Connect Tech CPU Manual de servicio

s Preface, Contents What's new in S7-Technology V2.0 1 Application and usage 2 Technology objects 3 Configuration 4 Programming 5 Technolo

Contents CPU 317T: Technology Functions x A5E00251798-03 6 Technology functions 6-1 6.1 Overview ...

Configuration CPU 317T: Technology Functions 4-24 A5E00251798-03 Step Description 6. Set the "Modulo axis" check box, then type in the re

Configuration CPU 317T: Technology Functions A5E00251798-03 4-25 Step Description 7. On the next dialog box, configure the connection of the axis to

Configuration CPU 317T: Technology Functions 4-26 A5E00251798-03 Step Description 8. If a physical drive is selected, the dialog box provides addit

Configuration CPU 317T: Technology Functions A5E00251798-03 4-27 Step Description 9. In the next dialog box, you can select the encoder of the drive

Configuration CPU 317T: Technology Functions 4-28 A5E00251798-03 Step Description 11. You have now completed the axis configuration. Close the axi

Configuration CPU 317T: Technology Functions A5E00251798-03 4-29 4.5.1 Adding a data record for data record changeover Introduction The "MC_Ch

Configuration CPU 317T: Technology Functions 4-30 A5E00251798-03 Adding a new data record Proceed as shown below to configure a further data record

Configuration CPU 317T: Technology Functions A5E00251798-03 4-31 Step Description 7. Select the connection and telegram type for the second encoder.

Configuration CPU 317T: Technology Functions 4-32 A5E00251798-03 Step Description 8. In the axis configuration dialog box, select the data record

Configuration CPU 317T: Technology Functions A5E00251798-03 4-33 4.5.2 Configuration - Axis The Axis > Configuration dialog box shows the axis an

Contents CPU 317T: Technology Functions A5E00251798-03 xi 6.7 Information about parameters...

Configuration CPU 317T: Technology Functions 4-34 A5E00251798-03 4.5.3 Mechanical settings of the axis and encoder The mechanical properties of th

Configuration CPU 317T: Technology Functions A5E00251798-03 4-35 Marginal conditions of the determination of gear parameters The configuration may r

Configuration CPU 317T: Technology Functions 4-36 A5E00251798-03 4.5.4 High resolution Encoder pulses can be evaluated in the drive at a higher res

Configuration CPU 317T: Technology Functions A5E00251798-03 4-37 4.5.5 Default In the Axis > Default dialog box, select the "Dynamics"

Configuration CPU 317T: Technology Functions 4-38 A5E00251798-03 Stop time The time set at "Stopping time" comes into effect when a movi

Configuration CPU 317T: Technology Functions A5E00251798-03 4-39 4.5.6 Limits The mechanical limits for velocity, acceleration and jerk are set in t

Configuration CPU 317T: Technology Functions 4-40 A5E00251798-03 4.5.6.2 Hardware limit switches Hardware limit switch monitoring is enabled in the

Configuration CPU 317T: Technology Functions A5E00251798-03 4-41 The current position of the axis upon reaching the HW limit switch is saved. Only w

Configuration CPU 317T: Technology Functions 4-42 A5E00251798-03 4.5.6.4 Dynamic response In the "Dynamic response" tab of the Axis >

Configuration CPU 317T: Technology Functions A5E00251798-03 4-43 Direction-based acceleration • Acceleration Acceleration in positive direction, d

Contents CPU 317T: Technology Functions xii A5E00251798-03 8.9 Testing with the control panel ...

Configuration CPU 317T: Technology Functions 4-44 A5E00251798-03 Torque over maximum The fixed end stop detection function "at violation of to

Configuration CPU 317T: Technology Functions A5E00251798-03 4-45 4.5.7 Homing 4.5.7.1 Introduction Position-controlled axes equipped with incrementa

Configuration CPU 317T: Technology Functions 4-46 A5E00251798-03 Active homing in "BERO and zero mark" mode When you start homing with

Configuration CPU 317T: Technology Functions A5E00251798-03 4-47 Parameter Value Description Approach velocity Velocity at which the axis approa

Configuration CPU 317T: Technology Functions 4-48 A5E00251798-03 • Phase 2: Synchronization with zero mark After it reaches the BERO, the axis acc

Configuration CPU 317T: Technology Functions A5E00251798-03 4-49 Active homing in "BERO Only" mode An axis started with the "MC_Hom

Configuration CPU 317T: Technology Functions 4-50 A5E00251798-03 Parameter Value Description Positive direction Reference point approach in positi

Configuration CPU 317T: Technology Functions A5E00251798-03 4-51 Time-based execution of the reference point approach • Phase 1: Synchronization to

Configuration CPU 317T: Technology Functions 4-52 A5E00251798-03 Homing without to zero mark is used, for example, in axes for which the encoder se

Configuration CPU 317T: Technology Functions A5E00251798-03 4-53 Time-based execution of the reference point approach • Phase 1: Synchronization to

CPU 317T: Technology Functions A5E00251798-03 1-1 1 What's new in S7-Technology V2.0 Extended project data volume S7 V1.0 V2.0 Axes 16 32 Cam

Configuration CPU 317T: Technology Functions 4-54 A5E00251798-03 Passive homing in "BERO and zero mark" mode After the BERO has been ov

Configuration CPU 317T: Technology Functions A5E00251798-03 4-55 Parameter Value Description Disabled Distance up to BERO detection not monitored

Configuration CPU 317T: Technology Functions 4-56 A5E00251798-03 Meaning of the various parameters: Parameter Value Description Yes The axis mus

Configuration CPU 317T: Technology Functions A5E00251798-03 4-57 Passive homing in "Zero mark only" mode Homing in "Zero mark only&

Configuration CPU 317T: Technology Functions 4-58 A5E00251798-03 Passive homing in "Preset" mode "Zero mark only" mode is used

Configuration CPU 317T: Technology Functions A5E00251798-03 4-59 4.5.7.6 Traversing with a non-homed axis In the Axis > Homing dialog box, you s

Configuration CPU 317T: Technology Functions 4-60 A5E00251798-03 4.5.8 Monitoring functions 4.5.8.1 Overview - Monitoring functions Axis monitorin

Configuration CPU 317T: Technology Functions A5E00251798-03 4-61 Positioning axis monitoring The figure below shows an example of a positioning axi

Configuration CPU 317T: Technology Functions 4-62 A5E00251798-03 4.5.8.2 Positioning and standstill monitoring At the Axis > Monitoring functio

Configuration CPU 317T: Technology Functions A5E00251798-03 4-63 4.5.8.3 Dynamic following error monitoring Dynamic following error monitoring can

What's new in S7-Technology V2.0 CPU 317T: Technology Functions 1-2 A5E00251798-03 Use of DP(DRIVE) for standard DP slaves (V0) DP(DRIVE) supp

Configuration CPU 317T: Technology Functions 4-64 A5E00251798-03 4.5.8.4 Standstill signal Select the "Standstill signal" tab of the Axis

Configuration CPU 317T: Technology Functions A5E00251798-03 4-65 4.5.8.5 Synchronization monitoring In the "Synchronization monitoring" ta

Configuration CPU 317T: Technology Functions 4-66 A5E00251798-03 4.5.9 Control 4.5.9.1 Position control Static and dynamic controller data and fric

Configuration CPU 317T: Technology Functions A5E00251798-03 4-67 Fine interpolator The Fine interpolator function is used is to generate interim set

Configuration CPU 317T: Technology Functions 4-68 A5E00251798-03 4.5.9.3 Dynamic controller data In "Dynamic controller data" tab of the

Configuration CPU 317T: Technology Functions A5E00251798-03 4-69 4.5.9.4 Friction compensation You can enable friction compensation in the "Fri

Configuration CPU 317T: Technology Functions 4-70 A5E00251798-03 4.6 Configuring synchronization axes Requirements • The data of the Technology CP

Configuration CPU 317T: Technology Functions A5E00251798-03 4-71 View in the Navigator The leading axes and cam disks assigned to the synchronizatio

Configuration CPU 317T: Technology Functions 4-72 A5E00251798-03 4.6.1 Assigning leading axes and cam disks In you configuration of a synchronizat

Configuration CPU 317T: Technology Functions A5E00251798-03 4-73 4.6.2 Configuring superimposing synchronism A synchronization axis consists of an a

What's new in S7-Technology V2.0 CPU 317T: Technology Functions A5E00251798-03 1-3 New and enhanced basic functions • MC_Reset It is now poss

Configuration CPU 317T: Technology Functions 4-74 A5E00251798-03 Configuring a superimposing synchronization object In the next steps you are shown

Configuration CPU 317T: Technology Functions A5E00251798-03 4-75 Step Description 3. Finalize the synchronization compound of the superimposing sync

Configuration CPU 317T: Technology Functions 4-76 A5E00251798-03 4.6.3 Synchronization Coupling to the control value during synchronization or sync

Configuration CPU 317T: Technology Functions A5E00251798-03 4-77 The leading axis-specific synchronization profile is defined by the "Synchroni

Configuration CPU 317T: Technology Functions 4-78 A5E00251798-03 Synchronization by means of time-based synchronization profile Based on the dynami

Configuration CPU 317T: Technology Functions A5E00251798-03 4-79 Retarded and advanced synchronization We distinguish between advanced synchronizati

Configuration CPU 317T: Technology Functions 4-80 A5E00251798-03 Advanced synchronization In advanced synchronization mode, the synchronization m

Configuration CPU 317T: Technology Functions A5E00251798-03 4-81 4.6.4 Synchronization You can set the synchronization conditions in the "Gear

Configuration CPU 317T: Technology Functions 4-82 A5E00251798-03 Setting Meaning Default synchronization position of the leading and following axes

Configuration CPU 317T: Technology Functions A5E00251798-03 4-83 The synchronization mode is defined in the "Position reference" drop-down

What's new in S7-Technology V2.0 CPU 317T: Technology Functions 1-4 A5E00251798-03 Comfortable cam disk programming using the optional SCOUT C

Configuration CPU 317T: Technology Functions 4-84 A5E00251798-03 The sense of the synchronization movement is set in the "Synchronization dire

Configuration CPU 317T: Technology Functions A5E00251798-03 4-85 4.6.5 Desynchronization You can set the desynchronization conditions in the "G

Configuration CPU 317T: Technology Functions 4-86 A5E00251798-03 Position reference The desynchronization mode is set in the "Position refer

Configuration CPU 317T: Technology Functions A5E00251798-03 4-87 4.7 Configuring cam disks Before a cam disk is used in the user program, the cam di

Configuration CPU 317T: Technology Functions 4-88 A5E00251798-03 4.7.1 Inserting a cam disk Requirements • The data of the Technology CPU are con

Configuration CPU 317T: Technology Functions A5E00251798-03 4-89 Step Description 2. In the "Insert cam disk" dialog box, type in the name

Configuration CPU 317T: Technology Functions 4-90 A5E00251798-03 Step Description 3. Define the cam disk by means of the interpolation table or pol

Configuration CPU 317T: Technology Functions A5E00251798-03 4-91 Methods of cam disk definition Both definition methods, i.e. by interpolation point

Configuration CPU 317T: Technology Functions 4-92 A5E00251798-03 4.7.3.1 Interpolation Select in the "Interpolation" tab of the CamEdit d

Configuration CPU 317T: Technology Functions A5E00251798-03 4-93 • B_SPLINE: Approximation using Bezier splines, i.e., cam track along the interpol

CPU 317T: Technology Functions A5E00251798-03 2-1 2 Application and usage 2.1 Compact and integrated The Technology CPU integrates Motion Control f

Configuration CPU 317T: Technology Functions 4-94 A5E00251798-03 Correction options Adjustment options (a = preset; b = result): • If the absolute

Configuration CPU 317T: Technology Functions A5E00251798-03 4-95 4.7.3.2 Interpolation (2) Cam disk type I the "Interpolation(2)" tab of

Configuration CPU 317T: Technology Functions 4-96 A5E00251798-03 4.7.3.3 Scaling Select the "Scaling" tab in the CamEdit dialog box to de

Configuration CPU 317T: Technology Functions A5E00251798-03 4-97 Example Scaling can be performed before or after segments and points are inserted o

Configuration CPU 317T: Technology Functions 4-98 A5E00251798-03 4.7.4 Creating cam disks with CamTool You can also use SCOUT CamTool to create an

Configuration CPU 317T: Technology Functions A5E00251798-03 4-99 4.7.5 Motion laws to VDI 4.7.5.1 Working ranges and motion transitions The VDI co

Configuration CPU 317T: Technology Functions 4-100 A5E00251798-03 Example of a cam with three working ranges Motion transitions Possible motion

Configuration CPU 317T: Technology Functions A5E00251798-03 4-101 4.7.5.2 Defining cam disk segments for motion control commands Defining the worki

Configuration CPU 317T: Technology Functions 4-102 A5E00251798-03 4.8 Configuring cams Before a cam is used in the user program, the cam first has

Configuration CPU 317T: Technology Functions A5E00251798-03 4-103 Step Description 2. In the "Insert cam" dialog box, type in the name of

Application and usage CPU 317T: Technology Functions 2-2 A5E00251798-03 2.3 Integrated PLCopen-compliant motion control functions in STEP 7 The PL

Configuration CPU 317T: Technology Functions 4-104 A5E00251798-03 4.8.2 Configuration In the Cams > Configuration dialog box, you can set the fo

Configuration CPU 317T: Technology Functions A5E00251798-03 4-105 HW address The cam is assigned to one output only. This may be an integrated digit

Configuration CPU 317T: Technology Functions 4-106 A5E00251798-03 4.9 Configuring measuring sensors Before a measuring sensor is used in the user

Configuration CPU 317T: Technology Functions A5E00251798-03 4-107 Step Description 2. In the "Insert measuring sensor" dialog box, type in

Configuration CPU 317T: Technology Functions 4-108 A5E00251798-03 4.9.2 Configuration - Measuring Sensor in the Measuring input > Configuration

Configuration CPU 317T: Technology Functions A5E00251798-03 4-109 4.10 Configuring external encoders The encoder system of a drive, the encoder sys

Configuration CPU 317T: Technology Functions 4-110 A5E00251798-03 How to insert an external encoder in S7T Config Step Description 1. In the S7T C

Configuration CPU 317T: Technology Functions A5E00251798-03 4-111 Step Description 3. The "External encoder configuration" wizard appears.

Configuration CPU 317T: Technology Functions 4-112 A5E00251798-03 Step Description 4. The "External encoder configuration units" dialog a

Configuration CPU 317T: Technology Functions A5E00251798-03 4-113 Step Description 5. The "External encoder configuration - Modulo encoder"

Application and usage CPU 317T: Technology Functions A5E00251798-03 2-3 PROFIBUS DP(DRIVE) Components for technological tasks operating in synchron

Configuration CPU 317T: Technology Functions 4-114 A5E00251798-03 Step Description 6. The "External encoder configuration - Encoder number&quo

Configuration CPU 317T: Technology Functions A5E00251798-03 4-115 Step Description 7. After the encoder has been selected, the dialog box displays a

Configuration CPU 317T: Technology Functions 4-116 A5E00251798-03 Step Description 8. The "External encoder configuration - encoder type / mod

Configuration CPU 317T: Technology Functions A5E00251798-03 4-117 Step Description 9. The "External encoder configuration - Encoder data"

Configuration CPU 317T: Technology Functions 4-118 A5E00251798-03 Step Description 10. The dialog box below shows a summary of the configuration.

Configuration CPU 317T: Technology Functions A5E00251798-03 4-119 4.10.2 Configuration - External Encoder The External encoder > Configuration d

Configuration CPU 317T: Technology Functions 4-120 A5E00251798-03 4.10.3 Mechanical Settings - External Encoder In the External encoder > Measu

Configuration CPU 317T: Technology Functions A5E00251798-03 4-121 4.10.4 Default - External Encoder In the External encoder > Default, enter the

Configuration CPU 317T: Technology Functions 4-122 A5E00251798-03 4.11 Copying configuration data of another station In the next steps, you are sho

CPU 317T: Technology Functions A5E00251798-03 5-1 5 Programming 5.1 Time model The figures below show the cycles and Technology CPU clocks and their

Copyright Siemens AG 2004 All rights reserved The reproduction, transmission or use of this document or its contents is not permitted without express

Application and usage CPU 317T: Technology Functions 2-4 A5E00251798-03 Product Order number SIMATIC ET 200S ** IM 151-1 High Feature 6ES7151-1BA

Programming CPU 317T: Technology Functions 5-2 A5E00251798-03 Control cycles • OB1 cycle The length of the OB1 cycle is determined by the number o

Programming CPU 317T: Technology Functions A5E00251798-03 5-3 Job execution Command execution is not tied to a fixed cycle and depends on the number

Programming CPU 317T: Technology Functions 5-4 A5E00251798-03 The next figure shows the interaction between the cycles and their effect on command

Programming CPU 317T: Technology Functions A5E00251798-03 5-5 You can reduce a job execution time which requires several position controller cycles

Programming CPU 317T: Technology Functions 5-6 A5E00251798-03 5.2 Runtime and programming model Runtime model The figure below shows the command i

Programming CPU 317T: Technology Functions A5E00251798-03 5-7 Programming model The figure below shows the structure of a user program. The step seq

Programming CPU 317T: Technology Functions 5-8 A5E00251798-03 Each command step consists of these subroutines: • Query the status of the technolog

Programming CPU 317T: Technology Functions A5E00251798-03 5-9 5.3 Monitoring busy commands All technology functions provide status outputs for moni

Programming CPU 317T: Technology Functions 5-10 A5E00251798-03 Commands without defined termination These commands can not report completion and th

Programming CPU 317T: Technology Functions A5E00251798-03 5-11 5.4 Errors and warnings at the technology function The technology functions indicate

Application and usage CPU 317T: Technology Functions A5E00251798-03 2-5 2.5 Project data volume and operating conditions Valid for firmware version

Programming CPU 317T: Technology Functions 5-12 A5E00251798-03 5.5 Errors at the MCDevice & Trace technology DBs If the technology data blocks

Programming CPU 317T: Technology Functions A5E00251798-03 5-13 5.6 Errors and warnings at the axes & external encoders technology DB Errors or

Programming CPU 317T: Technology Functions 5-14 A5E00251798-03 5.7 Errors and warnings at the cam disk & measuring sensor & output cam tec

Programming CPU 317T: Technology Functions A5E00251798-03 5-15 5.8 Behavior of Virtual Axes Virtual axes have a reference input variable, but do no

Programming CPU 317T: Technology Functions 5-16 A5E00251798-03 5.9 Symbolic programming with FC 400 "DB2INT" Use FC 400 "DB2INT&quo

Programming CPU 317T: Technology Functions A5E00251798-03 5-17 5.10 Programming axis-specific parameter changes The parameters of the technology ob

Programming CPU 317T: Technology Functions 5-18 A5E00251798-03 5. The "Value" field of the drop-down list, or the short info, provide yo

CPU 317T: Technology Functions A5E00251798-03 6-1 6 Technology functions 6.1 Overview Valid for firmware version V3.1.x of the integrated technology

Technology functions CPU 317T: Technology Functions 6-2 A5E00251798-03 Function No. Name Description FB 420 MC_GearIn Start gearing FB 422 MC_

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-3 6.2 Technology functions - Single axis 6.2.1 FB 401 MC_Power - Enable / dis

Application and usage CPU 317T: Technology Functions 2-6 A5E00251798-03 2.6 Components and their tasks 2.6.1 Hardware components The hardware comp

Technology functions CPU 317T: Technology Functions 6-4 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-5 Note The "MC_Power" technology function influences the following s

Technology functions CPU 317T: Technology Functions 6-6 A5E00251798-03 Any errors must be acknowledged with the "MC_Reset" technology fun

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-7 MC_Power, MC_Reset - Example The example demonstrates the interaction between

Technology functions CPU 317T: Technology Functions 6-8 A5E00251798-03 Edge-triggered axis enable signal The "MC_Power" technology functi

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-9 MC_Power - ErrorIDs ErrorID Error message Description / to correct or avoid

Technology functions CPU 317T: Technology Functions 6-10 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-11 6.2.2 FB 403 MC_Home - Axis homing / setting Purpose • The technology func

Technology functions CPU 317T: Technology Functions 6-12 A5E00251798-03 Applicable to • Positioning axes • Synchronization axes Limitations On

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-13 Overriding commands MC_Power (Enable = FALSE) MC_Home MC_Stop MC_Halt MC

Application and usage CPU 317T: Technology Functions A5E00251798-03 2-7 DP(DRIVE) The 317T-2 DP CPU operates the PROFIBUS interface DP(DRIVE) in clo

Technology functions CPU 317T: Technology Functions 6-14 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-15 Output parameters Parameter Data type Start value Description Done BOO

Technology functions CPU 317T: Technology Functions 6-16 A5E00251798-03 MC_Home - Example The example demonstrates the reaction to on-the-fly homin

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-17 MC_Home - ErrorIDs ErrorID Error message Description / to correct or avoid

Technology functions CPU 317T: Technology Functions 6-18 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8083 DB is

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-19 6.2.3 FB 404 MC_Stop - Stop axes / prevent new motion commands Purpose • T

Technology functions CPU 317T: Technology Functions 6-20 A5E00251798-03 Overriding commands MC_Power (cf. the note) MC_Stop MC_Stop MC_Hal

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-21 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-22 A5E00251798-03 MC_Stop - Example a) A rotary axis is ramped down by means of the technolo

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-23 MC_Stop - ErrorIDs ErrorID Warning message Description / to correct or avo

Application and usage CPU 317T: Technology Functions 2-8 A5E00251798-03 SIMATIC S7-Technology SIMATIC S7-Technology is an optional software package

Technology functions CPU 317T: Technology Functions 6-24 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8053 Inval

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-25 6.2.4 FB 405 MC_Halt - Normal stop Purpose • The "MC_Halt" techn

Technology functions CPU 317T: Technology Functions 6-26 A5E00251798-03 Overriding commands MC_Power (Enable = FALSE) MC_Home (Mode = 0, 1) MC_St

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-27 Output parameters Parameter Data type Start value Description Done BOO

Technology functions CPU 317T: Technology Functions 6-28 A5E00251798-03 MC_Halt - Example a) A rotary axis is ramped down by means of the technolo

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-29 MC_Halt - ErrorIDs ErrorID Error message Description / to correct or avoid

Technology functions CPU 317T: Technology Functions 6-30 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8083 DB is

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-31 6.2.5 FB 409 MC_ChangeDataset - Changing the data set Valid for firmware ve

Technology functions CPU 317T: Technology Functions 6-32 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-33 Data record changeover time The data record changeover time is determined by

Application and usage CPU 317T: Technology Functions A5E00251798-03 2-9 Technology DBs Technology DBs can be used in the user program to read the ac

Technology functions CPU 317T: Technology Functions 6-34 A5E00251798-03 MC_ChangeDataset - Example The figure below shows the encoder changeover as

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-35 MC_ChangeDataset - ErrorIDs Valid for firmware version V3.1.x of the integra

Technology functions CPU 317T: Technology Functions 6-36 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8053 Inval

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-37 6.2.6 FB 410 MC_MoveAbsolute - Absolute positioning Valid for firmware vers

Technology functions CPU 317T: Technology Functions 6-38 A5E00251798-03 Overriding commands MC_MoveAbsolute (Mode = 0) MC_Power (Enable = FALSE) M

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-39 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-40 A5E00251798-03 Output parameters Parameter Data type Start value Description Done BO

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-41 tttttFB1FB2VelocityPositionMC_MoveAbsoluteAxisAxis_1Position1000Velocity50Ac

Technology functions CPU 317T: Technology Functions 6-42 A5E00251798-03 MC_MoveAbsolute - Example of "Append motion" The signal profile b

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-43

Application and usage CPU 317T: Technology Functions 2-10 A5E00251798-03 2.6.3 Technology functions and technology DBs Technology functions and tec

Technology functions CPU 317T: Technology Functions 6-44 A5E00251798-03 MC_MoveAbsolute - Example of "Overlay motion 1" The signal profil

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-45 ttttFB1FB2VelocityPositionMC_MoveAbsoluteAxisAxis_1Position1000Velocity50Acc

Technology functions CPU 317T: Technology Functions 6-46 A5E00251798-03 MC_MoveAbsolute - Example of "Overlay motion 2" The signal profil

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-47 ttttFB1FB2VelocityPositionMC_MoveAbsoluteAxisAxis_1Position1000Velocity50Acc

Technology functions CPU 317T: Technology Functions 6-48 A5E00251798-03 MC_MoveAbsolute - Example of "Overlay motion 3" The signal profil

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-49 ttttFB1FB2VelocityPositionMC_MoveAbsoluteAxisAxis_1Position1000Velocity50Acc

Technology functions CPU 317T: Technology Functions 6-50 A5E00251798-03 MC_MoveAbsolute - ErrorIDs ErrorID Error message Description / to correct

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-51 ErrorID Error message Description / to correct or avoid error 8055 Saving m

Technology functions CPU 317T: Technology Functions 6-52 A5E00251798-03 6.2.7 FB 411 MC_MoveRelative - Relative positioning Valid for firmware ver

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-53 Overriding commands MC_MoveRelative (Mode = 0) MC_Power (Enable = FALSE) MC

Application and usage CPU 317T: Technology Functions A5E00251798-03 2-11 Technology DB The integrated technology writes the process values of the te

Technology functions CPU 317T: Technology Functions 6-54 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-55 Output parameters Parameter Data type Start value Description Done BOO

Technology functions CPU 317T: Technology Functions 6-56 A5E00251798-03 tttttFB1FB2VelocityPositionMC_MoveRelativeErrorErrorIDDone_1DoneCommandAbor

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-57 MC_MoveRelative - Example of "Append motion" The signal profile be

Technology functions CPU 317T: Technology Functions 6-58 A5E00251798-03 ttttFB1FB2VelocityPosition150010005030Done_1Exe_11010Exe_2Done_21010tttBusy

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-59 MC_MoveRelative - Example of "Overlay motion 1" The signal profile

Technology functions CPU 317T: Technology Functions 6-60 A5E00251798-03 ttttFB1FB2VelocityPosition150010005030Done_1Exe_11010Exe_2Done_21010tttBusy

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-61 MC_MoveRelative - Example of "Overlay motion 2" The signal profile

Technology functions CPU 317T: Technology Functions 6-62 A5E00251798-03 ttttFB1FB2VelocityPosition150010007050Done_1Exe_11010Exe_2Done_21010tttBusy

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-63 MC_MoveRelative - Example of "Overlay motion 3" The signal profile

Application and usage CPU 317T: Technology Functions 2-12 A5E00251798-03

Technology functions CPU 317T: Technology Functions 6-64 A5E00251798-03 ttttFB1FB2VelocityPosition100070050-30Done_1Exe_11010Exe_2Done_21010tttBusy

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-65 MC_MoveRelative - ErrorIDs ErrorID Error message Description / to correct

Technology functions CPU 317T: Technology Functions 6-66 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8055 Saving

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-67 6.2.8 FB 412 MC_MoveAdditive - Additive positioning to current target posit

Technology functions CPU 317T: Technology Functions 6-68 A5E00251798-03 Restrictions for modulo axes The application of this function to modulo ax

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-69 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-70 A5E00251798-03 MC_MoveAdditive - Example Signal profile Case A: Two MC_MoveAdditive comm

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-71 MC_MoveRelative - ErrorIDs ErrorID Error message Description / to correct

Technology functions CPU 317T: Technology Functions 6-72 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8083 DB is

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-73 6.2.9 FB 413 MC_MoveSuperImposed - Superimposed positioning Purpose • The

CPU 317T: Technology Functions A5E00251798-03 3-1 3 Technology objects 3.1 Axes - Basics 3.1.1 Axis technologies Axis technologies The "Axis&qu

Technology functions CPU 317T: Technology Functions 6-74 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-75 MC_MoveSuperImposed - Example of "Absolute positioning" Signal pro

Technology functions CPU 317T: Technology Functions 6-76 A5E00251798-03 MC_MoveSuperImposed - Example of "Relative positioning" Signal pr

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-77 MC_MoveSuperImposed - ErrorIDs ErrorID Error message Description / to corr

Technology functions CPU 317T: Technology Functions 6-78 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8083 DB is

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-79 6.2.10 FB 414 MC_MoveVelocity - Moving with speed preset Valid for firmware

Technology functions CPU 317T: Technology Functions 6-80 A5E00251798-03 Overriding commands MC_MoveAbsolute (Mode = 0) MC_Power (Enable = FALSE) M

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-81 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-82 A5E00251798-03 Parameter Data type Start value Description Mode INT 0 Override mode: V

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-83 Velocity-controlled operation of a positioning axis The transition "po

CPU 317T: Technology Functions A5E00251798-03 iii Preface Purpose of this manuals This manual gives you a complete overview of the optional softwar

Technology objects CPU 317T: Technology Functions 3-2 A5E00251798-03 Special operating modes • Following mode In following mode, the position / ve

Technology functions CPU 317T: Technology Functions 6-84 A5E00251798-03 MC_MoveVelocity - Example of "Override motion" The signal profile

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-85 FB1FB2VelocityAxis_1MC_MoveVelocityAxisAxis_1Current0Velocity50Acceleration1

Technology functions CPU 317T: Technology Functions 6-86 A5E00251798-03 MC_MoveVelocity - Example of "Append motion" The signal profile b

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-87 FB1FB2VelocityAxis_1MC_MoveVelocityAxisAxis_1Velocity15Acceleration5Decelera

Technology functions CPU 317T: Technology Functions 6-88 A5E00251798-03 MC_MoveVelocity - ErrorIDs ErrorID Error message Description / to correct

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-89 ErrorID Error message Description / to correct or avoid error 8053 Invali

Technology functions CPU 317T: Technology Functions 6-90 A5E00251798-03 6.2.11 FB 415 MC_MoveToEndPos - Move to mechanical end stop / clamping Pur

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-91 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-92 A5E00251798-03 Output parameters Parameter Data type Start value Description InClampin

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-93 Dynamic parameter Velocity Warning The start value of the velocity ramp is

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-3 3.1.2 Axis types You can set two different types of axes in your axis configura

Technology functions CPU 317T: Technology Functions 6-94 A5E00251798-03 ttttFB2MC_MoveRelativeErrorErrorIDDone_2DoneCommandAbortedAxisAxis_1Execute

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-95 MC_MoveToEndPos - ErrorIDs ErrorID Warning message Description / to correc

Technology functions CPU 317T: Technology Functions 6-96 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-97 6.2.12 FB 437 MC_SetTorqueLimit - Enable / disable torque reduction Purpose

Technology functions CPU 317T: Technology Functions 6-98 A5E00251798-03 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-99 MC_SetTorqueLimit - ErrorIDs ErrorID Error message Description / to correc

Technology functions CPU 317T: Technology Functions 6-100 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8084 Inval

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-101 6.3 Technology functions - Synchronism 6.3.1 FB 420 MC_GearIn - Start gea

Technology functions CPU 317T: Technology Functions 6-102 A5E00251798-03 Overriding commands (applies to following axis only) MC_GearIn MC_Power

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-103 Parameter Data type Start value Description Jerk REAL -1.0 Jerk at the t

Technology objects CPU 317T: Technology Functions 3-4 A5E00251798-03 3.1.3 Physical and virtual axes When we speak of axes in this documentation,

Technology functions CPU 317T: Technology Functions 6-104 A5E00251798-03 Parameter Mode = 1 In relative synchronization mode, synchronization (comp

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-105 FB1FB2VelocityMC_GearInMasterAxis_1Mode1Velocity50Acceleration10Deceleratio

Technology functions CPU 317T: Technology Functions 6-106 A5E00251798-03 MC_GearIn - Example of "Synchronization according to configuration&qu

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-107 MC_GearIn - Example of phase shift The example below shows the differences,

Technology functions CPU 317T: Technology Functions 6-108 A5E00251798-03 FB1FB2VelocityMC_GearInMasterAxis_1Mode1Velocity50Acceleration10Decelerati

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-109 MC_GearIn - ErrorIDs ErrorID Error message Description / to correct or a

Technology functions CPU 317T: Technology Functions 6-110 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8053 Inva

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-111 6.3.2 FB 422 MC_GearOut - End gear synchronization Purpose • The "MC

Technology functions CPU 317T: Technology Functions 6-112 A5E00251798-03 Input parameters Parameter Data type Start value Description Slave IN

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-113 MC_GearOut - Example The "MC_GearOut" technology function (techno

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-5 3.1.4 "Axis" - "drive" difference The "Axis" tec

Technology functions CPU 317T: Technology Functions 6-114 A5E00251798-03 MC_GearOut - ErrorIDs ErrorID Error message Description / to correct or

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-115 ErrorID Error message Description / to correct or avoid error 8084 Invali

Technology functions CPU 317T: Technology Functions 6-116 A5E00251798-03 6.3.3 FB 421 MC_CamIn - Start cam synchronization Purpose • The "MC

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-117 Overriding commands (applies to following axis only) MC_CamIn MC_Home (Mo

Technology functions CPU 317T: Technology Functions 6-118 A5E00251798-03 Input parameters Parameter Data type Start value Description Master I

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-119 Output parameters Parameter Data type Start value Description InSync B

Technology functions CPU 317T: Technology Functions 6-120 A5E00251798-03 MC_CamIn - Example of "Effect of scaling factors and offset values&qu

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-121 Effect of offset values (4) The SlaveOffset parameter shifts the entire c

Technology functions CPU 317T: Technology Functions 6-122 A5E00251798-03 PositionSlaveMC_CamInErrorErrorIDCommandAbortedStartpos20InSync_1Exe_11010

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-123 MC_CamIn - Example of "Synchronization with leading axis position (cyc

Technology objects CPU 317T: Technology Functions 3-6 A5E00251798-03 3.1.5 Dynamic Servo Control (DSC) The position of position-controlled axes (p

Technology functions CPU 317T: Technology Functions 6-124 A5E00251798-03 PositionSlaveMC_CamInErrorErrorIDCommandAborted10040InSync_1Exe_11010ttInS

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-125 MC_CamIn - Example of "Immediate synchronization" Synchronizatio

Technology functions CPU 317T: Technology Functions 6-126 A5E00251798-03 PositionMC_CamInErrorErrorIDCommandAbortedStartpos = 6020InSync_1Exe_11010

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-127 MC_CamIn - Example of "Cam changeover at the end of a cycle" Sync

Technology functions CPU 317T: Technology Functions 6-128 A5E00251798-03 MC_CamIn - Example of "Synchronization condition AT_MASTER_AND_SLAVE_

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-129 Position80t360PositionSlavePosition Master360DefinitionCam_1SlaveMaster8010

Technology functions CPU 317T: Technology Functions 6-130 A5E00251798-03 MC_CamIn - ErrorIDs ErrorID Error message Description / to correct or av

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-131 ErrorID Error message Description / to correct or avoid error 8053 Inval

Technology functions CPU 317T: Technology Functions 6-132 A5E00251798-03 6.3.4 FB 423 MC_CamOut - End cam synchronism Purpose • "MC_CamOut&q

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-133 Output parameters Parameter Data type Start value Description Done BO

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-7 Position control loop with DSC DSC functionality can also be used for direct de

Technology functions CPU 317T: Technology Functions 6-134 A5E00251798-03 MC_CamOut - Example The MC_CamOut technology function (technology function

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-135 MC_CamOut - ErrorIDs ErrorID Error message Description / to correct or av

Technology functions CPU 317T: Technology Functions 6-136 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8053 Inva

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-137 6.3.5 FB 424 MC_Phasing - Change phase shift between master and slave axes

Technology functions CPU 317T: Technology Functions 6-138 A5E00251798-03 Input parameters Parameter Data type Start value Description Master I

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-139 MC_Phasing - Example Use the "MC_Phasing" technology function to

Technology functions CPU 317T: Technology Functions 6-140 A5E00251798-03 MC_Phasing - ErrorIDs ErrorID Error message Description / to correct or

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-141 ErrorID Error message Description / to correct or avoid error 8079 No sy

Technology functions CPU 317T: Technology Functions 6-142 A5E00251798-03 6.3.6 FB 441 MC_CamInSuperImposed - Start superimposing cam synchronism V

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-143 Overriding commands MC_CamInSuperimposed MC_Power (Enable = FALSE) MC_Hom

Technology objects CPU 317T: Technology Functions 3-8 A5E00251798-03 3.1.6 Homing At position-controlled axes, input and indication of the position

Technology functions CPU 317T: Technology Functions 6-144 A5E00251798-03 Parameter Data type Start value Description Acceleration REAL -1.0 Acce

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-145 MC_CamInSuperImposed - Example of "Superimposition" The example b

Technology functions CPU 317T: Technology Functions 6-146 A5E00251798-03 PositionMC_CamInSuperImposedErrorErrorIDCommandAbortedStartpos20InSync_1Ex

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-147 MC_CamInSuperImposed - Example "Base synchronism with superimposing ca

Technology functions CPU 317T: Technology Functions 6-148 A5E00251798-03 tFB1FB2MC_GearInErrorErrorIDCommandAbortedAbort_1InGear_1Exe_11010Exe_2InS

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-149 MC_CamInSuperImposed - ErrorIDs ErrorID Error message Description / to co

Technology functions CPU 317T: Technology Functions 6-150 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-151 6.3.7 FB 443 MC_CamOutSuperImposed- Terminate superimposing cam synchronis

Technology functions CPU 317T: Technology Functions 6-152 A5E00251798-03 Input parameters Parameter Data type Start value Description Slave IN

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-153 MC_CamOutSuperImposed - ErrorIDs Valid for firmware version V3.1.x of the i

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-9 Homing modes • Active homing A special traversing motion is executed for this

Technology functions CPU 317T: Technology Functions 6-154 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-155 6.3.8 FB 440 MC_GearInSuperImposed - Start superimposing gear synchronism

Technology functions CPU 317T: Technology Functions 6-156 A5E00251798-03 Overriding commands MC_GearInSuperImposed MC_Power (Enable = FALSE) MC_H

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-157 Parameter Data type Start value Description PhaseShift REAL 0.0 Phase

Technology functions CPU 317T: Technology Functions 6-158 A5E00251798-03 MC_GearInSuperImposed - Example of "Superimposition" The signal

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-159 MC_GearInMasterAxis_1Mode1Velocity50Acceleration10Deceleration10Jerk0Absolu

Technology functions CPU 317T: Technology Functions 6-160 A5E00251798-03 MC_GearInSuperImposed - Example of "Relative/absolute superimposing s

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-161 FB1FB2VelocityMC_GearInSuperImposedMasterAxis_1Mode1Velocity50Acceleration1

Technology functions CPU 317T: Technology Functions 6-162 A5E00251798-03 MC_GearInSuperImposed - Example of "Phase shift" The signal prof

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-163 FB1FB2VelocityMC_GearInSuperImposedMasterAxis_1Mode1Velocity50Acceleration1

Technology objects CPU 317T: Technology Functions 3-10 A5E00251798-03 3.1.7 Absolute encoder adjustment The technology functions MC_Home (Mode =

Technology functions CPU 317T: Technology Functions 6-164 A5E00251798-03 MC_GearInSuperImposed - ErrorIDs ErrorID Error message Description / to

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-165 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-166 A5E00251798-03 6.3.9 FB 442 MC_GearOutSuperImposed - Terminate superimposing gear synchr

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-167 Input parameters Parameter Data type Start value Description Slave INT

Technology functions CPU 317T: Technology Functions 6-168 A5E00251798-03 MC_GearOutSuperImposed - ErrorIDs ErrorID Error message Description / to

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-169 ErrorID Error message Description / to correct or avoid error 8083 DB is

Technology functions CPU 317T: Technology Functions 6-170 A5E00251798-03 6.3.10 FB 444 MC_PhasingSuperImposed - Change superimposing phase shift V

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-171 Overriding commands MC_PhasingSuperimposed MC_Power (Enable = FALSE) MC_H

Technology functions CPU 317T: Technology Functions 6-172 A5E00251798-03 Output parameters Parameter Data type Start value Description Done B

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-173 MC_PhasingSuperImposed - Example MC_PhasingSuperImposedMasterAxis_1SlaveAxi

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-11 3.1.8 Data set changeover Introduction You can create several axis data record

Technology functions CPU 317T: Technology Functions 6-174 A5E00251798-03 MC_PhasingSuperImposedMasterAxis_1SlaveAxis_2ExecuteExe_2PhaseShift20Absol

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-175 ttAbs_1Exe_1tMC_PhasingSuperImposedMasterAxis_1SlaveAxis_2ExecuteExe_1Phase

Technology functions CPU 317T: Technology Functions 6-176 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 804C Comm

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-177 6.4 Technology functions - Cam disks 6.4.1 FB 434 MC_CamClear - Deleting

Technology functions CPU 317T: Technology Functions 6-178 A5E00251798-03 Output parameters Parameter Data type Start value Description Done B

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-179 ErrorID Error message Description / to correct or avoid error 8050 Techn

Technology functions CPU 317T: Technology Functions 6-180 A5E00251798-03 6.4.2 FB 435 MC_CamSectorAdd - Adding cam segments Purpose • The technol

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-181 Output parameters Parameter Data type Start value Description Done BO

Technology functions CPU 317T: Technology Functions 6-182 A5E00251798-03 Example: In our example, the ANY pointer refers to a range of values sta

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-183 In our example, the ANY pointer refers to a range of values of interpolatio

Preface CPU 317T: Technology Functions iv A5E00251798-03 Position in the world of documentation This manual forms part of the 317T-2 DP CPU docume

Technology objects CPU 317T: Technology Functions 3-12 A5E00251798-03 3.2 "Velocity-controlled axis" technology object Use the "Ve

Technology functions CPU 317T: Technology Functions 6-184 A5E00251798-03 Effect of the coefficients of a cam segment The coefficients A0 to A6 and

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-185 MC_CamSectorAdd - ErrorIDs ErrorID Error message Description / to correc

Technology functions CPU 317T: Technology Functions 6-186 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8053 Inva

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-187 6.4.3 FB 436 MC_CamInterpolate - Interpolating cams Purpose • The "M

Technology functions CPU 317T: Technology Functions 6-188 A5E00251798-03 Input parameters Parameter Data type Start value Description CamTable

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-189 Interpolating two cam segments At the segment borders of a cam consisting o

Technology functions CPU 317T: Technology Functions 6-190 A5E00251798-03 MC_CamInterpolate - ErrorIDs ErrorID Warning Description / to correct

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-191 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-192 A5E00251798-03 6.4.4 FB 438 MC_GetCamPoint - Reading points from the cam disk Valid for

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-193 Input parameters Parameter Data type Start value Description CamTable

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-13 3.3 "Positioning axis" technology object Use the positioning axis

Technology functions CPU 317T: Technology Functions 6-194 A5E00251798-03 Parameter Data type Start value Description Error BOOL FALSE TRUE: Co

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-195 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-196 A5E00251798-03 6.5 Technology functions - Cams, measuring sensors, external encoders 6.5

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-197 Parameter Data type Start value Description Mode INT 2 Operating mo

Technology functions CPU 317T: Technology Functions 6-198 A5E00251798-03 Input parameter OffPosition An OFF position is not defined for the switchi

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-199 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-200 A5E00251798-03 6.5.2 FB 431 MC_CamSwitchTime - Time-based cam Purpose • At the "MC

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-201 Parameter Data type Start value Description DoneFlagPos INT 0 DoneF

Technology functions CPU 317T: Technology Functions 6-202 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8045 Ille

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-203 6.5.3 FB 433 MC_MeasuringInput - Measuring sensor Purpose • The "MC_

Technology objects CPU 317T: Technology Functions 3-14 A5E00251798-03 3.3.1 Block diagram: Positioning axis with position control The figure below

Technology functions CPU 317T: Technology Functions 6-204 A5E00251798-03 Input parameters Parameter Data type Start value Description MeasureIn

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-205 MC_MeasuringInput - ErrorIDs ErrorID Error message Description / to corre

Technology functions CPU 317T: Technology Functions 6-206 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8084 Inval

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-207 6.5.4 FB 432 MC_ExternalEncoder - External encoder Purpose • The "MC

Technology functions CPU 317T: Technology Functions 6-208 A5E00251798-03 Parameter Data type Start value Description Mode INT 1 Operating mode:

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-209 Output parameters Parameter Data type Start value Description Done BO

Technology functions CPU 317T: Technology Functions 6-210 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-211 6.6 Technology functions - Basic functions 6.6.1 FB 402 MC_Reset - Error

Technology functions CPU 317T: Technology Functions 6-212 A5E00251798-03 Requirements for restart • A restart is only possible when the relevant

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-213 Output parameters Parameter Data type Start value Description Done BO

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-15 3.4 "Synchronization axis" technology object Use the "Synchro

Technology functions CPU 317T: Technology Functions 6-214 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 804C Comm

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-215 6.6.2 FB 406 MC_ReadSysParameter - Reading parameters Valid for firmware v

Technology functions CPU 317T: Technology Functions 6-216 A5E00251798-03 Output parameters Parameter Data type Start value Description Done B

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-217 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-218 A5E00251798-03 6.6.3 FB 407 MC_WriteParameter - Changing parameters Valid for firmware v

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-219 Input parameters Parameter Data type Start value Description Axis INT

Technology functions CPU 317T: Technology Functions 6-220 A5E00251798-03 Note To change several parameters which do not require a restart and come

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-221 MC_WriteParameter - Example of "Override" Example of changing par

Technology functions CPU 317T: Technology Functions 6-222 A5E00251798-03 Drive control words can be written with parameter number 4500 at "MC_

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-223 MC_WriteParameter - Example: "Save absolute value encoder adjustment&q

Technology objects CPU 317T: Technology Functions 3-16 A5E00251798-03 3.4.1 Structure of the "Synchronization axis" technology object Sy

Technology functions CPU 317T: Technology Functions 6-224 A5E00251798-03 MC_WriteParameter - ErrorIDs ErrorID Warning Description / to correct or

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-225 ErrorID Error message Description / to correct or avoid error 8052 Block

Technology functions CPU 317T: Technology Functions 6-226 A5E00251798-03 6.6.4 FB 450 MC_ReadPeriphery - Reading technology I/O Valid for firmware

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-227 Output parameters Parameter Data type Start value Description DataValid

Technology functions CPU 317T: Technology Functions 6-228 A5E00251798-03 The I/O image of the fourth call is available at the fifth call of MC_Read

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-229 MC_ReadPeriphery - ErrorIDs ErrorID Error message Description / to correc

Technology functions CPU 317T: Technology Functions 6-230 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 808C Poin

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-231 6.6.5 FB 451 MC_WritePeriphery - Writing technology I/O Valid for firmware

Technology functions CPU 317T: Technology Functions 6-232 A5E00251798-03 Output parameters Parameter Data type Start value Description Done B

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-233 The third call of MC_WritePeriphery plus positive edge at input parameter E

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-17 Synchronization compound A synchronization compound consists at least of these

Technology functions CPU 317T: Technology Functions 6-234 A5E00251798-03 MC_WritePeriphery - ErrorIDs ErrorID Error message Description / to corr

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-235 ErrorID Error message Description / to correct or avoid error 8089 Inval

Technology functions CPU 317T: Technology Functions 6-236 A5E00251798-03 6.6.6 FB 453 MC_ReadRecord - Reading data record Valid for firmware versi

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-237 Output parameters Parameter Data type Start value Description Done BO

Technology functions CPU 317T: Technology Functions 6-238 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-239 ErrorID Error message Description / to correct or avoid error 80B0 Data

Technology functions CPU 317T: Technology Functions 6-240 A5E00251798-03 6.6.7 FB 454 MC_WriteRecord - Writing data record Valid for firmware vers

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-241 Output parameters Parameter Data type Start value Description Done BO

Technology functions CPU 317T: Technology Functions 6-242 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-243 ErrorID Error message Description / to correct or avoid error 80A2 DP pr

Technology objects CPU 317T: Technology Functions 3-18 A5E00251798-03 Control value coupling A following axis can be interconnected with multiple c

Technology functions CPU 317T: Technology Functions 6-244 A5E00251798-03 6.6.8 FB 455 MC_ReadDriveParameter - Reading drive parameters Valid for f

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-245 Parameter Data type Start value Description Data ANY -- Destination dat

Technology functions CPU 317T: Technology Functions 6-246 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-247 ErrorID Error message Description / to correct or avoid error 80B0 Data

Technology functions CPU 317T: Technology Functions 6-248 A5E00251798-03 6.6.9 FB 456 MC_WriteDriveParameter - Writing drive parameters Valid for

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-249 Parameter Data type Start value Description Data ANY -- Data area con

Technology functions CPU 317T: Technology Functions 6-250 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8052 Bloc

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-251 ErrorID Error message Description / to correct or avoid error 80A2 DP pr

Technology functions CPU 317T: Technology Functions 6-252 A5E00251798-03 ErrorID Error message Description / to correct or avoid error 8116 Valu

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-253 6.7 Information about parameters 6.7.1 Reaction of the technology functio

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-19 Superimposing synchronism A superimposed synchronized motion has the same effe

Technology functions CPU 317T: Technology Functions 6-254 A5E00251798-03 6.7.3 Range of values Range of REAL values The following applies to all R

Technology functions CPU 317T: Technology Functions A5E00251798-03 6-255 6.7.4 Absolute positioning of modulo axes The technology transforms all ab

Technology functions CPU 317T: Technology Functions 6-256 A5E00251798-03

CPU 317T: Technology Functions A5E00251798-03 7-1 7 Technology DBs 7.1 "Velocity-controlled axis" - Technology DB Valid for firmware versi

Technology DBs CPU 317T: Technology Functions 7-2 A5E00251798-03 Variable ErrorStatus.xxx The bits in variable ErrorStatus.xxx return information o

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-3 Variable Statusword.xxx The Statusword variable indicates the current status of the

Technology DBs CPU 317T: Technology Functions 7-4 A5E00251798-03 Variable CommandVelocity Shows the current velocity setpoint for the axis (allowan

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-5 7.2 "Positioning axis" - Technology DB Valid for firmware version V3.1.x

Technology DBs CPU 317T: Technology Functions 7-6 A5E00251798-03 Variable ErrorStatus.xxx The bits in variable ErrorStatus.xxx return information o

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-7 Variable Statusword.xxx The Statusword variable indicates the current status of the

Technology objects CPU 317T: Technology Functions 3-20 A5E00251798-03 3.4.3 Gearing At the MC_GearIn and MC_GearInSuperImposed technology functions

Technology DBs CPU 317T: Technology Functions 7-8 A5E00251798-03 Bit No. Variable Meaning of the status TRUE 21 Statusword.TorqueLimiting The to

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-9 Variable TargetPosition indicates the target position for the current command. Only

Technology DBs CPU 317T: Technology Functions 7-10 A5E00251798-03 7.3 "Synchronization axis" - Technology DB Valid for firmware version

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-11 Variable ErrorStatus.xxx The bits in variable ErrorStatus.xxx return information o

Technology DBs CPU 317T: Technology Functions 7-12 A5E00251798-03 Variable Statusword.xxx The status word variable indicates the current status of

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-13 Bit No. Variable Meaning of the status TRUE 21 Statusword.TorqueLimiting The to

Technology DBs CPU 317T: Technology Functions 7-14 A5E00251798-03 Variable TargetPosition indicates the target position for the current command. On

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-15 SupImpSyncStatus variable Value Function Comments 0 No synchronism Active mode

Technology DBs CPU 317T: Technology Functions 7-16 A5E00251798-03 7.4 "External encoder" - Technology DB Valid for firmware version V3.1

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-17 Variable ErrorStatus.xxx The bits in variable ErrorStatus.xxx return information o

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-21 Setting new axis positions in synchronized mode Absolute coupling results in a

Technology DBs CPU 317T: Technology Functions 7-18 A5E00251798-03 Variable Statusword.xxx The Statusword indicates the current status of the extern

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-19 Variable ActualVelocity Shows the current acceleration of the external encoder. Th

Technology DBs CPU 317T: Technology Functions 7-20 A5E00251798-03 7.5 "Cam disk" - Technology DB The DB is described in the integrated t

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-21 7.6 "Measuring sensor" - Technology DB The "Measuring sensor"

Technology DBs CPU 317T: Technology Functions 7-22 A5E00251798-03 Variable MeasureStart/MeasureEnd The MeasureStart variable indicates the lo limit

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-23 7.7 "Cam" - Technology DB Valid for firmware version V3.1.x of the inte

Technology DBs CPU 317T: Technology Functions 7-24 A5E00251798-03 Direction variable Shows the effective cam direction of the most recent MC_CamSwi

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-25 7.8 "Trace" - Technology DB You can use the TraceTool in S7T Config to

Technology DBs CPU 317T: Technology Functions 7-26 A5E00251798-03 7.9 "MCDevice" - Technology DB Valid for firmware version V3.1.x of th

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-27 Variable DoneFlag[1..32] The ARRAY elements 1 to 32 can be assigned to the DoneFla

Preface CPU 317T: Technology Functions A5E00251798-03 v Further Support If you have any technical questions, please get in touch with your Siemens r

Technology objects CPU 317T: Technology Functions 3-22 A5E00251798-03 3.4.4 Camming Camming is characterized by adynamic ratio between the leading

Technology DBs CPU 317T: Technology Functions 7-28 A5E00251798-03 7.10 Update of technology DBs Valid for firmware version V3.1.x of the integrate

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-29 How to verify consistent evaluation of the technology DBs Based on the procedure d

Technology DBs CPU 317T: Technology Functions 7-30 A5E00251798-03 7.11 ErrorID - Technology DBs 7.11.1 ErrorIDs - Axis technology DBs Valid for fi

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-31 Error ErrorID Error message Possible causes To correct or avoid errors Interru

Technology DBs CPU 317T: Technology Functions 7-32 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-33 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-34 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-35 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-36 A5E00251798-03 7.11.2 ErrorIDs - Synchronization technology DB Valid for firmware version V3.1.

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-37 Error ErrorID Error message Possible causes To correct or avoid errors Interru

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-23 Acyclic or cyclic cam disk mode At input parameter CyclicMode of the technolog

Technology DBs CPU 317T: Technology Functions 7-38 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-39 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-40 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-41 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-42 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-43 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-44 A5E00251798-03 7.11.3 ErrorIDs - External encoders technology DB Valid for firmware version V3.

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-45 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-46 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-47 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology objects CPU 317T: Technology Functions 3-24 A5E00251798-03 Absolute synchronism between the leading and following axes MasterAbsolute

Technology DBs CPU 317T: Technology Functions 7-48 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-49 7.11.4 ErrorIDs - Output cam technology DB Valid for firmware version V3.1.x of t

Technology DBs CPU 317T: Technology Functions 7-50 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-51 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-52 A5E00251798-03 7.11.5 ErrorIDs - Measuring sensor technology DB Valid for firmware version V3.1

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-53 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions 7-54 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-55 7.11.6 ErrorIDs - Cam technology DBs Valid for firmware version V3.1.x of the int

Technology DBs CPU 317T: Technology Functions 7-56 A5E00251798-03 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology DBs CPU 317T: Technology Functions A5E00251798-03 7-57 ErrorID Error message Possible causes To correct or avoid errors Interrupts in

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-25 Correction of synchronous motions Synchronous motions can be corrected by swit

Technology DBs CPU 317T: Technology Functions 7-58 A5E00251798-03 7.11.7 ErrorIDs - MCDevice / Trace technology DB Valid for firmware version V3.1

CPU 317T: Technology Functions A5E00251798-03 8-1 8 Download, testing and diagnostics 8.1 Connecting the PG / PC All configuration and programming

Download, testing and diagnostics CPU 317T: Technology Functions 8-2 A5E00251798-03 8.2 Downloading - user program, configuration data, firmware R

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-3 Download in "SIMATIC Manager" Selection Menu command

Download, testing and diagnostics CPU 317T: Technology Functions 8-4 A5E00251798-03 Download "HW Config" Selection Menu command What i

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-5 8.3 Tuning technology system cycles The integrated technology ex

Download, testing and diagnostics CPU 317T: Technology Functions 8-6 A5E00251798-03 Position controller cycle The position control of the axes is c

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-7 Maximal shutdown delay Here you enter the time for monitoring sh

Download, testing and diagnostics CPU 317T: Technology Functions 8-8 A5E00251798-03 8.4 Assigning technology system cycles Best practice in tuning

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-9 8.5 Checking the load on integrated technology Typical memory r

Technology objects CPU 317T: Technology Functions 3-26 A5E00251798-03 3.4.5 Superimposing synchronism You can configure a superimposing synchronism

Download, testing and diagnostics CPU 317T: Technology Functions 8-10 A5E00251798-03 8.6 Testing with breakpoints You can test your user program wi

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-11 8.7 Monitoring system variables with the Watch table Use the &q

Download, testing and diagnostics CPU 317T: Technology Functions 8-12 A5E00251798-03 8.8 Testing with TraceTool 8.8.1 Introduction - TraceTool Usi

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-13 8.8.3 Starting TraceTool Make sure the following conditions are

Download, testing and diagnostics CPU 317T: Technology Functions 8-14 A5E00251798-03 8.8.4 General functions of TraceTool Basic functionality avail

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-15 8.8.5 Basic procedure for handling the TraceTool 1. Define th

Download, testing and diagnostics CPU 317T: Technology Functions 8-16 A5E00251798-03 "Trace" toolbar The "Trace" toolbar con

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-17 "Function generator" toolbar The "Functions ge

Download, testing and diagnostics CPU 317T: Technology Functions 8-18 A5E00251798-03 8.8.7 "Trace" menu The Trace menu command contains t

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-19 Function Meaning/description Properties Opens the "Diagra

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-27 Absolute and relative synchronism You can program and execute a relative or ab

Download, testing and diagnostics CPU 317T: Technology Functions 8-20 A5E00251798-03 8.8.8 "Trace" tab In the "Trace" tab, defi

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-21 Trace configuration (recording / trigger conditions Field / bu

Download, testing and diagnostics CPU 317T: Technology Functions 8-22 A5E00251798-03 Field / button Description Table • "No.:" Shows t

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-23 Trigger Field / button Description Type (not SINAMICS Trace)

Download, testing and diagnostics CPU 317T: Technology Functions 8-24 A5E00251798-03 Buttons on the "Trace" tab Name Control element Mea

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-25 8.8.9 "Time diagram", "FFT diagram", "

Download, testing and diagnostics CPU 317T: Technology Functions 8-26 A5E00251798-03 8.8.10 Tracing values of the user program in the CPU The &quo

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-27 8.8.11 "Function generator" tab You can use the "

Download, testing and diagnostics CPU 317T: Technology Functions 8-28 A5E00251798-03 Function generator parameter settings Field Description Name

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-29 Buttons of the "Function generator" tab Name Control

Technology objects CPU 317T: Technology Functions 3-28 A5E00251798-03 3.5 "Cam disk" technology object Use the "Cam disk" te

Download, testing and diagnostics CPU 317T: Technology Functions 8-30 A5E00251798-03 "Function generator" toolbar Field / button Contro

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-31 8.8.12 "Measurements" tab The "Measurements"

Download, testing and diagnostics CPU 317T: Technology Functions 8-32 A5E00251798-03 At the zero time (trigger time) of measurement, the measuremen

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-33 8.8.13 "Trace time diagram" tab in the detail view T

Download, testing and diagnostics CPU 317T: Technology Functions 8-34 A5E00251798-03 Tools for analyzing measurement traces in the shortcut menu T

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-35 Tool Description Auxiliary line grid Select "Grid" t

Download, testing and diagnostics CPU 317T: Technology Functions 8-36 A5E00251798-03 8.9 Testing with the control panel 8.9.1 Introduction - Cont

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-37 8.9.2 Starting the axis control panel Make sure the following

Download, testing and diagnostics CPU 317T: Technology Functions 8-38 A5E00251798-03 • Selection area Click the relevant buttons to show or hide s

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-39 8.9.4 Using the control panel to monitor axis values You can u

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-29 3.5.1 Normalization When a cam disk is defined based on segments, the various

Download, testing and diagnostics CPU 317T: Technology Functions 8-40 A5E00251798-03 - Power unit enabled (pulse enable - green) 8.9.5 Assume co

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-41 8.9.6 Controlling the axis Make sure the following conditions

Download, testing and diagnostics CPU 317T: Technology Functions 8-42 A5E00251798-03 Command Control element Description Axis homing If you are u

Download, testing and diagnostics CPU 317T: Technology Functions A5E00251798-03 8-43 To move an axis using the axis control panel: 1. Click "De

Download, testing and diagnostics CPU 317T: Technology Functions 8-44 A5E00251798-03

CPU 317T: Technology Functions A5E00251798-03 A-1 A Appendix A.1 Application samples A.1.1 Example of "Positioning with target sensor" T

Appendix CPU 317T: Technology Functions A-2 A5E00251798-03 Technology objects In S7T Config, you configure the technology objects used to control t

Appendix CPU 317T: Technology Functions A5E00251798-03 A-3 A.1.2 Example of "Flying shears" The example shows a typical application for

Appendix CPU 317T: Technology Functions A-4 A5E00251798-03 Technology functions The task is solved in the user program by calling the following te

Appendix CPU 317T: Technology Functions A5E00251798-03 A-5 A.1.3 Example of "Gripper feed" The example shows a press to which the mater

Technology objects CPU 317T: Technology Functions 3-30 A5E00251798-03 3.5.2 Using a cam disk A cam disk can be configured for non-cyclic (single o

Appendix CPU 317T: Technology Functions A-6 A5E00251798-03 Technology objects You configure the technology objects in S7T Config. Technology objec

Appendix CPU 317T: Technology Functions A5E00251798-03 A-7 A.2 FAQs, Tips & Tricks A.2.1 How to use the new performance features for older Tec

Appendix CPU 317T: Technology Functions A-8 A5E00251798-03 Upgrading the Technology CPU firmware Upgrade the firmware of the Technology CPU if the

Appendix CPU 317T: Technology Functions A5E00251798-03 A-9 5. Double-click "Technology" of the Technology CPU. 6. The "Properties

Appendix CPU 317T: Technology Functions A-10 A5E00251798-03 4. Confirm the message box with "OK." The "Select technology packages

Appendix CPU 317T: Technology Functions A5E00251798-03 A-11 6. Confirm the message box with "OK." 7. Confirm the next message with "

Appendix CPU 317T: Technology Functions A-12 A5E00251798-03 10c. Eliminate the causes of error, and continue with step 10. You can also save the p

Appendix CPU 317T: Technology Functions A5E00251798-03 A-13 3. Next, click "Delete." After this deletion, all technology DBs are selecte

Appendix CPU 317T: Technology Functions A-14 A5E00251798-03 4. Click "Generate" in order to generate the technology DBs with a new struc

Appendix CPU 317T: Technology Functions A5E00251798-03 A-15 A.2.2 How to edit a V1.0 project with S7-Technology V2.0 Query: My current project was

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-31 3.5.3 Scaling and Offset The defined areas and range of values of cam disks c

Appendix CPU 317T: Technology Functions A-16 A5E00251798-03 A.2.3 How to recognize the firmware version of the integrated technology Query: In man

Appendix CPU 317T: Technology Functions A5E00251798-03 A-17 A.2.4 Why do some system DBs have a different online / offline time stamp? Query: Some

Appendix CPU 317T: Technology Functions A-18 A5E00251798-03 A.2.6 STEP 7 reports "Out of memory space" Query: During the download of blo

Appendix CPU 317T: Technology Functions A5E00251798-03 A-19 A.3 Expert list in S7T Config A.3.1 Using the Expert list We assume you are familiar i

Appendix CPU 317T: Technology Functions A-20 A5E00251798-03 Calling the expert list: 1. In the navigator, select the technology object (axis, for

Appendix CPU 317T: Technology Functions A5E00251798-03 A-21 Effect of ONLINE changes • Modified system variables come into effect instantaneously.

Appendix CPU 317T: Technology Functions A-22 A5E00251798-03 A.3.2 Axis settings A.3.2.1 Commissioning the position controllers of positioning axes

Appendix CPU 317T: Technology Functions A5E00251798-03 A-23 Note: The following error can not reach zero with dimensioning without overshoot in the

Appendix CPU 317T: Technology Functions A-24 A5E00251798-03 A.3.2.3 Torque settings The FBs MC_SetTorqueLimit and MC_MoveToEndPos (not with detecti

Appendix CPU 317T: Technology Functions A5E00251798-03 A-25 A.3.2.4 Setting actual value coupling at the synchronization object In the configuratio

Preface CPU 317T: Technology Functions vi A5E00251798-03 Technical Support You can reach the Technical Support for all A&D products • Via the

Technology objects CPU 317T: Technology Functions 3-32 A5E00251798-03 Interpolation modes Interpolation modes you can select from the "Interpo

Appendix CPU 317T: Technology Functions A-26 A5E00251798-03 Extrapolation and filtering with actual value coupling Creating axes with setpoint / ac

Appendix CPU 317T: Technology Functions A5E00251798-03 A-27 The TypeOfAxis.SmoothingFilter configuration data relates to the velocity calculated in

Appendix CPU 317T: Technology Functions A-28 A5E00251798-03 Options available: • APPROACH_NEGATIVE_PASSIVE(0) Homing with approach to zero mark in

Appendix CPU 317T: Technology Functions A5E00251798-03 A-29 In DEFAULT_PASSIVE(4) homing mode, you can select the approach direction according to th

Appendix CPU 317T: Technology Functions A-30 A5E00251798-03 A.3.4 Monitoring functions A.3.4.1 Encoder monitoring functions • Monitoring the zero

Appendix CPU 317T: Technology Functions A5E00251798-03 A-31 A.3.4.3 Velocity error monitoring Velocity error monitoring is relevant only for veloci

Appendix CPU 317T: Technology Functions A-32 A5E00251798-03 A.4 Technology parameters A.4.1 List of technology parameters The lists below contain

Appendix CPU 317T: Technology Functions A5E00251798-03 A-33 Technology parameters - Axes D: Speed axis, P: Positioning axis, V: Synchronization axis

Appendix CPU 317T: Technology Functions A-34 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-35 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-33 3.6 "Output Cam" technology object Use the "Output cam"

Appendix CPU 317T: Technology Functions A-36 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-37 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-38 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-39 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-40 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-41 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-42 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-43 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-44 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-45 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Technology objects CPU 317T: Technology Functions 3-34 A5E00251798-03 Reference to actual position value or position setpoint Technology object R

Appendix CPU 317T: Technology Functions A-46 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-47 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-48 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-49 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index m

Appendix CPU 317T: Technology Functions A-50 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-51 Technology parameters - Cams No. Name (standard in S7T Config) Name (Expert list in

Appendix CPU 317T: Technology Functions A-52 A5E00251798-03 Technology parameters - External encoders No. Name (standard in S7T Config) Name (

Appendix CPU 317T: Technology Functions A5E00251798-03 A-53 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A-54 A5E00251798-03 No. Name (standard in S7T Config) Name (Expert list in S7T Config) Data type Index

Appendix CPU 317T: Technology Functions A5E00251798-03 A-55 Technology parameters – Cams No. Name (standard in S7T Config) Name (Expert list in

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-35 3.6.1 Position-based cam Note The definition of the ON range applies to modu

Appendix CPU 317T: Technology Functions A-56 A5E00251798-03 A.4.2 List of DINT values for technology parameters The list below contains the DINT v

Appendix CPU 317T: Technology Functions A5E00251798-03 A-57 Name (Expert list in S7T Config) Values Description S7 Int. technology EDGE_POS_SIDE

Appendix CPU 317T: Technology Functions A-58 A5E00251798-03 Name (Expert list in S7T Config) Values Description S7 Int. technology CYCLIC Cycli

Appendix CPU 317T: Technology Functions A5E00251798-03 A-59 Name (Expert list in S7T Config) Values Description S7 Int. technology EFFECTIVE L

Appendix CPU 317T: Technology Functions A-60 A5E00251798-03 Name (Expert list in S7T Config) Values Description S7 Int. technology EnumMeasuredE

Appendix CPU 317T: Technology Functions A5E00251798-03 A-61 Name (Expert list in S7T Config) Values Description S7 Int. technology VALID Values

Appendix CPU 317T: Technology Functions A-62 A5E00251798-03 Name (Expert list in S7T Config) Values Description S7 Int. technology EFFECTIVE La

CPU 317T: Technology Functions A5E00251798-03 Index-1 Index " "Measuring input" technology object 3-44 "Synchronization axis&quo

Index CPU 317T: Technology Functions Index-2 A5E00251798-03 B B spline 6-187 Base synchronization object 3-26 Coordinates 3-26, 3-27 Basic proce

Index CPU 317T: Technology Functions A5E00251798-03 Index-3 control value coupling 3-16 Controlling the axis 8-41 Copy - Technology DBs 4-14 Copy

Technology objects CPU 317T: Technology Functions 3-36 A5E00251798-03 Switching response The switching response of position-based cams is determin

Index CPU 317T: Technology Functions Index-4 A5E00251798-03 Engineering tool 2-7 Enum - Technology parameters A-32 Enum values A-56 error messag

Index CPU 317T: Technology Functions A5E00251798-03 Index-5 Example - Positioning with target sensor A-1 Example of absolute positioning - MC_Move

Index CPU 317T: Technology Functions Index-6 A5E00251798-03 Fixed end stop 4-43, 4-44 Fixed end stop - Following error monitoring 4-43 Fixed end

Index CPU 317T: Technology Functions A5E00251798-03 Index-7 M Managing technology DBs 4-14 Manipulated variable limiting 4-67 Manipulated variable

Index CPU 317T: Technology Functions Index-8 A5E00251798-03 MC_MoveAbsolute - Example of motion override 6-40 MC_MoveAbsolute - Example of Overlay

Index CPU 317T: Technology Functions A5E00251798-03 Index-9 Measuring sensor - Connection 3-45 Measuring sensor - Function 3-45 Measuring sensor -

Index CPU 317T: Technology Functions Index-10 A5E00251798-03 position controller cycle - time model 5-1 position controllers of positioning axes

Index CPU 317T: Technology Functions A5E00251798-03 Index-11 Signal profile with immediate synchronization 6-125 SIMATIC Manager 2-7 SIMATIC S7-Te

Index CPU 317T: Technology Functions Index-12 A5E00251798-03 synchronization compound 3-16, 3-17, 3-18 Synchronization conditions 4-81 Synchroni

Index CPU 317T: Technology Functions A5E00251798-03 Index-13 Traversing range 4-40, 4-41 Traversing with a non-homed axis 4-59 tuning technology s

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-37 3.6.2 Switching cams Switching response The switching action of switching cams

Index CPU 317T: Technology Functions Index-2 A5E00251798-03

Technology objects CPU 317T: Technology Functions 3-38 A5E00251798-03 3.6.3 Time-based cam Switching response The switching response of time-bas

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-39 3.6.4 Response, effective direction Response The diagram below shows the ON an

Technology objects CPU 317T: Technology Functions 3-40 A5E00251798-03

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-41 3.6.5 Hysteresis Mechanical backlash may cause fluctuation of the actual posit

CPU 317T: Technology Functions A5E00251798-03 vii Contents 1 What's new in S7-Technology V2.0 1-1 2 Application and usage 2-1 2.1 Compact a

Technology objects CPU 317T: Technology Functions 3-42 A5E00251798-03 Hysteresis The high limit of the hysteresis is set to 25% of the modulo axis

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-43 The system allows for the specified derivative-action times when the output ca

Technology objects CPU 317T: Technology Functions 3-44 A5E00251798-03 3.7 "Measuring input" technology object Use the "Measuring

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-45 3.7.1 Interconnection, Connection - Measuring sensors • In S7T Config, the

Technology objects CPU 317T: Technology Functions 3-46 A5E00251798-03 3.7.2 Measuring range The measuring command may be valid across the entire ra

Technology objects CPU 317T: Technology Functions A5E00251798-03 3-47 3.8 "External encoder" technology object Use the "External en

Technology objects CPU 317T: Technology Functions 3-48 A5E00251798-03 3.8.2 Synchronization - External encoders The Technology CPU supports various

CPU 317T: Technology Functions A5E00251798-03 4-1 4 Configuration 4.1 Overview - configuration Steps in executing motion control commands: Tool Ste

Configuration CPU 317T: Technology Functions 4-2 A5E00251798-03 4.2 Configuring the Technology CPU and Drives in HW Config 4.2.1 Configuring the

Configuration CPU 317T: Technology Functions A5E00251798-03 4-3 Step Description 9. Select the "Network settings" tab from the PROFIBUS n

Contents CPU 317T: Technology Functions viii A5E00251798-03 3.7 "Measuring input" technology object...

Configuration CPU 317T: Technology Functions 4-4 A5E00251798-03 Step Description 10. Click "Options". In the next dialog box, set the &q

Configuration CPU 317T: Technology Functions A5E00251798-03 4-5 Step Description 14. Save and compile the hardware configuration data, then downloa

Configuration CPU 317T: Technology Functions 4-6 A5E00251798-03 4.2.3 Configuring drives in HW Config Basic procedure The steps below show the bas

Configuration CPU 317T: Technology Functions A5E00251798-03 4-7 Step Description 2. Select the drive component (example: "SIMODRIVE 611 univers

Configuration CPU 317T: Technology Functions 4-8 A5E00251798-03 Step Description 5. Select the "Cycle synchronization" tab, then set the

Configuration CPU 317T: Technology Functions A5E00251798-03 4-9 4.2.4 Selecting the telegram type The telegram for communication with the drive mus

Configuration CPU 317T: Technology Functions 4-10 A5E00251798-03 Drives and telegram types: Drive component Technology objects Interface Config

Configuration CPU 317T: Technology Functions A5E00251798-03 4-11 4.3 Using Technology Objects Management 4.3.1 Starting Technology Objects Managem

Configuration CPU 317T: Technology Functions 4-12 A5E00251798-03 4.3.2 Technology Objects Management, user interface Layout of "Technology Ob

Configuration CPU 317T: Technology Functions A5E00251798-03 4-13 4.3.3 Technology Objects Management, operating "Technology Objects Management&

Contents CPU 317T: Technology Functions A5E00251798-03 ix 4.6 Configuring synchronization axes ...

Configuration CPU 317T: Technology Functions 4-14 A5E00251798-03 4.3.4 Creating and managing technology DBs Technology objects are accessed by mea

Configuration CPU 317T: Technology Functions A5E00251798-03 4-15 Step Description "Technology Objects Management" opens. (Example): You

Configuration CPU 317T: Technology Functions 4-16 A5E00251798-03 4.4 Using S7T Config 4.4.1 Starting S7T Config Requirements • SIMATIC Manager i

Configuration CPU 317T: Technology Functions A5E00251798-03 4-17 4.4.2 The user interface of S7T Config Use S7T Config to configure the technology

Configuration CPU 317T: Technology Functions 4-18 A5E00251798-03 Working area The working area shows the dialog boxes for configuring the technolog

Configuration CPU 317T: Technology Functions A5E00251798-03 4-19 Status bar The status bar provides context-sensitive information and indicates th

Configuration CPU 317T: Technology Functions 4-20 A5E00251798-03 4.5 Configuring axes Requirements • The data of the Technology CPU are configured

Configuration CPU 317T: Technology Functions A5E00251798-03 4-21 Step Description 2. For this example of a positioning axis configuration, select th

Configuration CPU 317T: Technology Functions 4-22 A5E00251798-03 Step Description 4. In the dialog box shown below, select the Axis type and the Mo

Configuration CPU 317T: Technology Functions A5E00251798-03 4-23 Step Description 5. From the list in the next dialog box, select the physical units