purpose
● The "MC_ReadPeriphery" technology function is used to read the I/O image of integrated
technology. The time-based dependency of the update is shown in the example.
Supported for
● DP I/O on DP(DRIVE) at address area 0 to 63
● Integrated I/O of the technology CPU at address area 0 to 63
Prerequisites
● The addressed I/O must exist in the I/O image DP(DRIVE) of the integrated technology.
Overriding commands
MC_ReadPeriphery commands can not be canceled by any other command.
MC_ReadPeriphery commands do not cancel any other commands.
Input parameters
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Note
Due to the runtime of command execution at the integrated technology and the runtime of
the OBx cycle in which "MC_ReadPeriphery" is called, the response times can be quite long.
You should therefore connect the I/O requiring quick reactions to the MPI/DP interface of
your technology CPU.
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MC_ReadPeriphery - example
The example in the diagram below shows the time-based coherency when reading or
loading the I/O image DP(DRIVE).
At the start of each command execution cycle, the signal status of inputs is loaded from the
position controller and written to the I/O image of inputs. This load operation is independent
of the "MC_ReadPeriphery" technology function. The "MC_ReadPeriphery" technology
function accesses this I/O image and provides the data to the user program.
The I/O image is transferred to the controller, starting at the first call of MC_ReadPeriphery
with Enable = TRUE. Output parameter Busy is set to TRUE simultaneously. The
MC_ReadPeriphery command is executed as a new command to the time slice of the first
command execution cycle. New commands are executed at the start of the command
execution. The I/O input image is read into the controller inputs at the next call of
MC_ReadPeriphery. Output parameter DataValid reports TRUE status.
The current MC_ReadPeriphery command is monitored starting at the second command
execution cycle. Current commands are processed at the end of command execution,
whereby the most recent command is executed last. The I/O input image of the second
command execution cycle is transferred to the controller at the third call of
MC_ReadPeriphery.
The DB update is triggered by the subsequent IPO cycle. This is not concluded until the next
position control cycle is completed, and is interrupted by the position control. The time slice
for the third command execution is available after the DB update. Due to the delayed start of
command execution, this is interrupted by the next position control and by the subsequent
IPO. An updated I/O image is, therefore, not available at the time of the fourth call of
MC_ReadPeriphery. Hence, the same I/O input image as in Call 3 is transferred to the
controller.
The I/O image of the fourth call is available at the fifth call of MC_ReadPeriphery and is
transferred to the controller. The controller does not read the I/O image of the third command
execution cycle.
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MC_ReadPeriphery - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Purpose
● The "MC_WritePeriphery" technology function is used to write to the I/O image of
integrated technology. The time-based dependency of the update is shown in the
example.
Supported for
● DP I/O on DP(DRIVE) at address area 0 to 63
● Integrated I/O of the technology CPU at address area 0 to 63
Prerequisites
● The addressed I/O must exist in the I/O image DP(DRIVE) of the integrated technology.
Overriding commands
MC_WritePeriphery commands can not be canceled by any other command.
MC_WritePeriphery commands do not cancel any other commands.
Input parameters
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Note
Due to the runtime of command execution at the integrated technology and the runtime of
the OBx cycle in which "MC_WritePeriphery" is called, the response times can be quite long.
You should therefore connect any I/O requiring quick write access to the MPI/DP interface of
your technology CPU.
To write to the I/O image DP(DRIVE) cyclically, always retrigger input parameter Execute
after each write operation.
To do so, link input parameter Execute with the inverted signals of the output parameters
Busy and Error.
MC_WritePeriphery - example
The example shown in the diagram shows the time-based coherency when writing the I/O
image DP(DRIVE).
The I/O image of outputs is written to the I/O via the position controller at the end of each
time slice for command execution. This write operation is carried out regardless of the run
state of the "MC_WritePeriphery" technology function. "MC_WritePeriphery" is used to write
the controller data specified at input parameter Data to the I/O output image.
A rising edge at input parameter Execute; triggers write access to the I/O output image, and
at the same time, the Busy output parameter is set to TRUE. The MC_WritePeriphery
command is added as a new command to the time slice of the first command execution
cycle. Command execution is started within the first command execution time slice. The
second MC_WritePeripherycall reports completion of this command (sets Busy to FALSE
and Done to TRUE).
At the end of the second command execution time slice, the most recently written I/O image
of outputs is once again written to the I/O using the position controller.
The DB update is triggered in the next position controller cycle. The DB update is interrupted
within the time slice of the position controller, but is resumed on expiration of this time slice.
The start of command execution is delayed due to the missing time gaps. The delayed
command execution cycle is interrupted by the next position controller time slice and by the
subsequent IPO time slice.
A third call of MC_WritePeriphery plus a rising edge at input parameter Execute starts a new
write command. Because of the fact that further commands were started, the new write
command is queued in the second half of the command execution time slice. For this reason,
the completion of the command is not immediately reported at the fourth call of
MC_WritePeriphery, but rather at the fifth call of MC_WritePeriphery (now, Busy changes to
FALSE and Done changes to TRUE).
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MC_WritePeriphery - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Purpose
● The "MC_ReadRecord" technology function can be used to read a data record from an
I/O module on DP(DRIVE)..
● The technology function can be compared with the system function SFC59 "RD_REC"
which is used to read data records at the DP interface of an S7 CPU.
Supported for
● DP I/O on DP(DRIVE)
Prerequisites
● The I/O must support data record communication.
● The I/O module must support the relevant data record.
Overriding commands
MC_ReadRecord commands can not be canceled by any other command.
MC_ReadRecord commands do not cancel any other commands.
Input parameters
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MC_ReadRecord - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Note
A DP slave can report the errors A0 to CF in accordance with PROFIBUS DP V1. The errors
A0 to CF are mapped to the ErrorID of the technology function as errors 80A0 to 80CF.
Consult the DP slave documentation if output parameter ErrorID returns errors within the
range 80A0 to 80CF that are not defined in the list shown above.
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6.7 Technology functions - Basic functions
Purpose
● The "MC_WriteRecord" technology function can be used to write a data record to an I/O
module on DP(DRIVE).
● The technology function can be compared with system function SFC58 "WR_REC“ which
is used to write data records at the DP interface of an S7 CPU.
Supported for
● DP I/O on DP(DRIVE)
Prerequisites
● The I/O must support data record communication.
● The I/O module must support the relevant data record.
Overriding commands
MC_WriteRecord commands can not be canceled by any other command.
MC_WriteRecord commands do not cancel any other commands.
Input parameters
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MC_WriteRecord - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Note
A DP slave can report the errors A0 to CF in accordance with PROFIBUS DP V1. The errors
A0 to CF are mapped to the ErrorID of the technology function as errors 80A0 to 80CF.
Consult the DP slave documentation if output parameter ErrorID returns errors within the
range 80A0 to 80CF that are not defined in the list shown above.
Purpose
● The "MC_ReadDriveParameter" technology function allows the user program to read the
parameters of a drive connected to DP(DRIVE).
Supported for
● PROFIdrive-compliant drives on DP(DRIVE)
Prerequisites
● The drive is configured for operation on DP(DRIVE).
● The drive must support data record communication.
● The drive must support the parameter number and the index.
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Overriding commands
MC_ReadDriveParameter commands can not be canceled by any other command.
MC_ReadDriveParameter commands do not cancel any other commands.
Input parameters
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MC_ReadDriveParameter - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Note
A DP slave can report the errors A0 to CF in accordance with PROFIBUS DP V1. The errors
A0 to CF are mapped to the ErrorID of the technology function as errors 80A0 to 80CF.
Consult the DP slave documentation if output parameter ErrorID returns errors within the
range 80A0 to 80CF that are not defined in the list shown above.
Purpose
● The "MC_WriteDriveParameter" technology function allows the user program to write the
parameters of a drive connected to DP(DRIVE).
Supported for
● PROFIdrive-compliant drives on DP(DRIVE)
Prerequisites
● The drive is configured for operation on DP(DRIVE).
● The drive must support data record communication.
● The drive supports the parameter number and the index.
Overriding commands
MC_WriteDriveParameter- commands can not be canceled by any other command.
MC_WriteDriveParameter- commands do not cancel any other commands.
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Input parameters
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MC_WriteDriveParameter - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher
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Note
A DP slave can report the errors A0 to CF in accordance with PROFIBUS DP V1. The errors
A0 to CF are mapped to the ErrorID of the technology function as errors 80A0 to 80CF.
Consult the DP slave documentation if output parameter ErrorID returns errors within the
range 80A0 to 80CF that are not defined in the list shown above.
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6.8 Interaction of commands
driving waiting
The axis is moving, that is, it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being synchronized condition.
or desynchronized. • The command is active in synchronization wait
• The output parameters of the InGear or InSync state. TheStatusword.SynchrCommand variable of
technology function are set in synchronous the technology DB is not yet set (system variable
operation. (System variable of the synchronous of synchronous object
object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync and
motion is active. The Statusword.SynchrCommand InGear output parameters of the technology
variable of the technology DB of the synchronous function are still set. In addition,
axis is set (system variable of synchronous object theStatusword.SynchrCommand variable of the
enablecommand=active). technology DB of the synchronous axis is set
• The output parameters InGear and InSync of the (system variable of synchronous object
technology function are FALSE when a disablecommand=waiting_to_start).
desynchronization motion is active. The
Statusword.SynchrCommand variable of the
technology DB of the synchronous axis is still set
(system variable of synchronous object
disablecommand=active)..
Abort 1 Abort direction
The new command is executed. The active command Either the MC_MoveToEndPos- command is aborted
is canceled immediately. or the new command is canceled with an error,
depending on the direction of the new command.
Abort error Error
The new command is canceled, an ErrorID is entered A new command reports an error at the technology
at the technology DB, and execution of the active function and is not executed. Execution of the active
command continues. command is continued.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution depends on the current motion command. The active command is not
technology object status. canceled.
Superimposed abort Superimposed waiting
The new motion command is superimposed on the A new command is executed and waits for the
current motion command. The active command is not desynchronization condition. The motion initiated by
canceled. If neither the synchronization nor this new command is superimposed on the motion of
desynchronization condition of the active command is the active command without canceling the active
met, the new command will be canceled when a command.
condition is satisfied.
Waiting Waiting abort
The new command is queued in memory and is A new command is executed and waits for the
appended in waiting state to the active command. The synchronization or desynchronization condition. The
waiting command is executed after the active active command is aborted when either the
command was completed. synchronization or the desynchronization condition of
the new command is satisfied.
For axes, the content of the above table is valid for the standard axis configuration
(configuration data element
TypeOfAxis.DecodingConfig.transferSuperimposedPosition = TRANSFER_STANDSTILL (0) ).
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6.8 Interaction of commands
driving waiting
The axis is moving, that is, it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being synchronized condition.
or desynchronized. • The command is active in synchronization wait
• The output parameters of the InGear or InSync state. TheStatusword.SynchrCommand variable of
technology function are set in synchronous the technology DB is not yet set (system variable
operation. (System variable of the synchronous of synchronous object
object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization In desynchronization wait state, the InSync and InGear
motion is active. The Statusword.SynchrCommand output parameters of the technology function are still
variable of the technology DB of the synchronous set. In addition, theStatusword.SynchrCommand
axis is set (system variable of synchronous object variable of the technology DB of the synchronous axis
enablecommand=active). is set (system variable of synchronous object
The output parameters InGear and InSync of the disablecommand=waiting_to_start).
technology function are FALSE when a
desynchronization motion is active. The
Statusword.SynchrCommand variable of the
technology DB of the synchronous axis is still set
(system variable of synchronous object
disablecommand=active)..
Abort 1 Abort direction
The new command is executed. The active command Either the MC_MoveToEndPos- command is aborted
is canceled immediately. or the new command is canceled with an error,
depending on the direction of the new command.
Abort error Error
The new command is canceled, an ErrorID is entered A new command reports an error at the technology
at the technology DB, and execution of the active function and is not executed. Execution of the active
command continues. command continues.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution depends on the current motion command. The active command is not
technology object status. canceled.
Superimposed abort Waiting
The new motion command is superimposed on the The new command is queued in memory and is
active motion command. The active command is not appended in waiting state to the active command. The
canceled. If neither the synchronization nor waiting command is executed after the active
desynchronization condition of the active command is command was completed.
met, the new command will be canceled when a
condition is satisfied.
For axes, the content of the above table is valid for the standard axis configuration
(configuration data element
TypeOfAxis.DecodingConfig.transferSuperimposedPosition = TRANSFER_STANDSTILL (0)).
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6.8 Interaction of commands
Error Superimposed
A new command reports an error at the technology The new motion command is superimposed on the
function and is not executed. Execution of the active active motion command. The active command is not
command is continued. canceled.
Waiting
The new command is queued in memory and is
appended in waiting state to the active command. The
waiting command is executed after the active
command was completed.
For axes, the content of the above table is valid for the standard axis configuration
(configuration data element
TypeOfAxis.DecodingConfig.transferSuperimposedPosition = TRANSFER_STANDSTILL (0)).
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6.8 Interaction of commands
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6.8 Interaction of commands
driving waiting
The axis is moving, that is, it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being synchronized condition.
or desynchronized. • The command is active in synchronization wait
• The output parameters of the InGear or InSync state. TheStatusword.SynchrCommand variable of
technology function are set in synchronous the technology DB is not yet set (system variable
operation. (System variable of the synchronous of synchronous object
object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync and
motion is active. The Statusword.SynchrCommand InGear output parameters of the technology
variable of the technology DB of the synchronous function are still set. In addition,
axis is set (system variable of synchronous object theStatusword.SynchrCommand variable of the
enablecommand=active). technology DB of the synchronous axis is set
• The output parameters InGear and InSync of the (system variable of synchronous object
technology function are FALSE when a disablecommand=waiting_to_start).
desynchronization motion is active. The
Statusword.SynchrCommand variable of the
technology DB of the synchronous axis is still set
(system variable of synchronous object
disablecommand=active)..
Abort 1 Abort 2
The new command is executed. Active commands are The new command is executed. A waiting command is
canceled immediately. canceled immediately. An active command is canceled
if either the synchronization or the desynchronization
condition of the new command is satisfied.
Abort 3 Abort direction
The new command is executed and immediately Either the MC_MoveToEndPos command is aborted or
cancels the second active command. Execution of the the new command is canceled with an error,
first active command continues and is not canceled. depending on the direction of the new command.
Abort error Error
The new command is canceled, an ErrorID is entered A new command reports an error at the technology
at the technology DB, and execution of the active function and is not executed. Execution of active
commands continues. commands is continued.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution is determined by the active motion commands. The active commands are
technology object status. not canceled.
Superimposed abort Waiting abort
The new motion command is superimposed on the A new command is executed and waits for the
active motion commands. Active commands are not synchronization or desynchronization condition. The
canceled. If neither the synchronization nor active commands are aborted when either the
desynchronization condition of the active command is synchronization or the desynchronization condition of
met, the new command will be canceled when a the new command is satisfied.
condition is satisfied.
For axes, the content of the above table is valid for the standard axis configuration
(configuration data element
TypeOfAxis.DecodingConfig.transferSuperimposedPosition = TRANSFER_STANDSTILL (0)).
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6.8 Interaction of commands
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6.8 Interaction of commands
driving waiting
The axis is moving, that is, it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being synchronized condition.
or desynchronized. • The command is active in synchronization wait
• The output parameters of the InGear or InSync state. TheStatusword.SynchrCommand variable of
technology function are set in synchronous the technology DB is not yet set (system variable
operation. (System variable of the synchronous of synchronous object
object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync and
motion is active. The Statusword.SynchrCommand InGear output parameters of the technology
variable of the technology DB of the synchronous function are still set. In addition,
axis is set (system variable of synchronous object theStatusword.SynchrCommand variable of the
enablecommand=active). technology DB of the synchronous axis is set
• The output parameters InGear and InSync of the (system variable of synchronous object
technology function are FALSE when a disablecommand=waiting_to_start).
desynchronization motion is active. The
Statusword.SynchrCommand variable of the
technology DB of the synchronous axis is still set
(system variable of synchronous object
disablecommand=active)..
Abort 1 Superimposed
The new command is executed. Active commands are The new motion command is superimposed on the
canceled immediately. active motion commands. Active commands are not
canceled.
Superimposed abort
The new motion command is superimposed on the
active motion commands. Active commands are not
canceled. If neither the synchronization nor
desynchronization condition of the active command is
met, the new command will be canceled when a
condition is satisfied.
For axes, the content of the above table is valid for the standard axis configuration
(configuration data element
TypeOfAxis.DecodingConfig.transferSuperimposedPosition = TRANSFER_STANDSTILL (0)).
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6.8 Interaction of commands
Example 1
EXV\VLQJOH
FRPPDQG
QHZFRPPDQG
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6.8 Interaction of commands
Example 2
EXV\VLQJOH
FRPPDQG
QHZFRPPDQG
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6.9 Information on parameters
6.9.1 Reaction of the technology function after POWER OFF and restart
The technology function is initialized after each POWER OFF (POWER OFF -> POWER ON)
and restart (RUN-STOP -> STOP-RUN).
Note
If the value TRUE is shown at the input parameter Execute after POWER OFF or restart, the
system detects an edge and starts the command.
In order to prevent any unintentional start of the command, open SIMATIC Manager, and
then set the "non-retain" check box in the block properties of the instance DB.
The relevant block is initialized again after POWER On or restart if "non-retain" is set.
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6.9 Information on parameters
Note
You can edit the default limits of the axis configuration by calling the "MC_WriteParameter"
technology function.
Note
Initially, the dynamic values in the technology function are not verified at the start of motion
control commands. The command is output to the system. The system verifies the dynamic
values and reports any errors at the corresponding technology DB. It also sets output
parameter CommandAborted at the technology function.
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6.9 Information on parameters
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7.1 "Speed-controlled axis" technology DB
ErrorID variable
Returns the ErrorID of the error or warning most recently detected at the speed-controlled
axis.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note of the following points: Possible error messages and warnings (Page 797)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.1 "Speed-controlled axis" technology DB
ErrorStatus.xxx variable
The bits in the ErrorStatus.xxx variable return information on axis errors.
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7.1 "Speed-controlled axis" technology DB
Statusword.xxx variable
The variable Statusword indicates the current status of the speed-controlled axis.
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7.1 "Speed-controlled axis" technology DB
CommandVelocity variable
(S7T Config system variable motionstatedata.commandvelocity)
Shows the current setpoint value specification for the axis velocity (allowance is made for the
current SpeedOverride value).
CommandAcceleration variable
(S7T Config system variable motionstatedata.commandacceleration)
Shows the current setpoint value specification for axis acceleration (allowance is made for
the current AccelerationOverride value).
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7.1 "Speed-controlled axis" technology DB
ActualVelocity variable
(S7T Config system variable motionstatedata.actualvelocity)
The variable returns the current velocity of the axis.
If the speed-controlled axis does not have an encoder, this value is always 0.
ActualAcceleration variable
(S7T Config system variable motionstatedata.actualacceleration)
Returns the current acceleration of the axis.
If the speed-controlled axis does not have an encoder, this value is always 0.
SpeedOverride variable
(S7T Config system variable override.velocity)
This variable returns the percentage of a currently effective SpeedOverride value. The
percentage is reciprocal to the velocity setpoint of the axis. The default is 100%.
The SpeedOverride value can be set within the range from 0 % to 200 % using the
MC_WriteParameter technology function.
AccelerationOverride variable
(S7T Config system variable override.acceleration)
This variable returns the percentage of a currently effective AccelerationOverride value. The
percentage is reciprocal to the acceleration setpoint of the axis. Default value = 100 %.
The AccelerationOverride value can be set within the range from 1 % to 1000 % using the
MC_WriteParameter technology function.
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7.2 "Positioning axis" technology DB
ErrorID variable
The variable returns the ErrorID of the last error or warning detected at the positioning axis.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note of the following points: Possible error messages and warnings (Page 797)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.2 "Positioning axis" technology DB
ErrorStatus.xxx variable
The bits in the ErrorStatus.xxx variable return information about positioning axis errors.
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7.2 "Positioning axis" technology DB
Statusword.xxx variable
The variable Statusword indicates the current status of the positioning axis.
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7.2 "Positioning axis" technology DB
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7.2 "Positioning axis" technology DB
CommandVelocity variable
(S7T Config system variable motionstatedata.commandvelocity)
Shows the current setpoint value specification for the axis velocity (allowance is made for the
current SpeedOverride value).
CommandAcceleration variable
(S7T Config system variable motionstatedata.commandacceleration)
Shows the current setpoint value specification for axis acceleration (allowance is made for
the current AccelerationOverride value).
ActualVelocity variable
(S7T Config system variable motionstatedata.actualvelocity)
The variable returns the current velocity of the axis.
ActualAcceleration variable
(S7T Config system variable motionstatedata.actualacceleration)
Returns the current acceleration of the axis.
SpeedOverride variable
(S7T Config system variable override.velocity)
This variable returns the percentage of a currently effective SpeedOverride value. The
percentage is reciprocal to the velocity setpoint of the axis. The default is 100%.
The SpeedOverride value can be set from 0% to 200% at the "MC_WriteParameter"
technology function.
AccelerationOverride variable
(S7T Config system variable override.acceleration)
Returns a percentage of the currently active AccelerationOverride. The percentage is
reciprocal to the acceleration setpoint of the axis. Default value = 100%.
The AccelerationOverride value can be set within the range from 1% to 1000% using the
MC_WriteParameter technology function.
ActualPosition variable
(S7T Config system variable positioningstate.actualposition)
Shows the current axis position.
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7.2 "Positioning axis" technology DB
CommandPosition variable
(S7T Config system variable positioningstate.commandposition)
Indicates the current position setpoint for positioning operations.
TargetPosition variable
Indicates the target position for the current command. This indicated value only applies to
active positioning commands.
Distance variable
(S7T Config system variable poscommand.distancetogo)
Shows the current distance for relative / absolute positioning. This indicated value only
applies to active positioning commands.
DecelerationDistance variable
(S7T Config system variable poscommand.decelerationdistance)
The variable returns the current stop distance of the axis. This indicated value only applies to
active positioning commands.
FollowingError variable
(S7T Config system variable servodata.followingerror)
Indicates the current following error value of the axis. This indicated value only applies to
active positioning commands.
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7.3 "Synchronization axis" technology DB
ErrorID variable
Shows the ErrorID of the last error or warning detected at the synchronization axis.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note: Possible error messages and warnings (Page 804)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.3 "Synchronization axis" technology DB
ErrorStatus.xxx variable
The bits in the ErrorStatus.xxx variable return information on axis errors.
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7.3 "Synchronization axis" technology DB
Statusword.xxx variable
The variable Statusword indicates the current status of the synchronization axis.
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7.3 "Synchronization axis" technology DB
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7.3 "Synchronization axis" technology DB
CommandVelocity variable
(S7T Config system variable motionstatedata.commandvelocity)
Shows the current setpoint value specification for the axis velocity (allowance is made for the
current SpeedOverride value).
CommandAcceleration variable
(S7T Config system variable motionstatedata.commandacceleration)
Shows the current setpoint value specification for axis acceleration (allowance is made for
the current AccelerationOverride value).
ActualVelocity variable
(S7T Config system variable motionstatedata.actualvelocity)
The variable returns the current velocity of the axis.
ActualAcceleration variable
(S7T Config system variable motionstatedata.actualacceleration)
Returns the current acceleration of the axis.
SpeedOverride variable
(S7T Config system variable override.velocity)
Returns the percentage of the currently effective SpeedOverride. The percentage is
reciprocal to the velocity setpoint of the axis. The default is 100%.
The SpeedOverride value can be set within the range from 0% to 200% using the
MC_WriteParameter technology function.
AccelerationOverride variable
(S7T Config system variable override.acceleration)
This variable returns the percentage of a currently effective AccelerationOverride value. The
percentage is reciprocal to the acceleration setpoint of the axis. Default value = 100 %.
The AccelerationOverride value can be set within the range from 1 % to 1000 % using the
MC_WriteParameter technology function.
ActualPosition variable
(S7T Config system variable positioningstate.actualposition)
Shows the current axis position.
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7.3 "Synchronization axis" technology DB
CommandPosition variable
(S7T Config system variable positioningstate.commandposition)
Indicates the current position setpoint for positioning operations.
TargetPosition variable
Indicates the target position for the current command. This indicated value only applies to
active positioning commands.
Distance variable
(S7T Config system variable poscommand.distancetogo)
Shows the current distance for relative/absolute positioning. This indicated value only applies
to active positioning commands.
DecelerationDistance variable
(S7T Config system variable poscommand.decelerationdistance)
The variable returns the current stop distance of the axis. This indicated value only applies to
active positioning commands.
FollowingError variable
(S7T Config system variable servodata.followingerror)
Indicates the current following error value of the axis. This value is only valid during the
execution of a positioning command or in synchronous operation.
SyncStatus variable
(S7T Config system variable <synchronization object>.state)
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7.3 "Synchronization axis" technology DB
Direction variable
(S7T Config system variable <synchronization
object>.effectivedata.gearingsettings.direction)
The technology CPU uses the RatioNumerator and RatioDenominator input parameters to
calculate the gear ratio and transfer direction for gearing mode.
The transfer direction of the gear is defined by the Direction variable.
PhaseShift variable
Shows the phase offset between the position setpoints of the leading axis and following axis
operating in basic synchronism. The value indicated is only valid during basic synchronism.
SupImpSyncStatus variable
(S7T Config system variable <superimposed synchronization object>.state)
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7.3 "Synchronization axis" technology DB
SupImpDirection variable
(S7T Config system variable <superimposed synchronization
object>.effectivedata.gearingsettings.direction)
The Technology CPU uses input parameters RatioNumerator and RatioDenominator to
calculate the gear ratio and transfer direction for superimposed gearing.
The transfer direction of the gear is defined by the Direction variable.
SupImpPhaseShift variable
The variable indicates the offset between the position setpoints of the leading axis and the
superimposing coordinate system of the following axis. This value is only applies to active
superimposed synchronism.
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7.4 "External encoder" technology DB
UpdateFlag/UpdateCounter variable
Please take note: Updating technology DBs (Page 791)
ErrorID variable
Shows the ErrorID of the last detected error or warning of the external encoder.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note: Possible error messages and warnings (Page 815)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.4 "External encoder" technology DB
ErrorStatus.xxx variable
The bits in variable ErrorStatus.xxx return information on errors at the external encoder.
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7.4 "External encoder" technology DB
Statusword.xxx variable
The Statusword variable indicates the current status of the external encoder.
These values are no longer updated if the external encoder is disabled. The values shown
correspond with the last status registered at the time the enable signal was reset.
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7.4 "External encoder" technology DB
ActualPosition variable
(S7T Config system variable motionstate.position)
Shows the current position of the external encoder.
The position is no longer updated if the external encoder is disabled. The indicated position
corresponds with the last position before the enable signal was reset.
ActualVelocity variable
(S7T Config system variable motionstate.velocity)
Shows the current velocity of the external encoder.
The velocity value is no longer updated when the external encoder is disabled. The indicated
velocity corresponds with the last velocity before the enable signal was reset.
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7.5 "Cam disk" technology DB
ErrorID variable
Shows the ErrorID of the last error or warning detected at the cam.
An error entry can be acknowledged by calling technology function "MC_Reset" (with Axis =
number of the technology DB).
Please take note: Possible error messages and warnings (Page 820)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
Status variable
UserCount variable
This variable returns the number of technology objects that are currently using the cam.
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7.6 "Measuring input" technology DB
Statusword.xxx variable
The variable Statusword indicates the current status of the cam disk.
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
ErrorID variable
The variable returns the ErrorID of the last error or warning detected at the measuring input.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note: Possible error messages and warnings (Page 431)
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7.6 "Measuring input" technology DB
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
Status variable
Indicates the operating mode of the measuring input. The following operating modes can be
displayed:
MeasureValue1 variable
(S7T Config system variable measuredvalue1)
Returns the "Measured value 1" of the measuring input. This value is valid if status = 2
(operating state.)
MeasureValue2 variable
(S7T Config system variable measuredvalue2)
Returns the "Measured value 2" of the measuring input. This value is valid if status = 2
(operating state.)
The "Measured value 2" is only logged in modes (Mode 3 and 4) of technology function
"MC_MeasuringInput."
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7.6 "Measuring input" technology DB
Statusword.xxx variable
The variable Statusword indicates the current status of the measuring input.
Reservexx variable
The variables Reserve02 to Reserve10 are reserved for internal functions. They do not
contain any user-relevant information.
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.7 "Output cam" technology DB
ErrorID variable
The variable returns the ErrorID of the last error or warning detected at the output cam.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note: Possible error messages and warnings (Page 827)
ErrorBuffer[0 to 2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
State variable
(S7T Config system variable state)
CamType variable
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7.7 "Output cam" technology DB
Mode variable
Direction variable
(S7T Config system variable effectivedata.forcedirection)
The variable returns the effective output cam direction of the most recent MC_CamSwitch or
MC_CamSwitchTimes. This variable is not changed in the following "MC_CamSwitch" and
"MC_CamSwitchTime" modes:
● Mode = 1 (output cam disabled)
● Mode = 4 (output cam always on)
Value Significance
1 Positive effective direction
2 Positive and negative effective direction , meaning that the effective direction is irrelevant
3 Negative effective direction
4 The current rotational direction of the axis is the effective direction
OnPosition variable
(S7T Config system variable effectivedata.switchonposition)
This variable returns the current starting position.
OffPosition variable
(S7T Config system variable effectivedata.switchoffposition)
The variable returns the current end position.
Duration variable
(S7T Config system variable effectivedata.onduration)
The variable returns the pulse duration of a time-based cam. The physical unit corresponds
with the physical unit of the "time" at the corresponding axis.
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7.7 "Output cam" technology DB
Delay variable
(S7T Config system variable effectivedata.activationtime / effectivedata.deactivationtime)
Indicates the current offset (derivative action time) of the cam activation/deactivation times.
Value < 0: advanced activation
Value > 0: retarded activation
Hysteresis variable
(S7T Config system variable effectivedata.noswitchingrange)
The variable returns the actual value of the hysteresis.
Statusword.xxx variable
The variable Statusword indicates the current status of the output cam.
Reservexx variable
The variables Reserve02 to Reserve10 are reserved for internal functions. They do not
contain any user-relevant information.
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.8 "Cam track" technology DB
ErrorID variable
Returns the ErrorID of the error or warning most recently detected at the cam track.
An error entry can be acknowledged by calling the technology function "MC_Reset" (with
Axis = number of the technology DB).
Please take note: Possible error messages and warnings (Page 831)
ErrorBuffer[0 to 2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
Statusword.xxx variable
The variable Statusword indicates the current status of the cam track.
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7.8 "Cam track" technology DB
State variable
(S7T Config system variable effectivedata.state)
The variable indicates the current switching status of the output cam output.
CamTrackType variable
(S7T Config configuration data OctType.Camtracktype)
The variable indicates the cam type of the cam track.
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7.8 "Cam track" technology DB
Control variable
(S7T Config system variable control)
The variable indicates the internal status of the cam track.
CyclicMode variable
The variable indicates whether the cam track is in cyclic mode.
InvertOutput variable
(S7T Config configuration data OctTechnologicalCfg.invertOutput)
The variable indicates whether the cam track is in inverted mode.
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7.8 "Cam track" technology DB
RefrencePosition variable
(S7T Config system variable effectivedata.axisreferenceposition)
The variable shows the reference position of the cam track position 0 at the axis.
CamTrackLength variable
(S7T Config system variable effectivedata.camtracklength)
The variable returns the active cam track length.
ActivationTime variable
(S7T Config system variable effectivedata.activationtime)
The variable shows the effective delay or actuation time during activation.
DeactivationTime variable
(S7T Config system variable effectivedata.deactivationtime)
The variable shows the effective delay or actuation time during deactivation.
Hysteresis variable
(S7T Config system variable effectivedata.hysteresisrange)
The variable returns the actual value of the hysteresis.
CamTrackPosition variable
(S7T Config system variable effectiveData.camtrackposition)
The variable indicates the relative axis position of the cam track.
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7.9 "Trace" technology DB
ErrorID variable
Returns the ErrorID of the most recently detected error.
The cause of error must be eliminated. The error can not be acknowledged.
Please take note: Possible error messages and warnings (Page 834)
S7_TraceDINT[0..1] variable
The S7_TraceDINT variable contains an ARRAY with two elements of the data type DINT.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user1 and user2 in the TraceTool of S7T Config.
S7_TraceDWORD[0..1] variable
The S7_TraceDWORD variable contains an ARRAY with two elements of the data type
DWORD. Use the variables if you want to trace bit information (such as status word or error
word) in the S7T trace tool. You can select the bits in the usual SIMATIC numbering in the
trace tool.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user3 and user4 in the TraceTool of S7T Config.
S7_TraceREAL[0..3] variable
The S7_TraceREAL variable contains an ARRAY with four elements of the data type REAL.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user5, user6, user7 and user8 in the TraceTool of S7T Config.
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7.10 "MCDevice" technology DB
ErrorID variable
Returns the ErrorID of the most recently detected error. The cause of error must be
eliminated. The error can not be acknowledged.
Please take note: Possible error messages and warnings (Page 834)
ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to ARRAY
element 0, the second to ARRAY element 1, and so forth.
The content of this memory can be cleared by calling technology function "MC_Reset" (with
Axis = number of the technology DB).
Reserve34 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
MaxLoopDuration variable
Returns the maximum command execution time of integrated technology.
The entry will be deleted during startup of the Technology CPU, or at the call of FB
"MC_Reset" (with Axis = MCDevice-DB; Restart = TRUE or FALSE).
CmdLoopDuration variable
The variable returns the mean value by seconds of the command execution time of
integrated technology.
The entry will be deleted during startup of the Technology CPU, or at the call of FB
"MC_Reset" (with Axis = MCDevice-DB; Restart = TRUE or FALSE).
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7.10 "MCDevice" technology DB
StationLifeList[0..127] variable
The ARRAY of this variable lists all partner stations available on PROFIBUS DP(DRIVE).
The number of the ARRAY element corresponds to the PROFIBUS address. The value 1 in
an element indicates that the partner station is available, and the value 0 indicates that it is
not available.
DoneFlag[1..32] variable
The ARRAY elements 1 to 32 can be assigned to the DoneFlag input parameter of the
function blocks.
DIStatus[0..3] variable
The ARRAY elements 0 to 3 return the status of the integrated digital inputs of CPU 31xT.
DOStatus[0..7] variable
The ARRAY elements 0 to 7 return the status of the integrated digital outputs of the
technology CPU. The outputs of the integrated technology can be assigned to individual
output cams in S7T Config, for example.
Statusword.xxx variable
The variable Statusword indicates the current status of the synchronization axis.
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7.10 "MCDevice" technology DB
TODBTaskOverflows variable
Shows the number of technology DB update overflows. The maximum value returned is
FFFFFFFF.
The entry will be deleted during startup of the Technology CPU, or at the call of technology
function "MC_Reset" (with Axis = MCDevice-DB; Restart = TRUE or FALSE).
Note
You also set the basic clock for the technology DB updates in S7T Config by selecting the
Target system > Set system clocks command.
A time setting which is too short can lead to an overflow during the technology DB update.
When operating with integrated technology with firmware V3.2x or higher, the CPU will no
longer go into STOP.
An "overflow" occurs when the active technology DB update is not yet completed and thus
prevents the start of a new update cycle. The new update command will be discarded.
The number of overflows, and therefore the number of failed technology DB updates, can be
read from the TODBTaskOverflows variable.
Reservexx variable
The variables Reserve02 to Reserve10 are reserved for internal functions. They do not
contain any user-relevant information.
TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.
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7.11 Updating technology DBs
Note
You define the basic clock of the update in S7T Config by selecting the Target system > Set
system clocks command.
An "overflow" occurs when a new Technology DB update is initiated while a previous update
cycle is not yet completed. When operating with integrated technology firmware V3.1.x or
earlier, the Technology CPU will go into STOP when it detects a technology DB update
overflow. Integrated technology with firmware V3.2.x or higher tolerates this overflow,
meaning that the non-executable update is discarded, and technology synchronization
interrupt OB 65 will not be called.
The number of overflows, and therefore the failure rate of Technology DB updates, is shown
in the TODBTaskOverflows variable at the "MCDevice" technology DB.
With reference to this basic clock, you can distribute the update of the various technology
DBs to several basic clocks by programming a step-down ratio and an offset in "Technology
Objects Management". Activate the expert mode by selecting the View > Expert mode
command.
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7.11 Updating technology DBs
A reduction ratio of 1 and offset of 0 are set by default for the technology DBs. All technology
DBs are updated within the basic clock cycle (technology DB update cycle). The selected
basic clock cycle of the technology DB update must be of sufficient length to allow the
update of all technology DBs.
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7.11 Updating technology DBs
Update of technology DBs with graded step-down ratio and uniform offset
The step-down ratio determines in which basic clock the technology DB is to be updated.
● A reduction ratio of 1 means that the technology DB is updated within each basic cycle
clock.
● A reduction ratio of 2 means that the technology DB is updated at every second basic
cycle clock, and so forth.
By comparison to the default setting this improves distribution of technology DB updates.
However, the basic cycle clocks 1, 5, 7, and 9 will still generate high system load.
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7.11 Updating technology DBs
The example shows that a graded step-down ratio and offset can be used to limit update
load to three technology DBs per basic clock. Compared to the example shown earlier this
allows doubling of the basic clock. The update time of DB1 and DB2 is halved. The update
time of DB3 remains the same. The update time of DB3 to DB6 is tripled.
Note
Use the information below in order to optimize the step-down ratio and offset:
• Set the duration of the cycles to at least such a high value that they can be evaluated in
the user program.
• Select the same step-down ratio and offset for technology DBs which you want to
evaluate consistently to each other
• Create a diagram of your update schedule which shows you the cyclic distribution of
updates
• The time required for the update of a technology DB depends on the DB length Cyclic
distribution of technology DBs of greater length (for example, axis technology DBs) will
lead to a more even distribution of load compared to the distribution of short technology
DBs
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7.11 Updating technology DBs
The technology DB update is initiated by the transition of the "UpdateFlag" from W#16#0000 to W#16#0100..
All technology DBs affected in this update cycle are updated. The integrated technology always writes the entire
technology DB.
The "UpdateCounter" increments its value by the count of 1. All "UpdateCounter" values relevant to this update
cycle are incremented.
The "UpdateFlag" changes from W#16#0100 to W#16#0000 for all technology DBs concerned.
The technology synchronization interrupt OB65 is called. For details on local data (start info in OB65), refer to the
STEP 7 Online Help. OB 65 can be copied from the "Organization Blocks" folder of the "Standard Library" to the
project.
Note
Note the following:
• The technology synchronization interrupt is called in each basic clock, regardless whether
or not a technology DB is updated within this basic clock
• The technology DBs update and the generation of the feedback signals of the technology
functions are handled asynchronously The data are therefore inconsistent
After the call of the Done output parameter, wait until the "UpdateCounter" is incremented
before you analyze the technology data block (to determine the position, for example).
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7.11 Updating technology DBs
Note
The ErrorID, ErrorStatus, and ErrorBuffer entries are updated asynchronously, that is,
independently of the status of the "UpdateFlag".
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7.12 ErrorID - Technology DBs
Warnings
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7.12 ErrorID - Technology DBs
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
Warnings
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7.12 ErrorID - Technology DBs
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
Warnings
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
Warnings
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7.12 ErrorID - Technology DBs
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
Warnings
Errors
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7.12 ErrorID - Technology DBs
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Technology data blocks
7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
Warnings
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7.12 ErrorID - Technology DBs
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
Warnings
Errors
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
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7.12 ErrorID - Technology DBs
Errors
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Loading, testing and diagnostics 8
8.1 Connecting the programming device
All configuration data and programs are created on the PG or PC.
Always use the online cable to interconnect the programming device with the X1 interface of
the technology CPU.
Programming devices such as text-based displays and OPs may not be connected to the X3
interface (DP(DRIVE)). Any operation of these devices will jeopardize isochronous operation
on DP(DRIVE).
As an option, you may connect the programming device to a CP in your system. Make
allowances for prolonged load times when connecting to a CP, or when setting a constant
bus cycle at the X1 interface.
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8.2 Download commands
Note
For information on routing to drives, refer to the corresponding device manual.
For additional information on routing, refer to the entry ID in the FAQ on drive technology:
26710833. You can retrieve the entry on the Internet pages of Siemens AG, Automation and
Drives, Service & Support.
User program (OB, FC, FB, DB) Program blocks and DBs from the blocks folder of your project.
System data System data contain the permanent and programmed parameters of the
CPU, that is, the HW configuration and all configuration data of integrated
technology.
Hardware configuration The hardware configuration data are created in HW Config and reflect the
HW configuration of the station.
Technology These data comprise the configuration data of integrated technology and
of the technology objects.
Firmware of integrated technology The current firmware of integrated technology is packed to SDBs and
saved to load memory of your Technology CPU. The firmware download
is based on the conditions listed below:
• The "Generate technology data" check box was set at the time "Save
and compile" was executed. This check box is available in HW Config,
properties dialog box, Technology > "Technology system data" tab.
All firmware data are deleted from load memory if the technology
system data were not generated in the "Save and compile" operation
(check box deactivated.)
• The current firmware of integrated technology is not yet saved to load
memory. If it already exists in load memory, the firmware will not be
downloaded again.
Drive configuration In S7T Config, you can configure the MICROMASTER and SINAMICS
drives with integrated STARTER.
Below you will find a listing of objects you can download with the various tools:
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8.2 Download commands
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8.2 Download commands
NEXT
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8.2 Download commands
ACTUAL
The "ACTUAL" memory area is a component of integrated technology. The "ACTUAL"
memory area is used to save and process actual runtime configuration data, system
variables, and the interpolation points and polynomials of the cam disks.
NEXT
The "NEXT" memory area is also a component of integrated technology. This memory area
is used for the interim storage of changes which are not immediately activated.
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8.2 Download commands
NEXT
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8.2 Download commands
NEXT
① The configuration data and the default values of system variables for the relevant technology
object are transferred from "ROM" to" RAM."
If the technology object is a cam disk, the default interpolation points/polynomials will be
included.
② The configuration data, the default values of system variables, including the default
interpolation points/polynomials of the cam disks are transferred from "RAM" to "ACTUAL."
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Loading, testing and diagnostics
8.2 Download commands
Define the target devices of the "Target system" in the "Download" tab.
● set the "CPUs" check box if the Technology CPU should belong to the "Target system"
● activate the "Drives" check box if all drives listed in the Navigator should belong to the
"Target system"
Note
The target devices of the "Target system" must be online.
Define the target devices for the online connection by selecting the Target system >
Select target device command.
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8.2 Download commands
PG/PC
1 4
NEXT
① The delta data of the project will be downloaded from the programming device / PC to "RAM."
② The delta data of the project are downloaded from "RAM" to "ROM."
③ At the transition of the Technology CPU from STOP to RUN, the configuration data, the default
values of the system variables, and the default interpolation points/polynomials are transferred
from "RAM" to "ACTUAL."
Menu command Target system > Upload > Configuration data to PG
④ This command uploads the configuration data from "RAM" to the project data on the
programming device / PC.
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8.2 Download commands
Download to drive
The diagram below shows the reaction in memory to commands of S7T Config to download
data to the drive.
PG / PC
① Downloads drive-specific project data from the PG/PC to "ACTUAL" of the drive.
② Transfers drive-specific project data from "ACTUAL" to "ROM" of the drive.
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8.2 Download commands
PG/PC
NEXT
1
ROM (load memory) ACTUAL
Complete technology incl.
Configuration data, system
configuration data,
variables, interpolation points /
default values of system variables,
polynomials
default points / default polynomials
of cam discs
of cam discs etc.
① The configuration data are transferred from "Actual " to "RAM," and then from "RAM" to
"ROM."
② The configuration data defined in item 1 will also be uploaded to the programming device / PC
when you set the "Upload configuration data to PG" in the dialog box of the menu.
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8.2 Download commands
Online changes in dialog boxes, in the expert list of the technology objects, and by calling the
technology function "MC_WriteParameter"
In online mode of S7T Config, the modified value will be accepted and transferred to the
memory areas shown below when you close a field in the dialog boxes or in the expert list.
This also applies to write operations of the technology function "MC_WriteParameter".
You must distinguish between changed configuration data of the type "Restart" and
"Immediate." You can identify the type in online mode by the entries in the "Effects" column
of the expert list, or by the entries in the parameters list.
PG/PC
Configuration data
"Restart” type
1 Configuration data
“Immediate" type and
system variables
NEXT
① Configuration data of the type "Restart" which were modified in online mode are initially
downloaded to the "NEXT" memory area.
② When a technology object "Restart" is executed (example: by setting input parameter
Restart = TRUE using technology function "MC_Reset", the changed value is transferred from
memory area "NEXT" to "ACTUAL."
③ Changed values of configuration data of the "Immediate" type and of system variables will be
downloaded directly to "ACTUAL." Memory area "NEXT" will be by-passed.
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8.2 Download commands
Expert list
“Collect changes“ button
Configuration data
“Immediate“ type
1 1
NEXT
① Any values changed in the "Next value" column will be transferred immediately to memory
area "NEXT." This applies to configuration data of the type "Restart" and "Immediate."
② If a "Restart" is applied to the technology object (for example by setting the input parameter
Restart = TRUE using the "MC_Reset" technology function), you transfer the changed value
from memory area "NEXT" to "ACTUAL" (applies only to configuration data of the "Restart"
type.)
③ When "Collect changes" is active, all configuration data of the "Immediate" type will also be
transferred to memory area "NEXT."
Click "Activate changes" to apply all collected changes to the integrated technology.
④ Changed values of system variables are downloaded directly to "ACTUAL." Memory area
"NEXT" will be by-passed.
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8.2 Download commands
PG/PC
NEXT
2
RAM (load memory)
Complete technology incl.
“Load from device“
configuration data,
button
default values of system variables,
default points / default polynomials
of cam discs etc.
① Click "Download to device" to interpolate the cam disk represented in CamEdit, and to
download it to memory area "ACTUAL" of the integrated technology.
② Click "Upload from device" to upload the interpolated cam disk from memory area "ACTUAL"
to CamEdit.
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8.3 Technology system clocks
The reduction ratio between the DP cycle and the position control cycle must also be set
at the drive as "master application cycle." This setting is required for the mutual sign-of-
life monitoring. For further information, refer to the drive documentation.
● Ipo (interpolator cycle)
Axis, external encoders, output cams and measuring inputs are computed by default
within the "Interpolator cycle". Select a multiplication factor from the drop-down list box in
order to set the required interpolator cycle
● Ipo_2 (Interpolator cycle 2)"Interpolator cycle 2" is used to control motions of axes with
lower priority. This value determines the time pattern for the calculation of axes, external
encoders, output cams and measuring inputs of a lower priority class. Select a factor from
the drop-down list box in order to set the required interpolator cycle 2.
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8.3 Technology system clocks
Technology parameterization
Click the selection button of the drop-down box on the left edge of the dialog box to view the
contents of this area. Input boxes in this area:
● Command monitoring time (Job_Processing_Task)
Set this time to determine the maximum execution time of all concurrent Motion Control
commands.
If the command monitoring time is exceeded, the Technology CPU changes to the safe
operation mode STOP. An error message is entered in the diagnostic buffer.
● Technology DB update time
Select an entry from the drop-down list to determine the basic cycle used by integrated
technology to update the technology DBs (also see "Updating technology DBs"
(Page 791)). Frequent update operations will prolong the execution of Motion Control
commands (see Command monitoring time).
We speak of an "overflow" situation when a new Technology DB update is initiated while
a previous update cycle is not yet completed. When operating with integrated technology
firmware V3.1.x or earlier, the Technology CPU will go into STOP when it detects a
technology DB update overflow. Integrated technology with firmware V3.2.x or higher
tolerates this overflow, meaning that the non-executable update is discarded, and
technology synchronization interrupt OB 65 will not be called. The number of overflows,
and therefore the failure rate of Technology DB updates, can be read from the
TODBTaskOverflows variable at Technology DB "MCDevice".
● Maximum shutdown time
Enter the shutdown monitoring time for integrated technology. If the shutdown of
integrated technology is not completed within this time the technology CPU automatically
goes into STOP.
● Number of tolerated IPO overflows / IPO2 overflows
An "IPO overflow" occurs when the interpolator execution time exceeds the configured
interpolator cycle. In this case the following interpolator cannot be started in the selected
cycle and will be omitted. If the processing of the interpolator is completed at the next
cycle, it will be started as usual.
Each omitted interpolator will be added to the number of "IPO overflows." Select the
number of successive "IPO overflows" to be tolerated before the Technology CPU goes
into STOP operation mode from the the drop-down list box. The number of overflow can
be set separately for IPO and IPO2.
Network settings
Check your DP(DRIVE) settings in HW Config in this area.
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8.4 Optimizing the position controller
Drive
Symmetry filter Position controller Velocity controller
Kv Velocity
Inter- Setpoint setpoint nist
polator
Actual position
xist nist
In a system operating a position control loop without DSC (Dynamic Servo Control), the
system calculates the position controller in the Technology CPU, and the speed controller of
the drive. The parameters are calculated in different cycles.
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8.4 Optimizing the position controller
Drive
Bias control
KPC
0 nsoll
tPLC
For position control with DSC (Dynamic Servo Control), the system calculates both the
position controller and the speed controller in the drive. This allows you to set significantly
higher gain factors (Kv) for the position controller. The position and speed control
parameters are calculated within the same cycle. Hence, the position control and its
subordinate control loop, meaning the speed controller, are calculated at precisely the same
speed.
Do not disable Dynamic Servo Control (DSC) when tuning if you want to operate the drive in
tuned state with DSC.
Prerequisites
● You configured the axis, with the exception of acceleration limits and input of the
controller settings.
● You commissioned the lower-level control loops, and set a speed control loop that is free
of overshoot when applying pre-control settings.
● The drive, encoder and technology object scaling match.
Tune the position controller by making the settings outlined in the next section. Make a note
of all originally set values before you change these in order to be able to undo these settings
after tuning.
● Disable speed pre-control
Deactivate the "Pre-control" check box on the "Static controller data" of the Axis > Control
dialog box.
● Fine interpolator "constant acceleration interpolation"
elect "constant acceleration interpolation" from the "Fine interpolator" drop-down list box.
This drop-down list box is available in the "Static controller data" tab of the Axis > Control
dialog box.
● Disable drift compensation
Deactivate the "Drift compensation" check box in the "Static controller data" tab of the
Axis > Control dialog box.
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8.4 Optimizing the position controller
Actual position
xist nist
The example below shows a practical function block. You can copy its contents from the
Online Help to STEP 7 as STL source file.
The function block generates a step function. Using technology function "MC_MoveRelative,"
the axis position is increased by 100 mm, and is then returned to its initial position.
Prerequisites:
Your project must contain the following technology functions. Copy the technology function
from the block library of S7-Technology to your block folder:
● FB 401 MC_Power
● FB 402MC_Reset
● FB 411MC_MoveRelative
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8.4 Optimizing the position controller
FUNCTION_BLOCK FB 130
TITLE = PositionControl
VERSION : 1.0
VAR_INPUT
Axis_No : INT ;
Enable_Axis : BOOL ;
Start_Function : BOOL ;
Reset_Axis : BOOL ;
Restart_Axis : BOOL ;
END_VAR
VAR
MC_Power_Axis : FB 401; // MC_Power
MC_Reset_Axis : FB 402; // MC_Reset
MC_Move_Axis : FB 411; // MC_MoveRelative
Start_Optimation : BOOL ;
Forward : BOOL ;
Backward : BOOL ;
Forward_Store : BOOL ;
END_VAR
BEGIN
NETWORK
TITLE =Enable Axis
U #Enable_Axis;
= #MC_Power_Axis.Enable;
L #Axis_No;
T #MC_Power_Axis.Axis;
NETWORK
TITLE =Reset / Restart Axis
L #Axis_No;
T #MC_Reset_Axis.Axis;
U #Reset_Axis;
O #Restart_Axis;
= #MC_Reset_Axis.Execute;
U #Restart_Axis;
= #MC_Reset_Axis.Restart;
NETWORK
TITLE =Generation of Test function for Optimization of Axis
L #Axis_No;
T #MC_Move_Axis.Axis;
U #Start_Function;
FP #Start_Optimization;
O( ;
U #Start_Function;
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8.4 Optimizing the position controller
FUNCTION_BLOCK FB 130
U #MC_Move_Axis.Done;
UN #Forward_Store;
) ;
= #Forward;
U #Forward;
S #Forward_Store;
U #Forward;
SPB FWD:
U #Start_Function;
U #Forward_Store;
U #MC_Move_Axis.Done;
= #Backward;
U #Backward;
R #Forward_Store;
U #Backward;
SPB BWD;
SPA GO:
FWD: L 1.000000e+002;
T #MC_Move_Axis.Distance;
L 1.000000e+002;
T #MC_Move_Axis.Velocity;
L 1.000000e+004;
T #MC_Move_Axis.Acceleration;
T #MC_Move_Axis.Deceleration;
SPA GO:
BWD: L -1.000000e+002;
T #MC_Move_Axis.Distance;
L 1.000000e+002;
T #MC_Move_Axis.Velocity;
L 1.000000e+004;
T #MC_Move_Axis.Acceleration;
T #MC_Move_Axis.Deceleration;
GO: U #Forward;
O #Backward;
= #MC_Move_Axis.Execute;
NETWORK
TITLE =Call Motion Commands
CALL #MC_Power_Axis ;
CALL #MC_Reset_Axis ;
CALL #MC_Move_Axis ;
END_FUNCTION_BLOCK
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8.4 Optimizing the position controller
Settings in TraceTool
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8.4 Optimizing the position controller
Signals Value
Signal 1 _to."AxisName".motionstatedata. commandvelocity
Signal 2 _to."AxisName".motionstatedata. actualvelocity
The recording signals are available in the "Project name" > Technology name > TO > "Axis
name" path of the corresponding selection window.
Recording Value
Condition Isochronous recording
Clock Position control cycle
Factor 1
Duration Approx. 5000 ms or longer
Trigger Value
Type Trigger on variable - positive edge
Variable _to."AxisName".motionstatedata.commandvelocity
Clock Position control cycle
Pretrigger Approx. 6 ms or longer
threshold value Approx. 0.01000 (this value is used as trigger threshold)
The variables are located in the "Project name" > Technology name > TO > "Axis name"
path of the corresponding selection window.
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8.4 Optimizing the position controller
Although this trend profile does not show any overshoot, it discloses significant settling
times. The Kv factor must be increased to tune the position controller.
Trend profile - optimized gain factor Kv (detail view)
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8.4 Optimizing the position controller
When increasing the Kv factor, keep an eye on the following properties of the trend profile:
● The curve shows a short settling time.
● The trend does not disclose any reversal of the actual value.
● There is no overshoot when the setpoint is activated.
● The trend profile shows an overall stable response (no oscillation in trend profile.)
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8.4 Optimizing the position controller
Drive
Symmetry filter Position controller Velocity controller
vTc Kv Velocity
Inter- Setpoint setpoint nist
polator
Actual position
xist nist
Setpoint changes require fast and precise settling of the controller. The Technology CPU
thus controls setpoint deviations using pre-control and the position controller. The balancing
filter compensates for the runtime delay of the pre-control function.
● Pre-control
Differential function for high-speed reaction to setpoint changes. The pre-control function
immediately settles the greater part of a setpoint change.
● Position controller
The operation of a position controller is slower due to its p-action, however, with
significantly higher precision. Its task is to fine adjust the residual control error the pre-
control function has not yet settled. The error in a well-tuned control loop is small
compared to the setpoint change.
● Balancing filter
The balancing filter compensates for runtime delay caused by the pre-control circuit.
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8.4 Optimizing the position controller
active
Bias control
KPC
0
Drive
Symmetry filter Position controller Velocity
vTc Velocity controller
Kv setpoint
Inter Setpoint nist
polator
Actual position
xist nist
The pre-control function has a differential effect on changing setpoints, meaning that the
resultant value is transferred to the drive at considerable speed. The speed controller in the
drive corrects the portion of the setpoint change output by the pre-control; the drive moves.
The actual value change is fed back to the position controller.
The position controller now has to correct the residual error between the defined position
setpoint and the difference of the actual value generated by the pre-control. The position
controller thus requires the setpoint at the correct time.
The balancing filter has to compensate for the runtime delay caused by the pre-control
circuit. This requires a delayed transfer of the setpoint to the position controller.
Recording Value
Signal 1 _project."axis name".servodata.
controllerdifference
Signal 2 _project."axis name".servodata. followingerror
The balancing filter and pre-control must be activated before you can tune the balancing
filter.
● Activate balancing filter
Change the value of configuration data element
TypeOfAxis.NumberOfDataSets.DataSet_x.ControllerStruct.PV_Controller.balanceFilterM
ode to the original value Mode_1 or Mode_2.
Alternatively, the balancing filter can be reset by using the parameter number 2035 of
technology function "MC_WriteParameter." Select the value 90 for Mode_1, or the value
91 for Mode_2.
● Enable speed pre-control
Activate the "Pre-control" check box on the "Static controller data" of the Axis > Control
dialog box.
The objective of balancing filter tuning is to correct the time slice required by the pre-control.
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The setpoint is output too early to the position control. The difference between the setpoint
and actual value is too high, because the setpoint leads the returned actual value. The value
output by the position controller in the control variable is therefore too high; the speed
controller overreacts and the following error will deteriorate.
Example of an ideal setting of time constant vTc
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8.4 Optimizing the position controller
The balancing filter is tuned to optimum performance. The position controller receives the
setpoint in time with the actual value. The position controller only has to correct the slight
deviations the pre-control has not yet corrected.
Tuning of the position controller is successfully completed when you have tuned the
balancing filter.
Note
Note the following:
• The following error cannot assume a zero value if the constant velocity phase is
configured without overshoot!
• As the position control cycle is included in the calculation of the equivalent time constant
of the speed control loop (vTc), the maximum value of this time constant amounts to 16
position controller clocks. The dead time element has a maximum buffer length 16.
• Do not forget to restore the original values after having completed the changes described
in the chapter "Preparing for tuning".
• Make sure that you also change the tuned values of the Kv factor and of time constant
vTc in the offline project
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8.4 Optimizing the position controller
8.4.6 Calculating the equivalent time constant of the position control loop
The equivalent time constant of the position control loop comes into effect in the following
situations:
● Emergency Off by setting StopMode = 0 at the "MC_Power" technology function
● Changeover from position-controlled to speed-controlled mode by setting
PositionControl = FALSE at the ""MC_MoveVelocity" technology function.
NOTICE
If the equivalent time constant of the position control loop has not been tuned
adequately, the axis may perform unwanted compensation motions in the situations
described earlier.
To determine the equivalent time constant of the position control circuit pTc:
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8.4 Optimizing the position controller
Enter the calculated equivalent time constant for the position control loop thus determined in
the "Dynamic controller data" tab of the Axis > Control dialog box. This tab can only be
selected if expert mode is set.
The equivalent time of the position control loop can also be set in the S7T Config expert list
in configuration data element
TypeOfAxis.NumberOfDataSets.DataSet_x.DynamicData.velocityTimeConstant.
Note
Use an emergency off command to verify the calculated value for the equivalent time
constant of the position control loop. To execute the emergency off command:
1. "MC_Power" StopMode = 0
2. Falling edge at Enableof "MC_Power"
Increase the value of the equivalent time constant for the position control loop if the axis
shows a tendency towards overshooting.
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8.5 Testing with breakpoints
RUN state
FRCE
RUN
STOP
Breakpoint reached
FRCE
The controller switches to
((( )))RUN HOLD; the drives on
DP(DRIVE) are shut down.
STOP
FRCE
The controller switches to
HOLD; the drives on The Technology CPU
RUN
DP(DRIVE) remain goes into STOP
shut down.
STOP
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8.6 Testing using the Watch Table
Breakpoint reached
After the breakpoint is reached, the PLC changes as usual to "HOLD"; the "RUN" LED
flashes at 0.5 Hz, the "STOP" LED is lit permanently. In "HOLD" mode, the outputs of the
PLC and of its integrated technology are shut down.
Menu command Test > Execute next statement
After having reached the breakpoint, you can continue the test of your user program by
selecting the Test > Execute next statement command.
Test > Resume command
The Technology CPU changes to "STOP" when you execute the Test > Resume command.
"Restart" the Technology CPU in order to resume "RUN" mode.
Note
Monitoring of variables in the Watch Table requires an online connection.
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8.7 Using the TraceTool for testing
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8.7 Using the TraceTool for testing
S7_TraceDINT[0..1] variable
The S7_TraceDINT variable contains an ARRAY with two elements of the data type DINT.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user1 and user2 in the TraceTool of S7T Config.
S7_TraceDWORD[0..1] variable
The S7_TraceDWORD variable contains an ARRAY with two elements of the data type
DWORD. Use the variables if you want to trace bit information (such as status word or error
word) in the S7T trace tool. You can select the bits in the usual SIMATIC numbering in the
trace tool.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user3 and user4 in the TraceTool of S7T Config.
S7_TraceREAL[0..3] variable
The S7_TraceREAL variable contains an ARRAY with four elements of the data type REAL.
These values can be selected for tracing when you select the signal in Technology >
userdata1 > user5, user6, user7 and user8 in the TraceTool of S7T Config.
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sensordata
sensormonitoring
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8.7 Using the TraceTool for testing
servodata
servomonitoring
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8.8 Testing using the control panel
servosettings
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8.8 Testing using the control panel
Note
While the control panel is active and S7T Config has control priority, you can only edit
configuration data that become immediately active.
Control priority must be returned before you edit any configuration data which require a
RESTART. Control priority must be requested again after RESTART
WARNING
Use the axis control panel only in the commissioning phase and for test purposes.
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8.8 Testing using the control panel
WARNING
You must strictly observe pertinent safety regulations.
Use the axis control panel in control mode only if programming device / CPU lifesign
monitoring is enabled and a suitably short monitoring time is set!
The axis may otherwise perform uncontrollable motions if problems occur in the
communication between the programming device and the Technology CPU.
Note
When the control panel is in control mode, a space bar signal will be interpreted as a control
signal to stop the axis. This also affects other applications running on the programming
device (word processors, for example). If you assign the space bar to the emergency-stop
function, its function is no longer available for entering space characters in a word processor.
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8.8 Testing using the control panel
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8.8 Testing using the control panel
Simulation OFF This command returns the axis from simulation mode to normal operation.
The setpoint last valid in the simulation will be activated for output.
Caution:
As the drive is disabled in simulation mode, it may perform an adjusting
movement when you exit simulation mode.
You can avoid these adjusting motions by moving the axis to its initial
position while you are still in simulation mode.
Reset axis The axis is reset to the initial state.
The command should be used when, because of incorrect
parameterization, the axis is in an inexactly defined state.
Start motion The last motion command configured (speed preset, start axis with
position control, position axis or home axis) will be started.
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8.8 Testing using the control panel
NOTICE
Take all safety measures before you put the axis into operation.
Note
When using the "Speed preset" and "Start axis position controlled" commands, you can
also start the motion by clicking "Jog". Keep the left mouse button pressed to run the
motion as long as necessary. The motion stops when you release the mouse button.
You can also stop the axis by pressing the space bar.
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Appendix 9
9.1 Application examples
Homing sensor
Delivery range
X axis
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9.1 Application examples
Technology Objects
In S7T Config, you configure the technology objects which you can use to control the
conveyor drive and the target sensor. Technology objects used in this example:
Technology objects:
• Positioning axis
(conveyor)
• Measuring input (target
sensor)
Technology functions
The technology functions required to solve this task are executed by calling the function
blocks listed below in the user program:
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9.1 Application examples
500 mm
Axis2
Material
Axis1
This example shows a typical application for cutting continuously produced material to
length.
The incoming material is fed continuously by the feed axis (Axis1) and cut to length "on-the-
fly" by the shearing axis (Axis2).
Pressure marks applied to the material indicate the cutting position. A sensor registers the
position of the pressure mark and sets the actual value of the feed axis (Axis1) to -500 mm.
The system starts synchronous operation of the shearing axis when it detects the sensor.
The shear blades approach the pressure mark while the system performs this
synchronization. The material is cut immediately after the shearing axis has reached
synchronism. The shearing axis returns to its home position after having completed the cut
and waits for the next pressure mark.
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9.1 Application examples
Technology Objects
You configure the Technology objects in S7T Config. Technology objects used in this
example:
Technology objects:
• Positioning axis (feed axis)
• Synchronization axis (shearing axis)
• Measuring input (sensor)
Technology functions
The technology functions required to solve this task are executed by calling the function
blocks listed below in the user program:
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9.1 Application examples
Axis 1
(press)
90°
150°
Feed
180° 0°
Feed Gripper closed Return to home position
length
Gripper
opening 200°
angle:
200 degrees 270°
300°
Gripper 90° 180° 270° 0° 90° 180° 270° Press
closing angle: 150° 300° 150° 300°
300 degrees 200° 200°
Material
Axis 2 (feed)
The example shows a press to which the material is fed by means of a gripper feed
mechanism.
The gripper closes at an angular position of 300 ° and then pushes the material into the
press position at angular position 150 °.
The gripper remains closed during the press operation and opens again at 200 °.
The gripper feed returns from angular position 200° to its home position at 270 °.
The motion of the feed axis is directly proportional to the rotary movement of the axis. The
feed axis is therefore coupled to the press axis by means of a cam disk technology. The
gripper release and closing motion is controlled by means of a cam switch function (close at
300 °, release at 200 °).
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9.1 Application examples
Technology Objects
You configure the Technology objects in S7T Config. Technology objects used in this
example:
Technology Objects
• Positioning axis (press axis)
• Synchronization axis (feed axis)
• Cam disk (to couple the feed and press
axes)
• Output cam (gripper control)
Technology functions
The technology functions required to solve this task are executed by calling the function
blocks listed below in the user program:
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9.2 Questions, tips and tricks
CPU 31xT-2 DP
FW-CPU V2.1 V2.3 V2.3 V2.4 V2.4 V2.4
FW-Technology V3.0 V3.1 V3.1 V3.2 V3.2 V3.2
S7T Config V3.0 V3.1 V3.2 V3.2 V3.2 V4.0
Microbox T
WinLC T V4.2 V4.2
FW-Technology V3.2 V3.2
S7T Config V3.2 V4.0
Note
The memory requirements for the project data may increase due to the upgrade. Keep a
larger Micro Memory Card (MMC) at hand if only small memory reserves are available on
your current MMC.
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9.2 Questions, tips and tricks
Note
Create a backup copy of your project data before you run the upgrade.
Do not open any additional dialog windows such as the expert list when you perform the
upgrades.
Question:
Can I replace the Technology CPU with a different type and reuse its configuration data?
Answer:
The Technology CPUs listed below support interchanging and reuse of their configuration
data:
CPU 315T-2 DP
FW-CPU --- V2.3 V2.4
FW-Technology --- V3.1 V3.2
CPU 317T-2 DP
FW-CPU V2.1 V2.3 V2.4
FW-Technology V3.0 V3.1 V3.2
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9.2 Questions, tips and tricks
Note
Perform the following steps before you replace the Technology CPU if you saved the current
project in SIMATIC Manager using the File > Save as command and set the "With
reorganization (slow)" check box.
1. Start S7T Config.
2. Follow any information and instructions shown. Close S7T Config afterwards.
Replacing the Technology CPU with a CPU and technology firmware of the same version
1. Replace the technology CPU in HW Config (as described in the chapter "How to upgrade
the firmware of the integrated technology")
2. Select Station > Save
3. Close HW Config.
4. In SIMATIC manager, double-click "Technological objects" Open S7T Config by selecting
the Options > Configure technology command.
5. Select the Project > Save and compile all menu command.
6. Close S7T Config.
7. Download the project data to the PLC (as described in the chapter "What to download to
the PLC after the upgrade").
Replacing the Technology CPU with a CPU and technology with different firmware version
To replace the Technology CPU, proceed as with the upgrade. For detailed information, refer
to the chapter "How to utilize the new performance features".
Note
Make allowances for any different data volumes when you replace the Technology CPU.
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Note
Open HW Config in Online mode if you are uncertain of consistency between offline and
online data.
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Question:
The new performance features offered in S7-Technology may require an upgrade of the
firmware of CPU 31xT-2 DP. How can I upgrade the firmware of CPU 31xT-2 DP?
Answer:
Check the relevant firmware versions before you upgrade the CPU firmware:
● You identify the firmware version of CPU 31xT-2 DP as described in the chapter
"Identifying firmware versions".
● The firmware version required for the upgrade is specified in the chapter "How can I
utilize the new performance features?".
The firmware upgrade is carried out from Micro Memory Card. Components required:
● A programming device / PC with STEP 7 Basis and Micro Memory Card adapter.
● A Micro Memory Card with a minimum capacity of 8 MB.
You can download the current firmware update from our Internet Service & Support pages:
http://www.siemens.com/automation/service&support
Select the PLC > Update Operating System command in SIMATIC Manager. For details on
procedures, refer to the STEP 7 Online Help.
As of Bootblock version A030705 of CPU 31xT, the firmware update is also possible without
Micro Memory Card online (via networks). You recognize the Bootblock version in the
diagnostics buffer of the CPU 31xT.
Note
Note the differences in the hardware versions of CPU 31xT-2 DP.
The hardware versions differ, for example, in terms of memory load of the integrated
technology. For further information, refer to relevant the "CPU Data" manual, Chapter 6.6
"Memory in the integrated technology of the CPU".
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Question:
You may need to upgrade the firmware of integrated technology in order to be able to use
the new performance features of S7-Technology. How can I upgrade the firmware of
integrated technology?
Answer:
Check the relevant firmware versions before you upgrade the firmware of integrated
technology:
● You can identify the firmware version of the integrated technology as described in the
chapter "How can I identify the firmware versions?".
● The firmware version required for the upgrade is specified in the chapter "How can I
utilize the new performance features?".
Proceed as follows to upgrade the firmware: The diagrams below show the upgrade of a
CPU 317T-2 DP. The representation in HW Config may differ slightly according to the
Technology CPU used:
1. Open HW Config.
2. From the hardware catalog, select the "SIMATIC Technology CPU" profile.
3. Open the folder which contains the Technology CPU or firmware version as shown in the diagram below. Drag-and-
drop the required component to the slot on the CPU.
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Question:
A new version of S7-Technology may require conversion of the technology. How can I
convert the technology?
Answer:
Configurations which may require a conversion of the technology are specified in the chapter
"How can I utilize the new performance features".
Convert the technology as described below:
(Depending on the conversion, the text content and the version designations can vary in the
illustrations)
1. Select "Technological objects" in SIMATIC Manager and then select Options > Configure technology
2. S7T Config opens with a dialog box.
Confirm this dialog box with "Yes". The project is now converted.
3. The next dialog box opens:
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9.2.8 How do I convert the technology and upgrade the technology packages?
Question:
You may need to convert the technology and upgrade the technology packages when you
implement a new version of S7-Technology. How can I do this?
Answer:
The chapter "How to utilize the new performance features" specifies configurations which
may require these tasks.
Procedure:
(Depending on the conversion, the text content and the version designations can vary in the
illustrations)
1. Select "Technological objects" in SIMATIC Manager and then select Options > Configure technology.
2. S7T Config opens with a dialog box.
Confirm this dialog box with "Yes". The project is now converted.
3. The next dialog box opens:
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4. Select the technology from the Navigator and then select the Edit > Select technology packages command.
5. Confirm the message box with "OK".
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8. Confirm the next message with "Yes". The system updates the technology packages.
Notes for converting older projects
The conversion changes the units at some of the system variables. For this reason, the detail view of S7T Config
outputs warnings during conversion, indicating that certain system variables
(userdefaultqfaxis.maxderivative.foutput, for example) could not be set.
You can ignore the warnings since these system variables are not used in the technology CPU.
9. Confirm the "Update of technology objects completed" message with "OK".
10. Close the "Select technology packages" dialog box with "OK".
11. Select Project > Save and compile all
11a. Continue with step 12 if no error messages appear.
Continue with step 11b if error messages appear.
11b. Select the Project > Check consistency command to locate the errors.
Notes for converting older projects
Possible causes of the error messages:
• At the axes and external encoders, configuration data element
TypeOfAxis.NumberOfEncoders.Encoder1.DriverInfo. EncoderNumberOnDevice does not have a value of 0.
Exception: An external encoder returns an additional actual value for the axis. A prerequisite is the use of
standard message frames 4 or 6, or of message frames 103, 104, or 106.
Remedy: Set the configuration data element to 0.
• At the position-controlled axes without encoders, configuration data element
TypeOfAxis.NumberOfDataSets.DataSet_1.EncoderNumber.EncoderNumber does not have a value of 0.
Remedy: Set the configuration data element to 0.
11c. Eliminate the causes of error, and continue at step 11.
You can also save the project by selecting the Project > Save command and continue at step 12 if you want to
eliminate the causes of error at a later time.
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Question:
It may be necessary to recreate the technology DBs after you implemented a new version of
S7-Technology. How can I recreate the technology DBs?
Answer:
The configurations which may require the recreation of technology DBs are defined in the
chapter "How to utilize the new performance features".
Proceed as follows to recreate the technology DBs:
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After this deletion, all technology DBs are marked in the area of the technology DBs which are not generated yet.
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4. Click "Generate" in order to generate the technology DBs with the new structure.
Question:
How do I update the technology functions after an upgrade?
Answer:
To use the features of the upgraded version, the technology functions have to be updated in
the project's block folder. Procedure:
1. Select the "Blocks" object in the block folder of the SIMATIC Manager and select the shortcut menu command
Check block consistency.
2. Clean up any displayed errors.
3. Select the menu command File > Open in the SIMATIC Manager and select the "Libraries" tab. Open the "S7-Tech"
library and the directory of the corresponding firmware version.
4. Update all technology functions of your block folder with the corresponding technology functions of the library folder.
5. Select the "Blocks" object in the block folder of the SIMATIC Manager and again select the shortcut menu command
Check block consistency.
6. Clean up any displayed errors.
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Question:
Which data do I have to download to the PLC after an upgrade?
Answer:
Download the user program, the HW configuration, the technology and the firmware of
integrated technology to the Technology CPU after the upgrade.
Procedure:
1. Change to SIMATIC Manager. Select the upgraded SIMATIC station in your project.
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1. Select "Technological objects" and the Options > Configure technology command in SIMATIC Manager.
2. A dialog box (as shown below) appears when S7T Config opens:
3. Convert the project in order to be able to view it in S7T Config. Confirm the question with "Yes".
4. The next dialog box opens:
Note
Meaning of the Navigator icons during online analysis:
• Objects with green icons are consistent
• Objects with red/green icons have an indefinite state, that is, their "consistent" or
"inconsistent" state can not be determined.
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1. Select "Technological objects" and the Options > Configure technology command in SIMATIC Manager.
2. A dialog box (as shown below) appears when S7T Config opens:
3. You need to convert the project to edit it in S7T Config. Confirm the question with "Yes".
4. The next dialog box opens:
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8. The dialog box shown below appears when you close the tool.
9. Confirm the question with "Yes" in order to reconvert the project to its original version.
Note
The offline/online comparison of converted or reconverted projects may return inconsistency
of identical same project data.
Reason: Internal data structure adjustments in later versions.
Remedy: Carry out the following steps to correct the displayed inconsistencies:
1. "Save and compile all" in S7T Config
2. Download the project data to the Technology CPU
Carry out these steps in the relevant version of S7-Technology.
If you forgot to reconvert the project before you closed S7T Config you can catch up with
requirements by calling the Project > Save in old project format command in S7T Config.
9.2.14 What do I have to observe when using "Save as" with reorganization?
Open S7T Config if the following conditions are given:
● After module replacement
● After a station was copied
● After having executed the File > Save as command with the "With reorganization (slow)"
check box checked
Follow the instructions on your screen and then close S7T Config.
If you created, saved and reorganized a project created in a previous version of S7-
Technology, the system may output a message reporting that certain technology objects
could not be copied.
You can ignore this message, because the technology objects were in actual fact copied.
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9.2.15 Why do certain system DBs have a different online / offline time stamp?
Question:
Certain SDBs in the project have a different time stamp compared to the SDBs in the
technology CPU.
Does this time stamp difference pose a problem?
Answer:
System data blocks type 3311 are assigned the time stamp of the integrated real-time clock
of the CPU if you download the technology to the Technology CPU using the Target system>
Download > Technology to target system command in S7T Config. A different time stamp as
such does not pose a problem at the moment.
System data blocks type 3311 of the Technology CPU are assigned the time stamp of the
integrated real-time clock of the CPU at the time of their download. Online / offline SDBs with
identical contents may be assigned different time stamps. If all drives are marked in green
color in the online view of S7T Config you can presume that your technology configuration is
consistent.
Note
If "Automatic summertime/wintertime" is set in Windows the time stamp of the system data
displays an additional hour during summertime.
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9.2.18 Errors occur when the "Save and compile all" function is executed for the
technology data
Question:
Errors occur when the "Save and compile all" function is executed for the technology data in
S7T Config However, I have only activated the default parameter values?
Answer:
For reasons of safety, all safety- and function-relevant parameters or addresses are
assigned default values in S7T Config in order to prevent execution of the "Save and compile
all" function.
This is why you should always exercise due care when setting safety- and function-relevant
parameters, and verify their values and logical context.
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CAUTION
The expert mode is intended for experienced users. Incorrect input may result in
uncontrolled response of the drive!
The system does not check the plausibility of your entries!
Incorrect changes may lead to inconsistency of the technology object.
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The left pane of the Expert List shows the tree structure of the system variables and of
configuration data. The right pane outputs a tabular view of the system variables and
configuration data.
Select an element from the tree structure to view the corresponding parameter values in this
table.
Values which require a restart, and all subsequently changed configuration data, are
represented in brown color until you have performed the restart.
Click the value you want to edit. Type in a new value or select a symbolic name (grayed out
values can not be edited.) Save your changes with ENTER. Set the "Collect changes" check
box to change a group of values. Make your changes, and then confirm your entries by
clicking "Activate." All your changes will be saved and accepted.
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Select the technology from the Navigator, and then select the Target device > Copy
current data to ROM in order to save the changes of configuration data to non-volatile
memory.
In order to save the values permanently to your project, make your changes in Offline
mode, save and compile the technology data, and then download these to the target
device. You can also upload the changes to configuration data to the project data of the
technology by executing the Target system > Upload > Configuration data to PG
command. Next, save and compile the technology data by calling the menu command
Project > Save and Compile All
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The synchronization axis and the corresponding synchronization object must be operated
within the same processing cycle. Any change of the processing cycle of a synchronization
axis also has to be applied to the synchronization object:
1. In Navigator of S7T Config, select the synchronization object of the corresponding
synchronization axis.
2. Select the Expert > Expert list command from the shortcut menu.
3. You can change the processing cycle clock in the Execution.executionlevel configuration
data element.
Note
The interpolator cycle may not be assigned online!
"Save and compile all" technology data, and then download system data to the
technology CPU in SIMATIC Manager.
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Percentile reduction
In order to override the absolute value with a reduction percentage, set a reference torque of
100.0 N/m:
Configuration data element: TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque = 100.0
Nm
You reduce the maximum torque of the motor to 25% by setting parameter MaxTorque =
25.0 at the call of "MC_SetTorqueLimit."
0 0RWRU
10
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0 /RDG 0 0RWRU ຘ
'1 '1
*HDU
10
0RWRU 10 ˭
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'1 '1 ';
*HDU ) /RDG
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9.4 Technology parameters
Key
No. Number of the parameter for the input parameter ParameterNumber of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum" data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Supported for In the case of axis parameters specifies the type of axis for which the parameter applies.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Key
No. Number of the parameter for the input parameter ParameterNumber of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum..." data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
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Key
No. Number of the parameter for the input parameter ParameterNumbe of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Significance Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum" data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Supported for In the case of axis parameters specifies the type of axis for which the parameter applies.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Key
No. Number of the parameter for the input parameter ParameterNumber of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum" data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Supported for In the case of axis parameters specifies the type of axis for which the parameter applies.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Appendix
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Appendix
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Appendix
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Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter "ParameterNumber" of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
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Appendix
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Appendix
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S7-Technology
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Appendix
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Appendix
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Appendix
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Appendix
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Appendix
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Appendix
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S7-Technology
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Appendix
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Appendix
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S7-Technology
982 Function Manual, 03/2008, A5E00251798-06
Appendix
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Appendix
9.4 Technology parameters
S7-Technology
984 Function Manual, 03/2008, A5E00251798-06
Appendix
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Appendix
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Appendix
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Appendix
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Appendix
9.4 Technology parameters
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Appendix
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S7-Technology
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Appendix
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Appendix
9.4 Technology parameters
S7-Technology
992 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
S7-Technology
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Appendix
9.4 Technology parameters
S7-Technology
994 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
S7-Technology
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Appendix
9.4 Technology parameters
S7-Technology
996 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
S7-Technology
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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1000 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter "ParameterNumber" of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Significance Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum" data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Supported for Specifies the type of axis for which the parameter applies.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Appendix
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Appendix
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Appendix
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Appendix
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Appendix
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Appendix
9.4 Technology parameters
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Appendix
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Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter "ParameterNumber" of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum" data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Appendix
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Appendix
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Appendix
9.4 Technology parameters
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Appendix
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Appendix
9.4 Technology parameters
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Appendix
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter "ParameterNumber" of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Significance Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum..." data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
Active Immediately: The change in the parameter takes effect immediately.
Restart: Parameter changes require a restart, meaning when the technology object is
reinitialized. This is only possible when a technology object TO is disabled.
Firmware version Firmware version of the integrated technology from which the parameter can be used.
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Appendix
9.4 Technology parameters
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1030 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter "ParameterNumber" of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter ParameterNumber of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum..." data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
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1036 Function Manual, 03/2008, A5E00251798-06
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Appendix
9.4 Technology parameters
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Appendix
9.4 Technology parameters
Key
No. Number of the parameter for the input parameter ParameterNumber of the
"MC_ReadSysParameter" and "MC_WriteParameter" technology functions
Index The index can be used to access parameters existing several times. Multiple parameters
exist in these areas:
• Data sets (Dataset_1 to Dataset_16)
• Encoders (Encoder_1 to Encoder_8)
• Synchronous objects (1 for synchronous object, 2 for superimposed synchronous object)
Indices can be used from firmware V3.1.x and higher of the integrated technology.
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Normal" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Normal" display mode
Name in DB-Param If the instance data block of the "MC_ReadSysParameter" or "MC_WriteParameter"
("Expert" display) technology function is opened in STEP 7, a configuration dialog box is displayed in DB-
Param.
Shows the parameter name in the "Expert" display mode
This name corresponds to the name of the system variable or of the configuration data
element in the Expert list of S7T Config.
Description Description of the parameter
Parameter type Reference to the parameter type "System variable" or "Configuration data" in the Expert list
of S7T Config.
Data type Specifies the data type of the parameter.
The possible values for the "DINT Enum..." data type can be found in the "List of DINT
values".
Min/Max Specifies the upper and lower value of the parameter.
Access Read: The parameter can be read.
Write: The parameter can be changed.
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.1 EnumActiveInactive
EnumActiveInactive
S7-Technology
1040 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
9.4.12.2 EnumAxisApproachDirection
EnumAxisApproachDirection
9.4.12.3 EnumAxisEncoderAssemblyType
EnumAxisEncoderAssemblyType
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Appendix
9.4 Technology parameters
9.4.12.4 EnumAxisExtrapolatedVelocitySwitch
ExtrapolatedVelocitySwitch
9.4.12.5 EnumAxisFilterMode
EnumAxisFilterMode
9.4.12.6 EnumAxisFineInterpolatorMode
EnumAxisFineInterpolatorMode
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Appendix
9.4 Technology parameters
9.4.12.7 EnumAxisHomingMode
EnumAxisHomingMode
9.4.12.8 EnumAxisPassiveApproachDirection
EnumAxisPassiveApproachDirection
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Appendix
9.4 Technology parameters
9.4.12.9 EnumAxisPassiveHomingMode
EnumAxisPassiveHomingMode
9.4.12.10 EnumAxisTorqueForceReductionGranularity
EnumAxisTorqueForceReductionGranularity
9.4.12.11 EnumBackLashDiff
EnumBackLashDiff
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.12 EnumBackLashType
EnumBackLashType
9.4.12.13 EnumBalanceFilterMode
EnumBalanceFilterMode
9.4.12.14 EnumCamInterpolationMode
EnumCamInterpolationMode
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Appendix
9.4 Technology parameters
9.4.12.15 EnumCammingDirection
EnumCammingDirection
9.4.12.16 EnumCammingMode
EnumCammingMode
9.4.12.17 EnumCamMode
EnumCamMode
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.18 EnumCamPositionMode
EnumCamPositionMode
9.4.12.19 EnumCamTrackType
EnumCamTrackType
9.4.12.20 EnumChangeMode
EnumChangeMode
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Appendix
9.4 Technology parameters
9.4.12.21 EnumDirection
EnumDirection
9.4.12.22 EnumDirectionType
EnumDirectionType
9.4.12.23 EnumErrorReporting
EnumErrorReporting
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Appendix
9.4 Technology parameters
9.4.12.24 EnumFollowingObjectSynchronizeWithLookAhead
EnumFollowingObjectSynchronizeWithLookAhead
9.4.12.25 EnumFollowingObjectSynchronizingDirection
EnumFollowingObjectSynchronizingDirection
9.4.12.26 EnumForceDirection
EnumForceDirection
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Appendix
9.4 Technology parameters
9.4.12.27 EnumGearingDirection
EnumGearingDirection
9.4.12.28 EnumGearingMode
EnumGearingMode
9.4.12.29 EnumGearingPosToleranceCommandValue
EnumGearingPosToleranceCommandValue
S7-Technology
1050 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
9.4.12.30 EnumGearingType
EnumGearingType
9.4.12.31 EnumLogicOperation
EnumLogicOperation
9.4.12.32 EnumLimitExceededOk
EnumLimitExceededOk
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Appendix
9.4 Technology parameters
9.4.12.33 EnumMasterMode
EnumMasterMode
9.4.12.34 EnumMeasuredEdge
EnumMeasuredEdge
9.4.12.35 EnumMeasuringRangeMode
EnumMeasuringRangeMode
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.36 EnumMountSwitch
EnumMountSwitch
9.4.12.37 EnumOutputCamType
EnumOutputCamType
9.4.12.38 EnumProfile
EnumProfile
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Appendix
9.4 Technology parameters
9.4.12.39 EnumRecognitionMode
EnumRecognitionMode
9.4.12.40 EnumSensorState
EnumSensorState
9.4.12.41 EnumSlaveMode
EnumSlaveMode
S7-Technology
1054 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
9.4.12.42 EnumSyncModeCamming
EnumSyncModeCamming
9.4.12.43 EnumSyncModeGearing
EnumSyncModeGearing
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.44 EnumSyncOffModeCamming
EnumSyncOffModeCamming
9.4.12.45 EnumSyncOffModeGearing
EnumSyncOffModeGearing
S7-Technology
1056 Function Manual, 03/2008, A5E00251798-06
Appendix
9.4 Technology parameters
9.4.12.46 EnumSyncOffPositionReference
EnumSyncOffPositionReference
9.4.12.47 EnumSyncPositionReference
EnumSyncPositionReference
S7-Technology
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Appendix
9.4 Technology parameters
9.4.12.48 EnumSyncProfileReference
EnumSyncProfileReference
9.4.12.49 EnumToActivationModeSetConfigData
EnumToActivationModeSetConfigData
9.4.12.50 EnumYesNo
EnumYesNo
S7-Technology
1058 Function Manual, 03/2008, A5E00251798-06
Appendix
9.5 Additional information on the Internet
SIMATIC documentation
http://www.ad.siemens.de/support
Training Center
http://www.sitrain.com
FAQs
http://support.automation.siemens.com
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Appendix
9.5 Additional information on the Internet
S7-Technology
1060 Function Manual, 03/2008, A5E00251798-06
Index
A
Actual position value inversion, 158, 228, 297, 392
Absolute and relative camming, 57
Actual value - Acceleration, 138, 211
Absolute encoder - External encoder, 103
Actual value - Position, 138, 211
Absolute encoder adjustment, 40
Actual value - Velocity, 138, 211
Absolute encoder on ADI4 - Encoder parameters, 193
Actual value coupling, 260
Absolute gearing, 56
Actual value logging, 138, 211, 919
Absolute positioning with FB410
Actual values, 26
MC_MoveAbsolute, 481
Actual velocity value, 158, 228, 297, 392
Absolute positions of modulo axes, 752
ActualAcceleration - Technology DB, 753, 758, 764
Absolute synchronism, 62
ActualPosition - Technology DB, 758, 764, 772
Absolute values, 150, 220, 289
ActualVelocity - Technology DB, 753, 758, 764, 772
Acceleration, 150, 220, 289
Adding a cam sector with FB 435
Acceleration model - direction-dependent, 150, 220,
MC_CamSectorAdd, 625
289
Adding a data record, 134, 208
AccelerationOverride - Technology DB, 753, 758, 764
Adding a data record for data record changeover, 134,
Accessing address spaces of CPU 31xT, 419
208
Accessing address spaces of MICROBOX T, 421
Adding a valve profile, 203
Acknowledge, 430, 431
Additional compensation functions, 233
Acknowledging errors with FB 402 MC_Reset, 682
Additional information on the Internet, 1059
Acknowledgment, 427, 429
Address spaces of CPU 31xT, 419
Activate changes, 846
Address spaces of MICROBOX T, 421
Activating a valve profile by calling FB439
Addresses of CPU 31xT, 419
MC_SetCharacteristic, 542
Addresses of MICROBOX T, 421
Active commands, 424
ADI4, 18
Active commands 1 - new command, 744
Analog absolute encoder - Encoder parameters, 199
Active commands 2 - new command, 746
Analyzing the project, 909
Active homing, 164, 234, 303
AND operation - Output cam, 360
Active homing - Homing mode with encoder zero mark
ANY pointer - MC_CamSectorAdd, 625
only, 164, 234, 303
Application example flying shears, 887
Active homing - Homing mode with reference cam and
Application example gripper feed, 889
encoder zero mark, 164, 234, 303
Application example positioning with target sensor, 885
Active homing - Sequence of the reference point
Application examples on the Internet, 885
approach, 164, 234, 303
Assigning cams, 260
Active homing mode with encoder zero mark only, 164,
Assigning execution cycles, 413
234, 303
Assigning interpolator cycle 2, 917
Active range - Measuring input, 101
Assigning leading axes and cam disks - Actual value
Active single command 1 - new command, 739
coupling, 260
Active single command 2 - new command, 741
Assigning leading axes and cam disks - Setpoint
Active single command 3 - new command, 743
coupling, 260
ACTUAL, 840, 841, 842, 845, 846
Assigning system clocks, 413, 415
ACTUAL - Memory area, 838, 840, 841, 842
Assigning the valve profile, 207
Actual memory area, 838, 845, 846
Assuming control priority -Control panel, 881
Actual position value, 157, 227, 296, 391
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1061
Index
Averaging - Actual value logging, 138, 211 Cam track - default, 367
Axis - Configuration, 140, 213, 279 Cam track - output cam data, 367
Axis - Position and Velocity, 146, 216, 285 Cam track - Technology DB, 783
Axis control panel - Layout, 879 Cam track - Technology object, 92
Axis control panel - Starting, 878 Cam track technology DB - ErrorIDs, 831
Axis reference position, 98 Cam track technology object, 92
Axis technology DB - ErrorIDs, 797 Cam type, 344
Axis types, 30 CamEdit, 342, 846
Axis wizard, 126 CamEdit - Interpolation 2, 344
Camming, 57
Response characteristic, 57
B Scaling and offset, 57
Camming - Basics, 57
B spline, 633
CamTool, 18, 23
Backup of absolute encoder adjustment data, 703
CamType - Technology DB, 780, 783
Balancing filter = Balancing filter, 864
Change data record, 134, 208
Base coordinate system - superimposing coordinate
Changing parameters with FB407
system, 36
MC_WriteParameter, 699
Basic motion, 36
Changing superimposed phase shift with FB 444
Basic synchronization object, 62
MC_PhasingSuperImposed, 614
Coordinates, 62
Changing the phase shift between the leading and
BERO - Reference cam, 38
following axes by calling FB424 MC_Phasing, 609
Bezier splines, 71
Checking CPU load generated by system tasks, 852
Block editor, 23
Checking the load on integrated technology, 852
Bootblock version, 896
Clamping - MC_MoveToEndPos, 530
Brake control, 16, 443
Clear axis enable, 882
BRB bit, 427
Clocks - Time pattern, 403
Busy - Monitoring active commands, 424
CmdLoopDuration - Technology DB, 788
CmdLoopDuration - Time pattern, 403
Collecting changes, 846
C
COMBIMASTER, 18
Calculating the equivalent time constant of the position Command execution - Time pattern, 403
control loop, 869 Command monitoring, 424
Cam - interpolation types, 74 Command start - IPO synchronous, 426
Cam - normalized input, 340, 629 CommandAborted - Monitoring active commands, 424
Cam activation time, 86, 97 CommandAcceleration - Technology DB, 753, 758, 764
Cam coupling, 52 CommandPosition - Technology DB, 758, 764
Cam disk, 57 CommandVelocity - Technology DB, 753, 758, 764
Cyclic and non-cyclic applications, 57 Commissioning tools, 23
Cam disk - application, 70 Compact and integrated, 17
Cam disk - interpolation, 71 Completed message, 26
Cam disk - MC_CamClear, 621 Components, 18
Cam disk - MC_CamSectorAdd, 625 Configuration - Axis, 140, 213, 279
Cam disk - MC_GetCamPoint, 640 Configuration - Cam track, 365
Cam disk - Technology DB, 776 Configuration - External encoder, 386
Cam disk - Technology object, 68 Configuration - Measuring input, 372
Cam disk applications, 70 Configuration - Output cam, 360
Cam disk as valve profile, 203 Configuration - Overview, 105
Cam disk technology object, 68 Configuration data, 26, 838, 840, 841, 842, 845, 846
Cam technology DB - ErrorIDs, 820 Configuration tools, 23
Cam track, 15 Configuring a cam disk, 337
Cam track - configuration, 365 Configuring a cam track, 362
S7-Technology
1062 Function Manual, 03/2008, A5E00251798-06
Index
Configuring a measuring input in S7T Config, 370 Cubic splines, 71, 633
Configuring an external encoder, 373 Curve synchronization - MC_CamInSuperImposed, 596
Configuring an output cam, 357 Curve synchronization -
Configuring cam track, 362 MC_CamOutSuperImposed, 605
Configuring drives in HW Config, 110 Cycles, 403
Configuring electrical / synchronization axes, 126 Cycles of the Technology CPU, 413
Configuring electrical axes, 126 Cyclic creation of the cam track, 99
Configuring external encoders, 373 Cyclic interrupt, 417
Configuring hydraulic axes - inserting an axis, 188 CyclicMode, 98
Configuring hydraulic axes - Q output via analog output Cylinder - hydraulic, 31
module, 199
Configuring hydraulic axes - Q output via IM
174/ADI4, 193 D
Configuring output cams, 357
Data record changeover, 40
Configuring superimposing synchronism, 261
Data record changeover with FB409
Configuring synchronization axes, 126
MC_ChangeDataset, 475
Configuring the drives in HW Config, 110
DB parameter - Cam track, 783
Configuring the Technology CPU in HW Config, 106
DB parameters - Cam disk, 776
Configuring the technology objects, 121
DB parameters - External encoder, 772
Connecting the programming device, 835
DB parameters - MCDevice, 788
Consistency, 909, 910
DB parameters - Measuring input, 777
Continuity check, 71, 342
DB parameters - Output cam, 780
Continuous function, 509
DB parameters - Positioning axis, 758
Control, 23
DB parameters - Speed-controlled axis, 753
Control - Additional compensation functions tab, 233
DB parameters - Synchronization axis, 764
Control - Dynamic controller data tab, 162, 231, 301
DB parameters - Trace, 787
Control - Friction compensation tab, 163, 232, 302
DB2INT, 433
Control - Static controller data tab, 160, 230, 299
DBDevice, 791
Control panel - Assuming control priority, 881
Deactivating / activating a DP slave with FB 457
Control panel - Controlling an axis, 882
MC_ActivateDPSlave, 692
Control panel - Introduction, 877
Deactivating / activating a technology object with FB
Control panel - Monitoring axis values, 880
460 MC_ActivateTO, 686
Control signal compensation - Limiting, 542
Deceleration, 150, 220, 289
Controller - Tuning, 853
DecelerationDistance - Technology DB, 758, 764
Controlling an axis, 882
Default - "Dynamics" tab, 144, 215, 283
Conversion, 910
Default - cam track, 367
Converting technology, 899
Default values - S7T Config, 913
Converting the technology, 899
Defaults - External encoder, 383
Copy - Technology data blocks, 119
DefaultStop, 443
Copy Actual to ROM, 845
Defining cam disk segments for motion control tasks -
Copying the configuration data from another
VDI, 356
station, 401
Defining cam disks, 340, 629
Correction of synchronous motions, 57
Defining cam disks - Scaling, 69
CPU load, 403
Defining cams, 340, 629
CPU replacement, 893
Delay, 90, 646, 653
CPU update, 892
Delete - Technology data blocks, 119
CPU upgrade, 892
Deleting cams, 621
Creating an axis with synchronous operation, 258
Deleting cams with FB 434 MC_CamClear, 621
Creating an electrical axis, 126
Deleting the contents of a cam with FB 434
Creating and managing technology DBs, 119
MC_CamClear, 621
Creating cam disks using CamTool, 353
Deleting the data record of an axis, 134, 208
Creating cams with CamEdit, 341
DenomGear - Technology DB, 764
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1063
Index
S7-Technology
1064 Function Manual, 03/2008, A5E00251798-06
Index
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1065
Index
S7-Technology
1066 Function Manual, 03/2008, A5E00251798-06
Index
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1067
Index
S7-Technology
1068 Function Manual, 03/2008, A5E00251798-06
Index
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1069
Index
S7-Technology
1070 Function Manual, 03/2008, A5E00251798-06
Index
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1071
Index
S7-Technology
1072 Function Manual, 03/2008, A5E00251798-06
Index
Standstill signal - Basics, 186, 256, 325 Superimposed positioning with FB413
Standstill signal - External encoder, 385 MC_MoveSuperImposed, 515
Standstill signal - Setting, 385 Superimposing coordinate system - Base coordinate
Start of axis commands with synchronous IPO, 426 system, 36
STARTER functionality, 24 Superimposing motion, 36
STARTER version 4.1, 15 Superimposing synchronism, 52, 62
Starting - Axis control panel, 878 Supported components and systems, 18
Starting camming with FB 421 "MC_CamIn", 576 Switching accuracy, 362
Starting gearing with FB420 "MC_GearIn", 546 Switching action - Switching output cams, 85
Starting position, 86, 97 Switching directional valve, 31
Starting S7T Config, 121 Switching output cam, 85
Starting superimposed camming with FB441 Inverted switching action, 85
MC_CamInSuperImposed, 596 Switching action, 85
Starting superimposed gearing with FB440 Switching output cams - Switching action, 85
MC_GearInSuperImposed, 561 Symbolic programming with FC400 DB2INT, 433
Starting Technology Objects Management, 116 Synchronization - Advanced synchronization, 264
Startup OB, 417 Synchronization - Configuration, 264
State - Technology DB, 780, 783 Synchronization - External encoder, 103
Static controller data, 230 Synchronization - Leading axis-related synchronization
Static controller data - Basics, 160, 299 profile, 264
Static friction compensation, 163, 232, 302 Synchronization - MC_GearIn - based on configuration
Status - Technology DB, 776, 777 data, 549
Status message, 26 Synchronization - MC_GearIn - based on dynamic
Status-dependent - Acceleration model, 150, 220, 289 settings, 549
Status-dependent acceleration model, 150, 220, 289 Synchronization - Position reference, 272
Statusword - Technology DB, 753, 758, 764, 772 Synchronization - Profile setting, 264
Statusword.Error, 430 Synchronization - Retarded synchronization, 264
Statusword.Errorstop, 430 Synchronization - Synchronous operation, 264, 272
STEP 7 - Configuration tools, 23 Synchronization axis - Technology DB, 764
STEP 7 reports insufficient memory space, 912 Synchronization axis - Technology object, 51
Step-down ratio, 791 Synchronization condition, 272
Stepper motor - see Stepper drives on IM 174, 18 Synchronization monitoring, 62, 325
STOP -> RUN, 750 Synchronization object defaults - Cam synchronization
Stop time, 144, 215, 283 tab, 331, 333
STOP to RUN, 842 Synchronization object defaults - Dynamics tab, 335
Stopping an axis with FB404 MC_Stop, 465 Synchronization object defaults - Gear synchronization
Stopping and preventing new motion commands, 465 tab, 332
Stopping camming with FB423 MC_CamOut, 591 Synchronization object defaults - Master dynamic
Stopping gearing with FB422 MC_GearOut, 556 response tab, 336
Stopping superimposed camming with FB 443 Synchronization status, 278
MC_CamOutSuperImposed, 605 Synchronization technology DB - ErrorIDs, 804
Stopping superimposed gearing with FB442 Synchronization with incremental encoders - External
"MC_GearOutSuperImposed", 572 encoder, 383
Stopping the following axis (camming), 591 Synchronized group, 52
Stopping the following axis (synchronous Synchronous Operation, 56
operation), 556 Synchronous operation - Actual value coupling, 260
Structure of the synchronization axis technology Synchronous operation - Assigning cams, 260
object, 52 Synchronous operation - Assigning leading axes and
Superimposed gearing - cam disks, 260
MC_GearInSuperImposed, 561 Synchronous operation - Desynchronization, 276
Superimposed motion, 62 Synchronous operation - Monitoring functions, 321
Synchronous operation - Position reference, 272, 276
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1073
Index
Synchronous operation - Setpoint coupling, 260 Time pattern of WinLC T MICROBOX T, 408
Synchronous operation - Synchronization, 272 Time slice, 403
SyncStatus - Technology DB, 764 Time stamp, 912
System clocks, 849, 852 Time-based cam, 86, 97
System data blocks, 912 Effective direction, 97
System number, 372 Effective direction, 86, 97
System variables, 26 Inverted output, 86, 97
Switching characteristics, 86, 97
Time-based cam - Effective direction, 86, 97
T Time-based cams with FB 431
MC_CamSwitchTime, 653
TargetPosition - Technology DB, 758, 764
Time-based offset of output cam switching points, 90
Technology CPU, 23, 106
Time-based output cam with maximum ON length, 97
Technology data block, 26
Timeout, 913
Technology DB, 26, 119
TimeStop, 443
Technology DB - Cam disk, 776
TM15, 18
Technology DB - Cam track, 783
TM17, 18
Technology DB - External encoder, 772
TODBTaskOverflows, 788
Technology DB - MCDevice, 788
TOM, 23
Technology DB - Measuring sensor, 777
TOM - Starting, 116
Technology DB - Output cam, 780
TOM - User interface, 117
Technology DB - Positioning axis, 758
TOM user interface, 117
Technology DB - Speed-controlled axis, 753
Torque control, 162, 301
Technology DB - Synchronization axis, 764
Torque limiting with FB 437 "MC_SetTorqueLimit", 537
Technology DB - Trace, 787
Torque settings, 918
Technology DB update, 849
Trace, 26, 791, 873
Technology DBs - Range of values, 751
Trace - Error, 429
Technology function, 26
Trace - Technology DB, 787
Technology functions - sorted alphabetically, 441
Trace of Controller Data, 874
Technology functions - sorted by numbers, 439
TraceTool, 26
Technology functions and Technology DBs, 26
TraceTool - Overview, 873
Technology object - Positioning axis, 42
Tracing values of the CPU user program, 873
Technology object - Speed-controlled axis, 41
Traversing range, 147, 217, 286
Technology object - Synchronization axis, 51
Tuning - Position Controller, 853
Technology Objects
Tuning balancing filters, 864
operated with the same clock, 413
Type 3311, 912
Technology objects - System clocks, 413
Type Restart, 846
Technology Objects Management, 23
TypeOfAxis.NumberOfEncoders.Encoder_n.
Technology synchronization interrupt, 791
Filter, 138, 211
Technology synchronous interrupt - Time pattern, 403
TypeOfAxis.SmoothingFilter, 138, 211
Terminal Module, 18
Termination message, 26
Testing using the control panel, 877
U
Testing with breakpoints, 871
The CPU goes into STOP sporadically as a result of UDT 100, 665, 669
timeout, 913 UDT 20, 625
The familiar SIMATIC World, 17 Uni-directional output cam - example, 650
The technology objects could not be copied., 911 UpdateCounter - Technology DB, 753, 758, 764, 772,
Time constants, 162, 301 776, 777, 780, 783, 788, 791
Time pattern, 403 UpdateFlag - Technology DB, 753, 758, 764, 772, 776,
Time pattern - CPU31xT, 403 777, 780, 783, 788, 791
Time pattern of CPU 31xT, 403 Updating technology DBs, 403, 791
Time pattern of MICROBOX T, 408 Upgrading technology, 897
S7-Technology
1074 Function Manual, 03/2008, A5E00251798-06
Index
Upgrading the firmware of integrated technology, 897 Writing data records with FB454 MC_WriteRecord, 724
Upgrading the the firmware of CPU 31xT-2 DP, 896 Writing drive parameters with FB456
User interface of S7T Config, 123 MC_WriteDriveParameter, 733
User interface of Technology Objects Writing technology I/O with FB451
Management, 117 MC_WritePeriphery, 714
User program - Tracing values, 873
UserCount - Technology DB, 776
userdefaultqfaxis.maxderivative.qoutput, 443 Z
Using Technology Objects Management, 118
Zero mark - Encoder zero mark, 38
Using the Expert List, 914
Using TOM, 118
V
Valve manipulated variable, 203
Valve profile, 31
Valve profiles for a variable speed pump with switching
directional valve, 203
Variable speed pump, 31, 203
VDI - Defining cam disk segments for motion control
tasks, 356
VDI - Motion laws, 354
VDI Wizard, 354
Velocity controller, 162, 301
Velocity error monitoring, 187, 257, 327
Velocity override, 702
Velocity profile, 144, 215, 283
Vertical axes, 16, 443
Virtual axes - Response, 432
Virtual axis, 34
vTc, 869
W
Watch Table - creating, 872
Watch Table - Monitoring system variables, 872
What do I have to download to the PLC after an
upgrade?, 908
What to observe when using "Save as" with
reorganization, 911
What's new in S7-Technology, 15
Why do certain system DBs have a different online /
offline time stamp?, 912
Wiring - External encoder, 102
Wiring - Hardware limit switches, 147, 217, 286
Wiring - Measuring input, 100
Working ranges and motion transitions, 354
Working ranges in accordance with VDI, 354
Write protection, 909
WriteParameter, 26
Write-protecting the project, 909
S7-Technology
Function Manual, 03/2008, A5E00251798-06 1075