___________________

Preface

___________________
Documentation guide 1

SIMATIC
___________________
Introduction 2

___________________
Technology objects 3
S7-1500
S7-1500 Motion Control V4.0 in
___________________
Using versions 4
TIA Portal V15
___________________
Configuring 5
Function Manual

___________________
Programming 6

___________________
Downloading to CPU 7

___________________
Commissioning 8

___________________
Diagnostics 9

___________________
Instructions 10

___________________
Appendix A

TIA Portal V15

12/2017
A5E03879256-AE
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG A5E03879256-AE Copyright © Siemens AG 2012 - 2017.

Division Digital Factory Ⓟ 11/2017 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Purpose of the documentation

This documentation provides important information that you need to configure and
commission the integrated Motion Control functionality of the S7-1500 Automation systems.

Required basic knowledge

In order to understand this documentation, the following knowledge is required:
● General knowledge in the field of automation
● General knowledge in the field of drive engineering and motion control

Validity of the documentation

This documentation is valid for the S7-1500 product range.

Conventions
● For the path settings in the project navigation it is presumed that the "Technology objects"
object is opened in the CPU subtree. The "Technology object" placeholder represents the
name of the technology object.
Example: "Technology object > Configuration > Basic parameters".
● The <TO> placeholder represents the name set in tags for the respective technology
object.
Example: <TO>.Actor.Type
● This documentation contains pictures of the devices described. The pictures may differ in
minor details from the devices supplied.
You should also observe the notes that are marked as follows:

Note
A note contains important information about the product described in the documentation,
about the handling of the product, and about sections in this documentation demanding your
particular attention.

Further support
● The range of technical documentation for the individual SIMATIC products and systems is
available on the Internet (http://www.siemens.com/simatic-tech-doku-portal).
● The online catalog and the online ordering system is available on the Internet
(http://mall.industry.siemens.com).

S7-1500 Motion Control V4.0 in TIA Portal V15

4 Function Manual, 12/2017, A5E03879256-AE
 Preface

Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens' products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be
connected to an enterprise network or the internet if and to the extent such a connection is
necessary and only when appropriate security measures (e.g. firewalls and/or network
segmentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit (https://www.siemens.com/industrialsecurity).
Siemens' products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customers' exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under (https://www.siemens.com/industrialsecurity).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 5
Table of contents

Preface ...................................................................................................................................................... 4
1 Documentation guide ............................................................................................................................... 16
2 Introduction .............................................................................................................................................. 20
2.1 Interplay of the various documents ........................................................................................ 20
2.2 Integrated Motion Control functionality .................................................................................. 21
2.3 Principle of operation of S7-1500 Motion Control .................................................................. 22
2.4 Functions................................................................................................................................ 27
2.4.1 Functions - Axes .................................................................................................................... 27
2.4.2 Functions - Other technology objects .................................................................................... 28
2.5 Guidelines on use of motion control....................................................................................... 29
3 Technology objects .................................................................................................................................. 30
3.1 Configuration limits ................................................................................................................ 30
3.2 Basics - Axes ......................................................................................................................... 31
3.2.1 Axis types ............................................................................................................................... 31
3.2.2 Units of measure .................................................................................................................... 32
3.2.3 Modulo setting ........................................................................................................................ 33
3.2.4 Long-term accuracy ............................................................................................................... 33
3.2.5 Drive and encoder connection ............................................................................................... 34
3.2.5.1 Brief description ..................................................................................................................... 34
3.2.5.2 PROFIdrive telegrams ........................................................................................................... 36
3.2.5.3 Actual values .......................................................................................................................... 39
3.2.5.4 Automatic transfer of drive and encoder parameters in the device ....................................... 42
3.2.5.5 Safety functions in the drive ................................................................................................... 44
3.2.5.6 Axis in simulation ................................................................................................................... 49
3.2.5.7 Virtual axis.............................................................................................................................. 50
3.2.5.8 Data connection drive/encoder via data block ....................................................................... 50
3.2.5.9 Tags ....................................................................................................................................... 52
3.2.6 Mechanics .............................................................................................................................. 53
3.2.6.1 Brief description ..................................................................................................................... 53
3.2.6.2 Tags ....................................................................................................................................... 54
3.2.7 Traversing range limitation..................................................................................................... 55
3.2.7.1 Brief description ..................................................................................................................... 55
3.2.7.2 Hardware limit switches ......................................................................................................... 55
3.2.7.3 Software limit switch .............................................................................................................. 57
3.2.7.4 Tags ....................................................................................................................................... 58
3.2.8 Motion control and limits for dynamics ................................................................................... 59
3.2.8.1 Brief description ..................................................................................................................... 59
3.2.8.2 Velocity profile ........................................................................................................................ 60
3.2.8.3 Emergency stop deceleration ................................................................................................ 62
3.2.8.4 Dynamic limits in synchronous operation .............................................................................. 62
3.2.8.5 Torque limits........................................................................................................................... 63

S7-1500 Motion Control V4.0 in TIA Portal V15

6 Function Manual, 12/2017, A5E03879256-AE
 Table of contents

3.2.8.6 Tags ........................................................................................................................................68

3.2.9 Homing ....................................................................................................................................69
3.2.9.1 Brief description ......................................................................................................................69
3.2.9.2 Terms ......................................................................................................................................71
3.2.9.3 Homing mode..........................................................................................................................72
3.2.9.4 Active homing with homing cam and zero mark .....................................................................73
3.2.9.5 Active homing with zero mark .................................................................................................76
3.2.9.6 Active homing with digital input...............................................................................................78
3.2.9.7 Passive homing with homing cam and zero mark ..................................................................80
3.2.9.8 Passive homing with zero mark ..............................................................................................81
3.2.9.9 Passive homing with digital input ............................................................................................83
3.2.9.10 Direction reversal at the hardware limit switch (reversing cam) .............................................84
3.2.9.11 Direct homing ..........................................................................................................................85
3.2.9.12 Absolute value adjustment......................................................................................................85
3.2.9.13 Resetting the "Homed" status .................................................................................................86
3.2.9.14 Tags ........................................................................................................................................87
3.2.10 Position monitoring functions ..................................................................................................88
3.2.10.1 Brief description ......................................................................................................................88
3.2.10.2 Positioning monitoring.............................................................................................................88
3.2.10.3 Following error monitoring ......................................................................................................90
3.2.10.4 Standstill signal .......................................................................................................................90
3.2.10.5 Tags ........................................................................................................................................91
3.2.11 Closed-loop control .................................................................................................................92
3.2.11.1 Brief description ......................................................................................................................92
3.2.11.2 Control structure .....................................................................................................................93
3.2.11.3 Tags ........................................................................................................................................94
3.2.12 Process response ...................................................................................................................95
3.2.12.1 Organization Blocks for Motion Control ..................................................................................95
3.2.12.2 Process image partition "OB Servo PIP" ................................................................................97
3.2.12.3 Operational Sequence and Timeouts .....................................................................................98
3.2.12.4 Operating modes ..................................................................................................................100
3.3 Speed-controlled axis technology object ..............................................................................103
3.4 Positioning axis technology object ........................................................................................104
3.5 Synchronous axis technology object ....................................................................................105
3.5.1 Short description for synchronous axis .................................................................................105
3.5.2 Synchronous operation phases ............................................................................................106
3.5.3 Leading value coupling .........................................................................................................107
3.5.3.1 Short description for leading value coupling .........................................................................107
3.5.3.2 Setpoint coupling ..................................................................................................................107
3.5.4 Gearing with MC_GearIn ......................................................................................................107
3.5.5 Tags for synchronous operation ...........................................................................................109
3.6 Technology object external encoder .....................................................................................110
3.7 Technology object measuring input ......................................................................................111
3.7.1 Brief description ....................................................................................................................112
3.7.2 Measuring .............................................................................................................................116
3.7.2.1 One-time measurement ........................................................................................................116
3.7.2.2 Cyclic measuring...................................................................................................................117
3.7.3 Measuring with measuring range..........................................................................................121
3.7.4 Time-related boundary conditions ........................................................................................122
3.7.5 Tags ......................................................................................................................................124

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 7
Table of contents

3.8 Technology object output cam ............................................................................................. 126

3.8.1 Brief description ................................................................................................................... 126
3.8.2 Distance output cam ............................................................................................................ 130
3.8.3 Time-based output cam ....................................................................................................... 132
3.8.4 Activation direction of cam ................................................................................................... 133
3.8.5 Hysteresis ............................................................................................................................ 136
3.8.6 Compensation of actuator switching times .......................................................................... 138
3.8.7 Tags ..................................................................................................................................... 139
3.9 Cam track technology object................................................................................................ 141
3.9.1 Brief description ................................................................................................................... 141
3.9.2 Effective direction ................................................................................................................. 147
3.9.3 Changing the cam track data during operation .................................................................... 149
3.9.4 Activation behavior ............................................................................................................... 150
3.9.5 Hysteresis ............................................................................................................................ 153
3.9.6 Time offset of cam switching points ..................................................................................... 153
3.9.7 Tags ..................................................................................................................................... 153
4 Using versions ....................................................................................................................................... 155
4.1 Overview of versions ............................................................................................................ 155
4.2 Version V4.0......................................................................................................................... 159
4.3 Version V3.0......................................................................................................................... 161
4.4 Version V2.0......................................................................................................................... 163
4.5 Version V1.0......................................................................................................................... 164
4.6 Changing a technology version............................................................................................ 164
4.7 Replacing devices ................................................................................................................ 165
5 Configuring ............................................................................................................................................ 166
5.1 Adding and configuring drives in the device configuration .................................................. 166
5.1.1 Introduction .......................................................................................................................... 166
5.1.2 Add and configure PROFINET IO drives ............................................................................. 167
5.1.3 Add and configure PROFIBUS DP drives ............................................................................ 170
5.1.4 Adding and configuring drives with analog connections ...................................................... 172
5.2 Configuration basics ............................................................................................................ 175
5.2.1 Add technology object.......................................................................................................... 175
5.2.2 Copy technology object........................................................................................................ 176
5.2.3 Delete technology object...................................................................................................... 177
5.2.4 Working with the configuration editor ................................................................................... 178
5.2.5 Compare values ................................................................................................................... 179
5.3 Configuring the Speed-Control Axis technology object ....................................................... 180
5.3.1 Configuration - Basic Parameters ........................................................................................ 180
5.3.2 Hardware interface ............................................................................................................... 181
5.3.2.1 Configuration - Drive ............................................................................................................ 181
5.3.2.2 Configuration - Data exchange with the drive ...................................................................... 183
5.3.3 Extended Parameters .......................................................................................................... 185
5.3.3.1 Configuration - Mechanics ................................................................................................... 185
5.3.3.2 Configuration - Dynamic Defaults ........................................................................................ 185
5.3.3.3 Configuration - Emergency stop .......................................................................................... 187
5.3.3.4 Limits .................................................................................................................................... 188

S7-1500 Motion Control V4.0 in TIA Portal V15

8 Function Manual, 12/2017, A5E03879256-AE
 Table of contents

5.4 Configuring the positioning axis/synchronous axis technology object..................................191

5.4.1 Configuration - Basic Parameters .........................................................................................191
5.4.2 Hardware interface................................................................................................................192
5.4.2.1 Configuration - Drive .............................................................................................................192
5.4.2.2 Configuration - Encoder ........................................................................................................194
5.4.2.3 Configuration - Data exchange with the drive .......................................................................196
5.4.2.4 Configuration - Data exchange with encoder .......................................................................198
5.4.3 Configuration - leading value interconnections (synchronous axis only)..............................201
5.4.4 Extended Parameters ...........................................................................................................202
5.4.4.1 Configuration - Mechanics ....................................................................................................202
5.4.4.2 Configuration - Dynamic Defaults .........................................................................................207
5.4.4.3 Configuration - Emergency stop ...........................................................................................209
5.4.4.4 Limits .....................................................................................................................................210
5.4.4.5 Homing ..................................................................................................................................216
5.4.4.6 Position monitoring functions ................................................................................................226
5.4.4.7 Configuration - Control loop ..................................................................................................228
5.5 Configuring the technology object external encoder ............................................................230
5.5.1 Configuration - Basic Parameters .........................................................................................230
5.5.2 Hardware interface................................................................................................................231
5.5.2.1 Configuration - Encoder ........................................................................................................231
5.5.2.2 Configuration - Data exchange .............................................................................................232
5.5.3 Extended Parameters ...........................................................................................................238
5.5.3.1 Configuration - Mechanics ....................................................................................................238
5.5.3.2 Homing ..................................................................................................................................240
5.6 Configuring the technology object measuring input..............................................................244
5.6.1 Configuration - Basic Parameters .........................................................................................244
5.6.2 Configuration - Hardware interface .......................................................................................245
5.6.3 Configuration - Extended parameters ...................................................................................246
5.7 Configuring the cam technology object.................................................................................247
5.7.1 Configuration - Basic Parameters .........................................................................................247
5.7.2 Configuration - Hardware interface .......................................................................................248
5.7.3 Extended parameters............................................................................................................249
5.7.3.1 Configuration - Activation time ..............................................................................................249
5.7.3.2 Configuration - Hysteresis ....................................................................................................249
5.8 Configuring the cam track technology object ........................................................................250
5.8.1 Configuration - Basic Parameters .........................................................................................250
5.8.2 Configuration - Hardware interface .......................................................................................251
5.8.3 Extended parameters............................................................................................................252
5.8.3.1 Track data .............................................................................................................................252
5.8.3.2 Configuration - Output cam data...........................................................................................254
5.9 Configuring technology modules for Motion Control.............................................................255
5.9.1 Overview ...............................................................................................................................255
5.9.2 TM Count 1x24V / TM Count 2x24V .....................................................................................256
5.9.3 TM PosInput 1 / TM PosInput 2 ............................................................................................258
5.9.4 TM Timer DIDQ 10x24V / TM Timer DIDQ 16x24V .............................................................260
5.9.5 TM Pulse 2x24V....................................................................................................................261
5.9.6 TM PTO 4 .............................................................................................................................262
5.9.7 CPU 1511C-1 PN / CPU 1512C-1 PN ..................................................................................264
5.10 Connect drive/encoder via data block...................................................................................269

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 9
Table of contents

5.11 Parameter view .................................................................................................................... 271

5.11.1 Introduction to the parameter view....................................................................................... 271
5.11.2 Structure of the parameter view ........................................................................................... 272
5.11.2.1 Toolbar ................................................................................................................................. 272
5.11.2.2 Navigation ............................................................................................................................ 273
5.11.2.3 Parameter table.................................................................................................................... 273
5.11.3 Opening the parameter view ................................................................................................ 275
5.11.4 Working with the parameter view ......................................................................................... 275
5.11.4.1 Overview .............................................................................................................................. 275
5.11.4.2 Filtering the parameter table ................................................................................................ 276
5.11.4.3 Sorting the parameter table ................................................................................................. 277
5.11.4.4 Transferring parameter data to other editors ....................................................................... 277
5.11.4.5 Indicating errors ................................................................................................................... 278
5.11.4.6 Editing start values in the project ......................................................................................... 278
5.11.4.7 Monitoring values online in the parameter view................................................................... 280
5.11.4.8 Modifying values .................................................................................................................. 281
5.11.4.9 Comparing values ................................................................................................................ 282
6 Programming ......................................................................................................................................... 284
6.1 Introduction .......................................................................................................................... 284
6.2 Technology data block ......................................................................................................... 284
6.2.1 Introduction .......................................................................................................................... 284
6.2.2 Evaluating the technology data block .................................................................................. 285
6.2.3 Evaluate StatusWord, ErrorWord and WarningWord .......................................................... 288
6.2.4 Change restart-relevant data ............................................................................................... 289
6.3 Motion Control instructions .................................................................................................. 290
6.3.1 Motion Control instruction parameters ................................................................................. 290
6.3.2 Add Motion Control instructions ........................................................................................... 294
6.3.3 Parameter transfer for function blocks ................................................................................. 296
6.3.4 Non position-controlled operation ........................................................................................ 298
6.4 Starting Motion Control jobs................................................................................................. 300
6.5 Tracking active jobs ............................................................................................................. 302
6.5.1 Introduction .......................................................................................................................... 302
6.5.2 Motion Control instructions with "Done" parameter ............................................................. 302
6.5.3 Motion Control instructions without "Done" parameter ........................................................ 306
6.5.4 Motion Control instruction "MC_MoveJog" .......................................................................... 310
6.6 Ending Motion Control jobs .................................................................................................. 313
6.7 Restart of technology objects............................................................................................... 314
7 Downloading to CPU ............................................................................................................................. 315
8 Commissioning ...................................................................................................................................... 316
8.1 Introduction .......................................................................................................................... 316
8.2 Commissioning guidelines ................................................................................................... 316
8.3 Axis control panel ................................................................................................................. 319
8.3.1 Function and structure of the axis control panel .................................................................. 319
8.3.2 Using the axis control panel ................................................................................................. 324

S7-1500 Motion Control V4.0 in TIA Portal V15

10 Function Manual, 12/2017, A5E03879256-AE
 Table of contents

8.4 Optimization ..........................................................................................................................325

8.4.1 Function and structure of the optimization ............................................................................325
8.4.2 Optimize position controller ..................................................................................................329
9 Diagnostics ............................................................................................................................................ 332
9.1 Introduction ...........................................................................................................................332
9.2 Diagnostic concept................................................................................................................332
9.3 Technology alarms................................................................................................................333
9.4 Errors in Motion Control instructions.....................................................................................337
9.5 Speed-controlled axis technology object ..............................................................................338
9.5.1 Status and error bits..............................................................................................................338
9.5.2 Motion status.........................................................................................................................341
9.5.3 PROFIdrive telegram ............................................................................................................342
9.6 Positioning axis/synchronous axis technology object ...........................................................343
9.6.1 Status and error bits..............................................................................................................343
9.6.2 Motion status.........................................................................................................................347
9.6.3 PROFIdrive telegram ............................................................................................................349
9.6.4 Additional displays for the technology CPU ..........................................................................350
9.7 Technology object external encoder .....................................................................................351
9.7.1 Status and error bits..............................................................................................................351
9.7.2 Motion status.........................................................................................................................353
9.7.3 PROFIdrive frame .................................................................................................................353
9.8 Technology object measuring input ......................................................................................354
9.8.1 Status and error bits..............................................................................................................354
9.9 Technology object output cam ..............................................................................................356
9.9.1 Status and error bits..............................................................................................................356
9.10 Cam track technology object ................................................................................................358
9.10.1 Status and error bits..............................................................................................................358
9.10.2 Cam track status ...................................................................................................................360
10 Instructions ............................................................................................................................................ 361
10.1 MC_Power V4 .......................................................................................................................361
10.1.1 MC_Power: Enable, disable technology object V4 ...............................................................361
10.1.2 MC_Power: Function chart V4 ..............................................................................................366
10.2 MC_Reset V4 ........................................................................................................................367
10.2.1 MC_Reset: Acknowledge alarms, restart technology object V4 ...........................................367
10.3 MC_Home V4........................................................................................................................369
10.3.1 MC_Home: Home technology object, set home position V4 ................................................369
10.4 MC_Halt V4 ...........................................................................................................................374
10.4.1 MC_Halt: Pause axis V4 .......................................................................................................374
10.4.2 MC_Halt: Function chart V4 ..................................................................................................377
10.5 MC_MoveAbsolute V4 ..........................................................................................................378
10.5.1 MC_MoveAbsolute: Position axis absolutely V4...................................................................378
10.5.2 MC_MoveAbsolute: Function chart V4 .................................................................................381

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 11
Table of contents

10.6 MC_MoveRelative V4 .......................................................................................................... 382

10.6.1 MC_MoveRelative: Position axis relatively V4 ..................................................................... 382
10.6.2 MC_MoveRelative: Function chart V4 ................................................................................. 385
10.7 MC_MoveVelocity V4 ........................................................................................................... 386
10.7.1 MC_MoveVelocity: Move axis at velocity/speed setpoint V4 ............................................... 386
10.7.2 MC_MoveVelocity: Function chart V4 .................................................................................. 390
10.8 MC_MoveJog V4 .................................................................................................................. 391
10.8.1 MC_MoveJog: Move axis in jog mode V4 ............................................................................ 391
10.8.2 MC_MoveJog: Function chart V4 ......................................................................................... 394
10.9 MC_MoveSuperimposed V4 ................................................................................................ 395
10.9.1 MC_MoveSuperimposed: Position axes overlapping V4 ..................................................... 395
10.9.2 MC_MoveSuperimposed: Function chart V4 ....................................................................... 398
10.10 Measuring input, output cam, cam track .............................................................................. 399
10.10.1 MC_MeasuringInput V4 ....................................................................................................... 399
10.10.1.1 MC_MeasuringInput: Start measuring once V4 ................................................................... 399
10.10.1.2 MC_MeasuringInput: Function chart V4 .............................................................................. 401
10.10.2 MC_MeasuringInputCyclic V4 .............................................................................................. 402
10.10.2.1 MC_MeasuringInputCyclic: Start cyclic measuring V4 ........................................................ 402
10.10.2.2 MC_MeasuringInputCyclic: Function chart V4 ..................................................................... 404
10.10.3 MC_AbortMeasuringInput V4 ............................................................................................... 406
10.10.3.1 MC_AbortMeasuringInput: Abort active measuring V4 ........................................................ 406
10.10.4 MC_OutputCam V4 .............................................................................................................. 407
10.10.4.1 MC_OutputCam: Activate/deactivate cam V4...................................................................... 407
10.10.4.2 MC_OutputCam: Function chart V4 ..................................................................................... 409
10.10.5 MC_CamTrack V4 ................................................................................................................ 410
10.10.5.1 MC_CamTrack: Activate/deactivate cam track V4............................................................... 410
10.10.5.2 MC_CamTrack: Function chart V4 ....................................................................................... 412
10.11 Synchronous motion ............................................................................................................ 413
10.11.1 MC_GearIn V4 ..................................................................................................................... 413
10.11.1.1 MC_GearIn: Start gear synchronization V4 ......................................................................... 413
10.11.1.2 MC_GearIn: Function chart V4 ............................................................................................ 416
10.12 Torque data .......................................................................................................................... 417
10.12.1 MC_TorqueLimiting V4 ........................................................................................................ 417
10.12.1.1 MC_TorqueLimiting: Activate and deactivate force/torque limit / fixed stop detection V4 ... 417
10.12.1.2 MC_TorqueLimiting: Function chart V4 ............................................................................... 420
10.12.2 MC_TorqueAdditive V4 ........................................................................................................ 422
10.12.2.1 MC_TorqueAdditive: Specify additive torque V4 ................................................................. 422
10.12.2.2 MC_TorqueAdditive: Function chart V4 ............................................................................... 424
10.12.3 MC_TorqueRange V4 .......................................................................................................... 425
10.12.3.1 MC_TorqueRange: Set high and low torque limits V4 ......................................................... 425
10.12.3.2 MC_TorqueRange: Function chart V4 ................................................................................. 427
10.13 Override response of Motion Control jobs V4 ...................................................................... 428
10.13.1 Override response V4: Homing and motion jobs ................................................................. 428
10.13.2 Override response V4: Synchronous operation jobs ........................................................... 429
10.13.3 Override response V4: Measuring input jobs....................................................................... 430

S7-1500 Motion Control V4.0 in TIA Portal V15

12 Function Manual, 12/2017, A5E03879256-AE
 Table of contents

A Appendix................................................................................................................................................ 431
A.1 Tags of the speed axis technology object ............................................................................431
A.1.1 Legend ..................................................................................................................................431
A.1.2 Actual values and setpoints (speed axis) .............................................................................431
A.1.3 Variable simulation (speed axis) ...........................................................................................432
A.1.4 VirtualAxis tag (speed axis) ..................................................................................................432
A.1.5 Actor tags (speed axis) .........................................................................................................433
A.1.6 Torque Limiting tag (speed axis) ..........................................................................................434
A.1.7 LoadGear tags (speed axis) .................................................................................................435
A.1.8 Units tags (speed axis) .........................................................................................................435
A.1.9 DynamicLimits tags (speed axis) ..........................................................................................436
A.1.10 DynamicDefaults tags (speed axis) ......................................................................................436
A.1.11 Override tags (speed axis) ....................................................................................................437
A.1.12 StatusDrive tags (speed axis) ...............................................................................................437
A.1.13 StatusTorqueData tags (speed axis) ....................................................................................438
A.1.14 StatusMotionIn tags (speed axis) .........................................................................................438
A.1.15 StatusWord tag (speed axis) ................................................................................................439
A.1.16 ErrorWord tag (speed axis) ...................................................................................................441
A.1.17 ErrorDetail tags (speed axis) ................................................................................................442
A.1.18 WarningWord tag (speed axis) .............................................................................................443
A.1.19 ControlPanel tags (speed axis).............................................................................................444
A.1.20 InternalToTrace tags (speed axis) ........................................................................................445
A.2 Tags of the positioning axis/synchronous axis technology object ........................................445
A.2.1 Legend ..................................................................................................................................445
A.2.2 Actual values and setpoints (positioning axis/synchronous axis) .........................................446
A.2.3 Simulation tag (positioning axis / synchronous axis) ............................................................446
A.2.4 VirtualAxis tag (positioning axis/synchronous axis) ..............................................................447
A.2.5 Actor tags (positioning axis/synchronous axis).....................................................................447
A.2.6 TorqueLimiting tag (positioning axis/synchronous axis) .......................................................449
A.2.7 Clamping tag (positioning axis/synchronous axis)................................................................449
A.2.8 Sensor[n] tags (positioning axis/synchronous axis)..............................................................450
A.2.9 Extrapolation tag (positioning axis/synchronous axis) ..........................................................452
A.2.10 LoadGear tags (positioning axis/synchronous axis) .............................................................453
A.2.11 Properties tags (positioning axis/synchronous axis).............................................................453
A.2.12 Units tag (positioning axis/synchronous axis) .......................................................................454
A.2.13 Mechanics tags (positioning axis/synchronous axis) ............................................................455
A.2.14 Modulo tags (positioning axis/synchronous axis) .................................................................456
A.2.15 DynamicLimits tags (positioning axis/synchronous axis)......................................................456
A.2.16 DynamicDefaults tags (positioning axis/synchronous axis) ..................................................457
A.2.17 PositionLimits_SW tags (positioning axis/synchronous axis) ...............................................457
A.2.18 PositionLimits_HW tags (positioning axis/synchronous axis) ...............................................458
A.2.19 Homing tags (positioning axis/synchronous axis).................................................................459
A.2.20 Override tags (positioning axis/synchronous axis) ...............................................................460
A.2.21 PositionControl tags (positioning axis/synchronous axis).....................................................461
A.2.22 DynamicAxisModel tags (positioning axis/synchronous axis) ..............................................462
A.2.23 FollowingError tags (positioning axis/synchronous axis) ......................................................463
A.2.24 PositionMonitoring tags (positioning axis/synchronous axis) ...............................................464
A.2.25 StandstillSignal tags (positioning axis/synchronous axis) ....................................................465
A.2.26 StatusPositioning tags (positioning axis/synchronous axis) .................................................465
A.2.27 StatusDrive tags (positioning axis/synchronous axis) ..........................................................466
A.2.28 StatusServo tags (positioning axis/synchronous axis) .........................................................466

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 13
Table of contents

A.2.29 StatusSensor[n] tags (positioning axis/synchronous axis) .................................................. 467

A.2.30 StatusExtrapolation tag (positioning axis/synchronous axis)............................................... 468
A.2.31 StatusSynchronizedMotion tags (synchronous axis) ........................................................... 469
A.2.32 StatusKinematicsMotion tag (positioning axis/synchronous axis) ....................................... 470
A.2.33 StatusTorqueData tags (positioning axis/synchronous axis) ............................................... 471
A.2.34 StatusMotionIn tags (positioning axis/synchronous axis) .................................................... 471
A.2.35 StatusWord tag (positioning axis/synchronous axis) ........................................................... 472
A.2.36 ErrorWord tag (positioning axis/synchronous axis) ............................................................. 475
A.2.37 ErrorDetail tags (positioning axis/synchronous axis) ........................................................... 476
A.2.38 WarningWord tag (positioning axis/synchronous axis) ........................................................ 477
A.2.39 ControlPanel tags (positioning axis/synchronous axis) ....................................................... 478
A.2.40 InternalToTrace tags (positioning axis/synchronous axis) ................................................... 478
A.3 Tags of the technology object external encoder .................................................................. 479
A.3.1 Legend ................................................................................................................................. 479
A.3.2 Actual values and setpoints (external encoder) ................................................................... 479
A.3.3 Sensor tags (external encoder)............................................................................................ 480
A.3.4 Extrapolation tag (external encoder) .................................................................................... 482
A.3.5 LoadGear tags (external encoder) ....................................................................................... 483
A.3.6 Properties tags (external encoder)....................................................................................... 483
A.3.7 Units tag (external encoder)................................................................................................. 484
A.3.8 Mechanics tags (external encoder) ...................................................................................... 485
A.3.9 Modulo tags (external encoder) ........................................................................................... 485
A.3.10 Homing tags (external encoder)........................................................................................... 485
A.3.11 StatusSensor tags (external encoder) ................................................................................. 486
A.3.12 StatusExtrapolation tag (external encoder) ......................................................................... 487
A.3.13 StatusWord tag (external encoder) ...................................................................................... 488
A.3.14 ErrorWord tag (external encoder) ........................................................................................ 489
A.3.15 ErrorDetail tags (external encoder) ...................................................................................... 490
A.3.16 WarningWord tag (external encoder) ................................................................................... 491
A.3.17 InternalToTrace tags (external encoder) ............................................................................. 492
A.4 Tags of the measuring input technology object ................................................................... 492
A.4.1 Legend ................................................................................................................................. 492
A.4.2 Display data (measuring input) ............................................................................................ 493
A.4.3 Parameter tags (measuring input) ....................................................................................... 493
A.4.4 Interface tags (measuring input) .......................................................................................... 494
A.4.5 Units tags (measuring input) ................................................................................................ 494
A.4.6 MeasuredValues tags (measuring input) ............................................................................. 495
A.4.7 StatusWord tag (measuring input) ....................................................................................... 496
A.4.8 ErrorWord tag (measuring input) ......................................................................................... 497
A.4.9 ErrorDetail tags (measuring input) ....................................................................................... 498
A.4.10 WarningWord tag (measuring input) .................................................................................... 499
A.5 Tags of the cam technology object ...................................................................................... 500
A.5.1 Legend ................................................................................................................................. 500
A.5.2 Display data (cam) ............................................................................................................... 500
A.5.3 Parameter tags (cam) .......................................................................................................... 501
A.5.4 Interface tags (cam) ............................................................................................................. 501
A.5.5 Units tags (cam) ................................................................................................................... 502
A.5.6 StatusWord tag (output cam) ............................................................................................... 503
A.5.7 ErrorWord tag (output cam) ................................................................................................. 504
A.5.8 ErrorDetail tags (cam) .......................................................................................................... 505
A.5.9 WarningWord tag (output cam) ............................................................................................ 505

S7-1500 Motion Control V4.0 in TIA Portal V15

14 Function Manual, 12/2017, A5E03879256-AE
 Table of contents

A.6 Tags of the cam track technology object ..............................................................................506

A.6.1 Legend ..................................................................................................................................506
A.6.2 Display data (cam track) .......................................................................................................507
A.6.3 Parameter tags (cam track) ..................................................................................................508
A.6.4 Interface tags (cam track) .....................................................................................................509
A.6.5 Units tags (cam track) ...........................................................................................................509
A.6.6 StatusWord tag (cam track) ..................................................................................................510
A.6.7 ErrorWord tag (cam track) ....................................................................................................511
A.6.8 ErrorDetail tags (cam track) ..................................................................................................512
A.6.9 WarningWord tag (cam track) ...............................................................................................512
A.7 Technology alarms................................................................................................................513
A.7.1 Overview ...............................................................................................................................513
A.7.2 Technology alarms 101-113 .................................................................................................517
A.7.3 Technology alarms 201-204 .................................................................................................524
A.7.4 Technology alarms 304-343 .................................................................................................525
A.7.5 Technology alarms 401-431 .................................................................................................528
A.7.6 Technology alarms 501-552 .................................................................................................531
A.7.7 Technology alarms 601-618 .................................................................................................537
A.7.8 Technology alarms 700-758 .................................................................................................538
A.8 Error ID for Motion Control instructions ................................................................................542
A.9 MC_Power function chart ......................................................................................................547
A.9.1 Drive connection via PROFIdrive..........................................................................................547
A.9.1.1 StopMode 0, 2.......................................................................................................................547
A.9.1.2 StopMode 1...........................................................................................................................548
A.9.1.3 Alarm reactions with braking ramp via the technology object ..............................................549
A.9.1.4 Alarm response "Remove enable" ........................................................................................550
A.9.2 Analog drive connection .......................................................................................................551
A.9.2.1 StopMode 0, 2.......................................................................................................................551
A.9.2.2 StopMode 1...........................................................................................................................552
A.9.2.3 Alarm reactions with braking ramp via the technology object ..............................................553
A.9.2.4 Alarm response "Remove enable" ........................................................................................554
A.10 SINAMICS drives ..................................................................................................................555
A.10.1 Compatibility list ....................................................................................................................555
A.10.2 Homing SINAMICS drives with external zero marks ............................................................555
A.11 Data types .............................................................................................................................555
Glossary ................................................................................................................................................ 556
Index ...................................................................................................................................................... 560

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 15
Documentation guide 1
The documentation for the SIMATIC S7-1500 automation system and the SIMATIC
ET 200MP distributed I/O system is arranged into three areas.
This arrangement enables you to access the specific content you require.

Basic information
The System Manual and Getting Started describe in detail the configuration, installation,
wiring and commissioning of the SIMATIC S7-1500 and ET 200MP systems. The STEP 7
online help supports you in the configuration and programming.

Device information
Product manuals contain a compact description of the module-specific information, such as
properties, wiring diagrams, characteristics and technical specifications.

General information
The function manuals contain detailed descriptions on general topics regarding the SIMATIC
S7-1500 and ET 200MP systems, e.g. diagnostics, communication, motion control, Web
server, OPC UA.
You can download the documentation free of charge from the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109742691).
Changes and supplements to the manuals are documented in a Product Information.
You can download the product information free of charge from the Internet
(https://support.industry.siemens.com/cs/us/en/view/68052815).

S7-1500 Motion Control V4.0 in TIA Portal V15

16 Function Manual, 12/2017, A5E03879256-AE
 Documentation guide

Manual Collection S7-1500/ET 200MP

The Manual Collection contains the complete documentation on the SIMATIC S7-1500
automation system and the ET 200MP distributed I/O system gathered together in one file.
You can find the Manual Collection on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/86140384).

SIMATIC S7-1500 comparison list for programming languages

The comparison list contains an overview of which instructions and functions you can use for
which controller families.
You can find the comparison list on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/86630375).

"mySupport"
With "mySupport", your personal workspace, you make the best out of your Industry Online
Support.
In "mySupport", you can save filters, favorites and tags, request CAx data and compile your
personal library in the Documentation area. In addition, your data is already filled out in
support requests and you can get an overview of your current requests at any time.
You must register once to use the full functionality of "mySupport".
You can find "mySupport" on the Internet (https://support.industry.siemens.com/My/ww/en).

"mySupport" - Documentation
In the Documentation area in "mySupport" you can combine entire manuals or only parts of
these to your own manual.
You can export the manual as PDF file or in a format that can be edited later.
You can find "mySupport" - Documentation on the Internet
(http://support.industry.siemens.com/My/ww/en/documentation).

"mySupport" - CAx data

In the CAx data area in "mySupport", you can access the current product data for your CAx
or CAe system.
You configure your own download package with a few clicks.
In doing so you can select:
● Product images, 2D dimension drawings, 3D models, internal circuit diagrams, EPLAN
macro files
● Manuals, characteristics, operating manuals, certificates
● Product master data
You can find "mySupport" - CAx data on the Internet
(http://support.industry.siemens.com/my/ww/en/CAxOnline).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 17
Documentation guide

Application examples
The application examples support you with various tools and examples for solving your
automation tasks. Solutions are shown in interplay with multiple components in the system -
separated from the focus on individual products.
You will find the application examples on the Internet
(https://support.industry.siemens.com/sc/ww/en/sc/2054).

TIA Selection Tool

With the TIA Selection Tool, you can select, configure and order devices for Totally
Integrated Automation (TIA).
This tool is the successor of the SIMATIC Selection Tool and combines the known
configurators for automation technology into one tool.
With the TIA Selection Tool, you can generate a complete order list from your product
selection or product configuration.
You can find the TIA Selection Tool on the Internet
(http://w3.siemens.com/mcms/topics/en/simatic/tia-selection-tool).

SIMATIC Automation Tool

You can use the SIMATIC Automation Tool to perform commissioning and maintenance
activities simultaneously on various SIMATIC S7 stations as a bulk operation independent of
the TIA Portal.
General function overview:
● Network browsing and creation of a table showing the accessible devices in the network.
● Flashing of device LEDs or HMI display to locate a device
● Downloading of addresses (IP, subnet, gateway) to a device
● Downloading the PROFINET name (station name) to a device
● Placing a CPU in RUN or STOP mode
● Setting the time in a CPU to the current time of your PG/PC
● Downloading a new program to a CPU or an HMI device
● Downloading from CPU, downloading to CPU or deleting recipe data from a CPU
● Downloading from CPU or deleting data log data from a CPU
● Backup/restore of data from/to a backup file for CPUs and HMI devices
● Downloading service data from a CPU
● Reading the diagnostics buffer of a CPU
● Performing a CPU memory reset
● Resetting devices to factory settings
● Downloading a firmware update to a device
You can find the SIMATIC Automation Tool on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/98161300).

S7-1500 Motion Control V4.0 in TIA Portal V15

18 Function Manual, 12/2017, A5E03879256-AE
 Documentation guide

PRONETA
With SIEMENS PRONETA (PROFINET network analysis), you analyze the PROFINET
network during commissioning. PRONETA features two core functions:
● The topology overview independently scans PROFINET network and all connected
components.
● The IO check is a fast test of the wiring and the module configuration of a system.
You can find SIEMENS PRONETA on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/67460624).

SINETPLAN
SINETPLAN, the Siemens Network Planner, supports you in planning automation systems
and networks based on PROFINET. The tool facilitates professional and predictive
dimensioning of your PROFINET installation as early as in the planning stage. In addition,
SINETPLAN supports you during network optimization and helps you to exploit network
resources optimally and to plan reserves. This helps to prevent problems in commissioning
or failures during productive operation even in advance of a planned operation. This
increases the availability of the production plant and helps improve operational safety.
The advantages at a glance
● Network optimization thanks to port-specific calculation of the network load
● Increased production availability thanks to online scan and verification of existing systems
● Transparency before commissioning through importing and simulation of existing STEP 7
projects
● Efficiency through securing existing investments in the long term and optimal exploitation
of resources
You can find SINETPLAN on the Internet (https://www.siemens.com/sinetplan).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 19
Introduction 2
2.1 Interplay of the various documents
For a better overview, the documentation of the Motion Control functions is divided into the
following documents:
● Using S7-1500T Motion Control
(https://support.industry.siemens.com/cs/ww/en/view/109749263)
● Using S7-1500T Kinematics Functions
(https://support.industry.siemens.com/cs/ww/en/view/109749264)
"Using S7-1500 Motion Control" describes the Motion Control functions for the following
technology objects:
● Speed axis
● Positioning axis
● Synchronous axis
● External encoder
● Measuring input
● Output cam
● Cam track
● Cam (S7-1500T)
"Using S7-1500T Kinematics Functions" describes the Motion Control functions for the
kinematics technology object. This document assumes that the Motion Control functions
described in "Using S7-1500 Motion Control functions" are known.

S7-1500 Motion Control V4.0 in TIA Portal V15

20 Function Manual, 12/2017, A5E03879256-AE
 Introduction
2.2 Integrated Motion Control functionality

2.2 Integrated Motion Control functionality

S7-1500 Motion Control supports controlled positioning and moving of axes and is an
integral part of every CPU S7-1500 as well as every CPU S7-1500SP. The S7-1500T
Technology CPUs provide enhanced functions.
The Motion Control functionality supports the following technology objects:
● Speed axis
● Positioning axis
● Synchronous axis
● External encoder
● Measuring input
● Output cam
● Cam track
● Cam (S7-1500T)
● Kinematics (S7-1500T)
Drives with PROFIdrive capability and drives with analog setpoint interface and stepper
motors are controlled by means of standardized Motion Control instructions according to
PLCopen.
The axis control panel and comprehensive online and diagnostic functions support easy
commissioning and optimization of drives.
S7-1500 Motion Control is fully integrated into the system diagnostics of the S7-1500 CPU.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 21
Introduction
2.3 Principle of operation of S7-1500 Motion Control

2.3 Principle of operation of S7-1500 Motion Control

Overview
You create a project, configure technology objects, and download the configuration to the
CPU with the TIA Portal. The Motion Control functionality is processed in the CPU.
You control the technology objects with the Motion Control instructions in your user program.
The TIA Portal provides additional functions for commissioning, optimization (Page 316) and
diagnostics (Page 332).
The following figure provides a schematic representation of the user interfaces and the
integration of Motion Control into the S7-1500 CPU. The concepts are then briefly explained:

S7-1500 Motion Control V4.0 in TIA Portal V15

22 Function Manual, 12/2017, A5E03879256-AE
 Introduction
2.3 Principle of operation of S7-1500 Motion Control

TIA Portal
The TIA Portal supports you in the planning and commissioning of Motion Control
functionality:
● Integrating and configuring hardware
● Creating and configuring technology objects
● Creating the user program
● Downloading to CPU
● Commissioning of axes
● Optimization of drives
● Diagnostics
You use the TIA Portal to configure the hardware, the technology objects as well as your
user program. You download the program you created to the CPU. You test your user
program and diagnose the hardware with the online and diagnostic functions of the
TIA Portal.

Technology objects

Technology objects represent real objects (e.g. a drive) in the controller. You call the
functions of the technology objects by means of Motion Control instructions in your user
program. The technology objects provide open- and closed-loop control of the movement of
the real objects, and report status information (e.g. the current position).
The configuration of the technology objects represents the properties of the real object. The
configuration data is stored in a technology data block.
The following technology objects are available for Motion Control:
● Speed axis technology object
The speed axis technology object ("TO_SpeedAxis") is used to specify the speed for a
drive. You program the motion of the axis with motion control instructions.
● Positioning axis technology object
The positioning axis technology object ("TO_PositioningAxis") is used to position a drive
with closed-loop position control. You issue positioning jobs to the axis with Motion
Control instructions in your user program.
● Synchronous axis technology object
The synchronous axis technology object ("TO_SynchronousAxis") includes all functions of
the positioning axis technology object. The axis can also be interconnected with a leading
value so that the axis follows the position change of a leading axis in synchronous
operation.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 23
Introduction
2.3 Principle of operation of S7-1500 Motion Control

● External encoder technology object

The external encoder technology object ("TO_ExternalEncoder") detects a position and
makes it available to the controller. The detected position can be evaluated in the user
program.
● Measuring input technology object
The measuring input technology object ("TO_MeasuringInput") detects actual positions
quickly, accurately and event triggered.
● Output cam technology object
The output cam technology object ("TO_OutputCam") generates switching signals
depending on the position of an axis or external encoder. You can evaluate the switching
signals in the user program or feed them to digital outputs.
● Cam track technology object
The cam track technology object ("TO_CamTrack") generates a switching signal
sequence depending on the position of an axis or external encoder. In this process, up to
32 individual cams are superimposed and the switching signals are output as a track. You
can evaluate the switching signals in the user program or feed them to digital outputs.
● Cam technology object (S7-1500T)
The cam technology object ("TO_Cam") defines a function f(x) by means of interpolation
points and/or segments. Missing function ranges are interpolated.
● Kinematic technology object (S7-1500T)
The Kinematic technology object ("TO_Kinematics") is used to interconnect positioning
axes to a kinematic. When you configure the kinematics technology object, you
interconnect the axes in accordance with the configured kinematics type.

Technology data block

The properties of real objects are configured by means of the technology objects and saved
in a technology data block (Page 284). The technology data block contains all configuration
data, setpoint and actual values, and status information of the technology object. The TIA
Portal automatically creates the technology data block when the technology object is
created. You access the data of the technology data block (read/write access) with your user
program.

S7-1500 Motion Control V4.0 in TIA Portal V15

24 Function Manual, 12/2017, A5E03879256-AE
 Introduction
2.3 Principle of operation of S7-1500 Motion Control

Motion Control instructions

With the Motion Control instructions you perform the desired functionality in the technology
objects. The Motion Control instructions are available in the TIA Portal under "Instructions >
Technology > Motion Control".

The Motion Control instructions conform to PLCopen (version 2.0).

User program
The Motion Control instructions and the technology data block represent the programming
interfaces for the technology objects. You use Motion Control instructions to transfer Motion
Control jobs for the technology objects in your user program. You track the status of running
jobs via the output parameters of the Motion Control instructions. You access status
information of the technology object and change specific configuration parameters during
runtime using the technology data block.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 25
Introduction
2.3 Principle of operation of S7-1500 Motion Control

Drives and encoders

Drives ensure the motion of the axis. They are integrated in the hardware configuration.
When you execute a Motion Control job in your user program, the technology object takes
over the control of the drive and the reading in of values of encoders.
Drives and encoders with PROFIdrive capability are connected by means of PROFIdrive
telegrams. The following connections are possible:
● PROFINET IO
● PROFIBUS DP
● Technology module (TM)
Drives with analog setpoint interfaces are connected using an analog output (AQ) and an
optional enable signal. Analog inputs and outputs are made available by means of
corresponding I/O modules.
A drive is also called an actuator, and an encoder is also called a sensor.
The figure below shows an example configuration in which all components are connected to
the CPU by means of PROFINET IO:

S7-1500 Motion Control V4.0 in TIA Portal V15

26 Function Manual, 12/2017, A5E03879256-AE
 Introduction
2.4 Functions

2.4 Functions

2.4.1 Functions - Axes

You execute the functions of the speed axis, positioning axis and synchronous axis
technology objects using Motion Control instructions in your user program or using the
TIA Portal (under "Technology object > Commissioning").
The following table shows the functions that are supported by technology objects:

Function Technology object

Speed axis (Page 103) Positioning axis Synchronous axis
(Page 104) (Page 105)
Motion Control instructions (user program)
"MC_Power (Page 361)" X X X
Enable, disable technology objects
"MC_Home (Page 369)" - X X
Home technology objects, set home
position
"MC_MoveJog (Page 391)" X X X
Move axes in Jog mode
"MC_MoveVelocity (Page 386)" X X X
Move axes at predefined velocity
"MC_MoveRelative (Page 382)" - X X
Relative positioning of axes
"MC_MoveAbsolute (Page 378)" - X X
Absolute positioning of axes
"MC_MoveSuperimposed - X X
(Page 395)"
Positioning axes overlapping
"MC_GearIn (Page 413)" - - X
Start gearing
"MC_Halt (Page 374)" X X X
Halt axes
"MC_TorqueLimiting (Page 417)" X X X
Limit torque using torque reduction
"MC_Reset (Page 367)" X X X
Acknowledge alarms, restart technol-
ogy objects
"MC_TorqueAdditive (Page 422)" X X X
Specify additive torque and activate/
deactivate
"MC_TorqueRange (Page 425)" X X X
Specify high and low torque limits

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 27
Introduction
2.4 Functions

Function Technology object

Speed axis (Page 103) Positioning axis Synchronous axis
(Page 104) (Page 105)
TIA Portal
"Axis control panel (Page 319)" X X X
Move and home axes using the
TIA Portal
"Optimization (Page 325)" - X X
Optimization of closed loop position
control

2.4.2 Functions - Other technology objects

You execute the functions of the other technology objects by means of Motion Control
instructions in your user program.
The following table shows the Motion Control instructions that are supported by the
technology objects:

Motion Control instruction Technology object

External encoder Measuring input Output cam Cam track
(Page 110) (Page 111) (Page 126) (Page 141)
Motion Control instructions (user program)
"MC_Power (Page 361)" X - - -
Enable, disable technology objects
"MC_Home (Page 369)" X - - -
Home technology objects, set home
position
"MC_MeasuringInput (Page 399)" - X - -
Start measuring job once
"MC_MeasuringInputCyclic - X - -
(Page 402)"
Start cyclic measuring job
"MC_AbortMeasuringInput - X - -
(Page 406)"
End measuring job
"MC_OutputCam (Page 407)" - - X -
Activate/deactivate output cam
"MC_CamTrack (Page 410)" - - - X
Activate/deactivate cam track
"MC_Reset (Page 367)" X X X X
Acknowledge alarms, restart technol-
ogy objects

S7-1500 Motion Control V4.0 in TIA Portal V15

28 Function Manual, 12/2017, A5E03879256-AE
 Introduction
2.5 Guidelines on use of motion control

2.5 Guidelines on use of motion control

The guidelines described here present the basic procedure for using Motion Control with the
CPU S7-1500. These guidelines serve as recommendations.

Requirements
● A project with a CPU S7-1500 has been created.

Procedure
Proceed as follows to use Motion Control with the CPU S7-1500:
1. Add technology object (Page 175)
2. Working with the configuration editor (Page 178)
3. Programming (Page 284)
4. Downloading to CPU (Page 315)
5. Functional test in the Commissioning window (Page 316)
6. Diagnostics (Page 332)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 29
Technology objects 3
3.1 Configuration limits

Motion Control resources

Each CPU offers a defined set of Motion Control resources. For information on the available
Motion Control resources, refer to the technical specifications of the utilized CPU.
Each technology object uses Motion Control resources:

Technology object Motion Control resources used

Speed axis 40
Positioning axis 80
Synchronous axis 160
External encoder 80
Measuring input 40
Output cam 20
Cam track 160

You can find an overview of the Motion Control resources of a CPU in the TIA Portal under
"Tools > Resources".

Extended Motion Control Resources (S7-1500T)

The cam and kinematics technology objects use "Extended Motion Control resources". For
information on the maximum number of cams and kinematics that can be used in addition to
the Motion Control resources, refer to the technical specifications of the relevant CPU.

Technology object Extended Motion Control resources used

Cam 2
Kinematics 30

Application cycle
As the number of technology objects used increases, the computing time needed by CPU to
process the technology objects increases. The Motion Control application cycle (Page 95)
can be adapted according to the number of technology objects used.

S7-1500 Motion Control V4.0 in TIA Portal V15

30 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2 Basics - Axes

3.2.1 Axis types

Axes can be configured with different axis types:
● Positioning and synchronous axes can be configured as rotary or linear axis.
● Speed axes are always rotary axes.
Depending on the execution of the mechanics, an axis is implemented as a linear axis or
rotary axis:
● Linear axis

For linear axes, the position of the axis is specified as a linear measure,
e.g. millimeters (mm).
● Rotary axis

For rotary axes, the position of the axis is specified as an angular measure,
e.g. degrees (°).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 31
Technology objects
3.2 Basics - Axes

3.2.2 Units of measure

The supported units of measure for speed (revolutions per time unit) are 1/s, 1/min and 1/h.
The table below shows the supported units of measure for position and velocity:

Position Velocity
nm, μm, mm, m, km mm/s, mm/min, mm/h, m/s, m/min, m/h, km/min, km/h
in, ft, mi in/s, in/min, ft/s, ft/min, mi/h
°, rad °/s, °/min, rad/s, rad/min

The acceleration is set accordingly as the position/s² unit of measure.

The jerk is set accordingly as the position/s² unit of measure.
The table below shows the supported units of measure for force and torque:

Force Torque
N, kN Nm, kNm
lbf, ozf, pdl lbf in, lbf ft, ozf in, ozf ft, pdl in, pdl ft

The unit of measure for time is permanently specified for the following technology objects:

Technology object Time

Speed axis, positioning/synchronous axis, s
external encoder
Output cam, cam track, measuring input ms

Note
When setting or changing the units of measure, take into consideration the effect on the
display of parameter values and the user program:
• Display of parameter values in the technology data block
• Assignment of parameters in the user program
• Input and display of the position and velocity in the TIA Portal
• Setpoint settings by leading axes in synchronous operation
All information and displays correspond to the selected unit of measure.

The set units are displayed in the tag structure of the technology object <TO>.Units. The tag
structure is described in the Appendix (Page 431) under the tags of the respective
technology object.

S7-1500 Motion Control V4.0 in TIA Portal V15

32 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.3 Modulo setting

For the positioning axis, synchronous axis and external encoder technology objects, the
"Modulo" setting can be activated.
When an axis moves in only one direction, the position value continually increases. To limit
the position value to a recurring reference system, you can activate the "Modulo" setting.
When the "Modulo" setting is activated, the position value of the technology object is
mapped onto a recurring modulo range. The modulo range is defined by the start value and
the length.
For example, to limit the position value of a rotary axis to a full rotation, the modulo range
can be defined with start value = 0° and length = 360°. As a result, the position value is
mapped onto the modulo range 0° to 359.999°.

3.2.4 Long-term accuracy

Long-term accuracy means that the technological position from the accumulated encoder
increments can be exactly determined (without a rounding error) and are thus always
accurate.
The long-term accuracy ensures the following:
● The axis position indicated by the control always corresponds to the real position.
This means that the axis position can be exactly represented from the accumulated
encoder increments.
● The calculated position in the controller does not deviate from the real position.
Deviations occur without long-term accuracy, for example, due to rounding errors or
conversions with finite accuracy.
Non-modulo axes are stable over the long term until the numerical traversing range limit is
reached. Modulo axes are accordingly stable at least as long as they do not exceed the
numerical traversing range of 9.0E12 mm at 1000 increments per unit.
You can use the following equation to estimate the time after which the traversing range is
exceeded.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 33
Technology objects
3.2 Basics - Axes

Example of the maximum traversing time

Maximum position = 9.0E12 mm with a resolution of 1000 Ink / mm
Velocity = 20.0 m/min = 2.0E4 mm/min

The traversing time restarts when one of the following conditions is fulfilled:
● You have homed the axis with "MC_Home".
● You have changed the velocity of the axis
A change in the velocity has the consequence that the traversing time changes
accordingly.

Avoiding exceeding the traversing range

To prevent exceeding the traversing range, do the following before the maximum traversing
time expires:
● Incremental encoder: Home the incremental encoder again.
● Absolute encoder: Perform an absolute encoder calibration with the default of the
currently known position.

3.2.5 Drive and encoder connection

3.2.5.1 Brief description

A drive is assigned to the "Speed axis" technology object. A drive and one to four encoders
(only with S7-1500T) are assigned to the "Positioning axis" and "Synchronous axis"
technology objects. An encoder is assigned to the "External encoder" technology object.
The setpoint for the drive is specified either with PROFIdrive telegrams or using an analog
output.
The following connection options are available for an encoder:
● Encoder connected to drive
● Encoder to technology module
● PROFIdrive encoder connected directly to PROFIBUS DP/PROFINET IO
The actual encoder value is transmitted exclusively via PROFIdrive telegrams.

S7-1500 Motion Control V4.0 in TIA Portal V15

34 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

PROFIdrive
PROFIdrive is the standardized drive technology profile for connecting drives and encoders
via PROFIBUS DP and PROFINET IO. Drives that support the PROFIdrive profile are
connected according to the PROFIdrive standard.
The current PROFIdrive specification is available at:
http://www.profibus.com (http://www.profibus.com)
Communication between the controller and drive/encoder is performed using various
PROFIdrive telegrams. Each of the telegrams has a standardized structure. You can select
the appropriate telegram according to the application. Control words and status words as
well as setpoints and actual values are transmitted in the PROFIdrive telegrams.
The PROFIdrive profile likewise supports the "Dynamic Servo Control" (DSC) control
concept. DSC uses rapid closed loop position control in the drive. This can be used to solve
highly dynamic Motion Control tasks.

Analog drive connection

Drives with analog setpoint interfaces are connected using an analog output and an optional
enable signal. The speed setpoint is specified via an analog output signal (e.g. from -10 V to
+10 V) from the PLC.

Stepper motors
Drives with a stepper motor interface are connected using telegram 3 and with the help of
PTO (Pulse Train Output) pulse generators.
For functional support of stepper motor operation, quantization of the control deviation can
be set.
Through the specification of a quantization, a range around the target position is defined in
which no correction of the actual position is to be made. This prevents a possible oscillation
of the stepper motor around the target position. Two types of quantization can be set:
● Quantization of the control deviation corresponding to the encoder resolution
(<TO>.PositionControl.ControlDifferenceQuantization.Mode = 1)
This prevents oscillation of the stopped motor between two increment values, for
example. This mode is especially helpful when using multiple encoders. With this setting,
the quantization is adapted appropriately at an encoder switchover. This mode is helpful
for stepper motors with encoders in which the resolution of the encoder is lower than the
step size of the stepper motor.
● Direct specification of a value for quantization of the control deviation.
(<TO>.PositionControl.ControlDifferenceQuantization.Mode = 2, value setting in
<TO>.PositionControl.ControlDifferenceQuantization.Value)
This mode is helpful for stepper motors with encoders in which the resolution of the
encoder is greater than the step size of the stepper motor.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 35
Technology objects
3.2 Basics - Axes

3.2.5.2 PROFIdrive telegrams

PROFIdrive telegrams are used to transfer setpoints and actual values, control and status
words and other parameters between the controller and drive/encoder.
When a PROFIdrive telegram is used for connection, the drives and encoders are handled
and switched on in accordance with the PROFIdrive profile.
The following table shows the possible PROFIdrive telegrams for various technology objects.

Technology object Possible PROFIdrive telegrams

Speed axis • 1, 2
• 3, 4, 5, 6, 102, 103, 105, 106 (actual
encoder value is not evaluated)
Positioning axis/synchronous axis
Setpoint and actual encoder value in one drive 3, 4, 5, 6, 102, 103, 105, 106
telegram
Setpoint and actual encoder value separately
Setpoint in drive telegram 1, 2, 3, 4, 5, 6, 102, 103, 105, 106
Actual value from telegram 81, 83
External encoder 81, 83
Measuring input 1) 391, 392, 393

1) When using SINAMICS drives (measuring using SINAMICS measuring input)

Telegram types
The following table shows the supported PROFIdrive telegram types for the assignment of
drives and encoders:

Telegram Brief description

Standard telegrams
11) • Control word STW1, status word ZSW1
• Speed setpoint 16 bit (NSET), actual speed value 16 bit (NACT)
2 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
3 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2)
4 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2)
• Actual encoder value 2 (G2_XIST1, G2_XIST2)

S7-1500 Motion Control V4.0 in TIA Portal V15

36 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Telegram Brief description

5 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2) (motor encoder)
• Dynamic Servo Control (DSC)2)
– Speed precontrol value
– Position difference (XERR)
– Kpc - Velocity precontrol of the closed loop position control
6 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2) (motor encoder)
• Actual encoder value 2 (G2_XIST1, G2_XIST2)
• Dynamic Servo Control (DSC)2)
– Speed precontrol value
– Position difference (XERR)
– Kpc - Velocity precontrol of the closed loop position control
Siemens telegrams (with torque limiting)
102 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2)
• Torque limiting
103 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2)
• Actual encoder value 2 (G2_XIST1, G2_XIST2)
• Torque limiting
105 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2) (motor encoder)
• Dynamic Servo Control (DSC)2)
– Speed precontrol value
– Position difference (XERR)
– Kpc - Velocity precontrol of the closed loop position control
• Torque limiting

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 37
Technology objects
3.2 Basics - Axes

Telegram Brief description

106 • Control words STW1 and STW2, status words ZSW1 and ZSW2
• Speed setpoint 32 bit (NSET), actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2) (motor encoder)
• Actual encoder value 2 (G2_XIST1, G2_XIST2)
• Dynamic Servo Control (DSC)2)
– Speed precontrol value
– Position difference (XERR)
– Kpc - Velocity precontrol of the closed loop position control
• Torque limiting
SIEMENS additional telegrams (torque data)
7503) • Additive setpoint torque
• High and low torque limits
• Torque actual values
SIEMENS telegrams (measuring input) 4)
391 • Control word CU_STW1, status word CU_ZSW1
• Measuring input control word (MT_STW), measuring input status word
(MT_ZSW)
• Measuring input time stamp of negative (MT1…2_ZS_F) or positive edges
(MT1…2_ZS_S)
• Digital output 16 bit, digital input 16 bit
392 • Control word CU_STW1, status word CU_ZSW1
• Measuring input control word (MT_STW), measuring input status word
(MT_ZSW)
• Measuring input time stamp of negative (MT1…6_ZS_F) or positive edges
(MT1…6_ZS_S)
• Digital output 16 bit, digital input 16 bit
393 • Control word CU_STW1, status word CU_ZSW1
• Measuring input control word (MT_STW), measuring input status word
(MT_ZSW)
• Measuring input time stamp of negative (MT1…8_ZS_F) or positive edges
(MT1…8_ZS_S)
• Digital output 16 bit, digital input 16 bit
• Analog input 16 bit

S7-1500 Motion Control V4.0 in TIA Portal V15

38 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Telegram Brief description

Standard telegrams - encoder
81 • Control word STW2_ENC, status word ZSW2_ENC
• Actual encoder value 1 (G1_XIST1, G1_XIST2)
83 • Control word STW2_ENC, status word ZSW2_ENC
• Actual speed value 32 bit (NACT)
• Actual encoder value 1 (G1_XIST1, G1_XIST2)

1) Isochronous mode is not possible.

2) For use of Dynamic Servo Control (DSC), the motor encoder (first encoder in the telegram) of the
drive must be used as the first encoder for the technology object.
3) Can also be used for the telegrams 1, 2, 3, 4, 5, 6, 102, 103, 105, 106
4) When using SINAMICS drives (measuring using SINAMICS measuring input)

See also
Data connection drive/encoder via data block (Page 50)

3.2.5.3 Actual values

Brief description
For position-controlled motion and positioning, the controller must know the actual position
value.
The actual position value is provided by a PROFIdrive telegram.
The actual values are represented as incremental or absolute values in the PROFIdrive
telegram. The actual values are normalized in the controller to the technological unit taking
into account the configuration of the mechanics. The reference to a physical position of the
axis or external encoder is established by homing.
The controller supports the following types of actual values (encoder types):
● Incremental actual value
● Absolute actual value with the setting absolute (measuring range > traversing range of
the axis)
● Absolute actual value with the setting absolute (measuring range < traversing range of
the axis)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 39
Technology objects
3.2 Basics - Axes

Actual value calculation for virtual axis or axis in simulation

The actual value of a virtual axis or an axis in simulation is formed from the setpoint taking
time delays into account.
You calculate the time delay from actual value to the setpoint (Tt) as follows:
● With precontrol: Tt = Tipo + Tservo + Tvtc + TaddPtc
● Without precontrol, without DSC: Tt = Tipo + 1/Kv + TaddPtc
● Without precontrol, with DSC1: Tt = Tipo + Tservo + 1/Kv + TaddPtc
1 Only applies to axis in simulation.

Tt Time delay from the actual value to the setpoint

Tipo CPU time of MC-Interpolator [OB92]
Tservo CPU time of MC-Servo [OB91]
Tvtc Speed control loop substitute time (Tvtc off
<TO>.DynamicAxisModel.VelocityTimeConstant)
TaddPtc Additive position control loop equivalent time (TaddPtc from
<TO>.DynamicAxisModel.AdditionalPositionTimeConstant)
kV Gain factor (Kv off <TO>.PositionControl.Kv)

See also
Virtual axis (Page 50)
Axis in simulation (Page 49)

Incremental actual value

The actual value in the PROFIdrive telegram is based on an incremental value.
After POWER ON, position zero is displayed. A transition of the CPU to RUN mode starts
the actual value update. The actual value is then also updated in CPU STOP mode. The
relationship between the technology object and the mechanical position must be re-
established by means of homing.

S7-1500 Motion Control V4.0 in TIA Portal V15

40 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Absolute actual value

The actual value in the PROFIdrive telegram is based on an absolute value.
After POWER ON, position zero is displayed. The first transition of the CPU to RUN mode
starts the actual value update. The actual value is then also updated in CPU STOP mode.
The supplied absolute value is assigned to the associated mechanical axis position by
means of the absolute encoder adjustment. The absolute encoder adjustment must be
performed once. The absolute value offset is retentively saved beyond the switching on/off of
the controller.
Differentiation of absolute values:
● The measuring range of the encoder is larger than the traversing range of the axis:
Absolute value with setting absolute
● The measuring range of the encoder is smaller than the traversing range of the axis:
Absolute value with setting cyclic absolute

Absolute actual value with setting absolute (measuring range > traversing range)
The axis position results directly from the current actual encoder value. The traversing range
must be within an encoder measuring range. This means that the zero passage of the
encoder must not be located in the traversing range.
When the controller is switched on, the axis position is determined from the absolute actual
encoder value.

Absolute actual value with setting cyclic absolute (measuring range < traversing range)
The encoder supplies an absolute value within its measuring range. The controller includes
the traversed measuring ranges and thus determines the correct axis position beyond the
measuring range.
When the controller is switched off, the traversed measuring ranges are saved in the
retentive memory area of the controller.
At the next power-on, the saved traversed measuring ranges are taken into account in the
calculation of the actual position value.

NOTICE
Movements of the axis while the controller is switched off can skew the actual value
If the axis or the encoder is moved by more than half of the encoder measuring range while
the controller is switched off, then the actual value in the controller is no longer in accord
with the mechanical axis position.

See also
Absolute value adjustment (Page 85)

Tags
The tags named in the Homing (Page 87) section are relevant for adapting actual values.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 41
Technology objects
3.2 Basics - Axes

3.2.5.4 Automatic transfer of drive and encoder parameters in the device

Identical reference values for the drive and encoder connections must be set in the controller
and in the drive and encoder for the operation.
The speed setpoint NSET and the actual speed value NACT are transferred in the
PROFIdrive telegram as a percentage of the reference speed. The reference value for the
speed must be set identically in the controller and in the drive.
The resolution of the actual value in the PROFIdrive telegram must likewise be set identically
in the controller and in the drive and encoder modules

Automatic transfer of parameters

The drive and encoder parameters can be automatically applied in the CPU for the following
drives and encoders.
● SINAMICS drives (see compatibility list (Page 555))
● PROFIdrive encoder as of product version A16
The corresponding parameters are transferred after the (re-)initialization of the technology
object or (re)start of the drive and the CPU. Changes in the drive configuration are
transferred after restart of the drive or technology object.
Successful transfer of the parameters can be checked in the controller in the value of the
tags of the technology objects <TO>.StatusDrive.AdaptionState = 2 and
<TO>.StatusSensor[n].AdaptionState = 2.

S7-1500 Motion Control V4.0 in TIA Portal V15

42 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Parameters
The controller settings are made in the TIA Portal under "Technology object > Configuration
> Hardware interface > Data exchange with the drive/encoder".
The drive and encoder settings are made in the configuration or the respective hardware.
The following table compares the settings in the TIA Portal, in the controller and the
corresponding drive/encoder parameters:

Setting in the TIA Portal Controller Drive parameter Automatic

tag in the technology data block transfer
Drive
Telegram number Telegram input address Telegram number -
<TO>.Actor.Interface.AddressIn P922
Telegram output address
<TO>.Actor.Interface.AddressOut
Reference speed in [1/min] <TO>.Actor.DriveParameter.ReferenceSpeed (SINAMICS drives: X
P2000)
Maximum speed of motor in <TO>.Actor.DriveParameter.MaxSpeed (SINAMICS drives: X
[1/min] P1082)
Reference torque in [NM] <TO>.Actor.DriveParameter.ReferenceTorque (SINAMICS drives: X
P2003)
Encoder
Telegram <TO>.Sensor[n].Interface.AddressIn P922 -
<TO>.Sensor[n].Interface.Addressout
Encoder type <TO>.Sensor[n].Type P979[5] Encoder 1 -
0: incremental P979[15] Encoder 2
1: absolute
2: cyclic absolute
Measuring system <TO>.Sensor[n].System P979[1] Bit0 Encoder X
0: linear 1
1: rotary P979[11] Bit0 Encoder
2
Resolution (linear encoder) <TO>.Sensor[n].Parameter.Resolution P979[2] Encoder 1 X
The grid spacing is specified on P979[12] Encoder 2
the nameplate of the encoder as a
separation distance of the marks
on the linear measuring system.
Increments per revolution <TO>.Sensor[n].Parameter.StepsPerRevolution P979[2] Encoder 1 X
(rotary encoder) P979[12] Encoder 2
Number of bits for fine resolution <TO>.Sensor[n].Parameter.FineResolutionXist1 P979[3] Encoder 1 X
XIST1 (cyclic actual encoder val- P979[13] Encoder 2
ue, linear or rotary encoder)
Number of bits for fine resolution <TO>.Sensor[n].Parameter.FineResolutionXist2 P979[4] Encoder 1 X
XIST2 (absolute encoder value, P979[14] Encoder 2
linear or rotary encoder)
Differentiable encoder revolutions <TO>.Sensor[n].Parameter.Determinable P979[5] Encoder 1 X
(rotary absolute encoder) Revolutions P979[15] Encoder 2

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 43
Technology objects
3.2 Basics - Axes

3.2.5.5 Safety functions in the drive

Safety functions ("Safety Integrated Basic Functions") in the SINAMICS drive are safety-
oriented, internal drive functions with the goal of shutting down the respective drive safely. In
addition, additional safety functions are available to monitor definable limits ("Safety
Integrated Extended Functions"). The goal of these safety functions is to monitor that the
respective limit is maintained, to signal the violation or to subsequently shut down the drive
safely. To prevent the monitoring function from being triggered, it is necessary to switch the
axis to the monitored operating mode with the user program or to keep it in this mode.
The cooperation of the safety functions in the drive and the SIMATIC S7-1500 and S7-1500T
are necessary to ensure fault-free plant operation.
The technology objects speed axis, positioning axis and synchronous axis support the
"Safety Integrated Basic Functions" of the drive. The technology object detects that the Basic
Safety function is triggered and displays a corresponding warning (technology alarm 550 -
alarm response: Track setpoints) or alarm (technology alarm 421 - alarm response: Remove
enable).
No additional response must take place in the user program, especially for technology alarm
550, at the "Enable" input of the Motion Control instruction "MC_Power" in the sense of a
"shutdown". Shutdown of the Motion Control instruction "MC_Power" by the user after
technology alarm 421 is possible but not necessary.
After acknowledgment and release of the drive by the actual safety function, the technology
alarm can also be acknowledged at the respective technology object with the Motion Control
instruction "MC_Reset". The technology object is then enabled automatically, if
"MC_Power.Enable" is still "TRUE".
The "Safety Integrated Extended Functions" are not supported by the technology object
independently.
To prevent the extended safety functions from being triggered and thus preventing a
disruption in plant operation, we recommend that you evaluate the status of the safety
functions. This evaluation can take place in the user program by using or evaluating the
status information of the "Safety Info Channels" (SIC). With the help of the corresponding
Motion Control instruction, the axis can now stay within the monitored limit or reach it before
a deviation is detected.
If a safety function is applied to a following axis in active synchronous operation, one of the
following two responses is required:
● End synchronous operation
● Adjust velocity of the leading axis accordingly
Four status words are available in the SIC:
● S_ZSW1B
● S_ZSW2B
● S_ZSW3B
● S_V_LIMIT_B
Two predefined PROFIdrive telegrams are available for transmission:
● Tel. 700 (contains the status words S_ZSW1B & S_V_LIMIT_B)
● Tel. 701 (contains all four status words and two additional control words)

S7-1500 Motion Control V4.0 in TIA Portal V15

44 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Additional information
Additional information on the safety functions in SINAMICS drives and on the SIC is
available in the SINAMICS S120 Safety Integrated Function Manual.
https://support.industry.siemens.com/cs/document/99668646
(https://support.industry.siemens.com/cs/ww/en/view/99668646)

The tables below provide an overview of the four SIC status words and the required
response for each to prevent faults in plant operation.

S_ZSW1B

S_ZSW1B Meaning Recommended response of the respective axis in the user

Bit Assignment program
0 STO (active) 1 Safe Torque Off active MC_Power can remain enabled (waiting).
0 Not active None
1 SS1 (active) 1 Safe Stop 1 active Drive brakes autonomously and goes into STO.
MC_Power remains enabled until STO.
0 Not active None
2 SS2 (active) 1 Safe Stop 2 active Drive brakes autonomously and goes into SOS.
MC_Power remains enabled.
0 Not active None
3 SOS (active) 1 Safe Operating Stop active MC_Power remains enabled.
The drive must not move (monitoring takes place in the drive)
0 Not active None
4 SLS (active) 1 Safety-Limited Speed MC_Power remains enabled.
active Velocity must be less than active velocity limit (see "Active SLS
stage" or S_V_LIMIT_B).
0 Not active None
5 SOS (selected) 1 Safe Operating Stop MC_Power remains enabled.
selected Braking with MC_Halt within the time permitted by SOS.
0 Deselected None
6 SLS (selected) 1 Safety-Limited Speed Drop below velocity limit within the time specified by SLS.
selected For example, by specifying an override or a new dynamic limit
(restriction with synchronous motion).
0 Deselected None
7 Internal event 1 Group alarm that a safety Additional evaluation of the status words required to determine
function was selected or the triggering safety function.
became active The bit indicates that a safety function is active.
(See also "Safety alarm")
0 No event None
8 Reserved - -

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 45
Technology objects
3.2 Basics - Axes

S_ZSW1B Meaning Recommended response of the respective axis in the user

Bit Assignment program
9 Active SLS SLS velocity limit Additional information on SLS (bit 6) – shows active velocity limit
level Display bit 0 for SLS in levels (1… 4). This limit can be evaluated in the pro-
gram to limit the current velocity of the axis as needed.
10 SLS velocity limit
Display bit 1
11 Reserved - -
12 SDI positive 1 Safe Direction positive Reaching standstill or the positive velocity of the actual value of
selected the axis (when SDI negative = 0) within the time specified by
SDI.
0 Deselected None monitoring for positive direction.
13 SDI negative 1 Safe Direction negative Reaching standstill or the negative velocity of the actual value of
selected the axis (when SDI positive = 0) within the time specified by SDI.
0 Deselected None monitoring for negative direction.
14 ESR retraction 1 Extended stop and retrac- To be considered individually.
tion required (not a Safety You can find additional information in the SINAMICS S120
function) Safety Integrated Function Manual.
https://support.industry.siemens.com/cs/document/99668646
(https://support.industry.siemens.com/cs/ww/en/view/99668646)
0 Not requested None
15 Safety alarm 1 Effective If necessary, evaluate bit as group alarm to see whether a
Safety alarm is pending in the alarm buffer.
0 Not effective None

S_V_LIMIT_B

S_V_LIMIT_B Meaning Explanation

Bit Assignment
0 … Velocity SLS Speed limit Additional information on SLS (S_ZSW1B bit 6)
31 setpoint limit (32-bit resolution with sign) Shows the selected / active velocity limit for SLS. If necessary,
the velocity limit can be evaluated in the program to limit the
current velocity of the axis as needed.

S7-1500 Motion Control V4.0 in TIA Portal V15

46 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

S_ZSW2B

S_ZSW2B Meaning Recommended response of the respective axis

Bit Assignment
0 … Reserved - -
3
4 SLP selected 1 SLP area 2 selected Safe position in the area 2. Do not change the position using
position area the user program any longer.
0 SLP area 1 selected Safe position in the area 1. Do not change the position using
the user program any longer.
5, 6 Reserved - -
7 SLP selected 1 Safety-Limited Position Status message (if required in the user program)
and user ap- selected and user approval Application-dependent evaluation
proval set is set
(means that the SLP is selected and the safe position was
confirmed by the user – see "Safe homing")
0 SLP not selected or user Application-dependent evaluation
approval missing
8 SDI positive 1 Safe Direction positive Reaching standstill or the positive velocity of the actual value
selected of the axis within the time specified by SDI.
(when SDI negative = 0)
0 Deselected None monitoring for positive direction
9 SDI negative 1 Safe Direction negative Reaching standstill or the negative velocity of the actual value
selected of the axis within the time specified by SDI.
(when SDI positive = 0)
0 Deselected None monitoring for negative direction
10, Reserved - -
11
12 Test stop 1 Test stop active Status message (if required in the user program)
active Application-dependent evaluation
0 Not active None
13 Test stop 1 Test stop required Perform test stop
required 0 Not required None
14, Reserved - -
15

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 47
Technology objects
3.2 Basics - Axes

S_ZSW3B

S_ZSW3B Meaning Recommended response of the respective axis

Bit Assignment

0 Brake test 1 Brake test selected MC_Power remains enabled. Do not start travel motion with user
program.
0 Deselected None – brake test is inactive (normal plant operation)
1 Setpoint value 1 Specification for drive The speed setpoint is specified by the SBT function.
specification Application-dependent evaluation
drive / external
0 External specification The "normal" speed setpoint is in effect.
(control) Application-dependent evaluation – setpoint value specification
through user program required
2 Active brake 1 Test brake 2 active Status message (if required in the user program)
Application-dependent evaluation
0 Test brake 1 active Status message (if required in the user program)
Application-dependent evaluation
3 Brake test 1 Test active Status message (if required in the user program)
active Application-dependent evaluation
0 Inactive None
4 Brake test 1 Test required Status message (if required in the user program)
result Application-dependent evaluation
0 With error(s) Status message (if required in the user program)
Application-dependent evaluation, test must usually be successful
to guarantee safety of the brake.
5 Brake test 1 Run test Status message (if required in the user program)
complete Application-dependent evaluation
0 Incomplete Status message (if required in the user program)
Application-dependent evaluation, usually test is repeated
6 External brake 1 Closing the brake Closing external brake (when controlled by user program)
request Application-dependent evaluation
0 Opening the brake Opening external brake (when controlled by user program)
Application-dependent evaluation
7 Current load 1 Negative sign Status of the load sign if required in the user program
sign 0 Positive sign Application-dependent evaluation
8 … Reserved - -
13
14 Acceptance 1 Acceptance test SLP(SE) Status message (if required in the user program)
test SLP(SE) selected Application-dependent evaluation
selected
0 Deselected None
15 Acceptance 1 Acceptance test mode Status message (if required in the user program)
test selected Application-dependent evaluation
mode selected 0 Deselected None

S7-1500 Motion Control V4.0 in TIA Portal V15

48 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.5.6 Axis in simulation

S7-1500 Motion Control offers the option to move real axes in simulation mode. Speed,
positioning and synchronous axes can thus be simulated without a connected drive and
encoder in the CPU.
When the simulation mode is activated, the drive and encoder connection does not need to
be configured in the axis configuration, for example, if the drive configuration is not yet
available at this time. The "Simulation" configuration can be changed during runtime of the
user program (<TO>.Simulation.Mode). A valid drive and encoder connection is required
when exiting the simulation.
To use a technology object in simulation mode or with SIMATIC S7 PLCSIM, you need to
use encoder 1 for closed loop position control of the axis.
Applications
● For example, an axis is simulated for programming the machine application and assigned
to the configured hardware later for commissioning.
● During commissioning, for example, not all hardware components are available.
● No axis motions should take place during commissioning.

Characteristics in simulation mode

An axis in simulation does not output setpoints to the drive and does not read any actual
values of the encoder. The actual values (Page 39) are formed with a time delay from the
setpoints.
Hardware limit switches and home position switches have no effect.
The technology objects measuring input (with signal detection via TM_Timer_DIDQ or
SINAMICS measurement sensing input), output cam and cam track can also be used for
axes in simulation.
The following table shows the Motion Control instructions with adapted behavior in
simulation mode:

Motion Control instruction Characteristics in simulation mode

MC_Power The axis is enabled immediately without waiting for feedback from the drive.
MC_Home Homing jobs are executed immediately without simulated axis motion.
MC_TorqueLimit The specified torque is not output to the drive.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 49
Technology objects
3.2 Basics - Axes

3.2.5.7 Virtual axis

S7-1500 Motion Control offers the possibility to configure an axis as a virtual axis. A virtual
axis has motion control, but, in contrast to real axes, no drive and encoder connection. The
setpoints are only processed within the controller and no real drive is controlled.
Application:
A virtual axis, for example, is often used as a virtual leading axis in order to generate the
setpoints for several real following axes in synchronous operation.
The "Virtual axis" configuration can only be changed by a new download to the CPU (in
STOP mode) (<TO>.VirtualAxis.Mode).
The behavior of a virtual axis is identical to the behavior of an axis in simulation (Page 49).

3.2.5.8 Data connection drive/encoder via data block

The data connection of PROFIdrive drives and encoders occurs either directly via the
PROFIdrive telegram or via a data block.
Use the system-generated tags of the PROFIdrive telegrams if you want to evaluate the
telegram contents.
Use the connection via data block if you want to influence or evaluate telegram contents in
the user program for process-specific reasons.

S7-1500 Motion Control V4.0 in TIA Portal V15

50 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Principle of data connection via data block

Generally, at the start of closed loop position control of the axis (by MC-Servo [OB91]), the
input area of the drive or encoder telegram is read.
At the end of closed loop position control, the output area of the drive or encoder telegram is
written.
To influence or evaluate telegram contents for process-specific reasons, a data interface via
a data block must be connected in between before and after the closed loop position control.
● The input area of the telegram can be edited using the MC-PreServo [OB67] organization
block. The MC-PreServo is called before the MC-Servo.
● The input area of the telegram can be edited using the MC-PostServo [OB95]
organization block. The MC-PostServo is called after the MC-Servo.
The data block must be created by the user and contain a data structure of data type
"PD_TELx" for the data connection. Here, "x" stands for the telegram number of the drive or
encoder configured in the device configuration.
The organization blocks MC-PreServo and MC-PostServo can be programmed by the user
and must be added with the command "Add new block". The connection to the I/O via
telegram must be programmed in this organization block. When you use DSC you have to
edit the signs of life in the telegrams in MC-PreServo and MC-PostServo yourself according
to the PROFIdrive standard.

See also
PROFIdrive telegrams (Page 36)
Organization Blocks for Motion Control (Page 95)
Connect drive/encoder via data block (Page 269)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 51
Technology objects
3.2 Basics - Axes

3.2.5.9 Tags
The following technology object tags are relevant for the drives and encoder connections:

Drive telegram
<TO>.Actor.Interface.AddressIn Input address for the PROFIdrive telegram
<TO>.Actor.Interface.AddressOut Output address for the PROFIdrive telegram or the analog
setpoint
<TO>.Actor.DriveParameter.Reference Reference value (100%) for the speed setpoint (NSET) of
Speed the drive
<TO>.Actor.DriveParameter.MaxSpeed Maximum value for the speed setpoint of the drive (NSET)
<TO>.Actor.DriveParameter.Reference Reference torque for the torque transferred as a percent-
Torque age
Encoder telegram
<TO>.Sensor[n].Interface.AddressIn Input address for the PROFIdrive telegram
<TO>.Sensor[n].Interface.AddressOut Output address for the PROFIdrive telegram
<TO>.Sensor[n].System Encoder system linear or rotary
<TO>.Sensor[n].Type Encoder type, incremental, absolute or cyclic absolute
<TO>.Sensor[n].Parameter.Resolution Resolution for linear encoder
The grid spacing corresponds to the distance between
two marks.
<TO>.Sensor[n].Parameter.StepsPer Steps per revolution for rotary encoder
Revolution
<TO>.Sensor[n].Parameter.Determinable Number of differentiable encoder revolutions for a multi-
Revolutions turn absolute encoder
Fine resolution
<TO>.Sensor[n].Parameter.Fine Number of bits for fine resolution XIST1 (cyclic actual
ResolutionXist1 encoder value)
<TO>.Sensor[n].Parameter.Fine Number of bits for fine resolution XIST2 (absolute value of
ResolutionXist2 encoder)
Simulation mode
<TO>.Simulation.Mode Simulation mode
0: No simulation, normal operation
1: Simulation mode

S7-1500 Motion Control V4.0 in TIA Portal V15

52 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.6 Mechanics

3.2.6.1 Brief description

For the display and processing of the technology object's position, the decisive factor is
whether the position is represented as a unit of length (linear axis) or a unit of angle (rotary
axis).
Examples of units of length: mm, m, km
Examples of units of angle: °, rad
For the determination of the physical position from an actual encoder value, the system must
know the various properties and configurations of the mechanics.

Positioning axis/synchronous axis

The following configuration options for mechanics are supported:
● Load gear
● Leadscrew pitch (linear axes only)
● Encoder mounting type:
– Motor side (before the load gear)
– Load side (after the load gear and as applicable the leadscrew)
– External (e.g. odometer)
● Inversion of drive direction
● Inversion of encoder direction

External encoder
The following configuration options for mechanics are supported:
● Measuring gear (for rotary encoders)
● Leadscrew pitch (only with linear system of units and rotary encoders)
● Inversion of encoder direction

Speed axis
The following configuration options for mechanics are supported:
● Load gear
● Inversion of drive direction

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 53
Technology objects
3.2 Basics - Axes

3.2.6.2 Tags
The following technology object tags are relevant for the setting of the mechanics:

Type of motion
<TO>.Properties.MotionType Indication of linear or rotary motion
0: Linear motion
1: Rotary motion
Load gear
<TO>.LoadGear.Numerator Load gear numerator
<TO>.LoadGear.Denominator Load gear denominator
Leadscrew pitch
<TO>.Mechanics.LeadScrew Leadscrew pitch
Encoder mounting type
<TO>.Sensor[n].MountingMode Encoder mounting type
<TO>.Sensor[n].Parameter.Distance Load distance per encoder revolution with an externally
PerRevolution mounted encoder
Inversion
<TO>.Actor.InverseDirection Setpoint inversion
<TO>.Actor.Efficiency Efficiency of leadscrew pitch
<TO>.Sensor[n].InverseDirection Actual value inversion
Modulo
<TO>.Modulo.Enable Enable modulo
<TO>.Modulo.Length Modulo length
<TO>.Modulo.StartValue Modulo start value

S7-1500 Motion Control V4.0 in TIA Portal V15

54 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.7 Traversing range limitation

3.2.7.1 Brief description

Hardware and software limit switches limit the permissible traversing range and operating
range of the positioning axis/synchronous axis. Before use, they must be enabled in the
configuration or in the user program.
The following figure shows the relationship between the operating range, maximum
traversing range and limit switches:

① Mechanical endstop
② Hardware limit switches
③ Software limit switches
④ Maximum traversing range
⑤ Operating range

3.2.7.2 Hardware limit switches

Hardware limit switches are limit position switches that limit the maximum permissible
traversing range of the axis.
Select the positions of the hardware limit switches so that there is adequate braking distance
for the axis when needed. The axis should come to a standstill before a mechanical endstop.

Approaching the hardware limit switches

In the monitoring of range limitation, no distinction is made as to whether the switches are
reached or crossed.
If a hardware limit switch is reached, technology alarm 531 is output, and the technology
object is disabled (alarm response: remove enable).

Exception
If the hardware limit switches are used as reversing cams or reference cams during homing,
then the monitoring of the hardware limit switches has no effect.
When hardware limit switches are used as reversing cams, the axis is braked with the
deceleration configured in the dynamic defaults.
This must be taken into account when planning the distance of the hardware limit switch to
the mechanical endstop.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 55
Technology objects
3.2 Basics - Axes

Retracting
The position of the axis when the hardware limit switch is detected is stored internally on the
CPU. The status of the reached hardware limit switch is reset only after the hardware limit
switch is left and the axis is once again in the maximum traversing range.
To retract the axis after it reaches the hardware limit switch and to reset the status of the
hardware limit switch, follow the steps below:
1. To enable motion in the retraction direction, acknowledge the technology alarm.
2. Traverse the axis in the retraction direction until the hardware limit switch is left.
The axis must then be within the maximum traversing range.
If you move the axis opposite the retraction direction before the hardware limit switch is
left, the monitoring will be triggered again.
The following chart shows the behavior of the status word when the hardware limit switch is
reached and when the axis is retracted:

① <TO>.StatusWord.X17 (HWLimitMinActive)
0: Negative hardware limit switch not reached
1: Negative hardware limit switch reached or overtraveled
② <TO>.StatusWord.X18 (HWLimitMaxActive)
0: Positive hardware limit switch not reached
1: Positive hardware limit switch reached or overtraveled
③ The position of the axis when the positive hardware limit switch is detected is saved internally
in the CPU. To reset the status of the hardware limit switch, the axis position must fall short of
this position.
④ The position of the axis when the negative hardware limit switch is detected is saved internally
in the CPU. To reset the status of the hardware limit switch, the axis position must go past this
position.

S7-1500 Motion Control V4.0 in TIA Portal V15

56 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.7.3 Software limit switch

The operating range of the axis is limited with software limit switches. Relative to the
traversing range, always position the software limit switches within the hardware limit
switches. Since the positions of the software limit switches can be flexibly configured, the
operating range of the axis can be individually adapted in accordance with the current
velocity profile.
Software limit switches are only in effect when there is a valid actual value after homing the
technology object. The monitoring of the software limit switches is relative to the setpoint.

Modulo enabled
With modulo enabled, the modulo position is monitored.
The software limit switches are configured and activated in the axis configuration. The
software limit switches can be activated or deactivated in the user program using the
<TO>.PositionLimits_SW.Active tag, If the positions of both software limit switches are
outside the modulo range, the monitoring has no effect. No check is made to determine
whether the positions of the software limit switches are within the modulo range.

Approaching the software limit switches

The axis continually checks the position of the software limit switch during motion and brakes
to exactly this position, if necessary.
If the software limit switches are reached, then technology alarm 533 is output, and the axis
is stopped with the maximum dynamic values (alarm response: Stop with maximum dynamic
values). The technology object remains enabled.

Overrun of the software limit switches

If a software limit switch is crossed, technology alarm 534 is output, and the technology
object is disabled (alarm response: remove enable).

Retracting
To retract the axis after violation of the software limit switch, follow the steps below:
1. Acknowledge the technology alarm.
2. Move the axis in the retraction direction until the software limit switch is left.
If you move the axis opposite the retraction direction before the software limit switch is
left, the monitoring with be triggered again.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 57
Technology objects
3.2 Basics - Axes

3.2.7.4 Tags
The following technology object tags are relevant for software limit switches:

Status indicators
<TO>.StatusWord.X15 (SWLimitMinActive) Negative software limit switch is active
<TO>.StatusWord.X16 (SWLimitMaxActive) Positive software limit switch is active
<TO>.ErrorWord.X8 (SWLimit) An alarm is pending, that a software limit switch was
violated
Control bits
<TO>.PositionLimits_SW.Active Enables / disables the monitoring of the software limit
switches
Position values
<TO>.PositionLimits_SW.MinPosition Position of the negative software limit switch
<TO>.PositionLimits_SW.MaxPosition Position of the positive software limit switch

The following technology object tags are relevant for hardware limit switches:

Status indicators
<TO>.StatusWord.X17 (HWLimitMinActive) Negative hardware limit switch is active
<TO>.StatusWord.X18 (HWLimitMaxActive) Positive hardware limit switch is active
<TO>.ErrorWord.X9 (HWLimit) An alarm is pending; a hardware limit switch was
violated
Control bits
<TO>.PositionLimits_HW.Active Enables / disables the monitoring of the hardware
limit switches
Parameters
<TO>.PositionLimits_HW.MinSwitchLevel Level selection for activation of the low hardware limit
switch:
FALSE: At low level, the signal is active
TRUE: At high level, the signal is active
<TO>.PositionLimits_HW.MinSwitchAddress Byte number of the I/O address of the hardware limit
switch for the low or minimum position
<TO>.PositionLimits_HW.MaxSwitchLevel Level selection for activation of the high hardware
limit switch:
FALSE: At low level, the signal is active
TRUE: At high level, the signal is active
<TO>.PositionLimits_HW.MaxSwitchAddress Byte number of the I/O address of the hardware limit
switch for the high or maximum position

S7-1500 Motion Control V4.0 in TIA Portal V15

58 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.8 Motion control and limits for dynamics

3.2.8.1 Brief description

Motion control of the axis occurs by means of velocity profiles (Page 60). The velocity
profiles are calculated in accordance with the specifications for dynamics. A velocity profile
defines the behavior of the axis during approach, braking and changes in velocity. During
positioning a velocity profile is calculated, that moves the axis to the target point.
Maximum values for velocity, acceleration and jerk result from the properties of the drive and
the mechanics. These maximum values can be configured in the limits for dynamics. The
limits for dynamics are in effect as limits for every motion generated by means of the
technology object. The dynamic limits have no effect on a following axis in synchronous
operation.
The configurable emergency stop deceleration (Page 62) is triggered by the Motion Control
instruction MC_Power or by a technology alarm.
The jerk limit reduces the mechanical load during an acceleration ramp or deceleration ramp.
A "smoothed" velocity profile results.

See also
Dynamic limits in synchronous operation (Page 62)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 59
Technology objects
3.2 Basics - Axes

3.2.8.2 Velocity profile

Velocity profiles with or without jerk limitation are supported for motion control of the axis.
The dynamic values for the motion are specified in the Motion Control job. Alternatively, the
values of the dynamic defaults (Page 207) can be used. The defaults and the limits for
velocity, acceleration, deceleration and jerk are set in the configuration.
To influence velocity, a velocity override can override the current traversing velocity.

Velocity profile without jerk limitation

The following figure shows velocity, acceleration and jerk:

Acceleration

Deceleration

S7-1500 Motion Control V4.0 in TIA Portal V15

60 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Velocity profile with jerk limitation

The following figure shows velocity, acceleration and jerk:

Acceleration

Deceleration

A velocity profile with jerk limitation is employed for a continuous acceleration and
deceleration sequence. The jerk can be specified.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 61
Technology objects
3.2 Basics - Axes

3.2.8.3 Emergency stop deceleration

When stopping with the emergency stop ramp, the axis is braked to a standstill without a jerk
limit, using the configured emergency stop deceleration.
In the following cases the configured emergency stop deceleration is in effect:
● For an emergency stop ramp that has been enabled via the Motion Control instruction
"MC_Power" with parameter "StopMode" = 0.
● For a technology alarm with the local alarm response "Stop with emergency stop ramp".
This emergency stop deceleration can be set greater than the maximum deceleration. If the
emergency stop deceleration is set lower than this, it may occur that the axis does not stop
until after the limit switch in the case of "Stop at software limit switch" and the occurrence of
a technology alarm with the local alarm response "Stop with emergency stop ramp".

3.2.8.4 Dynamic limits in synchronous operation

Dynamic limits in synchronous operation with MC_GearIn

Leading axis
The dynamic limits configured for the technology object are always in effect for the leading
axis.

Following axis
If a synchronous axis is operated as a following axis in synchronous operation with
MC_GearIn, the following dynamic limits apply depending on the phase of the synchronous
operation.
● Synchronization
During the synchronizing phase, dynamic limits configured for the technology object apply
to the following axis.
● Synchronous motion
When the synchronous axis is moving synchronously to the leading axis as a following
axis, the dynamics of the following axis is limited only to the maximum speed of the drive
(<TO>.Actor.DriveParameter.MaxSpeed). The dynamics of the following axis results from
the synchronous operation function.
If the dynamic limits configured for the following axis are exceeded, this will be indicated
in the technology object tag <TO.>StatusSynchronizedMotion.StatusWord.
If the following axis cannot follow the leading value, this results in a following error, which
is monitored by the following error monitoring.
● Synchronous operation override
As soon as synchronous operation has been overridden, the dynamic limits configured for
the technology object apply to the following axis again. With the start of the overriding job,
the active dynamics is transitioned (smoothed) to the configured dynamic limits and the
specifications for the Motion Control instruction.

S7-1500 Motion Control V4.0 in TIA Portal V15

62 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

See also
StatusSynchronizedMotion tags (synchronous axis) (Page 469)
Override response V4: Synchronous operation jobs (Page 429)

3.2.8.5 Torque limits

Force/torque limiting
Adjustable force/torque limiting is available for the speed axis, positioning axis and
synchronous axis technology objects. The force/torque limiting can be activated and
deactivated before and during a motion job. To use force/torque limiting, the drive and the
PROFIdrive telegram must support torque reduction. A telegram 10x can be used.
The limit value can be configured as a default value during configuration of the axis or it can
be defined in the user program using Motion Control instruction "MC_TorqueLimiting".
The user specifies the limiting values in the configured unit of measure for force or torque.
The units of measure are defined in the "Basic parameters" configuration window.
The following configuration options are available for force/torque limiting.
● "Linear" axis type
– Torque limiting is active on motor side
– Force limiting is active on the load side
● "Rotary" axis type
– Torque limiting is active on load side or motor side
The force/torque limit defined by the user in accordance with the specification in the
PROFIdrive telegrams 10x are transferred internally to the drive as a percentage torque
reduction. The reference torque set in the "Data exchange with the drive" configuration
dialog must match the reference torque set for the drive.
Linear axis type
Load-side force limitation you have defined is converted by the technology into torque
reduction. If the limiting relates to the load side, the gear and leadscrew parameters defined
in the "Mechanics" configuration dialog are taken into consideration. If the gear and
leadscrew efficiency is crucial, you can set them in the <TO>.Actor.Efficiency tag.
Rotary axis type:
The torque is reduced on the load side with the rotary axis type. The gear parameters
defined in the "Mechanics" configuration window are taken into consideration. If the
efficiency of the gear is crucial, you can set them in the <TO>.Actor.Efficiency tag.

The defined limiting values act as an absolute value and thus in the same way for positive
and negative forces/torques.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 63
Technology objects
3.2 Basics - Axes

Positioning and following error monitoring with active force/torque limiting

As a result of force/torque limiting, a larger setpoint-actual value difference can build up for
position-controlled axes, which may cause unwanted activation of the positioning and
following error monitoring.
Therefore, in the "Torque limiting" configuration window, the positioning and following error
monitoring of the axis can be set as deactivated by default when force/torque limiting is
active. If necessary, the positioning and following error monitoring can also be kept active
even when force/torque limiting is active.

Typical behavior of a positioning or synchronous axis with active force/torque limiting

With active force/torque limiting, a larger setpoint-actual value difference can build up than
during motion without force/torque limiting.
Given a constant setpoint, the axis makes repeated attempts to reduce the following error.
When the limiting values are increased or limiting is deactivated during active closed loop
position control, the axis can accelerate briefly to reduce the following error. If the axis is
switched to non-position-controlled operation, e.g. using "MC_MoveVelocity" with
"PositionControlled" = FALSE, the following error is no longer in effect.

Stopping an axis with active force/torque limiting

When stopping an axis in position-controlled mode with "MC_Halt", the position setpoint and
the velocity setpoint are used as basis. Torque limiting still remains active and any
accumulated following error is reduced. The axis is at a standstill when the actual velocity
"0.0" is reached and the minimum dwell time in the standstill window has expired. The axis
remains enabled.
When stopping an axis with "MC_Power" and an emergency stop ramp, the actual position
value and the actual velocity are used as a basis. The axis is braked with the configured
emergency stop deceleration without any jerk limit and brought to a standstill. The axis is
then disabled when at a standstill.
When the limitation is deactivated the drive attempts to compensate for the resulting
following error with maximum dynamic values. To avoid this reaction, use
"MC_MoveVelocity" with deactivated closed loop position control.

See also
MC_TorqueLimiting: Activate and deactivate force/torque limit / fixed stop detection V4
(Page 417)
Fixed stop detection (Page 65)
Configuration - Torque limits (Page 190)
Configuration - Torque limits (Page 214)

S7-1500 Motion Control V4.0 in TIA Portal V15

64 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Fixed stop detection

With the Motion Control instruction "MC_TorqueLimiting", you activate and monitor a fixed
stop detection.
Together with a position-controlled motion job, a "Travel to fixed stop" can be realized. The
operation is also referred to as clamping.
"Travel to fixed stop" can be used, for example, to move quills against the workpiece with a
specified torque.
The fixed stop detection is configured in the configuration window "Extended parameters" >
"Limits" > "Fixed stop detection".
The fixed stop detection is only possible in position-controlled operation of the axis.
If the drive and telegram support force/torque limiting, this is active during travel to fixed stop
and for clamping.

Detection of the fixed stop using following error

If the drive is stopped by a mechanical fixed stop during a motion job, the following error is
increased. When the following error configured in the configuration window "Extended
parameters" > "Limits" > "Fixed stop detection" is exceeded, this is regarded as the fixed
stop having been reached.
When following error monitoring is activated, the configured following error must be greater
than the following error for fixed stop detection.

Clamping at the mechanical endstop

When the fixed stop is reached, the active position-controlled motion job is aborted with
CommandAborted. The setpoint is no longer changed and the following error remains
constant. The closed loop position control remains active and the monitoring of the
configured "Positioning tolerance" is activated The drive is in "Clamping" state.
If the drive and frame support force/torque limiting, this continues to be active with active
fixed stop detection. During clamping, the clamping force or clamping torque can be
changed. The value in input parameter "Limit" of the Motion Control instruction
"MC_TorqueLimiting" can be changed for this.

Monitoring of the clamping

If the actual position changes by a value greater than the configured "Positioning tolerance"
during active clamping, this is regarded as the breaking away or turning back of the fixed
stop. An alarm is triggered; the axis is disabled and the drive is stopped according to its
configuration.
If the position setpoint is within the configured "Positioning tolerance", the breaking away or
turning back of the fixed stop cannot be detected.
The configured position tolerance must be less than the configured following error for
detection of clamping.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 65
Technology objects
3.2 Basics - Axes

Retracting
Retracting from the fixed stop is only possible with a position-controlled motion job in the
opposite direction to the fixed stop.
The "Travel to fixed stop" or "Clamping" function is ended when the "Positioning tolerance" is
left in the retraction direction.

See also
Force/torque limiting (Page 63)
Configuration - Fixed stop detection (Page 215)
MC_TorqueLimiting: Activate and deactivate force/torque limit / fixed stop detection V4
(Page 417)

Additive setpoint torque

The Motion Control instruction "MC_TorqueAdditive" allows you to apply additional torque in
the drive.
The additive setpoint torque is used for example in torque feedforward control or the
specification of the tensile torque for winding applications.
The following requirements must be fulfilled to set the additive torque setpoint:
● SINAMICS drive (see compatibility list (Page 555))
● SIEMENS supplementary telegram 750 for transmitting the torque data to the drive
The additional torque can be either positive or negative. The value specified in the instruction
is a technological value, not a percentage. Set the unit of measure for the torque at the axis
(default value: Nm).

See also
MC_TorqueAdditive: Specify additive torque V4 (Page 422)

S7-1500 Motion Control V4.0 in TIA Portal V15

66 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Permissible torque range

The Motion Control instruction "MC_TorqueRange" allows you to set torque limits for the
drive.
The motion control instruction is used, for example, for winding applications in order to
prevent the tearing of the material.
The following requirements must be fulfilled to set the torque data:
● SINAMICS drive (see compatibility list (Page 555))
● SIEMENS supplementary telegram 750 for transmitting the torque data to the drive
The value specified in the instruction is a technological value, not a percentage. Set the unit
of measure for the torque at the axis (default value: Nm). If you invert the setpoints at the
technology object of the axis, the values for the high and low torque limit are output inverted
and reversed.
If the torque limitation is activated by specifying the high and low torque limit, the following
monitorings and limits are deactivated:
● Following error monitoring
● Time limits for positioning monitoring
● Time limits for standstill monitoring
Monitoring remains in effect if you have selected the option "Leave position-related
monitoring enabled" under "Technology object > Configuration > Extended parameters >
Limits > Torque limiting".

See also
MC_TorqueRange: Set high and low torque limits V4 (Page 425)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 67
Technology objects
3.2 Basics - Axes

3.2.8.6 Tags
The following technology object tags are relevant for motion control:

Status
<TO>.StatusWord Status indicator for an active motion
<TO>.Position Position setpoint
<TO>.Velocity Velocity setpoint / speed setpoint
<TO>.ActualPosition Actual position
<TO>.ActualVelocity Actual velocity
<TO>.ActualSpeed Actual speed of the motor (only with PROFIdrive drive type)
<TO>.Acceleration Setpoint acceleration
<TO>.ActualAcceleration Actual acceleration
<TO>.StatusSynchronizedMotion.StatusWord.X0 Set to value TRUE when the maximum velocity configured for the
(MaxVelocityExceeded) following axis is exceeded during synchronous operation.
<TO>.StatusSynchronizedMotion.StatusWord.X1 Set to value TRUE when the maximum acceleration configured for
(MaxAccelerationExceeded) the following axis is exceeded during synchronous operation.
<TO>.StatusSynchronizedMotion.StatusWord.X2 Set to value TRUE when the maximum deceleration configured for
(MaxDecelerationExceeded) the following axis is exceeded during synchronous operation.
<TO>.StatusMotionIn.FunctionState Status of the MotionIn function
0: No function activated
1: MotionInVelocity activated
2: MotionInPosition activated

Override
<TO>.Override.Velocity Velocity or speed override

Dynamic limit values

<TO>.DynamicLimits.MaxVelocity Dynamic limitation for maximum speed (mechanical)
<TO>.DynamicLimits.Velocity Dynamic limitation for maximum speed (programmable)
<TO>.DynamicLimits.MaxAcceleration Dynamic limitation for maximum acceleration
<TO>.DynamicLimits.MaxDeceleration Dynamic limitation for maximum deceleration
<TO>.DynamicLimits.MaxJerk Dynamic limitation for maximum jerk

Defaults for the dynamics

<TO>.DynamicDefaults.Velocity Default velocity
<TO>.DynamicDefaults.Acceleration Default acceleration
<TO>.DynamicDefaults.Deceleration Default deceleration
<TO>.DynamicDefaults.Jerk Default jerk
<TO>.DynamicDefaults.EmergencyDeceleration Emergency stop deceleration

S7-1500 Motion Control V4.0 in TIA Portal V15

68 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Torque limiting
<TO>.TorqueLimiting.LimitDefaults.Torque Limiting torque
<TO>.TorqueLimiting.LimitDefaults.Force Limiting force
<TO>.TorqueLimiting.LimitBase Torque limiting motor or drive side
0: Motor side
1: Load side
<TO>.TorqueLimiting.PositionBasedMonitorings Disable/enable positioning and following error monitoring
0: Deactivate
1: Keep active
<TO>.StatusTorqueData.CommandAdditiveTorqueActive Additive torque setpoint function
0: Deactivated
1: Activated
<TO>.StatusTorqueData.CommandTorqueRangeActive Torque limits function
0: Deactivated
1: Activated
<TO>.StatusTorqueData.ActualTorque Actual torque of the axis

Fixed stop detection

<TO>.Clamping.FollowingErrorDeviation Value of the following error starting from which the fixed stop
is detected
<TO>.Clamping.PositionTolerance Position tolerance for the clamping monitoring

3.2.9 Homing

3.2.9.1 Brief description

With homing, you create the relationship between the position in the technology object and
the mechanical position. The actual position value in the technology object is assigned to a
homing mark at the same time. This homing mark represents a known mechanical position.
With incremental actual values this process is called homing; with absolute actual values it is
called absolute encoder adjustment.
Homing is a requirement for display of the correct position for the technology object and for
absolute positioning.
Homing is activated with the Motion Control instruction "MC_Home".

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 69
Technology objects
3.2 Basics - Axes

Homing status
The technology object tag <TO>.StatusWord.X5 (HomingDone) indicates whether the axis or
external encoder technology object is homed.

Type of homing
Homing can occur by means of an independent homing motion (active homing), the
detection of a homing mark during a motion initiated on the user side (passive homing) or a
direct position assignment.
A distinction is made between the following types of homing:
● Active homing
Active homing initiates a homing movement and performs the necessary homing mark
approach. When the homing mark is detected, the actual position is set to the value
specified in MC_Home. It is possible to specify a home position offset. Retraction to the
home position offset occurs automatically during the home position approach.
When active homing starts, current traversing movements are aborted.
● Passive homing
The homing job does not perform its own homing motion. When the homing mark is
detected during a motion initiated on the user side, the actual position is set to the value
specified in "MC_Home".
Passive homing is also called homing on the fly.
● Direct homing
With the homing job, the actual position is set directly to the value specified in
"MC_Home" or is offset by this value.
● Absolute encoder adjustment
The absolute encoder adjustment compares the existing absolute actual value with the
value specified in "MC_Home".

Homing mode
Depending on the type of homing mark and homing mark search, a distinction is made
among the following homing modes (Page 72):
● Homing with homing cam and zero mark via PROFIdrive telegram
● Homing with zero mark via PROFIdrive telegram
● Homing with digital input

S7-1500 Motion Control V4.0 in TIA Portal V15

70 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.9.2 Terms

Homing mark
A homing mark is an input signal, on whose occurrence a known mechanical position can be
assigned to the actual values.
A homing mark can be:
● A zero mark
The zero mark of an incremental encoder or an external zero mark is used as a homing
mark.
The zero mark is detected at the drive module or encoder module and transmitted in the
PROFIdrive frame. Perform the setting and evaluation as an encoder zero mark or
external zero mark at the drive module and encoder module.
● An edge at the digital input
The negative or positive edge at a digital input is used as a homing mark.

Reference cam
If there are several zero marks in the traversing range, the reference cam is used to select a
specific zero mark before or after the reference cam.

Homing mark position

This is the position assigned to the homing mark.
The homing mark position corresponds to the home position minus the home position offset.

Home position
At the end of the active homing motion, the axis arrives at the home position.

Home position offset

The difference between the home position and the homing mark position is the home
position offset.
A home position offset only has an effect with active homing. The offset is traversed after the
synchronization of the axis using the Motion Control instruction "MC_Home". For axes with
modulo setting, the home position offset is always traversed with the direction setting for the
shortest path.

Direction reversal at the hardware limit switch (reversing cam)

Hardware limit switches can be used as reversing cams in active homing. If the homing mark
was not detected or was approached from the wrong side, the motion continues in the
opposite direction after the reversing cam.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 71
Technology objects
3.2 Basics - Axes

3.2.9.3 Homing mode

Various homing modes are available for the positioning axis/synchronous axis and external
encoder technology objects with incremental encoders. The homing mode is set in the
configuration.

Homing with homing cam and zero mark via PROFIdrive telegram
The system checks for when the reference cam is reached. After the reference cam has
been reached and left again in the assigned homing direction, zero mark detection is
enabled via the PROFIdrive telegram.
When the zero mark is reached in the pre-selected direction, then the actual position of the
technology object is set to the homing mark position.

Homing with zero mark via PROFIdrive telegram

The system enables zero mark detection, as soon as the actual value of the technology
object moves in the assigned homing direction.
When the zero mark is reached in the specified homing direction, the actual position of the
technology object is set to the homing mark position.

Homing with digital input

The system checks the state of the digital input, as soon as the actual value of the axis or
encoder moves in the assigned homing direction.
When the homing mark is reached (setting of the digital input) in the specified homing
direction, the actual position of the technology object is set to the homing mark position.

Note
The digital inputs must be placed into the process image partition "PIP OB Servo".
The filter time of the digital inputs must be set smaller than the duration of the input signal at
the reference point switch.

See also
Homing SINAMICS drives with external zero marks (Page 555)

S7-1500 Motion Control V4.0 in TIA Portal V15

72 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.9.4 Active homing with homing cam and zero mark

The following examples show homing motions in the positive and negative directions.

Example of homing in the positive direction

The approach to the homing mark and the home position occurs in the positive direction.
The following figure shows the homing motion with the following settings:
● Active homing with homing cam and zero mark
● Approach in the positive direction
● Homing in the positive direction
● Positive home position offset

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 73
Technology objects
3.2 Basics - Axes

Example of homing in the negative direction

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

S7-1500 Motion Control V4.0 in TIA Portal V15

74 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Motion sequence
The motion occurs in the following sequence:
1. Start of active homing via the "MC_Home" Motion Control instruction
2. Approach to reference cam
3. Detection of the reference cam in the homing direction and travel with homing velocity
4. Departure from the reference cam and travel to the homing mark
With the departure from the reference cam, the detection of the homing mark is enabled.
5. Detection of the homing mark
When the homing mark is detected, the position of the technology object is set depending
on the configured mode:
– Parameter "Mode" in "MC_Home" = 3
Position = value in parameter "Position" minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
– Parameter "Mode" in "MC_Home" = 5
Position = value in the tag <TO>.Homing.HomePosition minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and
S7-1500 Motion Control has been standardized within the framework of technology
version V2.0. This results in a new assignment of the parameter values for the
"MC_Home.Mode" parameter. A comparison of the "MC_Home.Mode" parameter for
technology versions V1.0 and V2.0 is available in the section Version overview
(Page 155).

6. Approach to the home position

– Parameter "Mode" in "MC_Home" = 3
The axis moves to the position that is specified in the "Position" parameter.
– Parameter "Mode" in "MC_Home" = 5
The axis moves to the position that is specified in the <TO>.Homing.HomePosition
tag.

Note
If the velocity cannot be reduced to the reference velocity between detection of the
reference cam and the zero mark, homing is performed at the velocity present when the
zero mark is crossed.

See also
Homing SINAMICS drives with external zero marks (Page 555)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 75
Technology objects
3.2 Basics - Axes

3.2.9.5 Active homing with zero mark

The following figure shows an example of the homing motion with the following settings:
● Active homing with zero mark
● Homing in the positive direction
● Positive home position offset

Motion sequence
The motion occurs in the following sequence:
1. Start of active homing via the Motion Control instruction "MC_Home"
2. Move to the homing mark in the homing direction with the homing velocity
3. Detection of the homing mark
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" in "MC_Home" = 3
Position = value in parameter "Position" minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
– Parameter "Mode" to "MC_Home" = 5
Position = value in the tag <TO>.Homing.HomePosition minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset

S7-1500 Motion Control V4.0 in TIA Portal V15

76 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

4. Move to homing point

– Parameter "Mode" in "MC_Home" = 3
The axis moves to the position that is specified in the "Position" parameter.
– Parameter "Mode" to "MC_Home" = 5
The axis moves to the position that is specified in the <TO>.Homing.HomePosition
tag.

See also
Homing SINAMICS drives with external zero marks (Page 555)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 77
Technology objects
3.2 Basics - Axes

3.2.9.6 Active homing with digital input

The following figure shows an example of the homing motion with the following settings:
● Active homing with digital input
● Approach in the positive direction
● Homing mark on the positive side of the digital input
● Positive home position offset

Motion sequence
The motion occurs in the following sequence:
1. Start of active homing via the Motion Control instruction "MC_Home"
2. Detection of the positive edge at the digital input, while moving with homing velocity
3. Approach to the homing mark

S7-1500 Motion Control V4.0 in TIA Portal V15

78 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

4. Detection of the homing mark

In the example, the negative edge of the switch at the digital input represents the homing
mark.
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" in "MC_Home" = 3
Position = value in parameter "Position" minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
– Parameter "Mode" in "MC_Home" = 5
Position = value in the tag <TO>.Homing.HomePosition minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

5. Move to homing point

– Parameter "Mode" in "MC_Home" = 3
The axis moves to the position that is specified in the "Position" parameter.
– Parameter "Mode" in "MC_Home" = 5
The axis moves to the position that is specified in the <TO>.Homing.HomePosition
tag.

Note
If the velocity on the span from the detection of the positive edge to the negative edge
cannot be reduced to the homing velocity, then homing occurs at the velocity that exists
when the homing mark is traversed.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 79
Technology objects
3.2 Basics - Axes

3.2.9.7 Passive homing with homing cam and zero mark

The following figure shows an example of the homing motion with the following settings:
● Passive homing with homing cam and zero mark
● Homing in the positive direction

Motion sequence
The motion occurs in the following sequence:
1. Activation of passive homing using the Motion Control instruction "MC_Home".
2. Motion due to a Motion Control job from the application
The detection of the reference cam and homing mark is enabled when the actual position
value of the axis or encoder moves in the assigned homing direction.
3. Detection of the reference cam
4. Departure from the reference cam
The departure from the reference cam enables the detection of the homing mark.
5. Detection of the homing mark
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" in "MC_Home" = 2, 8
Position = value in parameter "Position"
– Parameter "Mode" in "MC_Home" = 10
Position = value in tag <TO>.Homing.HomePosition

S7-1500 Motion Control V4.0 in TIA Portal V15

80 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-
1500 Motion Control has been standardized within the framework of technology version
V2.0. This results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

Note
If the motion direction changes after departure from the reference cam and before
detection of the homing mark, the reference cam must be detected again. The Motion
Control instruction "MC_Home" remains enabled.

3.2.9.8 Passive homing with zero mark

The following figure shows an example of the homing motion with the following settings:
● Passive homing with zero mark
● Homing in the positive direction

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 81
Technology objects
3.2 Basics - Axes

Motion sequence
The motion occurs in the following sequence:
1. Enablement of passive homing via the Motion Control instruction "MC_Home".
2. Motion due to a Motion Control job from the application
The detection of the homing mark is enabled when the actual position value of the axis or
encoder moves in the assigned homing direction.
3. Detection of the homing mark
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" to "MC_Home" = 2, 8
Position = value in parameter "Position"
– Parameter "Mode" to "MC_Home" = 10
Position = value in tag <TO>.Homing.HomePosition

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

S7-1500 Motion Control V4.0 in TIA Portal V15

82 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.9.9 Passive homing with digital input

The following figure shows an example of the homing motion with the following settings:
● Passive homing with digital input
● Homing in the positive direction
● Homing mark on the positive side of the digital input

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 83
Technology objects
3.2 Basics - Axes

Motion sequence
The motion occurs in the following sequence:
1. Enablement of passive homing via the Motion Control instruction "MC_Home".
2. Motion due to a Motion Control job from the application
The detection of the homing mark at the digital input is enabled when the actual position
value of the axis or encoder moves in the assigned homing direction.
3. Detection of the homing mark
In the example, the falling edge of the switch at the digital input represents the homing
mark.
When the homing mark is detected, the position of the axis or encoder is set depending
on the configured mode:
– Parameter "Mode" to "MC_Home" = 2, 8
Position = value in parameter "Position"
– Parameter "Mode" to "MC_Home" = 10
Position = value in tag <TO>.Homing.HomePosition

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

3.2.9.10 Direction reversal at the hardware limit switch (reversing cam)

During active homing, the hardware limit switch can optionally be used as a reversing cam. If
the homing mark is not detected or the motion was not in the homing direction, the motion
continues in the opposite direction with the approach velocity after the reversing cam.
When the hardware limit switch is reached, the default settings for dynamics take effect.
Deceleration with the emergency stop deceleration does not occur.

NOTICE
Avoid moving to a mechanical endstop
Ensure by one of the following measures, that in a direction reversal the machine does not
move to a mechanical endstop.
• Keep the approach velocity low.
• Increase the configured acceleration / deceleration.
• Increase the distance between the hardware limit switch and the mechanical endstop.

S7-1500 Motion Control V4.0 in TIA Portal V15

84 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.9.11 Direct homing

Depending on the configured mode, the position of the positioning axis/synchronous axis or
external encoder technology objects can be absolutely or relatively set with "MC_Home".

Set actual position absolutely

Proceed as follows to set the position absolutely:
1. In the "MC_Home" Motion Control instruction, enter the absolute position in the "Position"
parameter.
2. Call the "MC_Home" Motion Control instruction with the "Mode" = 0 parameter.
The position is set to the value specified in the "Position" parameter.

Set actual position relatively

Proceed as follows to set the position relatively:
1. In the "MC_Home" Motion Control instruction, enter the relative position in the "Position"
parameter.
2. Call the "MC_Home" Motion Control instruction with the "Mode" = 1 parameter.
The position is set to the current position plus the value specified in the "Position" parameter.

3.2.9.12 Absolute value adjustment

In absolute value adjustment, Motion Control determines an absolute value offset, that is
retentively stored on the CPU.
Depending on the configured mode, the position of the axis or the encoder is absolutely or
relatively set in the "MC_Home" Motion Control instruction.
● Parameter "Mode" = 7 (absolute specification of position)
Position = value in parameter "Position"
● Parameter "Mode" = 6 (relative specification of position)
Position = current position + value in parameter "Position"

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 85
Technology objects
3.2 Basics - Axes

3.2.9.13 Resetting the "Homed" status

Incremental encoder
In the following cases, the "Homed" status is reset, and the technology object must be
rehomed.
● Error in sensor system/encoder failure
● Initiation of active homing with the Motion Control instruction "MC_Home" with "Mode" =
3, 5 (after successful completion of the homing process, the status "Homed" is set again.)

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 155).

● Initiation of passive homing with the Motion Control instruction "MC_Home" with "Mode" =
2, 8, 10 (after successful completion of the homing process, the status "Homed" is set
again.)
● Replacement of the CPU
● Replacement of the SIMATIC Memory Card
● POWER OFF
● Memory reset
● Modification of the encoder configuration
● Restart of the technology object
● Restoration of the CPU factory settings
● Transfer of a different project into the controller

Absolute encoder
In the following cases, the "Homed" status is reset, and the technology object must be
rehomed.
● Replacement of the CPU
● Modification of the encoder configuration
● Restoration of the CPU factory settings
● Transfer of a different project into the controller
When you use a new absolute value encoder you need to home the absolute encoder once
again.
Resetting the memory of the CPU or upgrading a project does not require another absolute
value adjustment.

S7-1500 Motion Control V4.0 in TIA Portal V15

86 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.9.14 Tags
The following technology object tags are relevant for homing:

Status indicators
<TO>StatusWord.X11 (HomingCommand) Homing job running
<TO>StatusWord.X5 (HomingDone) Technology object is homed
<TO>ErrorWord.X10 (HomingFault) Error occurred during homing
Approach to reference cam
<TO>.Homing.ApproachDirection Start direction or approach direction for the
approach to the reference cam
<TO>.Homing.ApproachVelocity Velocity for the approach to the reference cam
Approach to the homing mark
<TO>.Sensor[n].ActiveHoming.Direction Homing direction
<TO>.Homing.ReferencingVelocity Velocity for the approach to the homing mark
Move to homing point
<TO>.Homing.ApproachVelocity Velocity for the move to homing point
Positions
<TO>.Homing.AutoReversal Reversal at the hardware limit switches
<TO>.Homing.HomePosition Home position
<TO>.StatusSensor[n].AbsEncoderOffset Calculated offset after the absolute encoder
adjustment
Parameters for active homing
<TO>.Sensor[n].ActiveHoming.Mode Homing mode
<TO>.Sensor[n].ActiveHoming.SideInput Side of the digital input
<TO>.Sensor[n].ActiveHoming.Direction Homing direction or approach direction
<TO>.Sensor[n].ActiveHoming.DigitalInputAddress Address of digital input
<TO>.Sensor[n].ActiveHoming.HomePositionOffset Offset of the homing mark from the home
position
Parameters for passive homing
<TO>.Sensor[n].PassiveHoming.Mode Homing mode
<TO>.Sensor[n].PassiveHoming.SideInput Side of the digital input
<TO>.Sensor[n].PassiveHoming.Direction Homing direction or approach direction
<TO>.Sensor[n].PassiveHoming.DigitalInputAddress Address of digital input

Note
Evaluation of the bits in StatusWord, ErrorWord and WarningWord
Read the information provided in section Evaluate StatusWord, ErrorWord and WarningWord
(Page 288).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 87
Technology objects
3.2 Basics - Axes

3.2.10 Position monitoring functions

3.2.10.1 Brief description

The following functions are available in the positioning axis/synchronous axis technology
object for monitoring positioning and motion:
● Positioning monitoring (Page 88)
The actual position value must reach a positioning window within a specified time, and
remain in this positioning window for a minimum dwell time.
● Following error monitoring (Page 90)
The following error is monitored based on a velocity-dependent following error limit. The
permissible maximum following error depends on the velocity setpoint.
If monitored conditions are violated, then technology alarms are output. The technology
object responds in accordance with the alarm response.

3.2.10.2 Positioning monitoring

Positioning monitoring monitors the behavior of the actual position at the end of the setpoint
calculation.
As soon as the velocity setpoint reaches the value zero, the actual position value must be
located in the positioning window within a tolerance time. The actual value must not exit the
positioning window during the minimum dwell time.
If the actual position is reached at the end of a positioning motion within the tolerance time
and remains in the positioning window for the minimum dwell time, then
<TO>.StatusWord.X6 (Done) is set in the technology data block. After expiration of the
minimum dwell time, the "Done" parameter of the corresponding Motion Control instruction is
also set. This completes a motion job.

S7-1500 Motion Control V4.0 in TIA Portal V15

88 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

The following figure shows the chronological sequence and the positioning window:

Positioning monitoring does not make any distinction between how the setpoint interpolation
was completed. The end of setpoint interpolation can for example be reached as follows:
● by reaching of the target position on the part of the setpoint
● by position controlled stopping during the motion by the Motion Control instruction
"MC_Halt"

Violation of positioning monitoring

In the following cases, technology alarm 541 is output by the positioning monitoring, and the
technology object is disabled (alarm reaction: remove enable).
● The actual value does not reach the positioning window during the tolerance time.
● The actual value exits the positioning window during the minimum dwell time.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 89
Technology objects
3.2 Basics - Axes

3.2.10.3 Following error monitoring

The following error in the positioning axis/synchronous axis technology object is monitored
based on a velocity-dependent following error limit. The permissible following error depends
on the velocity setpoint.
A constant permissible following error can be specified for velocities lower than an adjustable
velocity low limit.
Above this low velocity limit, the permissible following error increases in proportion to the
velocity setpoint. The configurable maximum permissible following error is the maximum
velocity limit.

Calculation of the following error

The following error is the difference between the position setpoint and the actual position
value. The transmission times of the setpoint to the drive, and of the actual position value to
the controller, are taken into account in the calculation of the following error, i.e. subtracted
out.

Warning limit
A warning limit can be specified for the following error. The warning limit is input as a
percentage value and operates relative to the current permissible following error. If the
warning limit of the following error is reached, then technology alarm 522 is output. This is a
warning and contains no alarm response.

Violation of the permissible following error

If the permissible following error is exceeded, then technology alarm 521 is output, and the
technology object is disabled (alarm response: remove enable).
When force/torque limiting is activated, the monitoring of the permissible following error can
be deactivated.

3.2.10.4 Standstill signal

When the actual velocity reaches the standstill window and remains there for the minimum
dwell time, the standstill of the axis is indicated.

S7-1500 Motion Control V4.0 in TIA Portal V15

90 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.10.5 Tags
The following technology object tags are relevant for position monitoring and for the
standstill:

Status indicators
<TO>.StatusWord.X7 (Standstill) Set to the value TRUE when the actual velocity reaches
the standstill window and does not exit it within the
minimum dwell time.
The standstill signal is only present for the positioning
axis/synchronous axis.
<TO>.StatusWord.X6 (Done) Positioning axis/synchronous axis
Set to the TRUE, when the actual velocity value reach-
es the positioning window within the tolerance time and
remains in the window for the minimum dwell time.
Speed axis
Set to TRUE, when the motion is complete and the
speed setpoint is therefore equal to zero.
<TO>.ErrorWord.X12 (PositioningFault) A positioning error has occurred.
Positions and times
<TO>.PositioningMonitoring.ToleranceTime Maximum permissible time until positioning window is
reached
The time is started with the end of the setpoint interpo-
lation.
<TO>.PositioningMonitoring.MinDwellTime Minimum dwell time in the positioning window
<TO>.PositioningMonitoring.Window Positioning window
Standstill signal
<TO>.StandstillSignal.VelocityThreshold Velocity threshold for the standstill signal
<TO>.StandstillSignal.MinDwellTime Minimum dwell time below the velocity threshold

The following technology object tags are relevant for following error monitoring:

Status indicators
<TO>.StatusPositioning.FollowingError Current following error
<TO>.ErrorWord.X11 (FollowingErrorFault) Status indication, that the following error is too large
<TO>.WarningWord.X11 (FollowingError- Status indication, that the following error warning limit
Warning) has been reached
Control bits
<TO>.FollowingError.EnableMonitoring Enabling / disabling following error monitoring
Limit values
<TO>.FollowingError.MinVelocity Lower velocity setpoint for the characteristic curve of
the maximum following error
<TO>.FollowingError.MinValue Permissible following error below the
<TO>.FollowingError.MinVelocity
<TO>.FollowingError.MaxValue Maximum permissible following error at maximum axis
velocity
<TO>.FollowingError.WarningLevel Warning limit as a percentage value relative to the
maximum permissible following error (velocity-
dependent in accordance with the characteristic curve)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 91
Technology objects
3.2 Basics - Axes

3.2.11 Closed-loop control

3.2.11.1 Brief description

The position controller of the positioning axis / synchronizing axis is a proportional controller
with velocity precontrol.

Velocity precontrol
The velocity precontrol can be used to minimize the velocity-based following error during
position control. As a result, faster positioning is achieved, if needed, because the position
controller only has to compensate disturbances.
When using the velocity precontrol, the velocity setpoint is additionally added to the output of
the position controller. You can weight this additional setpoint by a factor.

Dynamic Servo Control (DSC)

In drives that support Dynamic Servo Control (DSC), you can optionally use the closed-loop
position controller in the drive. If you use telegrams that support DSC, DSC is automatically
activated. The position controller in the drive is usually implemented with a rapid speed-
control cycle. This improves the control performance for digitally coupled drives.
The following requirements must be met to use DSC:
● The motor encoder (first encoder in the telegram) of the drive is used as the first encoder
for the technology object.
● One of the following PROFIdrive telegrams is used for the drive:
– Standard telegram 5 or 6
– SIEMENS telegram 105 or 106

See also
PROFIdrive telegrams (Page 36)

S7-1500 Motion Control V4.0 in TIA Portal V15

92 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.11.2 Control structure

The following figure shows the effective closed loop control structure without DSC:

① Interpolator with motion control

② Internal consideration of the signal propagation times and the speed-control loop substitute
time
③ Communication between controller and drive

The following figure shows the effective closed loop control structure with DSC:

① Interpolator with motion control

② Internal consideration of speed control loop substitute time
③ Communication between controller and drive

See also
Configuration - Control loop (Page 228)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 93
Technology objects
3.2 Basics - Axes

3.2.11.3 Tags
The following technology object tags are relevant for the closed-loop control:

Parameters
<TO>.PositionControl.Kv Proportional gain of the closed loop position control
<TO>.PositionControl.Kpc Velocity precontrol of the positioning system (in %)
<TO>.PositionControl.EnableDSC Enable DSC
<TO>.DynamicAxisModel.VelocityTime Speed control loop substitute time [s]
Constant
<TO>.PositionControl.ControlDifference- Type of quantification
Quantization.Mode Configuration of a quantization when a drive with stepper
motor interface is connected
0: No quantification
1: Quantization corresponding to encoder resolution
2: Quantization to a direct value (value input in
<TO>.PositionControl.ControlDifferenceQuantization.-
Value)
(configuration is performed using the parameter view
(data structure))
<TO>.PositionControl.ControlDifference- Value of quantification
Quantization.Value Configuration of a value for quantization to a direct value
(<TO>.PositionControl.ControlDifferenceQuantization.-
Mode = 2)
The quantization value is specified in the position unit of
the axis.
(configuration is performed using the parameter view
(data structure))

S7-1500 Motion Control V4.0 in TIA Portal V15

94 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

3.2.12 Process response

3.2.12.1 Organization Blocks for Motion Control

Description
When you create a technology object, organization blocks are automatically created for
processing the technology objects. The Motion Control functionality of the technology objects
creates its own execution level, and is called according to the Motion Control application
cycle.
The following blocks are created:
● MC-Servo [OB91]
Calculation of the position controller
● MC-Interpolator [OB92]
Evaluation of the Motion Control instructions, generation of setpoints and monitoring
functionality
The organization blocks are protected (know-how protection). The program code cannot be
viewed or changed.
The frequency relationship of the two organization blocks to one another is always 1:1.
MC-Servo [OB91] is always executed before MC-Interpolator [OB92].
You can set the application cycle and the priority of the organization blocks according to your
requirements for control quality and system load.
MC-PreServo [OB67] and MC-PostServo [OB95]
In addition, you can create the organization blocks MC-PreServo [OB67] and
MC-PostServo [OB95].
The organization blocks MC-PreServo [OB67] and MC-PostServo [OB95] can be
programmed. They are called in the configured application cycle. This means you can use
the organization blocks MC-PreServo [OB67] and MC-PostServo [OB95] for consistent data
processing or time-critical events, such as starting of motions or homing functions for the
process that may have to run synchronously with the application cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 95
Technology objects
3.2 Basics - Axes

Application cycle
You can set the application cycle in which the MC-Servo [OB91] is called in the properties of
the organization block in "General > Cycle Time":
● Synchronous to the bus
MC-Servo [OB91] is called synchronously with or at a reduced ratio to a bus system. You
set the send clock in the properties of the selected bus system. In the "Distributed I/O"
drop-down list, you can select the following bus systems:
– Isochronous PROFIBUS DP
– Isochronous PROFINET IO
You cannot call the MC-Servo [OB91] synchronously with a bus system that is connected
to the CPU via a communications processor/communications module (CP/CM).
● Cyclic
The MC-Servo [OB91] is called cyclically with the specified application cycle.
The selected application cycle must be long enough to be able to process the technology
objects in one cycle. If the processing time of the technology objects is longer than the
application cycle, overflows (Page 98) will occur. In order to achieve optimal control quality,
the calculations of the organization blocks MC-PreServo [OB67], MC-Servo [OB91] and
MC-PostServo [OB95] must be performed within a send cycle.
You can check the runtime of MC-Servo [OB91] and MC-Interpolator [OB92] with the
expanded instruction "RT_INFO".
The current application cycle (information in µs) of the organization blocks MC-
PreServo [OB67] and MC-PostServo [OB95] can be read using the start information.

Reduction ratio (CPU V1.5 and higher)

You can reduce the application cycle of the MC-Servo [OB91] relative to the send clock of an
isochronous PROFINET IO system. You can set an integer multiple of the send clock as the
factor. Values up to 14 times the send clock (maximum 32 ms) are possible for the
application cycle.
If you call an isochronous mode interrupt OB and the MC-Servo [OB91] synchronously with
the same PROFINET IO system, you must set the same application cycle for both
organization blocks.

S7-1500 Motion Control V4.0 in TIA Portal V15

96 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Priority
You can configure the priority of the organization blocks as needed in their properties under
"General > Properties > Priority":
● MC-Servo [OB91]
Priority 17 to 26 (default value 26)
● MC-Interpolator [OB92]
Priority 16 to 25 (default value 24)
The priority of MC-Servo [OB91] must be at least one higher than the priority of
MC-Interpolator [OB92].
The priority of the organization blocks MC-PreServo [OB67] and MC-PostServo [OB95]
correspond to the priority of the MC-Servo [OB91]. MC-PreServo [OB67] is called
immediately before MC-Servo [OB91]. MC-PostServo [OB95] is called immediately after
MC-Servo [OB91].

See also
Data connection drive/encoder via data block (Page 50)

3.2.12.2 Process image partition "OB Servo PIP"

The process image partition "OB Servo PIP" is made available in isochronous mode for
Motion Control when MC-Servo [OB91] is called. All drives and encoders used by Motion
Control are assigned to this process image partition.
Because the organization blocks MC-PreServo [OB67] and MC-PostServo [OB95] are called
automatically by the MC-Servo [OB91], the process image partition is also available
automatically. If you use a MC-PreServo [OB67], the data are read in when the
MC-PreServo [OB67] starts. If you use a MC-PostServo [OB95], the data are output after the
MC-PostServo [OB95].
Additionally, you should assign all I/O modules used by Motion Control to this process image
partition (e.g. hardware limit switches). The assignment results in chronologically
synchronous processing with the technology object.
The input process image partition is also updated in STOP mode.

Process image partition in the user program

As of CPU version V1.5, you can access the process image partition "OB Servo PIP" in your
user program. This makes it possible to evaluate the process image partition using the trace
function.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 97
Technology objects
3.2 Basics - Axes

3.2.12.3 Operational Sequence and Timeouts

When processing the Motion Control functionality, the organization blocks MC-Servo [OB91]
and MC-Interpolator [OB92] are called and processed in each application cycle. The
remaining cycle time is available for the processing of your user program.
For error-free program execution, keep to the following rules:
● In each application cycle, MC-Servo [OB91] must be started and executed completely.
● In each application cycle, the relevant MC-Interpolator [OB92] must at least be started.
The following figure shows an example of the error-free operational sequence for the
processing of organization block OB1:

① "TPA OB Servo" input

② "TPA OB Servo" output
③ First OB1 cycle
④ Second OB1 cycle

S7-1500 Motion Control V4.0 in TIA Portal V15

98 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Overflows
Overflows can occur if the configured application cycle is not adhered to, for example
because additional technology objects or programs are added in the MC-PreServo [OB67] or
MC-PostServo [OB95]. The application cycle must be adapted in this case to prevent
overflows.
A message is generated in the diagnostic buffer of the CPU in the case of an overflow of
MC-Servo [OB91] in the send clock. The controller no longer runs isochronously.
The CPU switches to STOP mode in the case of an overflow of MC-Servo [OB91] in the
application cycle.
The following figure shows the behavior in the case of overflow of MC-Servo [OB91] in the
application cycle and in the send clock with a reduction ratio of 2:

① "TPA OB Servo" input

② "TPA OB Servo" output
* Including MC-PreServo [OB67] and/or MC-PostServo [OB95], when in use

The execution of an MC-Interpolator [OB92] may only be interrupted by an MC-Servo [OB91]

call. If more interruptions occur, the CPU switches to STOP mode.
The following figure shows the operational sequence when an MC-Interpolator [OB92] is
interrupted over two time slices:

* Including MC-PreServo [OB67] and/or MC-PostServo [OB95], when in use

The CPU tolerates a maximum of three consecutive overflows of MC-Interpolator [OB92]. If

more overflows occur, the CPU switches to STOP mode.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 99
Technology objects
3.2 Basics - Axes

The following figure shows the operational sequence if there are four consecutive individual
overflows of MC-Interpolator [OB92]:

* Including MC-PreServo [OB67] and/or MC-PostServo [OB95], when in use

3.2.12.4 Operating modes

This section examines the behavior of the Motion Control in the respective operating modes
and in the transitions between operating modes. A general description of the operating
modes can be found in the S7-1500 System Manual

Operating modes and transitions

The CPU has the following operating modes:
● STOP
● STARTUP
● RUN
● HOLD
The following figure shows the operating modes and the operating mode transitions:

S7-1500 Motion Control V4.0 in TIA Portal V15

100 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.2 Basics - Axes

Operating mode transitions

The following table shows the behavior of the Motion Control in the transitions between the
operating modes:

No. Operating mode Behavior

transition
① POWER ON → The CPU performs a restart of the technology objects. The technology objects are reinitial-
STOP ized with the values from the load memory.
② STOP → STARTUP Not relevant for Motion Control.

③ STARTUP → RUN The process outputs are enabled.

④ RUN → STOP When the CPU changes from RUN mode to STOP mode, all technology objects are disabled
in accordance with the alarm response "remove enable". Active Motion Control jobs are
aborted.
If restart-relevant data has been changed for technology objects in RUN, the CPU performs a
restart of the corresponding technology objects.
⑤ STARTUP → HOLD Breakpoint in the start-up routine reached.

⑥ HOLD → STARTUP Not possible when using technology objects

⑦ RUN → HOLD Breakpoint reached

⑧ HOLD → RUN Not possible when using technology objects

⑨ HOLD → STOP By operation of switch/display or by setting to STOP from programming device.

STOP mode
In STOP mode the user program is not processed and all process outputs are disabled.
Thus no Motion Control jobs are executed.
The technology data blocks are updated.

STARTUP mode
Before the CPU starts processing of the cyclical user program, the startup OBs are
processed one time.
In STARTUP mode, the process outputs are disabled. Motion Control jobs are rejected.
The technology data blocks are updated.

RUN mode
The user program is processed in RUN mode.
In RUN mode, the programmed Motion Control jobs are cyclically called and processed.
The technology data blocks are updated.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 101
Technology objects
3.2 Basics - Axes

HOLD operating state

Working with breakpoints is not supported when technology objects are used. An overflow of
the MC-Servo occurs in each case. This leads to an immediate switch to STOP mode.
In HOLD operating state, events are not initiated and the user program is not executed.
All outputs are disabled or react according to the parameter settings. Outputs supply a
configured substitute value or keep the last value output and bring the controlled process to
a safe operating state.
When you reach a breakpoint, the CPU executes an implicit restart of the technology object.
Homing the technology once again.

S7-1500 Motion Control V4.0 in TIA Portal V15

102 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.3 Speed-controlled axis technology object

3.3 Speed-controlled axis technology object

The speed axis technology object calculates speed setpoints, taking into account the
dynamic settings, and outputs them to the drive. All motions of the speed axis take place as
speed-controlled motions. An existing load gear is taken into account on the system side.
You can find an overview of the functions of the speed axis technology object in the
Functions (Page 27) section.
A drive is assigned to each speed axis by means of a PROFIdrive telegram or an analog
setpoint interface.
The speed is specified in revolutions per unit of time.
The following figure shows the basic principle of operation of the speed axis technology
object:

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 103
Technology objects
3.4 Positioning axis technology object

3.4 Positioning axis technology object

The positioning axis technology object calculates position setpoints, taking into account the
encoderc settings, and outputs corresponding speed setpoints to the drive. In position-
controlled mode, all movements of the positioning axis take place as position-controlled
movements. For absolute positioning, the physical position must be known to the positioning
axis technology object.
You can find an overview of the functions of the positioning axis technology object in the
Functions (Page 27) section.
Each positioning axis is assigned a drive by means of a PROFIdrive telegram or an analog
setpoint interface as well as an encoder by means of a PROFIdrive telegram.
The relationship between the encoder values and a defined position is established by the
parameter assignment of the mechanical properties and encoder settings and by a homing
operation. The technology object can also perform movements without a position
relationship, and relative position movements, even without being in a homed status.
A positioning axis can be configured as a linear axis or rotary axis (Page 31), depending on
the design of the mechanics.
The figure below shows the basic principle of operation of the positioning axis technology
object:

S7-1500 Motion Control V4.0 in TIA Portal V15

104 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.5 Synchronous axis technology object

3.5 Synchronous axis technology object

3.5.1 Short description for synchronous axis

The synchronous axis technology object includes all functions of the positioning axis
technology object.
A synchronous axis can also follow the motions of a leading axis. The synchronous
operation relationship between the leading and following axes is specified by a synchronous
operation function.
You can find an overview of the functions of the synchronous axis technology object in the
Functions (Page 27) section.
The figure below shows the basic principle of operation of the synchronous axis technology
object:

See also
Axis types (Page 31)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 105
Technology objects
3.5 Synchronous axis technology object

3.5.2 Synchronous operation phases

By means of synchronous operation, a following axis can be linked to a leading axis and
move synchronously with it.
The synchronous operation proceeds in the following phases:
● Pending synchronous operation (S7-1500T)
The following axis waits for the start conditions of the synchronizing motion.
● Synchronization
The following axis is synchronized to the leading value.
● Synchronous motion
The following axis follows the position of the leading axis according to the synchronous
operation function.
● Synchronous operation override
An active synchronous operation is overridden by motion jobs (e.g. MC_Halt) issued to
the following axis.
During these phases the dynamic limits apply as described in section Dynamic limits in
synchronous operation (Page 62).
Avoid homing the leading axis during an active synchronous operation. Homing the leading
axis during synchronous operation corresponds to a setpoint step change on the following
axis. The following axis compensates for the step change according to the synchronous
operation function and limited only to the maximum speed of the drive.

Note
The leading values and following values are coupled without conversion into the relevant
configured user unit. If, for example, a linear leading axis moves by 10 mm, a rotary following
axis moves by 10° with at a gear ratio of 1:1.

S7-1500 Motion Control V4.0 in TIA Portal V15

106 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.5 Synchronous axis technology object

3.5.3 Leading value coupling

3.5.3.1 Short description for leading value coupling

The leading value for synchronous operation is provided by a leading axis. The leading value
is specified and coupled in the user program with the call of the corresponding Motion
Control instruction for synchronous operation. The leading value is switched when you call
the Motion Control instruction again specifying a different leading axis.
The following rules apply to the leading value coupling:
● A leading axis can output the leading value to several following axes.
● The synchronous axis can be interconnected with different leading values. All
interconnections required during operation must be set up during configuration of the
technology object.
● Only one leading value at a time is coupled and evaluated.

3.5.3.2 Setpoint coupling

With setpoint coupling, the position setpoint of the leading axis is used as the leading value
for synchronous operation.
The position setpoint of the following technology objects can be interconnected as the
leading value for synchronous operation:
● Positioning axis
● Synchronous axis

3.5.4 Gearing with MC_GearIn

During gearing the position of the following axis results from the position of the leading axis
multiplied by the gear ratio. You specify the gear ratio as a ratio of two integers. The result is
a linear synchronous operation function.
Synchronous operation with MC_GearIn begins after synchronization when the following axis
has reached the velocity and acceleration of the leading axis, taking into account the gear
ratio.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 107
Technology objects
3.5 Synchronous axis technology object

Synchronization
Synchronization begins with the start of an "MC_GearIn (Page 413)" job. When a
synchronous axis is synchronizing to a leading value, this is indicated in the technology
object tag <TO>.StatusWord.X21 (Synchronizing). Active motion jobs are overridden. The
dynamic values (acceleration, delay, jerk) of the following axis for the synchronization are
specified at "MC_GearIn".
The synchronization duration and distance are dependent on the following parameters:
● Start time of the "MC_GearIn" job
● Dynamics of the following axis at the start time
● Dynamic value settings for "MC_GearIn"
● Dynamics of the leading axis
If the following axis has reached the velocity and the acceleration of the leading axis, taking
into account the gear ratio, the following axis is synchronized. The following axis travels
synchronously with the leading axis.

Synchronous motion
When a synchronous axis is synchronized to a leading value, the "Synchronous" status is
indicated by parameter "MC_GearIn.InGear" = TRUE as well as in the technology object tag
<TO>.StatusWord.X22 (Synchronous). The following axis follows the dynamics of the
leading axis according to the gear ratio.
The response characteristic during gearing is expressed by a linear relationship between the
leading value and following value.

Gear ratio Slope of line/transmission ratio

Gear ratio = MC_GearIn.RatioNumerator/MC_GearIn.RatioDenominator
Synchronization
① Position starting from which the leading and following axes move synchronously
Position ① is dependent on the above-named parameters
(see Synchronization).

The following value is calculated according to the following function:

Position of following axis (following value) = Position ① of following axis + gear ratio ×
(Position of leading axis - Position ① of leading axis)

S7-1500 Motion Control V4.0 in TIA Portal V15

108 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.5 Synchronous axis technology object

Direction
The numerator of the gear ratio is specified as positive or negative. This yields the following
behavior:
● Positive gear ratio:
The leading and following axes move in the same direction.
● Negative gear ratio:
The following axis moves in the opposite direction of the leading axis.

See also
MC_GearIn: Start gear synchronization V4 (Page 413)
Tags for synchronous operation (Page 109)
MC_MoveSuperimposed: Position axes overlapping V4 (Page 395)
Dynamic limits in synchronous operation (Page 62)

3.5.5 Tags for synchronous operation

The following technology object tags are relevant for synchronous operation:

Status indicators
<TO>.StatusSynchronizedMotion.ActualMaster When a synchronous operation job is started, the number of the
technology data block of the currently used leading axis is dis-
played.
"ActualMaster" = 0 when synchronous operation is inactive
<TO>.StatusSynchronizedMotion.PhaseShift Current absolute leading value shift
<TO>.StatusWord.X21 (Synchronizing) Set to value TRUE when the synchronous axis synchronizes to a
leading value.
<TO>.StatusWord.X22 (Synchronous) Set to value TRUE when the synchronous axis is synchronized and
moves synchronously to the leading axis,
<TO>.ErrorWord.X14 (SynchronousError) Error during synchronous operation
The leading axis specified in the Motion Control instruction was not
configured as a possible leading axis.
<TO>.StatusSynchronizedMotion.StatusWord.X0 Set to value TRUE when the maximum velocity configured for the
(MaxVelocityExceeded) following axis is exceeded during synchronous operation.
<TO>.StatusSynchronizedMotion.StatusWord.X1 Set to value TRUE when the maximum acceleration configured for
(MaxAccelerationExceeded) the following axis is exceeded during synchronous operation.
<TO>.StatusSynchronizedMotion.StatusWord.X2 Set to value TRUE when the maximum deceleration configured for
(MaxDecelerationExceeded) the following axis is exceeded during synchronous operation.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 109
Technology objects
3.6 Technology object external encoder

3.6 Technology object external encoder

The external encoder technology object detects a position, and makes it available to the
controller.
The actual position detected by the external encoder can be used for the following functions,
for example:
● Measured value acquisition by a measuring input
● Position-dependent generation of switching signals and switching signal sequences by
output cam and cam track with actual value reference.
● As a leading value of a synchronous axis (S7-1500T)
You can find an overview of the functions of the external encoder technology object in the
Functions (Page 27) section.
The relationship between the encoder values and a defined position is established by the
parameter assignment of the mechanical properties and encoder settings and by a homing
operation.
The following figure shows the basic principle of operation of the external encoder
technology object:

S7-1500 Motion Control V4.0 in TIA Portal V15

110 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.6 Technology object external encoder

Specification of the position occurs according to the selected system of units:

● Linear system of units
The position is specified as a linear measure, e.g. millimeters.
● Rotary system of units
The position is specified as an angular measure, e.g. degrees.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 111
Technology objects
3.7 Technology object measuring input

3.7 Technology object measuring input

3.7.1 Brief description

The measuring input technology object acquires the actual position of an axis or external
encoder at a signal change at the measuring input.
You can find an overview of the functions of the measuring input technology object in the
Functions (Page 27) section.
The figure below shows the basic principle of operation of the measuring input technology
object:

S7-1500 Motion Control V4.0 in TIA Portal V15

112 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

Measurement types
Two types of measurement can be performed:
● One-time measurement (Page 116)
Up to two measured values are acquired with edge accuracy with one measuring job. A
one-time measuring job is started with "MC_MeasuringInput".
● Cyclic measuring (Page 117)
With cyclic measuring, up to two measured values are acquired with edge accuracy in
each position control cycle.
A cyclic measuring job is started with "MC_MeasuringInputCyclic". The measurements
are continued cyclically until they are ended per command.
The edges to be detected are selected when starting the measurement using Motion Control
instruction "MC_MeasuringInput" or "MC_MeasuringInputCyclic".

Assignment
The measuring input technology object must always be assigned to another technology
object whose position will be evaluated by the measuring input.
The measuring input technology object can be assigned to the following technology objects:
● Synchronous axis
● Positioning axis
● External encoder

Exactly one axis or one external encoder can be assigned to a measuring input technology
object.
An axis or external encoder can be assigned multiple measuring input technology objects.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 113
Technology objects
3.7 Technology object measuring input

Measured value determination

The position can be detected using support from the hardware in one of the following ways:
● Measuring using TM Timer DIDQ (time-based)
● Measuring with SINAMICS measuring input (time-based)
Measurements via a measuring input are only possible for SINAMICS drives as of (see
compatibility list (Page 555)).
● Measuring using PROFIdrive telegram (drive or external encoder)
A measuring job is activated using Motion Control instruction "MC_MeasuringInput" or
"MC_MeasuringInputCyclic".
With time-based measuring ("TIME_BASED"), a signal change of the external trigger signal
for the measurement is detected via a corresponding module such as TM Timer DIDQ or
SINAMICS Drive. The time stamp is transferred to the controller and the associated actual
position is determined in the technology object.
With direct position detection ("PROFIDRIVE"), the measurement input is connected to the
drive device and the measurement is implemented in the drive. The drive or encoder module
directly supplies the acquired position value to the technology object via the PROFIdrive
telegram.
The resulting measured value is indicated at the respective output of the Motion Control
instruction "MC_MeasuringInput" or "MC_MeasuringInputCyclic".
Cyclic measuring is only possible when measuring using TM Timer DIDQ. One-time
measuring is always possible.
Measuring using TM Timer DIDQ requires isochronous mode.
For measuring using a PROFIdrive telegram, only one measuring input at a time can be
active on an actual value or encoder in the PROFIdrive telegram. A maximum of two
measuring inputs via PROFIdrive can be configured on an actual value or encoder in the
PROFIdrive telegram Refer to Automatic transfer of drive and encoder parameters in the
device (Page 42).
The measuring input technology object cannot be used with SIMATIC S7-PLCSIM. The
measuring input technology object and the measuring input jobs used in the user program
can be loaded into SIMATIC S7-PLCSIM, but have no function. Measured values are not
shown.

S7-1500 Motion Control V4.0 in TIA Portal V15

114 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

Correction time
The time of the measurement can be corrected by setting a correction time
(<TO>.Parameter.CorrectionTime) for the measuring input technology object.
Corrections may be required for the following examples:
● Times for mechanical displacement of the measuring input
● Times for the generation of the measured signal before the input at the measurement
module
● Filter times at the input or filter times for the measurement inputs on the SINAMICS drive
unit
The correction time is calculated by the measuring input technology object for time-based
measured value acquisition ("TIME_BASED") and for direct position detection
("PROFIDRIVE").
Also note the time delay when measuring on a virtual axis. See section Brief description
(Page 39).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 115
Technology objects
3.7 Technology object measuring input

3.7.2 Measuring

3.7.2.1 One-time measurement

With one-time measurement, up to two edges can be detected with one measuring job. The
associated actual positions are signaled back in the function block and in the technology DB
and can be further processed in the user program.

Measuring job
A measuring job is started using the Motion Control instruction "MC_MeasuringInput". The
<TO>.Status tag in the technology data block changes to "WAITING_FOR_TRIGGER". The
technology object activates the measurement when the selected edge is detected.
The measurement occurs at the measurement input in the form of up to two system times.
Based on the times, the associated position is determined and output, taking into
consideration a correction time, if present.
With direct position detection, the detected position value is supplied directly from the drive
or encoder module to the technology object via the PROFIdrive telegram.
The measurement is then finished. An additional measurement must be restarted using
Motion Control instruction "MC_MeasuringInput".

Table 3- 1 Mode and display of the results of measurement results when using one-time measurement

Configured "Mode" parameter in Motion Control Output of Motion Control instruction "MC_MeasuringInput"
instruction "MC_MeasuringInput" MeasuredValue1 MeasuredValue2
Measure positive edge only Actual position at the time of the –
Measure negative edge only edge
Measure the next two edges Actual position at the time of the Actual position at the time of the
first edge second edge
Measure the next two edges starting with the Actual position at the time of the Actual position at the time of the
positive edge positive edge negative edge
Measure the next two edges starting with the Actual position at the time of the Actual position at the time of the
negative edge negative edge positive edge

The last detected values are set in the technology data block. If a new job is initiated with the
function block, the outputs of the function block are initialized. The technology data block is
not initialized. After detecting the first valid measuring cycle, the values in the technology
data block and function block are consistent with one another.
The finished measuring command is indicated in the function block in
"MC_MeasuringInput.DONE" = TRUE or in the technology data block in <TO>.Status =
"TRIGGER_OCCURRED".

S7-1500 Motion Control V4.0 in TIA Portal V15

116 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

Time requirements for measurement jobs via "MC_MeasuringInput"

The hardware-related restrictions to measurement via the PROFIdrive telegram or
measuring via the SINAMICS measurement sensing input, there are time requirements for
the period until the measuring event can be recorded.
When measuring once via "MC_MeasuringInput" with mode 3 (measurement at both edges,
beginning with the rising edge) or mode 4 (measurement at both edges, beginning with the
falling edge), a minimum interval of several servo cycles is therefore required between the
first edge to be measured and the previous edge, in order for the first edge to be measured
can be recorded.
You can find information on the temporal boundary conditions in the section Time-related
boundary conditions (Page 122).

See also
Time-related boundary conditions (Page 122)
MC_MeasuringInput: Start measuring once V4 (Page 399)

3.7.2.2 Cyclic measuring

With cyclic measuring, up to two measuring events can be acquired by the system in each
position control cycle of the technology object and the associated measuring positions can
be displayed. The measurements are continued cyclically until they are ended per command.
The determined measured values are displayed and can be read by the user program.
Cyclic measuring requires the measured value to be determined using the following type of
hardware support: "Measuring using Timer DIDQ".
Measuring edges at which a measured value could not be determined are indicated in a lost
edge counter in the technology DB as well as in function block "MC_MeasuringInputCyclic".

Measuring job
A cyclic measuring job is started with Motion Control instruction "MC_MeasuringInputCyclic",
and the measuring job is issued to the corresponding technology module. Depending on the
functionality of the technology module, up to two measuring events and thus measuring
times can be captured with edge reference in each position control cycle and then forwarded
to the technology object. The technology object determines the measuring positions for the
measuring times taking into consideration any specified correction times.
The technology data block tag "<TO>.Status" changes from "INACTIVE" to
"WAITING_FOR_TRIGGER" and remains in this status as long as additional events are
awaited.
The mode set in the Motion Control instruction specifies the edges for which the measured
values are to be acquired. At most, the following edges can be detected in each position
control cycle:
● Two positive edges when detecting positive edges
● Two negative edges when detecting negative edges
● One positive edge and one negative edge when detecting positive and negative edges

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 117
Technology objects
3.7 Technology object measuring input

Measured values and counters

With a positive edge at the input MC_MeasuringInputCyclic.Execute, outputs
MeasuredValue1Counter and MeasuredValue2Counter are reset to "0". As a result, new
events can be tracked immediately and new measured value entries can be detected.
All measuring event occurrences of the measuring job are incremented by "1" in the
corresponding event counters <TO>.MeasuredValues.MeasuredValue1Counter and
<TO>.MeasuredValues.MeasuredValue2Counter of the technology data block.
The acquired measured values are continuously captured in the technology data block
irrespective of individual jobs and the values are only reset to "0" at power-up or restart of
the technology object.
After a completed measurement, the measured values are output in the function block. The
counters of the function block are set to "0" at a new measuring job. The measured value
output in the technology data block always indicates the last acquired measured value.
Lost edge counter (LEC)
If more than two edges to be detected occur within one position control cycle, a measured
value cannot be evaluated for the other edges to be detected. The number of lost edges is
recorded in the LEC.
The lost edges that are recorded in the LEC depend on the mode set in the Motion Control
instruction. For example, if only positive edges are to be measured, the LEC records only the
non-measured positive edges.
A maximum of seven lost edges can be counted and displayed in the LEC.
The number of lost edges is indicated in the function block and in the technology data block
in:
● LostEdgeCounter1
Lost cleared edges from the position control cycle in which MeasuredValue1 was
acquired.
⇒ The displayed value in LostEdgeCounter1 is updated when counter
MeasuredValueCounter1 is incremented.
● LostEdgeCounter2
Lost cleared edges from the position control cycle in which MeasuredValue2 was
acquired.
⇒ The displayed value in LostEdgeCounter2 is updated when counter
MeasuredValueCounter2 is incremented.

S7-1500 Motion Control V4.0 in TIA Portal V15

118 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

Display of measurement results when using cyclic measuring

Edges selected in the command Display per position control cycle

MeasuredValue1 MeasuredValue2 LostEdgeCounter1 LostEdgeCounter2
Detect positive edges only Actual position at Actual position at Number of positive or negative edges in
"MC_MeasuringInputCyclic.- the time of the first the time of the sec- excess of two in the position control cycle
Mode" = 0 positive edge ond positive edge of acquisition of MeasuredValue1 and
MeasuredValue2.
Detect negative edges only Actual position at Actual position at
the time of the first the time of the sec- The following applies here:
"MC_MeasuringInputCyclic.-
Mode" = 1 negative edge ond negative edge • If a MeasuredValue1 and a
MeasuredValue2 are acquired, the
number of acquired and lost edges
indicated in LostEdgeCounter1 and
LostEdgeCounter2 are the same.
• If only one MeasuredValue1 is
acquired, the LostEdgeCounter1 is
reset to "0". The value in
LostEdgeCounter2 remains changed.
Detect positive and negative Actual position at Actual position at Number of edges in excess of two in the
edges the time of the first the time of the first position control cycle of acquisition of
"MC_MeasuringInputCyclic.- positive edge in the negative edge in the MeasuredValue1 and MeasuredValue2.
Mode" = 2 position control position control The following applies here:
cycle cycle
• If a MeasuredValue1 and a
MeasuredValue2 are acquired, the
number of acquired and lost edges
indicated in LostEdgeCounter1 and
LostEdgeCounter2 are the same.
• If only one MeasuredValue1 is ac-
quired, the LostEdgeCounter1 is reset
to "0". The value in LostEdgeCounter2
remains changed.
• If only one MeasuredValue2 is
acquired, the LostEdgeCounter2 is
reset to "0". The value in
LostEdgeCounter1 remains changed.

The following figures show examples of divergence of MeasuredValue1Counter and

MeasuredValue2Counter as a result of lost edges.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 119
Technology objects
3.7 Technology object measuring input

Example of measurement at positive edges (Mode = 0)

Example of measurement at negative edges (Mode = 1)

Example of measurement at positive and negative edges (Mode = 2)

See also
MC_MeasuringInputCyclic: Start cyclic measuring V4 (Page 402)

S7-1500 Motion Control V4.0 in TIA Portal V15

120 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

3.7.3 Measuring with measuring range

A measuring job can be activated directly or restricted to a defined measuring range.

Figure 3-1 Example of measuring with measuring range in Mode = 0 (measurement of next positive
edge)

Only measured values within the measuring range are displayed for the technology object.
● If no measuring edge within the measuring range is detected during a one-time
measurement, the measuring job is canceled and an alarm is triggered.
● Cyclic measuring remains active even if no measuring edge within the measuring range
was detected.
For axes without modulo function, it is immaterial in which order the start and end positions
are specified. If the start position is greater than the end position, the two values are
interchanged in the application. If the start position for an axis with modulo function is greater
than the end position, the measuring range is extended from the start position past the
modulo transition of the axis to the end position.

The measuring range positions are specified in Motion Control instruction

MC_MeasuringInput or MC_MeasuringInputCyclic.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 121
Technology objects
3.7 Technology object measuring input

Activation time for the measuring range

The measuring function must be active at the measurement input when the start of the
measuring range is reached. To compensate for the communication time for activation in the
TM Timer DIDQ or drive, for example, the activation of the measurement in the technology
object begins earlier then the measuring range start by the amount of the activation time.
The activation time for measuring with measuring range is divided up as follows:
● The activation time allocation defined and active on the system side is indicated in the
<TO>.Parameter.MeasuringRangeActivationTime tag.
● An additional activation time can also be set by the user with the
<TO>.Parameter.MeasuringRangeAdditionalActivationTime tag.

3.7.4 Time-related boundary conditions

Depending on the hardware configuration and selection of edges to be detected, different
system-inherent requirements apply to the time allowed after calling the Motion Control
instruction "MC_MeasuringInput" or "MC_MeasuringInputCyclic" until a measurement occurs
and the results are displayed.
The following times must be distinguished here:
● Time until the measuring event can be captured
● Time until the measurement result is displayed or the measurement is finished.
The times calculated taking into account the current settings are indicated in configuration
window "Extended parameters" of a measuring input.
Measuring using TM Timer DIDQ / Measuring using SINAMICS measuring input
Measurement using PROFIdrive telegram (drive or external encoder)
Definition of tags:

Measurement using TM Timer DIDQ/Measurement using SINAMICS measuring input

● Time from output of an MC_MeasuringInput job until measuring event detection becomes
effective:
– MeasuringRangeActivationTime: 2 x Tservo
● Time after measuring event until measured value is available in the controller:
– One-time measurement: 2 x Tservo + TSend
– Cyclic measuring: Tservo + TSend
● Activation time for a measurement with measuring range:
– MeasuringRangeActivationTime + MeasuringRangeAdditionalActivationTime

S7-1500 Motion Control V4.0 in TIA Portal V15

122 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

Measurement using PROFIdrive telegram (drive or external encoder)

● MeasuringRangeActivationTime: 4 x Tservo
● Time from output of an MC_MeasuringInput job until measuring event detection becomes
effective:
– Measuring a positive/negative edge or two edges:
MeasuringRangeActivationTime + 2 x Tservo
– Measuring two dedicated edges:
MeasuringRangeActivationTime + 3 x Tservo
● Time after measuring event until measured value is available in the controller:
– Measuring an edge: 7 x Tservo
– Measuring two edges: 13 x Tservo
● Activation time for a measurement with measuring range:
– Measuring a positive/negative edge or two edges:
MeasuringRangeActivationTime + MeasuringRangeAdditionalActivationTime
+ 2 x Tservo
– Measuring two dedicated edges:
MeasuringRangeActivationTime + MeasuringRangeAdditionalActivationTime
+ 3 x Tservo

Definition of tags
● Tservo = Call interval of the technology object in the servo cycle clock [ms]
● TSend = Send clock [ms]
● MeasuringRangeActivationTime = See section Measuring with measuring range
(Page 121)
To prevent asynchronous processing from overwriting a measured value that was just
determined, a new one-time measuring job cannot be started until the active measurement
has concluded. The sum of the activation time and the time until display or conclusion must
be taken into account for this.
With cyclic measuring, evaluation or temporary storage of the measurement results in the
synchronous MC-PostServo [OB95] is recommended from the user perspective.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 123
Technology objects
3.7 Technology object measuring input

3.7.5 Tags

Status display
<TO>.Status Measuring input function status
0: Measurement is not active ("INACTIVE")
1: The measuring input is waiting for a measuring event
("WAITING_FOR_TRIGGER")
2: The measuring input has acquired one or more measured values
("TRIGGER_OCCURRED").
3: Error during the measurement ("MEASURING_ERROR")
<TO>.InputState Measuring input input status
Parameters
<TO>.Parameter.MeasuringInputType Measuring input type
<TO>.Parameter.PROFIdriveProbeNumber Number of the measuring input to be used for a measurement using
PROFIdrive telegram
<TO>.Parameter.MeasuringRangeActivation- System-defined activation time allocation [ms]
Time
<TO>.Parameter.MeasuringRangeAdditional- Additional user-defined activation time allocation [ms]
ActivationTime
<TO>.Parameter.CorrectionTime User-defined correction time for the measurement result [ms]
Interface
<TO>.Interface.Address I/O address for the digital measuring input
Units
<TO>.Units.LengthUnit Unit of the length data
<TO>.Units.TimeUnit Unit of the time data
MeasuredValues
<TO>.MeasuredValues.MeasuredValue1 First measured value
<TO>.MeasuredValues.MeasuredValue2 Second measured value (when measuring two or more edges in one posi-
tion control cycle)
<TO>.MeasuredValues.MeasuredValue1- Count value for the first measured value
Counter
<TO>.MeasuredValues.MeasuredValue2- Count value for the second measured value
Counter
<TO>.MeasuredValues.LostEdgeCounter1 Lost edges in the cycle clock of the first measured value acquisition
(zero in the case of one-time measurement)
<TO>.MeasuredValues.LostEdgeCounter2 Lost edges in the cycle clock of the second measured value acquisition
(zero in the case of one-time measurement)
StatusWord
<TO>.StatusWord.X0 (Control) The technology object is in operation.
<TO>.StatusWord.X1 (Error) An error occurred at the technology object.
<TO>.StatusWord.X2 (RestartActive) The technology object is being reinitialized. The tags of the technology
data block are not updated with active restart.
<TO>.StatusWord.X3 (OnlineStart- Data relevant for the restart has been changed. The changes are applied
ValuesChanged) only after a restart of the technology object.
<TO>.StatusWord.X5 (CommunicationOk) The measuring input is synchronized with the measuring module and can
be used.

S7-1500 Motion Control V4.0 in TIA Portal V15

124 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.7 Technology object measuring input

ErrorWord
<TO>.ErrorWord.X0 (SystemFault) A system-internal error has occurred.
<TO>.ErrorWord.X1 (ConfigFault) Configuration error
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration
data were incorrectly modified during runtime of the user program.
<TO>.ErrorWord.X2 (UserFault) Error in user program at a Motion Control instruction or its use.
<TO>.ErrorWord.X3 (CommandNotAccepted) Command cannot be executed.
A Motion Control instruction cannot be executed because necessary re-
quirements have not been met.
<TO>.ErrorWord.X13 (PeripheralError) Error accessing a logical address.
ErrorDetail
<TO>.ErrorDetail.Number Alarm number
<TO>.ErrorDetail.Reaction Effective alarm reaction
0: No reaction
6: End measuring input processing

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 125
Technology objects
3.8 Technology object output cam

3.8 Technology object output cam

3.8.1 Brief description

The output cam technology object generates switching signals depending on the position of
an axis or external encoder. The switching states can be evaluated in the user program and
fed to digital outputs.
You can find an overview of the functions of the output cam technology object in the
Functions (Page 27) section.
The figure below shows the basic operating principle of the output cam technology object:

S7-1500 Motion Control V4.0 in TIA Portal V15

126 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

Output cam types

The following output cam types can be used:
● Distance output cam (Page 130)
Distance output cams switch on between the start position and end position. Outside this
range, the distance output cam is switched off.
● Time-based output cam (Page 132)
Time-based output cams switch on for a defined time period when the start position is
reached.

Assignment
The output cam technology object must always be assigned to another technology object
whose position will be evaluated.
The output cam technology object can be assigned to the following technology objects:
● Synchronous axis
● Positioning axis
● External encoder

Exactly one axis or one external encoder can be assigned to an output cam.
Multiple output cams can be assigned to one axis or external encoder.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 127
Technology objects
3.8 Technology object output cam

Output cam calculation and output cam output

The output cam technology object calculates the exact switching time, thereby ensuring
exact adherence to the switching positions. The switching time is calculated two position
control cycles before the output.
The following output options are available for the digital cam output:
● TM Timer DIDQ
Digital output with high degree of accuracy and reproducibility in the microsecond range
on ET 200MP TM Timer DIDQ 16x24V and ET 200SP TM Timer DIDQ 10x24V time-
based IO modules
Output by TM Timer DIDQ requires isochronous mode. Isochronous mode is only
possible with PROFINET interface modules.
● Digital output module
Digital output with switching accuracy depending on the output cycle of the I/O used
When output is deactivated, the output cam status is not output at the hardware output. The
output cam status can be used internally in the user program by evaluating the relevant
"<TO>.CamOutput" tag.
Inverted output
In the case of the inverted output, the range in which the cam output is switched on and the
range in which it is switched off are swapped.
The inverted output is set in Motion Control instruction "MC_OutputCam" and is active when
the instruction is enabled.
The inverted output can be used for both distance output cams and time-based output cams.
Output of multiple output cams to one output
The output of multiple output cams to one output is performed with either an AND or OR
logic operation of the output cam signals to the output.

Display of the switching state

The switching state of the output cam is displayed in the associated technology DB in
"<TO>.CamOutput".

S7-1500 Motion Control V4.0 in TIA Portal V15

128 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

Position reference
The switching points of the output cams can be referenced to the following positions,
depending on the interconnected technology object.
● Actual position of a synchronous axis/positioning axis
● Position setpoint of a synchronous axis/positioning axis
● Position of an external encoder
Homing the interconnected technology object
A change to the position of an axis or external encoder using Motion Control instruction
"MC_Home" is regarded as a sudden position change.
● Distance output cams are either skipped or correspondingly output.
● Time-based output cams are skipped. A time-based output cam is switched on only when
the start position is crossed and remains switched on for the on-load factor.
● Switched time-based output cams are not canceled by a homing operation.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 129
Technology objects
3.8 Technology object output cam

3.8.2 Distance output cam

Switch-on range
The switch-on range of distance output cams is basically defined by the start position and
end position.
Start position smaller than end position
When the start position is less than the end position, the switch-on range begins with the
start position and ends with the end position.

Start position greater than end position

When the start position is greater than the end position, there are two switch-on ranges as
follows:
● Switch-on range beginning with the start position and ending with the positive range end
(e.g. positive software limit switch, end of modulo range)
● Switch-on range beginning with the negative range end (e.g. negative software limit
switch, start of modulo range) and ending with the end position

S7-1500 Motion Control V4.0 in TIA Portal V15

130 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

Mapping to an axis with modulo function

With active modulo function of the interconnected technology object, the start and end
positions of the output cam are automatically mapped to values within the modulo range.
Example
● Modulo range = 0° to 50°
● Output cam start position = 80°
● Output cam end position = 220°
⇒ The distance output cam switches on at 30° and switches off again at 20°.

Switching characteristics
After activation, a distance output cam switches on in the following cases:
● The position of the interconnected technology object reaches the start or end position in
the activation direction configured in Motion Control instruction "MC_OutputCam".
● The position of the interconnected technology object is moved into the switch-on range of
the output cam (e.g. during homing) in the activation direction configured in Motion
Control instruction "MC_OutputCam". If both activation directions are enabled in Motion
Control instruction "MC_OutputCam", the output cam switches on even when the
interconnected technology object is at a standstill.
● The output cam is switched on permanently using Motion Control instruction
"MC_OutputCam" with "Mode" = 3.
An active distance output cam switches off in the following cases:
● The position is outside the switch-on range of the output cam.
● The position value is moved outside the switch-on range of the output cam.
● Motion Control instruction "MC_OutputCam" is set to "Enable" = FALSE.
● The motion direction of the interconnected technology object is reversed and no longer
agrees with the enabled activation direction.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 131
Technology objects
3.8 Technology object output cam

3.8.3 Time-based output cam

A time-based output cam switches on at the start position and remains set for the on-load
factor.

Mapping to an axis with modulo function

In the case of active modulo function of the interconnected technology object, the start
position of the output cam is automatically mapped to the value within the modulo range.
Example
● Modulo range = 0° to 50°
● Output cam start positions:
– Output cam 1 = 20°
– Output cam 2 = 30°
– Output cam 3 = 80°
⇒ The time-based output cam 1 switches on at 20°, the time-based output cams 2 and 3
switch on at 30°. All three output cams remain active the set on-load factor in each case.

S7-1500 Motion Control V4.0 in TIA Portal V15

132 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

Switching characteristics
A time-based output cam switches on in the following cases:
● The start position has been reached and the motion direction of the interconnected
technology object corresponds to the effective direction enabled by the instruction.

Note
• If the start position is reached again while an output cam is switched on, the on-load
factor is not re-triggered.
• If due to the Motion Control instruction "MC_Home", the position value of the
interconnected technology object is placed directly on or behind the start position of
the output cam during the motion, the output cam does not switch on.

A time-based output cam switches off in the following cases:

● The configured on-load factor has expired.
● Motion Control instruction "MC_OutputCam" is set to "Enable" = FALSE.

3.8.4 Activation direction of cam

An output cam can be switched depending on the motion direction of the interconnected
technology object. It is possible to output an output cam with positive or negative motion
direction only or even independent of direction.
The effective direction is set in "MC_OutputCam.Direction".
The following examples show the behavior of the output cam as a function of the effective
direction setting.

Example of "positive" effective direction ("Direction" = 1)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 133
Technology objects
3.8 Technology object output cam

Distance output cam

The output cam switches on when the switch-on range is reached in the positive direction. At
a direction reversal ②, the output cam switches off.
If the position value is moved into the switch-on range of the output cam, the cam switches
on when there is positive motion direction of the interconnected technology object. The
output cam remains switched off when the interconnected technology object is at a standstill.
Time-based output cam
The output cam switches on when the start position is reached in the positive direction. At a
direction reversal, the output cam remains switched on for the specified on-load factor ①.
If during the homing motion, the position value of the interconnected technology object is
directly on or behind the start position of the output cam, the output cam does not switch on.

Example of "negative" effective direction ("Direction" = 2)

Distance output cam

The output cam switches on when the switch-on range is reached in the negative direction.
At a direction reversal ②, the output cam switches off.
If the position value is moved into the switch-on range of the output cam, the output cam
switches on when there is negative motion direction of the interconnected technology object.
The output cam remains switched off when the interconnected technology object is at a
standstill.
Time-based output cam
The output cam switches on when the start position is reached in the negative direction. At a
direction reversal, the output cam remains switched on for the specified on-load factor ①.
If during the homing motion, the position value of the interconnected technology object is
directly on or behind the start position of the output cam, the output cam does not switch on.

S7-1500 Motion Control V4.0 in TIA Portal V15

134 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

Example of "both directions" effective direction ("Direction" = 3)

Distance output cam

The output cam switches on when the position of the interconnected technology object is
within the switch-on range.
If the position value of the interconnected technology object is moved into the switch-on
range of the output cam, the cam switches on even when the interconnected technology
object is at a standstill.
Time-based output cam
The output cam switches on when the start position is reached. At a direction reversal, the
output cam remains switched on for the specified on-load factor ①.
If during the homing motion, the position value of the interconnected technology object is
directly on or behind the start position of the output cam, the output cam does not switch on.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 135
Technology objects
3.8 Technology object output cam

3.8.5 Hysteresis
Possible variations in the actual position/position setpoint can result in unwanted switch-on
and switch-off of cams.
Minimal changes of the actual value of an axis at standstill can result in switch-on or switch-
off of an actual value output cam with specified positive or negative effective direction. Even
minimal changes of the setpoints of a switched-off axis in follow-up mode can result in
switch-on or switch-off of an actual value output cam with specified positive or negative
effective direction. Such unwanted switching states can be prevented by configuring a
hysteresis (> 0.0). The configuration of a hysteresis value (> 0.0) is recommended in
particular with reference to the actual position.
The hysteresis is a position tolerance within which the position values may vary without
changing the switching state of the output cam. Changes of direction detected within the
hysteresis are ignored.
The hysteresis is set for the technology object in <TO>.Parameter.Hysteresis.

Behavior
● The hysteresis is activated at a direction reversal.
● The following applies within the hysteresis:
– The switching state of distance output cams is not changed.
– The motion direction is not determined again.
– If the start position of a time-based output cam is within the hysteresis, the time-based
output cam is switched on when leaving the hysteresis with the corresponding
effective direction.
– The on-load factor of time-based output cams remains unchanged.
● After the hysteresis range is exited, distance output cams are set according to the output
cam settings.

① Actual position
② Effective position
③ Hysteresis range

S7-1500 Motion Control V4.0 in TIA Portal V15

136 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

The following examples show the effects of the hysteresis on the switching behavior of
output cams with positive activation direction.

① Direction reversal without hysteresis effect

② Hysteresis in effect
③ The switch-on position of the distance output cam is influenced according to the direction reversal
and hysteresis.
④ The start position of the time-based output cam is located within the hysteresis. The time-based
output cam is switched on when leaving the hysteresis with the corresponding effective direction.
⑤ Switch-on duration

Hysteresis range
The maximum size of the hysteresis range in the system is as follows: for an axis with
modulo function, one quarter of the modulo range; for an axis without modulo function, one
quarter of the operating range.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 137
Technology objects
3.8 Technology object output cam

3.8.6 Compensation of actuator switching times

Switching times of the output and the connected actuator (e.g. valve) can be compensated
for using the activation time or deactivation time of the output cam technology object.
The activation time is specified as the lead time for the switch-on edge, and the deactivation
time as the lead time for the switch-off edge.

The activation time is set in the technology object <TO>.OnCompensation.

The deactivation time is set in the technology object <TO>.OffCompensation.

Note
• The following must be met for the times:
On-load factor > deactivation time - activation time
(The on-load factor for distance output cams is determined by the switching positions and
the current velocity)
• If the output cam has been switched taking the lead times into consideration, this action
has taken place from the system perspective and will not be restarted in response to any
subsequent variation in the actual speed.
• System-dependent runtimes are automatically taken into consideration when output by
TM Timer DIDQ is used.
When the output with a digital output module is used, system-dependent runtimes are not
taken into consideration and must be set as correction times in the activation time or
deactivation time.

S7-1500 Motion Control V4.0 in TIA Portal V15

138 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.8 Technology object output cam

3.8.7 Tags

Status display
<TO>.CamOutput The output cam is switched.
Parameters
<TO>.Parameter.OutputCamType Output cam type
0: Distance output cam
1: Time-based output cam
<TO>.Parameter.PositionType Position reference
0: Position setpoint
1: Actual position
<TO>.ParameterOnCompensation Activation time (lead time for the switch-on edge)
<TO>.Parameter.OffCompensation Deactivation time (lead time for the switch-off edge)
<TO>.Parameter.Hysteresis Hysteresis value
Interface
<TO>.Interface.EnableOutput Activation of the output cam output
FALSE: No output
TRUE: Output
<TO>.Interface.Address I/O address of the output cam
<TO>.Interface.LogicOperation Logical operation of the output cam signals at the output
0: OR operation
1: AND operation
Units
<TO>.Units.LengthUnit Unit of the length data
<TO>.Units.TimeUnit Unit of the time data
StatusWord
<TO>.StatusWord.X0 (Control) The technology object is in operation.
<TO>.StatusWord.X1 (Error) An error occurred at the technology object.
<TO>.StatusWord.X2 (RestartActive) The technology object is being reinitialized. The tags of the technology
data block are not updated with active restart.
<TO>.StatusWord.X3 (OnlineStart- Data relevant for the restart has been changed. The changes are applied
ValuesChanged) only after a restart of the technology object.
<TO>.StatusWord.X4 (OutputInverted) The output cam output is inverted.
<TO>.StatusWord.X5 (CommunicationOk) The cam is synchronized with the output module and available for use.
ErrorWord
<TO>.ErrorWord.X0 (SystemFault) A system-internal error has occurred.
<TO>.ErrorWord.X1 (ConfigFault) Configuration error
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration
data were incorrectly modified during runtime of the user program.
<TO>.ErrorWord.X2 (UserFault) Error in user program at a Motion Control instruction or its use.
<TO>.ErrorWord.X3 (CommandNotAccepted) Command cannot be executed.
A Motion Control instruction cannot be executed because necessary re-
quirements have not been met.
<TO>.ErrorWord.X13 (PeripheralError) Error accessing a logical address.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 139
Technology objects
3.8 Technology object output cam

ErrorDetail
<TO>.ErrorDetail.Number Alarm number
You can find a list of the technology alarms and alarm reactions in the
Technology Alarms (Page 513) appendix.
<TO>.ErrorDetail.Reaction Effective alarm reaction
0: No reaction
6: Output cam processing is complete.
You can find a list of the technology alarms and alarm reactions in the
Technology Alarms (Page 513) appendix.

S7-1500 Motion Control V4.0 in TIA Portal V15

140 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

3.9 Cam track technology object

3.9.1 Brief description

The cam track technology object generates a switching signal sequence dependent on the
position of an axis or external encoder. A cam track can consist of up to 32 individual output
cams and be output to one output. The switching states can be evaluated in the user
program or fed to digital outputs.
You can find an overview of the functions of the cam track technology object in the Functions
(Page 27) section.
The figure below shows the basic principle of operation of the cam track technology object:

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 141
Technology objects
3.9 Cam track technology object

Definition of cam track

A cam track consists of up to 32 individual output cams that are specified within an
adjustable track length.

① Start position
② End position
③ Cam track length
Figure 3-2 Cam track with distance output cam

The output cam positions are defined relative to the cam track. The start of the cam track is
always 0.0. The output cam positions on the cam track are thus always positive.
When the cam track is processed, the output cams with start position within the track length
are taken into consideration.
If the end of a cam track is crossed, connected output cams behave as follows within the
cam track:
● Time-based output cams remain switched on for the set on-load factor.
● Distance output cams whose end position lie outside the cam track are switched off when
the cam track is left.
Cams whose start and end positions lie outside the cam track length are ignored. They
become active only if the cam track length is increased so that at least the respective start
position of an output cam is within the new track length.

S7-1500 Motion Control V4.0 in TIA Portal V15

142 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

Mapping of the cam track to the position of an axis or external encoder.

The start of the cam track is placed at the specified reference position of the interconnected
technology object. Thus, the switching positions result from the cam track positions mapped
onto the interconnected technology object starting from the reference position. The cam
track is continued in both directions of the interconnected technology object.
The setting for the reference position can be either positive or negative.
Example
● Axis range = -1000 mm to +1000 mm
● Desired switching points of the output cam with reference to axis position:
– Start position = -200 mm
– End position = -100 mm
● Cam track length = 2000 mm
● Definition of output cam on the track:
– Start position = 800 mm
– End position = 900 mm

Figure 3-3 Cam track with output cam output at negative axis position

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 143
Technology objects
3.9 Cam track technology object

Processing of a cam track

The processing of a cam track occurs cyclically.

Figure 3-4 Cyclic mapping of a cam track

The cam track is mapped onto the position of the interconnected technology object starting
from the reference position and is continued cyclically in both directions.

Track length and mapping to an axis with modulo function

When a cam track is mapped onto an axis with modulo function, a reference position
specified outside the modulo range is mapped within the modulo range.
The track length can be less than or greater than the modulo length of the axis. In order for
the cam track to be mapped without offset in the modulo range and to prevent unwanted
overrides, an integer ratio of modulo length to track length, and vice versa, is required.

Example Mapping without offset Example Mapping with offset

① Axis with modulo length 360° ① Axis with modulo length 360°
② Cam track with track length 120° ② Cam track with track length 160°
⇒ Ratio = 360° / 120° = 3 ⇒ Ratio = 360° / 160° = 2.25
The cam track is output 3 times on a The cam track is output 2.25 times on the
modulo length. first modulo length and continued corre-
spondingly in the other modulo lengths.

S7-1500 Motion Control V4.0 in TIA Portal V15

144 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

During cyclic processing of the cam track, the continued reference position of the current
cam track is displayed in the <TO>.MatchPosition tag. The continued reference position is
independent of direction and always the position of the left boundary of the cam track. The
unique detection and output of the position is only possible when the assigned technology
object is in motion. The distance to the current reference position of the current cam track
(<TO>.MatchPosition) is displayed in the <TO>.TrackPosition tag.

Output cam types

The following output cam types are used:
● Distance output cam
● Time-based output cam
The output cams of the cam track can be set as distance output cams or time-based output
cams, whereby only one of the two output cam types can be used in one cam track.

Assignment
The cam track technology object must always be assigned to another technology object
whose position is evaluated.
The cam track technology object can be assigned to the following technology objects:
● Synchronous axis
● Positioning axis
● External encoder

Exactly one axis or one external encoder can be assigned to a cam track.
Multiple cam tracks can be assigned to one axis or external encoder.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 145
Technology objects
3.9 Cam track technology object

Position reference
The switching points of the output cams of a cam track can be referenced to the following
positions, depending on the interconnected technology object.
● Actual position of a synchronous axis/positioning axis
● Position setpoint of a synchronous axis/positioning axis
● Position of an external encoder
Homing the interconnected technology object
A change to the position of an axis or external encoder using Motion Control instruction
"MC_Home" is regarded as a sudden position change. An enabled cam track is referenced
to the changed position and processed further from there.
● For axes with modulo function, homing also has an effect on the current position of the
cam track (<TO>.TrackPosition). The position is formed again as quickly as possible due
to the offset.
● Distance output cams are either skipped or correspondingly output.
● Time-based output cams are skipped. A time-based output cam is switched on only when
the start position is crossed and remains switched on for the on-load factor.
● Switched time-based output cams are not canceled by a homing operation.
We recommend locking the cam track before or during homing.

Output of a cam track

The following output options are available for the digital cam track output:
● TM Timer DIDQ
Digital output with high degree of accuracy and reproducibility in the microsecond range
on ET 200MP TM Timer DIDQ 16x24V and ET 200SP TM Timer DIDQ 10x24V time-
based IO modules
Output by TM Timer DIDQ requires isochronous mode. Isochronous mode is only
possible with PROFINET interface modules.
● Digital output module
Digital output with switching accuracy depending on the output cycle of the I/O used
A maximum of two edges (by TM Timer DIDQ, positive and negative) or one edge (via digital
output module, positive or negative) can be output per position control cycle clock. If multiple
switch-on edges or switch-off edges are transmitted in one position control cycle clock, the
last written values in each case are valid.
Masking of individual output cams of a cam track
In order for output cams to processed, they must be configured as valid in the technology
data block with "<TO>.Parameter.Cam[1 … 32].Existent" = TRUE. In addition, output cams
of a cam track configured as valid can be masked in the user program using bit masking
("<TO>.Parameter.CamMasking"). In the default setting, all valid output cams are enabled
("<TO>.Parameter.CamMasking" = 0xFFFFFFFF). The cam track itself is
activated/deactivated using the Motion Control instruction "MC_CamTrack".

S7-1500 Motion Control V4.0 in TIA Portal V15

146 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

3.9.2 Effective direction

The cam track is always active for both directions of the position of the interconnected
technology object.
Output of a cam track with distance output cam
Distance output cams are switched when the switch-on range is overtraveled.

Figure 3-5 Executing a cam track with distance output cams dependent on the motion direction of
the axis

● With positive motion direction, the output cams of the cam track are output in the order
Output Cam N1, Output Cam N2, Output Cam N3
● In the case of negative motion direction, the output cams of the cam track are output in
the order Output Cam N3, Output Cam N2, Output Cam N1
● The distance output cams switch on at ① and switch off at ②

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 147
Technology objects
3.9 Cam track technology object

Output of a cam track with time-based output cam

The time-based output cams are switched when the start position is crossed.

Figure 3-6 Executing a cam track with time-based output cams dependent on the motion direction of
the axis

● With positive motion direction, the output cams of the cam track are output in the order
Output Cam N1, Output Cam N2, Output Cam N3
● In the case of negative motion direction, the output cams of the cam track are output in
the order Output Cam N3, Output Cam N2, Output Cam N1
● The time-based output cams switch on at ① and remain switched on for the set switch-
on duration ②

S7-1500 Motion Control V4.0 in TIA Portal V15

148 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

3.9.3 Changing the cam track data during operation

The data of a cam track and the parameters of the associated Motion Control instruction
"MC_CamTrack" can be changed while track processing is enabled. The active Motion
Control instruction "MC_CamTrack" is not aborted. The modified parameters, however, only
take effect at the next call of Motion Control instruction "MC_CamTrack".
The following parameters can be changed during operation and are in effect after another
call of Motion Control instruction "MC_CamTrack".
● Cam track data in technology data block
– Reference position (<TO>.Parameter.ReferencePosition)
– Track length (<TO>.Parameter.CamTrackLength)
– Bit masking of individual output cams (<TO>.Parameter.CamMasking)
– Activation time (<TO>.Parameter.OnCompensation)
– Deactivation time (<TO>.Parameter.OffCompensation)
– Hysteresis value (<TO>.Parameter.Hysteresis)
– Output cam data (<TO>.Parameter.Cam[1 … 32])
● Parameters in the function block
– Enable (MC_CamTrack.Enable)
– Mode (MC_CamTrack.Mode)
– Inverted output (MC_CamTrack.InvertOutput)
Note the different activation behavior (Page 150) when changing the cam track data.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 149
Technology objects
3.9 Cam track technology object

3.9.4 Activation behavior

A cam track is activated by the call of Motion Control instruction "MC_CamTrack" with
"Enable" = TRUE. A distinction must be made here between:
● A first-time activation of the cam track
● The call after a change of the cam track data during active cam track processing
The difference relates to how the cam track data is applied. Depending on the set mode
("MC_CamTrack.Mode"), the configuration (cam track data, data in the function block) is
applied at different times.
● First-time switch-on of a cam track
The call of Motion Control instruction "MC_CamTrack" with "Enable" = TRUE activates
the cam track immediately (<TO>.Status changes to 1) and configured cam track data
takes effect immediately. This behavior is the same when "MC_CamTrack.Mode" = 0 and
"MC_CamTrack.Mode" = 1.
● Change of cam track data of an already activated cam track(<TO>.Status = 1)
– With the call of Motion Control instruction "MC_CamTrack" with "Enable" = TRUE and
"Mode" = 0, the modified cam track data takes effect immediately.
Previously activated distance output cams are aborted if their track signals are not still
set due to the changed cam track data. Previously activated time-based output cams
are always aborted.
– With the call of Motion Control instruction "MC_CamTrack" with "Enable" = TRUE and
"Mode" = 1, the cam track continues to be output with the prior configuration up to the
cam track end. Modified cam track data takes effect at the end of the current track
cycle.
If you change a cam track with "MC_CamTrack.Mode" = 1 during runtime of the user
program, keep in mind the lead time of the cam track as reserve for the first output
cam. Define the first output cam position in the cam track only after the following
position:
Position of first output cam > velocity of axis x lead time of the cam track
(<TO>.Parameter.OnCompensation)
Also keep in mind the internal system time for output cam calculation, even if you set
the lead time 0.0.

S7-1500 Motion Control V4.0 in TIA Portal V15

150 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

Changing cam track data when modulo length is not a multiple of the track length
For the switching times to be set correctly, we recommend the following procedure for
changes:
● Enter changes as soon as possible after start of a new cam track
● Enter a new reference position (<TO>.Parameter.ReferencePosition) for the changed
cam track. The new reference position is composed as follows depending on the
direction:
– Positive effective direction: Current reference position (<TO>.MatchPosition) + cam
track length (<TO>.Parameter.CamTrackLength)
– Negative effective direction: Current reference position (<TO>.MatchPosition) - cam
track length (<TO>.Parameter.CamTrackLength)
● Output the changes of the cam track when calling the Motion Control instruction
"MC_CamTrack" and "Mode" = 1.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 151
Technology objects
3.9 Cam track technology object

Example
The following figure shows an example of the differences in the activation behavior.

A1 A The cam track is activated the first time with "MC_CamTrack.Enable" = TRUE and the
output cams are output immediately with set "MC_CamTrack.Mode" = 0.
B After cam track data were changed (①), the cam track is activated by calling Motion
Control instruction "MC_CamTrack" with "Enable" = TRUE and the modified data takes
effect immediately (①) with set "MC_CamTrack.Mode" = 0.
A2 A The cam track is activated the first time with "MC_CamTrack.Enable" = TRUE and the
output cams are output immediately with set "MC_CamTrack.Mode" = 1.
B After cam track data were changed (①), the cam track is activated by calling Motion
Control instruction "MC_CamTrack" with "Enable" = TRUE and the modified data takes
effect at the end of the current track cycle (②) with set "MC_CamTrack.Mode" = 1.

S7-1500 Motion Control V4.0 in TIA Portal V15

152 Function Manual, 12/2017, A5E03879256-AE
 Technology objects
3.9 Cam track technology object

3.9.5 Hysteresis
The hysteresis is set in the cam track technology object. The behavior and effect of the
hysteresis setting corresponds to the hysteresis (Page 136) for the cam technology object.

3.9.6 Time offset of cam switching points

Switching times of the output and the connected actuator (e.g. valve) can be compensated
for using the activation time or deactivation time of the cam track technology object.
The time offset of cam switching points corresponds to the activation time or deactivation
time (Page 138) for the cam technology object.

3.9.7 Tags

Status display
<TO>.Status 0: Inactive
1: Active
2: Active and waiting for next track
<TO>.TrackOutput A cam of cam track is switched.
<TO>.SingleCamState Switched on output cam (bit-masked)
<TO>.TrackPosition Display of the current position within the cam track
The distance to the current reference position of the current cam track
(<TO>.MatchPosition) is displayed.
<TO>.MatchPosition Reference position of the current cam track
During cyclic processing of the cam track, the continued reference position of
the current cam track is displayed. The unique detection and output of the
position is only possible when the assigned technology object is in motion.
Parameters
<TO>.Parameter.CamTrackType Output cam type
0: Distance output cam
1: Time-based output cam
<TO>.Parameter.PositionType Position reference
0: Position setpoint
1: Actual position
<TO>.Parameter.ReferencePosition Reference position
<TO>.Parameter.CamTrackLength Track length
<TO>.Parameter.CamMasking Bit masking of individual output cams
<TO>.Parameter.OnCompensation Activation time (lead time for the switch-on edge)
<TO>.Parameter.OffCompensation Deactivation time (lead time for the switch-off edge)
<TO>.Parameter.Hysteresis Hysteresis value
<TO>.Parameter.Cam[1 … 32].OnPosition Start position (distance and time-based output cams)
<TO>.Parameter.Cam[1 … 32].OffPosition End position (distance output cam)
<TO>.Parameter.Cam[1 … 32].Duration Switch-on duration (time-based output cam)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 153
Technology objects
3.9 Cam track technology object

<TO>.Parameter.Cam[1 … 32].Existent Validity of an output cam

FALSE: Output cam not used
TRUE: Output cam is used
Interface
<TO>.Interface.EnableOutput Output cam output at the bit specified under "Address"
FALSE: No output
TRUE: Output
<TO>.Interface.Address I/O address for digital cam output
Units
<TO>.Units.LengthUnit Unit of the length data
<TO>.Units.TimeUnit Unit of the time data
StatusWord
<TO>.StatusWord.X0 (Control) The technology object is in operation.
<TO>.StatusWord.X1 (Error) An error occurred at the technology object.
<TO>.StatusWord.X2 (RestartActive) The technology object is being reinitialized. The tags of the technology data
block are not updated with active restart.
<TO>.StatusWord.X3 (OnlineStart- Data relevant for the restart has been changed. The changes are applied
ValuesChanged) only after a restart of the technology object.
<TO>.StatusWord.X4 (OutputInverted) The output cam output is inverted.
<TO>.StatusWord.X5 (CommunicationOk) The cam track is synchronized with the output module and available for use.
<TO>.StatusWord.X6 (CamDataChanged) The data of individual output cams has been changed but not yet taken effect
with Motion Control instruction "MC_CamTrack".
ErrorWord
<TO>.ErrorWord.X0 (SystemFault) A system-internal error has occurred.
<TO>.ErrorWord.X1 (ConfigFault) Configuration error
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration
data were incorrectly modified during runtime of the user program.
<TO>.ErrorWord.X2 (UserFault) Error in user program at a Motion Control instruction or its use.
<TO>.ErrorWord.X3 (CommandNot Command cannot be executed.
Accepted) A Motion Control instruction cannot be executed because necessary re-
quirements have not been met.
<TO>.ErrorWord.X13 (PeripheralError) Error accessing a logical address.
ErrorDetail
<TO>.ErrorDetail.Number Alarm number
<TO>.ErrorDetail.Reaction Effective alarm reaction
0: No reaction
5: Cam track processing Is complete.

S7-1500 Motion Control V4.0 in TIA Portal V15

154 Function Manual, 12/2017, A5E03879256-AE
Using versions 4
4.1 Overview of versions
For S7-1500 Motion Control, a distinction is made between the version of the technology, the
technology objects and the Motion Control instructions. The overview shown below includes
S7-1500 and S7-1500T. Only one technology version can be operated on a CPU.
When changing to a CPU ≥ V1.6, you must change the technology version accordingly. Card
replacement from a CPU < V1.6 to a ≥ CPU V1.6 is supported. In the TIA Portal, you can
use a CPU ≥ 1.6 only to work on projects with a correspondingly higher technology version.
There are two ways of changing the technology version:
● Changing the version of the Motion Control instructions
You change the version of the Motion Control instructions in the "Instructions" task card in
the folder "Technology > Motion Control > S7-1500 Motion Control".
If the Motion Control instruction version used does not correspond to the compatibility list,
the relevant Motion Control instructions are highlighted in red in the program editor.
● Adding a technology object with an alternative version
If a technology object with an alternative version is added in the "Add new object" dialog,
the technology version is changed to the alternative version.
The technology objects and Motion Control instructions are only converted to the selected
version of the technology during compilation.
The version of a technology object or a Motion Control instruction is indicated in the
properties of the technology object, "General > Information" tab, "Version" field.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 155
Using versions
4.1 Overview of versions

Compatibility list
The table below shows the compatibility of the technology version with the CPU version:

CPU Technology Technology object

V2.5 V4.0 Speed Axis V4.0
Positioning Axis V4.0
External Encoder V4.0
Synchronous Axis V4.0
Measuring input V4.0
Cam V4.0
Cam track V4.0
Cam V4.0 (S7-1500T)
Kinematics V4.0 (S7-1500T)
V2.0, V2.1 V3.0 Speed Axis V3.0
Positioning axis V3.0
External encoder V3.0
Synchronous axis V3.0
Measuring input V3.0
Output cam V3.0
Cam track V3.0
Cam V3.0 (S7-1500T)
V1.6, V1.7, V1.8 V2.0 Speed Axis V2.0
Positioning axis V2.0
External encoder V2.0
Synchronous axis V2.0
V1.0, V1.1, V1.51 V1.0 Speed Axis V1.0
Positioning axis V1.0
External encoder V1.0

1) Card replacement from a CPU < V1.6 to a CPU ≥ V1.6 is supported.

S7-1500 Motion Control V4.0 in TIA Portal V15

156 Function Manual, 12/2017, A5E03879256-AE
 Using versions
4.1 Overview of versions

Parameter "Mode" of the Motion Control instruction "MC_Home"

The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter.
The table below shows a comparison of the "MC_Home.Mode" parameter for technology
V1.0 and ≥ V2.0:

MC_Home.HomingMode V1.0 Parameter MC_Home.Mode ≥ V2.0

value
Direct homing (absolute) 0 Direct homing (absolute)
Direct homing (relative) 1 Direct homing (relative)
Passive homing 2 Passive homing (without reset)
Passive homing (with configured home 3 Active homing
position)
Active homing 4 Reserved
Active homing (with configured home 5 Active homing (with configured home posi-
position) tion)
Absolute encoder adjustment (relative) 6 Absolute encoder adjustment (relative)
Absolute encoder adjustment (absolute) 7 Absolute encoder adjustment (absolute)
Passive homing (without reset) 8 Passive homing
Abort passive homing 9 Abort passive homing
- 10 Passive homing (with configured home
position)

You can find additional information about the "MC_Home.Mode" parameter in the description
of the Motion Control instruction "MC_Home" (Page 369).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 157
Using versions
4.1 Overview of versions

Tags of the technology object

Starting from technology version V3.0, all input and output addresses are specified using
data type VREF. This results in the following changes to the tags of the technical object:

Tag of technology object Changes starting from V3.0

<TO>.Actor.Interface.AddressIn Data type: VREF
<TO>.Actor.Interface.AddressOut Data type: VREF
<TO>.Sensor[n].Interface.AddressIn Data type: VREF
<TO>.Sensor[n].Interface.AddressOut Data type: VREF
<TO>.Actor.Interface.EnableDriveOutputAddress Data type: VREF
<TO>.Actor.Interface.EnableDriveOutputBitNumber Tag eliminated
<TO>.Actor.Interface.DriveReadyInputAddress Data type: VREF
<TO>.Actor.Interface.DriveReadyInputBitNumber Tag eliminated
<TO>.Sensor[n].ActiveHoming.DigitalInputAddress Data type: VREF
<TO>.Sensor[n].ActiveHoming.DigitalInputBitNumber Tag eliminated
<TO>.Sensor[n].PassiveHoming.DigitalInputAddress Data type: VREF
<TO>.Sensor[n].PassiveHoming.DigitalInputBitNumber Tag eliminated
<TO>.PositionLimits_HW.MinInputAddress Data type: VREF
<TO>.PositionLimits_HW.MinInputBitNumber Tag eliminated
<TO>.PositionLimits_HW.MaxInputAddress Data type: VREF
<TO>.PositionLimits_HW.MaxInputBitNumber Tag eliminated

S7-1500 Motion Control V4.0 in TIA Portal V15

158 Function Manual, 12/2017, A5E03879256-AE
 Using versions
4.2 Version V4.0

4.2 Version V4.0

Innovations
Technology Version V4.0 contains the following new features:
● Exchange of torque data with the drive in the technological units of the technology object.
– Additive setpoint torque
– Current actual torque
– Permissible torque range
● Extension of the data structure of the positioning axis and synchronous axis for using
technology object kinematics
● Use of optimized data blocks (drive/encoder connection)

Additional innovations for S7-1500T:

Technology Version V4.0 contains the following additional features:
● Kinematic technology object (S7-1500T)
● Motion specification via MotionIn instructions (S7-1500T)
● Direct synchronous setting with MC_CamIn V4.0 (S7-1500T)

Motion Control instructions

Technology Version V4.0 contains the following Motion Control instructions:
● MC_Power V4.0
● MC_Reset V4.0
● MC_Home V4.0
● MC_Halt V4.0
● MC_MoveAbsolute V4.0
● MC_MoveRelative V4.0
● MC_MoveVelocity V4.0
● MC_MoveJog V4.0
● MC_MoveSuperimposed V4.0
● MC_SetSensor V4.0 (S7-1500T)
● MC_TorqueLimit V4.0
● MC_MeasuringInput V4.0
● MC_MeasuringInputCyclic V4.0
● MC_AbortMeasuringInput V4.0
● MC_OutputCam V4.0

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 159
Using versions
4.2 Version V4.0

● MC_CamTrack V4.0
● MC_GearIn V4.0
● MC_GearInPos V4.0 (S7-1500T)
● MC_PhasingAbsolute V4.0 (S7-1500T)
● MC_PhasingRelative V4.0 (S7-1500T)
● MC_CamIn V4.0 (S7-1500T)
● MC_SynchronizedMotionSimulation V4.0 (S7-1500T)
● MC_InterpolateCam V4.0 (S7-1500T)
● MC_GetCamFollowingValue V4.0 (S7-1500T)
● MC_GetCamLeadingValue V4.0 (S7-1500T)
● MC_MotionInVelocity V4.0 (S7-1500T)
● MC_MotionInPosition V4.0 (S7-1500T)
● MC_TorqueAdditive V4.0
● MC_TorqueRange V4.0
● MC_GroupInterrupt V4.0 (S7-1500T)
● MC_GroupContinue V4.0 (S7-1500T)
● MC_GroupStop V4.0 (S7-1500T)
● MC_MoveLinearAbsolute V4.0 (S7-1500T)
● MC_MoveLinearRelative V4.0 (S7-1500T)
● MC_MoveCircularAbsolute V4.0 (S7-1500T)
● MC_MoveCircularRelative V4.0 (S7-1500T)
● MC_DefineWorkspaceZone V4.0 (S7-1500T)
● MC_DefineKinematicsZone V4.0 (S7-1500T)
● MC_SetWorkspaceZoneActive V4.0 (S7-1500T)
● MC_SetWorkspaceZoneInactive V4.0 (S7-1500T)
● MC_SetKinematicsZoneActive V4.0 (S7-1500T)
● MC_SetKinematicsZoneInactive V4.0 (S7-1500T)
● MC_DefineTool V4.0 (S7-1500T)
● MC_SetTool V4.0 (S7-1500T)
● MC_SetOcsFrame V4.0 (S7-1500T)

S7-1500 Motion Control V4.0 in TIA Portal V15

160 Function Manual, 12/2017, A5E03879256-AE
 Using versions
4.3 Version V3.0

Version-based UDT names

The following table shows the version-based UDT names for the control words and status
words of the SIEMENS telegrams 10x:

UDT name <V4.0 UDT name ≥V4.0 WORD data type

PD_STW1 PD_STW1_611Umode Control word 1 (STW1)
PD_STW2 PD_STW2_611Umode Control word 2 (STW2)
PD_ZSW1 PD_ZSW1_611Umode Status word 1 (ZSW1)
PD_ZSW2 PD_ZSW2_611Umode Status word 2 (ZSW2)

If you switch from a technology version <V4.0 to ≥V4.0 or vice versa, an error occurs during
the compilation. You have to adapt the UDT names manually.

4.3 Version V3.0

Innovations
Technology Version V3.0 contains the following new features:
● Technology object measuring input
● Technology object output cam
● Cam track technology object
● Force/torque limiting
● Fixed stop detection
● Axis type virtual axis
● MC-PreServo [OB67] and MC-PostServo [OB95]
● Technology CPU S7-1500T

Additional innovations for S7-1500T:

Technology Version V3.0 contains the following additional improvements:
● Cam technology object (S7-1500T)
● Gearing with MC_GearInPos (S7-1500T)
● Camming with MC_CamIn (S7-1500T)
● Using multiple encoders (S7-1500T)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 161
Using versions
4.3 Version V3.0

Motion Control instructions

Technology Version V3.0 contains the following Motion Control instructions:
● MC_Power V3.0
● MC_Reset V3.0
● MC_Home V3.0
● MC_Stop V3.0
● MC_MoveAbsolute V3.0
● MC_MoveRelative V3.0
● MC_MoveVelocity V3.0
● MC_MoveJog V3.0
● MC_MoveSuperimposed V3.0
● MC_SetSensor V3.0 (S7-1500T)
● MC_TorqueLimit V3.0
● MC_MeasuringInput V3.0
● MC_MeasuringInputCyclic V3.0
● MC_AbortMeasuringInput V3.0
● MC_OutputCam V3.0
● MC_CamTrack V3.0
● MC_GearIn V3.0
● MC_GearInPos V3.0 (S7-1500T)
● MC_PhasingAbsolute V3.0 (S7-1500T)
● MC_PhasingRelative V3.0 (S7-1500T)
● MC_CamIn V3.0 (S7-1500T)
● MC_SynchronizedMotionSimulation V3.0 (S7-1500T)
● MC_InterpolateCam V3.0 (S7-1500T)
● MC_GetCamFollowingValue V3.0 (S7-1500T)
● MC_GetCamLeadingValue V3.0 (S7-1500T)

S7-1500 Motion Control V4.0 in TIA Portal V15

162 Function Manual, 12/2017, A5E03879256-AE
 Using versions
4.4 Version V2.0

4.4 Version V2.0

Innovations
Technology Version V2.0 contains the following new features:
● Synchronous axis technology object
● Gearing with MC_GearIn
● Superimposed positioning with MC_MoveSuperimposed
● Standardization of the "MC_Home.Mode" parameter for S7-1200 Motion Control and
S7-1500 Motion Control
● Simulation mode
● Support of safety functions of the drive

Motion Control instructions

Technology Version V2.0 contains the following Motion Control instructions:
● MC_Power V2.0
● MC_Reset V2.0
● MC_Home V2.0
● MC_Halt V2.0
● MC_MoveAbsolute V2.0
● MC_MoveRelative V2.0
● MC_MoveVelocity V2.0
● MC_MoveJog V2.0
● MC_MoveSuperimposed V2.0
● MC_GearIn V2.0

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 163
Using versions
4.5 Version V1.0

4.5 Version V1.0

Motion Control instructions

Technology Version V1.0 contains the following Motion Control instructions:
● MC_Power V1.0
● MC_Reset V1.0
● MC_Home V1.0
● MC_Halt V1.0
● MC_MoveAbsolute V1.0
● MC_MoveRelative V1.0
● MC_MoveVelocity V1.0
● MC_MoveJog V1.0

4.6 Changing a technology version

Before you can access all the benefits of a new technology version, you need to change the
technology version for existing projects.

Changing a technology version

To change the technology version, follow these steps:
1. Replace the CPU in the project with a CPU with an appropriate higher version.
2. Open the program editor (e.g. by opening the OB1).
The technology objects and Motion Control instructions are highlighted in red after the
CPU is replaced.
3. In the "Instructions" task card, select the appropriate higher technology version in the
"Technology > Motion Control" folder.
4. Save and compile the project.
The version of the technology objects and Motion Control instructions is changed to the
appropriate higher technology version during compilation of the project.
Pay attention to any error information that is displayed during compilation. Deal with the
causes of the errors indicated.
5. Check the configuration of the technology objects.

S7-1500 Motion Control V4.0 in TIA Portal V15

164 Function Manual, 12/2017, A5E03879256-AE
 Using versions
4.7 Replacing devices

Resetting the "Mode" parameter of the Motion Control instruction "MC_Home"

When the technology version is changed from V1.0 to ≥ V2.0, the "MC_Home.HomingMode"
parameter (V1.0) is renamed to "MC_Home.Mode" (≥ V2.0). The assignment of the
parameter values is changed as well.
To reset the "MC_Home.Mode" parameter (V2.0), follow these steps:
1. To change the technology version, follow the instructions given above.
When compiling the project, the "MC_Home.HomingMode"parameter (V1.0) is renamed
to "MC_Home.Mode" (≥ V2.0):
– The assignment of the parameter values is changed. A comparison of the
"MC_Home.Mode" parameter for technology versions V1.0 and ≥ V2.0 is available in
section Version overview (Page 155).
You can find additional information about the "MC_Home.Mode" parameter in the
description of the Motion Control instruction "MC_Home" (Page 369).
– The value configured at the "MC_Home.HomingMode" parameter (V1.0) is lost. As a
note on renaming, the following text is entered as the parameter value in the
"MC_Home.Mode" parameter (≥ V2.0).
"The interface has changed. You can find additional information in the description of
the Motion Control instruction "MC_Home".
– There is a message in the "Info > Compile" tab in the Inspector window stating that the
operand has the wrong data type.
2. Change the value of the "MC_Home.Mode" parameter (≥ V2.0) in your user program
according to the new assignment.
3. Save and compile the project.

4.7 Replacing devices

You can replace an S7-1500 with an S7-1500T and vice versa. The behavior with respect to
functions and the existing configuration is different depending on what is being replaced.
● S7-1500 ⇒ S7-1500T
The functions of the S7-1500 are expanded to include additional parameters for the
extended functions of the S7-1500T. The additional parameters are preassigned with
default values and must be configured appropriately.
● S7-1500T ⇒ S7-1500
– Extended functions are only supported by an S7-1500T and are no longer available
after a replacement with S7-1500.
– Unsupported function blocks are marked.
– Unsupported technology objects are displayed in an error message after compilation
and must be deleted.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 165
Configuring 5
5.1 Adding and configuring drives in the device configuration

5.1.1 Introduction
Adding and configuring a drive is described in the following section with the example of a
SINAMICS S120 drive. If you use a SINAMICS V90 PN or a SINAMICS drive with Startdrive,
you can find additional information in the following documentation.

Using SINAMICS V90 PN

You need the Hardware Support Package (HSP) V90 two add and configure a SINAMICS
V90 PN drive in the TIA Portal. Information on configuring a SINAMICS V90 PN drive with
SIMATIC S7-1500 in the TIA Portal is available in the Getting Started "SIMATIC/SINAMICS
First Steps SINAMICS V90 PN on S7-1500 Motion Control":
https://support.industry.siemens.com/cs/document/109739497
(https://support.industry.siemens.com/cs/ww/en/view/109739497)

Using Startdrive
If you use a SINAMICS drive with Startdrive, you can find additional information in the
hardware catalog in the "Drives & Starter" folder. For additional information on connecting
via Startdrive, refer to:
● "Getting Started SINAMICS S120 in the Startdrive V14 SP1":
https://support.industry.siemens.com/cs/document/109747452
(https://support.industry.siemens.com/cs/ww/en/view/109747452)
● Application example "Positioning an S120 (Startdrive) with SIMATIC S7-1500 (TO)":
https://support.industry.siemens.com/cs/document/109743270
(https://support.industry.siemens.com/cs/ww/en/view/109743270)

Drives compatibility list

In the appendix (Page 555) you can find an overview of drives that can be interconnected
with an S7-1500 CPU.

S7-1500 Motion Control V4.0 in TIA Portal V15

166 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.1 Adding and configuring drives in the device configuration

5.1.2 Add and configure PROFINET IO drives

Adding and configuring a PROFINET IO drive is described below with the example of a
SINAMICS S120 drive. Adding and configuring other PROFINET IO drives may differ from
the description in certain respects.
When you use a S7-1500C CPU you can use the inputs/outputs of the CPU as interface to
the drive.

Requirements
● The SIMATIC S7-1500 device is created in the project.
● The desired drive can be selected in the hardware catalog.
If the drive is not available in the hardware catalog, it must be installed in the "Options" menu
as a device description file (GSD).

Adding a drive and telegram in the device configuration

1. Open the device configuration and change to the network view.
2. In the hardware catalog, open the folder "Additional field devices > PROFINET IO >
Drives > Siemens AG > SINAMICS".
3. Select the desired drive with the desired version, then drag it to the network view.
4. Assign the drive to the PROFINET interface of the PLC.
5. Open the drive in the device view.
6. Drag a Drive Object (DO) and a telegram from the hardware catalog and drop it onto a
slot of the device overview of the drive.
7. Make sure that the order of the telegrams in the device configuration and in the drive
parameter assignment are identical.
Depending on the version of the SINAMICS S120 drive, select "DO with telegram X", or
"DO Servo" and a "Telegram X" for the telegram.
For more information on suitable telegrams, refer to the section PROFIdrive telegrams
(Page 36).
Repeat step 6, if you want to add another drive and another standard telegram.

Activating isochronous mode of the drive in the device configuration

PROFINET drives can always be operated in isochronous mode or clock synchronized
mode. Isochronous mode, however, increases the quality of the closed loop position control
of the drive and is therefore recommended for drives such as SINAMICS S120.
To control the drive in isochronous mode, follow these steps:
1. Open the device view of the drive.
2. In the properties window, select the tab "PROFINET interface [X1] > Advanced options >
Isochronous mode".
3. Select the "Isochronous mode" check box in this tab.
The entry for the telegram also has to be selected for isochronous mode in the detailed view.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 167
Configuring
5.1 Adding and configuring drives in the device configuration

Interconnecting the port of the PLC with the port of the drive
1. Open the topology view in the device configuration.
2. Interconnect the port of the drive as in the real configuration with the port of the PLC. At
the same time, note the rules for topology configuration.

Configuring the PLC as the sync master and setting isochronous mode
1. Select the device view of the PLC.
2. In the Properties window, select the tab "PROFINET interface [X1] > Advanced options >
Real-time settings > Synchronization".
3. Select "Sync master" from the "Synchronization role" drop-down list.
4. Click the "Domain settings" button.
5. Open the "Domain Management > Sync Domains" tab and set the desired "Send clock"
(isochronous clock).

Select drive in the configuration of the technology object

1. Add a new technology object axis, or open the configuration of an existing axis.
2. Open the configuration "Hardware interface > Drive".
3. Select from the "PROFIdrive" entry in the "Drive type" drop-down list.
4. Select the Drive Object of the PROFINET drive from the "Drive" list.
For information on how to add a technology object, refer to the section Add technology
object (Page 175).

Result
The technology object is connected to the drive and the "MC Servo" organization block can
be checked / configured.
The telegram of the configured drive is assigned to the "PIP OB Servo" process image.

S7-1500 Motion Control V4.0 in TIA Portal V15

168 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.1 Adding and configuring drives in the device configuration

Checking/configuring the properties of the "MC-Servo"

1. Open the "Program blocks" folder in the project navigator.
2. Select the "MC-Servo" organization block.
3. Select the "Properties" command in the shortcut menu.
4. Select the "Cycle time" entry in the area navigation.
5. The option "Synchronous to the bus" must be selected in the dialog box.
6. A "PROFINET IO_System" must be selected in the "Distributed I/O" drop-down list.
7. The application cycle of "MC-Servo" must correspond to the send clock of the bus or be
reduced by an integral factor relative to the send clock of the bus.

Result
The PROFINET IO drive is configured in such a way that it can be controlled in isochronous
mode in the PROFINET IO network.
The properties of the SINAMICS drive must be configured according to the configuration of
the axis with the STARTER software or SINAMICS Startdrive.

Checking isochronous mode on the drive

If the configuration sequence described above is not adhered to during configuration of the
axis, and drive-specific error occurs when the project is compiled, the setting for isochronous
mode on the drive must be checked.
1. Open the device view of the drive.
2. Select standard telegram in the device overview.
3. Select the properties dialog "General > I/O Addresses".
4. The following settings apply for the input and output addresses:
– "Isochronous mode" is enabled.
– "MC-Servo" must be selected for the "Organization block".
– "PIP OB Servo" must be select the "Process image".

See also
PROFIdrive telegrams (Page 36)
Add technology object (Page 175)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 169
Configuring
5.1 Adding and configuring drives in the device configuration

5.1.3 Add and configure PROFIBUS DP drives

Adding and configuring a PROFIBUS drive is described below with the example of a
SINAMICS S120 drive. Adding and configuring other PROFIBUS drives may differ from the
description in certain respects.
When you use a S7-1500C CPU you can use the inputs/outputs of the CPU as interface to
the drive.

Requirements
● The SIMATIC S7-1500 device is created in the project.
● The desired drive can be selected in the hardware catalog.
If the drive is not available in the hardware catalog, you must install the drive in the "Options"
menu as a device description file (GSD).

Adding a drive and telegram in the device configuration

1. Open the device configuration and change to the network view.
2. In the hardware catalog, open the folder "Additional Field Devices > PROFIBUS DP >
Drives > Siemens AG > SINAMICS".
3. Select the folder of the desired drive with the desired version, then drag the drive object
to the network view.
4. Assign the drive to the PROFIBUS interface of the PLC.
5. Open the drive in the device view.
6. Drag-and-drop a telegram from the hardware catalog onto a slot in the device overview of
the drive.
For more information on suitable telegrams, refer to the section PROFIdrive telegrams
(Page 36).
If you want to add another drive and another telegram to the device overview, use the "Axis
disconnector" in the hardware catalog.

Activating isochronous mode of the drive in the device configuration

PROFIBUS drives can be operated in cyclic mode or isochronous mode. Isochronous mode,
however, increases the quality of the position control of the drive.
If you want to control the drive in isochronous mode, follow these steps:
1. Open the device view of the drive.
2. In the properties dialog, select the tab "General > Isochronous Mode".
3. Select the "Synchronize DP slave to constant DP bus cycle time" check box .

S7-1500 Motion Control V4.0 in TIA Portal V15

170 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.1 Adding and configuring drives in the device configuration

Setting isochronous mode

1. Select the network view.
2. Select the DP master system.
3. In the properties dialog, select the tab "General > Constant bus cycle time".
4. Select the desired "Constant DP bus cycle times".

Select drive in the configuration of the technology object

1. Add a new technology object axis, or open the configuration of an existing axis.
2. Open the configuration "Hardware interface > Drive".
3. Select from the "PROFIdrive" entry in the "Drive type" drop-down list.
4. Select the telegram of the PROFIBUS drive from the "Drive" list.
For information on how to add a technology object, refer to the section Add technology
object (Page 175).

Result
The technology object is connected to the drive and the "MC-Servo" organization block can
be checked / configured.
The telegram of the configured drive is assigned to the "PIP OB Servo" process image.

Checking/configuring the properties of the "MC-Servo"

1. Open the "Program blocks" folder in the project navigator.
2. Select the "MC-Servo" organization block.
3. Select the "Properties" command in the shortcut menu.
The "MC-Servo" dialog opens.
4. Select the "Synchronous to the bus" option under "General > Cycle time".
5. In the "Distributed I/O" drop-down list, select a "PROFIBUS DP-System".
The application cycle of "MC-Servo" must correspond to the send clock of the bus or be
reduced by an integral factor relative to the send clock of the bus.
You can select a drive connected to the CPU via a communications
processor/communications module (CP/CM) in the configuration of the technology object.
You cannot select the DP master system of the CP/CM as the source clock for MC-Servo
[OB91].

Result
The PROFIBUS DP drive is configured in such a way that it can be controlled in isochronous
mode in the PROFIBUS network.
The properties of the SINAMICS drive must be configured according to the configuration of
the axis with the STARTER software or SINAMICS Startdrive.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 171
Configuring
5.1 Adding and configuring drives in the device configuration

Checking isochronous mode on the drive

If the configuration sequence described above is not adhered to during configuration of the
axis, and drive-specific error occurs when the project is compiled, isochronous mode can be
checked on the drive.
1. Open the device view of the drive.
2. Select the entry of the telegram in the device overview.
3. Select the properties dialog "General > I/O Addresses".
4. The following settings apply for the input and output addresses:
– "MC-Servo" must be selected for the "Organization block".
– "PIP OB Servo" must be select the "Process image".

See also
PROFIdrive telegrams (Page 36)
Add technology object (Page 175)

5.1.4 Adding and configuring drives with analog connections

A description is provided below of how to add and configure a drive with an analog drive
connection and an encoder. The connection is made for example as a positioning axis with
an incremental encoder and using a technology module in the rack of the PLC.
When you use a S7-1500C CPU you can use the inputs/outputs of the CPU as interface to
the drive.

Requirements
The SIMATIC S7-1500 device is created in the project.

Adding and configuring an analog output module in the device configuration

1. Open the device configuration of the PLC.
2. Select an analog output module from the hardware catalog and drag the module to the
rack of the PLC.
3. Select the analog output module in the device view.
4. Open the "General" tab in the properties dialog and select there "Name of the Analog
Output Module > I/O Addresses".
5. Enter the desired start address.
6. In the properties dialog, select the tab "General > IO Tags".
7. Enter the tag name for the desired analog output.

S7-1500 Motion Control V4.0 in TIA Portal V15

172 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.1 Adding and configuring drives in the device configuration

Adding and configuring a technology module

1. Switch to the device view of the PLC.
2. In the hardware catalog, open the folder "TM > Count > TM Count 2X24V".
3. Drag the counter module to a free slot in the rack.
(When inserted in the rack of the PLC, the technology module cannot be operated in
isochronous mode.)
4. Select the technology module in the device view.
5. In the properties dialog, open the "General" tab and select there "Count 2x24V > Basic
Parameters > Channel X > Operating Mode" of the channel to be used.
6. Select "Position input for Motion Control" option for "Selection of the operating mode for
the channel".
7. Under "Module parameters", adapt the parameters of the incremental encoder (steps per
revolution = increments per revolution).
8. Under "Reaction to CPU STOP", select the item "Continue working".

Selecting the drive and encoder in the configuration of the technology object
1. Add a new positioning axis/synchronous axis technology object, or open the configuration
of an existing positioning axis/synchronous axis.
2. Open the configuration "Hardware interface > Drive".
3. Select "Analog drive connection" from the "Drive type" drop-down list.
4. Select the previously defined tag name of the analog output from the "Output" list.
5. Open the configuration "Hardware interface > Encoder".
6. Under "Select encoder connection" select "Encoder on technology module (TM)".
7. Select the channel of the incremental encoder from the "Technology module" list under
"local modules".
8. Open the configuration "Hardware interface > Data exchange with encoder > Fine
resolution" and enter the "0" value for "bits in the incr. actual value".
For information on how to add a technology object, refer to the section Add technology
object (Page 175)

Result
The analog drive connection and the encoder connection are configured.
The analog addresses and the addresses of the TM module are assigned to the process
image "PIP OB Servo".

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 173
Configuring
5.1 Adding and configuring drives in the device configuration

Checking the encoder connection / drive connection

The encoder data are applied to the position control cycle clock. If in doubt, check the
following settings:
1. Switch to the device view of the PLC.
2. Select the module technology.
3. Open the properties dialog "Basic Parameters > I/O Addresses".
4. The following settings apply for the input and output addresses:
– "MC-Servo" must be selected for the "Organization block".
– "PIP OB Servo" must be select the "Process image".
5. Select the analog module.
6. Open the properties dialog "Name of the Analog Module > I/O Addresses".
7. The settings from Step 4 apply for the input and output addresses

See also
Add technology object (Page 175)

S7-1500 Motion Control V4.0 in TIA Portal V15

174 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.2 Configuration basics

5.2 Configuration basics

5.2.1 Add technology object

The following describes how to add a technology object in the project tree.

Requirement
● A project with a CPU S7-1500 has been created.
● For the output cam, cam track, measuring input technology objects:
A speed axis, positioning axis, synchronous axis or external encoder technology object is
created in the project.

Procedure
To add a technology object, follow these steps:
1. Open the CPU's folder in the project navigator.
2. Open the "Technology Objects" folder.
3. Double-click "Add new object".
The "Add new object" dialog opens.
4. Select the required technology object. You can infer the function of the technology object
from the displayed description.
5. If you add output cams, cam tracks, measuring inputs to a technology object, select the
higher-level technology object in the "Axis or external encoder that is to be assigned".
6. In the "Name" input field, adapt the name to your requirements.
7. To change the suggested data block number, select the "Manual" option.
8. To add your own information about the technology object, click "Additional information".
9. To open the configuration after adding the technology object, select the "Add new and
open" check box.
10.To add the technology object, click "OK".

Result
The new technology object was created and created in the "Technology objects" folder in the
project tree.
If the "MC-Servo" and "MC-Interpolator" organizational units were not yet available, they
were added.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 175
Configuring
5.2 Configuration basics

5.2.2 Copy technology object

You can copy a technology object in the following ways:
● Copying a technology object within a CPU
● Copying a technology object from a CPU S7-1500 to a CPU S7-1500T
Additional parameters for the extended functions are pre-defined with default values and
must be configured accordingly.
● Copying a technology object from a CPU S7-1500T to a CPU S7-1500
Additional parameters, which are not supported by the CPU S7-1500, are reset to the
default values.
When you copy a technology object that has lower-level technology objects such as output
cams, cam tracks or measuring inputs, the lower-level technology object are also copied.
The following describes how to copy a technology object within a CPU. The procedure also
applies accordingly to the other copying methods mentioned.

Requirement
● A project with a CPU S7-1500 has been created.
● You have created an technology object in the project.

Procedure
To copy a technology object, follow these steps:
1. Open the CPU's folder in the project navigator.
2. Open the "Technology Objects" folder.
3. If necessary, open the higher-level technology object.
4. Select the technology object to be copied.
5. Select "Copy" in the shortcut menu.
6. Select the "Technology objects" folder or the higher-level technology object.
7. Select "Paste" in the shortcut menu.

Result
The selected technology object, including lower-level technology objects, has been copied
and created in the "Technology objects" folder of the project tree.

S7-1500 Motion Control V4.0 in TIA Portal V15

176 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.2 Configuration basics

5.2.3 Delete technology object

You can delete technology objects in the project tree.
When you delete a technology object that has lower-level technology objects such as output
cams, cam tracks or measuring inputs, the lower-level technology object are also deleted.

Requirement
● A project with a CPU S7-1500 has been created.
● You have created an technology object in the project.

Procedure
To delete a technology object, follow these steps:
1. Open the CPU's folder in the project navigator.
2. Open the "Technology Objects" folder.
3. Select the technology object to be deleted.
4. Select the "Delete" command in the shortcut menu.
The "Confirm delete" dialog is opened.
5. To delete the technology object, click "Yes".

Result
The selected technology object has been deleted.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 177
Configuring
5.2 Configuration basics

5.2.4 Working with the configuration editor

You configure the properties of a technology object in the configuration window. To open the
configuration window of the technology object in the project view, follow these steps:
1. Open the device "Technology objects" group in the project navigator.
2. Select the technology object and double-click on "Configuration".
The configuration is divided into categories which depend on the object type, for example:
Basic parameters, hardware interface, extended parameters.

Configuration editor icons

Icons in the area navigation of the configuration show additional details about the status of
the configuration:

The configuration contains default values and is complete.

The configuration contains only default values. With these default values you can use the technology object without
additional changes.
The configuration contains user-defined or automatically adapted values and is complete.
All input fields of the configuration contain valid values and at least one preset value has changed.
The configuration is incomplete or incorrect.
At least one input field or drop-down list contains an invalid value. The corresponding field or the drop-down list is
displayed on a red background. Click the field shows you the roll-out error message that indicates the cause of error.

S7-1500 Motion Control V4.0 in TIA Portal V15

178 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.2 Configuration basics

5.2.5 Compare values

If an online connection to the CPU is available, the "Monitor all" function appears in the
configuration of the technology object.
The "Monitor all" function provides the following options:
● Comparison of configured start values of the project with the start values in the CPU and
the actual values
● Direct editing of actual values and the start values of the project
● Immediate detection and display of input errors with suggested corrections
● Backup of actual values in the project
● Transfer of start values of the project to the CPU as actual values

Note
Differences between online and offline values
By adding or deleting technology objects that have a connection to other technology objects,
such as cams, cam tracks, measuring inputs or synchronized axes, differences can occur
when online and offline values are compared. These differences can be eliminated by re-
compiling the project and then uploading it to the CPU.

Icons and operator controls

If there is an online connection to the CPU, the actual values are displayed at the
parameters.
In addition to the actual values of the parameters, the following symbols appear:

Symbol Description
Start value in CPU matches the configured start value in project

Start value in CPU does not match the configured start value in project

Software error in lower-level component: The online and offline versions differ in at least
one lower-level software component.
The comparison of the Start value in CPU with the configured start value in project cannot
be performed.
Comparison of the online and offline values is not advisable.

Use this button to show the start value of the CPU and the start value of the project for the
respective parameter.

You can change the start value of the CPU directly and then download it to the CPU. For
directly editable parameters, the actual value can also be changed and the change will be
transferred directly to the CPU.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 179
Configuring
5.3 Configuring the Speed-Control Axis technology object

5.3 Configuring the Speed-Control Axis technology object

5.3.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the speed axis in this field. The technology object is listed under this
name in the project tree. You can use the variables of the speed axis in the user program
under this name.

Axis type
If you want to use the axis in the CPU exclusively as a virtual leading axis for
synchronization, for example, select the "Virtual axis" check box. The configuration of a drive
and encoder connection is not relevant.

Speed unit of measure

Select the desired unit of measure for speed in the drop-down list.

Simulation
If you want to move a real axis in the simulation mode, select the "Activate simulation" check
box.
In simulation mode, speed, positioning and synchronous axes can be simulated in the CPU
without connected drives and encoders. Simulation mode is possible as of Technology
Version V3.0 even without a configured drive and encoder connection.
For simulation mode without hardware connected to the CPU, you can influence the startup
time of the CPU via the "Configuration time for central and distributed I/Os" parameter. You
can find the parameter in the CPU properties in the "Startup" area navigation.

See also
Units of measure (Page 32)
Axis in simulation (Page 49)

S7-1500 Motion Control V4.0 in TIA Portal V15

180 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.3 Configuring the Speed-Control Axis technology object

5.3.2 Hardware interface

5.3.2.1 Configuration - Drive

In the "Drive" configuration window, configure which drive type and which drive you want to
use.

Drive type
In the drop-down list, select whether you want to deploy a PROFIdrive drive or a drive with
an analog drive connection.
PROFIdrive drives are connected to the controller by means of a digital communication
system (PROFINET or PROFIBUS). The communication is performed via PROFIdrive
telegrams.
Drives with an analog drive connection receive the speed setpoint via an analog output
signal (e.g. from -10 V to +10 V) from the PLC.

Drive type: PROFIdrive

Data connection
In the drop-down list, select whether the data connection is to be made directly with the drive
device or via an editable data block in the user program.
Drive/data block
In the "Drive" field, select an already configured PROFIdrive drive/slot. If a PROFIdrive drive
was selected, it can be configured using the "Device configuration" button.
Switch to the device configuration, and add a PROFIdrive drive in the network view, in the
event that no PROFIdrive drive can be selected.
If "Data block" was selected for the data connection, a previously created data block
containing a variable structure of data type "PD_TELx" must be selected here ("x" stands for
the telegram number used).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 181
Configuring
5.3 Configuring the Speed-Control Axis technology object

Drive type: Analog drive connection

Analog output
In the "Output" field, select the PLC tag of the analog output over which the drive is to be
controlled.
In order to be able to select an output, an analog output module must have been added in
the device configuration, and the PLC tag name for the analog output must be defined.
Activating enable output
In the "Enable output" field, select the PLC tag of the digital output to enable the drive. With
the enable output, the speed controller in the drive is enabled, or disabled.
In order to be able to select an enable output, a digital output module must have been added
in the device configuration, and the PLC tag name for the digital output must be defined.

Note
If you do not use an enable output, the drive cannot be immediately disabled on the part of
the system due to error reactions or monitoring functions. A controlled stop of the drive is not
guaranteed.

Enable ready input

In the "Ready input" field, select the PLC tag of the digital input with which the drive is to
report its operational readiness to the technology object. The power module is switched on
and the analog speed setpoint input is enabled.
In order to be able to select a ready input, a digital input module must have been added in
the device configuration, and the PLC tag name for the digital input must be defined.

Note
The enable output and the ready input can be separately enabled.
The following boundary conditions apply to the activated ready input:
• The axis is only enabled (MC_Power Status = TRUE) when a signal is present at the
ready input.
• If the signal at the ready input goes away for an enabled axis, the axis is disabled with the
alarm reaction "Remove enable".
• If the axis is disabled with the instruction MC_Power (Enable = FALSE), the axis is
disabled even when a signal is present at the ready input.

See also
Configuration - Data exchange with the drive (Page 183)
Connect drive/encoder via data block (Page 269)
Drive and encoder connection (Page 34)

S7-1500 Motion Control V4.0 in TIA Portal V15

182 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.3 Configuring the Speed-Control Axis technology object

5.3.2.2 Configuration - Data exchange with the drive

You configure the data transmission to the drive in this configuration window.

Drive type: PROFIdrive

Drive telegram
The telegram to the drive that is set in the device configuration is preselected in the drop-
down list.
Automatic data exchange for drive values (offline)
Select the check box if you want to transfer the offline values of the drive "Reference speed",
"Maximum speed" and "Reference torque" to the configuration of the technology object in the
project.
Automatic data exchange for drive values (online)
Select the check box if you want to transfer the effective values "Reference speed",
"Maximum speed" and "Reference torque" online in the drive to the CPU during runtime. The
drive parameters are transferred from the bus after the (re-)initialization of the technology
object or the (re)start of the drive or the CPU.
Alternatively, you must synchronize the following parameters manually:
● Reference speed
Configure the reference speed of the drive in accordance with the manufacturer's
specifications in this field. The specification of the drive speed is a percentage of the
reference speed in the range -200% to +200%.
● Maximum speed
Configure the maximum speed of the drive in this field.
● Reference torque
Configure the reference torque of the drive corresponding to its configuration in this field.
The reference torque is needed for force/torque reduction, which is supported with
telegram 10x.
Supplementary data
Select the "Torque data" check box if you want to configure the data connection of the torque
data. If you have selected a drive with which the additional telegram 750 has been
configured, the "Torque data" check box is preselected.
Data connection
In the drop-down list, define whether the data connection should be made via additional
telegrams or data blocks:
● If you select the entry "Additional telegram" in the "Data connection" drop-down list, you
can edit the "Additional telegram" drop-down list.
● If you select the "Data block" entry in the "Data connection" drop-down list, you can select
the previously created data block which contains a tag structure of the "PD_TELx" data
type ("x" stands for the additional telegram number that is used).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 183
Configuring
5.3 Configuring the Speed-Control Axis technology object

Data block / additional telegram

Select an additional telegram configured in the "Additional telegram" field.
Select the "Show all modules" check box if you want to display all submodules of the
connected drive. You can also find self-defined additional telegrams with this function.
In the "Data block" field, select the data block which you want to use to integrate the torque
data.

Note
Automatic transfer of drive parameters is only possible with SINAMICS drives as of V4.x. For
this, "Drive" must be selected for the data connection in configuration window "Hardware
interface > Drive".

Drive type: Analog drive connection

Reference speed
The reference speed of the drive is the speed at which the drive rotates when there is an
output of 100% at the analog output. The reference speed must be configured for the drive
and transferred in the configuration of the technology object.
The analog value that is output at 100% depends on the type of the analog output. For
example, for an analog output with +/- 10 V, the value 10 V is output at 100%.
Analog outputs can be overdriven by about 17%. This means that an analog output can be
operated in the range from -117% to 117%, insofar as the drive permits this.

See also
Automatic transfer of drive and encoder parameters in the device (Page 42)
Connect drive/encoder via data block (Page 269)
Drive and encoder connection (Page 34)

S7-1500 Motion Control V4.0 in TIA Portal V15

184 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.3 Configuring the Speed-Control Axis technology object

5.3.3 Extended Parameters

5.3.3.1 Configuration - Mechanics

Configure the connection of the load to the drive in the "Mechanics" configuration window.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

Load gear
Number of motor revolutions / number of load revolutions
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions. Specify here an integral number of motor revolutions and the resulting number of
load revolutions.

See also
Mechanics (Page 53)

5.3.3.2 Configuration - Dynamic Defaults

In the "Dynamic default values" configuration window, configure the default values for speed,
acceleration, deceleration jerk of the axis.
The default values have an effect, when values < 0 are specified in Motion Control
instructions for the "Velocity", "Acceleration", "Deceleration" or "Jerk" parameters. The
default values can be applied separately for each of the parameters just listed.

Speed
In this field, define the default value for the speed of the axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 185
Configuring
5.3 Configuring the Speed-Control Axis technology object

Acceleration / Deceleration - Ramp-up time / Ramp-down time

Set the desired default value for acceleration in the "Ramp-up time" or "Acceleration" fields.
The desired deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
The following equations show the relationship between the ramp-up time and acceleration
and the ramp-down time and deceleration:

Note
A change in the velocity influences the acceleration and deceleration values of the axis. The
ramp-up and ramp-down times are retained.

Smoothing time / jerk

You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration and deceleration ramp in the "Jerk" field. The
value 0 means that jerk limiting is deactivated.
● Set the desired smoothing time for the acceleration ramp in the "Smoothing time" field.

Note
The jerk value is identical for the acceleration and deceleration ramp. The smoothing time
in effect for the deceleration ramp results from the following relationships:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration and deceleration ramp are equal.
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
A configured jerk limit is not taken into account for this.

S7-1500 Motion Control V4.0 in TIA Portal V15

186 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.3 Configuring the Speed-Control Axis technology object

The following equations show the relationship between the smoothing times and the jerk:

Motion jobs started in the user program are performed with the selected jerk.

See also
Velocity profile (Page 60)

5.3.3.3 Configuration - Emergency stop

In the "Emergency stop" configuration window, you can configure the emergency stop
deceleration of the axis. In the event of an error, and when disabling the axis, the axis is
brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"
(input parameter StopMode = 0).

Emergency stop deceleration / Emergency stop ramp-down time

Configure the deceleration value for emergency stop in the "Emergency stop deceleration"
field or the "Emergency stop ramp-down time" field.
The relationship between emergency stop ramp-down time and emergency stop deceleration
can be seen in the following equation:

The configuration of the emergency stop deceleration is related to the configured maximum
speed of the axis. If the maximum speed of the axis changes, then the value of the
emergency stop deceleration also changes (the emergency stop ramp-down time remains
unchanged).

See also
Emergency stop deceleration (Page 62)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 187
Configuring
5.3 Configuring the Speed-Control Axis technology object

5.3.3.4 Limits

Configuration - Dynamic limits

In the "Dynamic limits" configuration window, configure the maximum values for speed,
acceleration, deceleration and jerk of the axis.

Maximum speed
In this field, define the maximum permitted speed of the axis.

Maximum acceleration/maximum deceleration - ramp-up time/ramp-down time

Set the desired acceleration in the "Ramp-up time" or "Acceleration" fields. The desired
deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
The following equations show the relationship between the ramp-up time and acceleration
and the ramp-down time and deceleration:

Note
Change of maximum speed
A change in the maximum speed influences the acceleration and deceleration values of the
axis. The ramp-up and ramp-down times are retained.

S7-1500 Motion Control V4.0 in TIA Portal V15

188 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.3 Configuring the Speed-Control Axis technology object

Smoothing time / jerk

You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Maximum
jerk" box. The value 0 means that the jerk is not limited.
● Set the desired smoothing time for the acceleration ramp in the "Smoothing time" field.

Note
Various acceleration and deceleration values
The configured smoothing time displayed in the configuration, applies only to the
acceleration ramp.
If the values of the acceleration and deceleration differ, the smoothing time of the
deceleration ramp is calculated and used according to the jerk of the acceleration ramp.
The smoothing time of the deceleration is adapted as follows:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration and deceleration ramp are equal.
If an error occurs, the axis decelerates with the configured emergency stop deceleration
(Page 60) (alarm reaction "Stop with maximum dynamic values"). A configured jerk limit is
not taken into account for this.

The following equations show the relationship between the smoothing times and the jerk:

Motion jobs started in the user program are performed with the selected jerk.

See also
Emergency stop deceleration (Page 62)
Dynamic limits in synchronous operation (Page 62)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 189
Configuring
5.3 Configuring the Speed-Control Axis technology object

Configuration - Torque limits

Configure the torque limiting of the drive in the "Torque limits" configuration window.
The configuration is now available if a drive that supports force/torque limiting is selected
and a telegram 10x is used.

Effective
In the drop-down list, select whether the limit value is to be in effect "on load side" or "on
motor side".

Torque limiting
Enter a default value for the torque limit in the specified unit of measure in this field.
The default value is in effect when the torque limiting is specified using Motion Control
instruction "MC_TorqueLimiting", input parameter "Limit" < 0.
If the gear efficiency is critical, this can be set in the <TO>.Actor.Efficiency tag.

See also
Force/torque limiting (Page 63)

S7-1500 Motion Control V4.0 in TIA Portal V15

190 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4 Configuring the positioning axis/synchronous axis technology object

5.4.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the positioning axis/synchronous axis in this field. The technology object
is listed under this name in the project tree. The variables of the technology object can be
used in the user program under this name.

Axis type
If you want to use the axis in the CPU exclusively as a virtual leading axis for
synchronization, for example, select the "Virtual axis" check box. The configuration of a drive
and encoder connection is not relevant.
In this selection, configure whether the axis should perform linear or rotary motions.

Units of measure
In the drop-down list, select the desired units of measure for the position, velocity, torque
and force of the axis.

Modulo
Select the "Enable modulo" check box if you want to use a recurring system of units for the
axis (e.g. 0 to 360° for an axis of the "rotary" axis type).
● Modulo start value
In this field, define the position at which the modulo range should begin (e.g. 0° for an
axis of the "rotary" axis type).
● Modulo length
In this field, define the length of the modulo range (e.g. 360° for an axis of the "rotary"
axis type).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 191
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Simulation
If you want to move a real axis in the simulation mode, select the "Activate simulation" check
box.
In simulation mode, speed, positioning and synchronous axes can be simulated in the CPU
without connected drives and encoders. Simulation mode is possible as of Technology
Version V3.0 even without a configured drive and encoder connection.
For simulation mode without hardware connected to the CPU, you can influence the startup
time of the CPU via the "Configuration time for central and distributed I/Os" parameter. You
can find the parameter in the CPU properties in the "Startup" area navigation.

See also
Axis in simulation (Page 49)
Units of measure (Page 32)
Modulo setting (Page 33)
Mechanics (Page 53)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

5.4.2 Hardware interface

5.4.2.1 Configuration - Drive

In the "Drive" configuration window, configure which drive type and which drive you want to
use.

Drive type
In the drop-down list, select whether you want to deploy a PROFIdrive drive or a drive with
an analog drive connection.
PROFIdrive drives are connected to the controller by means of a digital communication
system (PROFINET or PROFIBUS). The communication is performed via PROFIdrive
telegrams.
Drives with an analog drive connection receive the speed setpoint via an analog output
signal (e.g. from -10 V to +10 V) from the PLC.

S7-1500 Motion Control V4.0 in TIA Portal V15

192 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Drive type: PROFIdrive

Data connection
In the drop-down list, select whether the data connection is to be made directly with the drive
device or via an editable data block in the user program.
Drive/data block
In the "Drive" field, select an already configured PROFIdrive drive/slot. If you have selected a
PROFIdrive drive, you can configure the PROFIdrive drive using the "Device configuration"
button.
If no PROFIdrive drive is available for selection, switch to the device configuration, and add a
PROFIdrive drive in the network view.
If you have selected "Data block" under the data connection, select a previously created data
block which contains a variable structure of the data type "PD_TELx" ("x" stands for the
telegram number to be used).

Drive type: Analog drive connection

Analog output
In the "Analog output" field, select the PLC tag of the analog output via which the drive is to
be controlled.
In order to be able to select an output, you first need to add an analog output module in the
device configuration and define the PLC tag name for the analog output.
Activating enable output
Select the "Activate enable output" check box if the drive supports an enable.
Select the PLC tag of the digital output for the drive enable in the corresponding field. With
the enable output, the speed controller in the drive is enabled, or disabled.
In order to be able to select an enable output, a digital output module must be added in the
device configuration and the PLC tag name must be defined for the digital output.

Note
If you do not use an enable output, the drive cannot be immediately disabled on the part of
the system due to error reactions or monitoring functions. A controlled stop of the drive is not
guaranteed.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 193
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Enable ready input

Select the "Enable ready input" check box if the drive can signal its readiness.
Select the PLC tag of the digital input via which the drive is to signal its operational readiness
to the technology object in the corresponding field. The power module is switched on and the
analog speed setpoint input is enabled.
In order to be able to select a ready input, you first need to add a digital input module in the
device configuration and define the PLC tag name for the digital input.

Note
The enable output and the ready input can be separately enabled.
The following boundary conditions apply to the activated ready input:
• The axis is only enabled ( MC_Power Status = TRUE) when a signal is present at the
ready input.
• If a signal is not present at the ready input on an enabled axis, the axis is disabled with
an error.
• If the axis is disabled with the instruction MC_Power (Enable = FALSE), the axis is
disabled even when a signal is present at the ready input.

See also
Connect drive/encoder via data block (Page 269)
Data connection drive/encoder via data block (Page 50)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

5.4.2.2 Configuration - Encoder

For closed loop position control, positioning axes/synchronous axes require an actual
position value in the form of an encoder position. The encoder position is transmitted to the
controller by means of a PROFIdrive telegram.
Configure the encoder and encoder type in the "Encoder" configuration window.

Data connection
In the drop-down list, select whether the data connection should be established directly with
the encoder or via a data block that can be edited in the user program.
The selection is only possible for encoders that are connected via PROFIdrive and support
parameter P979.

S7-1500 Motion Control V4.0 in TIA Portal V15

194 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Encoder / data block

Select a previously configured encoder in this configuration field.
The following encoders can be selected:
● Connection to the drive (not with analog drive connection)
The encoder is configured via the configuration of the PROFIdrive drive. The drive
evaluates the encoder signals and sends them to the controller in the PROFIdrive
telegram.
● Encoder on technology module (TM)
Select a previously configured technology module and the channel to be used. Only
technology modules set to the "Position input for Motion Control" mode are displayed for
selection.
If no technology module is available for selection, change to the device configuration and
add a technology module. If you have selected a technology module, you can access the
configuration of the technology module using the "Device configuration" button.
You can operate the technology module centrally on an S7-1500 CPU or decentrally on a
distributed I/O. Isochronous mode is not possible with central operation in the CPU.
You can identify the technology modules suitable for position detection for Motion Control
in the documentation for the technology module and the catalog data.
● PROFIdrive encoder on PROFINET/PROFIBUS (PROFIdrive)
In the "PROFIdrive encoder" field, select a configured encoder on
PROFINET/PROFIBUS. If an encoder was selected, it can be configured using the
"Device configuration" button.
Switch to the device configuration in the network view, and add an encoder, in the event
that no encoder can be selected.
If "Data block" was selected for the data connection, a previously created data block
containing a variable structure of data type "PD_TELx" must be selected here ("x" stands for
the telegram number used).

Encoder type
Select the encoder type of the encoder in the drop-down list. The following encoder types
are available:
● Incremental
● Absolute
● Cyclic absolute

See also
Positioning axis technology object (Page 104)
Data connection drive/encoder via data block (Page 50)
Connect drive/encoder via data block (Page 269)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 195
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.2.3 Configuration - Data exchange with the drive

Configure the data exchange with the drive in the "Data exchange with the drive"
configuration window.
The configuration differs according to the selected drive type:

Drive type: PROFIdrive

Drive telegram
The telegram to the drive that is set in the device configuration is preselected in the drop-
down list.
Automatic data exchange for drive values (offline)
Select the check box if you want to transfer the offline values of the drive "Reference speed",
"Maximum speed" and "Reference torque" to the configuration of the technology object in the
project.
Automatic data exchange for drive values (online)
Select the check box if you want to transfer the effective values "Reference speed",
"Maximum speed" and "Reference torque" online in the drive to the CPU during runtime. The
drive parameters are transferred from the bus after the (re-)initialization of the technology
object or the (re)start of the drive or the CPU.
Alternatively, you must synchronize the following parameters manually:
● Reference speed
Configure the reference speed of the drive in accordance with the manufacturer's
specifications in this field. The specification of the drive speed is a percentage of the
reference speed in the range -200% to +200%.
● Maximum speed
Configure the maximum speed of the drive in this field.
● Reference torque
Configure the reference torque of the drive corresponding to its configuration in this field.
The reference torque is needed for force/torque reduction, which is supported with
telegram 10x.
Supplementary data
Select the "Torque data" check box if you want to configure the data connection of the torque
data. If you have selected a drive with which the supplemental telegram 750 has been
configured, the "Torque data" check box is preselected.

S7-1500 Motion Control V4.0 in TIA Portal V15

196 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Data connection
In the drop-down list, define whether the data connection should be made via supplemental
telegrams or data blocks:
● If you select the entry "Supplemental telegram" in the "Data connection" drop-down list,
you can edit the "Supplemental telegram" drop-down list.
● If you select the "Data block" entry in the "Data connection" drop-down list, you can select
the previously created data block which contains a tag structure of the "PD_TELx" data
type ("x" stands for the additional telegram number that is used).
Data block / supplemental telegram
Select an supplemental telegram configured in the "Supplemental telegram" field.
Select the "Show all modules" check box if you want to display all submodules of the
connected drive. You can also find self-defined supplemental telegrams with this function.
In the "Data block" field, select the data block which you want to use to integrate the torque
data.

Note
Automatic transfer of drive parameters is only possible with SINAMICS drives as of V4.x. To
do this, set the "Drive" data connection in the configuration window "Hardware interface >
Drive".

Drive type: Analog drive connection

Reference speed
The reference speed of the drive is the speed at which the drive rotates when there is an
output of 100% at the analog output. The reference speed must be configured for the drive
and transferred in the configuration of the technology object.
The analog value that is output at 100% depends on the type of the analog output. For
example, for an analog output with +/- 10 V, the value 10 V is output at 100%.
Analog outputs can be overdriven by about 17%. This means that an analog output can be
operated in the range from -117% to 117%, insofar as the drive permits this.
Maximum speed
Specify the maximum speed of the drive in this field.

See also
Positioning axis technology object (Page 104)
Automatic transfer of drive and encoder parameters in the device (Page 42)
Connect drive/encoder via data block (Page 269)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 197
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.2.4 Configuration - Data exchange with encoder

Configure detailed encoder parameters and the data exchange with the encoder in the "Data
exchange with encoder" configuration window.
The display and selection of the configuration parameters described here is dependent on
the following parameters:
● Configuration window "Basic parameters": Drive type (linear/rotary)
● Configuration window "Hardware interface > Encoder": Encoder type
(incremental/absolute/cyclic absolute)
● Configuration window - "Extended parameters > Mechanics": Encoder mounting type

Encoder telegram
The telegram to the encoder that is set in the device configuration is preselected in the drop-
down list.

Automatic data exchange for encoder values (offline)

Select the check box if you want to transfer the offline values of the encoder to the
configuration of the technology object in the project.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

Automatic data exchange for encoder values (online)

Select the check box if you want to transfer the effective values online in the encoder to the
CPU during runtime. The encoder parameters are transferred from the bus after the (re-
)initialization of the technology object and (re)start of the encoder or the CPU.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

Alternatively, you must manually calibrate the following parameters, depending on encoder
type.

S7-1500 Motion Control V4.0 in TIA Portal V15

198 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Encoder type
Depending on the selected encoder type, configure the following parameters:

Encoder type Rotary incremental

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

Encoder type Rotary absolute

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions Configure the number of revolutions that the
absolute encoder can detect in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Rotary cyclic absolute

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions Configure the number of revolutions that the
absolute encoder can detect in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear incremental

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 199
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Encoder type Linear absolute

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear cyclic absolute

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

See also
Positioning axis technology object (Page 104)
Automatic transfer of drive and encoder parameters in the device (Page 42)
Connect drive/encoder via data block (Page 269)
Synchronous axis technology object (Page 105)
Configuration - Data exchange (Page 232)

S7-1500 Motion Control V4.0 in TIA Portal V15

200 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.3 Configuration - leading value interconnections (synchronous axis only)

You can interconnect a synchronous axis with multiple leading value-capable technology
objects. Leading value-capable technology objects are:
● Positioning axes
● Synchronous axes
● External encoders (only with S7-1500T CPU)
You can select only one leading value during runtime of your user program.
All interconnection required during operation must be set up during configuration of the
technology object.

Possible leading values

In the "Possible leading values" column of the "Leading value interconnections" list, add all
leading value-capable technology objects that you need during operation as a leading value
for the synchronous axis.
You can interconnect the axes added in the list with the synchronous axis as a leading value
with the corresponding Motion Control instruction.
All configured leading value interconnections for the technology object are displayed in the
cross-reference list of the technology object.

Coupling type
In the "Type of coupling" column, configure whether the leading value is to be coupled via
setpoint or actual value.
"Actual value" is available only for the S7-1500T CPU.

See also
Leading value coupling (Page 107)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 201
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.4 Extended Parameters

5.4.4.1 Configuration - Mechanics

Configuration - Mechanics
In the "Mechanics" configuration window, configure the mounting type of the encoder, and
the adaptation of the actual encoder value to the mechanical conditions.

Settings for (S7-1500T)

In the drop-down list, select the encoder for which the following configurations are to apply.

Encoder mounting type

In the drop-down list, select how the encoder is mounted to the mechanics.
The configuration differs depending on the axis type and the encoder mounting type selected
in the "Basic parameters" configuration window.
Axis type: Linear
● Linear - On motor shaft (Page 203)
● Linear - On load side (Page 203)
● Linear - External Measuring System (Page 204)
Axis type: Rotary
● Rotary - On motor shaft (Page 205)
● Rotary - On load side (Page 205)
● Rotary - External Measuring System (Page 206)

Invert encoder direction

Select this check box if you must invert the direction of rotation of the encoder.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

202 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Axis type: Linear

Linear - On motor shaft

The encoder is connected to the motor shaft in a mechanically fixed manner. Motor and
encoder form a unit.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

Position parameters
Leadscrew pitch
In this configuration field, configure the distance by which the load is moved when the
leadscrew makes one revolution.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Linear - On load side

The encoder is mechanically connected to the load side of the gear.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 203
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

Position parameters
Leadscrew pitch
In this configuration field, configure the distance by which the load is moved when the
leadscrew makes one revolution.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Linear - External Measuring System

An external measuring system provides the position values of the linear load motion.

Distance per encoder revolution

In this configuration field, configure the linear load travel per encoder revolution.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

S7-1500 Motion Control V4.0 in TIA Portal V15

204 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Position parameters
Leadscrew pitch
In this configuration field, configure the distance by which the load is moved when the
leadscrew makes one revolution.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Axis type: Rotary

Rotary - On motor shaft

The encoder is connected to the motor shaft in a mechanically fixed manner. Motor and
encoder form a unit.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Rotary - On load side

The encoder is mechanically connected to the load side of the gear.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 205
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Rotary - External Measuring System

An external measuring system provides the position values of the rotary load motion.

Distance per encoder revolution

In this configuration field, configure the linear load travel per encoder revolution.

Invert drive direction

Select the check box if the direction of rotation of the drive is to be inverted.

Load gear
The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions.
Number of motor revolutions
In this configuration field, configure the integer number of motor revolutions.
Number of load revolutions
In this configuration field, configure the integer number of load revolutions.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

206 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.4.2 Configuration - Dynamic Defaults

In the "Dynamic default values" configuration window, configure the default values for
velocity, acceleration, deceleration and jerk of the axis.
The default values take effect, when values < 0 are specified in Motion Control instructions
for the "Velocity", "Acceleration", "Deceleration" or "Jerk" parameters. The default values can
be applied separately for each of the parameters just listed.
The default values for acceleration and deceleration also act on the traversing motions of
active homing.

Velocity
In this field, define the default value for the velocity of the axis.

Acceleration / Deceleration - Ramp-up time / Ramp-down time

Configure the desired default value for acceleration in the "Ramp-up time" or "Acceleration"
fields. The desired deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
The following equations show the relationship between the ramp-up time and acceleration
and the ramp-down time and deceleration:

Note
A change in the velocity influences the acceleration and deceleration values of the axis. The
ramp-up and ramp-down times are retained.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 207
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Smoothing time / jerk

You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration and deceleration ramp in the "Jerk" field. The
value 0 means that jerk limiting is deactivated.
● Set the desired smoothing time for the acceleration ramp in the "Smoothing time" field.

Note
The jerk value is identical for the acceleration and deceleration ramp. The smoothing time
in effect for the deceleration ramp results from the following relationships:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration and deceleration ramp are equal.
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
A configured jerk limit is not taken into account for this.

The following equations show the relationship between the smoothing times and the jerk:

Motion jobs started in the user program are performed with the selected jerk.

See also
Positioning axis technology object (Page 104)
Velocity profile (Page 60)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

208 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.4.3 Configuration - Emergency stop

In the "Emergency stop" configuration window, you can configure the emergency stop
deceleration of the axis. In the event of an error, and when disabling the axis, the axis is
brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"
(input parameter StopMode = 0).

Emergency stop deceleration / Emergency stop ramp-down time

Configure the deceleration value for emergency stop in the "Emergency stop deceleration"
field or the "Emergency stop ramp-down time" field.
The relationship between emergency stop ramp-down time and emergency stop deceleration
can be seen in the following equation:

The configuration of the emergency stop deceleration is related to the configured maximum
velocity of the axis. If the maximum velocity of the axis changes, then the value of the
emergency stop deceleration also changes (the emergency stop ramp-down time remains
unchanged).

See also
Positioning axis technology object (Page 104)
Emergency stop deceleration (Page 62)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 209
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.4.4 Limits

Configuration - Position limits

Configure the hardware and software limit switches of the axis in the "Position limits"
configuration window.

Enable HW limit switches

The check box activates the function of the negative and positive hardware limit switches.
The negative hardware limit switch is located on the side in the negative direction of travel,
and the positive hardware limit switch on the side in the positive direction of travel.
If a hardware limit switch is reached, technology alarm 531 is output, and the technology
object is disabled (alarm response: remove enable).
Exception: If a hardware limit switch is crossed during an active home position approach with
activated direction reversal at the hardware limit switch, the axis stops with the configured
maximum deceleration and continues the home position approach in the opposite direction.

Note
Only use hardware limit switches that remain permanently switched after the approach. This
switching state may only be canceled after the return into the permitted traversing range.
The digital inputs of the hardware limit switches are evaluated by default in cyclic data
exchange. In the settings for the input module under "I/O addresses", select the entry
"MC-Servo" for "Organization block" and the entry "TPA OB Servo" for "Process image" if the
hardware limit switches are to be evaluated in the position control cycle clock of the drive.

Negative / positive HW limit switch input

In these fields, select the PLC tag of the digital input for the negative and positive HW limit
switches.
In order to be able to select an input, a digital input module must have been added in the
device configuration, and the PLC tag name for the digital input must be defined.

CAUTION
During installation of hardware limit switches, attention must be paid to the filter times of the
digital inputs.
Based on the time for one position control cycle clock and the filter time of the digital inputs,
the resulting delay times must be taken into account.
The filter time is configurable in individual digital input modules in the device configuration.
The digital inputs are set to a filter time of 6.4 ms by default. If these are used as hardware
limit switches, undesired decelerations may occur. If this occurs, reduce the filter time for
the relevant digital inputs.
The filter time can be set under "Input filter" in the device configuration of the digital inputs.

S7-1500 Motion Control V4.0 in TIA Portal V15

210 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Negative / positive HW limit switch level selection

In the drop-down list, select the triggering signal level ("Low level" / "High level") of the
hardware limit switch. With "Low level", the input signal is FALSE after the axis has reached
or crossed the hardware limit switch. With "High level", the input signal is TRUE after the
axis has reached or crossed the hardware limit switch.

Enable software limit switch

This check box activates the high and low software limit switches. When software switches
are activated, an active motion comes to a stop at the position of the software limit switch.
The technological object signals an error. After acknowledgment of the error, the axis can
again be moved in the direction of its operating range.

Note
Activated software limit switches act only on a homed axis.

Position of negative / positive SW limit switch

Configure the operating range of the axis with the positions of the negative and positive
software limit switches.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Configuration - Dynamic limits

In the "Dynamic limits" configuration window, configure the maximum values for velocity,
acceleration, deceleration and jerk of the axis.

Maximum velocity
In this field, define the maximum permitted velocity of the axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 211
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Maximum acceleration / maximum deceleration - ramp-up time / ramp-down time

Set the desired acceleration in the "Ramp-up time" or "Acceleration" fields. The desired
deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
The following equations show the relationship between the ramp-up time and acceleration
and the ramp-down time and deceleration:

Note
A change in the maximum velocity influences the acceleration and deceleration values of the
axis. The ramp-up and ramp-down times are retained.
The "maximum deceleration" for active homing with change of direction at the hardware limit
switch must be set sufficiently large, to brake the axis before reaching the mechanical
endstop.

S7-1500 Motion Control V4.0 in TIA Portal V15

212 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Smoothing time / jerk

You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration and deceleration ramp in the "Jerk" field. The
value 0 means that the jerk is not limited.
● Set the desired smoothing time for the acceleration ramp in the "Smoothing time" field.

Note
The configured smoothing time displayed in the configuration, applies only to the
acceleration ramp.
If the values of the acceleration and deceleration differ, the smoothing time of the
deceleration ramp is calculated and used according to the jerk of the acceleration ramp.
The smoothing time of the deceleration is adapted as follows:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration and deceleration ramp are equal.
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
A configured jerk limit is not taken into account for this.

The following equations show the relationship between the smoothing times and the jerk:

Motion jobs started in the user program are performed with the selected jerk.

See also
Velocity profile (Page 60)
Dynamic limits in synchronous operation (Page 62)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 213
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Configuration - Torque limits

Configure the force/torque limiting of the drive in the "Torque limiting" configuration window.
The configuration is now available if a drive that supports force/torque limiting is selected
and a telegram 10x is used. Telegram 101 cannot be used.

Effective
In the drop-down list, select whether the limit value is to be in effect "on load side" or "on
motor side".

Torque limits
Enter a default value for the torque limiting in the specified unit of measurement in this field.
The default value is in effect when the torque limiting is specified using Motion Control
instruction "MC_TorqueLimiting", input parameter "Limit" < 0.
Torque limiting applies to the following axis configurations:
● Axis type is "Rotary" and limit value is in effect "On load side" or "On motor side"
● Axis type is "Linear" and limit value is in effect "On motor side"

Force limit
Enter a default value for the force limit in the specified unit of measure in this field.
The default value is in effect when the force limit is specified using Motion Control instruction
"MC_TorqueLimiting", input parameter "Limit" < 0.
The force limit applies to the following axis configuration: Axis type is "Linear" and limit value
is in effect "On load side"
If the gear and leadscrew efficiency is crucial, this can be set in the <TO>.Actor.Efficiency
tag.

Disable/enable position-based monitoring

As a result of the force/torque limiting on the drive, a larger following error may occur or the
axis standstill may not be detected reliably in positioning monitoring.
Deactivate "Position-related monitoring" in order to deactivate monitoring of the following
error and the positioning monitoring during force/torque limiting.

Interconnection in the SINAMICS drive

The following interconnection is required in the SINAMICS drive:
● P1522 must be interconnected to a fixed value of + 100%,
● P1523 to a fixed value of -100% (e.g. through interconnection to fixed value parameter
P2902[i]).

S7-1500 Motion Control V4.0 in TIA Portal V15

214 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

See also
Force/torque limiting (Page 63)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

Configuration - Fixed stop detection

Configure the fixed stop detection in the configuration window.
A "Travel to fixed stop" can be realized by activating fixed stop detection using the Motion
Control instruction "MC_TorqueLimiting" and a position-controlled motion job. The operation
is also referred to as clamping.

Positioning tolerance
In this configuration field, configure the positioning tolerance that is regarded as a breaking
away or turning back of the fixed stop when exceeded. To detect the breaking away or
turning back of the fixed stop, the position setpoint must be located outside the positioning
tolerance. The configured position tolerance must be less than the configured following error.

Following error
If the drive is stopped by a mechanical fixed stop during a motion job, the following error is
increased. The accumulating following error serves as a criterion for fixed stop detection. In
the "Following error" configuration field, configure the value of the following error starting
from which the fixed stop detection is to take effect. The configured following error must be
greater than the configured position tolerance.

Note
If the following error monitoring was activated in the position monitoring configuration, the
"Maximum following error" configured there must be greater than the "Following error" of the
fixed stop detection.

See also
Fixed stop detection (Page 65)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 215
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

5.4.4.5 Homing
Homing means matching the position value of a technology object to the real, physical
location of the drive. Absolute target positions of the axis can only be approached with a
homed axis.
In S7-1500 Motion Control, the axis is homed with the Motion Control instruction,
"MC_Home". A distinction is made between the following operating modes of the Motion
Control instruction:

Operating modes of the Motion Control instruction "MC_Home"

● Active homing (incremental encoder)
With active homing, the Motion Control instruction "MC_Home" performs the configured
home position approach. Active traversing motions are aborted. When the homing mark
is detected, the position of the axis is set according to the configuration.
● Passive homing (incremental encoder)
With passive homing, the Motion Control instruction "MC_Home" instruction does not
carry out any homing motion. The traversing motion required for this must be
implemented by the user with other Motion Control instructions. Active traversing motions
are not aborted upon start of passive homing. When the homing mark is detected, the
axis is set according to the configuration.
● Direct homing absolute (incremental encoder or absolute encoder)
The axis position is set without taking into consideration the home position switch. Active
traversing motions are not aborted. The value of input parameter "Position" of Motion
Control instruction "MC_Home" is set immediately as the actual position of the axis.
● Direct homing (relative) (incremental encoder or absolute encoder)
The axis position is set without taking into consideration the home position switch. Active
traversing motions are not aborted. The following statement applies to the axis position
after homing:
New axis position = Current axis position + Value of parameter "Position" of instruction
"MC_Home".

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

216 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Active homing

Configuration - Active homing

In the "Active Homing" configuration window, configure the parameters for active homing.
"Active homing" is performed using the Motion Control instruction "MC_Home " Mode = 3
and 5.

Note
Parameter "MC_Home.Mode" (S7-1500 CPU)
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

Settings for
In the drop-down list, select the encoder for which the homing settings are to apply (only for
S7-1500T).

Select the homing mode

Select from among the following homing modes:
● Reference cam and zero mark via PROFIdrive telegram (Page 218)
● Use zero mark via PROFIdrive telegram (Page 219)
● Homing mark via digital input (Page 220)

See also
Homing (Page 69)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 217
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Reference cam and zero mark via PROFIdrive telegram

Enable direction reversal at the hardware limit switch

Select this check box to use the hardware limit switch as a reversing cam for the home
position approach. After the axis has reached the hardware limit switch during active homing,
it is ramped down at the configured maximum deceleration rate and the direction is then
reversed. The reference cam is then searched for in the reverse direction. If this function is
not enabled and the axis reaches the hardware limit switch during active homing, then the
drive is disabled and braked with the ramp configured in the drive.

Approach direction
Select the approach direction for the reference cam search.
"Positive" is the approach direction in the direction of positive position values; "negative" in
the direction of negative position values.

Homing direction
Select the direction in which the zero mark should be approached for homing.

Approach velocity
In this field, specify the velocity at which the reference cam is searched for during the
homing procedure. Any configured home position offset is traversed at the same velocity.

Homing velocity
In this field, specify the velocity at which the axis approaches the zero mark for homing. For
zero mark detection, the reference cam must be exited.

Home position offset

In the case of a differing zero mark position and home position, enter the corresponding
home position offset in this field. The axis approaches the home position at approach
velocity.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect, when the Motion Control instruction "MC_Home" is executed with
Mode = 5.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

218 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Use zero mark via PROFIdrive telegram

Enable direction reversal at the hardware limit switch

Select this check box to use the hardware limit switch as a reversing cam for the home
position approach. After the axis has reached the hardware limit switch during active homing,
it is ramped down at the configured maximum deceleration rate and the direction is then
reversed. The zero mark is then sought in the reverse direction. If this function is not enabled
and the axis reaches the hardware limit switch during active homing, then the drive is
disabled and braked with the ramp configured in the drive.

Homing direction
Select the direction in which the next zero mark should be approached for homing.
"Positive" is the homing direction in the direction of positive position values; "negative" in the
direction of negative position values.

Approach velocity
In the "Zero mark via PROFIdrive frame" homing mode, the approach velocity for traversing
the home position offset is used.

Homing velocity
In this field, specify the velocity at which the axis approaches the zero mark for homing.

Home position offset

In the case of a differing zero mark position and home position, enter the corresponding
home position offset in this field. The axis approaches the home position at approach
velocity.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect, when the Motion Control instruction "MC_Home" is executed with
Mode = 5.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 219
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Homing mark via digital input

When a digital input is used as a homing mark, the accuracy of the homing process is not as
high as for hardware-supported homing using zero marks.
You can improve the accuracy by using a low homing velocity.
Pay attention to the setting of short filter times for the digital input as well.

Digital input homing mark/cam

In this configuration field, select the PLC tag of the digital input that is to act as a homing
mark (reference cam). Also select the level at which the homing mark is to be detected.
In order to be able to select an input, a digital input module must have been added in the
device configuration, and the PLC tag name for the digital input must be defined.

Enable direction reversal at the hardware limit switch

Select this check box to use the hardware limit switch as a reversing cam for the home
position approach. After the axis has reached the hardware limit switch during active homing,
it is ramped down at the configured maximum deceleration rate and then reversed. The
homing mark is then sensed in reverse direction. If this function is not enabled and the axis
reaches the hardware limit switch during active homing, then the drive is disabled and
braked with the ramp configured in the drive.

Approach direction
Select the approach direction for the homing mark search.
"Positive" is the approach direction in the direction of positive position values; "negative" in
the direction of negative position values.

Homing direction
Select the direction in which the homing mark for homing is to be approached.

Homing mark
Select the switch position of the "digital input" that is to be used as the homing mark.
When a "digital input" is crossed, two switching edges that are spatially separated from one
another are generated. The selection of the positive or negative side ensures that the
homing mark is always evaluated at the same mechanical position.
The positive side is the switch position with a greater position value; the negative side is the
switch position with the lesser position value.
The selection of the side is independent of the approach direction, and independent of
whether it causes a rising or falling edge.

S7-1500 Motion Control V4.0 in TIA Portal V15

220 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Approach velocity
In this field, specify the velocity at which the axis searches for the "digital input" during the
home position approach. Any configured home position offset is traversed at the same
velocity.

Homing velocity
In this field, specify the velocity at which the axis approaches the home position for homing.

Home position offset

If the homing mark position is different from the home position, enter the corresponding
home position offset in this field. The axis approaches the home position at approach
velocity.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect, when the Motion Control instruction "MC_Home" is executed with
Mode = 5.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 221
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Passive homing

Configuration - Passive homing

Configure the parameters for passive homing in the "Passive Homing" (homing on the fly)
configuration window. Passive homing is performed using the Motion Control instruction
"MC_Home" Mode = 2, 8 and 10.

Note
Parameter "MC_Home.Mode" (S7-1500 CPU)
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

Settings for
In the drop-down list, select the encoder for which the homing settings are to apply (only for
S7-1500T).

Select the homing mode

Select from among the following homing modes:
● Zero mark via PROFIdrive frame (Page 223)
● Zero mark via PROFIdrive telegram and reference cam (Page 224)
● Homing mark via digital input (Page 225)

See also
Homing (Page 69)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

222 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Zero mark via PROFIdrive frame

Homing direction
Select the direction in which the next zero mark should be approached for homing. The
following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 223
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Zero mark via PROFIdrive telegram and reference cam

Homing direction
Select the direction in which the zero mark should be approached for homing. The next zero
mark after leaving the reference cam is used.
The following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

224 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Homing mark via digital input

Digital input homing mark/cam

In this dialog field, select a digital input that is to act as a homing mark (reference cam). Also
select the level at which the homing mark is to be detected.

Homing direction
Select the direction in which the homing mark for homing is to be approached.
The following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Homing mark
Select which switch position of the "digital input" is to be used as the homing mark.
When a "digital input" is crossed, two switching edges that are spatially separated from one
another are generated. The selection of the positive or negative side ensures that the
homing mark is always evaluated at the same mechanical position.
The positive side is the switch position with a greater position value; the negative side is the
switch position with the lesser position value.
The selection of the side is independent of the approach direction, and independent of
whether it causes a rising or falling edge.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 225
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Homing (Page 69)

5.4.4.6 Position monitoring functions

Configuration - Positioning monitoring

In the "Positioning monitoring" configuration window, configure the criteria for monitoring the
target position.

Positioning window:
Configure the size of the positioning window in this field. If the axis is located within this
window, the position is considered to be "reached".

Tolerance time
In this field, configure the tolerance time within which the position value must reach the
positioning window.

Minimum dwell time in positioning window:

Configure the minimum dwell time in this field. The current position value must be located in
the positioning window for at least the "minimum dwell time".
If one of the criteria is violated, then the axis is stopped and a positioning alarm is displayed.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Position monitoring functions (Page 88)

Configuration - Following error

In the "Following Error" configuration window, configure the permissible deviation of the
actual position of the axis from the position setpoint. The following error can be dynamically
adapted to the current velocity of the axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

226 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Enable following error monitoring

Select this check box, if you want to enable following error monitoring. When following error
monitoring is enabled, the axis will be stopped in the error range (orange); in the warning
range an alarm will be displayed.
When following error monitoring is disabled, the configured limits have no effect.

Maximum following error:

Configure the following error that is permissible at maximum velocity in this field.

Warning level:
Configure a percentage of the current following error limit, above which a following error
warning should be output in this field.
Example: The current maximum following error is 100 mm; the warning level is configured at
90%. If the current following error exceeds a value of 90 mm, then a following error warning
will be output.

Following error:
In this field, configure the permissible following error for low velocities (without dynamic
adjustment of the following error).

Start of dynamic adjustment:

Configure the velocity starting from which the following error is to be dynamically adjusted in
this field. Starting from this velocity, the following error up to the maximum velocity will be
adjusted to the maximum following error.

See also
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)
Position monitoring functions (Page 88)

Configuration - Standstill signal

In the "Standstill signal" configuration window, configure the criteria for standstill detection.

Standstill window:
Configure the size of the standstill window in this field. For standstill to be indicated, the
velocity of the axis must be within this window.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 227
Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Minimum dwell time in standstill window:

Configure the minimum dwell time in the standstill window in this field. The velocity of the
axis must also be in the standstill window for the specified duration.
If both criteria are met, then the standstill of the axis is indicated.

See also
Positioning axis technology object (Page 104)
Standstill signal (Page 90)
Synchronous axis technology object (Page 105)

5.4.4.7 Configuration - Control loop

In the "Control loop" configuration window, configure the precontrol and the gain Kv of the
position control loop.
The Kv factor affects the following parameters:
● Positioning accuracy and stop control
● Uniformity of motion
● Positioning time
The better the mechanical conditions of the axis are (high stiffness), the higher the Kv factor
can be configured. This reduces the following error, and a higher dynamic response is
achieved.
For basic information, refer to the section Closed-loop control (Page 92).

Precontrol
Configure the percentage velocity precontrol in this field.

Speed control loop substitute time

Configure the speed control loop substitute time in this field (Tvtc).
When speed precontrol is activated, the setpoint is delayed by the speed control loop
substitute time before the control deviation is established. This prevents an overshoot or a
leading of the actual value compared with the position setpoint. The speed control loop
substitute time is a simplified substitute model of the dynamic behavior of the speed control
loop. The speed control loop substitute time is included in the balancing filter.

Gain (Kv factor)

In the input field, enter the gain Kv of the position control loop.

S7-1500 Motion Control V4.0 in TIA Portal V15

228 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.4 Configuring the positioning axis/synchronous axis technology object

Dynamic Servo Control (DSC)

For position-controlled axes (positioning axes/synchronous axes), the closed loop position
control can occur either in the CPU or in the drive, provided the drive supports Dynamic
Servo Control (DSC). Select your preferred control process:
● Position control in the drive (DSC enabled)
With the Dynamic Servo Control (DSC) function, the position controller is executed in the
drive in the cycle clock of the speed control loop. This enables you to set a much larger
position controller gain factor Kv. This increases the dynamics for setpoint sequence and
disturbance variable correction for highly dynamic drives.
● Position control in the PLC

Note
Dynamic Servo Control (DSC) is only possible with one of the following PROFIdrive
telegrams:
• Standard telegram 5 or 6
• SIEMENS telegram 105 or 106

See also
Closed-loop control (Page 92)
Control structure (Page 93)
Function and structure of the optimization (Page 325)
Positioning axis technology object (Page 104)
Synchronous axis technology object (Page 105)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 229
Configuring
5.5 Configuring the technology object external encoder

5.5 Configuring the technology object external encoder

5.5.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the external encoder in this field. The technology object is listed under
this name in the project tree. The tags of the external encoder can be used in the user
program under this name.

External encoder type

In this selection, configure whether the external encoder records linear or rotary motions.

Units of measure
In the drop-down list, select the desired units of measure for the position and velocity of the
external encoder.

Modulo
Select the check box "Enable modulo", if you want to use a recurring measuring system for
the external encoder (e.g. 0-360° for an external encoder of the "rotary" type).
● Modulo start value
In this field, define the position at which the modulo range should begin (e.g. 0° for an
external encoder of the "rotary" type).
● Modulo length
In this field, define the length of the modulo range (e.g. 360° for an external encoder of
the "rotary" type).

See also
Units of measure (Page 32)
Modulo setting (Page 33)
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

230 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

5.5.2 Hardware interface

5.5.2.1 Configuration - Encoder

The external encoder records the position of an externally controlled drive. The encoder
required for this purpose communicates the encoder position to the controller by means of a
PROFIdrive telegram. Configure the encoder and encoder type in the "Encoder"
configuration window.

Data connection
In the drop-down list, select whether the data connection should be established directly with
the encoder or via a data block that can be edited in the user program.
The selection is only possible for encoders that are connected via PROFIdrive and support
parameter P979.

Encoder / Data block

Select the encoder you have configured in the device configuration in this area.
The following encoders can be used:
● Encoder on technology module (TM)
In the "Encoder" configuration field, select a previously configured technology module and
the channel to be used. Only technology modules set to the "Position input for Motion
Control" mode are displayed for selection.
You can operate the technology module centrally on an S7-1500 PLC or decentrally on a
distributed I/O. Isochronous mode is not possible with central operation in the CPU.
You can identify the technology modules suitable for position detection for Motion Control
in the documentation for the technology module and the catalog data.
● Encoder via PROFINET/PROFIBUS (PROFIdrive)
In the " Encoder" configuration field, select a configured encoder on the
PROFINET/PROFIBUS.
If "Data block" was selected for the data connection, a previously created data block
containing a variable structure of data type "PD_TELx" must be selected here ("x" stands for
the telegram number used).

Encoder type
Select the encoder type in this configuration field. The following encoder types are available
for selection:
● Incremental encoder
● Absolute encoder
● Absolute encoder cyclic absolute

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 231
Configuring
5.5 Configuring the technology object external encoder

See also
Technology object external encoder (Page 110)
Data connection drive/encoder via data block (Page 50)
Connect drive/encoder via data block (Page 269)

5.5.2.2 Configuration - Data exchange

Configuration - Data exchange

Configure detailed encoder parameters and the data exchange with the encoder in the "Data
exchange with encoder" configuration window. The configuration varies according to the
encoder connection:
● Encoder to technology module (Page 232)
● Encoder to PROFINET/PROFIBUS (Page 235)

See also
Technology object external encoder (Page 110)

Encoder to technology module

Data exchange with encoder

In this area, you can configure the encoder telegram and the criteria for how the encoder
data are to be evaluated. The specifications must match those in the device configuration.

Encoder telegram
In the drop-down list for the technology module, select the telegram that you have configured
in the technology module.

Automatic data exchange for encoder values (offline)

Select the check box if you want to transfer the offline values of the encoder to the
configuration of the technology object in the project.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

S7-1500 Motion Control V4.0 in TIA Portal V15

232 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Automatic data exchange for encoder values (online)

Select the check box if you want to transfer the effective values online in the encoder to
the CPU during runtime. The encoder parameters are transferred from the bus after the
(re-)initialization of the technology object and (re)start of the encoder or the CPU.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

Alternatively, you must calibrate the following parameters manually:

Encoder type
Configure how the encoder data are to be evaluated in this area. The specifications must
match those in the device configuration.

Encoder type Rotary incremental

Increments per revolution: Configure the number of increments that the
encoder resolves per revolution in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

Encoder type Rotary absolute

Increments per revolution: Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions: Configure the number of revolutions that the
absolute encoder can detect in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Rotary cyclic absolute

Increments per revolution: Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions: Configure the number of revolutions that the
absolute encoder can detect in this field.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 233
Configuring
5.5 Configuring the technology object external encoder

Encoder type Rotary cyclic absolute

Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear incremental

Distance between two increments: Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

Encoder type Linear absolute

Distance between two increments: Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear cyclic absolute

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

See also
Configuration - Data exchange (Page 232)
Encoder to PROFINET/PROFIBUS (Page 235)
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

234 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Encoder to PROFINET/PROFIBUS

Data exchange with encoder

In this area, you can configure the encoder telegram and the criteria for how the encoder
data are to be evaluated. The specifications must match those in the device configuration.

Encoder telegram
The telegram to the encoder that is set in the device configuration is preselected in the drop-
down list.

Automatic data exchange for encoder values (offline)

Select the check box if you want to transfer the offline values of the encoder to the
configuration of the technology object in the project.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

Automatic data exchange for encoder values (online)

Select the check box if you want to transfer the effective values online in the encoder to
the CPU during runtime. The encoder parameters are transferred from the bus after the
(re-)initialization of the technology object and (re)start of the encoder or the CPU.

Note
Automatic transfer of encoder parameters is only possible with PROFIdrive encoders as of
product version A16. For this, "Hardware interface > Encoder" must be selected as the
"Encoder" data connection in the configuration window.

Alternatively, you must calibrate the following parameters manually:

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 235
Configuring
5.5 Configuring the technology object external encoder

Encoder type
Depending on the selected encoder type, configure the following parameters:

Encoder type Rotary incremental

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

Encoder type Rotary absolute

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions Configure the number of revolutions that the
absolute encoder can detect in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Rotary cyclic absolute

Increments per revolution Configure the number of increments that the
encoder resolves per revolution in this field.
Number of revolutions Configure the number of revolutions that the
absolute encoder can detect in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear incremental

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.

S7-1500 Motion Control V4.0 in TIA Portal V15

236 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Encoder type Linear absolute

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

Encoder type Linear cyclic absolute

Distance between two increments Configure the distance between two increments
of the encoder in this field.
Bits for fine resolution in the incremental actual Configure the number of bits for fine resolution
value (Gx_XIST1) within the incremental actual value (Gx_XIST1) in
this field.
Bits for fine resolution in the absolute actual value Configure the number of bits for fine resolution
(Gx_XIST2) within the absolute actual value (Gx_XIST2) in
this field.

See also
Configuration - Data exchange (Page 232)
Encoder to technology module (Page 232)
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 237
Configuring
5.5 Configuring the technology object external encoder

5.5.3 Extended Parameters

5.5.3.1 Configuration - Mechanics

Configuration - Mechanics
Configure the encoder parameters for the position of the externally controlled drive in the
"Mechanics" configuration window.
The configuration varies according to the type of encoder:
● Linear (Page 238)
● Rotary (Page 239)

See also
Technology object external encoder (Page 110)
Mechanics (Page 53)

Linear

Invert encoder direction

Select this check box if you would like to invert the actual value of the encoder.

Load gear
Number of motor revolutions / number of load revolutions
The gear ratio of the measuring gearbox is specified as the ratio between motor revolutions
and load revolutions. Specify here an integer number of motor revolutions and the resulting
number of load revolutions.
Select the same values for the number of motor revolutions and load revolutions, if no load
gear is present.

Position parameters
Leadscrew pitch
In this configuration field, configure the distance by which the load is moved when the
leadscrew makes one revolution.

See also
Configuration - Mechanics (Page 238)
Rotary (Page 239)
Technology object external encoder (Page 110)
Mechanics (Page 53)

S7-1500 Motion Control V4.0 in TIA Portal V15

238 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Rotary

Invert encoder direction

Select this check box if you would like to invert the actual value of the encoder.

Load gear
Number of motor revolutions / number of load revolutions
The gear ratio of the measuring gearbox is specified as the ratio between encoder
revolutions and load revolutions. Specify here an integral number of load revolutions and the
resulting number of encoder revolutions.
Select the same values for the number of motor revolutions and load revolutions, if no load
gear is present.

See also
Configuration - Mechanics (Page 238)
Linear (Page 238)
Technology object external encoder (Page 110)
Mechanics (Page 53)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 239
Configuring
5.5 Configuring the technology object external encoder

5.5.3.2 Homing

Configuration - Homing
Configure the parameters for homing the external encoder in the "Homing" configuration
window. Homing is performed using the Motion Control instruction "MC_Home" Mode = 2, 8
and 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

Select the homing mode

Select from among the following homing modes:
● Reference cam and zero mark via PROFIdrive telegram (Page 241)
● Use zero mark via PROFIdrive telegram (Page 242)
● Homing mark via digital input (Page 243)

See also
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

240 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Reference cam and zero mark via PROFIdrive telegram

Homing direction
Select the direction in which the zero mark should be approached for homing. The next zero
mark after leaving the reference cam is used.
The following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

See also
Configuration - Homing (Page 240)
Use zero mark via PROFIdrive telegram (Page 242)
Homing mark via digital input (Page 243)
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 241
Configuring
5.5 Configuring the technology object external encoder

Use zero mark via PROFIdrive telegram

Homing direction
Select the direction in which the next zero mark should be approached for homing. The
following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

See also
Configuration - Homing (Page 240)
Reference cam and zero mark via PROFIdrive telegram (Page 241)
Homing mark via digital input (Page 243)
Technology object external encoder (Page 110)

S7-1500 Motion Control V4.0 in TIA Portal V15

242 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.5 Configuring the technology object external encoder

Homing mark via digital input

Digital input homing mark

In this configuration field, select a digital input that is to act as a homing mark (reference
cam). Also select the level at which the homing mark is to be detected.

Homing direction
Select the direction in which the homing mark for homing is to be approached.
The following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.

Homing mark
Select which switch position of the "digital input" is to be used as the homing mark.
When a "digital input" is crossed, two switching edges that are spatially separated from one
another are generated. The selection of the positive or negative side ensures that the
homing mark is always evaluated at the same mechanical position.
The positive side is the switch position with a greater position value; the negative side is the
switch position with the lesser position value.
The selection of the side is independent of the approach direction, and independent of
whether it causes a rising or falling edge.

Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.

Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 155).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 243
Configuring
5.6 Configuring the technology object measuring input

See also
Configuration - Homing (Page 240)
Use zero mark via PROFIdrive telegram (Page 242)
Reference cam and zero mark via PROFIdrive telegram (Page 241)
Technology object external encoder (Page 110)

5.6 Configuring the technology object measuring input

5.6.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the measuring input in this field. The technology object is listed under
this name in the project tree. The tags of the measuring input can be used in the user
program under this name.

Assigned axis or external encoder

The axis or external encoder assigned to the measuring input is displayed. You can use the
link to directly access the configuration of the basic parameters of the higher-level
technology object.

Unit of measure
The indicated unit of measure for the position of the measuring input corresponds to the unit
of measure of the higher-level technology object.

See also
Units of measure (Page 32)
Technology object measuring input (Page 111)

S7-1500 Motion Control V4.0 in TIA Portal V15

244 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.6 Configuring the technology object measuring input

5.6.2 Configuration - Hardware interface

Measuring input type

Select the measuring input type.
● Measuring using TM Timer DIDQ
● Measurement via SINAMICS measuring input
● Measurement using PROFIdrive telegram (drive or external encoder)

Measurement using TM Timer DIDQ

Select a measurement input for a measurement using a Timer DI. The selection box shows
all channels that are configured correctly.

Measurement via SINAMICS measuring input

Select a measuring input for a measurement via SINAMICS measurement sensing input.
The selection box shows all compatible telegram types. You are shown all terminals that can
potentially be used as measuring inputs. For the assignment, note that the inputs of must be
assigned to the measuring inputs (P680) in the telegram without gaps and in ascending
order.
With P728.8 to P728.15, you configure all DI/DOs used as a measurement input on the
control unit. Use P680 of the control unit to specify the terminals for the global measuring
inputs.

Measurement using PROFIdrive telegram (drive or external encoder)

For a measurement via PROFIdrive telegram, select the number of the measuring input in
the telegram in the "Number of the measuring input" drop-down list. The input field is preset
with the value "1".
Two communication channels are available for the transmission of measured values in the
PROFIdrive telegram. These communication channels are assigned to one measurement
input/digital input each in the drive. Use the PROFIdrive parameters to configure the digital
input on the drive that is to be used for the configured communication channel.
● Measurement input for the first communication channel
(<TO>.Parameter.PROFIdriveProbeNumber = 1)
If you use two encoders, you must select the associated DI in the SINAMICS for each
encoder. Various results are the transferred to the technology object depending on the
selected encoder. The sensors are configured using the parameters P488[0] and
P488[1].
● Measurement input for the second communication channel
(<TO>.Parameter.PROFIdriveProbeNumber = 2)
If you use two encoders, you must select the associated DI in the SINAMICS for each
encoder. Various results are the transferred to the technology object depending on the
selected encoder. The sensors are configured using the parameters P489[0] and
P489[1].

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 245
Configuring
5.6 Configuring the technology object measuring input

Correction time for the measuring signal

Specify a correction time if possible delay times in the measurement signal are to be
compensated.

See also
Automatic transfer of drive and encoder parameters in the device (Page 42)
Technology object measuring input (Page 111)
Configuring technology modules for Motion Control (Page 255)

5.6.3 Configuration - Extended parameters

Adjustment for activation time of the measuring range

To adjust the activation time defined on the system side, enter an additional activation time
here.
The configuration window also displays the following times calculated on the system side:
● Time after the measuring job request until the measuring event can be recoreded
● Time after the measuring event until the measurement result is displayed (for measuring
of one or two edges)

See also
Measuring with measuring range (Page 121)
Time-related boundary conditions (Page 122)
Technology object measuring input (Page 111)

S7-1500 Motion Control V4.0 in TIA Portal V15

246 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.7 Configuring the cam technology object

5.7 Configuring the cam technology object

5.7.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the output cam in this field. The technology object is listed under this
name in the project tree. The tags of the output cam can be used in the user program under
this name.

Assigned axis or external encoder

The axis or external encoder assigned to the output cam is displayed. You can use the link
to directly access the configuration of the basic parameters of the higher-level technology
object.

Output cam type

Select based on the desired switching behavior of an output cam type:
● Distance output cam (position-dependent switch-on/switch-off)
● Time-based output cam (position-dependent switch-on and position-independent or time-
dependent switch-off)

Output cam reference

Configure in this selection whether the switching points of the output cam are to reference
the actual position or the position setpoint.

Unit of measure
The indicated unit of measure for the position of the output cam corresponds to the unit of
measure of the higher-level technology object.
When a time-based output cam is selected as the output cam type, the unit of measure for
the switch-on duration and other times is also indicated. For output cams, this is always ms.

See also
Units of measure (Page 32)
Technology object output cam (Page 126)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 247
Configuring
5.7 Configuring the cam technology object

5.7.2 Configuration - Hardware interface

Output cam output

Select whether the generated switching signals are to be output at the digital output.
● Activate output
Select one of the following two output options for the output cam output:
– Output by TM Timer DIDQ
For output by TM Timer DIDQ, select a previously configured technology module and
the channel to be used in the "Output" field.
If no technology module is available for selection, change to the device configuration
and add a technology module.
– Output by digital output module
For output by a digital output module, select this in the "Cam output" field. Only the
digital outputs with previously defined PLC tags are displayed for selection.
Select the logical operation of the output cam signal at the output. The logic operation
relates to the last signal to be output after the set inversion, if any.
All output cams that use the selected output are shown graphically.
● Output deactivated
When the output is deactivated, the output cam is evaluated only in the software.

See also
Technology object output cam (Page 126)
Configuring technology modules for Motion Control (Page 255)

S7-1500 Motion Control V4.0 in TIA Portal V15

248 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.7 Configuring the cam technology object

5.7.3 Extended parameters

5.7.3.1 Configuration - Activation time

The specified output cam type is indicated in the upper area of the "Activation time"
configuration window.

Activation time and deactivation time

For a time shift of the switch-on and switch-off times of an output cam, enter an activation
time and a deactivation time.

See also
Compensation of actuator switching times (Page 138)
Technology object output cam (Page 126)

5.7.3.2 Configuration - Hysteresis

To prevent unwanted changes in the switching state of the output cam of a cam track, enter
a hysteresis value.
When using an output cam with reference to actual position, always enter a hysteresis value
(> 0.0).

See also
Hysteresis (Page 136)
Technology object output cam (Page 126)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 249
Configuring
5.8 Configuring the cam track technology object

5.8 Configuring the cam track technology object

5.8.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.

Name
Define the name of the cam track in this field. The technology object is listed under this
name in the project tree. The tags of the cam track can be used in the user program under
this name.

Assigned axis or external encoder

The axis or external encoder assigned to the cam track is displayed. You can use the link to
directly access the configuration of the basic parameters of the higher-level technology
object.

Output cam type

Select based on the desired switching behavior of an output cam type for the cam track:
● Distance output cam (position-dependent switch-on/switch-off)
● Time-based output cam (position-dependent switch-on and position-independent or time-
dependent switch-off)

Output cam reference

In this selection, configure whether the switching points of the cam track are to reference the
actual position or the position setpoint.

Unit of measure
The indicated unit of measure for the position of the cam track corresponds to the unit of
measure of the higher-level technology object.
When a time-based output cam is selected as the output cam type, the unit of measure for
the switch-on duration and other times is also indicated. For output cams, this is always ms.

See also
Units of measure (Page 32)
Cam track technology object (Page 141)

S7-1500 Motion Control V4.0 in TIA Portal V15

250 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.8 Configuring the cam track technology object

5.8.2 Configuration - Hardware interface

Output cam track

Select whether the generated switching signals are to be output at the digital output.
● Activate output
Select one of the following two output options for the output track:
– Output by TM Timer DIDQ
For output by TM Timer DIDQ, select a previously configured technology module and
the channel to be used in the "Output" field.
If no technology module is available for selection, change to the device configuration
and add a technology module.
– Output by digital output module
For output by a digital output module, select this in the "Cam output" field. Only the
digital outputs with previously defined PLC tags are displayed for selection.
● Output deactivated
When the output is deactivated, the cam track is evaluated only in the software.

See also
Cam track technology object (Page 141)
Configuring technology modules for Motion Control (Page 255)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 251
Configuring
5.8 Configuring the cam track technology object

5.8.3 Extended parameters

5.8.3.1 Track data

Configuration - Activation time

The specified output cam type is displayed.

Activation time and deactivation time

Enter the activation time and the deactivation time.
For a time shift of the switch-on and switch-off times of the output cam of a cam track, enter
an activation time and a deactivation time.

See also
Time offset of cam switching points (Page 153)
Cam track technology object (Page 141)

Configuration - Hysteresis
To prevent unwanted changes in the switching state of the output cam of a cam track, enter
a hysteresis value.
When using an output cam with reference to actual position, always enter a hysteresis value
(> 0.0).

See also
Hysteresis (Page 153)
Cam track technology object (Page 141)

S7-1500 Motion Control V4.0 in TIA Portal V15

252 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.8 Configuring the cam track technology object

Configuration - Track dimensions

Track length
Enter the corresponding track length.
Also take into account the output cam data of the individual output cams when defining the
track length. Output cams, the start position of which lies outside the cam track length are
not included. They become active only if the cam track length is increased so that at least
the respective start position of an output cam is within the new track length.

Axis reference position

Enter the position of an axis or external encoder starting from which the output of the cam
track is to occur. The start of the cam track is placed at the entered position.
You can enter a negative or positive value for the reference position.

Modulo length of the axis

When an axis with modulo function is used, the modulo length of the axis is displayed.

See also
Cam track technology object (Page 141)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 253
Configuring
5.8 Configuring the cam track technology object

5.8.3.2 Configuration - Output cam data

The specified output cam type is displayed.
Enter the properties for the output cams of the cam track that are to be output. You can set
up to 32 individual output cams on a cam track.
Also take into account any previously defined track length when defining the output cam
data. Output cams, the start position of which lies outside the cam track length are not
included. They become active only if the cam track length is increased so that at least the
respective start position of an output cam is within the new track length.
The input options described below are displayed in the Output cam data configuration
window according to the configured output cam type.
● Valid
Only output cams set as "valid" are output and have a status display.
● Start position
– The start position may not be greater than the end position for distance output cams.
– If the start position is equal to the end position, the distance output cam does not
switch.
– The switching ranges of individual output cams are permitted to overlap.
● End position
– The "End position" column is only displayed when distance output cam is set for the
output cam type.
– The end position must not be less than the start position.
● Switch-on duration
The "Switch-on duration" column is only displayed when time-based output cam is set for
the cam type.

See also
Cam track technology object (Page 141)

S7-1500 Motion Control V4.0 in TIA Portal V15

254 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

5.9 Configuring technology modules for Motion Control

5.9.1 Overview

Use of technology modules with Motion Control

You can use technology modules as well as compact CPUs with Motion Control. To use the
technology functions for Motion Control, the parameters of the device configuration of the
technology module or the compact CPU and the parameters of the configuration of the
technology object must be configured accordingly. Which parameters are relevant for the
function is described below. You can set additional parameters that are not listed here. The
description of the parameters is found in the documentation of the respective technology
module.
The following technology modules support Motion Control functionalities:

S7-1500/ET 200MP ET 200 SP

TM Count 2x24V (Page 256) TM Count 1x24V (Page 256)
TM PosInput 2 (Page 258) TM PosInput 1 (Page 258)
TM Timer DIDQ 16x24V (Page 260) * TM Timer DIDQ 10x24V (Page 260) *
– TM Pulse 2x24V (Page 261)
TM PTO 4 (Page 262) –
CPU 1511C-1 PN / CPU 1512C-1 PN (Page 264) –

* ET 200MP and ET 200SP: Isochronous mode required

Isochronous mode
Technology modules can be used centrally or distributed in the system. However,
isochronous mode is supported only in distributed operation with suitable PROFINET
interface modules.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 255
Configuring
5.9 Configuring technology modules for Motion Control

5.9.2 TM Count 1x24V / TM Count 2x24V

For use with Motion Control, the following parameters must be configured:

Configuration
Technology module Technology object
TM Count 1x24V / TM Count 2x24V Axis External encoder
TM Count 1x24V / TM Count 2x24V > – –
Channel 0/1 > Operating mode
Select "Position detection for Motion
Control technology object" mode
TM Count 1x24V / TM Count 2x24V > Hardware interface > Encoder Hardware interface > Encoder
Channel 0/1 > Module parameters
– Select "Encoder" data connection and Select "Encoder" data connection and
the channel configured for Motion the channel configured for Motion
Control on the technology module as Control on the technology module as
encoder encoder
Signal type Select encoder type corresponding to Select encoder type corresponding to
configuration for technology module configuration for technology module
• Incremental encoder
• Incremental • Incremental
– Hardware interface > Data exchange Hardware interface > Data exchange
with encoder
Telegram "DP_TEL83_STANDARD" is Telegram "DP_TEL83_STANDARD" is
automatically selected after the selec- automatically selected after the selec-
tion of the encoder. tion of the encoder.
Disable "Automatic transfer of encoder Disable "Automatic transfer of encoder
parameter values" parameter values"
Select rotary or linear measuring sys- Select rotary or linear measuring sys-
tem type tem type
Signal evaluation Select fine resolution corresponding to Select fine resolution corresponding to
configuration for technology module configuration for technology module
• Single
• Double • 0 = Single • 0 = Single

• Quadruple • 1 = Double • 1 = Double

• 2 = Quadruple • 2 = Quadruple

• Rotary type: • Rotary type: • Rotary type:

Enter increments per revolution Enter increments per revolution cor- Enter increments per revolution cor-
• Linear type: responding to configuration at tech- responding to configuration at tech-
nology module (1:1) nology module (1:1)
Configuration not relevant
• Linear type: • Linear type:

Enter distance between increments Enter distance between increments

S7-1500 Motion Control V4.0 in TIA Portal V15

256 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

Configuration
Technology module Technology object
TM Count 1x24V / TM Count 2x24V Axis External encoder
– Hardware interface > Data exchange –
with the drive
• Rotary type: Enter reference speed

Enter reference speed correspond-

ing to configuration for technology
object (1:1)
• Linear type:

Configuration not relevant

– Homing Homing
Select the homing signal for homing Use the homing mode "Use zero mark Use the homing mode "Use zero mark
mark 0: via PROFIdrive telegram". via PROFIdrive telegram".
• Signal N of the incremental encoder
• DI0
TM Count 2x24V > I/O addresses – –
The organization block ("MC-Servo")
and the process image
("TPA OB Servo") are selected auto-
matically for the input and output ad-
dresses by selecting the channel in the
encoder configuration at the technology
object.
Process image: PIP OB servo

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 257
Configuring
5.9 Configuring technology modules for Motion Control

5.9.3 TM PosInput 1 / TM PosInput 2

For use with Motion Control, the following parameters must be configured:

Configuration
Technology module Technology object
TM PosInput 1 / TM PosInput 2 Axis External encoder
TM PosInput 1/2 > Channel 0/1 > – –
Operating mode
Select "Position detection for Motion
Control technology object" mode
TM PosInput 1/2 > Channel 0/1 > Hardware interface > Encoder Hardware interface > Encoder
Module parameters
You set the parameters for the encoder
signals of the channel under "Module
parameters" in the "Position input for
Motion Control" mode. The parameters
must be set depending on the encoder
used.
The configuration of the encoder is
required for use with an SSI absolute
encoder. Information on the configura-
tion is available in the documentation
for the respective technology module.
– Select "Encoder" data connection and Select "Encoder" data connection and
the channel activated and configured the channel activated and configured
as encoder on the technology module as encoder on the technology module
Signal type Select encoder type corresponding to Select encoder type corresponding to
configuration for technology module configuration for technology module
• Incremental encoder
• Absolute encoder • Incremental • Incremental
• Absolute / cyclic absolute • Absolute / cyclic absolute
– Hardware interface > Data exchange Hardware interface > Data exchange
with encoder
Telegram "DP_TEL83_STANDARD" is Telegram "DP_TEL83_STANDARD" is
automatically selected after the selec- automatically selected after the selec-
tion of the encoder. tion of the encoder.
Disable "Automatic transfer of encoder Disable "Automatic transfer of encoder
parameter values" parameter values"
Select rotary or linear measuring sys- Select rotary or linear measuring sys-
tem type tem type
Signal evaluation Select fine resolution corresponding to Select fine resolution corresponding to
configuration for technology module configuration for technology module
• Single
• Double • Incremental encoder: • Incremental encoder:
– 0 = Single – 0 = Single
• Quadruple
– 1 = Double – 1 = Double
– 2 = Quadruple – 2 = Quadruple
• Absolute encoder: • Absolute encoder:
– 0 = Single – 0 = Single

S7-1500 Motion Control V4.0 in TIA Portal V15

258 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

Configuration
Technology module Technology object
TM PosInput 1 / TM PosInput 2 Axis External encoder
• Rotary type: • Rotary type: • Rotary type:

Enter increments per revolution Enter increments per revolution cor- Enter increments per revolution cor-
• Linear type: responding to configuration at tech- responding to configuration at tech-
nology module (1:1) nology module (1:1)
Configuration not relevant
• Linear type: • Linear type:

Enter distance between increments Enter distance between increments

– Hardware interface > Data exchange –
with the drive
• Rotary type: Enter reference speed

Enter reference speed correspond-

ing to configuration for technology
object (1:1)
• Linear type:

Configuration not relevant

– Homing Homing
Select the homing signal for homing Use the homing mode "Use zero mark Use the homing mode "Use zero mark
mark 0: via PROFIdrive telegram". via PROFIdrive telegram".
• Signal N of the incremental encoder
• DI0
TM PosInput 1/2 > I/O addresses – –
The organization block ("MC-Servo")
and the process image
("TPA OB Servo") are selected auto-
matically for the input and output ad-
dresses by selecting the channel in the
encoder configuration at the technology
object.

"–" No configuration for technology module/technology object is required for these parameters

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 259
Configuring
5.9 Configuring technology modules for Motion Control

5.9.4 TM Timer DIDQ 10x24V / TM Timer DIDQ 16x24V

You can operate the TM Timer DIDQ technology module centrally on an S7-1500 CPU or
decentrally on a distributed I/O. For use with a measuring input, output cam or cam track, the
technology module must be used decentrally and with isochronous mode.
For use with Motion Control, the following parameters must be configured:
Use with output cam / cam track technology object

Configuration
Technology module Technology object
TM Timer DIDQ 10x24V / TM Timer DIDQ 16x24V Output cam / Cam track
Basic parameters –
Select desired number of outputs under channel configura-
tion (ET 200MP TM Timer DIDQ 16x24V only)
Channel parameters Hardware interface > Output cam output / Output cam track
– Activate output
Select output by TM Timer DIDQ
Select "Timer DQ" mode for the respective output Select output cam output
I/O addresses –
Select "Isochronous mode"
The organization block ("MC-Servo") and the process image
("TPA OB Servo") are updated automatically for the input
and output addresses by selecting the channel in the en-
coder configuration at the technology object.

"–" No configuration for technology module/technology object is required for these parameters

Use with technology object measuring input

Configuration
Technology module Technology object
TM Timer DIDQ 10x24V / TM Timer DIDQ 16x24V Measuring input
Basic parameters –
Select desired number of inputs under channel configuration
Channel parameters Hardware interface > Measuring input
Configuration of DI group: Use inputs individually –
Select "Timer DI" mode for the respective input Select measuring using TM Timer DIDQ
– Select measuring input
Select application-dependent input delay –
I/O addresses
Select "Isochronous mode"
The organization block ("MC-Servo") and the process image
("TPA OB Servo") are updated automatically for the input
and output addresses by selecting the channel in the input
configuration at the technology object.

"–" No configuration for technology module/technology object is required for these parameters

S7-1500 Motion Control V4.0 in TIA Portal V15

260 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

5.9.5 TM Pulse 2x24V

For use with Motion Control, the parameters described below must each be configured:

Drive connection using PWM (pulse width modulation)

Configuration
TM Pulse 2x24V Technology object
Axis
TM Pulse 2x24V > Channel configuration –
Select if you want to use 1 or 2 channels.
TM Pulse 2x24V > Channel > Operating mode
Select "Pulse width modulation PWM" or "PWM with DC
motor" operating mode
TM Pulse 2x24V > Channel > Parameters Hardware interface > Drive
Select "S7 analog output" output format Select analog drive connection
For the selection of the analog output, create a PLC tag of
the "Int" type with corresponding address. The offset for the
PLC tag to the start address is 2.
To activate the output of the PWM signal, set the following
two bits of the control interface of the PWM channel in the
user program:
• SW_ENABLE (= Bit 0 in Byte 9)
• TM_CTRL_DQ (= Bit 1 in Byte 9)
The offset for byte 9 to the start address of the PWM chan-
nel is 9.
TM Pulse 2x24V > Channel > I/O addresses –
Select the organization block "MC-Servo" for the input and
output addresses. The "TPA OB Servo" process image is
selected automatically for the input and output addresses by
selecting the organization block.

"–" No configuration for technology object is required for these parameters

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 261
Configuring
5.9 Configuring technology modules for Motion Control

5.9.6 TM PTO 4
For use with Motion Control, the following parameters must be configured.

Configuration
Technology module Technology object
TM PTO 4 Axis
TM PTO 4 > Channel configuration –
Configure the number of channels (1 to 4) you want to use.
TM PTO 4 > Channel 0…3 > Operating mode
Select signal type:
• PTO (pulse (P) and direction (D))
• PTO (count up (A) and count down (B))
• PTO (A, B phase-shifted)
• PTO (A, B phase-shifted - quadruple)
Select signal interface:
• RS422, symmetrical / TTL (5V), asymmetrical
• 24V asymmetric
Configure the interpulse pause for direction reversal.
– Hardware interface > Drive
Select drive type "PROFIdrive" and "Drive" data connection.
Select the pulse output configured at the technology module
as drive.
Hardware interface > Encoder
The encoder of the actuator telegram (simulated encoder) is
automatically selected. Alternatively, an existing encoder
interface can be selected.
TM PTO 4 > Channel 0...3 > Diagnostic interrupts -
When the "Enable diagnostic interrupts" check box is se-
lected, diagnostic interrupts are activated if:
• No supply voltage
• Errors occur at digital outputs
The detected error is displayed for the respective channel
with feedback bit Fault_Present and Sensor_Error.
TM PTO 4 > Channel 0…3 > Axis parameters Data exchange with the drive
– Telegram "DP_TEL3_STANDARD" is automatically selected
after the selection of the drive.
Deselect "Automatic transfer of drive parameter values"
Enter reference speed corresponding to configuration for Enter reference speed of the drive
technology object (1:1)
Enter maximum speed corresponding to configuration for Enter maximum speed of the drive.
technology object (1:1) If the maximum speed is exceeded, technology alarm 102 is
triggered and displayed.

S7-1500 Motion Control V4.0 in TIA Portal V15

262 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

Configuration
Technology module Technology object
TM PTO 4 Axis
– Data exchange with encoder
Telegram "DP_TEL3_STANDARD" is automatically selected
after the selection of the encoder.
Disable "Automatic transfer of encoder parameter values"
Select rotary measuring system type.
Enter increments per revolution Enter increments per revolution corresponding to configura-
tion at technology module (1:1)
Configure fine resolution Configure fine resolution corresponding to configuration for
technology module.
• 0 = Single
• 2 = Quadruple • 0 = Single
• 2 = Quadruple
Configure stop behavior -
• Quick stop time
• Ramp stop time
TM PTO 4 > Channel 0…3 > Hardware inputs/outputs –
If you want to use a hardware output to enable the drive, No setting required at the technology object. The output is
select the "Use drive enable" check box. Next select one of automatically controlled by the MC_Power.
the two hardware outputs DQ0 or DIQ2.
Homing
Activate the hardware input (DI0) for the reference cam. Use the homing mode "Use zero mark via PROFIdrive tele-
Select the edge of the hardware input for triggering the gram".
reference cam function.
When using a measuring input, select the "Use DI1 check "Measuring input > Configuration > Hardware interface"
box as measuring input". technology object
Select the measuring input type "Measurement using
PROFIdrive telegram (drive or external encoder)".
Select the measuring input "1" under hardware connection.
Select the "Use "drive ready"" check box. In the ""Drive No setting required at the technology object. When the input
ready" input", select the hardware input that is to be used to is used, MC_Power waits until the input signal is present
display whether the drive is ready. before it sets the drive enable.
Configuring input delay –
TM PTO 4 > Channel 0…3 > Sign-of-life error
Configure tolerated number of sign-of-life errors
TM PTO 4 > I/O addresses
The organization block ("MC-Servo") and the process image
("TPA OB Servo") are selected automatically for the input
and output addresses by selecting the PTO channel for the
technology object.

"–" No configuration required for these parameters at the technology module/technology object

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 263
Configuring
5.9 Configuring technology modules for Motion Control

5.9.7 CPU 1511C-1 PN / CPU 1512C-1 PN

For use with Motion Control, the parameters described below must be configured.

Drive connection via PTO (Pulse Train Output)

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Axis
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > –
General
To activate a channel for PTO mode, select one of the fol-
lowing operating modes:
• PTO (pulse (A) and direction (B))
• PTO (count up (A), count down (B))
• PTO (A,B phase shifted)
• PTO (A,B phase shifted, quadruple)
– Hardware interface > Drive
Select drive type "PROFIdrive" and "Drive" data connection.
Select the pulse generator of the CPU configured for PTO
mode as drive.
Hardware interface > Encoder
The encoder of the actuator telegram (simulated encoder) is
automatically selected. Alternatively, an existing encoder
interface can be selected.
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > Axis Hardware interface > Data exchange with the drive
parameters
– Telegram "DP_TEL3_STANDARD" is automatically selected
after the selection of the drive.
Deselect "Automatic transfer of drive parameter values"
Enter reference speed corresponding to configuration for Enter reference speed of the drive
technology object (1:1)
Enter reference speed corresponding to configuration for Enter maximum speed of the drive.
technology object (1:1) If the maximum speed is exceeded, technology alarm 102 is
triggered and displayed.
– Hardware interface > Data exchange with encoder
Telegram "DP_TEL3_STANDARD" is automatically selected
after the selection of the encoder.
Disable "Automatic transfer of encoder parameter values"
Select rotary measuring system type.
Enter increments per revolution Enter increments per revolution corresponding to configura-
tion for CPU (1:1)
The fine resolution has the fixed value "0 bit" (= single) and Enter the fine resolution corresponding to the configuration
cannot be changed. for CPU
Bits in incr. actual value (G1_XIST1): 0 (= single)

S7-1500 Motion Control V4.0 in TIA Portal V15

264 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Axis
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > Homing
Hardware inputs/outputs
Select the hardware input for the reference switch Use the homing mode "Use zero mark via PROFIdrive tele-
In addition, configure the input delay for the selected hard- gram" for drive connection via PTO.
ware input. You configure the input delay in the device con-
figuration at the corresponding DI channel (DI 16/DQ 16 >
Inputs > Channel > Input parameters > Input delay).
Select the edge of the hardware input for triggering the
reference cam function.
When using a measuring input, select the hardware input of –
the measuring input. The following table includes the con-
figuration description.
Select the hardware input that is used to display whether the
drive is ready.
In addition, configure the input delay for the selected hard-
ware input. You configure the input delay in the device con-
figuration at the corresponding DI channel (DI 16/DQ 16 >
Inputs > Channel > Input parameters > Input delay).
With selected "PTO (PTO (pulse (A) and direction (B))"
mode, the hardware output for the PTO signal A ("Pulse
output (A)") is automatically selected through the device
configuration and cannot be changed. For PTO signal B
("Direction output (B)") select one of the hardware outputs
offered in the selection box.
The hardware outputs for the PTO signals are selected
through the device configuration for the following operating
modes and cannot be changed:
• PTO (count up (A), count down (B))
• PTO (A,B phase shifted)
• PTO (A,B phase shifted, quadruple)
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 >
I/O addresses
The organization block ("MC-Servo") and the process image
("TPA OB Servo") are selected automatically for the input
and output addresses by selecting the PTO channel for the
technology object.

"–" No configuration for CPU/technology object is required for these parameters

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 265
Configuring
5.9 Configuring technology modules for Motion Control

Additional configuration for use with the technology object measuring input

Configuration
Technology module Technology object
CPU 1511C-1 PN / CPU 1512C-1 PN Measuring input
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > Hardware interface > Measuring input
Hardware inputs/outputs
Select the hardware input of the measuring input. Measuring using PROFIdrive telegram (drive or external
In addition, configure the input delay for the selected hard- encoder)
ware input. You configure the input delay in the device con- In the "Number of the measuring input" selection box, select
figuration at the corresponding DI channel (DI 16/DQ 16 > "1" (measuring input 1).
Inputs > Channel > Input parameters > Input delay).

Drive connection using PWM (pulse width modulation)

Note that only travel in the positive direction is possible with a drive connection using the
integrated PWM function of the compact CPU.

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Speed axis
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > –
General
Select "Pulse width modulation PWM" mode
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 >
Hardware inputs/outputs
Select the hardware output to be used for pulse output.
Select whether the set hardware output is to work as a fast
push-pull switch or as P switch.
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > Hardware interface > Drive
Parameters
Select "S7 analog output" output format Select analog drive connection
For the selection of the analog output, create a PLC tag of
the "Int" type with corresponding address. The offset for the
PLC tag of the control interface of the PWM channel is 2.
To activate the output of the PWM signal, set the following
two bits of the control interface of the PWM channel in the
user program:
• SW_ENABLE (= Bit 0 in Byte 9)
• TM_CTRL_DQ (= Bit 1 in Byte 9)
The offset for byte 9 to the start address of the PWM chan-
nel is 9.

S7-1500 Motion Control V4.0 in TIA Portal V15

266 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.9 Configuring technology modules for Motion Control

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Speed axis
Select minimum pulse width of 0 μs –
Select required period duration (e.g. 100 μs)
Pulse generators (PTO/PWM) > PTO1…4/PWM1…4 > I/O
addresses
Select the organization block "MC-Servo" for the input and
output addresses. The "TPA OB Servo" process image is
selected automatically for the input and output addresses by
selecting the organization block.

"–" No configuration for technology object is required for these parameters

Encoder connection via HSC (High-speed counter)

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Axis External encoder
High-speed counter (HSC) > HSC 1…6 – –
> General > Enable
Enable high-speed counter
High-speed counter (HSC) > HSC 1…6
> Basic parameters > Operating mode
Select "Position input for Motion Con-
trol" mode
High-speed counter (HSC) > HSC 1…6 Hardware interface > Encoder Hardware interface > Encoder
> Basic parameters > Module parame-
ters
– Select "Encoder" data connection and Select "Encoder" data connection and
the high-speed counter activated and the high-speed counter activated and
configured as encoder on the CPU configured as encoder on the CPU
Signal type Select encoder type according to the Select encoder type according to the
device configuration of the CPU device configuration of the CPU
• Incremental encoder
• Incremental • Incremental
– Hardware interface > Data exchange Hardware interface > Data exchange
with encoder
Telegram "DP_TEL83_STANDARD" is Telegram "DP_TEL83_STANDARD" is
automatically selected after the selec- automatically selected after the selec-
tion of the encoder. tion of the encoder.
Deselect "Automatic transfer of encod- Deselect "Automatic transfer of encod-
er parameter values" er parameter values"
Select rotary measuring system type. Select rotary measuring system type.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 267
Configuring
5.9 Configuring technology modules for Motion Control

Configuration
CPU 1511C-1 PN / CPU 1512C-1 PN Technology object
Axis External encoder
Signal evaluation Set fine resolution according to the Set fine resolution according to the
configured signal evaluation set for the configured signal evaluation set for the
• Single
high-speed counter (HSC) high-speed counter (HSC)
• Double
• 0 = Single • 0 = Single
• Quadruple
• 1 = Double • 1 = Double
• 2 = Quadruple • 2 = Quadruple
Enter increments per revolution Enter increments per revolution corre- Enter increments per revolution corre-
sponding to device configuration for sponding to device configuration for
CPU (1:1) CPU (1:1)
– Hardware interface > Data exchange –
with the drive
Enter reference speed corresponding Enter reference speed
to configuration for technology object
(1:1)
– Homing Homing
Select the homing signal for homing Use the homing mode "Use zero mark Use the homing mode "Use zero mark
mark 0: via PROFIdrive telegram". via PROFIdrive telegram".
• Signal N of the incremental encoder
• DI0 (can be set with the hardware
inputs/outputs)

In addition, configure the input de-

lay for the selected hardware input.
You configure the input delay in the
device configuration at the corre-
sponding DI channel
(DI 16/DQ 16 > Inputs > Channel >
Input parameters > Input delay).
High-speed counter (HSC) > HSC 1…6 – –
> I/O addresses
The organization block ("MC-Servo")
and the process image
("TPA OB Servo") are selected auto-
matically for the input and output ad-
dresses by selecting the HSC channel
for the technology object.

"–" No configuration for CPU/technology object is required for these parameters

S7-1500 Motion Control V4.0 in TIA Portal V15

268 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.10 Connect drive/encoder via data block

Additional configuration for use with the technology object measuring input

Configuration
Technology module Technology object
CPU 1511C-1 PN / CPU 1512C-1 PN Measuring input
High-speed counter (HSC) > HSC 1…6 > Hardware in- Hardware interface > Measuring input
puts/outputs
Select the hardware input of the measuring input. Measuring using PROFIdrive telegram (drive or external
In addition, configure the input delay for the selected hard- encoder)
ware input. You configure the input delay in the device con- In the "Number of the measuring input" selection box, select
figuration at the corresponding DI channel (DI 16/DQ 16 > "1" (measuring input 1).
Inputs > Channel > Input parameters > Input delay).

5.10 Connect drive/encoder via data block

Creating the data block for data connection

1. Create a new data block of type "Global DB".
2. Select the data block in the project tree and select "Properties" from the shortcut menu.
3. Disable the following attributes under Attributes and accept the change with "OK":
– "Only store in load memory"
– "Data block write-protected in the device"
– "Optimized block access" for technology version < V4.0
4. Open the data block in the block editor.
5. Insert a tag structure of type "PD_TELx" textually in the block editor.
This tag structure contains the "Input" tag structure for the input area of the telegram and the
"Output" tag structure for the output area of the telegram.

Note
"Input" and "Output" relate to the view of the closed loop position control. For example, the
input area contains the actual values of the drive and the output area contains the setpoints
for the drive.
The data block may contain the data structures of multiple axes and encoders and other
contents.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 269
Configuring
5.10 Connect drive/encoder via data block

Configuring data connection via a data block

1. Open the configuration window "Hardware interface > Drive" or "Hardware interface >
Encoder".
2. In the Data block drop-down list, select "Data block".
3. In the "Data block" field, select the previously created data block.
Open this data block and select the tag name defined for the drive and encoder.

Programming MC-PreServo and MC-PostServo

1. Assign the previously defined PLC tag of the input range of the data block to
MC-PreServo .
2. Assign the previously defined PLC tag of the output range of the data block to
MC-PostServo.

NOTICE
Machine damage
Improper manipulation of drive and encoder telegrams may result in unwanted drive
motions.
Check your user 
program for consistency in the drive and encoder connection.

An application example for the use of MC-PreServo and MC-PostServo is available at:
https://support.industry.siemens.com/cs/document/109741575
(https://support.industry.siemens.com/cs/document/109741575)

See also
PROFIdrive telegrams (Page 36)
Data connection drive/encoder via data block (Page 50)

S7-1500 Motion Control V4.0 in TIA Portal V15

270 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

5.11 Parameter view

5.11.1 Introduction to the parameter view

The Parameter view provides you with a general overview of all relevant parameters of a
technology object. You obtain an overview of the parameter settings and can easily change
them in offline and online mode.

① Navigation (Page 273)

② Toolbar (Page 272)
③ Parameter table (Page 273)
④ "Parameter view" tab

Function scope
The following functions are available for analyzing the parameters of the technology objects
and for enabling targeted monitoring and modification.
Display functions:
● Display of parameter values in offline and online mode
● Display of status information of the parameters
● Display of value deviations and option for direct correction
● Display of configuration errors
● Display of value changes as a result of parameter dependencies
● Display of all memory values of a parameter: Start value PLC, Start value in project,
Monitor value
● Display of the parameter comparison of the memory values of a parameter

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 271
Configuring
5.11 Parameter view

Operator control functions:

● Navigation for quickly changing between the parameters and parameter structures.
● Text filter for faster searches for particular parameters.
● Sorting function for customizing the order of parameters and parameter groups to
requirements.
● Memory function for backing up structural settings of the Parameter view.
● Monitoring and modifying of parameter values online.
● Function for saving a snapshot of parameter values of the CPU in order to capture
momentary situations and to respond to them.
● Function for applying a snapshot of parameter values as start values.
● Download of modified start values to the CPU.
● Comparison functions for comparing parameter values with one another.

5.11.2 Structure of the parameter view

5.11.2.1 Toolbar
The following functions can be selected in the toolbar of the parameter view.

Symbol Function Explanation

Monitor all Starts monitoring of the visible tags in the active table.

Select navigation structure Toggle between function-based navigation and the view of the
data structure of the technology data block.
Couples the function view and Enables the targeted toggling between the parameter view and
parameter view for the objects function-based view.
selected in the navigation
Collapse/expand all nodes and Collapses or expands all nodes and objects of the navigation or
objects the data structure in the currently active view.
Collapse/expand the nodes Collapses or expands the marked nodes and objects of the
below the marked nodes navigation or the data structure in the currently active view.
Text filter... After entry of a character string: Display of all parameters con-
taining the entered string in one of the currently visible col-
umns.
Selection of compare values Selection of parameter values that are to be compared with one
another in online mode (Start value in project, Start value PLC)
Only in online mode.
Save window settings Saves your display settings for the Parameter view (e.g. se-
lected navigation structure, activated table columns, etc.)

S7-1500 Motion Control V4.0 in TIA Portal V15

272 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

5.11.2.2 Navigation
Within the "Parameter view" tab, the following alternative navigation structures can be
selected.

Navigation Explanation
Functional navigation In the functional navigation, the structure of the parameters is
based on the structure in the configuration window ("Function
view" tab), commissioning window and diagnostics window.

Data structure In the "Data structure" navigation, the structure of the parameters
is based on the structure of the technology data block.

You can use the "Select navigation structure" drop-down list to toggle the navigation
structure.

5.11.2.3 Parameter table

The table below shows the meaning of the individual columns of the parameter table. You
can show or hide the columns as required.
● Column "Offline" = X: Column is visible in offline mode.
● Column "Online" = X: Column is visible in online mode (online connection to the CPU).

Column Explanation Offline Online

Name in function Name of the parameter in the function view. X X
view The display field is empty for parameters that are not configured via the tech-
nology object.
Name in DB Name of the parameter in the technology data block. X X
If the parameter is part of a structure or UDT, the prefix "../" is added.
The display field is empty for parameters that are not contained in the technol-
ogy data block.
Full name in DB Complete path of the parameter in the instance DB. X X
The display field is empty for parameters that are not contained in the technol-
ogy data block.
Status of configura- Display of the completeness of the configuration using status symbols. X
tion
Compare result Result of the "Compare values" function. X
This column is displayed when there is an online connection.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 273
Configuring
5.11 Parameter view

Column Explanation Offline Online

Start value in project Configured start value in project. X X
Error indication if entered values have a syntax or process-related error.
Default value Value that is pre-assigned to the parameter. X X
The display field is empty for parameters that are not contained in the technol-
ogy data block.
Start value PLC Start value in the CPU. X
This column is displayed when there is an online connection.
Monitor value Current value in the CPU. X
This column is displayed when there is an online connection.
Modify value Value that is to be used to change the monitor value. X
This column is displayed when there is an online connection.
Minimum value Minimum process-related value of the parameter. X X
If the minimum value is dependent on other parameters, it is defined:
• Offline: by the start value in the project.
• Online: by the monitor values.
Maximum value Maximum process-related value of the parameter. X X
If the maximum value is dependent on other parameters, it is defined:
• Offline: by the start value in the project.
• Online: by the monitor values.
Setpoint Designates the parameter as a setpoint. These parameters can be initialized X X
online.
Data type Data type of the parameter. X X
The display field is empty for parameters that are not contained in the technol-
ogy data block.
Retain Designates the value as a retentive value. X X
The values of retentive parameters are retained even after the voltage supply
is switched off.
Accessible from HMI Indicates whether the HMI can access this parameter during runtime. X X
Visible in HMI Indicates whether the parameter is visible in the selection list of the HMI by X X
default.
Comment Brief description of the parameter. X X

S7-1500 Motion Control V4.0 in TIA Portal V15

274 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

5.11.3 Opening the parameter view

Requirement
The technology object was added in the project navigator.

Procedure
1. Open the "Technology objects" folder in the project tree.
2. Open the technology object in the project tree.
3. Double-click the "Configuration" object.
4. Select the "Parameter view" tab in the top right corner.

Result
The Parameter view opens. Each displayed parameter is represented by one row in the
parameter table.
The displayable parameter properties (table columns) vary depending on whether you are
working with the Parameter view in offline or online mode.
In addition, you can selectively display and hide individual table columns.

5.11.4 Working with the parameter view

5.11.4.1 Overview
The following table provides an overview of the functions of the Parameter view in online and
offline mode described in the following.
● Column "Offline" = X: This function is possible in offline mode.
● Column "Online" = X: This function is possible in online mode.

Function/action Offline Online

Filtering the parameter table (Page 276) X X
Sorting the parameter table (Page 277) X X
Transferring parameter data to other editors (Page 277) X X
Indicating errors (Page 278) X X
Editing start values in the project (Page 278) X X
Monitoring values online in the parameter view (Page 280) X
Modifying values (Page 281) X
Comparing values (Page 282) X

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 275
Configuring
5.11 Parameter view

5.11.4.2 Filtering the parameter table

You can filter the parameters in the parameter table in the following ways:
● With the text filter
● With the subgroups of the navigation
Both filter methods can be used simultaneously.

With the text filter

You can filter according to texts that are visible in the parameter table. This means that it can
only be filtered by text in displayed parameter lines and displayed columns.
1. Enter the desired character string for filtering in the “Text filter...” input box.
The parameter table displays only the parameters containing the character string.
The text filtering is reset.
● When another parameter group is selected in the navigation.
● When navigation is changed from data navigation to functional navigation, or vice versa.

With the subgroups of the navigation

1. Click the desired parameter group in the navigation, e.g., "Static".
The parameter table only shows the static parameters. You can select further subgroups
for some groups of the navigation.
2. Click “All parameters” in the navigation if all parameters are to be shown again.

S7-1500 Motion Control V4.0 in TIA Portal V15

276 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

5.11.4.3 Sorting the parameter table

The values of the parameters are arranged in rows. The parameter table can be sorted by
any displayed column.
● In columns containing numerical values, sorting is based on the magnitude of the
numerical value.
● In text columns, sorting is alphabetical.

Sort column-by-column
1. Position the cursor in the header cell of the desired column.
The background of this cell turns blue.
2. Click the column header.

Result
The entire parameter table is sorted by the selected column. A triangle with tip facing up
appears in the column header.
Clicking the column header again changes the sorting as follows:
● Symbol “▲”: Parameter table is sorted in ascending order.
● Symbol “▼”: Parameter table is sorted in descending order.
● No symbol: The sorting is removed again. The parameter table assumes the default
display.
The “../“ prefix in the “Name in DB” column is ignored when sorting.

5.11.4.4 Transferring parameter data to other editors

You can paste parameters of the parameter view in the following editors:
● Program editor
● Watch table
● Signal table for Trace
The following options are available for pasting:
● Drag-and-drop
● <Ctrl+C>/<Ctrl+V>
● Copy/Paste via shortcut menu

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 277
Configuring
5.11 Parameter view

5.11.4.5 Indicating errors

Error display
Parameter assignment errors that result in compilation errors (e.g. limit violation) are
indicated in the Parameter view.
Every time a value is entered in the Parameter view, a check is made for process-related
and syntax errors and displayed with the following indicators:
● Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
● Table field with red background
If you click the bad field, a roll-out error message appears with information of the
permissible value range or the required syntax (format)

Compilation error
From the error message of the compiler, you can directly open the Parameter view
(functional navigation) containing the parameter causing the error in situations where the
parameter is not displayed in the configuration window.

5.11.4.6 Editing start values in the project

With the Parameter view, you can edit the start values in the project in offline mode and
online mode.
● You make value changes in the "Start value in project" column of the parameter table.
● In the "Status of configuration" column of the parameter table, the progress of the
configuration is indicated by the familiar status symbols from the configuration window of
the technology object.

Boundary conditions
● If other parameters depend on the parameter whose start value was changed, the start
value of the dependent parameters are also adapted.
● If a parameter of a technology object is not editable, it is also not editable in the
parameter view. The ability to edit a parameter can also depend on the values of other
parameters.

S7-1500 Motion Control V4.0 in TIA Portal V15

278 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

Defining new start values

To define start values for parameters in the Parameter view, follow these steps:
1. Open the Parameter view of the technology object.
2. Enter the desired start values in the "Start value in project" column. The value must
match the data type of the parameter and must not exceed the value range of the
parameter.
The limits of the value range can be seen in the "Maximum value" and "Minimum value"
columns.
The "Status of configuration" column indicates the progress of the configuration with colored
symbols.
Following adaptation of the start values and downloading of the technology object to the
CPU, the parameters take the defined value at startup if they are not declared as retentive
("Retain" column).

Error display
When a start value is input, a check is made for process-related and syntax errors and the
result is indicated.
Bad start values are indicated by:
● Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
and/or
● Red background in the "Start value in project" field
If you click on the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)

Correcting bad start values

1. Correct bad start values using information from the roll-out error message.
Red error symbol, red field background, and roll-out error message are no longer
displayed.
The project cannot be successfully compiled unless the start values are error-free.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 279
Configuring
5.11 Parameter view

5.11.4.7 Monitoring values online in the parameter view

You can monitor the values currently taken by the parameters of the technology object in the
CPU (monitor values) directly in the Parameter view.

Requirements
● There is an online connection.
● The technology object is downloaded to the CPU.
● The Parameter view of the technology object is open.

Procedure
As soon as the Parameter view is online, the following columns are additionally displayed:
● Compare result
● Start value PLC
● Monitor value
● Modify value
● Selection for transmission
The "Monitor value" column shows the current parameter values on the CPU.

Display
All columns that are only available online have an orange background:
● Values in light-orange cells can be changed.
● Values in cells with a dark orange background cannot be changed.

See also
Parameter table (Page 273)

S7-1500 Motion Control V4.0 in TIA Portal V15

280 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

5.11.4.8 Modifying values

With the Parameter view, you can modify values of the technology object in the CPU.
You can assign values to the parameter once (Modify value) and modify them immediately.
The modify request is executed as quickly as possible without reference to any particular
point in the user program.

DANGER
Danger when modifying:
Changing the parameter values while the plant is operating may result in severe damage to
property and personal injury in the event of malfunctions or program errors.
Make sure that dangerous states cannot occur before you use the "Modify" function.

Requirements
● There is an online connection.
● The technology object is downloaded to the CPU.
● The Parameter view of the technology object is open.
● The parameter can be modified (associated field in the "Modify value" column has a light-
orange background).

Procedure
To modify parameters immediately, follow these steps:
● Enter the desired modify values in the “Modify values” column of the parameter table.
The selected parameters are modified once and immediately with the specified values and
can be monitored in the "Monitor values" column. The check boxes for modifying in the
"Selection for transmission" column are automatically cleared after the modify request is
complete.

Error display
When a start value is input, a check is made immediately for process-related and syntax
errors and the result is indicated.
Bad start values are indicated by:
● Red background in the “Modify value” field
and
● If you click the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 281
Configuring
5.11 Parameter view

Bad modify values

● Modify values with process-related errors can be transmitted.
● Modify values with syntax errors cannot be transmitted.

5.11.4.9 Comparing values

You can use comparison functions to compare the following memory values of a parameter:
● Start value in project
● Start value PLC

Requirements
● There is an online connection.
● The technology object is downloaded to the CPU.
● The Parameter view of the technology object is open.

Procedure
To compare the start values on the various target systems, follow these steps:
1. Click the "Selection of compare values" icon .
A selection list containing the comparison options opens:
– Start value in project - Start value PLC (default setting)
2. Select the desired comparison option.
The selected comparison option is executed as follows:
– A scales symbol appears in the header cells of the two columns selected for
comparison.
– Symbols are used in the "Compare result" column to indicate the result of the
comparison of the selected columns.

Symbol in "Compare result" column

Symbol Meaning
The compare values are equal and error-free.

The compare values are not equal and error-free.

At least one of the two compare values has a process-related or syntax error.

The comparison cannot be performed. At least one of the two compare values is not available (e.g., snapshot).

S7-1500 Motion Control V4.0 in TIA Portal V15

282 Function Manual, 12/2017, A5E03879256-AE
 Configuring
5.11 Parameter view

Symbol in the navigation

The symbols are shown in the same way in the navigation if the compare result applies to at
least one of the parameters below the displayed navigation structure.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 283
Programming 6
6.1 Introduction
The "Programming" section contains general information on supplying and evaluating the
Motion Control instructions and on technology data blocks.
You can find an overview of the Motion Control instructions in the Functions (Page 27)
section.
You can use Motion Control instructions in the user program to assign jobs to the technology
object. You define the job using the input parameters of the Motion Control instructions. The
current job status is indicated in the output parameters.
The technology data block is available to you as an additional interface to the technology
object.

6.2 Technology data block

6.2.1 Introduction
The properties of real objects (e.g. drives) are configured by means of the technology
objects and saved in a technology data block. The technology data block contains all
configuration data, setpoint and actual values, and status information of the technology
object. The TIA Portal automatically creates the technology data block when the technology
object is created. You access the data of the technology data block (read/write access) with
your user program.
A listing and description of the tags can be found in the Appendix (Page 431).

S7-1500 Motion Control V4.0 in TIA Portal V15

284 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.2 Technology data block

6.2.2 Evaluating the technology data block

Access to data in the technology data block occurs in accordance with the access to
standard data blocks. Only tags with elementary data types can be accessed in the
technology data block. It is not possible to access tags with composite data types (such as
STRUCT, ARRAY).

Reading values from the technology data block

In your user program you can read actual values (e.g. current position) and status
information, or detect error messages in the technology object. When you program a query
in your user program (e.g. current velocity), the value is directly read from the technology
object.
Reading values from the technology data block takes longer than for other data blocks. If you
use these tags several times in a single cycle of your user program, it is recommended to
copy the tag values to local tags, and use the local tags in your program.

Writing values to the technology data block

The configuration of the technology object in the TIA Portal is used to write the
corresponding data to the technology data block. After they have been loaded into the CPU,
these data are stored in the CPU on the SIMATIC Memory Card (load memory).
In the following cases, it may be necessary for the user program to write values to the
technology data block:
● Adaptation of the configuration of the technology object (e.g. dynamic limits, software limit
switches)
● Use of overrides
● Adaptation of position control (e.g. "Kv" parameter)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 285
Programming
6.2 Technology data block

Changes to values in the technology data block by the user program can take effect at
various points in time. The relevant property of the individual tags can be found in their
descriptions in the Appendix (Page 431):

Effectiveness of changes Description

Direct (DIR) You write changes using direct assignments. The changes are applied only at the
start of the next MC-Servo [OB91].
The changes are retained until the next POWER OFF of the CPU or restart of the
technology object.
LREAL The technology object performs a range check on the
(e.g. <TO>.Override. written value, and immediately starts using the new value.
Velocity) If range limits are violated when writing, the technology
object automatically corrects the values. If the value is
below the range, then the value is set to the low limit of the
range; if the range is exceeded, then the value is set to the
high limit of the range.
DINT/BOOL Changes are only permitted in the defined value range.
(e.g. <TO>.Position Value changes outside the value range are not applied.
Limits_SW.Active) If you enter invalid values, the programming error OB
(OB 121) is started.
When Motion Control instruction is You write changes using direct assignments. The changes are applied at the start of
called (CAL) the next MC-Servo [OB91] after the call of the corresponding Motion Control instruc-
(e.g. <TO>.Sensor[n].ActiveHoming. tion in the user program.
HomePositionOffset) The changes are retained until the next POWER OFF of the CPU or restart of the
technology object.
Restart (RES) Since restart-relevant tags have dependencies on other tags, value changes cannot
(e.g. <TO>.Homing.AutoReversal) be applied at any arbitrary time. The changes are only used after reinitialization
(restart) of the technology object.
During a restart the technology object is reinitialized with the data in load memory.
You therefore write changes to the start value in the load memory with the extended
instruction "WRIT_DBL" (write to data block in load memory).
You trigger the restart in your user program using the Motion Control instruction
"MC_Reset" with parameter "Restart" = TRUE. Additional information regarding the
restart can be found in the Restarting technology objects (Page 314) section.
Read only (RON) The tag cannot and must not be changed during runtime of the user program.
(e.g. <TO>.Position)

Note
Save changes with "WRIT_DBL"
Changes to tags immediately in effect are lost on POWER OFF of the CPU, or restart of the
technology object.
If changes in the technology data block should also be retained after POWER OFF of the
CPU, or restart of the technology object, you must write the changes to the start value in the
load memory with the extended instruction "WRIT_DBL".

S7-1500 Motion Control V4.0 in TIA Portal V15

286 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.2 Technology data block

Note
Using the "READ_DBL" and "WRIT_DBL" data block functions
The "READ_DBL" and "WRIT_DBL" data block functions may only be used on individual
tags in conjunction with the tags of the technology object. The "READ_DBL" and
"WRIT_DBL" data block functions must not be applied to data structures of the technology
object.

Isochronous evaluation of data

If you want to process data of the technology data block in isochronous mode from a Motion
Control application cycle, there is the option of evaluating this data in the MC-PreServo
[OB67]/MC-PostServo [OB95] as of technology version V3.0.

See also
Organization Blocks for Motion Control (Page 95)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 287
Programming
6.2 Technology data block

6.2.3 Evaluate StatusWord, ErrorWord and WarningWord

To be able to symbolically use individual status and error information from the "StatusWord",
"ErrorWord" and "WarningWord" data double words, you can evaluate them as described
below. For consistent evaluation, you should avoid using bit addressing to access these data
double words in the technology data block. Access to an individual bit in the technology data
block only lasts as long as the access to the entire data word.
When required, copy the required data double word to a tag of a data structure and query
the individual bits of the tag.
The allocation of the individual bits in the data double words can be found in the Appendix
(Page 431) in the description of the tags of the corresponding technology object.

Requirements
The technology object has been created.

Procedure
To evaluate the individual bits in the data word "StatusWord", follow these steps:
1. Crate a global data structure. Name the data structure, e.g. as "Status".
2. Create a double word (DWORD) in the data structure "Status". Name the double word,
e.g. as "Temp".
3. Create 32 Boolean tags in the "Status" data structure. You can obtain a clearer overview
by giving the individual Boolean tags identical names as the bits in the technology DB
(e.g. name the fifth Boolean tag "HomingDone").
4. Copy the tag <TO>.StatusWord as needed from the technology data block to the double
word "Temp" in your data structure.
5. Copy the individual bits of double word "Temp" to the corresponding Boolean tags with bit
accesses.
6. Use the Boolean tags to query the status bits.
Evaluate the data words "ErrorWord" and "WarningWord" as specified in steps 1 to 6.

S7-1500 Motion Control V4.0 in TIA Portal V15

288 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.2 Technology data block

Example
The following example shows how you can read out and save the fifth bit "HomingDone" of
the data word "StatusWord":

SCL Explanation
#Status.Temp := "TO".StatusWord; //Copy status word
#Status.HomingDone := #Status.Temp.%X5; //Copy individual bits per bit access

STL Explanation
L "TO".StatusWord //Copy status word
T #Status.Temp
U #Status.Temp.%X5 //Copy individual bits per bit access
= #Status.HomingDone

6.2.4 Change restart-relevant data

In order to change restart-relevant data in the technology data block, write to the starting
values of the tags in load memory using the extended instruction "WRIT_DBL". In order for
the changes to be applied, a restart of the technology object must be performed.
Whether changes to the value of a tag are relevant for the restart can be found in the
description of the tags in the Appendix (Page 445).

Requirement
The technology object has been created.

Procedure
To change restart-relevant data, proceed as follows:
1. Create a data block and fill it with the restart-relevant values, that you want to change in
the technology data block. In doing so, the data types must match the tags to be
changed.
2. Write the values from your data block to the starting values of the tags of the technology
data block in load memory, using the extended instruction "WRIT_DBL".
If restart-relevant data were changed, this will be indicated in the <TO>.StatusWord.X3
(OnlineStartValuesChanged) tag of the technology object.
3. Perform a restart of the technology object using the Motion Control instruction
"MC_Reset" with parameter "Restart" = TRUE.
After the restart of the technology object, the new value is transferred into the technology
data block in work memory, and is effective.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 289
Programming
6.3 Motion Control instructions

6.3 Motion Control instructions

6.3.1 Motion Control instruction parameters

Description
The individual Motion Control instructions are described in detail in the section
MC_Power V4 (Page 361).
When creating your user program, take the following explanations of the Motion Control
instruction parameters into account.

Reference to the technology object

The technology object is specified for the Motion Control instruction as follows:
● Parameter "Axis"
The "Axis" input parameter of a Motion Control instruction contains a reference to the
technology object that is to execute the corresponding job.
The corresponding technology object is also referenced in the following parameters:
– Parameter "Master"
– Parameter "Slave"
– Parameter "Cam"
– Parameter "MeasuringInput"
– Parameter "OutputCam"
– Parameter "CamTrack"
As of technology version V3.0, the reference to the technology object can also be
specified with the data type DB_ANY.

Job start and transfer of input parameters of a Motion Control instruction

For the start of jobs and the transfer of modified parameter values, a distinction is made
between the following Motion Control instructions:
● Motion Control instructions with "Execute" parameter
With a positive edge at the "Execute" parameter, the job is started and the existing values
for the input parameters are transferred.
Subsequently changed parameter values are not transferred until the next job start.
Resetting the "Execute" parameter does not end the job, but it does affect the display
duration of the job status. As long as "Execute" is set to TRUE, the output parameters will
be updated. If "Execute" is reset before the completion of a job, the parameters "Done",
"Error" and "CommandAborted" are correspondingly set for only one call cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

290 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.3 Motion Control instructions

● Motion Control instructions with "Enable" parameter

The job is started by setting the "Enable" parameter.
As long as "Enable" = TRUE, the job remains active and changed parameter values will
be transferred each time the instruction is called in the user program.
The job is ended by resetting the "Enable" parameter.
The input parameters "JogForward" and "JogBackward" of the Motion Control instruction
"MC_MoveJog" correspond in their behavior to the "Enable" parameter.

Job status
The following output parameters indicate the status of the job execution:
● Motion Control instructions with "Done" parameter
The normal completion of a job is indicated with parameter "Done" = TRUE.
● Motion Control instructions without "Done" parameter
The achievement of the job objective is indicated by other parameters (e.g. "Status",
"InVelocity"). For more information, refer to the section Tracking running jobs (Page 302).
● Parameter "Busy"
As long as a job is being processed, the "Busy" parameter shows the value TRUE. If a
job was ended or aborted, "Busy" shows the value FALSE.
● Parameter "CommandAborted"
If a job was aborted by another job, the CommandAborted parameter shows the value
"TRUE".
● Parameter "Error"
If a Motion Control instruction error occurs, the "Error" parameter shows the value TRUE.
The ErrorID parameter indicates the cause of the error.

As long as the "Execute" or "Enable" parameter is set to TRUE, the output parameters will
be updated. Otherwise the parameters "Done", "Error" and CommandAborted" are
correspondingly set for only one cycle.

Abort of running jobs

An active Motion Control job is aborted by the start of a new Motion Control job. In the
process, the current dynamic setpoints (acceleration, deceleration, jerk, velocity) are set to
the values of the overriding job.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 291
Programming
6.3 Motion Control instructions

Example of parameter behavior

The behavior of the parameters of Motion Control instructions is shown in the following chart
using the example of two "MC_MoveAbsolute" jobs.

S7-1500 Motion Control V4.0 in TIA Portal V15

292 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.3 Motion Control instructions

Using "Exe_1", an "MC_MoveAbsolute" job (A1) with target position 1000.0 is initiated.
"Busy_1" is set to TRUE. The axis is accelerated to the specified velocity and moved to the
target position (see TO_1.Velocity and TO_1.Position). Before the target position is reached,
the job is overridden at time ① by another "MC_MoveAbsolute" job (A2). The abort is
signaled via "Abort_1", and "Busy_1" is set to FALSE. The axis is braked to the velocity
specified in A2 and moved to the new target position 1500.0. When the axis reaches the
target position, this is signaled via "Done_2".

Non position-controlled operation

The position control of the axis can be deactivated with the following parameters:
● MC_Power.StartMode = 0
● MC_MoveVelocity.PositionControlled = FALSE
● MC_MoveJog.PositionControlled = FALSE
For more information, refer to the section " Non position-controlled operation (Page 298).

See also
Instructions (Page 361)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 293
Programming
6.3 Motion Control instructions

6.3.2 Add Motion Control instructions

You add Motion Control instructions to a program block in the same way as other
instructions. You control all available functions of the technology object using the Motion
Control instructions.

Requirements
The technology object was created.

Procedure
To add Motion Control instructions in your user program, proceed as follows:
1. Double click your program block in the project tree (the program block must be called in
the cyclical program).
The program block is opened in the programming editor, and the available instructions
are displayed.
2. In the "Instructions" task card, open the "Technology > Motion Control" folder.
3. Using drag-and-drop, move the Motion Control instruction, e.g. "MC_Power", to the
desired segment of the program block.
The "Call options" dialog opens.
4. In the dialog, specify a name and a number for the instance data block of the Motion
Control instruction.
5. Click "OK".
The Motion Control instruction "MC_Power" is inserted into the network.

The instance data block is automatically created under "Program Blocks > System Blocks
> Program Resources".

S7-1500 Motion Control V4.0 in TIA Portal V15

294 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.3 Motion Control instructions

6. Input parameters without a default value (e.g. "Axis"), must be assigned. Select the
technology object in the project tree and move it onto <...> in the "Axis" parameter using
drag-and-drop.

Once the technology object is specified in the "Axis" parameter, the following buttons are
available to you:

To open the configuration of the technology object, click on the toolbox icon.

To open the diagnostics of the technology object, click on the stethoscope icon.

7. Add additional Motion Control instructions in accordance with steps 3 through 6.

See also
Tracking active jobs (Page 302)
Tags of the positioning axis/synchronous axis technology object (Page 445)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 295
Programming
6.3 Motion Control instructions

6.3.3 Parameter transfer for function blocks

If you want to reuse a function block with Motion Control instructions for different technology
objects, create an input parameter of the data type of the respective technology object in the
block interface of the calling function block. You assign the data type in the block interface
with a direct input. The parameter is then transferred as reference to the technology object to
the "Axis" parameter of the Motion Control instructions. The data types of technology objects
correspond to the structure of the associated technology data block.
By specifying the data type, you can address the tags of the technology object in the function
block (<parameters of the block interface>.<tag of the technology object>).
The data types for the reference to the technology objects are available in the appendix
(Page 555).

Example 1
The following table shows the declaration of the tags used:

Tag Declaration Data type Description

axis Input TO_PositioningAxis Reference to the technology object
on Input BOOL Signal to enable the axis
actPosition Output LReal Query of the actual position from the technology data block
instMC_POWER Static MC_POWER Multiinctance of the Motion Control instruction MC_Power

The following SCL program shows how to implement this task:

SCL Explanation
#instMC_POWER(Axis := #axis, Enable := #on); //Call of the Motion Control instruction MC_Power
with enable of the axis
#actPosition := #axis.ActualPosition; //Query of the actual position from the technology
data block

S7-1500 Motion Control V4.0 in TIA Portal V15

296 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.3 Motion Control instructions

Example 2
The data type "DB_Any" provides a further option for the transfer of specific data types of the
technology object. Unlike the data types of the technology object in the program, "DB_Any"
can be assigned during runtime.
This example shows how you can program variable switching of up to four cams at
"MC_CamIn".
To do this, tags of the data type "DB_Any" are first created as input parameter of the block.
The cam to be used is assigned by an additional input parameter.
The following table shows the declaration of the tags used:

Tag Declaration Data type Description

cam1 Input DB_ANY Cam 1
cam2 Input DB_ANY Cam 2
cam3 Input DB_ANY Cam 3
cam4 Input DB_ANY Cam 4
camToUse Input Int Selection of cam 1 to 4
instMC_CAMIN Static MC_CAMIN Multi-instance of the MC_CamIn
tempCamSel Temp DB_ANY Current cam

The example below shows the basic procedure:

SCL Explanation
//Selection of the desired cam 1..4
//Using an input tag of data type Int
CASE #camToUse OF
1: #tempCamSel := #cam1; //Instruction for scenario 1
2: #tempCamSel := #cam2; //Instruction for scenario 2
3: #tempCamSel := #cam3; //Instruction for scenario 3
4: #tempCamSel := #cam4; //Instruction for scenario 4
ELSE //Instruction for Int ≤ 0 or > 4
#tempCamSel := #cam1; //Corresponds to default cam 1
END_CASE;
//Calling of the MC_CamIn with variable transfer
of the cam technology object using the temporary
tag "tempCamSel"

#instMC_CAMIN(Master := "PositioningAxis_1", //Direct assignment of the technology object of

the leading axis
Slave := "SynchronousAxis_1", //Direct assignment of the technology object of
the following axis
Cam := #tempCamSel); //Indirect assignment of the cam technology object

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 297
Programming
6.3 Motion Control instructions

Additional information
You can find more program examples using the data type "DB_Any" in the following FAQ:
https://support.industry.siemens.com/cs/document/109750880
(https://support.industry.siemens.com/cs/ww/en/view/109750880)

6.3.4 Non position-controlled operation

The closed loop position control of an axis can be switched off/switched with the following
Motion Control instructions:
● MC_Power
● MC_MoveVelocity
● MC_MoveJog
The non-position-controlled operation is displayed with <TO>.StatusWord.X28
(NonPositionControlled) = TRUE.

MC_Power
The axis is enabled without closed loop position control with "MC_Power" and the parameter
"StartMode" = 0. The closed loop position control remain switched off until a different Motion
Control instruction changes the status of the closed loop position control.

MC_MoveVelocity and MC_MoveJog

A "MC_MoveVelocity" or "MC_MoveJog" job with "PositionControlled" = FALSE forces non-
position-controlled operation.
A "MC_MoveVelocity" or "MC_MoveJog" job with "PositionControlled" = TRUE forces
position-controlled operation.
The selected mode remains in effect after the job is completed.

Influence of additional Motion Control instructions

Starting the following Motion Control instructions forces position-controlled operation of the
axis:
● MC_Home with "Mode" = 3, 5
● MC_MoveAbsolute
● MC_MoveRelative
● MC_MoveSuperimposed
● MC_GearIn
● MC_GearInPos (S7-1500T)
● MC_CamIn (S7-1500T)
The closed loop position control remains active after completing the corresponding jobs.

S7-1500 Motion Control V4.0 in TIA Portal V15

298 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.3 Motion Control instructions

The Motion Control instruction MC_Halt is executed in position-controlled and non-position-

controlled operation. The status of the closed loop position control is not changed by
"MC_Halt".
A torque limiting activated with "MC_TorqueLimiting" is in effect even with non-position-
controlled operation.

Synchronous operation with setpoint coupling

A following axis is set into position-controlled operation with the start of a synchronous
operation job. If the leading axis is in non-position-controlled operation at the start of the
synchronous operation, the synchronous operation job remains waiting. Synchronization is
started only after position control has been activated and the start position of the
synchronization has been reached.

Note
If the leading axis is set to the non-position-controlled mode during active synchronization,
your setpoint is then set to zero. A setpoint step change is obtained as a result of coupling
the setpoint of following axis. The setpoint step change is compensated according to the
constant function. The only limiting factor is the maximum speed of the drive.

Synchronous operation with actual value coupling (S7-1500T)

A following axis is set into position-controlled operation with the start of a synchronous
operation job. If the leading axis is in non-position-controlled operation at the start of the
synchronous operation and the actual values are valid, synchronization is started.
If the leading axis is set to the non-position-controlled mode during active synchronization,
the synchronization remains active.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 299
Programming
6.4 Starting Motion Control jobs

6.4 Starting Motion Control jobs

Description
Motion Control jobs are started by setting the "Execute" or "Enable" parameter of the Motion
Control instruction. The call of the Motion Control instructions for a technology object should
occur in an execution level.
When executing Motion Control jobs, you should also take note of the status of the
technology object.
Starting Motion Control jobs should be performed in the following steps:
1. Query the status of the technology object.
2. Initiate new job for the technology object.
3. Check job status.
These steps are explained using the example of a job for absolute positioning.

1. Query the status of the technology object

Make sure that the technology object is in the appropriate status to perform the desired job:
● Has the technology object been released?
To execute motion jobs, the technology object must be enabled.
Enabling is performed using the Motion Control instruction "MC_Power".
The "MC_Power.Status" parameter (<TO>.StatusWord.X0 (Enable)) must show the value
TRUE.
● Is a technology alarm pending?
To perform motion commands, no technology alarms or alarm responses may be
pending. The tags of the technology objects <TO>.ErrorDetail.Number and
<TO>.ErrorDetail.Reaction must show the value zero. After resolving the error,
acknowledge any pending alarms using the Motion Control instruction "MC_Reset".
A list of the technology alarms and alarm reactions can be found in the appendix,
Technology alarms (Page 513).
● Has the technology object been homed?
In order to perform a job for absolute positioning, the positioning axis/synchronous axis
technology object must be homed. The referencing occurs via the Motion Control
instruction "MC_Home". The "<TO>.StatusWord.X5 (HomingDone) " tag of the
technology object must show the value TRUE .

2. Initiate new command for the technology object

In the "Position" parameter of the "MC_MoveAbsolute" instruction, specify the position to
which the axis should be moved. Start the job with a positive edge at the "Execute"
parameter.

S7-1500 Motion Control V4.0 in TIA Portal V15

300 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.4 Starting Motion Control jobs

3. Check command status

Parameter "Done" of the Motion Control instruction indicates successful completion of a job
(target reached, in this case).
If an error is detected, the "Error" parameter of the Motion Control instruction is set to TRUE,
and the job is rejected.
You can program an error handling routine for the Motion Control job. For this purpose,
evaluate the error indicated in the "Error" parameter. The cause of the error is indicated in
the ErrorID parameter. After resolving the cause of the error, restart the job.
Output of the "Error" = TRUE and "ErrorID" = 16#8001 status information during job
processing indicates that a technology alarm was triggered.
You can find a list of the ErrorIDs in the Error detection (Page 542) appendix.

Additional information
An option for the evaluation of the individual status bits, error bits, and warning bits can be
found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 301
Programming
6.5 Tracking active jobs

6.5 Tracking active jobs

6.5.1 Introduction
The current status of the job processing is made available via the output parameters of the
Motion Control instruction. These parameters are updated with each call of the Motion
Control instruction.
When tracking jobs, a distinction is made between three groups:
● Motion Control instructions with "Done" parameter (Page 302)
● Motion Control instructions without "Done" parameter (Page 306)
● Motion Control instruction "MC_MoveJog" (Page 310)

6.5.2 Motion Control instructions with "Done" parameter

Description
Jobs of Motion Control instructions with the "Done" parameter are started with a positive
edge at the "Execute" parameter. If the job was completed without errors or interruption by
another job (e.g. "MC_MoveAbsolute": Target position reached), the "Done" parameter
shows the value TRUE.
The following Motion Control instructions have a "Done" parameter:
● MC_Home
● MC_MoveRelative
● MC_MoveAbsolute
● MC_MoveSuperimposed
● MC_Halt
● MC_Reset
● MC_MeasuringInput
● MC_AbortMeasuringInput

S7-1500 Motion Control V4.0 in TIA Portal V15

302 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.5 Tracking active jobs

The behavior of the parameters is shown below by way of example for various situations:

Complete execution of the job

If the Motion Control job has been completely executed all the way to the end, this is
indicated with parameter "Done" = TRUE. The signal state of the "Execute" parameter
influences the display duration for the "Done" parameter:

You set "Execute" after completion of the job to FALSE. You set "Execute" during processing of the job to FALSE.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE during the job or the value TRUE can be retained until after completion of the job.
② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ At the completion of the job (for example, with Motion Control instruction "MC_MoveAbsolute": Target position
reached), the "Busy" parameter changes to FALSE and the "Done" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "Done" parameter also
retains the value TRUE.
⑤ If the "Execute" parameter was already set to FALSE before completion of the job, the "Done" parameter shows the
value TRUE for only one execution cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 303
Programming
6.5 Tracking active jobs

Job abort
If the Motion Control job is aborted during processing by another job, this is indicated in the
"CommandAborted" parameter with the value TRUE. The signal state of the "Execute"
parameter influences the display duration for the "CommandAborted" parameter:

You set "Execute" after the job is aborted to FALSE. You set "Execute" before the job is aborted to FALSE.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE during the job or the value TRUE can be retained until after completion of the job.
② While the job is being executed, the parameter "Busy" shows the value TRUE.

③ During job execution, the job is aborted by another Motion Control job. When the job is aborted, the "Busy" parameter
changes to "FALSE" and "CommandAborted" changes to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "CommandAborted" pa-
rameter also retains the value TRUE.
⑤ If the "Execute" parameter was already set to FALSE before the job is aborted, the "CommandAborted" parameter
shows the value TRUE for only one execution cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

304 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.5 Tracking active jobs

Error during job execution

If an error occurs during execution of the Motion Control job, this is indicated with parameter
"Error" = TRUE. The signal state of the "Execute" parameter influences the display duration
for the "Error" parameter:

You set "Execute" after the occurrence of the error to You set "Execute" before the occurrence of the error to
FALSE. FALSE.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE during the job or the value TRUE can be retained until after completion of the job.
② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to FALSE and
the "Error" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after the occurrence of the error, the "Error" parameter
also retains the value TRUE.
⑤ If the "Execute" parameter was already set to FALSE before the occurrence of the error, the "Error" parameter shows
the value TRUE for only one execution cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 305
Programming
6.5 Tracking active jobs

6.5.3 Motion Control instructions without "Done" parameter

Description
Motion Control instructions without the "Done" parameter use a special parameter to indicate
that the command objective (e.g. "InVelocity", "InGear") has been achieved. The target state
or motion is stopped until the job is aborted or an error occurs.
The following Motion Control instructions have a special parameter for indicating the job
status:
● MC_Power ("Status" parameter)
● MC_MoveVelocity ("InVeloctity" parameter)
● MC_GearIn ("InGear" parameter)
● MC_MoveJog ("InVelocity" parameter)
The special behavior of "MC_MoveJog" is described in the section Motion Control
instruction MC_MoveJog (Page 310).
● MC_TorqueLimiting ("InClamping" and "InLimitation") parameters
The following Motion Control instructions have no special parameter for indicating the job
status: Feedback is provided via the following tags:
● MC_MeasuringInputCyclic
The execution of a measuring job is indicated with parameter "Busy" = TRUE. Completed
measuring events are indicated in the corresponding event counters
<TO>.MeasuredValues.MeasuredValue1Counter and
<TO>.MeasuredValues.MeasuredValue2Counter of the technology data block.
● MC_OutputCam
The execution of a job is indicated with parameter "Busy" = TRUE. The CamOutput tag in
the associated technology data block indicates the switching state of the output cam.
● MC_CamTrack
The execution of a job is indicated with parameter "Busy" = TRUE. The TrackOutput tag
in the associated technology data block indicates the switching state of the output cam.
The behavior of the parameter is shown for various situations using the Motion Control
instruction "MC_MoveVelocity" as an example:

S7-1500 Motion Control V4.0 in TIA Portal V15

306 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.5 Tracking active jobs

Example "MC_MoveVelocity"
An "MC_MoveVelocity" job is started with a positive edge at the "Execute" parameter. The
job objective is fulfilled when the assigned velocity is reached and the axis travels at
constant velocity. When the assigned velocity is reached and maintained, this is indicated in
the "InVelocity" parameter with the value TRUE.
The motion of the axis can, for example, be stopped with an "MC_Halt" job.

The assigned velocity is reached and maintained

The achievement of the assigned velocity is indicated with parameter "InVelocity" = TRUE.
The "Execute" parameter has no effect on the display duration for the "InVelocity" parameter.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE before or after the assigned velocity has been reached. While the job is being executed, the
parameter "Busy" shows the value TRUE.
② When the assigned velocity is reached, the "InVelocity" parameter changes to TRUE. The "Busy" and "InVelocity"
parameters retain the value TRUE until another Motion Control job overrides the "MC_MoveVelocity" job.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 307
Programming
6.5 Tracking active jobs

The job is aborted before the assigned velocity is reached

If the Motion Control job is aborted by another job before the assigned velocity is reached,
this is indicated with parameter "CommandAborted" = TRUE. The signal state of the
"Execute" parameter influences the display duration for the "CommandAborted" parameter.

You set "Execute" after the job is aborted to FALSE. You set "Execute" before the job is aborted to FALSE.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE during the job or the value TRUE can be retained until after the job is aborted.
② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ During job execution, the job is aborted by another Motion Control job. When the job is aborted, the "Busy" parameter
changes to "FALSE" and "CommandAborted" changes to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "CommandAborted" pa-
rameter also retains the value TRUE.
⑤ If the "Execute" parameter was already set to FALSE before the job is aborted, the "CommandAborted" parameter
shows the value TRUE for only one execution cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

308 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.5 Tracking active jobs

An error has occurred prior to reaching the assigned velocity

If an error occurs during execution of the Motion Control job before the assigned velocity has
been reached, this is indicated with parameter "Error" = TRUE. The signal state of the
"Execute" parameter influences the display duration for the "Error" parameter.

You set "Execute" after the occurrence of the error to You set "Execute" before the occurrence of the error to
FALSE. FALSE.

① The job is started with a positive edge at the "Execute" parameter. Depending on the programming, "Execute" can be
reset to the value FALSE during the job or the value TRUE can be retained until after the error has occurred.
② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to FALSE, and
the "Error" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "Error" parameter also
retains the value TRUE.
⑤ If the "Execute" parameter was already set to FALSE before the job is aborted, the "Error" parameter shows the value
TRUE for only one execution cycle.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 309
Programming
6.5 Tracking active jobs

6.5.4 Motion Control instruction "MC_MoveJog"

Description
An "MC_MoveJog" job is started by setting the "JogForward" or "JogBackward" parameter.
The job objective is fulfilled when the assigned velocity is reached and the axis travels at
constant velocity. When the assigned velocity is reached and maintained, this is indicated in
the "InVelocity" parameter with the value TRUE.
The job is complete when the "JogForward" or "JogBackward" parameter has been set to the
value FALSE and the axis has come to a standstill.
The behavior of the parameters is presented below for various example situations:

The assigned velocity is reached and maintained

If the Motion Control job has been performed up to the point of reaching the assigned
velocity, then this is indicated in the "InVelocity" parameter with the value TRUE.

Jog mode is controlled by the "JogForward" parameter. Jog mode is controlled by the "JogBackward" parameter.

① The job is started by setting the "JogForward" or "JogBackward" parameter.

② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ When the assigned velocity is reached, the "InVelocity" parameter changes to TRUE.

④ When the "JogForward" or "JogBackward" parameter is reset, the motion of the axis ends. The axis decelerates. The
"InVelocity" parameter changes to FALSE.
⑤ If the axis has come to a standstill, then the Motion Control job is complete and the "Busy" parameter changes to
FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

310 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.5 Tracking active jobs

The job is aborted during execution

If the Motion Control job is aborted during processing by another job, this is indicated in the
"CommandAborted" parameter with the value TRUE. The behavior of the
"CommandAborted" parameter is independent of reaching the assigned velocity.

Jog mode is controlled by the "JogForward" parameter. Jog mode is controlled by the "JogBackward" parameter.

① The job is started by setting the "JogForward" or "JogBackward" parameter.

② While the job is processing, the "Busy" parameter shows the value TRUE.

③ During job execution, the job is aborted by another Motion Control job. When the job is aborted, the "Busy" parameter
changes to "FALSE" and "CommandAborted" changes to TRUE.
④ When the "JogForward" or "JogBackward" parameter is reset, the "CommandAborted" parameter likewise changes to
FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 311
Programming
6.5 Tracking active jobs

An error occurs during the execution of the job

If an error occurs during execution of the Motion Control job, this is indicated in the "Error"
parameter with the value TRUE. The behavior of the "Error" parameter is independent of
reaching the assigned velocity.

Jog mode is controlled by the "JogForward" parameter. Jog mode is controlled by the "JogBackward" parameter.

① The job is started by setting the "JogForward" or "JogBackward" parameter.

② While the job is being executed, the "Busy" parameter shows the value TRUE.

③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to "FALSE",
and "Error" changes to TRUE.
④ When the "JogForward" or "JogBackward" is reset to the value FALSE, the "Error" parameter likewise changes to
FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

312 Function Manual, 12/2017, A5E03879256-AE
 Programming
6.6 Ending Motion Control jobs

6.6 Ending Motion Control jobs

When a job is ended, a distinction is made between error-free completion of the job and a
motion abort.

Completion of job
The completion of a Motion Control job is indicated as described in the Tracking running jobs
(Page 302) section.

Job termination
The termination and substitution behavior are described in the section Override response of
Motion Control jobs V4 (Page 428). Special pending jobs can be cancelled with
"MC_Power".

Motion abort
If a motion must be aborted, you can perform the following measures:
● Execute "MC_Halt (Page 374)"
To abort a motion and stop the axis, you can use the "MC_Halt" instruction.
● Deactivate "MC_Power (Page 361)"
In an emergency, you can stop the axis via an emergency stop ramp. To do so, set the
"Enable" parameter of the "MC_Power" instruction to FALSE. The axis is decelerated
according to the selected "StopMode" and all jobs for the technology object are aborted.

Measuring job abort

With the Motion Control instruction "MC_AbortMeasuringInput", an active one-time or cyclic
measuring job is aborted.

Cancellation of an active output cam/cam track

● "MC_OutputCam (Page 407)"
An active output cam is disabled when the "Enable" parameter of Motion Control
instruction "MC_OutputCam" is set to FALSE.
● "MC_CamTrack (Page 410)"
An active cam track is disabled when the "Enable" parameter of Motion Control
instruction "MC_CamTrack" is set to FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 313
Programming
6.7 Restart of technology objects

6.7 Restart of technology objects

Description
After the CPU is switched on, or after technology objects are downloaded into the CPU, the
system automatically initializes the technology objects with the start values from the
technology data blocks. If restart-relevant changes are detected during a reload into the
CPU, a restart of the technology object is automatically performed.
If restart-relevant data have been changed in RUN mode by the user program, then the
technology object must be reinitialized by the user in order for the changes to be used. At a
RUN → STOP transition, the CPU automatically performs a restart of technology objects with
restart-relevant changes.
If changes in the technology data block should also be retained after the restart of the
technology object, then you must write the changes to the start value in load memory using
the extended instruction "WRIT_DBL".

Restart required
A necessary TO restart is indicated at "Technology object > Diagnostics > Status and error
bits > Axis status or Encoder status > Online start value changed", as well as in the tag of
technology object <TO>.StatusWord.X3 (OnlineStartValuesChanged).

Restarting a technology object

A restart of the technology object is triggered by the user by means of the "MC_Reset"
Motion Control instruction, with parameter "Restart" = TRUE.
During a restart, all configuration data of the technology object are loaded from load memory
into work memory. In the process, the actual values in the technology data block are
overwritten.
Note the following during a restart of the technology object:
● A restart resets the "Referenced" status of a technology object with incremental actual
values (<TO>.StatusWord.X5 (HomingDone).
● While a restart is being performed, the technology object cannot perform any jobs. An
active restart will be indicated under "Technology object > Diagnostics > Status and error
bits > Axis status or Encoder status > Restart active", and in the <TO>.StatusWord.X2
(RestartActive) tag of the technology object.
● Motion Control jobs are rejected during a restart with the "Error" = TRUE and
"ErrorID" = 16#800D parameters (job not executable, because a restart is active).
● While a restart is being executed, you cannot access the technology data block.

See also
Change restart-relevant data (Page 289)

S7-1500 Motion Control V4.0 in TIA Portal V15

314 Function Manual, 12/2017, A5E03879256-AE
Downloading to CPU 7
Description
When downloading to the CPU S7-1500, it is always verified that the project files are
consistent online and offline after the download.
The data of the technology objects are saved in technology data blocks. The conditions for
downloading blocks thus apply when loading new or modified technology objects.

Load in RUN mode

When loading in the CPU's RUN mode, it is checked whether a load without restart of the
technology objects is possible.
If restart-relevant configuration values were changed, then a restart of the technology object
is automatically performed after the load into the CPU.
Loading a technology object is only possible if the technology object is disabled.
You cannot download the following changes to the CPU in RUN mode:
● Changes to the MC-Servo clock speeds
● Changes to the hardware interface of the technology object in "Technology object >
Configuration > Hardware interface"

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 315
Commissioning 8
8.1 Introduction
The following guidelines describe the steps that you should note when commissioning the
Motion Control-specific components of your equipment.
The commissioning of other components of your automation system depends on the
particular equipment configuration. Commissioning (not Motion Control) is described in the
Automation System S7-1500
(http://support.automation.siemens.com/WW/view/en/59191792) system manual.

8.2 Commissioning guidelines

These guidelines serve as recommendations for commissioning equipment with Motion
Control. The procedure is described using the example of a positioning axis technology
object.

Requirement
● The configuration of the following components is complete:
– CPU
– BUS communication
– Drives
– Technology objects
● The user program has been created.
● The wiring of the CPU and of the associated I/O is complete.
● The commissioning and optimization of the drive is complete.

S7-1500 Motion Control V4.0 in TIA Portal V15

316 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.2 Commissioning guidelines

Procedure
Proceed as follows to commission the Motion Control-specific components of your
equipment:

Step Action to be performed Supported by TIA Portal

Turn on CPU Turn on the power supply and the CPU. -
"Disable" position con- Set the gain (Kv factor) of the position control loop to zero. "Technology object > Configu-
troller (This setting avoids unwanted drive movements that may be ration > Extended parameters >
caused by incorrect parameterization of the position control Control loop"
loop.)
Activate precontrol Set the precontrol to 100 %. "Technology object > Configu-
ration > Extended parameters >
Control loop"
Load project into the Bring the CPU to the STOP mode. • "Toolbar > Stop CPU"
CPU Download your project to the CPU (load hardware and soft- • "Toolbar > Download to
ware). device"
Create online connec- Select the "Receive messages" check box under "Online & • Device configuration
tion to the CPU Diagnostics > Online Access".
• "Online & Diagnostics >
Configure the interface of the TIA Portal, and create an online Online Access"
connection with the CPU.
Disable Motion Control In order to avoid conflicts with the axis control panel, lock the • PLC programming
specific user program enabling of technology objects in your user program
• Motion Control instructions
(MC_Power.Enable = FALSE).
Evaluating pending Evaluate the message display in the inspector window. Re- "Inspector window > Diagnos-
messages solve the causes of pending technology alarms. Acknowledge tics > Message display"
the technology alarms (Page 333).
Check hardware limit Click the hardware limit switches. Check for correct message "Inspector window > Diagnos-
switches display (technology alarm 531). Acknowledge the technology tics > Message display"
alarm.
Check the connection Bring the CPU into the RUN mode. "Technology object > Commis-
and configuration of the Open the Axis control panel (Page 319) and take over control. sioning > Axis control panel"
drive (setpoint)
Perform the following steps:
• Enable the technology object.
⇒ The drive must turn itself on, and where applicable re-
lease the brake. The position is held.
• Move the axis in jog mode at low velocity in the positive
direction.
⇒ The drive must move. The actual position value must in-
crease (positive direction).
• Disable the technology object.
⇒ The drive must turn itself off, and where applicable apply
the brake.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 317
Commissioning
8.2 Commissioning guidelines

Step Action to be performed Supported by TIA Portal

Check the connection Check the scaling of the actual values (rotation direction, dis- • "Technology object > Diag-
and configuration of the tance evaluation, and resolution of the encoder) nostics > PROFIdrive
encoder (actual value) ⇒ The change in the actual mechanical position must match frame"
the change in the actual values.
• "Technology object > Com-
missioning > Axis control
panel"
Checking the reference Traverse the axis in jog mode at low velocity in the positive • "Technology object > Hard-
speed direction. ware interface > Data ex-
⇒ The displayed current velocity must match the velocity set- change"
point.
• "Technology object > Com-
If the displayed current velocity deviates significantly from the missioning > Axis control
velocity setpoint, adjust the reference speed. panel"
Optimize position con- Use the Optimization (Page 325) commissioning function to "Technology object > Commis-
troller optimize the gain (Kv) of the position control loop. sioning > Optimization"
For this purpose, adapt following error limits as needed.
Transfer the gain Kv to Enter the gain Kv that you determined by means of the optimi- "Technology object > Configu-
the project. zation function in your configuration data. Load your project ration > Extended parameters >
into the CPU. Control loop"
Enable Motion Control Unlock the enabling technology objects lock in your user pro- • PLC programming
specific user program gram (MC_Power.Enable = TRUE).
• Motion Control instructions
Check the functioning Check the programmed functions of your user program. • Watch and force tables
of the user program
• Online and diagnostic func-
tions
End of commissioning To commission additional technology objects, perform the See above.
for a positioning axis corresponding steps again.
technology object

S7-1500 Motion Control V4.0 in TIA Portal V15

318 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.3 Axis control panel

8.3 Axis control panel

8.3.1 Function and structure of the axis control panel

You traverse individual axes with the axis control panel. A user program is not necessary for
the operation of the axis control panel. With the axis control panel, you assume master
control for a technology object and control the motions of the axis.

WARNING
Uncontrolled axis motions
During operation with the axis control panel, the axis can execute uncontrolled motions
(e.g. due to erroneous configuration of the drive or the technology object). Furthermore, any
synchronized following axis is moved as well when moving a leading axis with the axis
control panel.
Therefore, perform the following protective measures before operation with the axis control
panel:
• Ensure that the EMERGENCY OFF switch is within the reach of the operator.
• Enable the hardware limit switches.
• Enable the software limit switches.
• Ensure that following error monitoring is enabled.
• Make sure that no following axis is coupled to the axis to be moved.

The axis control panel of the speed axis, positioning axis and synchronous axis can be found
in the project tree under "Technology object > Commissioning".
The axis control panel is divided into the following areas:
● Master control
● Axis
● Operating mode
● Modify
● Axis status
● Actual values

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 319
Commissioning
8.3 Axis control panel

Elements of the axis control panel

The following table lists the elements of the axis control panel:

Area Element Description

Master control In the "Master control" area, you assume master control of the technology object or
return it to your user program.
"Activate" button With the "Activate" button, you set up an online connection to the CPU and take over
master control for the selected technology object.
• To take over master control, the technology object must be disabled in the user
program.
• Any synchronized following axis is moved as well when moving a leading axis
with the axis control panel.
• If the online connection to the CPU is lost during operation with the axis control
panel, then after the sign of life monitoring has elapsed, the axis will be stopped
with maximum deceleration. In this case, an error message is displayed
("ErrorID" = 16#8013) and the master control is passed back to the user program.
• If the axis control panel is covered by a dialog, such as "Save as", during its op-
eration with the axis control panel, the axis is stopped with maximum deceleration
and the master control is returned to the user program.

If the "Stop" button is covered during operation with the axis control panel, for
example by scrolling or by another window, the master control is retained but the
axis is stopped with maximum deceleration.

If you change to another window within the TIA Portal, to the project tree for ex-
ample, during operation with the axis control panel, the master control and motion
of the axis is maintained, provided that the axis control panel is embedded in the
TIA Portal. If the axis control panel is replaced by the TIA Portal and you change
to another window within the TIA Portal, to the project tree for example, the mas-
ter control is retained but the axis is stopped with maximum deceleration.

If you change to another window outside the TIA Portal during operation with the
axis control panel, the master control is retained but the axis is stopped with
maximum deceleration.
• When you click the "Activate" button, a warning message is displayed. In the
warning, you can adapt the sign-of-life monitoring (100 to 60000 ms).

If the master control of the axis control panel is lost repeatedly without a direct er-
ror message, the online connection to the CPU may be impaired because the
communication load is too high. In this case, the message "Error during commis-
sioning" is entered in the message display log. Sign-of-life failure between con-
troller and TIA Portal" is displayed.

To eliminate this error, adapt the sign-of-life monitoring in the warning.

• Until master control is returned, the user program has no influence on the func-
tions of the technology object. Motion Control jobs from the user program to the
technology object are rejected with error ("ErrorID" = 16#8012: Axis control panel
enabled).

S7-1500 Motion Control V4.0 in TIA Portal V15

320 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.3 Axis control panel

Area Element Description

• When master control is taken over, the configuration of the technology object is
adopted. Changes to the configuration of the technology object do not take effect
until leading control has been returned. Therefore, make any necessary changes
before master control is assumed again.
If master control has been taken over for the technology object, the axis control panel
is blocked for access by another instance of the TIA Portal (Team Engineering as of
CPU V1.5).
"Deactivate" With the "Deactivate" button, you return master control to your user program.
button
Axis In the "Axis" area, you can enable or disable the technology object.
"Enable" button With the "Enable" button, you enable the selected technology object
"Disable" button With the "Disable" button, you disable the selected technology object
Operating mode Select the required mode in the "Operating mode" drop-down list.
Modify The "Control" area displays the parameters for traversing with the axis control panel
according to the selected operating mode.
Position Position to which the axis is homed.
("Homing" and "Set home position" modes only)
Distance Distance the axis is traversed.
("Relative positioning" mode only)
Target position Position to which the axis is traversed.
("Absolute positioning" mode only)
Velocity/ Velocity or speed at which the axis is traversed.
Velocity setpoint Default: 10% of the default value
(Velocity/speed setpoint, "Jog" and "Positioning" modes only)
Acceleration Acceleration with which the axis is traversed.
Default: 10% of the default value
Deceleration Deceleration with which the axis is traversed.
Default: 10% of the default value
Jerk Jerk with which the axis is traversed.
Default: 100% of default value
"Start" button With the "Start" button, you start a job according to the selected operating mode.
"Forward" button With the "Forward" button, you start a motion in the positive direction according to the
selected operating mode.
"Backward" With the "Backward" button, you start a motion in the negative direction according to
button the selected operating mode.
"Stop" button With the "Stop" button, you cancel a job or stop the axis.
If the "Stop" button is covered during operation with the axis control panel, for exam-
ple by scrolling or by another window, the master control is retained but the axis is
stopped with maximum deceleration.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 321
Commissioning
8.3 Axis control panel

Area Element Description

Axis status The "Axis status" area displays the status of the axis and the status of the drive.
Drive ready Drive is ready to execute setpoints.
Error An error occurred at the technology object.
Enabled The technology object has been enabled. The axis can be moved with motion jobs.
Homed The technology object is homed.
More The "More" link takes you to the window "Technology object > Diagnostics > Status
and error bits".
Active errors The error that occurred most recently is displayed in the "Active errors" text field.
"Confirm" button With the "Confirm" button, you acknowledge pending errors.
Alarm display You can access the alarm display in the Inspector window by clicking on the "Alarm
display" link.
Actual values The "Current values" area shows the actual values of the axis.
Position Actual position of the axis
Velocity Actual velocity of the axis

Note
No transfer of the parameters
The configured parameter values are discarded when master control is returned. Transfer
the values as needed into your configuration.
If you have changed configuration values during operation with the axis control panel, these
changes have no effect on the operation of the axis control panel.

S7-1500 Motion Control V4.0 in TIA Portal V15

322 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.3 Axis control panel

Operating mode
The following table shows the operating modes of the axis control panel:

Operating mode Description

Homing This function corresponds to active homing. The parameters for homing (Page 69) must be con-
figured.
Homing is not possible with an absolute encoder. The technology object is not referenced when
this mode is used with an absolute encoder.
Set home position This function corresponds to direct homing (absolute).
With the "Start" button, you set the actual position to the value specified in "Position" and the
"Homed" status is set.
Jog Motion commands occur by means of jogging.
With the "Forward" or "Backward" button you start motion in the positive or negative direction. The
motion runs for as long as you hold down the left mouse button.
Velocity specifica- The axis is moved at the specified velocity or speed until you stop the movement.
tion/speed setpoint The motion commands are performed according to the setpoints assigned under "Controller".
Positioning relative The positioning is executed as a controlled, relative traversing motion according to the defaults
assigned under "Controller".
Positioning absolute The positioning is executed as a controlled, absolute traversing motion according to the defaults
assigned under "Controller".
If you have enabled the "Modulo" setting of the technology object, the buttons "Forward" and
"Backward" are shown in the "Controller" area. The axis is positioned within the modulo range.
Position settings outside the modular range are recalculated to the modulo range.
If you have not enabled the "Modulo" setting of the technology object, only the "Start" button is
shown in the "Controller" area. You can directly approach the entered position.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 323
Commissioning
8.3 Axis control panel

8.3.2 Using the axis control panel

You traverse individual axes with the axis control panel. You assume master control of a
technology object and control the motions of the axis.

Requirement
● The project has been created and downloaded to the CPU.
● The CPU must be in the RUN mode.
● The technology object is disabled by your user program ("MC_Power.Enable" = FALSE).
● The axis control panel for the technology object is not used by another instance of the
TIA Portal (Team Engineering as of CPU V1.5).

Procedure
Proceed as follows to enable control the axis using the axis control panel:
1. To assume master control of the technology object and to set up an online connection to
the CPU, click "Activate" in the "Master control" area.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and click "OK".
3. To enable the technology object, click the "Enable" button in the "Axis" area.
4. In the drop-down list in the "Operation mode" area, select the desired function of the axis
control panel.
5. In the "Control" area, specify the parameter values for your job.
6. Depending on the mode selected, click the "Start", "Forward" or "Backward" button to
start the job.
7. Click the "Stop" button to stop the job.
8. Repeat steps 4 through 6 for additional jobs.
9. To disable the technology object, click the "Disable" button in the "Axis" area.
10.To return master control to your user program, click the "Deactivate" button in the "Master
control" area.

S7-1500 Motion Control V4.0 in TIA Portal V15

324 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.4 Optimization

8.4 Optimization

8.4.1 Function and structure of the optimization

Description
The "Optimization" function supports you in determining the optimal precontrol and gain
(Kv factor) for the closed loop position control of the axis. The axis velocity profile is recorded
by means of the Trace function for this purpose for the duration of a configurable positioning
movement. You can then evaluate the recording, and adjust the precontrol and gain
accordingly.

WARNING
Uncontrolled axis motions
During operation with the optimization, the axis can execute uncontrolled motions (for
example, due to erroneous configuration of the drive or the technology object). In addition,
when a leading axis is moved, any synchronized following axis is also moved.
Therefore, perform the following protective measures before operation with the
optimization:
• Ensure that the EMERGENCY OFF switch is within the reach of the operator.
• Enable the hardware limit switches.
• Enable the software limit switches.
• Ensure that following error monitoring is enabled.
• Make sure that no following axis is coupled to the axis to be moved.

The "Optimization" function for the positioning axis and synchronous axis technology objects
can be found in the project tree under "Technology object > Commissioning".
The "Tuning" dialog is divided into the following areas:
● Master control
● Axis
● Measurement configuration
● Optimize position controller
● Run measurement
● Trace

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 325
Commissioning
8.4 Optimization

The following table lists the elements of optimization:

Area Element Description

Master control In the "Master control" area, you take over master control of the technology object, or
return it to your user program.
"Activate" button With the "Activate" button, you set up an online connection to the CPU and take over
master control for the selected technology object.
• To take over master control, the technology object must be disabled in the user
program.
• Any synchronized following axis is moved as well when moving a leading axis
with the axis control panel.
• If the online connection to the CPU is lost during operation with the axis control
panel, then after the sign of life monitoring has elapsed, the axis will be stopped
with maximum deceleration. In this case, an error message is displayed
("ErrorID" = 16#8013) and the master control is passed back to the user program.
• When you click the "Activate" button, a warning message is displayed. You can
adapt the sign-of-life monitoring here (100 to 60000 ms).

If the master control of the axis control panel is lost repeatedly without a direct er-
ror message, the online connection to the CPU may be impaired because the
communication load is too high. In this case, the message "Error during commis-
sioning" is entered in the message display log. Sign-of-life failure between con-
troller and TIA Portal" is displayed.

To eliminate this error, adapt the sign-of-life monitoring in the warning.

• Until master control is returned, the user program has no influence on the func-
tions of the technology object. Motion Control jobs from the user program to the
technology object are rejected with error ("ErrorID" = 16#8012: Axis control panel
enabled).
• When master control is taken over, the configuration of the technology object is
adopted. Changes to the configuration of the technology object do not take effect
until master control has been returned. For this reason, make any necessary
changes before master control is taken over.
• If master control has been taken over for the technology object, the axis control
panel is blocked for access by another installation of the TIA Portal (Team Engi-
neering as of CPU V1.5).
"Deactivate" With the "Deactivate" button, you return master control to your user program.
button
Axis In the "Axis" area, enable or disable the technology object.
"Enable" button With the "Enable" button, you enable the selected technology object
"Disable" button With the "Disable" button, you disable the selected technology object

S7-1500 Motion Control V4.0 in TIA Portal V15

326 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.4 Optimization

Area Element Description

Measurement In the "Measurement configuration" area, you configure the settings for a test step.
configuration Distance Travel distance for a test step
Measurement Time for a test step
duration
"Customize The "Dynamics adapt" check box allows you to adapt the acceleration, deceleration
dynamics" check and maximum velocity.
box As long as the "Commissioning" working area is open, the previously set values are
displayed when the check box is selected again.
Acceleration Presetting of the acceleration for a test step
Deceleration Default setting for delaying a test step
Maximum ve- Presetting of the maximum velocity for a test step
locity
Optimize posi- In the "Optimize position controller" area, you make the settings for optimization of
tion controller the controller characteristics.
You open a list of values using the symbol next to the field. The list of values
contains the following values of the respective parameter:
• Online actual value
• Online start value
• Project start value

Enter the new value in the text field for the actual value. The new value is applied
by clicking the "Forward" or "Backward" button in the "Run measurement" area.
Precontrol Current percentage velocity precontrol of the position controller
Speed control Current speed control loop substitute time
loop substitute With velocity precontrol, a simplified speed control loop model can be generated
time using the speed control loop substitute time. This prevents overmodulation by the
position controller of the manipulated variable for velocity during the acceleration and
deceleration phases. To accomplish this, the position setpoint of the position control-
ler is delayed by the amount of the speed control loop substitute time in relation to
the velocity precontrol.
Gain Current gain of the position controller (Kv)
Run measure- In the "Run measurement" area, you perform the test steps.
ment "Forward" button With the "Forward" button, you start a test step for optimization in the positive direc-
tion.
"Backward" With the "Backward" button, you start a test step for optimization in the negative
button direction.
"Stop" button You stop a test step with the "Stop" button. The axis decelerates with the configured
maximum deceleration.
If another window is superimposed on the "Stop" button, the axis stops.
Trace The Trace function is displayed in the lower area of the "Tuning" dialog.
With each test step, a Trace recording of the required parameters is automatically
started and displayed after completion of the test step.
After master control has been returned, the Trace recording is deleted.
You can find a full description of the trace function in the section on using the trace
and logic analyzer function.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 327
Commissioning
8.4 Optimization

Note
No automatic transfer of the parameters to the technology object
The configured parameter values are discarded after master control is returned.
Transfer the values as needed into your configuration. You can apply the values for the gain,
precontrol and speed control loop substitute time in your configuration using the "Project
start value" value.

See also
Closed-loop control (Page 92)

S7-1500 Motion Control V4.0 in TIA Portal V15

328 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.4 Optimization

8.4.2 Optimize position controller

Requirements
● The CPU must be in the RUN mode.
● The project has been created and downloaded to the CPU.
● The technology object is disabled by your user program (MC_Power.Enable = FALSE).
● The axis control panel for the technology object is not used by another installation of the
TIA Portal (Team Engineering as of CPU V1.5).

Optimizing position control gain (Kv)

Proceed as follows to optimize the gain (Kv):
1. In the "Master control" area, click the "Activate" button to activate master control for the
technology object, and to establish an online connection to the CPU.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and confirm with "OK".
3. In the "Axis" area, click the "Enable" button to enable the technology object.
4. If necessary, configure values for the distance, duration, and dynamics of a test step in
the "Measurement configuration" area.
5. If necessary, configure values for the precontrol and speed control loop substitute time of
a test step in the "Configure position controller" area.
6. Enter a start value for the gain. Start with a low value.
7. Click the "Forward" or "Start" button to start a test step for the optimization.
For the specified duration, a setpoint is output according to the specified distance. The
axis moves by the specified distance. A trace recording of the motion (setpoint and actual
values) is created automatically.
You can find a full description of the trace function in the section on using the trace and
logic analyzer function.

Note
Adapt following error limits
If error messages from following error monitoring are repeatedly displayed during
optimization, temporarily adapt the following error limits.

8. Evaluate the curve of the trace recording. Adapt the gain incrementally. Click the
"Forward" or "Backward" button after each value you enter. This applies the value and
start a new movement and trace recording each time.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 329
Commissioning
8.4 Optimization

When adjusting the gain, pay attention to the following properties of the curve:
● The curve shows a brief compensation time.
● The curve does not show any motion reversal of the actual position.
● When approaching the position setpoint, no overshoot occurs.
● The curve shows a stable overall behavior (oscillation-free curve).
The following trace recording shows a curve with a long settling time:

The following trace recording shows a curve with overshoot when approaching the setpoint:

S7-1500 Motion Control V4.0 in TIA Portal V15

330 Function Manual, 12/2017, A5E03879256-AE
 Commissioning
8.4 Optimization

The following trace recording shows a curve in which the gain is optimal and the overall
response is steady:

Transferring the parameter values of the position controller to the project

To transfer the determined parameter values of the position controller to your project, follow
these steps:
1. Click the icon next to the field of the respective parameter.
A list of values is displayed.
2. Enter the measured value in the "Project start value" field of the value list.
3. In the "Axis" area, click the "Disable" button to disable the technology object.
4. In the "Master control" area, click the "Deactivate" button to return master control to your
user program.
5. Load your project into the CPU.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 331
Diagnostics 9
9.1 Introduction
The Diagnostics section is limited to describing the diagnostic concept for Motion Control
and describing the Diagnostics view of the individual technology objects in the TIA Portal.
For more information about system diagnostics with the S7-1500 CPU, refer to the
"Diagnostics" (http://support.automation.siemens.com/WW/view/en/59192926) function
manual.

9.2 Diagnostic concept

The diagnostic concept encompasses alarms and associated messages, as well as error
messages in the Motion Control instructions. The TIA Portal also supports you with
consistency checks during configuration of the technology objects, and during the creation of
your user program.
All alarms in runtime (from the CPU, technology, hardware etc.) are displayed in the
Inspector window of the TIA Portal. Diagnostic information that relates to technology objects
(technology alarms, status information) are additionally displayed in the Diagnostics window
of the respective technology object.
During motion control, if an error occurs at a technology object (e.g. approaching a hardware
limit switch), then a technology alarm (Page 333) is triggered, and a corresponding message
is displayed in the TIA Portal as well as on HMI devices.
In your user program, technology alarms are generally signaled via error bits in the
technology data block. The number of the technology alarm with the highest priority is also
displayed. In order to simplify error evaluation, the "Error" and "ErrorID" parameters of the
Motion Control instructions also indicate that a technology alarm is pending.
Program errors (Page 337) can occur during parameter assignment or during the processing
sequence of the Motion Control instructions (e.g. invalid parameter specification when calling
the instruction, initiation of a job without enable via MC_Power). Motion Control instruction
errors are indicated at the call of instructions using the "Error" and "ErrorID" parameters.

S7-1500 Motion Control V4.0 in TIA Portal V15

332 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.3 Technology alarms

9.3 Technology alarms

Description
If an error occurs at a technology object (e.g. approaching a hardware limit switch), a
technology alarm is triggered and indicated. The impact of a technology alarm on the
technology object is specified by the alarm reaction.

Alarm classes
Technology alarms are divided into three classes:
● Acknowledgeable warning
The processing of Motion Control job is continued. The current motion of the axis can be
influenced, e.g. by limiting the current dynamic values to the configured limit values.
● Alarm requiring acknowledgment
Motion jobs are aborted in accordance with the alarm reaction. You must acknowledge
the alarms in order to continue execution of new jobs after eliminating the cause of the
error.
● Fatal error
Motion jobs are aborted in accordance with the alarm reaction.
To be able to use the technology object again after eliminating the cause of the error, you
must restart the technology object (Page 314).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 333
Diagnostics
9.3 Technology alarms

Display of technology alarms

A technology alarm is displayed in the following locations:
● TIA Portal
– "Technology object > Diagnostics > Status and error bits"
Display of pending technology alarms for each technology object.
– "Technology object > Commissioning > Axis control panel"
Display of the last pending technology alarm for each technology object.
– "Inspector window > Diagnostics > Message display"
Select the "Receive messages" check box under "Online & Diagnostics > Online
Access" in order to display technology alarms via the message display.
With an online connection to the CPU, the pending technology alarms for all
technology objects are displayed. Additionally, the archive view is available to you.
The message display can also be activated and displayed on a connected HMI.
– "CPU > Online & diagnostics"
Display of the technology alarms that have been entered in the diagnostic buffer.
● User program
– Tags <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
Indication of the number and the reaction of the technology alarm with the highest
priority.
– Tag <TO>.StatusWord
A pending technology alarm is indicated with bit 1 ("Error").
– Tag <TO>.ErrorWord
Indication of alarms and fatal errors.
– Tag <TO>.WarningWord
Indication of warnings.
– Parameter "Error" and "ErrorID"
In a Motion Control instruction, the parameters "Error" = TRUE and "ErrorID" =
16#8001 indicate that a technology alarm is pending.
● Display of the CPU
In order to show technology alarms on the CPU display, make the following setting when
loading to the CPU:
In the "Load preview" dialog, select the action "Consistent download" for the "Text
libraries" entry.

Alarm reaction
A technology alarm always contains an alarm reaction, which describes the impact on the
technology object. The alarm reaction is specified by the system.

S7-1500 Motion Control V4.0 in TIA Portal V15

334 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.3 Technology alarms

The following table shows possible alarm reactions:

Alarm reaction Description

Axes (speed axis, positioning axis, synchronous axis)
No reaction (warnings only) The processing of Motion Control job is continued. The current motion of the axis
<TO>.ErrorDetail.Reaction = 0 can be influenced, e.g. by limiting the current dynamic values to the configured
limit values.
Stop with current dynamic values Active motion commands are aborted. The axis is braked with the dynamic val-
<TO>.ErrorDetail.Reaction = 1 ues that present in the Motion Control instruction and brought to a standstill.
Stop with maximum dynamic values Active motion commands are aborted. The axis is braked with the dynamic val-
<TO>.ErrorDetail.Reaction = 2 ues configured under "Technology object > Extended parameters > Dynamic
limits", and brought to a standstill. The configured maximum jerk is hereby taken
into account.
Stop with emergency stop ramp Active motion commands are aborted. The axis is braked with the emergency
<TO>.ErrorDetail.Reaction = 3 stop deceleration configured under "Technology object > Extended parameters >
Emergency stop ramp", without any jerk limit, and brought to a standstill.
Remove enable Active motion commands are aborted. The setpoint zero is output and the enable
<TO>.ErrorDetail.Reaction = 4 is removed. The axis is braked to a standstill according to the configuration in the
drive.
Track setpoints Active motion commands are aborted. The setpoint zero is output and the enable
<TO>.ErrorDetail.Reaction = 5 is removed. The actual values supplied by the drive are automatically tracked as
setpoints.
Other technology objects (output cam, cam track, measuring input, cam, external encoder)
No reaction (warnings only) The processing of Motion Control job is continued. The current motion of the axis
<TO>.ErrorDetail.Reaction = 0 can be influenced, e.g. by limiting the current dynamic values to the configured
limit values.
Terminate processing of the technology Processing of the technology object is terminated. All running Motion Control jobs
object: are aborted.
• Output cam

<TO>.ErrorDetail.Reaction = 6
• Cam track
<TO>.ErrorDetail.Reaction = 7
• Measuring input

<TO>.ErrorDetail.Reaction = 8
• Cam

<TO>.ErrorDetail.Reaction = 9
• External encoder
<TO>.ErrorDetail.Reaction = 10

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 335
Diagnostics
9.3 Technology alarms

Acknowledging technology alarms

You can acknowledge technology alarms as follows:
● TIA Portal
– "Technology object > Commissioning > Axis control panel"
Click "Confirm" to acknowledge all alarms and warnings pending for the selected
technology object.
– "Inspector window > Diagnostics > Message display"
You can acknowledge the alarms and warnings for all technology objects either
individually, or all at once.
● HMI
At an HMI with enabled message display, you can acknowledge the alarms and warnings
for all technology objects either individually, or all at once.
● User program
Acknowledge pending technology alarms for a technology object with the Motion Control
instruction "MC_Reset".

Additional information
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

S7-1500 Motion Control V4.0 in TIA Portal V15

336 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.4 Errors in Motion Control instructions

9.4 Errors in Motion Control instructions

Description
Errors in Motion Control instructions (e.g. invalid parameter value setting) are indicated by
the "Error" and "ErrorID" output parameters.
Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated for the
Motion Control instruction:
● Illegal status of the technology object, which prevents the execution of the job.
● Invalid parameter assignment of the Motion Control instruction, which prevents the
execution of the job.
● As a result of the alarm reaction for a technology object error.

Error display
If there is a Motion Control instruction error, the "Error" parameter shows the value TRUE.
The cause of the error is given in the "ErrorID" parameter.
Jobs to the technology object are rejected when "Error" = TRUE. Running jobs are not
influenced by rejected jobs.
If "Error" = TRUE and "ErrorID" = 16#8001 is indicated during job execution, a technology
alarm has occurred. In this case, evaluate the indication of the technology alarm.
If "Error" = TRUE is displayed during execution of a "MC_MoveJog" job, the axis is braked
and brought to a standstill. In this case, the deceleration configured for the "MC_MoveJog"
instruction takes effect.

Acknowledge error
Acknowledging errors in Motion Control instructions is not required.
Restart a job after resolving the error.

Additional information
You can find a list of the ErrorIDs in the Error detection (Page 542) appendix.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 337
Diagnostics
9.5 Speed-controlled axis technology object

9.5 Speed-controlled axis technology object

9.5.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Axis status
The following table shows the possible axis status values:

Status Description
Simulation active The axis is simulated in the CPU. Setpoints are not output to the drive.
Enabled The technology object has been enabled. The axis can be moved with motion jobs.
(<TO>.StatusWord.X0 (Enable))
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized.
(<TO>.StatusWord.X2 (RestartActive))
Axis control panel enabled The axis control panel is active. The axis control panel has master control over the technol-
ogy object. The axis cannot be controlled from the user program.
(<TO>.StatusWord.X4 (ControlPanelActive))
Drive ready Drive is ready to execute setpoints.
(<TO>.StatusDrive.InOperation)
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

S7-1500 Motion Control V4.0 in TIA Portal V15

338 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.5 Speed-controlled axis technology object

Motion status
The following table shows the possible axis motion status values:

Status Description
Done (no job running) No motion job is running for the technology object.
(<TO>.StatusWord.X6 (Done))
Jog The axis is being moved with a job for jog mode of Motion Control instruction
"MC_MoveJog" or from the axis control panel.
(<TO>.StatusWord.X9 (JogCommand))
Speed setpoint The axis is traversed with a job with speed setpoint of the Motion Control instruction
"MC_MoveVelocity" or using the axis control panel.
(<TO>.StatusWord.X10 (VelocityCommand))
Constant speed The axis is moved with constant speed or is stationary.
(<TO>.StatusWord.X12 (ConstantVelocity))
Accelerating Axis is being accelerated.
(<TO>.StatusWord.X13 (Accelerating))
Decelerating The axis is being decelerated.
(<TO>.StatusWord.X14 (Decelerating))
Torque limiting enabled The configured threshold for the force/torque affects the axis.
(<TO>.StatusWord.X27 (InLimitation))

Warnings
The following table shows the possible warnings:

Warning Description
Configuration One or several configuration parameters are adapted internally at a given time.
(<TO>.WarningWord.X1 (ConfigWarning))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because necessary requirements have not
been met.
(<TO>.WarningWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are limited to the dynamic limits.
(<TO>.WarningWord.X6 (DynamicError))

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 339
Diagnostics
9.5 Speed-controlled axis technology object

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Drive An error occurred in the drive.
(<TO>.ErrorWord.X4 (DriveFault))
Data exchange Communication with a connected device is faulty.
(<TO>.ErrorWord.X7 (CommunicationFault))
I/O An error occurred accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because necessary requirements have not
been met (e.g. technology object not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are limited to the dynamic limits.
(<TO>.ErrorWord.X6 (DynamicError))

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (speed axis) (Page 439)
ErrorWord tag (speed axis) (Page 441)
WarningWord tag (speed axis) (Page 443)

S7-1500 Motion Control V4.0 in TIA Portal V15

340 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.5 Speed-controlled axis technology object

9.5.2 Motion status

Description
You use the "Technology object > Diagnostics > Motion status" diagnostic function in the
TIA Portal to monitor the motion status of the axis. The Diagnostics function is available in
online operation.

"Setpoints" area
The following table shows the meaning of the status data:

Status Description
Speed setpoint Speed setpoint of the axis
(<TO>.Velocity)
Speed override Speed setpoint correction as percentage
The speed setpoint specified in motion control instructions or set by the axis control panel
are superimposed with an override signal and corrected as a percentage. Valid speed cor-
rection values range from 0.0 % to 200.0 %.
(<TO>.Override.Velocity)

"Current values" area

The following table shows the meaning of the status data:

Status Description
Actual speed Actual speed of the axis
(<TO>.ActualSpeed)

"Dynamic limits" area

This area displays the limit values for the dynamic parameters.
The following table shows the meaning of the status data:

Status Description
Speed Configured maximum speed
(<TO>.DynamicLimits.MaxVelocity)
Acceleration Configured maximum acceleration
(<TO>.DynamicLimits.MaxAcceleration)
Deceleration Configured maximum deceleration
(<TO>.DynamicLimits.MaxDeceleration)
Jerk Configured maximum jerk
(<TO>.DynamicLimits.MaxJerk)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 341
Diagnostics
9.5 Speed-controlled axis technology object

9.5.3 PROFIdrive telegram

Description
The "Technology object > Diagnostics > PROFIdrive telegram" diagnostics function is used
in the TIA Portal to monitor the PROFIdrive telegram that the drive returns to the controller.
The Diagnostics function is available in online operation.

"Drive" area
This area displays the following parameters contained in the PROFIdrive telegram from the
drive to the controller:
● Status words "ZSW1" and "ZSW2"
● The speed setpoint (NSET) that was output to the drive
● The actual speed that was signaled from the drive (NACT)

S7-1500 Motion Control V4.0 in TIA Portal V15

342 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.6 Positioning axis/synchronous axis technology object

9.6 Positioning axis/synchronous axis technology object

9.6.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Axis status
The following table shows the possible axis status values:

Status Description
Simulation active The axis is simulated in the CPU. Setpoints are not output to the drive.
(<TO>.StatusWord.X25 (AxisSimulation))
Enabled The technology object has been enabled. You can move the axis with motion jobs.
(<TO>.StatusWord.X0 (Enable))
Position-controlled mode The axis is in position-controlled mode.
(Inversion of <TO>.StatusWord.X28 (NonPositionControlled))
Homed The technology object is homed. The relationship between the position in the technology
object and the mechanical position was successfully created.
(<TO>.StatusWord.X5 (HomingDone))
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized.
(<TO>.StatusWord.X2 (RestartActive))
Axis control panel enabled The axis control panel is active. The axis control panel has master control over the technol-
ogy object. You cannot control the axis from the user program.
(<TO>.StatusWord.X4 (ControlPanelActive))
Drive ready Drive is ready to execute setpoints.
(<TO>.StatusDrive.InOperation)
Encoder values valid The actual encoder values are valid.
(<TO>.StatusSensor[n].State)
Active encoder Current encoder on the axis
(<TO>.OperativeSensor)
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 343
Diagnostics
9.6 Positioning axis/synchronous axis technology object

Status limit switch

The following table shows the possibilities for enabling the software and hardware limit
switches:

Status Description
Negative SW limit switch The negative software limit switch was reached.
approached. (<TO>.StatusWord.X15 (SWLimitMinActive))
Positive SW limit switch The positive software limit switch was reached.
approached. (<TO>.StatusWord.X16 (SWLimitMaxActive))
Negative HW limit switch The negative hardware limit switch has been approached or overtraveled.
approached. (<TO>.StatusWord.X17 (HWLimitMinActive))
Positive HW limit switch The positive hardware limit switch has been approached or overtraveled.
approached. (<TO>.StatusWord.X18 (HWLimitMaxActive))

Motion status
The following table shows the possible axis motion status values:

Status Description
Done (no job running) No job active at technology object.
(<TO>.StatusWord.X6 (Done))
Homing job The technology object executes a homing job of the Motion Control instruction "MC_Home"
or from the axis control panel.
(<TO>.StatusWord.X11 (HomingCommand))
Jog The axis is being moved with a command for jog mode of Motion Control instruction
"MC_MoveJog".
(<TO>.StatusWord.X9 (JogCommand))
Velocity specification The axis is traversed with a job with velocity specification of the Motion Control instruction
"MC_MoveVelocity" or from the axis control panel.
(<TO>.StatusWord.X10 (VelocityCommand))
Positioning job The axis is traversed with a positioning job of Motion Control instruction
"MC_MoveAbsolute" or "MC_MoveRelative" or from the axis control panel.
(<TO>.StatusWord.X8 (PositioningCommand))
Constant velocity The axis is moved with constant velocity or is stationary.
(<TO>.StatusWord.X12 (ConstantVelocity))
Standstill The axis is in standstill.
(<TO>.StatusWord.X7 (StandStill))
Accelerating Axis is being accelerated.
(<TO>.StatusWord.X13 (Accelerating))
Decelerating The axis is being decelerated.
(<TO>.StatusWord.X14 (Decelerating))
Torque limiting enabled The configured threshold for the force/torque affects the axis.
(<TO>.StatusWord.X27 (InLimitation))

S7-1500 Motion Control V4.0 in TIA Portal V15

344 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.6 Positioning axis/synchronous axis technology object

Status Description
Synchronization Synchronous axis only
The axis is synchronized to the leading value of a leading axis.
(<TO>.StatusWord.X21 (Synchronizing))
Synchronous operation Synchronous axis only
The axis is synchronized and moves synchronously to the leading axis.
(<TO>.StatusWord.X22 (Synchronous))

Warnings
The following table shows the possible warnings:

Warning Description
Configuration One or several configuration parameters are adjusted internally at a certain time.
(<TO>.WarningWord.X1 (ConfigWarning))
Job rejected Job cannot be executed.
You cannot execute a Motion Control instruction because necessary requirements are not
fulfilled.
(<TO>.WarningWord.X3 (CommandNotAccepted))
Dynamic limitation The dynamic values are limited to the dynamic limits.
(<TO>.WarningWord.X6 (DynamicError))
Synchronization Synchronous axis only
An error occurred during synchronization. The leading axis specified for the corresponding
Motion Control instruction was not configured as a possible leading axis.
(<TO>.WarningWord.X14 (SynchronousError))

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 345
Diagnostics
9.6 Positioning axis/synchronous axis technology object

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Drive An error occurred in the drive.
(<TO>.ErrorWord.X4 (DriveFault))
Encoder An error occurred in the encoder system.
(<TO>.ErrorWord.X5 (SensorFault))
Data exchange Communication with a connected device is faulty.
(<TO>.ErrorWord.X7 (CommunicationFault))
I/O An error occurred accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))
Job rejected A job cannot be executed.
You cannot execute a Motion Control instruction because necessary requirements are not
fulfilled (for example, technology object not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
Homing An error occurred during a homing process.
(<TO>.ErrorWord.X10 HomingFault))
Positioning The positioning axis was not positioned correctly at the end of a positioning motion.
(<TO>.ErrorWord.X12 (PositioningFault))
Dynamic limitation The dynamic values are limited to the dynamic limits.
(<TO>.ErrorWord.X6 (DynamicError))
Following error The maximum permitted following error has been exceeded.
(<TO>.ErrorWord.X11 (FollowingErrorFault))
SW limit switch A software limit switch has been reached.
(<TO>.ErrorWord.X8 (SwLimit))
HW limit switch A hardware limit switch has been reached or overtraveled.
(<TO>.ErrorWord.X9 (HWLimit))
Adaptation An error occurred during data adaption.
(<TO>.ErrorWord.X15 (AdaptionError))
Synchronization Synchronous axis only
An error occurred during synchronization. The leading axis specified for the corresponding
Motion Control instruction was not configured as a possible leading axis.
(<TO>.ErrorWord.X14 (SynchronousError))

S7-1500 Motion Control V4.0 in TIA Portal V15

346 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.6 Positioning axis/synchronous axis technology object

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (positioning axis/synchronous axis) (Page 472)
ErrorWord tag (positioning axis/synchronous axis) (Page 475)
WarningWord tag (positioning axis/synchronous axis) (Page 477)
Additional displays for the technology CPU (Page 350)

9.6.2 Motion status

Description
You use the "Technology object > Diagnostics > Motion status" diagnostic function in the
TIA Portal to monitor the motion status of the axis. The Diagnostics function is available in
online operation.

"Setpoints" area
The following table shows the meaning of the status data:

Status Description
Target position Current target position of an active positioning job
The target position value is only valid during execution of a positioning job.
(<TO>.StatusPositioning.TargetPosition)
Position setpoint Setpoint position of the axis
(<TO>.Position)
Velocity setpoint Velocity setpoint of the axis
(<TO>.Velocity)
Velocity override Percentage correction of the velocity specification
The velocity setpoint specified in Motion Control instructions or set by the axis control panel is
superimposed with an override signal and corrected as a percentage. Valid velocity correction
values range from 0.0 % to 200.0 %.
(<TO>.Override.Velocity)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 347
Diagnostics
9.6 Positioning axis/synchronous axis technology object

"Current values" area

The following table shows the meaning of the status data:

Status Description
Operative encoder Operative encoder of the axis
Actual position Actual position of the axis
If the technology object is not homed, then the value is displayed relative to the position that
existed when the technology object was enabled.
(<TO>.ActualPosition)
Actual velocity Actual velocity of the axis
(<TO>.ActualVelocity)
Following error Following error of the axis
(<TO>.StatusPositioning.FollowingError)

"Dynamic limits" area

This area displays the limit values for the dynamic parameters.
The following table shows the meaning of the status data:

Status Description
Velocity Configured maximum velocity
(<TO>.DynamicLimits.MaxVelocity)
Acceleration Configured maximum acceleration
(<TO>.DynamicLimits.MaxAcceleration)
Deceleration Configured maximum deceleration
(<TO>.DynamicLimits.MaxDeceleration)
Jerk Configured maximum jerk
(<TO>.DynamicLimits.Jerk)

See also
Additional displays for the technology CPU (Page 350)

S7-1500 Motion Control V4.0 in TIA Portal V15

348 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.6 Positioning axis/synchronous axis technology object

9.6.3 PROFIdrive telegram

Description
The "Technology object > Diagnostics > PROFIdrive telegram" diagnostics function is used
in the TIA Portal to monitor the PROFIdrive telegrams returned by the drive and encoder.
The display of the Diagnostics function is available in online operation.

"Drive" area
This area displays the following parameters contained in the PROFIdrive telegram from the
drive to the controller:
● Status words "ZSW1" and "ZSW2"
● The speed setpoint (NSET) that was output to the drive
● The actual speed that was signaled from the drive (NACT)

"Encoder" area
This area displays the following parameters contained in the PROFIdrive telegram from the
encoder to the controller:
● Status word "Gx_ZSW"
● The actual position value "Gx_XIST1" (cyclic actual encoder value)
● The actual position value "Gx_XIST2" (absolute encoder value)

See also
Additional displays for the technology CPU (Page 350)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 349
Diagnostics
9.6 Positioning axis/synchronous axis technology object

9.6.4 Additional displays for the technology CPU

The diagnostic functions contain expanded/additional displays for the S7-1500T technology
CPU.

Status and error bits

The following table shows the expanded/additional displays of the status and error bits
(Page 343):

Axis status
Encoder values valid The actual encoder values (encoder 1, encoder 2, encoder 3 or encoder 4) are valid.
(<TO>.StatusSensor[n].State)
Active encoder The encoder in effect operationally is encoder 1, encoder 2, encoder 3 or encoder 4.
(<TO>.OperativeSensor)

Motion status
The following table shows the expanded/additional displays for the status of the motion
(Page 347):

Current values Description

Operative encoder Operative encoder of the axis

PROFIdrive telegram
The "Encoder 1" to "Encoder 4" areas display the following parameters from the PROFIdrive
telegram (Page 349) of the corresponding encoder to the controller:
● Status word "Gx_ZSW"
● The actual position value "Gx_XIST1" (cyclic actual encoder value)
● The actual position value "Gx_XIST2" (absolute encoder value)

See also
Status and error bits (Page 343)
Motion status (Page 347)
PROFIdrive telegram (Page 349)

S7-1500 Motion Control V4.0 in TIA Portal V15

350 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.7 Technology object external encoder

9.7 Technology object external encoder

9.7.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Encoder status
The following table shows the possible external encoder status values:

Status Description
Encoder enabled The technology object has been enabled.
(<TO>.StatusWord.X0 (Enable))
Homed The technology object is homed. The relationship between the position in the technology
object and the mechanical position was successfully created.
(<TO>.StatusWord.X5 (HomingDone))
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized.
(<TO>.StatusWord.X2 (RestartActive))
Encoder values valid The actual encoder values are valid.
(<TO>.StatusSensor[n].State)
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

Motion status
The following table shows the possible states of the job execution:

Status Description
Done (no job running) No Motion Control job is running for the technology object.
(Enable by "MC_Power" job excepted)
(<TO>.StatusWord.X6 (Done))
Homing job The technology object executes a homing job of the Motion Control instruction "MC_Home".
(<TO>.StatusWord.X11 (HomingCommand))

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 351
Diagnostics
9.7 Technology object external encoder

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 UserFault))
Encoder An error occurred in the encoder system.
(<TO>.ErrorWord.X5 (SensorFault))
Data exchange Missing or faulty communication.
(<TO>.ErrorWord.X7 (CommunicationFault))
Adaptation An error occurred during data adaption.
(<TO>.ErrorWord.X15 (AdaptionError))

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (external encoder) (Page 488)
ErrorWord tag (external encoder) (Page 489)
WarningWord tag (external encoder) (Page 491)

S7-1500 Motion Control V4.0 in TIA Portal V15

352 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.7 Technology object external encoder

9.7.2 Motion status

Description
You use the "Technology object > Diagnostics > Motion status" diagnostic function in the
TIA Portal to monitor the actual encoder values. The Diagnostics function is available in
online operation.

"Current values" area

The following table shows the meaning of the status data:

Status Description
Actual position Actual position of the axis
If the technology object is not homed, then the value is displayed relative to the position that
existed when the technology object was enabled.
(<TO>.ActualPosition)
Actual velocity Actual velocity of the axis
(<TO>.ActualVelocity)

9.7.3 PROFIdrive frame

Description
The "Technology object > Diagnostics > PROFIdrive interface" diagnostic function is used in
the TIA Portal to monitor the PROFIdrive frame of the encoder. The display of the
diagnostics function is available in the online mode TO.

"Encoder" area
This area displays the following parameters contained in the PROFIdrive frame that the
encoder returns to the controller:
● Status word "G1_ZSW"
● The actual position value "G1_XIST1" (cyclic actual encoder value)
● The actual position value "G1_XIST2" (absolute value of the encoder)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 353
Diagnostics
9.8 Technology object measuring input

9.8 Technology object measuring input

9.8.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Measuring input status

The following table shows the possible states of the measuring input:

Status Description
Active The technology object is in operation.
(<TO>.StatusWord.X0 (Control))
Waiting for measuring event The measuring input is waiting for a measuring event.
The technology data block tag "<TO>.Status" has the value "1"
("WAITING_FOR_TRIGGER").
Measured value present The measuring input has acquired one or more measured values.
The technology data block tag "<TO>.Status" has the value "2" ("TRIGGER_OCCURRED").
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized. The tags of the technology data block are not
updated with active restart.
(<TO>.StatusWord.X2 (RestartActive))
Measuring input ready The measuring input is synchronized with the measuring module and can be used.
(<TO>.StatusWord.X5 (CommunicationOK))
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

S7-1500 Motion Control V4.0 in TIA Portal V15

354 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.8 Technology object measuring input

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because the necessary conditions are not
met (e.g. axis assigned to the measuring input is not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
I/O An error occurred accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (measuring input) (Page 496)
ErrorWord tag (measuring input) (Page 497)
WarningWord tag (measuring input) (Page 499)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 355
Diagnostics
9.9 Technology object output cam

9.9 Technology object output cam

9.9.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Output cam status

The following table shows the possible states of the output cam:

Status Description
Active The technology object is in operation.
(<TO>.StatusWord.X0 (Control))
Switched The output cam is switched.
(<TO>.CamOutput)
Inverted output cam output The output cam output is inverted.
(<TO>.StatusWord.X4 (OutputInverted))
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized. The tags of the technology data block are not
updated with active restart.
(<TO>.StatusWord.X2 (RestartActive))
Output cam output ready The cam is synchronized with the output module and available for use.
(<TO>.StatusWord.X5 (CommunicationOk))
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

S7-1500 Motion Control V4.0 in TIA Portal V15

356 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.9 Technology object output cam

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because the necessary conditions are not
met (e.g. axis assigned to the output cam is not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
I/O An error occurred accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (output cam) (Page 503)
ErrorWord tag (output cam) (Page 504)
WarningWord tag (output cam) (Page 505)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 357
Diagnostics
9.10 Cam track technology object

9.10 Cam track technology object

9.10.1 Status and error bits

Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.

Cam track status

The following table shows the possible states of the cam track:

Status Description
Active The technology object is in operation.
(<TO>.StatusWord.X0 (Control))
Switched A cam of cam track is switched.
(<TO>.TrackOutput)
Inverted output cam output The output cam output is inverted.
(<TO>.StatusWord.X4 (OutputInverted))
Error An error occurred at the technology object. Detailed information about the error is available
in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized. The tags of the technology data block are not
updated with active restart.
(<TO>.StatusWord.X2 (RestartActive))
Cam track output ready The cam track is synchronized with the output module and available for use.
(<TO>.StatusWord.X5 (CommunicationOk))
Restart required Data relevant for the restart has been changed. The changes are applied only after a re-
start of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

S7-1500 Motion Control V4.0 in TIA Portal V15

358 Function Manual, 12/2017, A5E03879256-AE
 Diagnostics
9.10 Cam track technology object

Error
The following table shows the possible errors:

Error Description
System A system-internal error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration A configuration error has occurred.
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were incor-
rectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigFault))
User program An error occurred in the user program with a Motion Control instruction or its use.
(<TO>.ErrorWord.X2 (UserFault))
Job rejected A job cannot be executed.
A Motion Control instruction cannot be executed because the necessary conditions are not
met (e.g. axis assigned to the cam track is not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
I/O An error occurred accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))

Alarm display
For additional information and to acknowledge the error, go to the Inspector window by
clicking on the "Alarm display" link.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
StatusWord tag (cam track) (Page 510)
ErrorWord tag (cam track) (Page 511)
WarningWord tag (cam track) (Page 512)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 359
Diagnostics
9.10 Cam track technology object

9.10.2 Cam track status

Description
You use the "Technology object > Diagnostics > Cam track status" diagnostics function in
the TIA Portal to monitor the status of the cam track. The Diagnostics function is available in
online operation.

"Validity and masking of the output cams" area

The individual cams of a cam track are shown in this area along with the status for the
following properties:

Status Description
Valid Validity of the individual cams of the cam track
(<TO>.Parameter.Cam[1 … 32].Existent)
Masked Bit masking of the individual cams of the cam track
(<TO>.Parameter.CamMasking)
Effective Switched on output cam (bit-masked)
(<TO>.SingleCamState)

"Positions" area
The following status values are displayed in this area:

Status Description
Current position in the Position during cam track processing within a cam track cycle
cam track The distance to the current reference position of the current cam track (<TO>.MatchPosition) is
displayed.
(<TO>.TrackPosition)
Current cam track start Reference position of the current cam track
During cyclic processing of the cam track, the continued reference position of the current cam
track is displayed. The unique detection and output of the position is only possible when the as-
signed technology object is in motion.
(<TO>.MatchPosition)

S7-1500 Motion Control V4.0 in TIA Portal V15

360 Function Manual, 12/2017, A5E03879256-AE
Instructions 10
10.1 MC_Power V4

10.1.1 MC_Power: Enable, disable technology object V4

Description
With the Motion Control instruction "MC_Power", a technology object is enabled or disabled.

Applies to
● Synchronous axis
● Positioning axis
● Speed axis
● External encoder

Requirement
● The technology object has been configured correctly.
● Cyclic BUS communication is established between controller and encoder
(<TO>.StatusSensor[n].CommunicationOK = TRUE).
● Cyclic BUS communication is established between controller and drive
(<TO>.StatusDrive.CommunicationOK = TRUE).

Override response
● An "MC_Power" job cannot be aborted by any other Motion Control job.
● An "MC_Power" job with parameter "Enable"TRUE enables a technology object but does
not thereby abort any other Motion Control instructions.
● Disabling the technology object (parameter "Enable" = FALSE) aborts all Motion Control
jobs on the corresponding technology object in accordance with the selected "StopMode".
This process cannot be canceled by the user.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 361
Instructions
10.1 MC_Power V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_Power":

Parameters Declaration Data type Default value Description

Axis INPUT TO_Axis - Technology object
Enable INPUT BOOL FALSE TRUE The technology object is enabled.
FALSE The technology object is disabled.
All current jobs at the technology object are aborted in
accordance with the configured "StopMode".
StartMode INPUT DINT 1 0 Enable positioning axis/synchronous axis not position-
controlled
1 Enable positioning axis/synchronous axis position-
controlled
The parameter initially takes effect when the positioning axis is
enabled (Enable changes from FALSE to TRUE) and when the
axis is enabled after acknowledgment of an interrupt that caused
the axis to be disabled.
This parameter is ignored when a speed axis or an external en-
coder is used.
StopMode INPUT INT 0 Not applicable to the technology object external encoder
If you disable a technology object with a negative edge at parame-
ter "Enable", the axis decelerates in accordance with the selected
"StopMode".
0 Emergency stop
When the technology object is disabled, the axis brakes
to a standstill without jerk limit, using the emergency stop
deceleration configured in "Technology object > Configu-
ration > Extended parameters > Emergency stop ramp".
The enable is then canceled.
(<TO>.DynamicDefaults.EmergencyDeceleration)
1 Immediate stop
When a technology object is disabled, the setpoint zero is
output, and the enable is canceled. The axis is braked to
a standstill according to the configuration in the drive.
2 Stop with maximum dynamic values
When the technology object is disabled, the axis is
braked to a standstill using the maximum deceleration
configured in "Technology object > Configuration > Ex-
tended parameters > Dynamic limits". The configured
maximum jerk is hereby taken into account. The enable is
then canceled.
(<TO>.DynamicLimits.MaxDeceleration;
<TO>.DynamicLimits.MaxJerk)

S7-1500 Motion Control V4.0 in TIA Portal V15

362 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.1 MC_Power V4

Parameters Declaration Data type Default value Description

Status OUTPUT BOOL FALSE Technology object enable status
FALSE Disabled
• A positioning axis, synchronous axis or speed axis
does not accept any motion control jobs.
• Speed control and positioning control are not active.
• The actual values of the technology object are not
checked for validity.
TRUE Enabled
• An enabled positioning axis, synchronous axis or
speed axis accepts Motion Control jobs.
• Speed control and positioning control are active.
• The actual values of the technology object are valid.
Busy OUTPUT BOOL FALSE TRUE Job is running.
Error OUTPUT BOOL FALSE TRUE An error occurred in Motion Control instruction
MC_Power. The cause of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Enabling technology objects

To enable a technology object, set the "Enable" parameter to TRUE.
The following two cases are differentiated:
● Enable at a standstill
● Enable in motion of axis
Enable at a standstill
Depending on the "StartMode" parameter, the position is held (StartMode = 1) or the velocity
setpoint zero is output (StartMode = 0). When the "Status" parameter shows the value
TRUE, the technology object is enabled.
Enable in motion of axis
If StartMode = 1, the position at the time of the setting of the enable input is effective as set
position for the position controller. The axis is braked to a standstill and adjusted to the set
position depending on the maximum deceleration configured under "Technology object >
Configuration > Extended parameters > Dynamic limits". If monitoring operation or dynamic
limits are hereby exceeded, this leads to corresponding alarm reactions.
If StartMode = 0, the axis is braked as much as possible by the specification of the velocity
setpoint zero. Monitoring operations and dynamic limits are not active in this case.
When the "Status" parameter shows the value TRUE, the technology object is enabled.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 363
Instructions
10.1 MC_Power V4

Note
Automatic enable after acknowledgment of a technology alarm
If the technology object is disabled due to a technology alarm, the technology object will be
enabled again automatically after the cause has been eliminated and the alarm has been
acknowledged. This requires the "Enable" parameter to have retained the value TRUE
during this process.

Disabling technology objects

To disable a technology object, set the "Enable" parameter to FALSE.
If an axis is in motion, it is braked to a standstill according to the selected "StopMode".
When the "Busy" and "Status" parameters show the value FALSE, the disabling of the
technology object is complete.

Drive connection by means of PROFIdrive

When a drive is connected using PROFIdrive, the setpoint, enable and drive status are
transmitted via the PROFIdrive telegram.
● Enable technology object and activate drive
With parameter "Enable" = TRUE, the technology object is enabled. The drive is enabled
according to the PROFIdrive standard.
When the <TO>.StatusDrive.InOperation tag shows the value TRUE, the drive is ready to
execute setpoints. The "Status" parameter is set to the value TRUE.
● Disable technology object and deactivate drive
With "Enable" = FALSE parameter, the "Status" parameter is set to the value FALSE, and
the axis is braked according to the selected "StopMode". The drive is disabled according
to the PROFIdrive standard.

Analog drive connection

The setpoint is output via an analog output. Optionally, you can configure an enabling signal
via digital output (<TO>.Actor.Interface.EnableDriveOutput), and a readiness signal via
digital input (<TO>.Actor.Interface.DriveReadyInput).
● Enable technology object and activate drive
With parameter "Enable" = TRUE, the enable output ("Enable drive output") is set.
When the drive returns the readiness signal via the ready input ("Drive ready input"), the
"Status" parameter and the technology object's <TO>.StatusDrive.InOperation tag are set
to TRUE, and the setpoint is switched to the analog output.
● Disable technology object and deactivate drive
With parameter "Enable" = FALSE, the "Status" parameter is set to the value FALSE, and
the axis is braked according to the selected "StopMode". When the setpoint zero is
reached, the enable output is set to FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

364 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.1 MC_Power V4

Additional information
Additional information on enabling and disabling technology objects and drives can be found
in the appendix, MC_Power Function Charts (Page 547).

See also
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 365
Instructions
10.1 MC_Power V4

10.1.2 MC_Power: Function chart V4

Function chart: Enabling a technology object and example of alarm response

A technology object is enabled with "Enable_1= TRUE". The successful enable can be read
from "Status_1" at time ①. The axis will then move with an "MC_MoveVelocity" job (A2). The
velocity profile of the axis can be read from "TO_1.Velocity".
At time ② an error occurs in the technology object, which results in the disabling of the
technology object (alarm response: remove enable). The axis is braked to a standstill
according to the configuration in the drive. When the technology object is disabled,
"Status_1" is reset. Since the axis was not disabled using "Enable_1" = FALSE, the selected
"StopMode" does not apply. The cause of the error is corrected and the alarm is
acknowledged at time ③.
Since "Enable_1" is still set, the technology object is enabled again. The successful enable
can be read from "Status_1". Finally, the technology object is disabled with "Enable_1" =
FALSE.

S7-1500 Motion Control V4.0 in TIA Portal V15

366 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.2 MC_Reset V4

10.2 MC_Reset V4

10.2.1 MC_Reset: Acknowledge alarms, restart technology object V4

Description
With the Motion Control instruction "MC_Reset", you acknowledge all technology alarms that
can be acknowledged in the user program. Acknowledgment also resets the "Error" and
"Warning" bits in the technology data block.
With the Motion Control instruction "MC_Reset" with "Restart" = TRUE, you start
reinitialization (restart) of technology objects. Upon restart of the technology object, the new
configuration data are applied in the technology data block.

Applies to
● All technology objects

Requirement
● Positioning/synchronous axis, speed axis and external encoder technology objects:
For a restart, the technology object must be disabled.
("MC_Power.Status" = FALSE and "MC_Power.Busy" = FALSE)

Override response
● Parameter "Restart" = FALSE:
Processing of the "MC_Reset" instruction with parameter "Restart" = FALSE cannot be
aborted by any other Motion Control job. The MC_Reset job does not abort any active
motion control jobs.
● Parameter "Restart" = TRUE:
Processing of the "MC_Reset" instruction with parameter "Restart" = TRUE cannot be
aborted by any other Motion Control job.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 367
Instructions
10.2 MC_Reset V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_Reset":

Parameter Declaration Data type Default value Description

Axis INPUT TO_Object - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Restart INPUT BOOL FALSE TRUE "Restart"
Reinitialization of the technology object and ac-
knowledgment of pending technology alarms.
The technology object is reinitialized with the
configured start values.
FALSE Acknowledgment of queued technology alarms.
Done OUTPUT BOOL FALSE TRUE Error has been acknowledged.
Restart has been executed.
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job during exe-
cution.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job.
The job is rejected. The cause of the error can be
found in the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Acknowledging technology alarms

To acknowledge technology alarms, follow these steps:
1. Check the requirements indicated above.
2. Set the parameter "Restart" = FALSE.
3. Start the acknowledgment of the error with a positive edge at parameter "Execute".
When the "Done" parameter shows the value TRUE, the error has been acknowledged.

Note
Acknowledge with "Restart" = FALSE
If only the technology alarms are to be acknowledged, set "Restart"FALSE. The technology
object cannot be used during a restart.

S7-1500 Motion Control V4.0 in TIA Portal V15

368 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.3 MC_Home V4

Restarting a technology object

To restart a technology object, follow these steps:
1. Check the requirements indicated above.
2. Set the parameter "Restart" = TRUE.
3. Perform the restart with a positive edge at parameter "Execute".
When the "Done" parameter shows the value TRUE, the restart of the technology object is
complete.
Additional information regarding the restart can be found in the section "Restarting
technology objects (Page 314)".

See also
Error ID for Motion Control instructions (Page 542)

10.3 MC_Home V4

10.3.1 MC_Home: Home technology object, set home position V4

Description
With the Motion Control instruction "MC_Home", you create the relationship between the
position in the technology object and the mechanical position. The actual position value in
the technology object is assigned to a homing mark at the same time. This homing mark
represents a known mechanical position.
Homing is performed according to the mode selected with the "Mode" parameter and the
configuration under "Technology object > Configuration > Extended parameters > Homing".
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and ≥ V2.0 is
available in section "Version overview (Page 155)".
The preset values under "Technology object > Configuration > Extended parameters >
Dynamic default values" are used for the dynamic values Acceleration, Deceleration and
Jerk.

Applies to
● Synchronous axis
● Positioning axis
● External encoder

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 369
Instructions
10.3 MC_Home V4

The following table shows which modes are possible with each of the technology objects:

Operating mode Positioning axis/ Positioning axis/ External incremen- External absolute
synchronous axis synchronous axis tal encoder encoder
with incremental with absolute
encoder encoder
Active homing X - - -
("Mode" = 3, 5)
Passive homing X - X -
("Mode" = 2, 8, 10)
Set actual position X X X X
("Mode" = 0)
Relative shift of the actual position X X X X
("Mode" = 1)
Absolute encoder adjustment - X - X
("Mode" = 6, 7)

Requirement
● The technology object has been configured correctly.
● "Mode" = 2, 3, 5, 8, 10
The technology object is enabled.
● "Mode" = 0, 1, 6, 7, 8
The actual encoder values are valid (<TO>.StatusSensor[n].State = 2).
● "Mode" = 6, 7
The axis is in position-controlled mode.

Override response
The override response for "MC_Home" jobs is described in section "Override response V4:
Homing and motion jobs (Page 428)".

S7-1500 Motion Control V4.0 in TIA Portal V15

370 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.3 MC_Home V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_Home":

Parameter Declaration Data type Default value Description

Axis INPUT TO_Axis - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Position INPUT LREAL 0.0 The specified value is used according to the selected "Mode".
Mode INPUT INT 0 Operating mode
0 Direct homing (absolute)
The current position of the technology object is set to
the value of parameter "Position".
1 Direct homing (relative)
The current position of the technology object is shifted
by the value of parameter "Position".
2 Passive homing (without reset)
Functions like "Mode" 8, with the difference that the
"homed" status is not reset when the function is ena-
bled.
3 Active homing
The TO positioning axis/synchronous axis performs a
homing movement according to the configuration.
After the completion of the motion, the axis is posi-
tioned at the value of the "Position" parameter.
4 Reserved
5 Active homing ("Position" parameter has no effect)
The TO positioning axis/synchronous axis performs a
homing movement according to the configuration.
After completion of the motion, the axis is positioned at
the home position configured under "Technology object
> Configuration > Extended parameters > Homing >
Active homing".
(<TO>.Homing.HomePosition)
6 Absolute encoder adjustment (relative)
The current position is shifted by the value of parameter
"Position".
The calculated absolute value offset is stored retentive-
ly in the CPU.
(<TO>.StatusSensor[n].AbsEncoderOffset)
7 Absolute encoder adjustment (absolute)
The current position is set to the value of parameter
"Position".
The calculated absolute value offset is stored retentive-
ly in the CPU.
(<TO>.StatusSensor[n].AbsEncoderOffset)
8 Passive homing
When the homing mark is detected, the actual value is
set to the value of the "Position" parameter.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 371
Instructions
10.3 MC_Home V4

Parameter Declaration Data type Default value Description

9 Abort passive homing
An active job for passive homing is aborted.
10 Passive homing ("Position" parameter has no effect)
When the homing mark is detected, the actual value is
set to the home position configured under "Technology
object > Configuration > Extended parameters > Hom-
ing > Passive homing".
(<TO>.Homing.HomePosition)
Reference- OUTPUT LREAL 0.0 Display of the position at which the technology object was
MarkPosition homed
(valid when "Done" = TRUE)
Done OUTPUT BOOL FALSE TRUE Job is completed.
Busy OUTPUT BOOL FALSE TRUE Job is running.
Command OUTPUT BOOL FALSE TRUE The job was aborted by another job during execution.
Aborted
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job. The job is
rejected. The cause of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Resetting the "Homed" status

The "Homed" status of a technology object is reset under the following conditions
(<TO>.StatusWord.X5 (HomingDone)):
● Technology objects with incremental actual values:
– Starting an "MC_Home" job with "Mode" = 3, 5, 8, 10
(After successful completion of the homing operation, the "Homed" status is reset.)
– Error in the encoder system, or encoder failure
– Restart of the technology object
– After POWER OFF -> POWER ON of the CPU
– Memory reset
– Modification of the encoder configuration
● Technology objects with absolute actual values:
– Error in sensor system/encoder failure
– Replacement of the CPU
– Modification of the encoder configuration
– Restoration of the CPU factory settings
– Transfer of a different project into the controller

S7-1500 Motion Control V4.0 in TIA Portal V15

372 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.3 MC_Home V4

Homing a technology object with "Mode" = 1..8, 10

To home a technology object, follow these steps:
1. Check the requirements indicated above.
2. Specify the desired homing function in the "Mode" parameter.
3. Initialize the necessary parameters with values, and start the homing operation with a
positive edge at the "Execute" parameter.
When the "Done" parameter shows the value TRUE, the "MC_Home" job has been
completed according to the selected "Mode". The "Homed" status of the technology object is
indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Homed" (<TO>.StatusWord.X5 (HomingDone)).

Abort of a passive homing with "Mode" = 9

With "Mode" = 9, the technology object is not homed. When an active "MC_Home" job for
passive homing ("Mode" = 2, 8, 10) is overridden by another "MC_Home" job with "Mode" =
9, the running job is aborted with parameter "CommandAborted" = TRUE. The overriding job
with "Mode" = 9 signals successful execution with parameter "Done" = TRUE.

Additional information
An option for the evaluation of the individual status bits can be found in the section
"Evaluating StatusWord, ErrorWord and WarningWord (Page 288)".

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)
Homing (Page 69)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 373
Instructions
10.4 MC_Halt V4

10.4 MC_Halt V4

10.4.1 MC_Halt: Pause axis V4

Description
With the Motion Control instruction "MC_Halt", you brake an axis until it comes to a standstill.
You define the dynamic behavior of the braking operation with parameters "Jerk" and
"Deceleration".

Applies to
● Synchronous axis
● Positioning axis
● Speed axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.

Override response
The override response for "MC_Halt" jobs is described in section "Override response V4:
Homing and motion jobs (Page 428)".

S7-1500 Motion Control V4.0 in TIA Portal V15

374 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.4 MC_Halt V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_Halt":

Parameters Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Technology
object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile; the
specified jerk is used
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology object >
Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
AbortAcceleration INPUT BOOL FALSE FALSE The current acceleration at the start of the
job is reduced using the configured jerk.
Afterwards, the deceleration builds up
TRUE The acceleration is set to 0.0 at the start of
the job, and the deceleration immediately
builds up.
Done OUTPUT BOOL FALSE TRUE Zero velocity reached
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job during
execution.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the
job. The job is rejected. The cause of the
error can be found in the "ErrorID" parame-
ter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 375
Instructions
10.4 MC_Halt V4

Braking an axis with "MC_Halt"

Proceed as follows to decelerate an axis to a standstill:
1. Check the requirements indicated above.
2. Supply the parameters "Deceleration", "Jerk" and "AbortAcceleration" with the desired
values.
3. Start the "MC_Halt" job with a positive edge at parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error". The standstill of the axis
is indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Standstill" (<TO>.StatusWord.X7 (Standstill)).

Braking an axis with active force/torque limit

With active force/torque limiting the permitted torque may not be sufficient to move the
calculated braking ramp. The "MC_Halt" command does not signal "Done" = TRUE.
To brake an axis with active force/torque limiting, use the Motion Control instruction
"MC_MoveVelocity" with "MC_MoveVelocity.Velocity" = 0.0 and
"MC_MoveVelocity.PositionControlled" = FALSE.

Additional information
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 288) section.

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)
MC_MoveVelocity: Move axis at velocity/speed setpoint V4 (Page 386)

S7-1500 Motion Control V4.0 in TIA Portal V15

376 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.4 MC_Halt V4

10.4.2 MC_Halt: Function chart V4

Function chart: Stopping an axis and the overriding job characteristics

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 377
Instructions
10.5 MC_MoveAbsolute V4

Section An axis is moved with an "MC_MoveVelocity" job (A1). At time ①, the "MC_MoveVelocity" job is overridden by
an "MC_Halt" job (A2). The job abort is signaled via "Abort_1". With "AbortAcc_2" = FALSE, the current accel-
eration is reduced with the specified jerk. Afterward, the deceleration builds up and the axis is braked to a
standstill. The completion of the "MC_Halt" job is reported via "Done_2".
Section The axis is moved with an "MC_MoveVelocity" job (A1). At time ②, the "MC_MoveVelocity" job is overridden
by an "MC_Halt" job (A2). The job abort is signaled via "Abort_1". With "AbortAcc_2" = TRUE, the current ac-
celeration is set to zero immediately and the deceleration builds up. The axis is braked to a standstill. The
completion of the "MC_Halt" job is reported via "Done_2".

10.5 MC_MoveAbsolute V4

10.5.1 MC_MoveAbsolute: Position axis absolutely V4

Description
With the Motion Control instruction "MC_MoveAbsolute", you can move an axis to an
absolute position.
You define the dynamic behavior of the motion with parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".

Applies to
● Synchronous axis
● Positioning axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.
● The technology object is homed.

Override response
The override response for "MC_MoveAbsolute" jobs is described in section "Override
response V4: Homing and motion jobs (Page 428)".

S7-1500 Motion Control V4.0 in TIA Portal V15

378 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.5 MC_MoveAbsolute V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_MoveAbsolute":

Parameters Declaration Data type Default value Description

Axis INPUT TO_PositioningAxis - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Position INPUT LREAL 0.0 Absolute target position
Velocity INPUT LREAL -1.0 Velocity setpoint for the positioning
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The velocity configured in "Technology
object > Configuration > Extended pa-
rameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Tech-
nology object > Configuration > Ex-
tended parameters > Dynamic defaults"
is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Tech-
nology object > Configuration > Ex-
tended parameters > Dynamic defaults"
is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile;
the specified jerk is used
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology
object > Configuration > Extended pa-
rameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Direction INPUT INT 1 Motion direction of the axis
Is only evaluated with "modulo" enabled.
"Technology object > Configuration > Basic pa-
rameters > Enable modulo
1 Positive direction
2 Negative direction
3 Shortest distance
Done OUTPUT BOOL FALSE TRUE Target position reached.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 379
Instructions
10.5 MC_MoveAbsolute V4

Parameters Declaration Data type Default value Description

Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job
during execution.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of
the job. The job is rejected. The cause
of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Moving an axis to an absolute position

Proceed as follows to move an axis to an absolute position:
1. Check the requirements indicated above.
2. Specify the desired target position in the "Position" parameter.
3. Start the "MC_MoveAbsolute" job with a positive edge at parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error".

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

380 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.5 MC_MoveAbsolute V4

10.5.2 MC_MoveAbsolute: Function chart V4

Function chart: Absolute positioning of an axis, and the response to an overriding job

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 381
Instructions
10.6 MC_MoveRelative V4

Section An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the
target position, this is signaled at time ① via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2)
with target position 1500.0 is started. When the axis reaches the target position 1500.0, this is signaled via
"Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section An active "MC_MoveAbsolute" job (A1) is overridden at time ② by another "MC_MoveAbsolute" job (A2). The
abort is signaled via "Abort_1". The axis is braked to the changed velocity and moved to the new target position
1500.0. When the new target position is reached, this is signaled via "Done_2".

10.6 MC_MoveRelative V4

10.6.1 MC_MoveRelative: Position axis relatively V4

Description
With the Motion Control instruction "MC_MoveRelative", you move an axis relative to its
position when execution of the job began.
You define the dynamic behavior of the motion with parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".

Applies to
● Synchronous axis
● Positioning axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.

Override response
The override response for "MC_MoveRelative" jobs is described in section "Override
response V4: Homing and motion jobs (Page 428)".

S7-1500 Motion Control V4.0 in TIA Portal V15

382 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.6 MC_MoveRelative V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_MoveRelative":

Parameter Declaration Data type Default value Description

Axis INPUT TO_PositioningAxis - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Distance INPUT LREAL 0.0 Distance for the positioning process
(negative or positive)
Velocity INPUT LREAL -1.0 Velocity setpoint for the positioning
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The velocity configured in "Technology
object > Configuration > Extended pa-
rameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Tech-
nology object > Configuration > Ex-
tended parameters > Dynamic defaults"
is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Tech-
nology object > Configuration > Ex-
tended parameters > Dynamic defaults"
is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile;
the specified jerk is used
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology
object > Configuration > Extended pa-
rameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Done OUTPUT BOOL FALSE TRUE Target position reached
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job
during execution.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 383
Instructions
10.6 MC_MoveRelative V4

Parameter Declaration Data type Default value Description

Error OUTPUT BOOL FALSE TRUE An error occurred during execution of
the job. The job is rejected. The cause
of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Moving an axis relative to the starting position

Proceed as follows to move an axis relative to the starting position:
1. Check the requirements indicated above.
2. Specify distance to be moved in the "Distance" parameter.
3. Start the "MC_MoveRelative" job with a positive edge at parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error".

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

384 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.6 MC_MoveRelative V4

10.6.2 MC_MoveRelative: Function chart V4

Function chart: Relative positioning of an axis, and the overriding job characteristics

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 385
Instructions
10.7 MC_MoveVelocity V4

Section The axis is moved by an "MC_MoveRelative" job (A1) by the distance ("Distance") 1000.0 (the starting position
here is 0.0). When the axis reaches the target position, this is signaled at time ① via "Done_1". At this time ①,
another "MC_MoveRelative" job (A2) with distance 500.0 is started. When the new target position is reached, this
is signaled via "Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section An active "MC_MoveRelative" job (A1) is overridden by another "MC_MoveRelative" job (A2). The abort is sig-
naled at time ② via "Abort_1". The axis is then moved at the new velocity by the distance ("Distance") 500.0.
When the new target position is reached, this is signaled via "Done_2".

10.7 MC_MoveVelocity V4

10.7.1 MC_MoveVelocity: Move axis at velocity/speed setpoint V4

Description
With the Motion Control instruction "MC_MoveVelocity", you move an axis at constant
velocity/speed.
You define the dynamic behavior of the motion with parameters"Velocity", "Jerk",
"Acceleration" and "Deceleration".
● Positioning axis/synchronous axis:
A velocity is specified in the "Velocity" parameter.
● Speed axis:
A speed is specified in the "Velocity" parameter.

Applies to
● Synchronous axis
● Positioning axis
● Speed axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.

Override response
The override response for "MC_MoveVelocity" jobs is described in section Override
response V4: Homing and motion jobs (Page 428).

S7-1500 Motion Control V4.0 in TIA Portal V15

386 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.7 MC_MoveVelocity V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_MoveVelocity":

Parameters Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Velocity INPUT LREAL 100.0 Velocity setpoint / speed setpoint for the motion
("Velocity" = 0.0 is permitted)
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Technology ob-
ject > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Technology ob-
ject > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile; the speci-
fied jerk is used.
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology object > Con-
figuration > Extended parameters > Dynamic
defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Direction INPUT INT 0 Direction of rotation of the axis
0 The sign of the velocity specified at the "Velocity"
parameter defines the direction of rotation.
1 Positive direction of rotation
Value of "Velocity" is used.
2 Negative direction of rotation
Value of "Velocity" is used.
Current INPUT BOOL FALSE Maintain current velocity
FALSE Deactivated
The values of parameters "Velocity" and "Direc-
tion" are taken into account.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 387
Instructions
10.7 MC_MoveVelocity V4

Parameters Declaration Data type Default value Description

TRUE activated
The values at the parameters "Velocity" and
"Direction" are not taken into account. The cur-
rent velocity and direction at function start are
retained.
When the axis resumes motion at the velocity
that was current at function start, the "InVelocity"
parameter returns the value TRUE.
Position INPUT BOOL TRUE FALSE Non position-controlled operation
Controlled TRUE Position-controlled mode
The parameter applies as long as the "MC_MoveVelocity"
job is being executed. After this, the setting of the following
job applies.
This parameter is ignored when a speed axis is used.
InVelocity OUTPUT BOOL FALSE TRUE The velocity setpoint / speed setpoint was
reached and will be maintained.
Busy OUTPUT BOOL FALSE TRUE Job is running.
Command OUTPUT BOOL FALSE TRUE The job was aborted by another job during exe-
Aborted cution.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job.
The cause of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Behavior with velocity setpoint / speed setpoint zero ("Velocity" = 0.0)

An "MC_MoveVelocity" job with "Velocity" = 0.0 stops the axis with the configured
deceleration. When the velocity setpoint / speed setpoint zero is reached, the parameter
"InVelocity" will indicate the value TRUE.
Under "Technology object > Diagnostics > Status and error bits > Motion status", "constant
velocity" and "standstill" will be displayed (<TO>.StatusWord.X12 (ConstantVelocity);
<TO>.StatusWord.X7 (Standstill)).
The parameters "InVelocity" and "Busy" show the value TRUE until the "MC_MoveVelocity"
job is overridden by another Motion Control job.

S7-1500 Motion Control V4.0 in TIA Portal V15

388 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.7 MC_MoveVelocity V4

Moving an axis with constant velocity / speed

Proceed as follows to move an axis with constant velocity / speed:
1. Check the requirements indicated above.
2. At the parameter "Velocity", specify the velocity / speed, with which the axis should be
moved.
3. Start the "MC_MoveVelocity" job with a positive edge at parameter "Execute".
The current motion state is indicated in "Busy", "InVelocity" and "Error".
If the "InVelocity" parameter shows the value TRUE, then the velocity setpoint / speed
setpoint was reached. The axis continues moving at this constant velocity. The parameters
"InVelocity" and "Busy" show the value TRUE until the "MC_MoveVelocity" job is overridden
by another Motion Control job.

Note
Response to a change in the override
If the velocity / speed is influenced during constant motion by a change in the override
(<TO>.Override.Velocity), the "InVelocity" parameter is reset during the acceleration
or deceleration. When the newly calculated velocity / speed is reached
("Velocity" × "Override" %), then "InVelocity" is reset.

Additional information
An option for the evaluation of the individual status bits can be found in the section
"Evaluating StatusWord, ErrorWord and WarningWord (Page 288)".

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 389
Instructions
10.7 MC_MoveVelocity V4

10.7.2 MC_MoveVelocity: Function chart V4

Function chart: Moving an axis with velocity specification, and the response to an overriding job

An "MC_MoveVelocity" job (A1) initiated via "Exe_1" accelerates the axis and signals at time
① via "InVel_1" that the velocity setpoint 50.0 has been reached.
At time ②, the job is overridden by another "MC_MoveVelocity" job (A2). The abort is
signaled via "Abort_1". When the new velocity setpoint 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the constant velocity 15.0.

S7-1500 Motion Control V4.0 in TIA Portal V15

390 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.8 MC_MoveJog V4

The running "MC_MoveVelocity" job (A2) is overridden by another "MC_MoveVelocity" job

(A1). The abort is signaled via "Abort_2". The axis is accelerated to the new velocity setpoint
50.0. Before the velocity setpoint is reached, the current "MC_MoveVelocity" job (A1) is
overridden at time ③ by another "MC_MoveVelocity" job A2). The abort is signaled via
"Abort_1". When the new velocity setpoint 15.0 is reached, this is signaled via "InVel_2". The
axis then continues moving at the constant velocity 15.0.

10.8 MC_MoveJog V4

10.8.1 MC_MoveJog: Move axis in jog mode V4

Description
With the Motion Control instruction "MC_MoveJog", you move an axis in jog mode.
You define the dynamic behavior of the motion with parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".
● Positioning axis/synchronous axis:
A velocity is specified in the "Velocity" parameter.
● Speed axis:
A speed is specified in the "Velocity" parameter.

Applies to
● Synchronous axis
● Positioning axis
● Speed axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.

Override response
The override response for "MC_MoveJog" jobs is described in section Override response V4:
Homing and motion jobs (Page 428).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 391
Instructions
10.8 MC_MoveJog V4

Parameters
The following table shows the parameters of Motion Control instruction "MC_MoveJog":

Parameter Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
JogForward INPUT BOOL FALSE TRUE As long as the parameter is TRUE, the axis
moves in the positive direction at the velocity
specified in parameter "Velocity".
JogBackward INPUT BOOL FALSE TRUE As long as the parameter is TRUE, the axis
moves in the negative direction at the veloci-
ty specified in parameter "Velocity".
Velocity INPUT LREAL 100.0 Velocity setpoint / speed setpoint for the motion
> 0.0 The specified value is used.
< 0.0 The absolute value of the specified value is
used.
("Velocity" = 0.0 is permitted)
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Technology
object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Technology
object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile; the
specified jerk is used.
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology object >
Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
PositionControlled INPUT BOOL TRUE FALSE Non position-controlled operation
TRUE Position-controlled mode
The parameter applies as long as the "MC_MoveJog"
job is being executed. After this, the setting of the
following job applies.
This parameter is ignored when a speed axis is used.
InVelocity OUTPUT BOOL FALSE TRUE The velocity setpoint / speed setpoint was
reached and will be maintained.
Busy OUTPUT BOOL FALSE TRUE Job is running.

S7-1500 Motion Control V4.0 in TIA Portal V15

392 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.8 MC_MoveJog V4

Parameter Declaration Data type Default value Description

CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job during
execution.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job.
The job is rejected. The cause of the error
can be found in the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Behavior with zero setpoint velocity/speed ("Velocity" = 0.0)

An "MC_MoveJog" job with "Velocity" = 0.0 stops the axis with the configured deceleration.
When the velocity setpoint / speed setpoint zero is reached, the parameter "InVelocity" will
indicate the value TRUE.
Under "Technology object > Diagnostics > Status and error bits > Motion status", "constant
velocity" and "standstill" will be displayed (<TO>.StatusWord.X12 (ConstantVelocity);
<TO>.StatusWord.X7 (Standstill)).

Moving an axis in jog mode

Proceed as follows to move an axis in jog mode:
1. Check the requirements indicated above.
2. Move the axis in the positive direction with "JogForward", or in the negative direction with
"JogBackward".
The current motion state is indicated in "Busy", "InVelocity" and "Error".
If both "JogForward" and "JogBackward" are set to TRUE, the axis is braked at the last valid
deceleration. The error 16#8007 (incorrect direction specification) is output.

Note
Response to a change in the override
If the velocity/speed is influenced during constant motion by a change in the override
(<TO>.Override.Velocity), the "InVelocity" parameter is reset during the acceleration or
deceleration. When the newly calculated velocity is reached ("Velocity" × "Override" %), then
"InVelocity" is set again.

Additional information
An option for the evaluation of the individual status bits can be found in the section
"Evaluating StatusWord, ErrorWord and WarningWord" (Page 288).

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 393
Instructions
10.8 MC_MoveJog V4

10.8.2 MC_MoveJog: Function chart V4

Function chart: Moving an axis in jog mode

The axis is moved in the negative direction in jog mode via "Jog_B". When the velocity
setpoint -50.0 is reached, this is signaled via "InVel" = TRUE. After "Jog_B" is reset, the axis
is braked and brought to a standstill. Then the axis is moved in the positive direction via
"Jog_F". When the velocity setpoint 50.0 is reached, this is signaled via "InVel" = TRUE.
At time ①, if "Jog_F" is set, the velocity setpoint is changed to 100.0 by means of
"Vel_Input". Alternatively, you can also change the velocity setpoint using the velocity
override. "InVel" is reset. Axis is being accelerated. When the new velocity setpoint 100.0 is
reached, this is signaled via "InVel" = TRUE.
If "Jog_F" is set, "Jog_B" is likewise set at time ②. If both "Jog_F" and "Jog_B" are set, then
the axis is braked with the last applicable deceleration. An error is indicated via "Error", and
the "ErrorID" of the error 16#8007 (incorrect direction specification) is output.
This error is resolved by resetting the two inputs "Jog_F" and "Jog_B".

S7-1500 Motion Control V4.0 in TIA Portal V15

394 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.9 MC_MoveSuperimposed V4

During the braking ramp, "Jog_F" is set at time ③. The axis is accelerated to the last
configured velocity. When the velocity setpoint 100.0 is reached, this is signaled via
"InVel" = TRUE.

10.9 MC_MoveSuperimposed V4

10.9.1 MC_MoveSuperimposed: Position axes overlapping V4

Description
With the Motion Control instruction "MC_MoveSuperimposed", you start a relative positioning
motion that is superimposed on a active basic motion.
You define the dynamic behavior of the motion with parameters "VelocityDiff", "Jerk",
"Acceleration" and "Deceleration" . The dynamic values are added to the values of the basic
motion. The duration of the basic motion is not extended by a superimposed motion.
The dynamics of the total axis motion is the sum of the dynamic values of the basic motion
and the superimposed motion.
The behavior of the total motion depends on the type of basic motion:
● The basic motion is a single-axis motion:
– The maximum dynamics of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The entire motion is limited to the configured dynamic limits.
● The basic motion is a synchronous motion:
– The maximum dynamics of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The synchronous motion of the following axis is not limited to the dynamic limits of the
following axis.
– An "MC_MoveSuperimposed" job on a leading axis in synchronous operation affects
the leading axis and the following axis.
– An "MC_MoveSuperimposed" job on a following axis in synchronous operation only
affects the following axis.
It is always the dynamics of the total motion that is displayed in the technology data block
and in the TIA Portal.

Applies to
● Synchronous axis
● Positioning axis

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 395
Instructions
10.9 MC_MoveSuperimposed V4

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.

Override response
The override response for "MC_MoveSuperimposed" jobs is described in section Override
response V4: Homing and motion jobs (Page 428).

Parameters
The following table shows the parameters of Motion Control instruction
"MC_MoveSuperimposed":

Parameters Declaration Data type Default value Description

Axis INPUT TO_PositioningAxis - Axis technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Distance INPUT LREAL 0.0 Additional distance for the overlapping positioning
process (negative or positive)
VelocityDiff INPUT LREAL -1.0 Maximum velocity deviation compared to the ac-
tive motion
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The velocity configured in "Technology
object > Configuration > Extended param-
eters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Technolo-
gy object > Configuration > Extended
parameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in "Technolo-
gy object > Configuration > Extended
parameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile; the
specified jerk is used
= 0.0 Trapezoid velocity profile

S7-1500 Motion Control V4.0 in TIA Portal V15

396 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.9 MC_MoveSuperimposed V4

Parameters Declaration Data type Default value Description

< 0.0 The jerk configured in "Technology object
> Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
Done OUTPUT BOOL FALSE TRUE Superimposed positioning complete
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job during
execution.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the
job. The job is rejected. The cause of the
error can be found in the "ErrorID" param-
eter.
ErrorID OUTPUT WORD 0 Error ID (Page 542) for parameter "ErrorID"

Starting superimposed positioning motion

To start a superimposed positioning motion with Motion Control instruction
"MC_MoveSuperimposed", follow these steps:
1. Check the requirements indicated above.
2. Specify the additional distance to be moved in the "Distance" parameter.
3. Start the "MC_MoveSuperimposed" job with a positive edge at parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error".

See also
Override response V4: Homing and motion jobs (Page 428)
Error ID for Motion Control instructions (Page 542)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 397
Instructions
10.9 MC_MoveSuperimposed V4

10.9.2 MC_MoveSuperimposed: Function chart V4

Function chart: Positioning axes overlapping

S7-1500 Motion Control V4.0 in TIA Portal V15

398 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

Section Using "Exe_1", an "MC_MoveRelative" job with a distance of 50.0 is initiated. At time ①, using "Exe_2", an
MC_MoveSuperimposed job with a distance of 50.0 is initiated. The axis is moved with the added dynamic
values of both jobs by the distance 50 + 50 = 100.0. When the axis reaches the target position, this is signaled
via "Done_2".
Section Using "Exe_1", an "MC_MoveRelative" job with a distance of 50.0 is initiated. At time ②, using "Exe_2", a
MC_MoveSuperimposed job with a distance of -50.0 is initiated. The axis reverses and is moved with the add-
ed dynamic values of both jobs by the distance 50.0 - 50.0 = 0.0. When the axis reaches the target position,
this is signaled via "Done_2".

10.10 Measuring input, output cam, cam track

10.10.1 MC_MeasuringInput V4

10.10.1.1 MC_MeasuringInput: Start measuring once V4

Description
With the Motion Control instruction "MC_MeasuringInput", a one-time measuring is started.
With the one-time measuring, one or two edges can be detected with one measuring job.
The position of the respective technology object axis or external encoder is assigned to the
measuring event. The measurement result is indicated in the function block and in the
technology data block and can be further processed in the user program. This completes the
measuring job.
Another measuring job must be started again using "MC_MeasuringInput.Execute" = TRUE.

Applies to
● Measuring input

Requirement
● The technology object has been configured correctly.
● The encoder of the axis must have "valid" status (StatusSensor[1..4].State = valid).
Otherwise, the measuring job is rejected in the function block with an error indication.
● Measuring using PROFIdrive is not possible during active or passive homing.

Override response
The override response for "MC_MeasuringInput" jobs is described in section Override
response V4: Measuring input jobs (Page 430).

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 399
Instructions
10.10 Measuring input, output cam, cam track

Parameters
The following table shows the parameters of Motion Control instruction
"MC_MeasuringInput":

Parameters Declaration Data type Default value Description

MeasuringInput INPUT TO_Measuring - Technology object
Input
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Mode INPUT DINT 0 Type of measurement
0 Measurement of next positive edge
1 Measurement of next negative edge
2 Measurement of next two edges
3 Measurement of two edges, beginning with
the positive edge
• Rising edge = "MeasuredValue1" (meas-
ured value 1)
• Falling edge = "MeasuredValue2" (meas-
ured value 2)
4 Measurement of two edges, beginning with
the negative edge
• Falling edge = "MeasuredValue1"
• Rising edge = "MeasuredValue2"
MeasuringRange INPUT BOOL FALSE Acquisition of measured values
Observe the time-related boundary conditions
(Page 122).
FALSE Always acquire measured values
TRUE Acquire measured values only within the
measuring range
StartPosition INPUT LREAL 0.0 Start position of the measuring range
For an axis or external encoder with active modulo
function, position data outside the modulo range is
mirrored in the modulo range.
EndPosition INPUT LREAL 0.0 End position of the measuring range
For an axis or external encoder with active modulo
function, position data outside the modulo range is
mirrored in the modulo range.
Done OUTPUT BOOL FALSE TRUE The block has been completely processed.
Measured values are valid.
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The measuring job has been aborted.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job.
The cause of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"
MeasuredValue1 OUTPUT LREAL 0.0 First measured value
MeasuredValue2 OUTPUT LREAL 0.0 Second measured value (for measurement of two
edges)

S7-1500 Motion Control V4.0 in TIA Portal V15

400 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

See also
Time-related boundary conditions (Page 122)
Error ID for Motion Control instructions (Page 542)
One-time measurement (Page 116)
Override response V4: Measuring input jobs (Page 430)

10.10.1.2 MC_MeasuringInput: Function chart V4

Function chart: Start measuring job once

A "MC_MeasuringInput" job with "Mode" = 0 initiated using "Execute" performs a

measurement of the next positive edge. A successfully completed measurement is signaled
with "Done" = TRUE. The determined measured value ① (in example: 50) is output using
"MeasuredValue1".

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 401
Instructions
10.10 Measuring input, output cam, cam track

10.10.2 MC_MeasuringInputCyclic V4

10.10.2.1 MC_MeasuringInputCyclic: Start cyclic measuring V4

Description
With the Motion Control instruction "MC_MeasuringInputCyclic", a cyclic measuring is
started.
With cyclic measuring, up to two measuring events are detected by the system and the
associated measuring positions displayed. The measurements are continued cyclically until
they are ended per command.

Applies to
● Measuring input

Requirement
● The technology object has been configured correctly.
● Cyclic measuring is only possible when measuring using TM Timer DIDQ.
● The operationally active encoder of the axis must have "valid" status
(StatusSensor[1..4].State = valid). Otherwise, the measuring job is rejected in the function
block with an error indication.

Override response
The override response for "MC_MeasuringInputCyclic" jobs is described in section Override
response V4: Measuring input jobs (Page 430).

S7-1500 Motion Control V4.0 in TIA Portal V15

402 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

Parameters
The following table shows the parameters of Motion Control instruction
"MC_MeasuringInputCyclic":

Parameters Declaration Data type Default value Description

MeasuringInput INPUT TO_Measuring - Technology object
Input
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Mode INPUT DINT 0 Type of measurement
0 Measurement of positive edges
1 Measurement of negative edges
2 Measurement of both edges
MeasuringRange INPUT BOOL FALSE Acquisition of measured values
Observe the time-related boundary conditions
(Page 122).
FALSE Always acquire measured values
TRUE Acquire measured values only within
the measuring range
StartPosition INPUT LREAL 0.0 Start position of the measuring range
For an axis or external encoder with active mod-
ulo function, position data outside the modulo
range is mirrored in the modulo range.
EndPosition INPUT LREAL 0.0 End position of the measuring range
For an axis or external encoder with active mod-
ulo function, position data outside the modulo
range is mirrored in the modulo range.
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The measuring job has been aborted.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the
job. The cause of the error can be
found in the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"
MeasuredValue1 OUTPUT LREAL First measured value
MeasuredValue2 OUTPUT LREAL Second measured value (when measuring multi-
ple edges in one position control cycle)
MeasuredValue1Counter OUTPUT UDINT 0 Count value for the first measured value
MeasuredValue2Counter OUTPUT UDINT 0 Count value for the second measured value
LostEdgeCounter1 OUTPUT UDINT 0 Count value for the lost edges in the cycle clock
of the first measured value acquisition
LostEdgeCounter2 OUTPUT UDINT 0 Count value for the lost edges in the cycle clock
of the second measured value acquisition

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 403
Instructions
10.10 Measuring input, output cam, cam track

See also
Time-related boundary conditions (Page 122)
Error ID for Motion Control instructions (Page 542)
Cyclic measuring (Page 117)
Override response V4: Measuring input jobs (Page 430)

10.10.2.2 MC_MeasuringInputCyclic: Function chart V4

Function chart: Start cyclic measuring job

S7-1500 Motion Control V4.0 in TIA Portal V15

404 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

A "MC_MeasuringInputCyclic" command initiated using "Execute" (signal and start point not
shown) (e.g. call in MC-PreServo [OB67]) with "Mode" = 0 and without specified measuring
range "MeasuringRange" = FALSE performs a measurement of the positive edges. By
calling the Motion Control instruction "MC_MeasuringInputCyclic" in MC-PreServo [OB67] or
MC-PreServo [OB67], the measuring command as well as the measurement itself is called in
the same application cycle.
The actual position determined at the time of the first positive edge ① in the position control
cycle is output using "MeasuredValue1", and count tag "MeasuredValue1Counter" is
incremented by "1".
The actual position determined at the time of the second positive edge ② in the position
control cycle is output using "MeasuredValue2", and count tag "MeasuredValue2Counter" is
incremented by "1".
If additional positive edges occur in the same position control cycle ③, these are recorded in
LostEdgeCounter1 and LostEdgeCounter2.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 405
Instructions
10.10 Measuring input, output cam, cam track

10.10.3 MC_AbortMeasuringInput V4

10.10.3.1 MC_AbortMeasuringInput: Abort active measuring V4

Description
With the Motion Control instruction "MC_AbortMeasuringInput", an active one-time or cyclic
measuring job is aborted.

Applies to
● Measuring input

Requirement
● The technology object has been configured correctly.

Override response
The override response for "MC_AbortMeasuringInput" jobs is described in section Override
response V4: Measuring input jobs (Page 430).

Parameters
The following table shows the parameters of Motion Control instruction
"MC_AbortMeasuringInput":

Parameters Declaration Data type Default value Description

MeasuringInput INPUT TO_MeasuringInput - Technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
Done OUTPUT BOOL 0 The function block has been processed. The
measuring job has been deactivated.
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job has been aborted.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the
job. The cause of the error can be
found in the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

See also
Error ID for Motion Control instructions (Page 542)
Override response V4: Measuring input jobs (Page 430)
Technology object measuring input (Page 111)

S7-1500 Motion Control V4.0 in TIA Portal V15

406 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

10.10.4 MC_OutputCam V4

10.10.4.1 MC_OutputCam: Activate/deactivate cam V4

Description
You use Motion Control instruction "MC_OutputCam" to activate the specified cam.
Depending on the cam type, the following input parameters are in effect:
● Distance output cam
– "OnPosition"
– "OffPosition"
● Time-based output cam
– "OnPosition"
– "Duration"
You define the operating mode and the effective direction of the cam with parameters
"Mode" and "Direction".
When "MC_OutputCam.Enable" = TRUE, the input parameters are always read and take
effect at the next position control cycle.
When a technological alarm occurs, the cam is processed again after error acknowledgment.

Applies to
● Output cam

Requirement
● The technology object has been configured correctly.
● The higher-level technology object must have a valid position.
● Setpoint output cams are not output for an axis in non-position-controlled operation.
● A setpoint output cam with the setting "MC_OutputCam.OnPosition" = 0 switches at
position setpoint = 0.

Override response
The "MC_OutputCam" is canceled by:
● Disabling of the cam with "MC_OutputCam.Enable" = FALSE
● Only one instance of the "MC_OutputCam" function block can be active on an output cam
in the user program. A second instance of the "MC_OutputCam" function block on a
currently active output cam is rejected with an error.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 407
Instructions
10.10 Measuring input, output cam, cam track

Parameters
The following table shows the parameters of Motion Control instruction "MC_OutputCam":

Parameters Declaration Data type Default value Description

OutputCam INPUT TO_OutputCam - Technology object
Enable INPUT BOOL FALSE FALSE Cam is disabled
TRUE Cam is being processed
OnPosition INPUT LREAL 0.0 Start position of the cam [unit of measurement of the inter-
connected technology object]
For an axis or external encoder with active modulo func-
tion, position data outside the modulo range is mirrored in
the modulo range.
OffPosition INPUT LREAL 0.0 End position of the distance output cam [unit of measure-
ment of the interconnected technology object]
For an axis or external encoder with active modulo func-
tion, position data outside the modulo range is mirrored in
the modulo range.
Duration INPUT LREAL 0.0 Switch-on duration of the time-based output cam [unit of
measurement: ms]
The value for the switch-on duration of a time-based out-
put cam must be greater than 0.0.
Mode INPUT DINT 1 Operating mode
1 Standard
Cam functionality (output not inverted)
2 Cam functionality with inverted output
3 Cam always ON
(while "Enable" = TRUE)
Direction INPUT DINT 1 Activation direction of the cam
1 Positive direction
2 Negative direction
3 Both directions
CamOutput OUTPUT BOOL - Status display based on last call of Motion Control instruc-
tion "MC_OutputCam"
Busy OUTPUT BOOL FALSE TRUE Processing of the cam is active.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The
cause of the error can be found in the "ErrorID"
parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

See also
Error ID for Motion Control instructions (Page 542)
Technology object output cam (Page 126)

S7-1500 Motion Control V4.0 in TIA Portal V15

408 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

10.10.4.2 MC_OutputCam: Function chart V4

Function chart: Activate the specified cam type

A1 Distance output cam

A2 Time-based output cam

A cam is activated with "Enable" = TRUE. The cam is output corresponding to the
parameters.
The processing of the cam is indicated with "Busy" = TRUE.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 409
Instructions
10.10 Measuring input, output cam, cam track

When activation direction "Direction" = 1 (positive) is set, the cam behaves as follows,
regardless of the cam type setting:
● The distance output cam switches on at "OnPosition" ① and switches off again at
"OffPosition" ②. At a direction reversal the cam is switched off ④.
● The time-based output cam switches on at "OnPosition" ① and switches off again after
expiration of the specified time "Duration" ③. A switched on time-based output cam
remains active for the specified switch-on duration "Duration", even if overtravel of the
start position occurs again in the reverse direction.
The switching state of the cam is output using "CamOutput".
With "Enable" = FALSE, the specified cam type is deactivated. "Busy" = FALSE shows that
the cam is not being processed.

10.10.5 MC_CamTrack V4

10.10.5.1 MC_CamTrack: Activate/deactivate cam track V4

Description
With the Motion Control instruction "MC_CamTrack", the processing of a cam track is
enabled.

Applies to
● Cam track

Requirement
● The technology object has been configured correctly.
● The higher-level technology object must have a valid position.
● Setpoint output cams are not output for an axis in non-position-controlled operation.

Override response
● The "MC_CamTrack" is aborted by the disabling of the cam track with
"MC_CamTrack.Enable" = FALSE.
● Only one instance of the "MC_CamTrack" function block can be active on a cam track in
the user program. A second instance of the "MC_CamTrack" function block on a currently
active cam track is rejected with an error.
● The cam track is recalculated at a change of the parameters of the Motion Control
instruction "MC_CamTrack" or in the technology data block. The cam track is processed
in accordance with all parameter settings.

S7-1500 Motion Control V4.0 in TIA Portal V15

410 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.10 Measuring input, output cam, cam track

Parameters
The following table shows the parameters of Motion Control instruction "MC_CamTrack":

Parameters Declaration Data type Default value Description

CamTrack INPUT TO_CamTrack - Technology object
Enable INPUT BOOL FALSE TRUE Cam track is processed
FALSE Cam track is disabled
Mode INPUT INT 1 0 When "Enable" = TRUE:
Cam track processing is activated immediately
Cam track data takes effect immediately
Previously activated distance output cams are
aborted if their track signal is not still set due to the
changed cam track data.
Previously activated time-based output cams are
always aborted.
When "Enable" = FALSE:
Cam track processing is stopped immediately,
distance output/time-based output cams are abort-
ed immediately.
1 When "Enable" = TRUE:
Cam track processing is activated immediately/with
the next track cycle:
• When a cam track is activated for the first time,
the cam track processing begins immediately.
• If the cam track processing is already active, the
current cam track is output up to the end of the
track cycle. The new cam track data then takes
effect.
When "Enable" = FALSE:
Cam track processing is ended at the end of the
cam track
2 When "Enable" = TRUE:
Cam track output is switched on immediately and
remains switched on
When "Enable" = FALSE:
Cam track output is switched off immediately
InvertOutput INPUT BOOL FALSE Inverted output
TRUE Track output is output inverted
FALSE Track output is output not inverted
TrackOutput OUTPUT BOOL - Indicates the switching state of the cam track.
Busy OUTPUT BOOL FALSE TRUE Processing of the cam track is active.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The
cause of the error can be found in the "ErrorID"
parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 411
Instructions
10.10 Measuring input, output cam, cam track

See also
Error ID for Motion Control instructions (Page 542)
Cam track technology object (Page 141)

10.10.5.2 MC_CamTrack: Function chart V4

Function chart: Activate cam track

① Axis reference position

② Cam configured as invalid
③ Start of cyclically continued cam track

A cam track is activated with "Enable" = TRUE. The cam track is output in accordance with
the parameters set in the technology data block.

Tag Value Description

<TO>Parameter.
CamTrackType 0 Specified cam type for the cam track is distance output cam
ReferencePosition 20.0 Specified axis reference position for the cam track
CamTrackLength 100.0 Specified length of the cam track
CamTrack[1].Existent TRUE The first distance output cam of the cam track is specified as valid
CamTrack[1].OnPosition 10.0 Start position for the first cam of the cam track
CamTrack[1].OffPosition 20.0 End position for the first cam of the cam track
CamTrack[2].Existent FALSE The second distance output cam of the cam track is specified as invalid
CamTrack[2].OnPosition 30.0 Start position for the second cam of the cam track
CamTrack[2].OffPosition 50.0 End position for the second cam of the cam track
CamTrack[3].Existent TRUE The third distance output cam of the cam track is specified as valid
CamTrack[3].OnPosition 60.0 Start position for the third cam of the cam track
CamTrack[3].OffPosition 90.0 End position for the third cam of the cam track

S7-1500 Motion Control V4.0 in TIA Portal V15

412 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.11 Synchronous motion

10.11 Synchronous motion

10.11.1 MC_GearIn V4

10.11.1.1 MC_GearIn: Start gear synchronization V4

Description
With the Motion Control instruction "MC_GearIn", you start a gearing (Page 107) operation
between a leading axis and a following axis.
You define the dynamic behavior of the following axis for synchronization with parameters
"Jerk", "Acceleration" and "Deceleration".
The synchronization duration and distance are dependent on the following parameters:
● Start time of the "MC_GearIn" job
● Dynamics of the following axis at the start time
● Dynamic settings for synchronization
● Dynamics of the leading axis
You specify the gear ratio as the relationship between two integers (numerator/denominator)
with the parameters "RatioNumerator" and "RatioDenominator".
The numerator of the gear ratio is specified as positive or negative. This yields the following
behavior:
● Positive gear ratio:
The leading and following axes move in the same direction.
● Negative gear ratio:
The following axis moves in the opposite direction of the leading axis.
You can start synchronous operation when the leading axis is at a standstill or when it is in
motion.

Applies to
● Synchronous axis

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 413
Instructions
10.11 Synchronous motion

Requirement
● The technology objects of the leading axis and the following axis have been configured
correctly.
● The leading axis is a positioning axis, synchronous axis, or external encoder.
● The following axis is a synchronous axis.
● The leading axis is specified as possible leading axis in the configuration of the following
axis in "Technology object > Configuration > Leading value interconnections".
● The following axis is enabled.

Override response
The override response for "MC_GearIn" jobs is described in section Override response V4:
Synchronous operation jobs (Page 429).
Disabling the following axis with "MC_Power.Enable" = FALSE aborts the synchronous
operation in every status.
Disabling the leading axis with "MC_Power", in contrast, does not abort synchronous
operation. The following axis follows the leading axis even during the braking ramp and after
the leading axis is enabled again.

Parameters
The following table shows the parameters of Motion Control instruction "MC_GearIn":

Parameters Declaration Data type Default value Description

Master INPUT TO_Axis - Leading axis technology object
Slave INPUT TO_SynchronousAxis - Following axis technology object
Execute INPUT BOOL FALSE TRUE Start job with a positive edge
RatioNumerator INPUT DINT 1 Gear ratio numerator
Permitted integer values:
-2147483648 to 2147483648
(value 0 not permitted)
RatioDenominator INPUT DINT 1 Gear ratio denominator
Permitted integer values:
1 to 2147483648
Acceleration INPUT LREAL -1.0 Acceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The acceleration configured in "Tech-
nology object > Configuration > Ex-
tended parameters > Dynamic defaults"
is used.
(<TO>.DynamicDefaults.Acceleration)

S7-1500 Motion Control V4.0 in TIA Portal V15

414 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.11 Synchronous motion

Parameters Declaration Data type Default value Description

Deceleration INPUT LREAL -1.0 Deceleration
> 0.0 The specified value is used.
= 0.0 Not permitted
< 0.0 The deceleration configured in
"Technology object > Configuration >
Extended parameters > Dynamic
defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
> 0.0 Constant-acceleration velocity profile;
the specified jerk is used
= 0.0 Trapezoid velocity profile
< 0.0 The jerk configured in "Technology
object > Configuration > Extended pa-
rameters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
InGear OUTPUT BOOL FALSE TRUE Synchronous operation reached
The following axis is synchronized and
moves synchronously to the leading
axis.
Busy OUTPUT BOOL FALSE TRUE Job is running.
CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job
during execution.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the
job. The job is rejected. The cause of
the error can be found in the "ErrorID"
parameter.
ErrorID OUTPUT WORD 0 Error ID (Page 542) for parameter "ErrorID"

Starting synchronous operation

To start synchronous operation with the Motion Control instruction "MC_GearIn", follow these
steps:
1. Check the requirements indicated above.
2. Specify the leading axis, the following axis and the gear ratio at the corresponding
parameters.
3. Start the "MC_GearIn" job with a positive edge at parameter "Execute".
The following axis is synchronized to the leading value of the leading axis. If the "InGear"
parameter shows the value TRUE, the following axis is synchronized and moves
synchronously to the leading axis. The parameters "InGear" and "Busy" show the value
TRUE until the "MC_GearIn" job is overridden by another Motion Control job.

See also
Error ID for Motion Control instructions (Page 542)
Override response V4: Synchronous operation jobs (Page 429)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 415
Instructions
10.11 Synchronous motion

10.11.1.2 MC_GearIn: Function chart V4

Function chart: Synchronizing and switching the leading value

Using "Exe_1", an "MC_GearIn" job (A1) is initiated. The following axis (TO_Slave) is
synchronized to the leading axis (TO_Master_1). "InGear_1" signals at time ① that the
following axis is synchronized and moves synchronously to the leading axis.
At time ②, synchronous operation is overridden by another "MC_GearIn" job (A2). The abort
is signaled via "Abort_1". The following axis is synchronized to the new leading axis
(TO_Master_2). "InGear_2" signals at time ③ that the following axis is synchronized and
moves synchronously to the leading axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

416 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

10.12 Torque data

10.12.1 MC_TorqueLimiting V4

10.12.1.1 MC_TorqueLimiting: Activate and deactivate force/torque limit / fixed stop detection V4

Description
With the Motion Control instruction "MC_TorqueLimiting", you activate and assign
parameters for force/torque limiting and fixed stop detection. Together with a position-
controlled motion job, a "Travel to fixed stop" can be realized with the fixed stop detection. In
the axis configuration, you can configure whether the force/torque limiting is to relate to the
drive side or the load side.
The functions of the Motion Control instruction "MC_TorqueLimiting" can be activated and
deactivated before and during a motion job.

Force/torque limiting applies to

● Speed axis
● Positioning axis
● Synchronous axis

Requirements for force/torque limiting

● The technology object and the reference torque of the drive have been configured
correctly.
● No enable-preventing errors are pending for the technology object (the technology object
does not have to be enabled).
● The drive must support force/torque reduction. Only PROFIdrive drives with SIEMENS
telegram 10x support force/torque limiting.
● Interconnection in the SINAMICS drive:
– P1522 to a fixed value of 100%
– P1523 to a fixed value of -100% (e.g. through interconnection to fixed value parameter
P2902[i]).

Fixed stop detection applies to

● Positioning axis
● Synchronous axis

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 417
Instructions
10.12 Torque data

Requirement for fixed stop detection

● The fixed stop detection can only be applied to position-controlled axes. For fixed stop
detection, the axis must be enabled as position-controlled axis; motion commands must
be executed as position-controlled motion commands.
● The technology object has been configured correctly.
● When a drive and telegram that support force/torque limiting is used, the reference torque
of the drive must be correctly configured for the technology object.
● No enable-preventing errors are pending for the technology object (the technology object
does not have to be enabled).

Override response
● An "MC_TorqueLimiting" job cannot be aborted by any other Motion Control job.
● A new "MC_TorqueLimiting" job does not abort any active Motion Control jobs.
● If the high and low torque limiting is active via the "MC_TorqueRange" job, the
"MC_TorqueLimiting" job is rejected with an error message and vice versa. The functions
do not override one another.

S7-1500 Motion Control V4.0 in TIA Portal V15

418 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

Parameters
The following table shows the parameters of Motion Control instruction
"MC_TorqueLimiting":

Parameter Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
Enable INPUT BOOL FALSE TRUE Activate function corresponding to input parameter
Mode
Limit INPUT LREAL -1.0 Value of force/torque limiting (in the configured unit of meas-
urement)
If drive and telegram do not support force/torque limiting, the
specified value is irrelevant.
≥0 Use the value specified in the parameter ("0" value is
permissible)
<0 Use the value configured in the "Torque limiting"
configuration window.
Tag Torque Limit:
<TO>.TorqueLimiting.LimitDefaults.Torque
Tag Force Limit:
<TO>.TorqueLimiting.LimitDefaults.Force
Mode INPUT DINT 0 0 Force/torque limiting
1 Fixed stop detection
If drive and telegram support force/torque limiting,
this is applied.
InClamping OUTPUT BOOL FALSE TRUE Mode = 1: The drive is kept at the fixed stop (clamp-
ing), the axis position is within the positioning toler-
ance.
InLimitation OUTPUT BOOL FALSE TRUE Mode = 0 and 1: Drive is operating at the
force/torque limit.
Busy OUTPUT BOOL FALSE TRUE Job is running.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is
rejected. The cause of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

Changes to input parameters "Limit" and "Mode" are also transferred at the cyclic call of the
Motion Control instruction when "Enable = TRUE".

See also
Error ID for Motion Control instructions (Page 542)
Fixed stop detection (Page 65)
Force/torque limiting (Page 63)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 419
Instructions
10.12 Torque data

10.12.1.2 MC_TorqueLimiting: Function chart V4

Function chart: Stopping an axis when the torque limit is reached

At time ①, an "MC_Halt" job (A2) is executed on an axis with active torque limiting
"MC_TorqueLimiting" (A1). Torque limiting is still active "MC_TorqueLimiting.Enable" =
TRUE and any accumulated following error is retained and will be reduced with the time.
When the actual velocity is "0.0" and the minimum dwell time in the standstill window has
elapsed, the tag "MC_Halt.Done" shows = TRUE. When position monitoring is activated,
reaching of the target position is also monitored.

S7-1500 Motion Control V4.0 in TIA Portal V15

420 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

Function chart: Torque limiting with fixed stop detection (mode = 1)

Positioning tolerance

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 421
Instructions
10.12 Torque data

At time ①, a "MC_TorqueLimiting" job (A1) is initiated via "En_1". An "MC_MoveVelocity" job

(A2) is executed on the axis with active torque limiting. The torque limiting is still active
"MC_TorqueLimiting.Enable" = TRUE. When the following error limit ② is reached, the
"MC_MoveVelocity" job is aborted with "Abort" = TRUE. The drive is kept at the fixed stop
(clamping). The actual position of the axis is within the positioning tolerance. An
"MC_MoveVelocity" job is once again called via the two tags "Execute" = TRUE and
"Direction_2" = TRUE and the axis moves with constant velocity in the opposite direction.
The clamping is hereby reduced when the positioning tolerance ③ is exited. At time ④, the
torque limiting is cancelled.

10.12.2 MC_TorqueAdditive V4

10.12.2.1 MC_TorqueAdditive: Specify additive torque V4

Description
With the Motion Control instruction "MC_TorqueAdditive", you specify an additive torque for
the drive to which the technology object is assigned. The torque data are transferred via the
telegram 750.
With the "Value" parameter, you specify the additive setpoint torque. The specification of the
additive torque setpoint is overriding. An additional torque may be positive or negative. If you
invert the setpoint for the technology object, the value for the additive torque is also inverted
and transferred inverted to the drive.

Applies to
● Positioning axis
● Speed axis
● Synchronous axis

Requirement
● The technology object has been configured correctly.
● The technology object is enabled.
● The drive is connected via PROFIdrive telegram.
● Telegram 750 is configured.
Telegram 750 is available for SINAMICS drives V4.9 and higher.

Override response
● An "MC_TorqueAdditive" job is not aborted by any other Motion Control job.
● A new "MC_TorqueAdditive" job does not abort any active Motion Control jobs.

S7-1500 Motion Control V4.0 in TIA Portal V15

422 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

Parameters
The following table shows the parameters of Motion Control instruction
"MC_TorqueAdditive":

Parameter Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
Enable INPUT BOOL FALSE TRUE The specified setpoint is used as long as the
parameter is set to TRUE.
FALSE The additive torque transferred to the drive is
zero.
Value INPUT LREAL 0.0 Additive setpoint torque
Permissible values:
-1.0E12 to 1.0E12
Busy OUTPUT BOOL FALSE TRUE The job is being processed.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The
job is rejected. The cause of the error can be
found in the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

See also
Error ID for Motion Control instructions (Page 542)
PROFIdrive telegrams (Page 36)
Additive setpoint torque (Page 66)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 423
Instructions
10.12 Torque data

10.12.2.2 MC_TorqueAdditive: Function chart V4

Function chart: Activate/deactivate additive setpoint torque

Section With "Enable_1 = TRUE", an additive setpoint torque "Value_1" is specified for the drive assigned to the tech-
nology object. This setting is transferred to the drive parameter "p1511 - Supplementary torque 1" using tele-
gram 750.

Section With "Enable_1 = TRUE", an additive setpoint torque "Value_1" is specified for the drive assigned to the tech-
nology object. This setting is transferred to the drive parameter "p1511 - Supplementary torque 1" using tele-
gram 750. The additive setpoint torque is first built up. At time ①, "Enable_1" is already set to FALSE, before
the additive setpoint torque is reduced again. The reduction of the torque setpoint is transmitted directly to the
drive.

S7-1500 Motion Control V4.0 in TIA Portal V15

424 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

10.12.3 MC_TorqueRange V4

10.12.3.1 MC_TorqueRange: Set high and low torque limits V4

Description
With the Motion Control instruction "MC_TorqueRange", you can specify an upper and lower
torque limit to the drive assigned to the technology object. The torque data are transferred
via the telegram 750.
With the "UpperLimit" parameter you specify the upper torque limit and with "LowerLimit" the
lower torque limit. The specification of the torque limits has smoothing effect on the
movements. If you invert the setpoints for the technology object, the values for the high and
low torque limit are also inverted and transferred inverted to the drive.
If the high and low torque limits are active, the following monitors and limits are disabled by
default:
● Following error monitoring
● Time limitations for positioning and standstill monitoring
Monitoring remains in effect if you have selected the option "Leave position-related
monitoring enabled" under "Technology object > Configuration > Extended parameters >
Limits > Torque limit".

Applies to
● Positioning axis
● Speed axis
● Synchronous axis

Requirement
● The technology object has been configured correctly.
● The drive is connected via PROFIdrive telegram.
● Telegram 750 is configured.
Telegram 750 is available for SINAMICS drives V4.9 and higher.

Override response
● An "MC_TorqueRange" job is not aborted by any other Motion Control job.
● A new "MC_TorqueRange" job does not abort any active Motion Control jobs.
● If the torque limiting is active via the "MC_TorqueLimiting" job, the "MC_TorqueRange"
job is rejected with an error message and vice versa. The functions do not override one
another.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 425
Instructions
10.12 Torque data

Parameters
The following table shows the parameters of Motion Control instruction "MC_TorqueRange":

Parameter Declaration Data type Default value Description

Axis INPUT TO_SpeedAxis - Technology object
Enable INPUT BOOL FALSE TRUE The specified values are used as long as the TRUE
parameter is set.
FALSE No values for the high and low torque limit are
transferred to the drive.
UpperLimit INPUT LREAL 1.0 E12 Upper torque limit (in the configured unit)
Permitted range of values:
-1.0 E12 to 1.0 E12
The value of the parameter "UpperLimit" must not be greater
than the value of the parameter "LowerLimit".
LowerLimit INPUT LREAL -1.0 E12 Lower torque limit (in the configured unit)
Permitted range of values:
-1.0 E12 to 1.0 E12
The value of the parameter "LowerLimit" must not be less
than the value of the parameter "UpperLimit".
Busy OUTPUT BOOL FALSE TRUE The job is being processed.
Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job
is rejected. The cause of the error can be found in
the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 542) for parameter "ErrorID"

See also
Error ID for Motion Control instructions (Page 542)
PROFIdrive telegrams (Page 36)
Permissible torque range (Page 67)

S7-1500 Motion Control V4.0 in TIA Portal V15

426 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.12 Torque data

10.12.3.2 MC_TorqueRange: Function chart V4

Function chart: Set high and low torque limits

With "Enable_1 = TRUE" an upper torque limit "UpperLimit_1" and a lower torque limit
"LowerLimit_1" are specified to the drive assigned to the technology object. These settings
are transferred directly to the drive parameters "p1522 - Torque limit upper" and "p1523 -
Torque limit lower" using telegram 750. If "Enable_1" is reset to FALSE, the upper and lower
torque limits are no longer active.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 427
Instructions
10.13 Override response of Motion Control jobs V4

10.13 Override response of Motion Control jobs V4

10.13.1 Override response V4: Homing and motion jobs

The following table shows how a new Motion Control job affects active homing and motion
jobs:

⇒ Active job MC_Home MC_Home MC_Halt MC_MoveSuper- MC_MotionIn

⇓ New job "Mode" = 2, 8, 10 ("Mode" = 3, MC_MoveAbsolute imposed Velocity
5) MC_MoveRelative MC_MotionIn
Position
MC_MoveVelocity
MC_MoveJog
MC_Home A A A A A
"Mode" = 3, 5
MC_Home A - - - -
"Mode" = 9
MC_Halt - A A A A
MC_MoveAbsolute
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
MC_MotionInVelocity
MC_MotionInPosition
MC_MoveSuperimposed - - - A -
MC_GearIn - A A A -
MC_GearInPos pending1) - - - - -
MC_GearInPos active2) - A A A -
MC_CamIn pending1) - - - - -
MC_CamIn active2) - A A A -

A The running job is aborted with "CommandAborted" = TRUE.

- No effect. Running job continues to be executed.
1) "Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE
2) "Busy" = TRUE, "StartSync" or "InSync" = TRUE

S7-1500 Motion Control V4.0 in TIA Portal V15

428 Function Manual, 12/2017, A5E03879256-AE
 Instructions
10.13 Override response of Motion Control jobs V4

10.13.2 Override response V4: Synchronous operation jobs

The following table shows how a new Motion Control job affects the motion of the axis on
active synchronous operation jobs:

⇒ Active job MC_GearIn MC_GearInPos MC_GearInPos MC_Phasing- MC_CamIn MC_CamIn

⇓ New job pending1) active2) Absolute pending1) active2)
MC_Phasing-
Relative
MC_Home A - - - - -
"Mode" = 3, 5
MC_Halt A - A A - A
MC_MoveAbsolute A - A A - A
MC_MoveRelative
MC_MoveVelocity
MC_MoveJog
MC_MotionInVelocity A A A - A A
MC_MotionInPosition
MC_MoveSuperimposed - - - - - -
MC_GearIn A A A A A A
MC_GearInPos pending1) - A - - A -
MC_GearInPos active2) A A A A A A
MC_PhasingAbsolute - - - A - -
MC_PhasingRelative
MC_CamIn pending1) - A - - A -
MC_CamIn active2) A A A A A A

A The running job is aborted with "CommandAborted" = TRUE.

- No effect. Running job continues to be executed.
1) A pending synchronous operation ("Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE) does not cancel active
commands. A pending synchronous operation job can only be overridden by a further synchronous operation job on the
same following axis. Cancellation is possible with "MC_Power".
2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to active synchronous operation.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 429
Instructions
10.13 Override response of Motion Control jobs V4

10.13.3 Override response V4: Measuring input jobs

The following table shows which new Motion Control jobs will override active measuring
input jobs:

⇒ Active job MC_MeasuringInput MC_MeasuringInputCyclic

⇓ New job
MC_Home A A
"Mode" = 2, 3, 5, 8, 9, 10
MC_Home - -
"Mode" = 0, 1, 6, 7
MC_MeasuringInput A A
MC_MeasuringInputCyclic
MC_AbortMeasuringInput

A The running job is aborted with "CommandAborted" = TRUE.

- No effect. Running job continues to be executed.

S7-1500 Motion Control V4.0 in TIA Portal V15

430 Function Manual, 12/2017, A5E03879256-AE
Appendix A
A.1 Tags of the speed axis technology object

A.1.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information under
"Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after the call of
the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction "WRIT_DBL"
(write to DB in load memory). Changes will not take effect until after restart of the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Descrip- Description of the tag
tion

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

A.1.2 Actual values and setpoints (speed axis)

The following tags indicate the setpoint and actual values of the technology object.

Tags
Legend (Page 431)

Tag Data type Values W Description

Velocity LREAL - RON Velocity setpoint / speed setpoint
ActualSpeed LREAL - RON Actual speed of the motor
(with analog setpoint = 0.0)
Acceleration LREAL - RON Setpoint acceleration

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 431
Appendix
A.1 Tags of the speed axis technology object

A.1.3 Variable simulation (speed axis)

The tag structure <TO>.Simulation.<tag name> contains the configuration of the simulation
mode. In simulation mode, you can simulate axes without a real drive in the CPU.

Tags
Legend (Page 431)

Tag Data type Values W Description

Simulation. STRUCT
Mode UDINT - RES1) Simulation mode
0: No simulation, normal operation
1: Simulation mode

1) Technology version V2.0: RON

A.1.4 VirtualAxis tag (speed axis)

The tag structure <TO>.VirtualAxis.<tag name> contains the configuration of the simulation
mode. In simulation mode, you can simulate axes without a real drive in the CPU.

Tags
Legend (Page 431)

Tag Data type Values W Description

VirtualAxis. STRUCT
Mode UDINT - RON Virtual axis
0: No virtual axis
1: Axis is always and exclusively operated as virtual
axis

S7-1500 Motion Control V4.0 in TIA Portal V15

432 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.5 Actor tags (speed axis)

The tag structure <TO>.Actor.<tag name> contains the controller-side configuration of the
drive.

Tags
Legend (Page 431)

Tag Data type Values W Description

Actor. STRUCT
Type DINT - RON Drive connection
0: Analog output
1: PROFIdrive telegram
InverseDirection BOOL - RES Inversion of the setpoint
FALSE: no
TRUE: Yes
DataAdaption DINT - RES Automatic transfer of the drive values reference
speed, maximum speed and reference torque in the
device
0: No automatic transfer, manual configuration of
values
1: Automatic transfer of values configured in the
drive to the configuration of the technology object
Efficiency LREAL 0.0 to 1.0 RES Efficiency of gear
Interface. STRUCT
AddressIn VREF 0 to 65535 RON Input address for the PROFIdrive telegram
AddressOut VREF 0 to 65535 RON Output address for the PROFIdrive telegram or the
analog setpoint
EnableDriveOutput BOOL - RES "Enable output" for analog drives
FALSE: disabled
TRUE: Activated
EnableDriveOutput VREF 0 to 65535 RON Address for the "Enable output" for analog setpoint
Address
DriveReadyInput BOOL - RES "Ready input" for analog drives
The analog drive signals its readiness to receive
speed setpoints.
FALSE: disabled
TRUE: Activated
DriveReadyInput VREF 0 to 65535 RON Address for the "Enable input" for analog setpoint
Address
EnableTorqueData BOOL - RES Torque data
FALSE: Deactivated
TRUE: Activated
TorqueDataAddressIn VREF 0 to 65535 RON Input Address of the Telegram 750
TorqueDataAddress VREF 0 to 65535 RON Output address of the telegram 750
Out
DriveParameter.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 433
Appendix
A.1 Tags of the speed axis technology object

Tag Data type Values W Description

ReferenceSpeed LREAL 0.0 to RES Reference value (100%) for the speed setpoint
1.0E12 (N-set) of the drive
The speed setpoint is transferred in the PROFIdrive
telegram as a normalized value from -200% to 200%
of the "ReferenceSpeed".
For setpoint specification via an analog output, the
analog output can be operated in the range from -
117% to 117%, provided the drive permits this.
MaxSpeed LREAL 0.0 to RES Maximum value for the speed setpoint of the drive
1.0E12 (N-set)
(PROFIdrive: MaxSpeed ≤ 2 × ReferenceSpeed
Analog setpoint: MaxSpeed ≤ 1.17 × Refer-
enceSpeed)
ReferenceTorque LREAL 0.0 to RES Reference torque of drive (p2003).
1.0E12 Valid for standard motor setting.

A.1.6 Torque Limiting tag (speed axis)

The tag structure <TO>.TorqueLimiting.<tag name> contains the configuration of the torque
limiting.

Tags
Legend (Page 431)

Tag Data type Values W Description

TorqueLimiting. STRUCT
LimitBase DINT - RES Torque limiting
0: Motor side
1: Load side
PositionBased DINT - RES Positioning and following error monitoring
Monitorings 0: Monitoring deactivated
1: Monitoring activated
LimitDefaults. STRUCT
Torque LREAL 0.0 to 1.0E12 CAL Limiting torque
Force LREAL 0.0 to 1.0E12 CAL Limiting force

S7-1500 Motion Control V4.0 in TIA Portal V15

434 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.7 LoadGear tags (speed axis)

The tag structure <TO>.LoadGear.<tag name> contains the configuration of the load gear.

Tags
Legend (Page 431)

Tag Data type Value range W Description

LoadGear. STRUCT
Numerator UDINT 1 to RES Load gear numerator
4294967295
Denominator UDINT 1 to RES Load gear denominator
4294967295

A.1.8 Units tags (speed axis)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 431)

Tag Data type Values W Description

Units. STRUCT
VelocityUnit UDINT - RON Unit for velocity
1082 1/s
1083 1/min
1528 1/h
TimeUnit UDINT - RON Unit for time
1054 s
TorqueUnit UDINT - RON Unit for torque
1126 Nm
1128 kNm
1529 lbf in (pound-force-inch)
1530 lbf ft
1531 ozf in (ounce-force-inch)
1532 ozf ft
1533 pdl in (poundal-inch)
1534 pdl ft
ForceUnit UDINT - RON Unit for force
1120 N
1122 kN
1094 lbf (pound-force)
1093 ozf (ounce-force)
1535 pdl (poundals)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 435
Appendix
A.1 Tags of the speed axis technology object

A.1.9 DynamicLimits tags (speed axis)

The tag structure <TO>.DynamicLimits.<tag name> contains the configuration of the
dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are
permitted. If you have specified greater values in a Motion Control instruction, then motion is
performed using the dynamic limits, and a warning is indicated (alarm 501 to 503 - Dynamic
values were limited).

Tags
Legend (Page 431)

Tag Data type Values W Description

DynamicLimits. STRUCT
MaxVelocity LREAL 0.0 to 1.0E12 RES Maximum permissible velocity of the axis
MaxAcceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible acceleration of the axis
MaxDeceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible deceleration of the axis
MaxJerk LREAL 0.0 to 1.0E12 DIR Maximum permissible jerk on the axis

A.1.10 DynamicDefaults tags (speed axis)

The tag structure <TO>.DynamicDefaults.<tag name> contains the configuration of the
dynamic defaults. These settings will be used when you specify a dynamic value less than
0.0 in a Motion Control instruction (exceptions: MC_MoveJog.Velocity,
MC_MoveVelocity.Velocity). Changes to the default dynamic values will be applied at the
next positive edge at the "Execute" parameter of a Motion Control instruction.

Tags
Legend (Page 431)

Tag Data type Values W Description

DynamicDefaults. STRUCT
Velocity LREAL 0.0 to 1.0E12 CAL Default velocity
Acceleration LREAL 0.0 to 1.0E12 CAL Default acceleration
Deceleration LREAL 0.0 to 1.0E12 CAL Default deceleration
Jerk LREAL 0.0 to 1.0E12 CAL Default jerk
EmergencyDeceleration LREAL 0.0 to 1.0E12 DIR Emergency stop deceleration

S7-1500 Motion Control V4.0 in TIA Portal V15

436 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.11 Override tags (speed axis)

The tag structure <TO>.Override.<tag name> contains the configuration for the override
parameters. The override parameters are used to apply a correction percentage to default
values. An override change takes effect immediately, and is performed with the dynamic
settings in effect in the Motion Control instruction.

Tags
Legend (Page 431)

Tag Data type Values W Description

Override. STRUCT
Velocity LREAL 0.0 to 200.0% DIR Velocity or speed override
Percentage correction of the velocity/speed

A.1.12 StatusDrive tags (speed axis)

The tag structure <TO>.StatusDrive.<tag name> indicates the status of the drive.

Tags
Legend (Page 431)

Tag Data type Values W Description

StatusDrive. STRUCT
InOperation BOOL - RON Operational status of the drive
FALSE: Drive not ready. Setpoints will not be exe-
cuted.
TRUE: Drive ready. Setpoints can be executed.
CommunicationOK BOOL - RON Cyclic BUS communication between controller and
drive
FALSE: Not established
TRUE: Established
Error BOOL - RON FALSE: No drive error
TRUE: Drive error
AdaptionState DINT - RON Status of automatic data transfer of drive parameters
0: "NOT_ADAPTED" (Data not transferred)
1: "IN_ADAPTION" (Data transfer in progress)
2: "ADAPTED" (Data transfer complete)
3: "NOT_APPLICABLE" (Data transfer not selected,
not possible)
4: "ADAPTION_ERROR" (Error during data transfer)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 437
Appendix
A.1 Tags of the speed axis technology object

A.1.13 StatusTorqueData tags (speed axis)

The tag structure <TO>.StatusTorqueData.<tag name> indicates the status of the torque.

Tags
Legend (Page 431)

Tag Data type Value range W Description

StatusTorqueData. STRUCT
CommandAdditive DINT - RON Additive torque setpoint function
TorqueActive 0: Deactivated
1: Activated
CommandTorqueRange DINT - RON Torque range above high and low limit of the torque
Active function
0: Deactivated
1: Activated
ActualTorque LREAL -1.0E12 to RON Actual torque of the axis in the technological unit of
1.0E12 the TO for torque

A.1.14 StatusMotionIn tags (speed axis)

The tag structure <TO>.StatusMotionIn.<tag name> indicates the motion status.

Tags
Legend (Page 431)

Tag Data type Value range W Description

StatusMotionIn. STRUCT
FunctionState DINT - RON 0: No MotionIn function active
1: MotionInVelocity active
2: MotionInPosition active

S7-1500 Motion Control V4.0 in TIA Portal V15

438 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.15 StatusWord tag (speed axis)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 0 "Enable") can be found in the
section Evaluating StatusWord, ErrorWord and WarningWord (Page 288).

Tag
Legend (Page 431)

Tag Data type Values W Description

Status- DWORD - RON Status data of the technology object
Word
Bit 0 - - - "Enable"
Enable status
0: Technology object disabled
1: Technology object enabled
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tags unchanged
1: Change to "Restart" tags. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - "ControlPanelActive"
Axis control panel
0: Deactivated
1: Activated
Bit 5 - - - Reserved
Bit 6 - - - "Done"
0: Motion job is running, or Axis control panel enabled
1: No motion job is running and axis control panel disabled
Bit 7 - - - Reserved
Bit 8 - - - Reserved
Bit 9 - - - "JogCommand"
0: No "MC_MoveJog" job running
1: "MC_MoveJog" job running
Bit 10 - - - "VelocityCommand"
0: No "MC_MoveVelocity" job running
1: "MC_MoveVelocity" job running
Bit 11 - - - Reserved
Bit 12 - - - "ConstantVelocity"
0: Axis is accelerating or decelerating.
1: Velocity setpoint reached. The axis is traversing at this constant
velocity or is at a standstill.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 439
Appendix
A.1 Tags of the speed axis technology object

Tag Data type Values W Description

Bit 13 - - - "Accelerating"
0: No acceleration process active
1: Acceleration process active
Bit 14 - - - "Decelerating"
0: No deceleration process active
1: Deceleration process active
Bit 15... - - - Reserved
Bit 24
Bit 25 - - - "AxisSimulation"
0: No simulation
1: Simulation is active
Bit 26 - - - "TorqueLimitingCommand"
0: No "MC_TorqueLimiting" job is running
1: "MC_TorqueLimiting" job is running
Bit 27 - - - "InLimitation"
0: Drive is not operating at the torque limit
1: Drive is operating at the torque limit
Bit 28... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

440 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.16 ErrorWord tag (speed axis)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 431)

Tag Data type Values W Description

Error- DWORD - RON
Word
Bit 0 - - - "SystemFault"
System error
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4 - - - "DriveFault"
Error in drive
Bit 5 - - - Reserved
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible values.
Bit 7 - - - "CommunicationFault"
Communication error
Missing or faulty communication.
Bit 8 - - - Reserved
Bit 9 - - - Reserved
Bit 10 - - - Reserved
Bit 11 - - - Reserved
Bit 12 - - - Reserved
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14 - - - Reserved
Bit 15 - - - "AdaptionError"
Error during data transfer
Bit 16... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 441
Appendix
A.1 Tags of the speed axis technology object

A.1.17 ErrorDetail tags (speed axis)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 431)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0 to 5 RON Effective alarm reaction
0: No reaction
1: Stop with current dynamic values
2: Stop with maximum dynamic values
3: Stop with emergency stop ramp
4: Remove enable
5: Track setpoints

S7-1500 Motion Control V4.0 in TIA Portal V15

442 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.1 Tags of the speed axis technology object

A.1.18 WarningWord tag (speed axis)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 13 "PeripheralWarning") can be
found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 431)

Tag Data type Values W Description

Warning- DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4 - - - "DriveWarning"
Error in drive
Bit 5 - - - Reserved
Bit 6 - - - "DynamicWarning"
Specified dynamic values are limited to permissible values.
Bit 7 "CommunicationWarning"
Communication error
Missing or faulty communication.
Bit 8... Reserved
Bit 12
Bit 13 "PeripheralWarning"
Error accessing a logical address
Bit 14 Reserved
Bit 15 "AdaptionWarning"
Error in automatic data transfer
Bit 16... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 443
Appendix
A.1 Tags of the speed axis technology object

A.1.19 ControlPanel tags (speed axis)

The tag structure <TO>.ControlPanel.<tag name> contains no user-relevant data. This tag
structure is internally used.

Tags
Legend (Page 431)

Tag Data type Values W Description

ControlPanel. STRUCT
Input. STRUCT
TimeOut LREAL 100 to 60000 DIR
EsLifeSign UDINT - DIR
Command. ARRAY
[1..2] OF
STRUCT
ReqCounter UDINT - DIR -
Type UDINT - DIR -
Position LREAL - DIR -
Velocity LREAL - DIR -
Acceleration LREAL - DIR -
Deceleration LREAL - DIR -
Jerk LREAL - DIR -
Param LREAL - DIR -
Output. STRUCT
RTLifeSign UDINT - RON
Command. ARRAY
[1..2] OF
STRUCT
AckCounter UDINT - RON -
Error BOOL - RON -
ErrorID UDINT - RON -
Done BOOL - RON -
Aborted BOOL - RON -

S7-1500 Motion Control V4.0 in TIA Portal V15

444 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.1.20 InternalToTrace tags (speed axis)

The tag structure <TO>.InternalToTrace.<tag name> contains no user-relevant data. This
tag structure is internally used.

Tags
Legend (Page 431)

Tag Data type Values W Description

InternalToTrace. ARRAY
[1..4] OF
STRUCT
Id DINT - DIR -
Value LREAL - DIR -

A.2 Tags of the positioning axis/synchronous axis technology object

A.2.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
(L - linear specification R - rotary specification)
If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after
the call of the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Description Description of the tag

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 445
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.2 Actual values and setpoints (positioning axis/synchronous axis)

The following tags indicate the setpoint and actual values of the technology object.

Tags
Legend (Page 445)

Tag Data type Values W Description

Position LREAL - RON Position setpoint
Velocity LREAL - RON Velocity setpoint / speed setpoint
ActualPosition LREAL - RON Actual position
ActualVelocity LREAL - RON Actual velocity
ActualSpeed LREAL - RON Actual speed of the motor
(with analog setpoint = 0.0)
Acceleration LREAL - RON Setpoint acceleration
ActualAcceleration LREAL - RON Actual acceleration
OperativeSensor UDINT 1 to 4 RON Operative encoder

A.2.3 Simulation tag (positioning axis / synchronous axis)

The tag structure <TO>.Simulation.<tag name> contains the configuration of the simulation
mode. In simulation mode, you can simulate axes without a real drive in the CPU.

Tags
Legend (Page 445)

Tag Data type Values W Description

Simulation. STRUCT
Mode UDINT - RES1) Simulation mode
0: No simulation, normal operation
1: Simulation mode

1) Technology version V2.0: RON

S7-1500 Motion Control V4.0 in TIA Portal V15

446 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.4 VirtualAxis tag (positioning axis/synchronous axis)

The tag structure <TO>.VirtualAxis.<tag name> contains the configuration of the simulation
mode. In simulation mode, you can simulate axes without a real drive in the CPU.

Tags
Legend (Page 445)

Tag Data type Values W Description

VirtualAxis. STRUCT
Mode UDINT - RON Virtual axis
0: No virtual axis
1: Axis is always and exclusively operated as virtual
axis

A.2.5 Actor tags (positioning axis/synchronous axis)

The tag structure <TO>.Actor.<tag name> contains the controller-side configuration of the
drive.

Tags
Legend (Page 445)

Tag Data type Values W Description

Actor. STRUCT
Type DINT - RON Drive connection
0: Analog output
1: PROFIdrive telegram
InverseDirection BOOL - RES Inversion of the setpoint
FALSE: no
TRUE: Yes
DataAdaption DINT - RES Automatic transfer of the drive values reference
speed, maximum speed and reference torque
0: No automatic transfer, manual configuration of
values
1: Automatic transfer of values configured in the
drive to the configuration of the technology object
Efficiency LREAL 0.0 to 1.0 RES Efficiency of mechanics (gear and leadscrew)
Interface. STRUCT
AddressIn VREF 0 to 65535 RON Input address for the PROFIdrive telegram
AddressOut VREF 0 to 65535 RON Output address for the PROFIdrive telegram or
the analog setpoint

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 447
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

EnableDriveOutput BOOL - RES "Enable output" for analog drives
FALSE: disabled
TRUE: Activated
EnableDriveOutput VREF 0 to 65535 RON Address for the "Enable output" for analog set-
Address point
DriveReadyInput BOOL - RES "Ready input" for analog drives
The analog drive signals its readiness to receive
speed setpoints.
FALSE: disabled
TRUE: Activated
DriveReadyInput VREF 0 to 65535 RON Address for the "Enable input" for analog set-
Address point
EnableTorqueData BOOL - RES Torque data
FALSE: Deactivated
TRUE: Activated
TorqueDataAddressIn VREF 0 to 65535 RON Input address of the supplemental telegram
TorqueDataAddress VREF 0 to 65535 RON Output address of the supplemental telegram
Out
DriveParameter.
ReferenceSpeed LREAL 0.0 to 1.0E12 RES Reference value (100%) for the speed setpoint
(N-set) of the drive
The speed setpoint is transferred in the
PROFIdrive telegram as a normalized value from
-200% to 200% of the "ReferenceSpeed".
For setpoint specification via an analog output,
the analog output can be operated in the range
from -117% to 117%, provided the drive permits
this.
MaxSpeed LREAL 0.0 to 1.0E12 RES Maximum value for the speed setpoint of the
drive (N-set)
(PROFIdrive: MaxSpeed ≤ 2 × ReferenceSpeed
Analog setpoint:
MaxSpeed ≤ 1.17 × ReferenceSpeed)
ReferenceTorque LREAL 0.0 to 1.0E12 RES Reference value (100%) for the drive torque

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

448 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.6 TorqueLimiting tag (positioning axis/synchronous axis)

The tag structure <TO>.TorqueLimiting.<tag name> contains the configuration of the torque
limiting.

Tags
Legend (Page 445)

Tag Data type Values W Description

TorqueLimiting. STRUCT
LimitBase DINT - RES Torque limiting
0: Motor side
1: Load side
PositionBased DINT - RES Positioning and following error monitoring
Monitorings 0: Monitoring deactivated
1: Monitoring activated
LimitDefaults. STRUCT
Torque LREAL 0.0 to 1.0E12 CAL Limiting torque
Force LREAL 0.0 to 1.0E12 CAL Limiting force

A.2.7 Clamping tag (positioning axis/synchronous axis)

The tag structure <TO>.Clamping.<tag name> contains the configuration of the fixed stop
detection.

Tags
Legend (Page 445)

Tag Data type Values W Description

Clamping. STRUCT
FollowingErrorDeviation LREAL 0.001 to 1.0E12 DIR Value of the following error starting from which the
fixed stop is detected.
PositionTolerance LREAL 0.001 to 1.0E12 DIR Position tolerance for clamping monitoring

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 449
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.8 Sensor[n] tags (positioning axis/synchronous axis)

The tag structure <TO>.Sensor[n].<tag name> contains the controller-end configuration for
the encoder, and the configuration for active and passive homing.

Tags
Legend (Page 445)

Tag Data type Values W Description

Sensor[n]. ARRAY
[1..4] OF
STRUCT
Existent BOOL - RON Displaying created encoders
Type DINT - RON Encoder type
0: "INCREMENTAL" (incremental)
1: "ABSOLUTE" (absolute)
2: "CYCLIC_ABSOLUTE" (cyclic absolute)
InverseDirection BOOL - RES Inversion of the actual value
FALSE: no
TRUE: Yes
System DINT - RES Encoder system
0: "LINEAR" (linear encoder)
1: "ROTATORY" (rotary encoder)
MountingMode DINT - RES Mounting type of encoder
0: On motor shaft
1: On load side
2: External measuring system
DataAdaption DINT - RES Automatic transfer of the drive values reference
speed, maximum speed and reference torque in the
device
0: No automatic transfer, manual configuration of
values
1: Automatic transfer of values configured in the
drive to the configuration of the technology object
Interface.
AddressIn VREF 0 to 65535 RON Input address for the PROFIdrive telegram
AddressOut VREF 0 to 65535 RON Output address for the PROFIdrive telegram
Number UDINT 1 to 2 RON Number of the encoder in the telegram
Parameter.
Resolution LREAL 1.0E-12 to RES Resolution of a linear encoder (offset between two
1.0E12 encoder pulses)
StepsPerRevolution UDINT 1 to 8388608 RES Increments per rotary encoder revolution
FineResolutionXist1 UDINT 0 to 31 RES Number of bits for fine resolution Gx_XIST1 (cyclic
actual encoder value)
FineResolutionXist2 UDINT 0 to 31 RES Number of bits for fine resolution Gx_XIST2 (abso-
lute value of encoder)

S7-1500 Motion Control V4.0 in TIA Portal V15

450 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

Determinable UDINT 0 to 8388608 RES Number of differentiable encoder revolutions for a
Revolutions multi-turn absolute encoder
(For a single-turn absolute encoder = 1; for an in-
cremental encoder = 0)
DistancePer LREAL 0.0 to 1.0E12 RES Load distance per revolution of an externally mount-
Revolution ed encoder
ActiveHoming. STRUCT
Mode DINT - RES Homing mode
0: Use zero mark via PROFIdrive telegram
1: Use zero mark via PROFIdrive telegram and ref-
erence cam
2: Use homing mark via digital input
SideInput BOOL - CAL Side of the digital input for active homing:
FALSE: Negative side
TRUE: Positive side
Direction DINT - CAL Homing direction / homing mark approach direction
0: Positive homing direction
1: Negative homing direction
DigitalInputAddress VREF 0 to 65535 RON Address of digital input
HomePositionOffset LREAL -1.0E12 to CAL Home position offset
1.0E12
SwitchLevel BOOL - RES Signal level that is present at the digital input when
homing mark is approached
FALSE: Low level
TRUE: High level
PassiveHoming. STRUCT
Mode DINT - RES Homing mode
0: Use zero mark via PROFIdrive telegram
1: Use zero mark via PROFIdrive telegram and ref-
erence cam
2: Use homing mark via digital input
SideInput BOOL - CAL Side of digital input during passive homing:
FALSE: Negative side
TRUE: Positive side
Direction DINT - CAL Homing direction / homing mark approach direction
0: Positive homing direction
1: Negative homing direction
2: Current homing direction
DigitalInputAddress VREF 0 to 65535 RON Address of digital input
SwitchLevel BOOL - RES Signal level that is present at the digital input when
homing mark is approached
FALSE: Low level
TRUE: High level

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 451
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.9 Extrapolation tag (positioning axis/synchronous axis)

The tag structure <TO>.Extrapolation.<tag name> contains the configuration of the actual
value extrapolation.

Tags
Legend (Page 445)

Tag Data type Values W Description

Extrapolation. STRUCT
LeadingAxisDependent LREAL - RON Extrapolation time component (caused by leading
Time axis)
Results from the following times:
• Time of actual value acquisition for the leading
axis
• Ipo cycle
• Time of actual position filter of leading axis (T1 +
T2)
FollowingAxis LREAL 0.0 to 1.0E12 DIR Extrapolation time component (caused by following
DependentTime axis)
Results from the following times:
• For a following axis with set velocity precontrol:
– Communication cycle
– Ipo cycle
– Speed control loop substitute time for the fol-
lowing axis
– Output time of the setpoint for the following
axis
• For a following axis without velocity precontrol:
– Communication cycle
– Ipo cycle
– Position control loop equivalent time (1/Kv
from <TO>.PositionControl.Kv)
– Output time of the setpoint for the following
axis
PositionFilter. STRUCT
T1 LREAL 0.0 to 1.0E12 DIR Position filter time constant T1
T2 LREAL 0.0 to 1.0E12 DIR Position filter time constant T2
VelocityFilter. STRUCT
T1 LREAL 0.0 to 1.0E12 DIR Velocity filter time constant T1
VelocityTolerance. STRUCT
Range LREAL 0.0 to 1.0E12 DIR Tolerance band width for velocity
Hysteresis. STRUCT
Value LREAL 0.0 to 1.0E12 DIR Hysteresis value

S7-1500 Motion Control V4.0 in TIA Portal V15

452 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.10 LoadGear tags (positioning axis/synchronous axis)

The tag structure <TO>.LoadGear.<tag name> contains the configuration for the load gear.

Tags
Legend (Page 445)

Tag Data type Value range W Description

LoadGear. STRUCT
Numerator UDINT 1 to RES Load gear counter
4294967295
Denominator UDINT 1 to RES Load gear denominator
4294967295

A.2.11 Properties tags (positioning axis/synchronous axis)

The tag structure <TO>.Properties.<tag name> contains the configuration of the type of axis
or motion.

Tags
Legend (Page 445)

Tag Data type Value range W Description

Properties. STRUCT
MotionType DINT - RON Indication of axis or motion type:
0: Linear axis or motion
1: Rotary axis or motion

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 453
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.12 Units tag (positioning axis/synchronous axis)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 445)

Tag Data type Values W Description

Units. STRUCT
LengthUnit UDINT - RON Unit for position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1004 rad
1005 °
VelocityUnit UDINT - RON Unit for velocity
1521 °/s
1522 °/min
1086 rad/s
1523 rad/min
1062 mm/s
1061 m/s
1524 mm/min
1525 m/min
1526 mm/h
1063 m/h
1527 km/min
1064 km/h
1066 in/s
1069 in/min
1067 ft/s
1070 ft/min
1075 mi/h
TimeUnit UDINT - RON Unit for time
1054 s
TorqueUnit UDINT - RON Unit for torque
1126 Nm
1128 kNm

S7-1500 Motion Control V4.0 in TIA Portal V15

454 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

1529 lbf in (pound-force-inch)
1530 lbf ft
1531 ozf in (ounce-force-inch)
1532 ozf ft
1533 pdl in (poundal-inch)
1534 pdl ft
ForceUnit UDINT - RON Unit for force
1120 N
1122 kN
1094 lbf (pound-force)
1093 ozf (ounce-force)
1535 pdl (poundals)

A.2.13 Mechanics tags (positioning axis/synchronous axis)

The tag structure <TO>.Mechanics.<tag name> contains the configuration of the mechanics.

Tags
Legend (Page 445)

Tag Data type Value range W Description

Mechanics. STRUCT
LeadScrew LREAL 0.0 to 1.0E12 RES Leadscrew pitch

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 455
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.14 Modulo tags (positioning axis/synchronous axis)

The tag structure <TO>.Modulo.<tag name> contains the configuration of the modulo
function.

Tags
Legend (Page 445)

Tag Data type Values W Description

Modulo. STRUCT
Enable BOOL - RES FALSE: Modulo conversion disabled
TRUE: Modulo conversion enabled
When modulo conversion is enabled, a check is
made for modulo length > 0.0
Length LREAL 0.001 to 1.0E12 RES Modulo length
StartValue LREAL -1.0E12 to RES Modulo start value
1.0E12

See also
Evaluating the technology data block (Page 285)

A.2.15 DynamicLimits tags (positioning axis/synchronous axis)

The tag structure <TO>.DynamicLimits.<tag name> contains the configuration of the
dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are
permitted. If you have specified greater values in a Motion Control instruction, then motion is
performed using the dynamic limits, and a warning is indicated (alarm 501 to 503 - Dynamic
values were limited).

Tags
Legend (Page 445)

Tag Data type Values W Description

DynamicLimits. STRUCT
MaxVelocity LREAL 0.0 to 1.0E12 RES Maximum permissible velocity of the axis
Velocity LREAL 0.0 to 1.0E12 DIR Current maximum velocity of the axis
MaxAcceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible acceleration of the axis
MaxDeceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible deceleration of the axis
MaxJerk LREAL 0.0 to 1.0E12 DIR Maximum permissible jerk on the axis

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

456 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.16 DynamicDefaults tags (positioning axis/synchronous axis)

The tag structure <TO>.DynamicDefaults.<tag name> contains the configuration of the
dynamic defaults. These settings will be used when you specify a dynamic value less than
0.0 in a Motion Control instruction (exceptions: MC_MoveJog.Velocity,
MC_MoveVelocity.Velocity). Changes to the default dynamic values will be applied at the
next positive edge at the "Execute" parameter of a Motion Control instruction.

Tags
Legend (Page 445)

Tag Data type Values W Description

DynamicDefaults. STRUCT
Velocity LREAL 0.0 to 1.0E12 CAL Default velocity
Acceleration LREAL 0.0 to 1.0E12 CAL Default acceleration
Deceleration LREAL 0.0 to 1.0E12 CAL Default deceleration
Jerk LREAL 0.0 to 1.0E12 CAL Default jerk
EmergencyDeceleration LREAL 0.0 to 1.0E12 DIR Emergency stop deceleration

See also
Evaluating the technology data block (Page 285)

A.2.17 PositionLimits_SW tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionLimits_SW.<tag name> contains the configuration for
position monitoring with software limit switches. Software limit switches are used to limit the
operating range of a positioning axis.

Tags
Legend (Page 445)

Tag Data type Values W Description

PositionLimits_SW. STRUCT
Active BOOL - DIR FALSE: Monitoring disabled
TRUE: Monitoring enabled
MinPosition LREAL -1.0E12 to DIR Position of negative software limit switches
1.0E12
MaxPosition LREAL -1.0E12 to DIR Position of positive software limit switches
1.0E12 ("MaxPosition" > "MinPosition")

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 457
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.18 PositionLimits_HW tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionLimits_HW.<tag name> contains the configuration of
position monitoring with hardware limit switches. Hardware limit switches are used to limit
the traversing range of a positioning axis.

Tags
Legend (Page 445)

Tag Data type Values W Description

PositionLimits_HW. STRUCT
Active BOOL - RES FALSE: Monitoring disabled
TRUE: Monitoring enabled
With "Active", both (negative and positive) hardware
limit switches are activated or deactivated.
MinSwitchLevel BOOL - RES Level selection for activation of the negative hard-
ware limit switch:
FALSE: Low level (Low active)
TRUE: High level (High active)
MinSwitchAddress VREF 0 to 65535 RON Address for the negative hardware limit switch
MaxSwitchLevel BOOL - RES Level selection for enabling of the positive hardware
limit switch:
FALSE: Low level (Low active)
TRUE: High level (High active)
MaxSwitchAddress VREF 0 to 65535 RON Address for the positive hardware limit switch

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

458 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.19 Homing tags (positioning axis/synchronous axis)

The tag structure <TO>.Homing.<tag name> contains the configuration for homing the TO.

Tags
Legend (Page 445)

Tag Data type Values W Description

Homing. STRUCT
AutoReversal BOOL - RES Reversal at the hardware limit switches
FALSE: no
TRUE: Yes
ApproachDirection BOOL - CAL Direction of approach to the homing position switch
FALSE: positive direction
TRUE: Negative direction
ApproachVelocity LREAL L: CAL Approach velocity
0.0 to Velocity during active homing at which the reference
10000.0 mm/s cam and home position are approached.
R:
0.0 to
360000.0°/s
ReferencingVelocity LREAL L: CAL Homing velocity
0.0 to Velocity during active homing at which the home
1000.0 mm/s position is approached.
R:
0.0 to
36000.0°/s
HomePosition LREAL -1.0E12 to CAL Home position
1.0E12

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 459
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.20 Override tags (positioning axis/synchronous axis)

The tag structure <TO>.Override.<tag name> contains the configuration for the override
parameters. The override parameters are used to apply a correction percentage to default
values. An override change takes effect immediately, and is performed with the dynamic
settings in effect in the Motion Control instruction.

Tags
Legend (Page 445)

Tag Data type Values W Description

Override. STRUCT
Velocity LREAL 0.0 to 200.0% DIR Velocity or speed override
Percentage correction of the velocity/speed

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

460 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.21 PositionControl tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionControl.<tag name> contains the settings of closed loop
position control.

Tags
Legend (Page 445)

Tag Data type Values W Description

PositionControl. STRUCT

Kv LREAL 0.0 to DIR Proportional gain of the closed loop position control
2147480.0 ("Kv" > 0.0)
Kpc LREAL 0.0 to 150.0% DIR Velocity precontrol of the position control
Recommended setting:
• Isochronous drive connection via PROFIdrive:

100.0%
• Non-isochronous drive connection via
PROFIdrive:

0.0 to 100.0%
• Analog drive connection:

0.0 to 100.0%
EnableDSC BOOL - RES Dynamic Servo Control (DSC)
FALSE: DSC disabled
TRUE: DSC enabled
DSC is only possible with one of the following
PROFIdrive telegrams:
• Standard telegram 5 or 6
• SIEMENS telegram 105 or 106
SmoothingTimeBy- LREAL 0.0 to 1.0E+12 DIR Manipulated variable ramp at step change of control
ChangeDifference deviation due to encoder switchover.
InitialOperativeSensor UDINT - RES Active encoder after initialization of the axis.
(encoder number 1 to 4)
This encoder is used after startup of the CPU and
after a restart of the technology object (Page 314).
At an operating mode transition from STOP → RUN
of the CPU (without restart of the technology object),
the encoder that was also active before the STOP is
still being used.
ControlDifference STRUCT
Quantization.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 461
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

Mode DINT - RES Type of quantification
Configuration of a quantization when a drive with
stepper motor interface is connected
0: No quantification
1: Quantization corresponding to encoder resolution
2: Quantization to a direct value
(configuration is performed using the parameter view
(data structure))
Value LREAL 0.001 to RES Value of quantification
1.0E+12 Configuration of a value for quantization to a direct
value
(<TO>.PositionControl.ControlDifferenceQuantizatio
n.Mode = 2)
(configuration is performed using the parameter view
(data structure))

See also
Evaluating the technology data block (Page 285)

A.2.22 DynamicAxisModel tags (positioning axis/synchronous axis)

The tag structure <TO>.DynamicAxisModel.<tag name> contains the settings of the
balancing filter.

Tags
Legend (Page 445)

Tag Data type Values W Description

DynamicAxisModel. STRUCT
VelocityTimeConstant LREAL 0.0 to 1.0E12 DIR Speed control loop substitute time [s]
AdditionalPosition- LREAL 0.0 to 1.0E12 DIR Additive position control loop substitute time [s]
TimeConstant

S7-1500 Motion Control V4.0 in TIA Portal V15

462 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.23 FollowingError tags (positioning axis/synchronous axis)

The tag structure <TO>.FollowingError.<tag name> contains the configuration for following
error monitoring.
If the permissible following error is exceeded, then technology alarm 521 is output, and the
technology object is disabled (alarm reaction: remove enable).
When the warning level is reached, a warning is output (technology alarm 522).

Tags
Legend (Page 445)

Tag Data type Values W Description

FollowingError. STRUCT
EnableMonitoring BOOL - RES FALSE: Following error monitoring disabled
TRUE: Following error monitoring enabled
MinValue LREAL L: DIR Permissible following error at velocities below the value of
0.0 to "MinVelocity".
1.0E12
R:
0.001 to
1.0E12
MaxValue LREAL L: DIR Maximum permissible following error, which may be
0.0 to reached at the maximum velocity.
1.0E12
R:
0.002 to
1.0E12
MinVelocity LREAL 0.0 to DIR "MinValue" is permissible below this velocity and is held
1.0E12 constant.
WarningLevel LREAL 0.0 to DIR Warning level:
100.0 Percentage value relative to the valid maximum following
error.

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 463
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.24 PositionMonitoring tags (positioning axis/synchronous axis)

The tag structure <TO>.PositioningMonitoring.<tag name> contains the configuration for
position monitoring at the end of a positioning motion.
If the actual position value at the end of a positioning motion is reached within the tolerance
time and remains in the positioning window for the minimum dwell time, then
<TO>.StatusWord.X5 (Done) is set in the technology data block. This completes a Motion
Control job.
If the tolerance time is exceeded, then technology alarm 541 "Positioning monitoring" with
supplemental value 1: Display "Target range not reached".
If the minimum dwell time is not met, then technology alarm 541 "Positioning monitoring"
with supplemental value 2: Display "Exit target range again".

Tags
Legend (Page 445)

Tag Data type Values W Description

PositioningMonitoring. STRUCT
ToleranceTime LREAL 0.0 to 1.0E12 DIR Tolerance time
Maximum permitted duration from reaching velocity
setpoint zero, until entrance into the positioning
window.
MinDwellTime LREAL 0.0 to 1.0E12 DIR Minimum dwell time in the positioning window:

Window LREAL 0.0 to 1.0E12 DIR Positioning window

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

464 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.25 StandstillSignal tags (positioning axis/synchronous axis)

The tag structure <TO>.StandstillSignal.<tag name> contains the configuration for the
standstill signal.
If the actual velocity value is below the velocity threshold, and does not exceed it during the
minimum dwell time, then the standstill signal <TO>.StatusWord.X7 (Standstill) is set.

Tags
Legend (Page 445)

Tag Data type Values W Description

StandstillSignal. STRUCT Configuration for the standstill signal

VelocityThreshold LREAL 0.0 to 1.0E12 DIR Velocity threshold

If velocity is below this threshold, then the minimum
dwell time begins.
MinDwellTime LREAL 0.0 to 1.0E12 DIR Minimum dwell time

See also
Evaluating the technology data block (Page 285)

A.2.26 StatusPositioning tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusPositioning.<tag name> indicates the status of a positioning
motion.

Tags
Legend (Page 445)

Tag Data type Values W Description

StatusPositioning. STRUCT
Distance LREAL -1.0E12 to RON Distance to the target position
1.0E12
TargetPosition LREAL -1.0E12 to RON Target position
1.0E12
FollowingError LREAL -1.0E12 to RON Current following error
1.0E12
SetpointExecutionTime LREAL -1.0E12 to RON Setpoint execution time of the axis
1.0E12 (Results from TIpo, Tvtc or 1/kv, TSend and TO of the
axis)

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 465
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.27 StatusDrive tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusDrive.<tag name> indicates the status of the drive.

Tags
Legend (Page 445)

Tag Data type Values W Description

StatusDrive. STRUCT
InOperation BOOL - RON Operational status of the drive
FALSE: Drive not ready. Setpoints will not be exe-
cuted.
TRUE: Drive ready. Setpoints can be executed.
CommunicationOK BOOL - RON Cyclic BUS communication between controller and
drive
FALSE: Not established
TRUE: Established
Error BOOL - RON FALSE: No drive error
TRUE: Drive error
AdaptionState DINT - RON Status of automatic data transfer of drive parameters
0: "NOT_ADAPTED" (Data not transferred)
1: "IN_ADAPTION" (Data transfer in progress)
2: "ADAPTED" (Data transfer complete)
3: "NOT_APPLICABLE" (Data transfer not selected,
not possible)
4: "ADAPTION_ERROR" (Error during data transfer)

See also
Evaluating the technology data block (Page 285)

A.2.28 StatusServo tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusServo.<tag name> indicates the status for the balancing filter.

Tags
Legend (Page 445)

Tag Data type Values W Description

StatusServo. STRUCT
BalancedPosition LREAL - RON Position after the balancing filter.
ControlDifference LREAL - RON Control error

S7-1500 Motion Control V4.0 in TIA Portal V15

466 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.29 StatusSensor[n] tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusSensor[n].<tag name> indicates the status of the measuring
system.

Tags
Legend (Page 445)

Tag Data type Values W Description

StatusSensor[n]. ARRAY
[1..4] OF
STRUCT
State DINT - RON Status of actual encoder value
0: "NOT_VALID" (not valid)
1: "WAITING_FOR_VALID" (waiting for valid status)
2: "VALID" (valid)
CommunicationOK BOOL - RON Cyclic BUS communication between controller and
encoder
FALSE: Not established
TRUE: Established
Error BOOL - RON FALSE: No error in the measuring system
TRUE: Error in the measuring system.
AbsEncoderOffset LREAL - RON Home point offset to the value of an absolute value
encoder. The value will be retentively stored in the
CPU.
Control BOOL - RON FALSE: Encoder is not active
TRUE: Encoder is active
Position LREAL - RON Encoder position
Velocity LREAL - RON Encoder velocity
AdaptionState DINT - RON Status of automatic data transfer of encoder parame-
ters
0: "NOT_ADAPTED" (Data not transferred)
1: "IN_ADAPTION" (Data transfer in progress)
2: "ADAPTED" (Data transfer complete)
3: "NOT_APPLICABLE" (Data transfer not selected,
not possible)
4: "ADAPTION_ERROR" (Error during data transfer)

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 467
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.30 StatusExtrapolation tag (positioning axis/synchronous axis)

The tag structure <TO>.StatusExtrapolation.<tag name> indicates the status of the actual
value extrapolation.

Tags
Legend (Page 445)

Tag Data type Values W Description

Extrapolation. STRUCT
FilteredPosition LREAL -1.0E12 to RON Position after position filter
1.0E12
FilteredVelocity LREAL -1.0E12 to RON Velocity according to tolerance band
1.0E12
ExtrapolatedPosition LREAL -1.0E12 to RON Extrapolated position
1.0E12
ExtrapolatedVelocity LREAL -1.0E12 to RON Extrapolated velocity
1.0E12

S7-1500 Motion Control V4.0 in TIA Portal V15

468 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.31 StatusSynchronizedMotion tags (synchronous axis)

The tag structure <TO>.StatusSynchronizedMotion.<tag name> indicates the status of the
synchronous operation.

Tags
Legend (Page 445)

Tag Data type Value range W Description

StatusSynchronizedMotion. STRUCT
FunctionState DINT - RON Indication of which synchronous operation function
is active
0: No synchronous operation active
1: Gearing (MC_GearIn)
2: Gearing with specified synchronous positions
(MC_GearInPos)
3: Camming (MC_CamIn)
PhaseShift LREAL -1.0E12 to RON Current absolute leading value shift
1.0E12
ActualMaster DB_ANY 0 to 65535 RON At the start of a "MC_GearIn" job, the number of the
technology data block of the currently used leading
axis is displayed.
"ActualMaster" = 0 when synchronous operation is
inactive
ActualCam DB_ANY 0 to 65535 RON Cam that is currently being used for camming
MasterOffset LREAL -1.0E12 to RON Current shift of the leading value range of the cam
1.0E12
MasterScaling LREAL -1.0E12 to RON Current scaling of the leading value range of the
1.0E12 cam
SlaveOffset LREAL -1.0E12 to RON Current shift of the following value range of the cam
1.0E12
SlaveScaling LREAL -1.0E12 to RON Current scaling of the following value range of the
1.0E12 cam
StatusWord. STRUCT
Bit 0 MaxVelocity- BOOL - RON Configured maximum velocity is exceeded during
Exceeded synchronous operation.
Bit 1 Max- BOOL - RON Configured maximum acceleration is exceeded
Acceleration- during synchronous operation.
Exceeded
Bit 2 Max- BOOL - RON Configured maximum deceleration is exceeded
Deceleration- during synchronous operation.
Exceeded
Bit 3 InSimulation BOOL - RON FALSE: Synchronous operation not simulated
TRUE: Synchronous operation is being simulated
Bit 4... - BOOL - RON Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 469
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

See also
Synchronous axis technology object (Page 105)

A.2.32 StatusKinematicsMotion tag (positioning axis/synchronous axis)

The <TO>.StatusKinematicsMotion tag contains the status information of the technology
object.
Information on the evaluation of the individual bits (e.g. bit 2 "MaxDecelerationExceeded")
can be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288)
section.

Tag
Legend (Page 445)

Tag Data Values W Description

type
StatusKinematics- DWORD - RON Status data of the technology object
Motion
Bit 0 - - - "MaxVelocityExceeded"
0: The TO Kinematics has a lower velocity setpoint calculated than the
one configured on the axis
1: The TO Kinematics has a higher velocity setpoint calculated than the
one configured on the axis.
Bit 1 - - - "MaxAccelerationExceeded"
0: The TO Kinematics has a lower acceleration setpoint calculated as
maxAcceleration of the axis.
1: The TO Kinematics has a higher acceleration setpoint calculated as
maxAcceleration of the axis.
Bit 2 - - - "MaxDecelerationExceeded"
0: The TO Kinematics has a lower delay setpoint calculated as
maxDeceleration of the axis.
1: The TO Kinematics has a higher delay setpoint calculated as
maxDeceleration of the axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

470 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.33 StatusTorqueData tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusTorqueData.<tag name> indicates the status of the torque
data.

Tags
Legend (Page 445)

Tag Data type Value range W Description

StatusTorqueData. STRUCT
CommandAdditive DINT - RON Additive torque setpoint active function
TorqueActive 0: No
1: Yes
CommandTorqueRange DINT - RON Torque limits B +, B- active function
Active 0: No
1: Yes
ActualTorque LREAL -1.0E12 to RON Actual torque of the axis
1.0E12

A.2.34 StatusMotionIn tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusMotionIn.<tag name> indicates the status of the MotionIn
function.

Tags
Legend (Page 445)

Tag Data type Value range W Description

StatusMotionIn. STRUCT
FunctionState DINT - RON 0: No MotionIn function active
1: MotionInVelocity active
2: MotionInPosition active

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 471
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.35 StatusWord tag (positioning axis/synchronous axis)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 5 "HomingDone") can be found in
the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 445)

Tag Data type Values W Description

Status- DWORD - RON Status information of the technology object
Word
Bit 0 - - - "Enable"
Enable status
0: The technology object is disabled.
1: The technology object is enabled.
Bit 1 - - - "Error"
0: No error present.
1: An error is present.
Bit 2 - - - "RestartActive"
0: No "Restart" is active.
1: A "Restart" is active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: The "Restart" tags are unchanged.
1: The "Restart" tags were changed. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - "ControlPanelActive"
0: The axis control panel is disabled.
1: The axis control panel is active.
Bit 5 - - - "HomingDone"
Homing status
0: The technology object is not homed.
1: The technology object is homed.
Bit 6 - - - "Done"
0: A motion job is in progress or the axis control panel is activated.
1: No motion job is in progress and the axis control panel is deactivated.
Bit 7 - - - "Standstill"
Standstill signal
0: The axis is in motion.
1: The axis is at a standstill.
Bit 8 - - - "PositioningCommand"
0: No positioning job is in progress.
1: A positioning job is running ("MC_MoveRelative",
"MC_MoveAbsolute").

S7-1500 Motion Control V4.0 in TIA Portal V15

472 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

Bit 9 - - - "JogCommand"
0: No "MC_MoveJog" job is running.
1: An "MC_MoveJog" job is running
Bit 10 - - - "VelocityCommand"
0: No "MC_MoveVelocity" job is running.
1: An "MC_MoveVelocity" job is running
Bit 11 - - - "HomingCommand"
0: No "MC_Home" job in progress.
1: An "MC_Home" job is being processed.
Bit 12 - - - "ConstantVelocity"
0: The axis is accelerated or decelerated.
1: The setpoint velocity is reached. The axis is traversing at this constant
velocity or is at a standstill.
Bit 13 - - - "Accelerating"
0: No acceleration job is in progress.
1: An acceleration operation is active.
Bit 14 - - - "Decelerating"
0: No deceleration process is running.
1: A deceleration operation is active.
Bit 15 - - - "SWLimitMinActive"
0: No negative software limit switch was reached.
1: A negative software limit switch was reached or exceeded.
Bit 16 - - - "SWLimitMaxActive"
0: No positive software limit switch was reached.
1: A positive software limit switch was reached or exceeded.
Bit 17 - - - "HWLimitMinActive"
0: No negative hardware limit switch was reached.
1: A negative hardware limit switch was reached or exceeded.
Bit 18 - - - "HWLimitMaxActive"
0: No positive hardware limit switch was reached.
1: A positive hardware limit switch was reached or exceeded.
Bit 19 - - - Reserved
Bit 20 - - - Reserved
Bit 21 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"Synchronizing"
0: The axis does not synchronize to a leading value.
1: The axis synchronizes to a leading value.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 473
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

Bit 22 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"Synchronous"
0: The axis moves asynchronous to a leading value.
1: The axis moves synchronously to a leading value.
Bit 23 - - - "SuperimposedMotionCommand"
0: No overlaid movement is active.
1: No overlaid movement is running.
Bit 24 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"PhasingCommand"
0: No Motion Control instruction for leading value shift is running.
1: A Motion Control instruction for leading value shift is active.
Bit 25 - - - "AxisSimulation"
0: The simulation is not running.
1: The simulation is active.
Bit 26 - - - "TorqueLimitingCommand"
0: No "MC_TorqueLimiting" job is running.
1: An "MC_TorqueLimiting" job is running
Bit 27 - - - "InLimitation"
0: The drive does not operate at the torque limit.
1: The drive is operating at the torque limit.
Bit 28 - - - "NonPositionControlled"
0: The axis is in position-controlled mode.
1: The axis is not in position-controlled mode.
Bit 29 - - - "KinematicsMotionCommand"
0: The axis is not used for a kinematics job.
1: The axis is used for a kinematics job.
Bit 30 - - - "InClamping"
0: The axis is not clamped at a fixed stop.
1: The axis is clamped at a fixed stop.
Bit 31 - - - "MotionInCommand"
0: No MotionIn function is active.
1: The "MotionInVelocity" job is running.
2: The "MotionInPosition" job is running

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

474 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.36 ErrorWord tag (positioning axis/synchronous axis)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 445)

Tag Data type Values W Description

ErrorWord DWORD - RON
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because necessary
requirements have not been met.
Bit 4 - - - "DriveFault"
Error in drive
Bit 5 - - - "SensorFault"
Error in encoder system
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible values.
Bit 7 - - - "CommunicationFault"
Communication error
Missing or faulty communication.
Bit 8 - - - "SWLimit"
Software limit switch reached or overtraveled.
Bit 9 - - - "HWLimit"
Hardware limit switch reached or overtraveled.
Bit 10 - - - "HomingError"
Error during homing operation
The homing cannot be completed.
Bit 11 - - - "FollowingErrorFault"
Following error limits exceeded
Bit 12 - - - "PositioningFault"
Positioning error
Bit 13 - - - "PeripheralError"
Error accessing a logical address

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 475
Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

Tag Data type Values W Description

Bit 14 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"SynchronousError"
Error during synchronous operation
The leading axis specified for the Motion Control instruction
"MC_GearIn" was not configured as a possible leading axis.
Bit 15 - - - "AdaptionError"
Error in automatic data transfer
Bit 16... - - - Reserved
Bit 31

See also
Evaluating the technology data block (Page 285)

A.2.37 ErrorDetail tags (positioning axis/synchronous axis)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 445)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0 to 5 RON Effective alarm reaction
0: No reaction
1: Stop with current dynamic values
2: Stop with maximum dynamic values
3: Stop with emergency stop ramp
4: Remove enable
5: Track setpoints

See also
Evaluating the technology data block (Page 285)
Technology alarms (Page 333)

S7-1500 Motion Control V4.0 in TIA Portal V15

476 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.2 Tags of the positioning axis/synchronous axis technology object

A.2.38 WarningWord tag (positioning axis/synchronous axis)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 13 "PeripheralWarning") can be
found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 445)

Tag Data type Values W Description

Warning- DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because necessary
requirements have not been met.
Bit 4 - - - "DriveWarning"
Error in drive
Bit 5 - - - "SensorWarning"
Error in encoder system
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible values.
Bit 7 - - - "CommunicationWarning"
Communication error
Missing or faulty communication.
Bit 8 - - - "SWLimitMin"
Bit 9 - - - "SWLimitMax"
Bit 10 - - - "HomingWarning"
Error during homing operation
The homing cannot be completed.
Bit 11 - - - "FollowingErrorWarning"
Warning limit of following error monitoring reached/exceeded
Bit 12 - - - "PositioningWarning"
Positioning error
Bit 13 - - - "PeripheralWarning"
Error accessing a logical address

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 477
Appendix
A.3 Tags of the technology object external encoder

Tag Data type Values W Description

Bit 14 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"SynchronousWarning"
Error during synchronous operation
The leading axis specified for the Motion Control instruction
"MC_GearIn" was not configured as a possible leading axis.
Bit 15 - - - "AdaptionWarning"
Error in automatic data transfer
Bit 16... - - - Reserved
Bit 31

See also
Evaluating the technology data block (Page 285)

A.2.39 ControlPanel tags (positioning axis/synchronous axis)

The tag structure <TO>.ControlPanel.<tag name> contains no user-relevant data. This tag
structure is internally used.

See also
Evaluating the technology data block (Page 285)

A.2.40 InternalToTrace tags (positioning axis/synchronous axis)

The tag structure <TO>.InternalToTrace.<tag name> contains no user-relevant data. This
tag structure is internally used.

See also
Evaluating the technology data block (Page 285)

S7-1500 Motion Control V4.0 in TIA Portal V15

478 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3 Tags of the technology object external encoder

A.3.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after
the call of the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Description Description of the tag

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

A.3.2 Actual values and setpoints (external encoder)

The following tags indicate the setpoint and actual values of the technology object.

Tags
Legend (Page 479)

Tag Data type Values W Description

ActualPosition LREAL - RON Actual position
ActualVelocity LREAL - RON Actual velocity
ActualAcceleration LREAL - RON Actual acceleration

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 479
Appendix
A.3 Tags of the technology object external encoder

A.3.3 Sensor tags (external encoder)

The tag structure <TO>.Sensor.<tag name> contains the controller-end configuration for the
encoder, and the configuration for active and passive homing.

Tags
Legend (Page 479)

Tag Data type Values W Description

Sensor. STRUCT
Type DINT - RES Encoder type
0: "INCREMENTAL" (incremental)
1: "ABSOLUTE" (absolute)
2: "CYCLIC_ABSOLUTE" (cyclic absolute)
InverseDirection BOOL - RES Inversion of the actual value
FALSE: no
TRUE: Yes
System DINT - RES Encoder system
0: "LINEAR" (linear encoder)
1: "ROTATORY" (rotary encoder)
MountingMode DINT - RES Mounting type of encoder
0: On motor shaft
1: On load side
2: External measuring system
DataAdaption DINT - RES Automatic transfer of the drive values reference
speed, maximum speed and reference torque in the
device
0: No automatic transfer, manual configuration of
values
1: Automatic transfer of values configured in the
drive to the configuration of the technology object
Interface.
AddressIn VREF 0 to 65535 RON Input address for the PROFIdrive telegram
AddressOut VREF 0 to 65535 RON Output address for the PROFIdrive telegram
Number UDINT 1 to 2 RON Number of the encoder in the telegram
Parameter.
Resolution LREAL -1.0E12 to RES Resolution of a linear encoder (offset between two
1.0E12 encoder pulses)
StepsPerRevolution UDINT 1 to 8388608 RES Increments per rotary encoder revolution
FineResolutionXist1 UDINT 0 to 31 RES Number of bits for fine resolution Gx_XIST1 (cyclic
actual encoder value)
FineResolutionXist2 UDINT 0 to 31 RES Number of bits for fine resolution Gx_XIST2 (abso-
lute value of encoder)
Determinable UDINT 0 to 8388608 RES Number of differentiable encoder revolutions for a
Revolutions multi-turn absolute encoder
(For a single-turn absolute encoder = 1;
for an incremental encoder = 0)

S7-1500 Motion Control V4.0 in TIA Portal V15

480 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

Tag Data type Values W Description

DistancePer LREAL 0.0 to 1.0E12 RES Load distance per revolution of an externally mount-
Revolution ed encoder
PassiveHoming. STRUCT
Mode DINT - RES Homing mode
0: Use zero mark via PROFIdrive telegram
1: Use zero mark via PROFIdrive telegram and ref-
erence cam
2: Use homing mark via digital input
SideInput BOOL - CAL Side of digital input during passive homing:
FALSE: Negative side
TRUE: Positive side
Direction DINT - CAL Homing direction / homing mark approach direction
0: Positive homing direction
1: Negative homing direction
2: Current homing direction
DigitalInputAddress VREF 0 to 65535 RES Address of the digital input
SwitchLevel BOOL - RON Signal level that is present at the digital input when
homing mark is approached
FALSE: Low level
TRUE: High level

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 481
Appendix
A.3 Tags of the technology object external encoder

A.3.4 Extrapolation tag (external encoder)

The tag structure <TO>.Extrapolation.<tag name> contains the configuration of the actual
value extrapolation.

Tags
Legend (Page 479)

Tag Data type Values W Description

Extrapolation. STRUCT
LeadingAxisDependent LREAL - RON Extrapolation time component (caused by leading
Time axis)
Results from the following times:
• Time of actual value acquisition for the leading
axis
• Ipo cycle
• Time of actual position filter of leading axis (T1 +
T2)
FollowingAxis LREAL 0.001 to 1.0E12 DIR Extrapolation time component (caused by following
DependentTime axis)
Results from the following times:
• For a following axis with set velocity precontrol:
– Communication cycle
– Ipo cycle
– Speed control loop substitute time for the fol-
lowing axis
– Output time of the setpoint for the following
axis
• For a following axis without velocity precontrol:
– Communication cycle
– Ipo cycle
– Position control loop equivalent time (1/Kv
from <TO>.PositionControl.Kv)
– Output time of the setpoint for the following
axis
PositionFilter. STRUCT
T1 LREAL 0.001 to 1.0E12 DIR Position filter time constant T1
T2 LREAL 0.001 to 1.0E12 DIR Position filter time constant T2
VelocityFilter. STRUCT
T1 LREAL 0.001 to 1.0E12 DIR Velocity filter time constant T1
VelocityTolerance. STRUCT
Range LREAL 0.001 to 1.0E12 DIR Tolerance band width for velocity
Hysteresis. STRUCT
Value LREAL 0.001 to 1.0E12 DIR Hysteresis value

S7-1500 Motion Control V4.0 in TIA Portal V15

482 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3.5 LoadGear tags (external encoder)

The tag structure <TO>.LoadGear.<tag name> contains the configuration for the load gear.

Tags
Legend (Page 479)

Tag Data type Value range W Description

LoadGear. STRUCT
Numerator UDINT 1 to RES Load gear counter
4294967295
Denominator UDINT 1 to RES Load gear denominator
4294967295

A.3.6 Properties tags (external encoder)

The tag structure <TO>.Properties.<tag name> contains the configuration of the type of axis
or motion.

Tags
Legend (Page 479)

Tag Data type Value range W Description

Properties.
MotionType DINT - RON Indication of axis or motion type:
0: Linear axis or motion
1: Rotary axis or motion

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 483
Appendix
A.3 Tags of the technology object external encoder

A.3.7 Units tag (external encoder)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 479)

Tag Data type Values W Description

Units. STRUCT
LengthUnit UDINT - RON Unit for position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1004 rad
1005 °
VelocityUnit UDINT - RON Unit for velocity
1521 °/s
1522 °/min
1086 rad/s
1523 rad/min
1062 mm/s
1061 m/s
1524 mm/min
1525 m/min
1526 mm/h
1063 m/h
1527 km/min
1064 km/h
1066 in/s
1069 in/min
1067 ft/s
1070 ft/min
1075 mi/h
TimeUnit UDINT - RON Unit for time
1054 s

S7-1500 Motion Control V4.0 in TIA Portal V15

484 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3.8 Mechanics tags (external encoder)

The tag structure <TO>.Mechanics.<tag name> contains the configuration of the mechanics.

Tags
Legend (Page 479)

Tag Data type Value range W Description

Mechanics.
LeadScrew LREAL 0.0 to 1.0E12 RES Leadscrew pitch

A.3.9 Modulo tags (external encoder)

The tag structure <TO>.Modulo.<tag name> contains the configuration of the modulo
function.

Tags
Legend (Page 479)

Tag Data type Values W Description

Modulo. STRUCT
Enable BOOL - RES FALSE: Modulo conversion disabled
TRUE: Modulo conversion enabled
When modulo conversion is enabled, a check is
made for modulo length > 0.0
Length LREAL 0.001 to 1.0E12 RES Modulo length
StartValue LREAL -1.0E12 to RES Modulo start value
1.0E12

A.3.10 Homing tags (external encoder)

The tag structure <TO>.Homing.<tag name> contains the configuration for homing the TO.

Tags
Legend (Page 479)

Tag Data type Values W Description

Homing. STRUCT
HomePosition LREAL -1.0E12 to CAL Home position
1.0E12

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 485
Appendix
A.3 Tags of the technology object external encoder

A.3.11 StatusSensor tags (external encoder)

The tag structure <TO>.StatusSensor.<tag name> indicates the status of the measuring
system.

Tags
Legend (Page 479)

Tag Data type Values W Description

StatusSensor. STRUCT
State DINT - RON Status of actual encoder value
0: "NOT_VALID" (not valid)
1: "WAITING_FOR_VALID" (waiting for valid status)
2: "VALID" (valid)
CommunicationOK BOOL - RON Cyclic BUS communication between controller and
encoder
FALSE: Not established
TRUE: Established
Error BOOL - RON FALSE: No error in the measuring system
TRUE: Error in the measuring system.
AbsEncoderOffset LREAL - RON Home point offset to the value of an absolute value
encoder. The value will be retentively stored in the
CPU.
Control BOOL - RON FALSE: Encoder is not active
TRUE: Encoder is active
Position LREAL - RON Encoder position
Velocity LREAL - RON Encoder velocity
AdaptionState DINT - RON Status of automatic data transfer of encoder parame-
ters
0: "NOT_ADAPTED" (Data not transferred)
1: "IN_ADAPTION" (Data transfer in progress)
2: "ADAPTED" (Data transfer complete)
3: "NOT_APPLICABLE" (Data transfer not selected,
not possible)
4: "ADAPTION_ERROR" (Error during data transfer)

S7-1500 Motion Control V4.0 in TIA Portal V15

486 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3.12 StatusExtrapolation tag (external encoder)

The tag structure <TO>.StatusExtrapolation.<tag name> indicates the status of the actual
value extrapolation.

Tags
Legend (Page 479)

Tag Data type Values W Description

Extrapolation. STRUCT
FilteredPosition LREAL -1.0E12 to RON Position after position filter
1.0E12
FilteredVelocity LREAL -1.0E12 to RON Velocity according to tolerance band
1.0E12
ExtrapolatedPosition LREAL -1.0E12 to RON Extrapolated position
1.0E12
ExtrapolatedVelocity LREAL -1.0E12 to RON Extrapolated velocity
1.0E12

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 487
Appendix
A.3 Tags of the technology object external encoder

A.3.13 StatusWord tag (external encoder)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 5 "HomingDone") can be found in
the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 479)

Tag Data type Values W Description

Status DWORD - RON Status data of the technology object
Word
Bit 0 - - - "Enable"
Enable status
0: Technology object disabled
1: Technology object enabled
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tags unchanged
1: Change to "Restart" tags. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - Reserved
Bit 5 - - - "HomingDone"
Homing status
0: Technology object not homed
1: Technology object homed
Bit 6 - - - "Done"
0: Motion job is running, or Axis control panel enabled
1: No motion job is running and axis control panel disabled
Bit 7 - - - Reserved
Bit 8 - - Reserved
Bit 9 - - - Reserved
Bit 10 - - - Reserved
Bit 11 - - - "HomingCommand"
0: No "MC_Home" job is running
1: "MC_Home" job is running
Bit 12... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

488 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3.14 ErrorWord tag (external encoder)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 479)

Tag Data type Values W Description

Error- DWORD - RON
Word
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4 - - - Reserved
Bit 5 - - - "SensorFault"
Error in encoder system
Bit 6 - - - Reserved
Bit 7 - - - "CommunicationFault"
Communication error
Missing or faulty communication.
Bit 8 - - - Reserved
Bit 9 - - - Reserved
Bit 10 - - - "HomingError"
Error during homing operation
The homing cannot be completed.
Bit 11 - - - Reserved
Bit 12 - - - Reserved
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 489
Appendix
A.3 Tags of the technology object external encoder

A.3.15 ErrorDetail tags (external encoder)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 479)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0, 10 RON Effective alarm reaction
0: No reaction
10: Remove enable
For the technology object external encoder, only
alarm reactions 0 and 4 are possible.

S7-1500 Motion Control V4.0 in TIA Portal V15

490 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.3 Tags of the technology object external encoder

A.3.16 WarningWord tag (external encoder)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 13 "PeripheralWarning") can be
found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 479)

Tag Data type Values W Description

Warning DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4 - - - Reserved
Bit 5 - - - "SensorWarning"
Error in encoder system
Bit 6 - - - Reserved
Bit 7 - - - "CommunicationWarning"
Communication error
Missing or faulty communication.
Bit 8 - - - Reserved
Bit 9 - - - Reserved
Bit 10 - - - "HomingWarning"
Error during homing operation
The homing cannot be completed.
Bit 11 - - - Reserved
Bit 12 - - - Reserved
Bit 13 - - - "PeripheralWarning"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 491
Appendix
A.4 Tags of the measuring input technology object

A.3.17 InternalToTrace tags (external encoder)

The tag structure <TO>.InternalToTrace.<tag name> contains no application-relevant data.
This tag structure is internally used.

Tags
Legend (Page 479)

Tag Data type Values W Description

InternalToTrace. ARRAY
[1..4] OF
STRUCT
Id DINT - DIR -
Value LREAL - RON -

A.4 Tags of the measuring input technology object

A.4.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after
the call of the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Description Description of the tag

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

S7-1500 Motion Control V4.0 in TIA Portal V15

492 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.4 Tags of the measuring input technology object

A.4.2 Display data (measuring input)

The <TO>.Status and <TO>.InputState tags show the status of the measuring input function
and the input of the measuring input.

Tags
Legend (Page 492)

Tag Data type Values W Description

Status DINT - RON Measuring input function status
0: "INACTIVE" (measurement is not active)
1: "WAITING_FOR_TRIGGER" (measuring input is
waiting for measuring event)
2: "TRIGGER_OCCURRED" (one or more measured
values have been acquired)
3: "MEASURING_ERROR" (error during the meas-
urement)
InputState BOOL - RON Measuring input input status
FALSE: Input of measuring input not active
TRUE: Input of measuring input active

A.4.3 Parameter tags (measuring input)

The tag structure <TO>.Parameter.<tag name> contains the configuration of the basic
parameters of the measuring input technology object.

Tags
Legend (Page 492)

Tag Data type Values W Description

Parameter. STRUCT
MeasuringInputType DINT - RON Measuring input type
0: "TIME_BASED" (measurement using time stamp)
1: "PROFIDRIVE" (measuring event using
PROFIdrive telegram)
PROFIdriveProbe UDINT 1, 2 RES Number of the measuring input to be used for a
Number measurement using PROFIdrive telegram
MeasuringRangeActivation LREAL 0.0 to 1.0E12 RON System share for activation time of measuring range
Time
MeasuringRangeAdditional LREAL 0.0 to 1.0E12 RES Additional activation time when using measuring
ActivationTime range limits [ms]
CorrectionTime LREAL 0.0 to 1.0E12 RES Correction time for the measurement result [ms]

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 493
Appendix
A.4 Tags of the measuring input technology object

A.4.4 Interface tags (measuring input)

The tag structure <TO>.Interface.<tag name> contains the configuration of the input
properties for the technology object measuring input.

Tags
Legend (Page 492)

Tag Data type Values W Description

Interface. STRUCT
Address VREF - RON I/O address for the digital measuring input

A.4.5 Units tags (measuring input)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 492)

Tag Data type Values W Description

Units. STRUCT
LengthUnit UDINT - RON Unit for position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1004 rad
1005 °
TimeUnit UDINT - RON Unit for time
1056 ms

S7-1500 Motion Control V4.0 in TIA Portal V15

494 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.4 Tags of the measuring input technology object

A.4.6 MeasuredValues tags (measuring input)

The tag structure <TO>.MeasuredValues.<tag name> displays the measurement results.

Tags
Legend (Page 492)

Tag Data type Values W Description

MeasuredValues. STRUCT
MeasuredValue1 LREAL -1.0E12 to RON First measured value
1.0E12
MeasuredValue2 LREAL -1.0E12 to RON Second measured value
1.0E12
MeasuredValue1Counter UDINT 0 to RON Count value for the first measured value
2147483647
MeasuredValue2Counter UDINT 0 to RON Count value for the second measured value
2147483647
LostEdgeCounter1 UDINT 0 to 7 RON LEC for measured value 1
(zero in the case of one-time measurement)
LostEdgeCounter2 UDINT 0 to 7 RON LEC for measured value 2
(zero in the case of one-time measurement)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 495
Appendix
A.4 Tags of the measuring input technology object

A.4.7 StatusWord tag (measuring input)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 2 "RestartActive") can be found in
the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 492)

Tag Data type Values W Description

Status DWORD - RON Status information of the technology object
Word

Bit 0 - - - "Control"
0: Technology object not in operation
1: Technology object in operation
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tags unchanged
1: Change to "Restart" tags. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - Reserved
Bit 5 - - - "CommunicationOK"
Communication between measuring input and measuring module
0: Not established
1: Established
Bit 6... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

496 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.4 Tags of the measuring input technology object

A.4.8 ErrorWord tag (measuring input)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 492)

Tag Data type Values W Description

Error- DWORD - RON
Word
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4... - - - Reserved
Bit 12
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 497
Appendix
A.4 Tags of the measuring input technology object

A.4.9 ErrorDetail tags (measuring input)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 492)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0, 8 RON Effective alarm reaction
0: No reaction
8: End measuring input processing

S7-1500 Motion Control V4.0 in TIA Portal V15

498 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.4 Tags of the measuring input technology object

A.4.10 WarningWord tag (measuring input)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 1 "ConfigWarning") can be found
in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 492)

Tag Data type Values W Description

Warning DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4... - - - Reserved
Bit 12
Bit 13 "PeripheralWarning"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 499
Appendix
A.5 Tags of the cam technology object

A.5 Tags of the cam technology object

A.5.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after
the call of the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Description Description of the tag

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

A.5.2 Display data (cam)

The <TO>.CamOutput tag indicates the switching state of the cam.

Tags
Legend (Page 500)

Tag Data type Values W Description

CamOutput BOOL - RON Switching state of output cam
FALSE: not interconnected
TRUE: Switched

S7-1500 Motion Control V4.0 in TIA Portal V15

500 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.5 Tags of the cam technology object

A.5.3 Parameter tags (cam)

The tag structure <TO>.Parameter.<tag name> contains the configuration of the basic
parameters of the output cam technology object.

Tags
Legend (Page 500)

Tag Data type Values W Description

Parameter. STRUCT
OutputCamType DINT - RES Output cam type
0: Distance output cam
1: Time-based output cam
PositionType DINT - RES Position reference
0: Position setpoint
1: Actual position
OnCompensation LREAL 0.0 to 1.0E12 DIR Activation time
Lead time for the switch-on edge
OffCompensation LREAL 0.0 to 1.0E12 DIR Deactivation time
Lead time for the switch-off edge
Hysteresis LREAL 0.0 to 1.0E12 DIR Hysteresis value
For output cams with reference to actual position,
always enter a hysteresis value (> 0.0).

A.5.4 Interface tags (cam)

The tag structure <TO>.Interface.<tag name> contains the configuration of the output
properties for the output cam technology object.

Tags
Legend (Page 500)

Tag Data type Values W Description

Interface. STRUCT
EnableOutput BOOL - RES Activation of the output cam output
FALSE: Output is deactivated
TRUE: Output is activated
Address VREF - RON I/O address of the output cam
LogicOperation DINT - RON Logical operation of the output cam signals at the
output
0: OR operation
1: AND operation

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 501
Appendix
A.5 Tags of the cam technology object

A.5.5 Units tags (cam)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 500)

Tag Data type Values W Description

Units. STRUCT
LengthUnit UDINT - RON Unit for position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1004 rad
1005 °
TimeUnit UDINT - RON Unit for time
1056 ms

S7-1500 Motion Control V4.0 in TIA Portal V15

502 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.5 Tags of the cam technology object

A.5.6 StatusWord tag (output cam)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 2 "RestartActive") can be found in
the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 500)

Tag Data type Values W Description

Status DWORD - RON Status information of the technology object
Word

Bit 0 - - - "Control"
0: Technology object not in operation
1: Technology object in operation
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tags unchanged
1: Change to "Restart" tags. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - "OutputInverted"
0: Output cam output not inverted
1: Output cam output inverted
Bit 5 - - - "CommunicationOK"
Communication between output cam and output module
0: Not established
1: Established
Bit 6... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 503
Appendix
A.5 Tags of the cam technology object

A.5.7 ErrorWord tag (output cam)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 500)

Tag Data type Values W Description

Error- DWORD - RON
Word
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4... - - - Reserved
Bit 12
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

504 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.5 Tags of the cam technology object

A.5.8 ErrorDetail tags (cam)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 500)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0, 6 RON Effective alarm reaction
0: No reaction
6: Output cam processing is complete.

A.5.9 WarningWord tag (output cam)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 1 "ConfigWarning") can be found
in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 500)

Tag Data Values W Description

type
Warning DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 505
Appendix
A.6 Tags of the cam track technology object

Tag Data Values W Description

type
Bit 4... - - - Reserved
Bit 12
Bit 13 "PeripheralWarning"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

A.6 Tags of the cam track technology object

A.6.1 Legend

Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
W Effectiveness of changes in the technology data block
DIR Direct:
Values are changed directly and take effect at the start of the next MC-Servo [OB91].
CAL At call of Motion Control instruction:
Values are changed directly and take effect at the start of the next MC-Servo [OB91] after
the call of the corresponding Motion Control instruction in the user program.
RES Restart:
Changes to the start value in the load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
the technology object.
RON Read only:
The tag cannot and must not be changed during runtime of the user program.
Description Description of the tag

Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.

S7-1500 Motion Control V4.0 in TIA Portal V15

506 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.6 Tags of the cam track technology object

A.6.2 Display data (cam track)

The following tags indicate the status of the cam track:

Tags
Legend (Page 506)

Tag Data type Values W Description

Status DINT - RON 0: "INACTIVE" (inactive)
1: "ACTIVE" (active)
2: "ACTIVE_WAITING_FOR_NEXT_CYCLE" (active
and waiting for next track)
TrackOutput BOOL - RON FALSE: Cam track is not output.
TRUE: Cam track is output.
SingleCamState DWORD 16#0 to RON Switched on output cam (bit-masked)
16#FFFF_FFFF 0: Output cam is not switched on
1: Output cam is switched on
TrackPosition LREAL -1.0E12 to RON Display of the current position within the cam track
1.0E12
MatchPosition LREAL -1.0E12 to RON Reference position of the current cam track
1.0E12 During cyclic processing of the cam track, the con-
tinued reference position of the current cam track is
displayed. The unique detection and output of the
position is only possible when the assigned technol-
ogy object is in motion.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 507
Appendix
A.6 Tags of the cam track technology object

A.6.3 Parameter tags (cam track)

The tag structure <TO>.Parameter.<tag name> contains the configuration of the basic
parameters of the cam track technology object.

Tags
Legend (Page 506)

Tag Data type Values W Description

Parameter. STRUCT
CamTrackType DINT - RES Output cam type
0: Distance output cam
1: Time-based output cam
PositionType DINT - RES Position reference
0: Position setpoint
1: Actual position
ReferencePosition LREAL -1.0E12 to DIR Reference position
1.0E12
CamTrackLength LREAL 0.001 to 1.0E12 DIR Track length
CamMasking DWORD 16#0 to DIR Bit masking of individual output cams
16#FFFF_FFFF
OnCompensation LREAL 0.0 to 1.0E12 DIR Activation time
Lead time for the switch-on edge
OffCompensation LREAL 0.0 to 1.0E12 DIR Deactivation time
Lead time for the switch-off edge
Hysteresis LREAL 0.0 to 1.0E12 DIR Hysteresis value
For output cams with reference to actual position,
always enter a hysteresis value (> 0.0).
Cam[1 … 32]. STRUCT
OnPosition LREAL 0.0 to 1.0E12 CAL Start position (distance and time-based output cams)
Offposition LREAL 0.0 to 1.0E12 CAL End position (distance output cam)
Duration LREAL 0.001 to 1.0E12 CAL Switch-on duration (time-based output cam)
Existent BOOL - CAL FALSE: Output cam not used
TRUE: Output cam is used

S7-1500 Motion Control V4.0 in TIA Portal V15

508 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.6 Tags of the cam track technology object

A.6.4 Interface tags (cam track)

The tag structure <TO>.Interface.<tag name> contains the configuration of the output
properties for the cam track technology object.

Tags
Legend (Page 506)

Tag Data type Values W Description

Interface. STRUCT
EnableOutput BOOL - RES Output cam output at the bit specified under
"<TO>.Interface.Address"
FALSE: No output
TRUE: Output
Address VREF - RON I/O address for digital cam output

A.6.5 Units tags (cam track)

The tag structure <TO>.Units.<tag name> shows the set technological units.

Tags
Legend (Page 506)

Tag Data type Values W Description

Units. STRUCT
LengthUnit UDINT - RON Unit for position
1010 m
1013 mm
1011 km
1014 µm
1015 nm
1019 in
1018 ft
1021 mi
1004 rad
1005 °
TimeUnit UDINT - RON Unit for time
1056 ms

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 509
Appendix
A.6 Tags of the cam track technology object

A.6.6 StatusWord tag (cam track)

The <TO>.StatusWord tag contains the status information of the technology object.
Information on the evaluation of the individual bits (e.g. bit 2 "RestartActive") can be found in
the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 506)

Tag Data type Values W Description

Status DWORD - RON Status information of the technology object
Word

Bit 0 - - - "Control"
0: Technology object not in operation
1: Technology object in operation
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tags unchanged
1: Change to "Restart" tags. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - "OutputInverted"
0: Output cam output not inverted
1: Output cam output inverted
Bit 5 - - - "CommunicationOK"
Communication between cam track and output module
0: Not established
1: Established
Bit 6... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

510 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.6 Tags of the cam track technology object

A.6.7 ErrorWord tag (cam track)

The <TO>.ErrorWord tag indicates technology object errors (technology alarms).
Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can
be found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tags
Legend (Page 506)

Tag Data type Values W Description

Error- DWORD - RON
Word
Bit 0 - - - "SystemFault"
A system-internal error has occurred.
Bit 1 - - - "ConfigFault"
Configuration error
One or more configuration parameters are inconsistent or invalid.
Bit 2 - - - "UserFault"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.
Bit 4... - - - Reserved
Bit 12
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 511
Appendix
A.6 Tags of the cam track technology object

A.6.8 ErrorDetail tags (cam track)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction for the technology alarm that is currently pending for the technology
object.
You can find a list of the technology alarms and alarm reactions in the Technology alarms
(Page 513) appendix.

Tags
Legend (Page 506)

Tag Data type Values W Description

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0, 7 RON Effective alarm reaction
0: No reaction
7: Cam track processing Is complete.

A.6.9 WarningWord tag (cam track)

The <TO>.WarningWord tag indicates pending warnings for the technology object.
Information on the evaluation of the individual bits (e.g. bit 1 "ConfigWarning") can be found
in the Evaluating StatusWord, ErrorWord and WarningWord (Page 288) section.

Tag
Legend (Page 492)

Tag Data Values W Description

type
Warning DWORD - RON
Word
Bit 0 - - - "SystemWarning"
A system-internal error has occurred.
Bit 1 - - - "ConfigWarning"
Configuration error
One or several configuration parameters are adjusted internally.
Bit 2 - - - "UserWarning"
Error in user program at a Motion Control instruction or its use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control instruction cannot be executed because neces-
sary requirements have not been met.

S7-1500 Motion Control V4.0 in TIA Portal V15

512 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Tag Data Values W Description

type
Bit 4... - - - Reserved
Bit 12
Bit 13 "PeripheralWarning"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

A.7 Technology alarms

A.7.1 Overview
The following table shows an overview of the technology alarms and the corresponding
alarm reactions. When a technology alarm occurs, evaluate the entire indicated alarm text, in
order to find the precise cause.

Legend

No. Number of the technology alarm

(corresponds to <TO>.ErrorDetail.Number)
Reaction Effective alarm reaction
(corresponds to <TO>.ErrorDetail.Reaction)
Error bit Bit that is set in <TO>.ErrorWord when the technology alarm occurs
A description of the bits can be found in the appendix (Page 475).
Warning bit Bit that is set in <TO>.WarningWord when the technology alarm occurs
A description of the bits can be found in the appendix (Page 477).
Restart To acknowledge the technology alarm, the technology object must be reinitialized (Re-
start).
Diagnostic buffer The alarm is entered in the diagnostics buffer.
Alarm text Displayed alarm test (limited)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 513
Appendix
A.7 Technology alarms

List of the technology alarms

No. Reaction Error bit Warn- Restart Diag- Alarm text

ing bit nostic
buffer
101 Remove enable X1 - X X Configuration error.
102 Remove enable X15 - X X Drive configuration adaptation error.
103 Remove enable X15 - X X Encoder configuration adaptation error.
104 Stop with maximum X1 - - - SW limit switch specification error.
dynamic values
105 Remove enable X1 - X X Drive configuration error.
106 Remove enable X1 - - X Drive connection configuration error.
107 Remove enable X1 - X X Encoder configuration error.
108 Remove enable X1 - - X Encoder connection configuration error.
109 Remove enable X1 - X - Configuration error.
110 No reaction - X1 - - Configuration is adjusted internally.
111 No reaction - X15 - X TO and drive configuration inconsistent.
112 No reaction - X15 - X TO and encoder configuration inconsistent.
113 Remove enable X2 - X - Isochronous mode not possible.
201 Remove enable X0 - X X Internal error.
202 No reaction X0 - X - Internal configuration error.
203 Remove enable X0 - X - Internal error.
204 Remove enable X0 - - - Commissioning error.
304 Stop with emergency X2 - - - Velocity limit is zero.
stop ramp
305 Stop with emergency X2 - - - • Acceleration limit is zero.
stop ramp
• Deceleration limit is zero.
306 Stop with emergency X2 - - - Jerk limit is zero.
stop ramp
307 Stop with maximum X2 - - X • Negative numerical value range of the position
dynamic values reached.
• Positive numerical value range of the position
reached.
308 Remove enable X2 - - X • Negative numerical value range of the position
exceeded.
• Positive numerical value range of the position
exceeded.
321 Stop with emergency X3 - - - Axis not homed.
stop ramp
322 No reaction - X3 - - Restart not executed.
323 Remove enable X3 - - - MC_Home could not be performed.
341 Stop with maximum X10 - - - Error in homing data.
dynamic values
342 Stop with emergency X10 - - - Reference cam/encoder zero mark not found.
stop ramp

S7-1500 Motion Control V4.0 in TIA Portal V15

514 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

No. Reaction Error bit Warn- Restart Diag- Alarm text

ing bit nostic
buffer
343 Remove enable X1 - - - Homing function not supported by device.
401 Remove enable X13 - - X Error accessing logical address.
411 Remove enable X5 - - X Faulty encoder at the logical address.
412 Remove enable X5 - - - Permitted actual value range exceeded.
421 Remove enable X4 - - X Faulty drive at the logical address.
431 Remove enable X7 - - X Faulty communication with device at logical ad-
dress.
501 No reaction - X6 - - Programmed velocity is limited.
502 No reaction - X6 - - • Programmed acceleration is being limited.
• Programmed deceleration is being limited.
503 No reaction - X6 - - Programmed jerk is limited.
504 No reaction - X6 - - Speed setpoint monitoring active.
511 No reaction - X6 - - Dynamic limits are violated by the kinematics mo-
tion.
521 Remove enable X11 - - - Following error.
522 No reaction - X11 - - Warning following error tolerance.
531 Remove enable X9 - - - • Positive HW limit switch approached.
• Negative HW limit switch approached.
• Illegal free travel direction of active hardware
limit switch.
• HW limit switch polarity reversed, free travel not
possible.
• Both hardware limit switches active, retraction
not possible.
533 Stop with maximum X8 - - - • Negative SW limit switch approached.
dynamic values
• Positive SW limit switch approached.
534 Remove enable X8 - - - • Negative SW limit switch is crossed.
• Positive SW limit switch is crossed.
541 Remove enable X12 - - - Position monitoring error.
542 Remove enable X2 - - - Clamping monitoring error: Axis leaving clamping
tolerance window.
550 Track setpoints X4 - - - Drive-autonomous motion is being executed.
551 No reaction X2 X6 - - Maximum velocity cannot be reached with
drive/axis parameters.
552 Remove enable X15 - - - Adaptation error of encoder during power-up.
601 Stop with maximum X14 - - - Leading axis is not assigned or defective.
dynamic values
603 Remove enable X14 - - - Leading axis is not in position-controlled mode.
608 Stop with maximum X14 - - - Error during synchronization.
dynamic values

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 515
Appendix
A.7 Technology alarms

No. Reaction Error bit Warn- Restart Diag- Alarm text

ing bit nostic
buffer
611 Remove enable X2 - - - The cam specified in the MC_CamIn.Cam parame-
ter has not been configured or is not available or is
not interpolated.
612 Remove enable X2 - - - Specified cam has not been interpolated.
700 Remove enable X2 - - - Output cam limiting error.
701 Remove enable X13 - - - I/O output error.
702 Remove enable X2 - - - Position value valid.
703 Remove enable X2 - - - Cam track data faulty.
704 Remove enable X2 - - - Output cam data faulty.
750 Remove enable X2 - - - Measuring job not possible during homing of as-
signed axis.
752 Remove enable X2 - - - Validity range of measuring job not recognized.
753 Remove enable X2 - - - Only one measuring input can access an encoder
at a time.
754 Remove enable X2 - - - Measuring input configuration in external device is
not correct.
755 Remove enable X13 - - - Measuring job not possible.
758 No reaction X2 - - - A measuring edge was not evaluated.

See also
Technology alarms (Page 333)

S7-1500 Motion Control V4.0 in TIA Portal V15

516 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

A.7.2 Technology alarms 101-113

Technology alarm 101

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Configuration error.
Value in <tag> not allowed. Adjust the specified value.
Faulty load gear factors. Adjust the load gear factors in
<TO>.LoadGear.Numerator and/or
<TO>.LoadGear.Denominator .
At least one encoder required. Sensor[].existent Configure at least one encoder.
Sensor[1] must be configured for DSC. Configure Sensor[1]
Values in Sensor.Parameter.FineResolutionXist1 and P979 Set the identical fine resolution on the technology as on
are not identical. the drive.
Controller parameter incorrect. Adjust the <TO>.PositionController.Kv value.
PROFIBUS parameter assignment is inconsistent; sum Ti and Adjust the send clock in the hardware configuration.
To greater than send clock.
Drive or drive telegram type or encoder not suitable for DSC. Check whether the drive can be operated with DSC and
adjust the drive telegram if required.
TimeOut parameter outside of limits. Set the monitoring time of the axis control panel to a
valid value.
Simulation.Mode parameter outside of limits. Set the parameter to a valid value.
Telegram in Actor.Interface.AddressIn and AddressOut are Set the identical drive telegram type for sending and
not identical. receiving direction.
Illegal combination for referencing data incremental. encoder. Check the active and passive homing settings.
Telegram in Sensor.Interface.AddressIn and AddressOut are Set the identical encoder telegram type for sending and
not identical. receiving direction.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 517
Appendix
A.7 Technology alarms

Technology alarm 102

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Drive configuration adaptation error.
Drive is not assigned to a SINAMICS device. The drive adaptation is only available for SINAMICS
drives.
Drive is not interconnected directly to I/O area. During configuration of the axis, the log addresses were
set to a data block or bit memory, for example. The
adaptation is only possible when the encoder has been
directly interconnected to an I/O area.
Adaptation canceled due to insufficient resources. Check whether your device supports acyclic data com-
Parameter does not exist, value unreadable or invalid. munication according to PROFIdrive.
Maximum speed
Maximum torque/force (P1520)
Maximum torque/force (P1521)
Torque resolution
Rated speed
Rated torque
Motor type

Technology alarm 103

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Encoder configuration adaptation error.
Encoder is not assigned to a SINAMICS device. The encoder adaptation is only available for SINAMICS
devices and external Siemens encoders.
Encoder is not interconnected directly to I/O area. During configuration of the axis, the log addresses were
set to a data block or bit memory address area, for ex-
ample. The adaptation is only possible when the encod-
er has been directly interconnected to an I/O area.
Adaptation canceled due to insufficient resources. Check whether your device supports acyclic data com-
Parameter does not exist, value unreadable or invalid. munication according to PROFIdrive.
Encoder system
Encoder resolution
Encoder fine resolution Gx_XIST1
Encoder fine resolution Gx_XIST2
Encoder revolutions

S7-1500 Motion Control V4.0 in TIA Portal V15

518 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 104

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Remedy

SW limit switch specification error.
Neg. SW limit switch greater than pos. SW limit switch. Change the position of the software limit switches.

Technology alarm 105

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Drive configuration error.
HW Configuration. • Connect a suitable device.
The TO needs a smaller servo cycle clock. • Check the device (I/Os).
• Check the topology of the project.
• Compare the device configuration and the configura-
tion of the technology object.
• Contact customer service.
Error in internal communication. • Check the project for consistency and download it to
the controller again.
• Contact customer service.
Address for drive data does not exist in project. Check the project for consistency and download it to the
controller again.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 519
Appendix
A.7 Technology alarms

Technology alarm 106

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Drive connection configuration error.
System has no communication with drive. Internal system error.
• Check the project for consistency and download it to
the controller again.
• Contact customer service.
Drive not initialized during ramp-up. • Ensure that the communication between the control-
ler and drive is established. To do this, evaluate
<TO>.StatusDrive.CommunicationOK before ena-
bling the axis.
• To enable a technology object, the drive initialization
must be complete. Trigger the job again later.

Technology alarm 107

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Encoder configuration error.
HW Configuration • Connect a suitable device.
The TO needs a smaller servo cycle clock. • Check the device (I/Os).
• Check the topology of the project.
• Compare the device configuration and the configura-
tion of the technology object.
• Contact customer service.
Error internal communication. • Check the project for consistency and download it to
the controller again.
• Contact customer service.

S7-1500 Motion Control V4.0 in TIA Portal V15

520 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 108

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Encoder connection configuration error.
System without communication to encoder. Internal system error.
• Check the project for consistency and download it to
the controller again.
• Contact customer service.
Encoder not initialized during ramp-up. • Ensure that the communication between the control-
ler and encoder is established. To do this, evaluate
<TO>.StatusSensor[1..4].CommunicationOK before
enabling the axis and also check if the status of the
encoder actual value is
<TO>.StatusSensor[1..4].State = VALID (2).
• To enable a technology object, the encoder initializa-
tion must be complete. Trigger the job again later.
Encoder data address missing in project. Check the project for consistency and download it to the
controller again.

Technology alarm 109

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Configuration error.
Neg. HW limit switch. • Connect a suitable device.
Pos. HW limit switch • Check the device (I/Os).
Reference cam "Active homing". • Check the topology of the project.
Reference cam "Passive homing". • Compare the device configuration and the configura-
Enable bit for the analog drive interface. tion of the technology object.
DriveReady bit of the analog drive interface. • Contact customer service.
Measurement sensing input is faulty.
Output cam output faulty.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 521
Appendix
A.7 Technology alarms

Technology alarm 110

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Configuration is adjusted internally.
Actor.DriveParameter.MaxSpeed is limited. • Correct the reference value in the drive and in the
configuration of the technology object to
<TO>.Actor.MaxSpeed /2.
• With analog drive connection, correct the reference
value in the drive and in the configuration of the
technology object to <TO>.Actor.MaxSpeed /1.17.
• The value can be set in the drive, for example, in
p2000 = p1082.
PositioningMonitoring.ToleranceTime is limited. Change the configuration data.
DynamicDefaults.EmergencyDeceleration is limited.
DriveParameter.ReferenceTorque is too low.

Technology alarm 111

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

TO and drive configuration inconsistent.
Different telegram. Match the telegram configuration for the technology
object with the telegram configuration in the drive. (P922
in drive)
Incompatible torque resolution. Adjust the high torque resolution for the drive.
Master application cycle and servo cycle clock not the same. Adjust the cycle of the master application in the device
Servo cycle clock and drive cycle clock not equal. configuration for the PROFIBUS slave.

Linear motor configured. Set round-frame motor (P300) in the drive.

S7-1500 Motion Control V4.0 in TIA Portal V15

522 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 112

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

TO and encoder configuration inconsistent.
Different telegram type. Match the telegram configuration for the technology
object with the telegram configuration in the drive. (P922
in drive)
Encoder is not an absolute encoder. Configure the encoder for the technology object as an
incremental encoder.
Master application cycle and servo cycle clock not the same. Adjust the cycle of the master application in the device
Servo cycle clock and drive cycle clock not equal. configuration for the PROFIBUS slave.

Technology alarm 113

Alarm reaction: Remove enable
Restart: Required

Alarm text Remedy

Isochronous mode not possible. • The configured output for the cam or cam track tech-
nology object or the input for the technology object
measuring input cannot be used in isochronous
mode.

Configure the I/O in the device configuration as

isochronous I/O.
• Make sure that the organization block MC_Servo
[OB91] is called synchronously with the bus system.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 523
Appendix
A.7 Technology alarms

A.7.3 Technology alarms 201-204

Technology alarm 201

Alarm reaction: Remove enable
Restart: Required

Alarm text Solution

Internal error. Contact customer service.

Technology alarm 202

Alarm reaction: No reaction
Restart: Required

Alarm text Solution

Internal configuration error. Contact customer service.

Technology alarm 203

Alarm reaction: Remove enable
Restart: Required

Alarm text Solution

Internal error. Contact customer service.

Technology alarm 204

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Commissioning error.
Connection to the TIA Portal interrupted. Check the connection properties.

S7-1500 Motion Control V4.0 in TIA Portal V15

524 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

A.7.4 Technology alarms 304-343

Technology alarm 304

Alarm reaction: Stop with emergency stop ramp
Restart: Not required

Alarm text Remedy

Velocity limit is zero. Enter a non-zero value for the maximum velocity
(DynamicLimits.MaxVelocity) in the dynamic limits.

Technology alarm 305

Alarm reaction: Stop with emergency stop ramp
Restart: Not required

Alarm text Remedy

Acceleration/deceleration limit is zero.
Acceleration Enter a non-zero value for the maximum acceleration
(DynamicLimits.MaxAcceleration) in the dynamic limits.
Deceleration Enter a non-zero value for the maximum deceleration
(DynamicLimits.MaxDeceleration) in the dynamic limits.

Technology alarm 306

Alarm reaction: Stop with emergency stop ramp
Restart: Not required

Alarm text Remedy

Jerk limit is zero. Enter a non-zero value for the maximum jerk
(DynamicLimits.MaxJerk) in the dynamic limits.

Technology alarm 307

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Remedy

Negative/positive numerical value range of the position reached.
Negative Enable the "Modulo" setting for the technology object.
Positive

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 525
Appendix
A.7 Technology alarms

Technology alarm 308

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Negative/positive numerical value range of the position exceed-
ed.
Negative Enable the "Modulo" setting for the technology object.
Positive

Technology alarm 321

Alarm reaction: Stop with emergency stop ramp
Restart: Not required

Alarm text Remedy

Axis not homed. To perform an absolute positioning motion, you must
home the technology object.

Technology alarm 322

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Restart not executed.
The technology object is not ready for restart. Download the project again.
The condition for restart of the technology object is not Disable the technology object.
satisfied.

Technology alarm 323

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

MC_Home could not be performed. • Enable the "Modulo" setting for the technology
object.
• Adjust the position value for use of the Motion
Control instruction "MC_Home".

S7-1500 Motion Control V4.0 in TIA Portal V15

526 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 341

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Remedy

Error in homing data.
Approach velocity is zero. Check the configuration for homing
(Homing.ApproachVelocity).
Homing velocity is zero. Check the configuration for homing
(Homing.ReferencingVelocity).

Technology alarm 342

Alarm reaction: Stop with emergency stop ramp
Restart: Not required

Alarm text Remedy

Reference cam/encoder zero mark not found. The reference cam configured for homing was not found
in the traversing range of the axis.

Technology alarm 343

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Homing function not supported by device. Configure a reference switch input for the pulse genera-
tor output used in the properties of the C-CPU.
("Pulse generators (PTO/PWM) > PTO[n]/PWN[n] >
Hardware inputs/outputs")
When homing across a zero mark, the CPU transfers the
reference switch input as zero mark.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 527
Appendix
A.7 Technology alarms

A.7.5 Technology alarms 401-431

Technology alarm 401

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Error accessing logical address.
Invalid address. • Connect a suitable device.
Input address is invalid. • Check the device (I/Os).
Output address is invalid. • Check the topology of the project.
• Compare the device configuration and the configura-
tion of the technology object.
• Contact customer service.

Technology alarm 411

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Faulty encoder at the logical address.
Alarm message from encoder. Check the function, connections and I/Os of the encod-
HW error encoder. er.

Encoder dirty.
Read error encoder absolute value. Compare the encoder type in the drive or encoder pa-
rameter P979 with the configuration data of the technol-
ogy object.
Zero mark monitoring encoder. Encoder signals error in zero mark monitoring (fault
code 0x0002 in Gx_XIST2, see PROFIdrive profile).
Encoder in Parking state. • Search for the cause of the error in the connected
drive or encoder.
• Check whether the alarm was possibly triggered by a
commissioning action involving the drive or encoder.

S7-1500 Motion Control V4.0 in TIA Portal V15

528 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 412

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Permitted actual value range exceeded.
Positive. Home the axis/encoder in a valid actual value range.
Negative.
Modulo length. Adjust the modulo length to the utilized encoder.

Technology alarm 421

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Faulty encoder at the logical address.
Alarm message from drive. • Check the functions and connections of the drive.
No drive control required. • Enable and acknowledge safety function in the drive.
Drive has shut down.
Drive enable not possible.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 529
Appendix
A.7 Technology alarms

Technology alarm 431

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Faulty communication with device at logical address.
Drive failed. Check the function, connections and I/Os of the drive .
Signs of life of drive faulty. • Check the function, connections and I/Os of the drive
.
• Compare the clock parameters in the device configu-
ration (PROFIBUS line, slave OM for drive or encod-
er) and the execution system. Tmapc and servo
must be set to the same cycle time.

(Incorrect parameter assignment is indicated by rea-

son 0x0080.)
• If you call the application cycle of the
MC-Servo [OB91] reduced to the send clock of a
PROFINET IO system and the technology alarm 431
(Signs of life of drive faulty) is repeatedly shown, in-
crease the update time of the send clock.
Encoder failed. Check the function, connections and I/Os of the encod-
er.
Signs of life of encoder faulty. • Check the function, connections and I/Os of the
encoder.
• Compare the clock parameters in the device configu-
ration (PROFIBUS line, slave OM for drive or encod-
er) and the execution system. Tmapc and servo
must be set to the same cycle time.

S7-1500 Motion Control V4.0 in TIA Portal V15

530 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

A.7.6 Technology alarms 501-552

Technology alarm 501

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Programmed velocity is limited. • Check the value for the velocity of the Motion Control
instruction.
• Check the configuration of the dynamic limits.

Technology alarm 502

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Programmed acceleration/deceleration is being limited.
Acceleration • Check the value for the acceleration of the Motion
Control instruction.
• Check the configuration of the dynamic limits.
Deceleration • Check the value for the deceleration of the Motion
Control instruction.
• Check the configuration of the dynamic limits.

Technology alarm 503

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Programmed jerk is limited. • Check the value for the jerk of the Motion Control
instruction.
• Check the configuration of the dynamic limits.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 531
Appendix
A.7 Technology alarms

Technology alarm 504

Alarm reaction: No reaction
Restart: Not required

Alarm text Solution

Speed setpoint monitoring active. • Check the mechanical configuration.
• Check the encoder connection.
• Check the configuration of the speed setpoint
interface.
• Check the configuration of the control loop.
• Check the value for the maximum velocity
DynamicLimits.MaxVelocity.

Technology alarm 511

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Dynamic limits are violated by the kinematics motion.
Velocity Reduce the velocity of the kinematics motion.
Acceleration Reduce the acceleration of the kinematics motion.
Deceleration Reduce the deceleration of the kinematics motion.

Technology alarm 521

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Following error. • Check the configuration of the control loop.
• Check the direction signal of the encoder.
• Check the configuration of the following error moni-
toring.

S7-1500 Motion Control V4.0 in TIA Portal V15

532 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 522

Alarm reaction: No reaction
Restart: Not required

Alarm text Solution

Warning following error tolerance. • Check the configuration of the control loop.
• Check the direction signal of the encoder.
• Check the configuration of the following error moni-
toring.

Technology alarm 531

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Pos. HW limit switch reached. Acknowledge the alarm.

After the acknowledgment, motions in the negative di-
rection are allowed.
Neg. HW limit switch reached. Acknowledge the alarm.
After the acknowledgment, motions in the positive direc-
tion are allowed.
Illegal free travel direction of active hardware limit switch. The programmed direction of movement is disabled due
to the active hardware limit switch.
Retract the axis in the opposite direction.
HW limit switch polarity reversed, free travel not possible. • Check the mechanical configuration of the hardware
Both hardware limit switches active, retraction not possible. limit switch.
• Check the limit switches.
• The error can be acknowledged by switching the
controller off and on or using "MC_Reset" with
"Restart" = TRUE.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 533
Appendix
A.7 Technology alarms

Technology alarm 533

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Solution

Negative/positive SW limit switch approached.
Negative The software limit switch was reached from an active
motion.
Move the axis away from the software limit switch in the
positive direction.
Positive The software limit switch was reached from an active
motion.
Move the axis away from the software limit switch in the
negative direction.

Technology alarm 534

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Negative/positive SW limit switch is crossed.
Negative The SW limit switch was crossed.
Acknowledge the alarm.
After the acknowledgment, motions in the positive direc-
tion are allowed.
Positive The SW limit switch was crossed.
Acknowledge the alarm.
After the acknowledgment, motions in the negative di-
rection are allowed.

S7-1500 Motion Control V4.0 in TIA Portal V15

534 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 541

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Position monitoring error.
Target range not reached. The target range was not reached within the tolerance
time.
• Check the configuration of the position monitoring.
• Check the configuration of the control loop.
Exit target range again. The target range was exited within the minimum dwell
time.
• Check the configuration of the position monitoring.
• Check the configuration of the control loop.

Technology alarm 542

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Clamping monitoring error: Axis leaving clamping tolerance The axis has executed a motion greater than the per-
window. missible tolerance at the fixed stop.
Check whether the fixed stop has broken away.

Technology alarm 550

Alarm reaction: Track setpoints
Restart: Not required

Alarm text Solution

Drive-autonomous motion is being executed. The drive is performing a motion that was not specified
by the technology object.
Check whether there is an active safety function in the
drive.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 535
Appendix
A.7 Technology alarms

Technology alarm 551

Alarm reaction: No reaction
Restart: Not required

Alarm text Solution

Maximum velocity cannot be reached with drive/axis parame- The configured maximum velocity cannot be reached
ters. with the configured mechanics of the axis.
Check the configuration of the mechanics and the set
reference speed.

Technology alarm 552

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Adaptation error of encoder during power-up.
Encoder is not assigned to a SINAMICS device. • The operationally active encoder could not be
adapted. However, there are other encoders that can
be used. Use the encoder switch (MC_SetSensor).
• The encoder set as the operationally active encoder
could not be adapted.
• Specify a different sensor for the initialization of the
technology object.
Encoder is not interconnected directly to I/O area. During configuration of the axis, the log addresses were
set to a data block area or bit memory area. The adapta-
tion is only possible when the encoder has been directly
interconnected to an I/O area.
Adaptation canceled due to insufficient resources. Check whether your device supports acyclic data com-
Parameter does not exist, value unreadable or invalid. munication according to PROFIdrive.

Encoder system
Encoder resolution
Encoder fine resolution
Encoder revolutions

S7-1500 Motion Control V4.0 in TIA Portal V15

536 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

A.7.7 Technology alarms 601-618

Technology alarm 601

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Solution

Leading axis is not assigned or defective. Configure the possible leading value axes for the follow-
ing axis under Configuration > Leading value intercon-
nections.

Technology alarm 603

Alarm reaction: No reaction
Restart: Not required

Alarm text Solution

Leading axis is not in position-controlled mode. The following axis must be operated in position-
controlled mode for synchronous operation functionality.

Technology alarm 608

Alarm reaction: Stop with maximum dynamic values
Restart: Not required

Alarm text Solution

Error during synchronization. Prevent a reversing leading value motion during the
synchronization operation.

Technology alarm 611

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

The cam specified in the MC_CamIn.Cam parameter has not Configure and interpolate the cam. Restart the job.
been configured or is not available.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 537
Appendix
A.7 Technology alarms

Technology alarm 612

Alarm reaction: Remove enable
Restart: Not required

Alarm text Solution

Specified cam has not been interpolated. Interpolate the cam used for camming with the Motion
Control instruction "MC_InterpolateCam".

A.7.8 Technology alarms 700-758

Technology alarm 700

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Output cam limiting error.
Cam position: OnPosition The position for the OnPosition could not be calculated.
Invalid positions (e.g. OnPosition > OffPosition) were
calculated due to lead times.
The output cam cannot be switched due to the axis
dynamics and compensation times.
Cam position: OffPosition The position for the OffPosition could not be calculated.
Invalid positions (e.g. OffPosition < OnPosition) were
calculated due to lead times.
The output cam cannot be switched due to the axis
dynamics and compensation times.

Technology alarm 701

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

I/O output error. The digital output for the output cam or cam track tech-
nology object cannot be addressed.
Download the device configuration again.

S7-1500 Motion Control V4.0 in TIA Portal V15

538 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 702

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Position value valid. • A Motion Control job "MC_Reset" is being executed
on the axis. Wait until the "Restart" of the technology
object is complete.
• The encoder values are invalid due to an encoder
error. Check the encoder and adjust the configura-
tion if necessary.

Technology alarm 703

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Output cam data faulty.
Output cam: Output cam number Check the configuration of the relevant output cam in the
cam track and adjust the values if necessary.
Examples of a correct configuration:
• <TO>.Parameter.Cam[].OnPosition <
<TO>.Parameter.Cam[].OffPosition
• <TO>.Parameter.Cam[].Duration >
<TO>.Parameter.OffCompensation -
<TO>.Parameter.OnCompensation

Technology alarm 704

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Output cam data faulty. Check the configuration of the output cam and adjust the
values if necessary.
Examples of a correct configuration:
• MC_OutputCam.OnPosition <
MC_OutputCam.OffPosition
• MC_OutputCam.Duration >
<TO>.Parameter.OffCompensation -
<TO>.Parameter.OnCompensation

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 539
Appendix
A.7 Technology alarms

Technology alarm 750

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Measuring job not possible during homing of assigned axis. Do not use the motion instructions "MC_Home" and
"MC_MeasuringInput" simultaneously.

Technology alarm 752

Alarm reaction: No reaction
Restart: Not required

Alarm text Remedy

Validity range of measuring job not recognized. The measuring range specified in Motion Control instruc-
tion "MC_MeasuringInput" was not recognized.
Adjust the measuring range.

Technology alarm 753

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Only one measuring input can access an encoder at a time. Use only one Motion Control instruction
"MC_MeasurinInput" for an encoder.

Technology alarm 754

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Measuring input configuration in external device is not correct. Check the configuration of the measuring inputs on the
external device.

S7-1500 Motion Control V4.0 in TIA Portal V15

540 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.7 Technology alarms

Technology alarm 755

Alarm reaction: Remove enable
Restart: Not required

Alarm text Remedy

Measuring job not possible.
Device has reported an error. The measurement was aborted with error.
Check the measuring input functionality in the utilized
device
Cyclic measuring is not possible with telegram 39x. • Use the Motion Control instruction
"MC_MeasuringInput" for starting a one-time meas-
urement.
• Cyclic measuring is only possible when measuring
using TM Timer DIDQ. Change the configuration of
the measuring input type to "TM Timer DIDQ".

Technology alarm 758

Alarm reaction: None
Restart: Not required

Alarm text Remedy

A measuring edge was not evaluated. An edge was already detected at the input of the meas-
uring input even though the module was not yet ready.
The measured value is provided at the next edge.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 541
Appendix
A.8 Error ID for Motion Control instructions

A.8 Error ID for Motion Control instructions

Errors in Motion Control instructions are signaled using the parameters "Error" and "ErrorID".
Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated for the
Motion Control instruction:
● Illegal status of the technology object, which prevents the execution of the job.
● Illegal parameter assignment of the Motion Control instruction, which prevents the
execution of the job.
● As a result of the alarm reaction for a technology object error.
The following tables list all "ErrorIDs" that can be indicated for Motion Control instructions.
Besides the cause of the error, remedies for eliminating the error are also listed:

16#0000 - 16#800F

ErrorID Description Remedy

16#0000 No error -
16#8001 A technology alarm (technology object error) In the technology data block, an error message is output at
occurred while processing the Motion the "ErrorDetail.Number" tag.
Control instruction. You can find a list of the technology alarms and alarm reac-
tions in the Technology alarms (Page 513) appendix.
16#8002 Illegal specification of the technology object • Check the specification of the technology object for the
"Axis", "Master", "SlaveOutputCamCamTrack-
MeasuringInput" or "Cam" parameter.
• You can use a kinematics technology object only for the
"AxesGroup" parameter.
• For MC_MeasuringInputCyclic: Specify a valid measuring
input type for parameter "MeasuringInputType".
16#8003 Illegal velocity specification Specify a permissible value for the velocity for parameter
"Velocity".
16#8004 Illegal acceleration specification Specify a permissible value for the acceleration for parameter
"Acceleration".
16#8005 Illegal deceleration specification Specify a permissible value for the deceleration for parameter
"Deceleration".
16#8006 Illegal jerk specification Specify a permissible value for the jerk for parameter "Jerk".
16#8007 Illegal direction specification Specify a permissible value for the rotation direction for pa-
rameter "Direction" or "SyncDirection".

Invalid entry Reset both the "JogForward" parameter and the "JogBack-
Both the "JogForward" and "JogBackward" ward" parameter.
parameters are set to TRUE at the same
time. The axis is braked at the last valid
deceleration.
16#8008 Invalid distance specification Set a valid distance value at parameter "Distance".
16#8009 Invalid position specification Set a valid position value at parameter "Position".
16#800A Illegal operating mode Specify a permissible operating mode for parameter "Mode".

S7-1500 Motion Control V4.0 in TIA Portal V15

542 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.8 Error ID for Motion Control instructions

ErrorID Description Remedy

16#800B Illegal stop mode specifications Specify a permissible value for the stop mode at the
"StopMode" parameter.
16#800C Only one instance of the instruction per The instruction is called at multiple points in the user program
technology object is allowed. with identical value for parameter "Axis", "Master", "Slave" or
"Cam".
Ensure that only one instruction with the value for parameter
"Axis", "Master", "Slave" or "Cam" is called.
16#800D The job is not permitted in the current state. While a "Restart" is being performed, the technology object
"Restart" is executed. cannot perform any jobs.
Wait until the "Restart" of the technology object is complete.
16#800E If the technology object is enabled, a Before a "Restart", deactivate the technology object with
"Restart" is not possible. "MC_Power.Enable"FALSE.
16#800F The job cannot be executed because the Enable the technology object with
technology object is locked. "MC_Power.Enable" = TRUE. Restart the job.

16#8010 - 16#802F

ErrorID Description Remedy

16#8010 Invalid homing mode for incremental encod- Absolute value adjustment is not possible with an incremental
er encoder ("Mode" = 6, 7).
Start a homing process for an incremental encoder using
parameter "Mode" = 0, 1, 2, 3, 5, 8, 10.
16#8011 Invalid homing mode for absolute encoder Passive and active homing ("Mode" = 2, 3, 5, 8, 10) are not
possible for an absolute value encoder.
Start a homing process for an absolute encoder using
parameter "Mode" = 0, 1, 6, 7.
16#8012 The job cannot be executed because the Return master control to your user program. Restart the job.
axis control panel is active.
16#8013 The online connection between the CPU Check the online connection to the CPU.
and the TIA Portal is down.
16#8014 No internal job memory available. The maximum possible number of Motion Control job has
been reached.
Reduce the number of jobs to be executed (parameter
"Execute" = FALSE).
16#8015 Error acknowledgment with "MC_Reset" is Check the configuration of the technology object.
not possible. Error in the configuration of the
technology object.
16#8016 The actual values are not valid. To execute a "MC_Home" or positioning job, the actual values
must be valid.
Check the status of the actual values. The technology object
tag "<TO>.StatusSensor[n].State" must show the value 2
(valid).
16#8017 Illegal value for gear ratio numerator Specify a permissible value for the gear ratio numerator for
parameter "RatioNumerator".
Permitted integer values:
-2147483648 to 2147483648
(value 0 not permitted)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 543
Appendix
A.8 Error ID for Motion Control instructions

ErrorID Description Remedy

16#8018 Illegal value for gear ratio denominator Specify a permissible value for the gear ratio denominator for
parameter "RatioDenominator".
Permitted integer values:
1 to 2147483648
16#8019 Job cannot be executed. The specified fol- Recursive interconnections are not possible. A leading axis
lowing axis is the original leading value for cannot be interconnected as a following axis to its own lead-
the synchronous operation chain. ing value. Specify a permissible following axis for parameter
"Slave".
16#8021 Illegal value for shift of the leading value Specify a permissible value for the shift of the leading value
range range for parameter "MasterOffset".
16#8022 Illegal value for shift of the following value Specify a permissible value for the shift of the leading value
range range for parameter "SlaveOffset".
16#8023 Illegal value for scaling of the leading value Specify a permissible value for the scaling of the leading value
range range for parameter "MasterScaling".
16#8024 Illegal value for scaling of the following value Specify a permissible value for the scaling of the following
range value range for parameter "SlaveScaling".
16#8026 Illegal value for leading value distance Specify a permissible value for the leading value distance for
parameter "MasterStartDistance".
16#8027 Illegal value for use of cam Specify a permissible value for cyclic/acyclic use of the cam
for parameter "ApplicationMode".

16#8030 - 16#807F

ErrorID Description Remedy

16#8034 Illegal value for synchronous position of the Specify a permissible value for the synchronous position of
leading axis the leading axis for parameter "MasterSyncPosition".
16#8035 Illegal value for synchronous position of the Specify a permissible value for the synchronous position of
following axis the following axis for parameter "SlaveSyncPosition".
16#8036 Illegal value for type of synchronization Specify a permissible value for the type of synchronization for
parameter "SyncProfileReference".
16#8040 Illegal value for start position of output cam Specify a permissible value for the start position of the output
cam for parameter "OnPosition".
16#8041 Illegal value for end position of distance Specify a permissible value for the end position of the dis-
output cam tance output cam for parameter "OffPosition".
16#8042 Illegal value for switch-on duration of time- Specify a permissible value for the switch-on duration of the
based output cam time-based output cam for parameter "Duration".
16#8043 Illegal value for force/torque limiting Specify a value within the permissible range at the "Limit"
parameter.
Permitted integer values:
-2147483648 to 2147483648
16#8044 The axis is not configured for torque reduc- Select drive telegram 102, 103, 105 or 106
tion.
16#8045 The job cannot be executed because a job Switchover to non-position-controlled mode is not possible
for traveling to fixed stop is active. during active travel to fixed stop.
16#8046 The "MC_TorqueLimiting" job cannot be Retract the axis and deactivate "MC_TorqueLimiting".
deactivated in the "InClamping" state.
16#8047 The motion results in a fixed stop. Only motions away from the fixed stop are permitted.

S7-1500 Motion Control V4.0 in TIA Portal V15

544 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.8 Error ID for Motion Control instructions

ErrorID Description Remedy

16#804A Illegal value for additive torque setpoint Specify a permissible value for the additive torque setpoint at
the "Value" parameter.
16#804B Illegal value for torque high limit Specify a permissible value for the high limit of the torque at
the "UpperLimit" parameter.
16#804C Illegal value for torque low limit Specify a permissible value for the low limit of the torque at
the "LowerLimit" parameter.
16#804D The value of the high limit of the torque is Adapt the values of the "UpperLimit" and "LowerLimit" param-
less than or equal to the value of the low eters so that the high limit of the torque is greater than the
limit of the torque. value of the low limit of the torque.
16#804E The job cannot be executed because the Stop the force / torque limit or fixed stop detection. Restart the
"MC_TorqueLimiting" job is active. "MC_TorqueRange" job.
The job cannot be executed because a Exit the setting of the high and low torque limits. Restart the
"MC_TorqueRange" job is active. "MC_TorqueLimiting" job.
16#804F The axis is not configured for additional Use supplemental telegram 750.
torque values.
16#8050 Illegal encoder number Specify a permissible number of the new encoder (1 to 4) for
parameter "MC_SetSensor.Sensor".
16#8051 Illegal number of the reference encoder Specify a permissible number of the reference encoder for
parameter "MC_SetSensor.ReferenceSensor".
16#8062 Illegal approach value Specify a permissible approach value for the searched for
leading value for parameter "ApproachLeadingValue".
16#8063 A valid mapping to the definition range Specify a permissible following value for parameter
(leading values) does not exist for the speci- "FollowingValue".
fied following value.
16#8064 A valid mapping to the range of the function Specify a permissible leading value for parameter "Lead-
(following values) does not exist for the ingValue".
specified leading value.
16#8070 Illegal value for leading value shift Specify a permissible value for the leading value shift for pa-
rameter "PhaseShift".
16#8071 The job cannot be executed because the Activate position-controlled mode.
axis is not in position-controlled mode.
16#8074 The job cannot be executed because the During active or passive homing, an encoder switchover is
"MC_Home" job is active. rejected.
Wait until the "MC_Home" job is complete. Restart the job.
16#8075 The job cannot be executed because no Switch on the synchronous operation function. Restart the job.
synchronization operation is active on the
axis.
16#8076 The job cannot be executed because syn- End the simulation of the synchronous operation. Restart the
chronization is being simulated at the speci- job.
fied axis.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 545
Appendix
A.8 Error ID for Motion Control instructions

16#80A0 - 16#8FFF

ErrorID Description Remedy

16#80A1 The order cannot be executed because a A "MC_Home" job on a following axis is not executed when a
synchronous operation job is active. "MC_CamIn" or "MC_GearInPos" job is active.
Exit the synchronous operation job. Restart the job.
16#80A2 The measuring range is invalid with the Check and adjust the measuring input and adjust the measur-
configured modulo axis settings. ing range positions, if necessary.
16#80A3 The measuring input job via PROFIdrive Simultaneous execution of a homing job and a measuring
telegram could not be started because a input job via PROFIdrive telegram is not possible.
homing job is active. Wait until the homing job has ended. Restart the measuring
job via PROFIdrive telegram.
16#80A5 Illegal value for start position of measuring Specify a permissible value for the start position of the meas-
range uring range for parameter "MC_MeasuringInput.StartPosition"
or MC_MeasuringInputCyclic.StartPosition.
16#80A6 Illegal value for end position of measuring Specify a permissible value for the end position of the meas-
range uring range for parameter "MC_MeasuringInput.EndPosition"
or MC_MeasuringInputCyclic.EndPosition.
16#80A7 A measurement is performed when measur- Check and adjust the measuring input and adjust the measur-
ing with the measuring range, but the calcu- ing range positions, if necessary.
lated position is outside the specified
measuring range. The measured value is
discarded.
16#80A8 The job cannot be executed because cam- The Motion Control instructions "MC_PhasingRelative" and
ming is active on the axis. "MC_PhasingAbsolute" can only be applied to active gearing
with "MC_GearIn" or "MC_GearInPos" ("MC_GearIn.InGear" =
TRUE or "MC_GearInPos.InSync" = TRUE).
16#80A9 The job cannot be executed because the The Motion Control instructions "MC_PhasingRelative" and
following axis is synchronized "MC_PhasingAbsolute" can only be applied to active gearing
("MC_GearInPos.StartSync" = TRUE) or a with "MC_GearIn" or "MC_GearInPos" ("MC_GearIn.InGear" =
kinematics motion is active. TRUE or "MC_GearInPos.InSync" = TRUE).
16#80AA The cam contains no points or segments Fill the cam with points/segments. Restart the job.
and cannot be interpolated.
16#80AB The cam is currently being used and cannot End the current use of the cam. Restart the job.
be interpolated.
16#80AC The cam contains incorrect points or seg- Fill the cam with permissible points/segments. Restart the job.
ments and cannot be interpolated.
(for example, the cam contains only one
point.)
16#80AD The specified synchronous position is out- Specify a permissible synchronous position for parameter
side the definition range of the cam. "MasterSyncPosition". Restart the job.
16#80AE The job cannot be executed because a End the current kinematic motion. Restart the job.
kinematic motion is active.
16#8FFF Unspecified error Contact your local Siemens representative or support center.
You can find your contact at Industry Automation and Drive
Technologies at:
http://www.siemens.com/automation/partner)

See also
Errors in Motion Control instructions (Page 337)

S7-1500 Motion Control V4.0 in TIA Portal V15

546 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.9 MC_Power function chart

A.9 MC_Power function chart

A.9.1 Drive connection via PROFIdrive

A.9.1.1 StopMode 0, 2

Function chart: Enabling a technology object and disabling with "StopMode" = 0, 2

① • "StopMode" = 0

The axis is braked with the configured emergency stop deceleration.

• "StopMode" = 2

The axis decelerates with the configured maximum deceleration.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 547
Appendix
A.9 MC_Power function chart

A.9.1.2 StopMode 1

Function chart: Enabling a technology object and disabling with "StopMode" = 1

① The deceleration ramp depends on the configuration in the drive.

S7-1500 Motion Control V4.0 in TIA Portal V15

548 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.9 MC_Power function chart

A.9.1.3 Alarm reactions with braking ramp via the technology object

Function chart: Enabling a technology object and occurrence of a technology alarm with braking ramp
via the technology object

① The axis is braked based on the alarm reaction:

• Stop with current dynamic values (<TO>.ErrorDetail.Reaction = 1)

The axis is braked with the deceleration in the Motion Control instruction.
• Stop with maximum dynamic values (<TO>.ErrorDetail.Reaction = 2)

The axis decelerates with the configured maximum deceleration.

• Stop with emergency stop ramp (<TO>.ErrorDetail.Reaction = 3)
The axis is braked with the configured emergency stop deceleration.
② The technology alarm is acknowledged.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 549
Appendix
A.9 MC_Power function chart

A.9.1.4 Alarm response "Remove enable"

Function chart: Enabling a technology object and occurrence of a technology alarm with alarm
reaction "Remove enable"

① The deceleration ramp depends on the configuration in the drive.

② The technology alarm is acknowledged at time ②.

S7-1500 Motion Control V4.0 in TIA Portal V15

550 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.9 MC_Power function chart

A.9.2 Analog drive connection

A.9.2.1 StopMode 0, 2

Function chart: Enabling a technology object and disabling with "StopMode" = 0, 2

① • "StopMode" = 0

The axis is braked with the configured emergency stop deceleration.

• "StopMode" = 2
The axis decelerates with the configured maximum deceleration.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 551
Appendix
A.9 MC_Power function chart

A.9.2.2 StopMode 1

Function chart: Enabling a technology object and disabling with "StopMode" = 1

① The deceleration ramp depends on the configuration in the drive.

② The behavior of the ready signal of the drive "DI DriveReadyInput" is manufacturer-
specific.

S7-1500 Motion Control V4.0 in TIA Portal V15

552 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.9 MC_Power function chart

A.9.2.3 Alarm reactions with braking ramp via the technology object

Function chart: Enabling a technology object and occurrence of a technology alarm with braking ramp
via the technology object

① The axis is braked based on the alarm reaction:

• Stop with current dynamic values (<TO>.ErrorDetail.Reaction = 1)

The axis is braked with the deceleration in the Motion Control instruction.
• Stop with maximum dynamic values (<TO>.ErrorDetail.Reaction = 2)

The axis decelerates with the configured maximum deceleration.

• Stop with emergency stop ramp (<TO>.ErrorDetail.Reaction = 3)
The axis is braked with the configured emergency stop deceleration.
② The behavior of the ready signal of the drive "DI DriveReadyInput" is manufacturer-specific.
③ The technology alarm is acknowledged at time ③.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 553
Appendix
A.9 MC_Power function chart

A.9.2.4 Alarm response "Remove enable"

Function chart: Enabling a technology object and occurrence of a technology alarm with alarm
reaction "Remove enable"

① The deceleration ramp depends on the configuration in the drive.

② The behavior of the ready signal of the drive "DI DriveReadyInput" is manufacturer-specific.
③ The technology alarm is acknowledged at time ③.

S7-1500 Motion Control V4.0 in TIA Portal V15

554 Function Manual, 12/2017, A5E03879256-AE
 Appendix
A.10 SINAMICS drives

A.10 SINAMICS drives

A.10.1 Compatibility list

An overview of drives that can be interconnected with an S7-1500 CPU is available at:
https://support.industry.siemens.com/cs/document/109750431
(https://support.industry.siemens.com/cs/ww/en/view/109750431)

A.10.2 Homing SINAMICS drives with external zero marks

For SINAMICS drives with external zero marks, synchronization during homing must always
occur on the left side of the external zero mark's signal. That is to say, with a positive
direction of travel synchronization is done on a positive edge, and with a negative direction of
travel synchronization is done on a negative edge.
By inverting the signal, synchronization can also be done on the right sight of the signal of
the external zero mark. The inversion can be configured in the drive using SINAMICS
parameter P490.
Homing to an encoder zero mark or an external zero mark is configured in SINAMICS
parameter P495.

A.11 Data types

Data type for use with technology as of V4.0

The table below contains the data types for reference to the respective technology object:

Data type Structure

TO_SpeedAxis Speed axis
TO_PositioningAxis Positioning axis
TO_SynchronousAxis Synchronous axis
TO_Encoder External encoder
TO_OutputCam Output cam
TO_CamTrack Cam track
TO_MeasuringInput Measuring input
TO_Cam Cam (S7-1500T)
TO_Kinematics Kinematics (S7-1500T)
PD_TELx Telegram no. "x"
PD_STW1_611Umode Control word 1 (STW1)
PD_STW2_611Umode Control word 2 (STW2)
PD_ZSW1_611Umode Status word 1 (ZSW1)
PD_ZSW2_611Umode Status word 2 (ZSW2)

See also
PROFIdrive telegrams (Page 36)

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 555
Glossary

Absolute synchronous operation

Function corresponds to the Motion Control instruction MC_GearInPos or MC_CamIn.

Absolute value encoder

Position encoder which outputs the position in the form of a digital numerical value. This
numerical value is unique within the entire measuring range of the absolute value encoder.

Axis control panel

The axis control panel allows you to move the axis in manual mode, optimize the axis
settings, and test the operation of the axis in your system.

Axis type
The axis type differs depending on the unit of measurement according to which the axis is
positioned.
Depending on the execution of the mechanics, an axis is implemented as a linear axis or
rotary axis:
● For linear axes, the position of the axis is specified as a linear measure,
e.g. millimeters (mm).
● For rotary axes, the position of the axis is specified as an angular measure,
e.g. degrees (°).

Communication processor (CP)

Module for expanded communications tasks covering special applications, for example in the
area of security.

Communications module (CM)

Module for communications tasks which is used as an interface expansion of the CPU (for
example PROFIBUS) or provides additional communications options (e.g. PtP) in an
automation system.

Drive
The combination of motor (electric or hydraulic), actuator (converter, valve), control system,
measuring system and supply (infeed, accumulator).

S7-1500 Motion Control V4.0 in TIA Portal V15

556 Function Manual, 12/2017, A5E03879256-AE
 Glossary

Dynamic Servo Control (DSC)

In drives that support DSC, you can optionally use the position controller in the drive. The
position controller in the drive is usually implemented with a rapid speed-control cycle. This
improves the control performance for digitally coupled drives.

Following error
The following error is the difference between the position setpoint and the actual position
value. The transmission times of the setpoint to the drive, and of the actual position value to
the controller, are taken into account in the calculation of the following error.

GSD file
As a Generic Station Description, this file contains all properties of a PROFINET or
PROFIBUS device that are necessary for its configuration.

Hardware limit switch

Mechanical limit position switch that limits the maximum permissible traversing range of the
axis.

Homing
With homing, you create the relationship between the position in the technology object and
the mechanical position of the axis. The position value in the technology object is assigned
to a homing mark at the same time. This homing mark represents a known mechanical
position.

Incremental encoder
Position encoder which outputs the position change incrementally in the form of a digital
numerical value.

Kv factor
Gain factor of the position controller

Master value
Input value for synchronous operation

Motion Control instruction

Use the Motion Control instructions to start Motion Control jobs at technology objects in your
user program and thus execute the desired functionality at the technology objects. You track
the status of running jobs with the output parameters of the Motion Control instructions.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 557
Glossary

Override
Percentage correction of the velocity/speed

Processing cycle clock

The processing of a technology object in the servo cycle clock.

PROFIdrive
PROFIdrive is a profile specified by the PNO (PROFIBUS user organization) for
PROFIBUS DP and PROFINET IO for speed- and position-controlled drives.

PROFIdrive frame
Frame for communication according to PROFIdrive.

Proximity switch
Position switch which is activated with the moving part without mechanical contact.

Relative gearing
Function corresponds to the Motion Control instruction MC_GearIn.

Restart
The technology object is reinitialized with the current configuration parameters.

Safe Stop 1 (SS1)

The Safe Stop 1 (SS1) safety function brings a drive to standstill quickly and safely via an
internal rapid stop ramp. Safe Torque Off (STO) is activated after standstill. STO ensures
that no more torque generating energy acts on a drive. This prevents unintended startup of
the drive.
You can use the SS1 safety function when a fast stop of the drive with a subsequent
transition to STO is required. SS1 is used, for example, to quickly stop high inertia loads or
to brake drives quickly and safely at high speeds

Safe Stop 2 (SS2)

The Safe Stop 2 (SS2) safety function brings a drive to standstill quickly and safely via an
internal rapid stop ramp. After standstill is reached, the standstill position is monitored on the
drive side. The drive can deliver full torque to maintain the standstill.
SS2, for example, is used for processing machines and machine tools.

S7-1500 Motion Control V4.0 in TIA Portal V15

558 Function Manual, 12/2017, A5E03879256-AE
 Glossary

Safe Torque Off (STO)

The Safe Torque Off (STO) safety function is the most commonly used and most basic drive-
internal safety function. STO ensures that no more torque generating energy acts on a drive.
This prevents unintended startup of the drive. The pulses of the drive are eliminated. The
drive is reliably torque-free. This state is monitored internally in the drive.
You can use STO when the drive comes to a standstill in a sufficiently short time on its own
due to the load torque or due to friction. Other areas of use are where "coasting" of the drive
has no relevance for safety.

Software limit switch

A programmable position which limits the traversing range of an axis.

Synchronization
The phase of the following axis to reach synchronous movement.

Synchronous operation
Defined synchronous movement after synchronization of a following axis to a leading axis.

Technology alarm
If an error occurs at a technology object (e.g. approaching a hardware limit switch), a
technology alarm is triggered and indicated.
The impact of a technology alarm on the technology object is specified by the alarm reaction
(e.g. remove enable). The alarm reaction is specified by the system.

Technology data block

The technology data block represents the technology object and contains all configuration
data, setpoint and actual values, and status information of the technology object.

Technology module (TM)

Module for technological tasks, e.g. counting, measuring and positioning.

Zero mark
Position reference for the movement of rotary and linear incremental encoders. The zero
mark of an incremental encoder is used as a homing mark, for example.

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 559
Index

ErrorID
Basics, 332, 337
A List of ErrorIDs, 542
Errors in Motion Control instructions, 332, 337, 542
Absolute actual value, 39, 41
External encoder
Absolute encoder adjustment, 70
Adding, 175
Absolute value adjustment, 85
Basics, 24, 110
Active homing, 70, 73, 76, 78, 217
Configuration, 230
Actuator, 26
Deleting, 177
Additive setpoint torque, 66
Diagnostics, 351, 353, 353
Axis control panel, 319, 324
Functions, 28
Axis type, 31
Moving, 176
Tags, 479
C
Cam track F
Basics, 141
Following error monitoring, 88, 90, 91, 226
Configuration, 250
Diagnostics, 358, 360
Functions, 28
G
Tags, 506
Closed loop position control, 92, 93, 94, 228 Gear ratio, 107
Closed-loop control, 92, 93, 94, 228 Gearing, 107
Compatibility list, 555

H
D Hardware limit switches, 55, 55, 210
DB_ANY, 296 Hardware limit switches, 55, 55, 210
Diagnostics Home position, 71
S7-1500 Motion Control, 332, 333, 337 Homing mark, 71
Direct homing, 70, 85
Direction reversal at the hardware limit
switch, 71, 84, 218 I
Drive
Incremental actual value, 39, 40
Compatibility list, 555
Interpolator OB, 95, 98
Drives compatibility list, 166
DSC (Dynamic Servo Control), 92, 93, 94, 228
Dynamic default values, 60, 207
J
Dynamic Servo Control (DSC), 92, 93, 94, 228
Jerk limit, 60, 207, 211

E
L
Emergency stop deceleration, 62, 209
Encoder mounting type, 53, 54, 202 Leading value coupling, 107
Error ID, 337, 542 Leadscrew pitch, 53, 54, 202
Limit switches, 55, 55, 57, 210
Limits for dynamics, 59, 211

S7-1500 Motion Control V4.0 in TIA Portal V15

560 Function Manual, 12/2017, A5E03879256-AE
 Index

Linear axis, 31 Configuration, 191

Load gear, 53, 54, 202 Deleting, 177
Diagnostics, 343, 347, 349
Functions, 27
M Moving, 176
Tags, 445
Master control, 319
Positioning monitoring, 88, 88, 91, 226
MC_AbortMeasuringInput, 406
Process image partition "OB Servo PIP", 97
MC_CamTrack, 410, 412
PROFIdrive, 35, 42
MC_GearIn, 413, 416
Proximity switch, 71
MC_Halt, 374, 377
MC_Home, 369
MC_MeasuringInput, 399, 401
R
MC_MeasuringInputCyclic, 402, 404
MC_MoveAbsolute, 378, 381 Ramp-down time, 207, 211
MC_MoveJog, 391, 394 Ramp-up time, 207, 211
MC_MoveRelative, 382, 385 Reduction ratio, 95
MC_MoveSuperimposed, 395, 398 Reinitialization of technology objects, 314
MC_MoveVelocity, 386, 390 Restart of technology objects, 314
MC_OutputCam, 407, 409 Reversing cam, 71, 84, 218
MC_Power, 361, 366 Rotary axis, 31
MC_Reset, 367
MC_TorqueAdditive, 66, 422, 424
MC_TorqueLimiting, 417, 420 S
MC_TorqueRange, 67, 425, 427
S7-1500 Motion Control
MC-Interpolator OB, 95, 98
Actual value, 39, 40, 41
MC-Servo OB, 95, 98
Axis type, 31
Measuring input
Closed-loop control, 92, 93, 94, 228
Basics, 112
Commissioning, 316, 316, 319, 324, 325, 329
Configuration, 244
Configuration, 175, 176, 177, 178, 179, 191
Diagnostics, 354
Configuration limits, 30
Functions, 28
Diagnostics, 332, 333, 337
Tags, 492
Downloading to CPU, 315
Modulo, 33, 191
Drive and encoder
connection, 26, 34, 36, 42, 52, 166, 167, 170, 172,
192, 194, 194
O
Dynamic defaults, 62
Optimize position controller, 325, 329 Dynamic settings, 59, 60, 68, 207, 211
Output cam Guidelines for operation, 29
Basics, 126 Homing, 69, 71, 72, 73, 80, 84, 85, 85, 86, 87, 216,
Configuration, 247 217, 222
Diagnostics, 356 How it works, 22
Functions, 28 Introduction, 21, 22
Tags, 500 Mechanics, 53, 54, 202
Modulo, 33, 191
Motion Control instruction, 25, 27, 28, 290, 294
P Motion Control Instruction, 300
Position limits, 55, 55, 57, 58, 210
Passive homing, 70, 80, 81, 83, 222
Position monitoring, 88, 88, 90, 91, 226, 226, 227
Position limits, 55, 55, 57, 58, 210
Process response, 95, 97, 98, 100
Positioning axis
PROFIdrive, 35, 42
Adding, 175
Programming, 284, 285, 290, 300, 314
Basics, 23, 104

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 561
Index

Synchronous operation, 107, 107, 109, 201 Speed axis

Technology alarms, 332, 333, 513 Adding, 175
Technology data block, 24, 284, 285, 288, 289 Basics, 23, 103
Technology Configuration, 180
object, 23, 27, 28, 28, 103, 104, 105, 110, 112, 126, Deleting, 177
141, 175, 176, 177, 191, 314 Diagnostics, 338, 341, 342
Telegram, 36, 42, 52 Functions, 27
Unit of measure, 32 Moving, 176
Versions, 155, 164 Tags, 431
S7-1500 Motion Control actual value, 39, 40, 41 Startdrive, 166
S7-1500 Motion Control Synchronous axis
commissioning, 316, 316, 319, 324, 325, 329 Adding, 175
S7-1500 Motion Control drive Basics, 23, 105
connection, 26, 34, 36, 42, 52, 166, 167, 170, 172, 192 Deleting, 177
S7-1500 Motion Control encoder Diagnostics, 343, 347, 349
connection, 26, 34, 36, 42, 52, 166, 167, 170, 172, 194 Functions, 27
S7-1500 Motion Control homing Moving, 176
Absolute encoder adjustment, 70 Tags, 445
Absolute value adjustment, 85 Synchronous operation, 107, 107, 201
active, 76, 78
Active, 70, 73, 217
Basics, 69 T
Configuration, 216
Tags of the cam technology object, 500
direct, 85
Tags of the cam track technology object, 506
Direct, 70
Tags of the measuring input technology object, 492
Home position, 71
Tags of the positioning axis technology object, 445
Homing mark, 71
Tags of the speed axis technology object, 431
Homing mode, 70, 72
Tags of the synchronous axis technology object, 445
on the fly, 81, 83
Tags of the technology object external encoder, 479
On the fly, 70, 80, 222
Technology alarms
passive, 81, 83
Basics, 332, 333
Passive, 70, 80, 222
List of the technology alarms, 513
Proximity switch, 71
Technology data block
Reversing cam, 71, 84, 218
Analyzing, 285
Zero mark, 71
Basics, 24, 284
S7-1500 Motion Control instruction, 25
Change restart-relevant data, 289
Ending a Motion Control job, 313
Evaluating StatusWord, ErrorWord and
Errors in Motion Control instructions, 332, 337, 542
WarningWord, 288
Inserting, 294
Tags of the cam technology object, 500
Overview, 27, 28
Tags of the cam track technology object, 506
Parameters, 290
Tags of the measuring input technology object, 492
Starting Motion Control job, 300
Tags of the positioning axis technology object, 445
Tracking Motion Control job, 302
Tags of the speed axis technology object, 431
S7-1500 Motion Control mechanics, 53, 54, 202
Tags of the synchronous axis technology
S7-1500 Motion Control operating mode, 100
object, 445
S7-1500 Motion Control optimization, 325, 329
Tags of the technology object external encoder, 479
S7-1500 Motion Control telegram, 36, 42, 52
Technology object
Sensor, 26
Cam track, 28, 141, 250, 358, 360
Servo OB, 95, 98
Data types, 296
SINAMICS V90 PN, 166
External
Software limit switches, 55, 57, 210
encoder, 24, 28, 110, 175, 176, 177, 230, 351, 353,
353

S7-1500 Motion Control V4.0 in TIA Portal V15

562 Function Manual, 12/2017, A5E03879256-AE
 Index

Measuring input, 28, 112, 244, 354

Output cam, 28, 126, 247, 356
Positioning
axis, 23, 27, 104, 175, 176, 177, 191, 343, 347, 349
Speed
axis, 23, 27, 103, 175, 176, 177, 180, 338, 341, 342
Synchronous
axis, 23, 27, 105, 175, 176, 177, 191, 343, 347, 349
Torque limits, 67
Torque setpoint, 66
Traversing range limitation, 55, 55, 57, 58, 210

U
Unit of measure, 32

V
Velocity precontrol, 92
Velocity profile, 60

Z
Zero mark, 71

S7-1500 Motion Control V4.0 in TIA Portal V15

Function Manual, 12/2017, A5E03879256-AE 563