s

Preface
Contents

What's new in S7-Technology 1

SIMATIC Application and benefits 2

Technology objects 3
S7-Technology
Configuration 4

Programming 5
Manual
Technology functions 6

Technology DBs 7

Download, test and diagnose 8

Appendix A

Index

11/2006
A5E00251798-05
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the manual
by a safety alert symbol, notices referring to property damage only have no safety alert symbol. The
notices shown below are graded according to the degree of danger.

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

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

Caution
! with a safety alert symbol indicates that minor personal injury can result if proper precautions are not
taken.

Caution
without a safety alert symbol indicates that property damage can result if proper precautions are not
taken.

Notice
indicates that an unintended result or situation can occur if the corresponding notice is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of
danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a
warning relating to property damage.

Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning
and operation of a device/system may only be performed by qualified personnel. Within the context of
the safety notices in this documentation qualified persons are defined as persons who are authorized to
commission, ground and label devices, systems and circuits in accordance with established safety
practices and standards.

Prescribed Usage
Note the following:

Warning
! This device and its components may only be used for the applications described in the catalog or the
technical description, and only in connection with devices or components from other manufacturers
which have been approved or recommended by Siemens.
Correct, reliable operation of the product requires proper transport, storage, positioning and assembly
as well as careful operation and maintenance.

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

Siemens AG
A5E00251798-05 Copyright © Siemens AG 2006
Automation and Drives
11/2006 Technical data subject to change
Postfach 4848
90437 NÜRNBERG
GERMANY
Preface

Purpose of this manuals

This manual gives you a complete overview of the optional software package
"S7-Technology". The programming model, the individual technological objects and
the individual function blocks according to PLCopen are explained.
It is designed for STEP 7 programmers and persons who work in the configuration,
commissioning and automation system service with Motion Control application
sector.

Required basic knowledge

To understand this manual you require a general knowledge in the automation
technology and motion control field.
Users should be familiar in operating computers and programming devices on a
Windows 2000 Professional or XP operating system platform. Adequate knowledge
of the STEP 7 standard software is essential, because the optional software
package "S7-Technology" is based on this software. The appropriate knowledge
base is found in the “Programming with STEP 7“ manual.

Range of validity of this manual

This manual applies to the optional software package "S7-Technology" V 3.0 or
higher.
New features compared to earlier versions of the option package "S7-Technology"
can be found in Chapter "What´s new in S7-Technology".

S7-Technology
A5E00251798-05 iii
Preface

Position in the world of documentation

This manual forms part of the option package SIMATIC S7-Technology.

Manual Purpose
Getting Started The example used in these Getting Started
CPU 317T-2 DP: Controlling a SINAMICS S120 manuals guides you through the various steps
CPU 317T-2 DP: Controlling a physical axis in commissioning required to obtain a fully
CPU 317T-2 DP: Controlling a virtual axis functional application.
Microbox 420-T: Commissioning
Manual Description of the operation, functions and
S7-300 CPU Data: CPU 315T-2 DP technical specifications of the Technology CPU.
S7-300 CPU Data: CPU 317T-2 DP
Installing Microbox 420-T
Manual Describes how to commission and connect the
IM 174 PROFIBUS Module IM 174 and the ADI4 to the Technology CPU.
ADI4 – Analog Drive Interface for 4 Axes
Manual Describes the various technological functions:
S7-Technology • Applications and usage
You are reading this manual • Basics and configuration
• Download, testing and diagnostics
• PLCopen functions
Manual
Safecard On Motherboard Description of the installation and the operation
of the application "Safecard On Motherboard"
for the Technology CPU Microbox 420-T.
Product Information Describes how to commission and connect the
Connecting the SIMODRIVE 611U drive to the Technology CPU.
to the Technology CPU
Connecting SIMOVERT MASTERDRIVES MC
to the Technology CPU
Connection of the SINAMICS S120
to the Technology CPU
User Manual
SIMODRIVE sensor Absolute Value Encoder Instruction on how to install and use the
with PROFIBUS-DP PROFIBUS DP absolute encoder.
Operating Instructions Describes the engineering, installation,
S7-300 PLCs: networking and commissioning of an S7-300.
S7-300, CPU 31xC and CPU31x: Installation
Reference Manual Describes the functions and the technical data
S7-300 PLCs: Module data of signal modules, power supply modules and
interface modules.
Operations list Lists the instruction set of the CPUs and the
CPU 31xC, CPU 31x IM 151-7CPU, BM 147-1CPU, corresponding execution times. List of
BM 147-2CPU executable blocks (OBs/SFCs/SFBs) and their
execution times.

S7-Technology
iv A5E00251798-05
 Preface

Further Support
If you have any technical questions, please get in touch with your Siemens
representative or responsible agent.
You will find your contact person at:
http://www.siemens.com/automation/partner
You will find a guide to the technical documentation offered for the individual
SIMATIC Products and Systems here at:
http://www.siemens.com/simatic-tech-doku-portal
The online catalog and order system is found under:
http://mall.automation.siemens.com/

Training Centers
Siemens offers a number of training courses to familiarize you with the SIMATIC S7
automation system. Please contact your regional training center or our central
training center in D 90327 Nuremberg, Germany for details:
Telephone: +49 (911) 895-3200.
Internet: http://www.sitrain.com

S7-Technology
A5E00251798-05 v
Preface

Technical Support
You can reach the Technical Support for all A&D products
• Via the Web formula for the Support Request
http://www.siemens.com/automation/support-request
• Phone: + 49 180 5050 222
• Fax: + 49 180 5050 223
Additional information about our Technical Support can be found on the Internet
pages http://www.siemens.com/automation/service

Service & Support on the Internet

In addition to our documentation, we offer our Know-how online on the internet at:
http://www.siemens.com/automation/service&support
where you will find the following:
• The newsletter, which constantly provides you with up-to-date information on
your products.
• The right documents via our Search function in Service & Support.
• A forum, where users and experts from all over the world exchange their
experiences.
• Your local representative for Automation & Drives.
• Information on field service, repairs, spare parts and more under "Services".

S7-Technology
vi A5E00251798-05
Contents

1 What's new in S7-Technology 1-1

2 Application and benefits 2-1

2.1 Compact and integrated ................................................................................... 2-1
2.2 The world of "SIMATIC".................................................................................... 2-1
2.3 Integrated PLCopen-compliant motion control functions in STEP 7 ................ 2-2
2.4 Supported components and systems ............................................................... 2-2
2.5 Components and their tasks............................................................................. 2-6
2.5.1 Hardware components...................................................................................... 2-6
2.5.2 Configuration tools............................................................................................ 2-8
2.5.3 Technology functions and Technology DBs ................................................... 2-11
3 Technology objects 3-1
3.1 Axes - basic principles ...................................................................................... 3-1
3.1.1 Axis technologies.............................................................................................. 3-1
3.1.2 Special modes of operation .............................................................................. 3-2
3.1.3 Axis types ......................................................................................................... 3-3
3.1.4 Hydraulic axes .................................................................................................. 3-4
3.1.5 Real and virtual axes ........................................................................................ 3-7
3.1.6 Difference between "Axis" and "Drive" ............................................................. 3-8
3.1.7 Base coordinate system - superimposing coordinate system .......................... 3-9
3.1.8 Homing............................................................................................................ 3-11
3.1.9 Absolute encoder adjustment ......................................................................... 3-13
3.1.10 Data record changeover ................................................................................. 3-14
3.2 "Velocity-controlled axis" technology object ................................................... 3-15
3.3 "Positioning axis" technology object ............................................................... 3-16
3.3.1 Position control ............................................................................................... 3-17
3.3.1.1 Setpoint superimposition ................................................................................ 3-20
3.3.1.2 Dynamic response adaptation ........................................................................ 3-21
3.3.1.3 Preparation of manipulated variables for electric axes................................... 3-22
3.3.1.4 Manipulated variable superimposition ............................................................ 3-23
3.3.1.5 Dynamic Servo Control (DSC)........................................................................ 3-24
3.3.1.6 Speed-controlled operation of a position-controlled axis................................ 3-25
3.4 "Synchronizing axis" technology object .......................................................... 3-26
3.4.1 Structure of the "Synchronization axis" technology object ............................. 3-27
3.4.2 Synchronized group........................................................................................ 3-27
3.4.3 Gearing ........................................................................................................... 3-31
3.4.4 Camming ........................................................................................................ 3-33
3.4.5 Superimposing synchronism .......................................................................... 3-38
3.4.6 Relative / absolute synchronism..................................................................... 3-40
3.5 "Cam disk" technology object ......................................................................... 3-45
3.5.1 Scaling ............................................................................................................ 3-46
3.5.2 Cam disk applications..................................................................................... 3-47
3.5.3 Interpolation of cams ...................................................................................... 3-49

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3.6 "Cam" technology object................................................................................. 3-60

3.6.1 Position-based cam ........................................................................................ 3-62
3.6.2 Switching output cam...................................................................................... 3-64
3.6.3 Time-based cam ............................................................................................. 3-65
3.6.4 Reaction, effective direction ........................................................................... 3-66
3.6.5 Hysteresis ....................................................................................................... 3-68
3.6.6 Time-based offset of cam switching points..................................................... 3-70
3.6.7 Example of an electronic cam control............................................................. 3-71
3.7 "Measuring sensor" technology object ........................................................... 3-72
3.7.1 Interconnection, wiring - Measuring inputs ..................................................... 3-73
3.7.2 Measuring range............................................................................................. 3-74
3.8 "External encoder" technology object............................................................. 3-74
3.8.1 Interconnection, wiring - external encoders.................................................... 3-75
3.8.2 Synchronization - external encoders .............................................................. 3-76
4 Configuration 4-1
4.1 Overview - configuration ................................................................................... 4-1
4.2 Configuring the Technology CPU and drives in HW Config ............................. 4-2
4.2.1 Configuring the Technology CPU in HW Config............................................... 4-2
4.2.2 Configuring drives in HW Config ...................................................................... 4-7
4.2.3 Selecting the message frame type ................................................................. 4-11
4.3 Technology Objects Management, operating................................................. 4-14
4.3.1 Starting Technology Objects Management .................................................... 4-14
4.3.2 User interface of Technology Objects Management ...................................... 4-15
4.3.3 Working window.............................................................................................. 4-16
4.3.4 Working window (expert mode) ...................................................................... 4-19
4.3.5 Using Technology Objects Management........................................................ 4-23
4.3.6 Creating and managing technology DBs ........................................................ 4-24
4.4 S7T Config, operating..................................................................................... 4-26
4.4.1 Starting S7T Config ........................................................................................ 4-26
4.4.2 The user interface of S7T Config.................................................................... 4-27
4.5 Configuring electrical axes.............................................................................. 4-31
4.5.1 Adding a data record for data record changeover.......................................... 4-39
4.5.2 Fine resolution ................................................................................................ 4-43
4.5.3 Actual value logging........................................................................................ 4-44
4.5.4 Configuration .................................................................................................. 4-46
4.5.4.1 Configuration - Axis ........................................................................................ 4-46
4.5.5 Mechanical system ......................................................................................... 4-47
4.5.5.1 Mechanics - Electrical axis ............................................................................. 4-47
4.5.6 Default............................................................................................................. 4-49
4.5.6.1 Defaults - "Dynamics" tab ............................................................................... 4-49
4.5.7 Limits............................................................................................................... 4-51
4.5.7.1 Limits - "Position and velocity" tab.................................................................. 4-51
4.5.7.2 Hardware limit switches .................................................................................. 4-52
4.5.7.3 Software limit switches ................................................................................... 4-54
4.5.7.4 Limits - "Dynamic response" tab..................................................................... 4-54
4.5.7.5 Limits - "Fixed end stop" tab ........................................................................... 4-56
4.5.8 Closed-loop control......................................................................................... 4-59
4.5.8.1 Control loop - "Static controller data" tab........................................................ 4-59
4.5.8.2 Control loop - "Dynamic controller data" tab................................................... 4-61
4.5.8.3 Control loop - "Friction compensation" tab ..................................................... 4-62

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4.5.9 Homing............................................................................................................ 4-63

4.5.9.1 Introduction ..................................................................................................... 4-63
4.5.9.2 Homing - "Active homing" tab ......................................................................... 4-63
4.5.9.3 Homing - "Passive homing" tab ...................................................................... 4-74
4.5.9.4 Direct homing.................................................................................................. 4-80
4.5.9.5 Position correction .......................................................................................... 4-80
4.5.9.6 Motions with non-homed axes........................................................................ 4-80
4.5.10 Monitoring ....................................................................................................... 4-81
4.5.10.1 Monitoring functions - Overview ..................................................................... 4-81
4.5.10.2 Monitoring functions - Positioning and standstill monitoring........................... 4-83
4.5.10.3 Monitoring functions - "Following error monitoring" tab.................................. 4-84
4.5.10.4 Monitoring functions - "Standstill signal" tab................................................... 4-85
4.5.10.5 Monitoring functions - "Velocity monitoring" tab ............................................. 4-86
4.5.10.6 Manipulated variable monitoring..................................................................... 4-86
4.6 Configuring hydraulic axes ............................................................................. 4-87
4.6.1 Configuring hydraulic axes - inserting an axis ................................................ 4-87
4.6.2 Configuring hydraulic axes - Q output via IM 174/ADI4 ................................. 4-93
4.6.3 Configuring hydraulic axes - Q output via analog output module................... 4-99
4.6.4 Determining and adding a valve profile ........................................................ 4-103
4.6.5 Assigning the valve profile ............................................................................ 4-108
4.6.6 Adding a data record for data record changeover........................................ 4-109
4.6.7 Actual value logging...................................................................................... 4-113
4.6.8 Configuration ................................................................................................ 4-115
4.6.8.1 Configuration - Axis ...................................................................................... 4-115
4.6.9 Mechanical system ....................................................................................... 4-116
4.6.9.1 Mechanics - Electrical axis ........................................................................... 4-116
4.6.10 Default........................................................................................................... 4-118
4.6.10.1 Defaults - "Dynamics" tab ............................................................................. 4-118
4.6.11 Limits............................................................................................................. 4-120
4.6.11.1 Limits - "Position and velocity" tab................................................................ 4-120
4.6.11.2 Hardware limit switches ................................................................................ 4-121
4.6.11.3 Software limit switches ................................................................................. 4-123
4.6.11.4 Limits - "Dynamic response" tab................................................................... 4-123
4.6.11.5 Limits - "Fixed end stop" tab ......................................................................... 4-125
4.6.12 Closed-loop control....................................................................................... 4-128
4.6.12.1 Control loop - "Static controller data" tab...................................................... 4-128
4.6.12.2 Control loop - "Dynamic controller data" tab................................................. 4-129
4.6.12.3 Control loop - "Friction compensation" tab ................................................... 4-130
4.6.12.4 Control loop - "Additional compensation functions" tab................................ 4-131
4.6.13 Homing.......................................................................................................... 4-132
4.6.13.1 Introduction ................................................................................................... 4-132
4.6.13.2 Homing - "Active homing" tab ....................................................................... 4-132
4.6.13.3 Homing - "Passive homing" tab .................................................................... 4-143
4.6.13.4 Direct homing................................................................................................ 4-149
4.6.13.5 Position correction ........................................................................................ 4-149
4.6.13.6 Motions with non-homed axes...................................................................... 4-149
4.6.14 Monitoring ..................................................................................................... 4-150
4.6.14.1 Monitoring functions - Overview ................................................................... 4-150
4.6.14.2 Monitoring functions - Positioning and standstill monitoring......................... 4-152
4.6.14.3 Monitoring functions - "Following error monitoring" tab................................ 4-153
4.6.14.4 Monitoring functions - "Standstill signal" tab................................................. 4-154
4.6.14.5 Monitoring functions - "Velocity monitoring" tab ........................................... 4-155

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4.7 Configuring synchronization axes................................................................. 4-156

4.7.1 Assigning leading axes and cam disks......................................................... 4-158
4.7.2 Configuring superimposing synchronism...................................................... 4-160
4.7.3 Synchronization ............................................................................................ 4-163
4.7.4 Synchronization ............................................................................................ 4-170
4.7.5 Desynchronization ........................................................................................ 4-173
4.7.6 Synchronization status.................................................................................. 4-176
4.7.7 Configuration ................................................................................................ 4-177
4.7.7.1 Configuration - Axis ...................................................................................... 4-177
4.7.8 Mechanical system ....................................................................................... 4-178
4.7.8.1 Mechanics - Electrical axis ........................................................................... 4-178
4.7.9 Default........................................................................................................... 4-180
4.7.9.1 Defaults - "Dynamics" tab ............................................................................. 4-180
4.7.10 Limits............................................................................................................. 4-182
4.7.10.1 Limits - "Position and velocity" tab................................................................ 4-182
4.7.10.2 Hardware limit switches ................................................................................ 4-183
4.7.10.3 Software limit switches ................................................................................. 4-185
4.7.10.4 Limits - "Dynamic response" tab................................................................... 4-185
4.7.10.5 Limits - "Fixed end stop" tab ......................................................................... 4-187
4.7.11 Closed-loop control....................................................................................... 4-190
4.7.11.1 Control loop - "Static controller data" tab...................................................... 4-190
4.7.11.2 Control loop - "Dynamic controller data" tab................................................. 4-192
4.7.11.3 Control loop - "Friction compensation" tab ................................................... 4-193
4.7.12 Homing.......................................................................................................... 4-194
4.7.12.1 Introduction ................................................................................................... 4-194
4.7.12.2 Homing - "Active homing" tab ....................................................................... 4-194
4.7.12.3 Homing - "Passive homing" tab .................................................................... 4-205
4.7.12.4 Direct homing................................................................................................ 4-211
4.7.12.5 Position correction ........................................................................................ 4-211
4.7.12.6 Motions with non-homed axes...................................................................... 4-211
4.7.13 Monitoring ..................................................................................................... 4-212
4.7.13.1 Monitoring functions - Overview ................................................................... 4-212
4.7.13.2 Monitoring functions - Positioning and standstill monitoring......................... 4-214
4.7.13.3 Monitoring functions - "Following error monitoring" tab................................ 4-215
4.7.13.4 Monitoring functions - "Standstill signal" tab................................................. 4-216
4.7.13.5 Monitoring functions - "Synchronous operation monitoring" tab................... 4-217
4.7.13.6 Monitoring functions - "Velocity monitoring" tab ........................................... 4-219
4.7.14 Followingobject defaults ............................................................................... 4-220
4.7.14.1 Synchronization object defaults - "Cam synchronization" tab ...................... 4-220
4.7.14.2 Synchronization object defaults - "Gear synchronization" tab...................... 4-221
4.7.14.3 Synchronization object defaults - "Cam synchronization" tab ...................... 4-223
4.7.14.4 Synchronization object defaults - "Dynamics" tab ........................................ 4-225
4.7.14.5 Synchronization object defaults - "Master dynamics" tab............................. 4-227
4.8 Configuring cam disks .................................................................................. 4-228
4.8.1 Inserting a cam disk...................................................................................... 4-229
4.8.2 Defining cam disks........................................................................................ 4-232
4.8.3 Creating cam disks with CamEdit................................................................. 4-233
4.8.3.1 Interpolation .................................................................................................. 4-234
4.8.3.2 Interpolation(2).............................................................................................. 4-236
4.8.3.3 Scaling and shift ........................................................................................... 4-237
4.8.4 Creating cam disks with CamTool ................................................................ 4-246
4.8.5 VDI laws of motion........................................................................................ 4-247
4.8.5.1 Working ranges and motion transitions ........................................................ 4-247
4.8.5.2 Defining cam disk segments for motion control tasks .................................. 4-249

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4.9 Configuring cams.......................................................................................... 4-250

4.9.1 Configuring output cams............................................................................... 4-250
4.9.2 Inserting output cams ................................................................................... 4-250
4.9.3 Configuration - Output cams......................................................................... 4-252
4.9.4 High-speed output cams............................................................................... 4-254
4.9.5 Type of output cam values - setpoints.......................................................... 4-255
4.10 Configuring measuring sensors.................................................................... 4-257
4.10.1 Configuring measuring inputs....................................................................... 4-257
4.10.2 Inserting a measuring input .......................................................................... 4-257
4.10.3 Configuration - Measuring input ................................................................... 4-259
4.11 Configuring external encoders...................................................................... 4-261
4.11.1 Inserting an external encoder ....................................................................... 4-262
4.11.2 Configuration - External encoder.................................................................. 4-264
4.11.3 Mechanics - External encoder ...................................................................... 4-265
4.11.4 Defaults - External encoder .......................................................................... 4-266
4.11.5 External encoders - Synchronization with incremental encoders................. 4-266
4.11.6 Setting the standstill signal ........................................................................... 4-268
4.12 Copying configuration data of another station .............................................. 4-269
5 Programming 5-1
5.1 Time pattern of CPU 31xT ................................................................................ 5-1
5.2 Time pattern of WinLC T (Microbox T) ............................................................. 5-6
5.3 Cycles of the Technology CPU....................................................................... 5-12
5.4 Assigning system clocks................................................................................. 5-14
5.5 Sequence and programming model ............................................................... 5-16
5.6 Accessing address spaces of CPU 31xT ....................................................... 5-19
5.7 Accessing address spaces of Microbox T ...................................................... 5-21
5.8 Monitoring active commands.......................................................................... 5-24
5.9 IPO synchronous start of axis commands ...................................................... 5-26
5.10 Errors and warnings at the technology function ............................................. 5-28
5.11 Errors at the technology DB - MCDevice & Trace.......................................... 5-30
5.12 Errors and warnings at the Technology DB – Axes & External Encoders...... 5-31
5.13 Errors and warnings at the Technology DB - Cam Disk & Measuring Input
& Output Cam ................................................................................................. 5-32
5.14 Behavior of virtual axes .................................................................................. 5-33
5.15 Symbolic programming with FC 400 "DB2INT" .............................................. 5-34
5.16 Programming axis-specific parameter changes ............................................. 5-35
6 Technology functions 6-1
6.1 Overview........................................................................................................... 6-1
6.1.1 Overview - Programming .................................................................................. 6-1
6.2 Technology functions - Single axes.................................................................. 6-3
6.2.1 FB 401 MC_Power - Disable / enable axis....................................................... 6-3
6.2.2 FB 403 MC_Home - Homing/setting axis ....................................................... 6-14
6.2.3 FB 404 MC_Stop - Pause axis and prevent new travel jobs .......................... 6-24
6.2.4 FB 405 MC_Halt - Normal stop ...................................................................... 6-30
6.2.5 FB 409 MC_ChangeDataset - Change over record ....................................... 6-35
6.2.6 FB 410 MC_MoveAbsolute - Absolute positioning ......................................... 6-42
6.2.7 FB 411 MC_MoveRelative - Relative positioning ........................................... 6-56
6.2.8 FB 412 MC_MoveAdditive - Positioning relative to current target position .... 6-70
6.2.9 FB 413 MC_MoveSuperImposed - Overlapping positioning .......................... 6-76
6.2.10 FB 414 MC_MoveVelocity - Travel with preset speed ................................... 6-83
6.2.11 FB 415 MC_MoveToEndPos - Travel to fixed stop/terminals ........................ 6-94
6.2.12 FB 437 MC_SetTorqueLimit - Activate/deactivate torque limitation............. 6-102
6.2.13 FB 439 MC_SetCharacteristic - Activate valve characteristics .................... 6-106

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6.3 Technology functions - Gear/curve synchronism ......................................... 6-110

6.3.1 FB 420 MC_GearIn - Start gear synchronism .............................................. 6-110
6.3.2 FB 422 MC_GearOut - End gear synchronism ............................................ 6-120
6.3.3 FB 440 MC_GearInSuperImposed - Start overlapping gear synchronism... 6-125
6.3.4 FB 442 MC_GearOutSuperImposed - End overlapping gear synchronism . 6-137
6.3.5 FB 421 MC_CamIn - Start curve synchronism............................................. 6-141
6.3.6 FB 423 MC_CamOut - End curve synchronism ........................................... 6-156
6.3.7 FB 441 MC_CamInSuperImposed - Start overlapping
curve synchronism........................................................................................ 6-161
6.3.8 FB 443 MC_CamOutSuperImposed - End overlapping
curve synchronism........................................................................................ 6-170
6.3.9 FB 424 MC_Phasing - Change phase shift between leading
and following axes ........................................................................................ 6-175
6.3.10 FB 444 MC_PhasingSuperImposed - Change overlapping phase shift....... 6-181
6.4 Technology functions - Cam disks................................................................ 6-188
6.4.1 FB 434 MC_CamClear - Delete curves ........................................................ 6-188
6.4.2 FB 435 MC_CamSectorAdd - Add curve section ......................................... 6-191
6.4.3 FB 436 MC_CamInterpolate - Interpolate curves......................................... 6-199
6.4.4 FB 438 MC_GetCamPoint - Read points from cam disk.............................. 6-205
6.5 Technology functions - Cams, probes, external sensors ............................. 6-210
6.5.1 FB 430 MC_CamSwitch - Displacement cam .............................................. 6-210
6.5.2 FB 431 MC_CamSwitchTime - Timer cam ................................................... 6-217
6.5.3 FB 433 MC_MeasuringInput - Probe............................................................ 6-222
6.5.4 FB 432 MC_ExternalEncoder - External sensor .......................................... 6-227
6.6 Technology functions - Basic functions ........................................................ 6-232
6.6.1 FB 402 MC_Reset - Acknowledge error....................................................... 6-232
6.6.2 FB 406 MC_ReadSysParameter - Read parameter..................................... 6-237
6.6.3 FB 407 MC_WriteParameter - Modify parameter......................................... 6-241
6.6.3.1 MC_WriteParameter - Example - "Override" ................................................ 6-244
6.6.3.2 MC_WriteParameter - Example - "Drive control word"................................. 6-244
6.6.4 FB 450 MC_ReadPeriphery - Read technology I/Os ................................... 6-250
6.6.5 FB 451 MC_WritePeriphery - Write technology I/Os.................................... 6-255
6.6.6 FB 453 MC_ReadRecord - Read record ...................................................... 6-260
6.6.7 FB 454 MC_WriteRecord - Write record....................................................... 6-265
6.6.8 FB 455 MC_ReadDriveParameter - Read drive parameter ......................... 6-270
6.6.9 FB 456 MC_WriteDriveParameter - Write drive parameter.......................... 6-276
6.7 Interaction of commands .............................................................................. 6-282
6.7.1 New command - active single command (1) ................................................ 6-282
6.7.2 New command - active single command (2) ................................................ 6-284
6.7.3 New command - active single command (3) ................................................ 6-285
6.7.4 New command - active commands (1) ......................................................... 6-287
6.7.5 New command - active commands (2) ......................................................... 6-289
6.7.6 Examples of using the tables........................................................................ 6-291
6.8 Information about parameters ...................................................................... 6-293
6.8.1 Reaction of the technology function after POWER OFF and restart............ 6-293
6.8.2 DoneFlag generation .................................................................................... 6-293
6.8.3 Range of values............................................................................................ 6-294
6.8.4 Absolute positioning of modulo axes ............................................................ 6-295

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 Contents

7 Technology DBs 7-1

7.1 "Speed-controlled axis" technology DB ............................................................ 7-1
7.2 "Positioning axis" technology DB...................................................................... 7-6
7.3 "Synchronization axis" technology DB............................................................ 7-11
7.4 "External encoder" technology DB ................................................................. 7-18
7.5 "Cam disk" technology DB.............................................................................. 7-22
7.6 "Measuring input" technology DB ................................................................... 7-24
7.7 "Output cam" technology DB .......................................................................... 7-27
7.8 "Trace" technology DB.................................................................................... 7-31
7.9 "MCDevice" technology DB ............................................................................ 7-32
7.10 Updating technology DBs ............................................................................... 7-36
7.11 ErrorID - Technology DBs............................................................................... 7-41
7.11.1 ErrorIDs – Axis technology DB ....................................................................... 7-41
7.11.2 ErrorIDs – Synchronization technology DB .................................................... 7-47
7.11.3 ErrorIDs – External encoder technology DB................................................... 7-56
7.11.4 ErrorIDs – Output cam technology DB ........................................................... 7-61
7.11.5 ErrorIDs – Measuring input technology DB .................................................... 7-64
7.11.6 ErrorIDs – Cam technology DB ...................................................................... 7-67
7.11.7 ErrorIDs – MCDevice/Trace technology DB ................................................... 7-70
8 Download, test and diagnose 8-1
8.1 Connecting the programming device................................................................ 8-1
8.2 Online functions ................................................................................................ 8-2
8.2.1 Load commands in STEP 7 .............................................................................. 8-2
8.2.2 Download commands in S7T Config - memory organization ........................... 8-5
8.2.2.1 Memory organization of integrated technology ................................................ 8-5
8.2.2.2 POWER ON and CPU memory reset ............................................................... 8-7
8.2.2.3 Restarting a technology object ......................................................................... 8-8
8.2.2.4 Load commands in S7T Config ........................................................................ 8-9
8.2.2.5 Copying ACTUAL to ROM .............................................................................. 8-12
8.2.2.6 Online changes in S7T Config........................................................................ 8-13
8.3 Technology system cycles.............................................................................. 8-16
8.3.1 Setting technology system clocks................................................................... 8-16
8.3.2 Checking the load on integrated technology .................................................. 8-19
8.4 Tuning position controllers.............................................................................. 8-20
8.4.1 Position controller tuning - Overview .............................................................. 8-20
8.4.2 Preparing for tuning ........................................................................................ 8-20
8.4.3 User program for controller tuning.................................................................. 8-23
8.4.4 Tuning position controllers.............................................................................. 8-26
8.4.5 Tuning balancing filters................................................................................... 8-31
8.4.6 Calculating the equivalent time constant of the position control loop............. 8-36
8.5 Testing with breakpoints ................................................................................. 8-38
8.6 Testing with the watch table ........................................................................... 8-39
8.6.1 Using the Watch Table to monitor system variables ...................................... 8-39
8.7 Testing with the TraceTool ............................................................................. 8-41
8.7.1 Overview - TraceTool ..................................................................................... 8-41
8.7.2 Tracing values of the user program in the CPU ............................................. 8-41
8.7.3 Tracing controller data .................................................................................... 8-42
8.8 Testing with the control panel......................................................................... 8-45
8.8.1 Introduction - Control panel ............................................................................ 8-45
8.8.2 Starting the Axis Control Panel....................................................................... 8-46
8.8.3 Layout of the Axis Control Panel .................................................................... 8-47
8.8.4 Monitoring axis values on the Control Panel .................................................. 8-48
8.8.5 Assuming control priority ................................................................................ 8-49
8.8.6 Controlling an axis .......................................................................................... 8-50

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Contents

A Appendix A-1
A.1 Sample applications..........................................................................................A-1
A.1.1 Application example "Positioning with target sensor".......................................A-1
A.1.2 Application example "Flying shears" ................................................................A-3
A.1.3 Application example "Gripper feed"..................................................................A-5
A.2 Queries, Tips & Tricks ......................................................................................A-7
A.2.1 How to utilize the new performance features ...................................................A-7
A.2.2 How to replace the Technology CPU with a different type ...............................A-9
A.2.3 Identifying firmware versions ..........................................................................A-11
A.2.4 How to upgrade the firmware of CPU 31xT-2 DP ..........................................A-12
A.2.5 How to upgrade the firmware of the integrated technology............................A-13
A.2.6 How to convert the technology .......................................................................A-15
A.2.7 How to convert the technology and upgrade the technology packages.........A-17
A.2.8 How to recreate the technology DBs ..............................................................A-21
A.2.9 What to download to the PLC after a migration..............................................A-24
A.2.10 How to analyze an older project using S7-Technology ..................................A-25
A.2.11 How to edit an older project using S7-Technology.........................................A-27
A.2.12 What to observe when using "Save as" with reorganization ..........................A-29
A.2.13 Why do specific system DBs have a different online / offline time stamp? ....A-29
A.2.14 Why does the number of system DBs differ in the online
and offline configuration?................................................................................A-30
A.2.15 STEP 7 reports "Insufficient memory space"..................................................A-30
A.2.16 The CPU goes into STOP sporadically as a result of timeout........................A-30
A.2.17 Errors occur when the "Save and compile all" function is executed
for the technology data ...................................................................................A-31
A.3 Expert list in S7T Config .................................................................................A-32
A.3.1 Using the Expert List.......................................................................................A-32
A.3.2 Axis settings....................................................................................................A-35
A.3.2.1 Assigning interpolator cycle 2.........................................................................A-35
A.3.2.2 Torque settings ...............................................................................................A-36
A.3.3 Monitoring .......................................................................................................A-38
A.3.3.1 Encoder monitoring functions .........................................................................A-38
A.3.3.2 Encoder limit frequency monitoring ................................................................A-38
A.4 Technology parameters ..................................................................................A-39
A.4.1 List of technology parameters ........................................................................A-39
A.4.2 List of DINT values for technology parameters ..............................................A-72
A.5 Additional information on the Internet.............................................................A-80
Index Index-1

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xiv A5E00251798-05
1 What's new in S7-Technology

What's new in S7-Technology V3.0 + SP2

• Support of SINAMICS drive S120 V2.4.x
• Support of MICROMASTER 440 V2.1.x
• User-specific parameter list can be defined in the expert list of S7T Config
• An unintentionally called axis wizard no longer has to executed completely
S7 Technology V3.0 + SP2 or higher supports cancellation of the axis wizard
• S7T Config now supports deletion of all active alarms in a single action
• More compact settings and representation in the TraceTool of S7T Config

What was new in S7-Technology V3.0 + SP1

• Support of SIMATIC Technology CPU Microbox 420-T
• Support of PROFIBUS module IM 174 for the connection of analog drives and
stepping motors to Motion Control systems

What was new in S7-Technology V3.0

Hydraulic axes
Version 3.0 of S7-Technology supports the creation of hydraulic axes. You can use
these axes to control the flow direction and volume of the hydraulic axis by setting
the proportional directional valves.
Hydraulic axes can be created using the "speed control", "positioning" or
"synchronism" technology. The non-linearity of the hydraulic drive is recorded and
compensated for by the integrated technology using a valve profile (implemented
by means of a "Cam disk" technology object). The valve profile is activated by
calling the new technology function "MC_SetCharacteristic".

SINAMICS S120 V2.3.x

The integrated STARTER functionality of S7T Config now supports firmware
version V2.3.x of the SINAMICS drive S120.

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What's new in S7-Technology

IPO synchronous start of axis commands

Command execution (command start and monitoring) may take several position
controller cycles if short cycle times are set.
With S7-Technology V3.0, commands can also be started at individual axes at
specific points within the IPO cycle. The integrated technology waits no more than
two interpolator cycles to execute the command after its initiation.
The "IPO synchronous" property can be programmed for the relevant axis TO in
"Technology Objects Management".

High-speed update of selected technology DBs.

Distribute your technology DB updates in order to accelerate the update of selected
technology DBs. S7-Technology V3.0 supports the distribution of technology DB
updates to different cycles. The user can define an update offset in order to avoid
cyclic update surges. The time of update can be set separately for each technology
DB.

Technology DB update
We speak of an "overflow" situation when a new Technology DB update is initiated
while a previous update cycle is not yet completed. When operating with integrated
technology firmware V3.1.x or earlier, the Technology CPU will go into STOP when
it detects a technology DB update overflow. Integrated technology with firmware
V3.2.x or higher tolerates this overflow, i.e. the non-executable update is
discarded, and technology synchronization interrupt OB 65 will not be called.

Setting actual values on-the-fly at external encoders

The technology function "MC_ExternalEncoder"" was enhanced with an additional
mode for the correction of the actual value.

Synchronism IPO - IPO_2

The "Synchronism IPO - IPO_2" functionality supports the operation of a leading
axis (control value source) and of a following axis in different interpolator cycles
(IPO or IPO_2.) This functionality lets you select interpolator cycle 2 for axes which
do not require a high resolution for the calculation of control variables. This
releases processor resources for other tasks.

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2 Application and benefits

2.1 Compact and integrated

The Technology CPU integrates Motion Control functions in a SIMATIC CPU in
order to combine the functionality of a SIMATIC CPU S7-300 with
PLCopen-compliant Motion Control functions.

The Technology CPU is integrated to 100 % into the SIMATIC and TIA world and
demonstrates its high performance when used in coupled motion sequences.

2.2 The world of "SIMATIC"

The Technology CPU is a standard SIMATIC CPU with integrated Motion Control
functionality. This feature allows users to simply copy S7-300 programs from
existing projects to new projects.
The Technology CPU is programmed based on the SIMATIC programming
languages LAD, FBD or STL. PLC and Motion Control functions are edited in a
single application program. It is not required to learn any additional programming
language. You can always fall back on your SIMATIC S7 knowledge.
The Technology can be configured comfortably in STEP 7. There you can set all
necessary parameters such as the mechanical data, drive selection data, controller
settings, defaults, monitoring functions, output cams, measuring inputs, cam disks
etc.

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A5E00251798-05 2-1
Application and benefits

2.3 Integrated PLCopen-compliant motion control

functions in STEP 7
The PLCopen-compliant Motion Control functions of your Technology CPU let you
directly utilize your Motion Control knowledge. Motion Control features functions
which are compliant with PLCopen specifications in terms of interfaces,
functionality and sequences, and which facilitate engineering, commissioning and
service.
Thanks to the standardized interface, you can almost seamlessly implement the
function blocks required to initiate your Motion Control commands in the application
program.

2.4 Supported components and systems

Valid for Integrated Technology with firmware version V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

SIMATIC Technology CPU / software

Funktion Product Order number

SIMATIC Technology CPU CPU 315T-2DP 6ES7315-6TG10-0AB0
SIMATIC Technology CPU CPU 317T-2 DP 6ES7317-6TJ10-0AB0
SIMATIC Technology CPU Microbox 420-T 6ES7675-3AG30-0PA0
Micro Memory Card MMC, 4MB or more 6ES7953-8LM11-0AA0
(for CPU 31xT-2DP)
"S7-Technology" options SIMATIC 6ES7864-1CC30-0YX0
package S7-Technology V3.0 + SP2
STEP 7 STEP 7 V5.3 + SP3 6ES7810-4CC07-0Yxx

Software products which can be used instead of the "S7-Technology" options

package:

Funktion Product Order number

SCOUT CamTool SCOUT CamTool V2.1 6AU1810-0FA21-0XA0

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 Application and benefits

Components on PROFIBUS DP(DRIVE)

The Technology CPU supports the components listed below for isochronous
execution of technological tasks on DP(DRIVE) (status at the time this manual was
released for printing):

Product Order number

SIMODRIVE
SIMODRIVE 611U universal 6SN1118-xNH00-0AAx
SIMODRIVE 611U universal HR 6SN1114-0NB0x-0AAx
Options module Motion Control with PROFIBUS DP 6SN1114-0NB01-0AA0
(for SIMODRIVE 611U)
SIMODRIVE POSMO CA 6SN2703-3AAx
SIMODRIVE POSMO CD 6SN2703-2AAx
SIMODRIVE POSMO SI 6SN24x
SIMODRIVE sensor single-turn / synchro-flange 6FX2001-5FP12
SIMODRIVE sensor single-turn / clamping flange 6FX2001-5QP12
SIMODRIVE sensor multiturn / synchro-flange 6FX2001-5FP24
SIMODRIVE sensor multiturn / clamping flange 6FX2001-5QP24
MICROMASTER 4
COMBIMASTER 411 6SE6401-0PB00-0AA0
MICROMASTER 420 6SE6400-1PB00-0AA0
MICROMASTER 430 6SE6400-1PB00-0AA0
MICROMASTER 440 6SE6400-1PB00-0AA0
MASTERDRIVES
with communications module CBP2
Motion Control 6SE7090-0XX84-0FF5
Motion Control Plus 6SE7090-0XX84-0FF5
Vector Control CUVC 6SE7090-0XX84-0FF5
Vector Control Plus 6SE7090-0XX84-0FF5
Note the order supplement "Gxx" when ordering
communications module CBP2.
SINAMICS
SINAMICS S120 6SL3040-0MA00-0AAx
(firmware to V2.4x)
Terminal Module TM15 * 6SL3055-0AA00-3FA0
Terminal Module TM17 High Feature * 6SL3055-0AA00-3HA0
SINUMERIK
ADI4 6FC5211-0BA01-0AA1
SIMATIC IM
PROFIBUS-Baugruppe IM 174 6ES7174-0AA00-0AA0

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Application and benefits

Product Order number

SIMATIC ET 200M **
IM 153-2 High Feature 6ES7153-2BA00-0XB0
SM 331 AI8x14Bit 6ES7331-7HF00-0AB0
SM 331 AI8x14Bit 6ES7331-7HF01-0AB0
SM 332 AO4x16Bit 6ES7332-7ND01-0AB0
SM 332 AO4x16Bit 6ES7332-7ND02-0AB0
SM 321 DI16xDC24V 6ES7321-1BH10-0AA0
SM 321 DI16xDC24V, interrupt 6ES7321-7BH01-0AB0
SM 322 DO16xDC24V/0.5A 6ES7322-1BH10-0AA0
SIMATIC ET 200S **
IM 151-1 High Feature 6ES7151-1BA00-0AB0
2AI I 2WIRE HS 6ES7134-4GB51-0AB0
2AI I 4WIRE HS 6ES7134-4GB61-0AB0
2AI U HS 6ES7134-4FB51-0AB0
2AO I HF 6ES7135-4MB01-0AB0
2AO U HF 6ES7135-4LB01-0AB0
2DI 24 VDC HF 6ES7131-4BB00-0AB0
4DI UC24..48V 6ES7131-4CD00-0AB0
4DI DC24 HF 6ES7131-4BD00-0AB0
2DO 24 VDC/0.5 A HF 6ES7132-4BB00-0AB0
2DO 24 VDC/2 A HF 6ES7132-4BB30-0AB0
4DO 24 VDC/0.5 A ST 6ES7132-4BD00-0AA0

* For additional high-speed output cams, hardware limit switches and measuring
inputs.
** For analog absolute encoders, analog outputs for hydraulic axes,
additional output cams and hardware limit switches.
Components which can be configured in HW Config are listed in the "Hardware
Catalog" window of HW Config. Select the "SIMATIC Technology CPU" profile in
HW Config.
You must have installed the most recent version of S7- Technology in order to
obtain a complete selection list in the profile.

DP-V0 slaves on DP(DRIVE)

In addition to ET 200M and ET 200S, the system supports the operation of
additional I/O as DP-V0 slave on DP(DRIVE), however, with certain restraints:
• Alarms are not supported
• DP-V0 slaves can not be operated consistently in isochronous mode on
DP(DRIVE)
• Longer reaction times must be expected

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 Application and benefits

POSMO A positioning drive

The POSMO A positioning drive can be operated on the DP/MPI segment of CPU
317T-2 DP. You can integrate the positioning drive using the special function
blocks of the "Posmo A Library." The Posmo A Library does not support
DP(DRIVE.)

Product Order number

SIMODRIVE POSMO A 6SN21x

Hardware and software requirements

For information on hardware and software requirements for implementation of the
"S7-Technology V3.0" options package, please refer to the readme.wri file on your
product CD.

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A5E00251798-05 2-5
Application and benefits

2.5 Components and their tasks

2.5.1 Hardware components

The figure below shows the hardware components of a Motion Control solution with
Technology CPU:

Technology CPU
The control unit of the Technology CPU performs the tasks known from a standard
CPU of the S7-300 family. The integrated technology controls, evaluates and
monitors all hardware components at DP(DRIVE) which are required by the Motion
Control tasks. CPU 31xT features 4 integrated digital inputs and 8 integrated digital
outputs. Microbox T features 8 integrated digital outputs.

MPI/DP
The MPI/DP interface is used to connect additional SIMATIC components, such as
a PG, OP, S7 controllers and distributed I/O. Its operation as DP interface allows
the configuration of large, extended networks.

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 Application and benefits

DP(DRIVE)
The Technology CPU operates the DP(DRIVE) PROFIBUS interface in
isochronous mode. All hardware components addressed by the integrated
technology must be available at the DP(DRIVE). That includes components of the
MICROMASTER, SIMODRIVE, MASTERDRIVES, SINAMICS, and
SIMODRIVE Sensor family.

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A5E00251798-05 2-7
Application and benefits

2.5.2 Configuration tools

All Motion Control applications are configured and programmed in STEP 7. The
figure below shows the tools used to configure your MC application.

SIMATIC STEP 7
STEP 7 represents the global platform for configuring and programming the
Technology CPU. All configuration tools required are called in SIMATIC Manager
of STEP 7.

SIMATIC S7-Technology
SIMATIC S7-Technology is an options package used to configure Motion Control
functionality of your Technology CPU. SIMATIC S7-Technology is fully integrated
in STEP 7 after installation. Tools included in its installation:
• Technology Objects Management
• S7-Tech Library
• S7T Config, including STARTER

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 Application and benefits

LAD/FBD/STL
You program your application and Motion Control jobs in the LAD/FBD/STL block
editor. You read the actual values of your Motion Control application from the user
program to analyze information and errors.

Technology Objects Management

The "Technology Objects Management" tool is used to create and delete the
Technology DBs, and to set their parameters. You also call the "Technology
Objects Management" tool to rename Technology DBs or to assign a different
block number.

S7-Tech Library
The S7-Tech Library is compliant with technology functions to PLCopen standard
and is called in your user program as function block. You use these to control your
Motion Control commands.

S7T Config
You configure the TOs required to implement your motion control task in
S7T Config. The STARTER for drives of the MICROMASTER and SINAMICS
families is integrated in S7T Config.

CamTool (optional)
You can purchase the optional SCOUT CamTool which provides an easy-to-use
graphical interface for creating cam disks.

HW Konfig
HW Config is used to configure the hardware of your Technology CPU and the
subnets at the DP/MPI and DP(DRIVE) interfaces.

Drive ES Basic / SimoCom U / DriveMonitor

The optional tool packages Drive ES Basic and/or the stand-alone tools SimoCom
U (SIMODRIVE) or DriveMonitor (MASTERDRIVE) are available to support drive
commissioning.

Technology data blocks

Technology DBs can be called in the user program to read the actual data of TOs,
i.e. the actual values and states of an axis, or error information.

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Application and benefits

Technology functions
The PLCopen-compliant technology functions are called in the user program of the
controller. Technology functions form the command interface to the TOs. The user
program can monitor the status of Motion Control commands by evaluating the
output parameters of the technology function.

Technology objects
The drives are mapped to TOs which describe their properties. Each TO is mapped
to the STEP 7 user program as Technology DB to indicate its status. TOs may be
interconnected and be logically linked to hardware components. All TOs such as
axes, cam disks, output cams, measuring inputs or external encoders are
configured in S7T Config.

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 Application and benefits

2.5.3 Technology functions and Technology DBs

Technology functions and Technology DBs form the user interface to the integrated
technology. The figure below shows the corresponding tasks handled by these
components:

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A5E00251798-05 2-11
Application and benefits

Technology functions
All Motion Control jobs are initiated by the Technology CPU by means of
technology functions. The integrated technology processes the jobs based on the
sequence initiated by the control system.
Motion Control commands address the TOs you configured in S7T Config. The
technology objects are addressed by setting the number of the corresponding
Technology DB.
The command is initiated by a signal transition (positive edge) at input parameter
Execute or Enable. The output parameters of the technology functions return
information to the user relating to job done and job cancelled messages, and to
error message generated when a command could not be initiated.

Technology DB
The integrated technology writes the actual values of the TO to the associated
Technology DB. Status and error messages generated in the course of job
processing will also be written to the Technology DB.
The Technology DBs are always non-retentive and write-protected in the
automation system.

DB - MCDevice
The status of integrated technology is mapped to the Technology DB MCDevice.
MCDevice contains information about the maximum and average job processing
time of Motion Control commands, and about any errors of integrated technology.
MCDevice also supports the option of indicating the status of integrated I/O,
including 32 done messages (DoneFlags) of certain technology functions. The
done messages indicated are defined by setting input parameter DoneFlag of the
technology function (TF.)

DB - Trace
S7T Config features the graphical TraceTool which can be used to analyze system
parameters and actual values.
In addition to the system parameters of integrated technology, the tool supports
logging of up to 8 variables of the S7 user program, i.e. two DINT values, two
DWORDvalues, and four REAL values. The Trace Technology DB interfaces the
control system with the integrated technology.

Technology functions ReadSysParameter / WriteParameter

It may be necessary in runtime to temporarily modify the configuration data and
system variables of integrated technology. Technology function
"MC_ReadSysParameter" can be used to read the configuration data and system
variables, and "MC_WriteParameter" can be deployed to overwrite these.
Parameter changes are not retentive.

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3 Technology objects

3.1 Axes - basic principles

3.1.1 Axis technologies

Axis technologies
Configure the "Axis" TO as "speed-controlled axis", "positioning axis" or
"synchronization axis". The various axis technologies differ according to the
functionality provided at the axis.

Function Speed-controlled Positioning axis Synchronization

axis axis
Change data record X X X
Velocity or speed preset X X X
Motion with torque reduction X X X
Positioning - X X
Travel to fixed stop - X X
Homing - X X
Advanced functions
Measuring input - X X
Output cam - X X
Synchronous operation (gear, - - X
cam)
Superimposing synchronization - - X
(gear / cam)

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Technology objects

3.1.2 Special modes of operation

• Following mode without power unit enable

The position and speed controls are inactive in following mode without power
unit enable. Inherent motion or dynamic breaking is not possible at the axis.
The actual position / actual speed values will be updated. The axis position can
also be tracked in following mode without power unit enable if external
functions are active.
This mode is only available for real axes.
• Following mode with power unit enable
In following mode with power unit enable, the position control is inactive, and
speed control is active. The actual position / actual speed values will be
updated. The axis position can also be tracked in following mode with power
unit enabled if external functions are active. This mode is only available for real
axes.
• Simulation mode
Simulation mode is used to test the sequential program in the controller and
the interaction between various axes based on trace recordings and without
moving the axis. This mode is only available for real axes.

In simulation mode, all drives must be connected and be operating without

faults. An axis is simulated internally by setting the actual values equal to the
setpoint values. In simulation mode, the following error is always zero.

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 Technology objects

3.1.3 Axis types

You can select two different types of axes in your axis configuration. The axis type
(linear or rotary, each also as modulo axis) is in essence determined by
mechanical conditions, and by the physical units used to calculate axis-specific
variables such as the position or speed.
• Linear axes
Linear axes are usually configured where the traversing range is mechanically
limited. The position profile is linear within the traversing range. Basic physical
units of the motions are length units such as millimeter.
• Rotary axes
Rotary axes are usually configured for the rotary motion range. Their traversing
range is not limited mechanically. Basic units for these motions are rotational
units such as degrees. Rotary axes are usually also configured for operation as
modulo axes.
Linear and rotary axes can be configured for operation as modulo axes. In this
case, the axis position is defined (reference and actual values) within a range
which is determined by the modulo start value, i.e. the low limit, and by the modulo
start value plus modulo length, i.e. the high limit.
Example A rotary axis with a traversing range from 0° to 360°" has a modulo start
value of 0°, and a modulo length of 360°. The axis position is reset to 0° when it
reaches its high limit (360°.) When it passes the low limit (0°), the axis position is
set to the modulo start value plus the modulo length (360°). The position profile is
linear within the modulo length.

Note
The position value increments continuously when linear or rotary axes are
configured as unidirectional modulo axes
The variables representing the setpoint and actual position values are of the data
type REAL and have a resolution of 23 binary digits (mantissa). This has the effect
that axis positioning accuracy deteriorates when the position value is increased.
For this reason, you should preferably use modulo axes for infinite axes, or reset
the position to zero at appropriate times.

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3.1.4 Hydraulic axes

Valid for Integrated Technology with firmware V3.2.x or higher

Firmware version V3.2.x or higher of the integrated technology supports the control
of hydraulic axes. The Technology CPU supports the control of hydraulic drives /
hydraulic valves using +/-10V analog signals. The axis returns a manipulated
variable for the motion as a percentage, i.e. -100% is equivalent to -10 V, and
+100% = +10 V.
Hydraulic axes are configured and programmed similar to electrical axes.

Special features of the hydraulic axis

• Inclusion of a valve profile in the calculation in order to compensate for non-
linearity between the control signal and the hydraulic drive.
• An "Axis" technology can be used to control several hydraulic drives / valves.
• No cascaded speed or torque limiting function in the hydraulic drive.
• Additional friction compensation with offset setting.

I/O supported for operation on DP(DRIVE)

• Drive interface IM 174/ADI4
• Analog output module of ET200M or ET200S for controlling the hydraulic drive
• Incremental encoders / rectangular TTL
• Absolute encoders / SSI
• Analog absolute encoders / sensor analog

Control variants supported by the Technology CPU:

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Example of a control using proportional directional valves

Example of the control of proportional directional valves by the Technology CPU.

A hydraulic pump charges a pressure-regulated hydraulic reservoir. The hydraulic

pump must be controlled by the user program.
In the example, a 4/3 proportional directional valve controls the cylinder or the
hydraulic drive. The Technology CPU controls the flow volume (Q) of the
proportional directional valve by setting an analog output at DP(DRIVE.) An
encoder can be used to return the cylinder position.
Hydraulic axes can be configured for operation as speed-controlled axis,
positioning axis or synchronization axis.

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Example of the control of a variable speed pump using switching directional

valves
Example of the control of switching directional valves and a variable speed pump.

A variable speed pump controls the flow volume (Q) for cylinder movement. The
Technology CPU handles the control of the variable speed pump by setting an
analog output at DP(DRIVE). The control of 4/3 switching directional valves must
be handled by the user program setting digital outputs. An encoder can be used to
return the cylinder position.
This variable speed pump control only allows the Technology CPU to control die
hydraulic axis in one direction, i.e. as speed-controlled, or position-controlled, or
synchronization axis. The reversal of direction by setting the 4/3 switching
directional valves, including the activation of separate valve profiles, must be
handled by the user program.
The example shows that a single hydraulic axis (variable speed pump) can be used
alternatively to control several cylinders or hydraulic drives. in this case, use a
separate pair of valve profiles for each hydraulic drive of the shared axis.

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3.1.5 Real and virtual axes

The term axes in this documentation always refers to real and virtual axes.
• Real axis
This axis features motion control functions and a drive and encoder interface
• Virtual axis
This axis type supports the generation of control variables. However, it has
neither a closed-loop control, nor a drive interface, nor an encoder interface.
The setpoints and actual values are always identical. A virtual axis is usually
implemented as an auxiliary axis, for example, to generate the master
setpoints for several real axes when operated as leading axis in a
synchronized group.
Difference between the real and virtual axes (position axis example)

Note
Hydraulic axes are real axes with valve profile.

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3.1.6 Difference between "Axis" and "Drive"

The "Axis" TO interfaces the user program with the actual drive. It receives,
executes and monitors motion control commands requested by the PLC's user
program.
The axis communicates via PROFIBUS with the drive which contains the speed
and current controllers.
Drives are configured and commissioned separately from the axis.

Functions interface to the drive

The Technology CPU supports operation of digital drives (SIMODRIVE 611
universal, MASTERDRIVES MC, for example) via DP(DRIVE) interface, or of
analog drives via IM 174 / ADI4, or of stepping drives via IM 174. A defined
message frame forms the corresponding interface between the TO and the drive
component, and must be selected and configured separately for each component
according to the functionality required.
These message frames are used to transfer data such as control words, status
signals or encoder information between the control system (TO) and the drive
component (drive, for example.)

Note
An axis can only execute functions which the connected drive actually supports.
The supported functions, for example, operation with SIMODRIVE 611U or
MASTERDRIVES MC, are described in the drive documentation. See also the
corresponding product descriptions.

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3.1.7 Base coordinate system - superimposing coordinate system

In terms of their effect, we distinguish between two different types of motion in the
Technology CPU:
• Basic motion
• superimposing movement
The Technology CPU uses a base coordinate system and a superimposing
coordinate system to calculate the motion. Superimposing motions return the
following scenario:

All coordinates (time/distance, time/velocity and time/acceleration) are added at a

given time to form the cumulative coordinate system.

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Basic motion commands:

• "MC_MoveAbsolute"
• "MC_MoveRelative"
• "MC_MoveAdditive"
• "MC_MoveVelocity"
• "MC_MoveToEndPos"
• "MC_GearIn"
• "MC_GearOut"
• "MC_CamIn"
• "MC_CamOut"
• "MC_Phasing"
These commands affect the base coordinate system.

Commands for superimposing motions:

• "MC_MoveSuperImposed"
• "MC_GearInSuperImposed"
• "MC_GearOutSuperImposed"
• "MC_CamInSuperImposed"
• "MC_CamOutSuperImposed"
• "MC_PhasingSuperImposed"
These commands affect the superimposing coordinate system.
The "MC_Home" command may have an effect on both coordinate systems,
depending on the value at input parameter Mode.

The vectors of the coordinate systems are indicated as system variables at the
axis.
Values of the base coordinate system at the axis:
• basicmotion.position
• basicmotion.velocity
• basicmotion.acceleration
Values of the superimposing coordinate system at the axis:
• superimposedmotion.position
• superimposedmotion.velocity
• superimposedmotion.acceleration

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Cumulative coordinates:
• positioningstate.commandposition: Position setpoint (total)
• motionstatedata.commandvelocity: Velocity setpoint (total)
• motionstatedata.commandacceleration: Acceleration setpoint (total)
Only one basic motion and one superimposing motion may be active at the axis at
any given time. A superimposing may also be active without any active basic
motion.

3.1.8 Homing

At position-controlled axes, the entries and indication of the position refer to the
coordinate system of the axis. The coordinate system of the axis must be
synchronized with the real, physical position of the axis.

Note
• Absolute encoders must be adjusted only once

• The homing of axes with incremental is retained when the CPU goes into
STOP, and is lost after POWER OFF
• After initialization (restart) the axis must be homed again when operated with
incremental measuring system
• Motion commands with relative position definitions ("MC_MoveRelative", for
example) can be executed both in the homed / not homed states
• Motion commands with absolute positioning at a non-homed axis:
- Executable if "no" was selected from the drop-down list in S7T Config, Axis
> Homing dialog box, "Active homing" tab
- Not executable if "yes" was selected from the drop-down list in S7T Config,
Axis > Homing dialog box, "Active homing" tab

Incremental encoders are synchronized using technology function "MC_Home". In

active homing, either the reference point coordinate, or the reference point
coordinate minus the reference point offset will be set at a defined mechanical
position of the axis.

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Homing modes
• Active homing
In active homing mode, the "MC_Home" technology function performs the
required reference point approach. Any active motions will be canceled for this
operation. Homing modes available in S7T Config:
- reference cam and encoder zero mark
- encoder zero mark only
- external zero mark only.
• Passive homing
In passive homing mode, the "MC_Home" technology function does not
perform a reference point approach. Any active motion commands will not be
affected. The "reference point approach" required must be activated using
external functions, or in the user program.
Homing modes supported in the configuration in S7T Config:
- reference cam and encoder zero mark
- encoder zero mark only
- external zero mark only
- default
• Direct homing
The axis position is set without making allowances for reference cams or zero
marks. The axis must be at a standstill for you to be able to assign the
reference point precisely to a mechanical position.
• Correct position value
An offset value will be subtracted from the current axis position. Any current
motions and homing will not be affected.
• Correct the internal axis coordinate system
An offset value will be subtracted from the current position of the base or the
superimposed coordinate system. Any current motions and homing will not be
affected.

Note
Device-specific properties
For homing with reference cam and encoder zero mark, the reference cam can be
connected to the integrated inputs of the CPU or to a slave on DP(DRIVE).
For homing with "external zero mark only", the external zero mark must be
connected to the input device where the encoder is also registered, for example, at
the drive or at IM 174/ADI4.
For further information on device-specific conditions and additional parameter
settings, refer to the supplementary information on SIMODRIVE 611U,
MASTERDRIVE-MC, SINAMICS S120 or IM 174/ADI4 on your product CD-ROM
and to the equipment manuals.

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3.1.9 Absolute encoder adjustment

The MC_Home (Mode = 5) and MC_ExternalEncoder (Mode = 6) technology

functions are used to activate the absolute value encoder offset in the calculation
for the axes and external encoders.
The current position of an axis with absolute value encoder is set to a required
value. This action shifts (offsets) the absolute phase of the absolute value encoder.
This offset is stored permanently and remains active until the next time the
absolute value encoder is adjusted. This function must therefore be executed once
when the controller is commissioned.
If the technology CPU changes from STOP to RUN and the TO is not valid, the
offset is deleted. This will happen when the Technology CPU is started without
MMC or Compact Flash Card, for example.

Procedure for absolute encoder adjustment:

1. Disable the software limit switches, because you can not adjust the absolute
encoder while these are active.
2. Move the axis to the relevant reference position, and then adjust the absolute
encoder (MC_Home or MC_ExternalEncoder technology function)
3. Enable the software limit switches again (if necessary)
Note that the result of absolute encoder adjustment only offsets the encoder value.
The offset of the absolute encoder adjustment and the value of the absolute
encoder are decisive for determining the position after POWER OFF or restart
(MC_Reset, Restart = TRUE). During operation, the current actual position is also
affected by modulo settings for the axis and by positioning or position correction
commands.

Offset by absolute
value encoder Correction in runtime
adjustment (MC_Home: Mode 3, 4)
(permanent)

Absolute Encoder position Actual position value

value
Effective on of the axis
encoder
POWER ON

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3.1.10 Data record changeover

Introduction
You can create several axis data records to change controller parameters or toggle
motor encoder mode to machine encoder mode while the system is in run, for
example.
The axes listed below support multiple data records:
• Speed-controlled axes
• Positioning axes
• Synchronization axes
Pay attention to: Virtual axes always have only one data record.

Configuration
Create the date record in the axis configuration in S7T Config. Set the data record
parameters using the Axis Wizard. Use the "MC_ChangeDataset" technology
function to change the data record in RUN.

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3.2 "Velocity-controlled axis" technology object

Use the "Speed-controlled axis" TO if you only want to preset,

control and monitor the speed of an axis when the position is
irrelevant.

Operating modes supported by speed-controlled axes:

• Speed-control (can be set using technology function "MC_Power")
• Following mode (can be set using technology function "MC_Power")
• Simulation (can be set using technology function "MC_Power")

Functions supported for use with speed-controlled axes:

• Speed preset
• Motion with torque reduction

Technology functions
Technology functions supported by the TO:

MC_Power MC_Reset MC_Stop

MC_Halt MC_MoveVelocity MC_ReadSysParameter
MC_WriteParameter MC_SetTorqueLimit MC_ChangeDataset

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3.3 "Positioning axis" technology object

Use this technology object to move the axis to a defined position

and to control and monitor that position.
The positioning axis contains all functions of the speed-
controlled axis.

Operating modes supported by positioning axes:

• Speed control (can be set using technology function "MC_MoveVelocity")
• Position control (can be set using technology function "MC_Power")
• Following mode (can be set using technology function "MC_Power")
• Simulation (can be set using technology function "MC_Power")

Functions supported for use with positioning axes:

• Traversing at preset speed
• Motion with torque reduction
• Positioning
• Travel to fixed stop
• Homing

Technology functions
Technology functions supported by the TO:

MC_Power MC_Reset MC_Home

MC_Stop MC_Halt MC_MoveAbsolute
MC_MoveRelative MC_MoveAdditive MC_MoveSuperImposed
MC_MoveVelocity MC_MoveToEndPos MC_ReadSysParameter
MC_WriteParameter MC_SetTorqueLimit MC_ChangeDataset

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3.3.1 Position control

The block diagram below shows a positioning axis with position control:

The controller and the monitoring and compensation functions are active when
position control is active. The monitoring functions are disabled in certain modes,
for example, the position-related monitoring functions for torque or pressure
limiting.
All compensation functions can be enabled/disabled.
Encoder systems, actual value calculation, and monitoring functions are active on
the actual value side when position control is not activated. Compensation
functions are not taken into account.
System variable servomonitoring.controlstate indicates the active state of the
position controller.

Control loop structures

S7T Config provides a P-action controller with or without pre-control function, and a
PID controller.

When the mode is changed from speed-controlled to position-controlled mode

while the axis is in motion, the equivalent time of the position controller is required
to set the setpoint. You set this time in your configuration at the
dynamicData.positionTimeConstant (electrical axis) or
dynamicQFData.positionTimeConstant (hydraulic functionality) parameters.

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Quantization of the controller error

You can edit the commandValueQuantizationFilter configuration parameter in order
to quantize the controller error.

Controllers with pre-control

Recommendation
Controllers featuring a pre-control function should be used as shown below:
• P-action controller with pre-control for the electric axis
• DSC to improve the control quality (higher kv values) for digitally coupled
drives (only with P-action controllers with pre-control)
• PID controller for hydraulic axes (allows you to set the actual value directly at
the D-action element)

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Balancing filters
Balancing filters are used to delay setpoints by the value of the process transition
time, before these are compared with the actual value and multiplied by the
position control gain, and are then set again at the process.
When pre-control is active, the process reaction parameters can be included in the
calculation of the balancing filter before the control error is calculated based on the
offset between the setpoint position and the actual position.
• A PT1 filter is used as balance filter when setting the balanceFilterMode =
MODE_1 configuration parameter The corresponding time constant is defined
at dynamicData.velocityTimeConstant for electrical axes, or at
dynamicQFdata.qOutputTimeConstant for hydraulic axes
• The equivalent time of the speed control circuit, including the dead time
determined by the system with respect to the drive, plus an additive dead time
that can be entered by the user are taken into account in the balance filter
when setting configuration parameter balanceFilterMode = MODE_2 (V3.1 or
later)
• The equivalent time of the speed-control loop is included in settings with DSC .
We recommend you set balanceFilterMode = MODE_2 for the balancing filter.

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3.3.1.1 Setpoint superimposition

Setpoint superimposition allows you to set additive setpoints at the setpoint
channel.
You can tune the controller by setting additional signals of the function generator at
this channel.

Note
An axis operated with setpoint superimposition cannot be switched back directly to
normal position-controlled mode. You first have to reset the setpoint
superimpositions to zero.
Superimposition has an effect on the position of the positioning axis. This effect
also applies to the active position control and interpolator in following mode.

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3.3.1.2 Dynamic response adaptation

The setpoint circuit of the control loop contains a configurable, dynamic PT2 filter
with the time constants T1 and T2. This filter can be used to tune axis
synchronization. This feature allows you to adapt the dynamic response of faster
axes to the response of the slowest axis.
The equivalent time constant TLR of the axis with the poorest dynamic response is
set as the resultant additive time constant TRes.
The dynamic response of the axis is derived from the equation:
Tres = T1 + T2 + TLR
or the value of both time constants is derived from:
T1 + T2 = Tres - TLR
T1 Additive time constant 1
T2 Additive time constant 2
TRes (desired) resulting overall time constant of the axis
TLR Equivalent time constant of the closed position control loop

The time constants are set at the NumberOfDataSets.DataSet_1.DynamicComp

configuration parameter.

You can set PT2 response and thus prevent overshoot by wiring two PT1 elements
in series.

Note
Set T1 unequal to T2

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3.3.1.3 Preparation of manipulated variables for electric axes

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3.3.1.4 Manipulated variable superimposition

Superimposition of manipulated variables is set using the switch.

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3.3.1.5 Dynamic Servo Control (DSC)

The position of position-controlled axes (positioning and synchronization axes) can
be controlled either in the CPU or in the drive, provided the drive supports
Dynamic Servo Control (DSC).

For position control with DSC (Dynamic Servo Control), the system calculates the
position controller and the speed controller in the drive. This allows you to set
significantly higher gain factors (Kv) for the position controller. The position and
speed control parameters are calculated within the same cycle. Hence, the position
control and its subordinate control loop, i.e. the speed controller, are calculated at
precisely the same speed.

The actual values changes are smaller compared to the clock. The actual value is
more precise and can be controlled with higher precision.
This allows tuning of the controller's low-signal response, i.e. you can set
significantly higher gain factors.
The use of DSC allows you to set a higher Kv coefficient for the sampling rates.
This increases the dynamics in the reference variable sequence and of disturbance
response at highly dynamic drives. DSC is supported by all drives which support
message frame 5 or 6, or 105 and 106.
DSC is only useful for P-action position controllers.

Note
The position controller requires tuning, see the chapter "Position controller tuning -
overview".

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3.3.1.6 Speed-controlled operation of a position-controlled axis

The transition from position-controlled motion to motion solely with speed
specification can take place both when the axis is at a standstill and during motion;
this is also the case for the transition from motion with speed specification to
position-controlled motion.
The dynamic response parameters and the maximum values for speed
specification are derived from the settings for position-controlled axis operation.
The position-related monitoring functions are deactivated. The encoder limit
frequency can be exceeded.

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3.4 "Synchronizing axis" technology object

A synchronization axis is a "following axis" which follows a
"leading axis." Use the "synchronization axis" TO to use the
motion and position values of a leading axis as a master
setpoint.
The synchronization axis contains all functions of the speed-
controlled and positioning axes.

Modes of operation supported by synchronization axes:

• Speed control (can be set using technology function "MC_MoveVelocity")
• Position control (can be set using technology function "MC_Power")
• Following mode (can be set using technology function "MC_Power")
• Simulation (can be set using technology function "MC_Power")

Functions supported for use with synchronization axes:

• Traversing at preset speed
• Motion with torque reduction
• Positioning
• Travel to fixed stop
• Homing
• Synchronism (gearing / camming)
• Superimposed synchronism (gearing / camming)

Technology functions
Technology functions supported by the TO:

MC_Power MC_Reset MC_Home

MC_Stop MC_Halt MC_MoveAbsolute
MC_MoveRelative MC_MoveAdditive MC_MoveSuperImposed
MC_MoveVelocity MC_MoveToEndPos MC_GearIn
MC_CamIn MC_GearOut MC_CamOut
MC_Phasing MC_ReadSysParameter MC_WriteParameter
MC_SetTorqueLimit MC_ChangeDataset MC_GearInSuperimposed
MC_GearOutSuperimposed MC_CamInSuperimposed MC_CamOutSuperimposed
MC_PhasingSuperimposed

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3.4.1 Structure of the "Synchronization axis" technology object

The axis and synchronization object are separate objects. Both objects form a
synchronization axis.
The "Axis" and synchronization objects are interactive in terms of their relevant
operating states and effectiveness of commands.
If an active error is only pending at the synchronization object, the following axis is
still capable of positioning, but not of synchronous operation. You can always avoid
this effect by acknowledging all errors. Errors at the "Axis" have an immediate
reciprocal effect on synchronization functionality.
When the axis reacts with a stop, the synchronous motion is stopped as well.

3.4.2 Synchronized group

The "Synchronization" TO can be used to interconnect axes so that these form a

synchronized group.

Example
A leading axis (master) generates a master setpoint. The synchronization object
processes this value based on defined criteria, i.e. the gear ratio, scaling, offset,
and the cam disk, and assigns it to the following axis as a control variable.

Note
The master setpoints and slave values are coupled without physical conversion in
the relevant programmed unit. If, for example, the system operates with a linear
leading axis (in mm units) and a slave rotary axis (in degree units), then one
millimeter corresponds to one degree at a conversion ratio of 1:1.

Example of mechanical synchronism

Gear synchronism is given, for example, when two mechanically coupled rollers
are driven by the same motor.
The camming model can be interpreted as a cam gear consisting of a mechanical
cam disk and a sensing mechanism.
The technology functions used to synchronize and desynchronize components of a
synchronized system correspond with the function of a mechanical coupling.

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Synchronized group
A synchronized group consists at least of these elements:
• a leading axis which returns the master setpoint
Leading axes can be formed by real and virtual positioning and synchronization
axes, or by external encoders
• a synchronization object
• a following axis

Objects in gearing mode

Objects in camming mode

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Master setpoint coupling

A following axis can be interconnected with multiple master setpoints using the
synchronization object. Of these, however, only one can be evaluated at any given
time. The master setpoint can be returned by positioning axes, by a
synchronization axes (real or virtual), or by external encoders.
In order to change over to a different master setpoint, call the "MC_GearIn"
(gearing) or "MC_CamIn" (camming) technology function again in the user
program. Use the "MC_GearInSuperimposed" and "MC_CamInSuperimposed"
technology functions to execute superimposing synchronization commands.
Example of a synchronization object with several master setpoints

Cam disk coupling

In the same way, you can use several cams disk for camming. You can use the
"MC_CamIn" or FB "MC_CamInSuperimposed" technology functions in the user
program for dynamic changeover of the cam disks.
Example of camming with several cam disks:

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Superimposing synchronism
Superimposing synchronism responds similar to superimposed positioning motions
with regard to the basic motion on the axis (motion or synchronism).
The interconnection conditions for superimposing synchronism and basic
synchronism are identical. Same as a basic synchronization object, you can
logically link a superimposing synchronization object with several leading axes or
cam disks.

Rules
The following rules apply to the interconnection:
• Control values can be used at multiple instances A leading axis can output the
master setpoint to several following axes Positioning axes, synchronization
axes, virtual axes or external encoders can determine master setpoints.
• The synchronization object can be interconnected with several master
setpoints and cam disks. Allowances must be made in the configuration of the
synchronization object for all combinations required for operation.
• An axis may feature up to two synchronization objects (basic synchronism and
superimposing synchronism.)

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3.4.3 Gearing

At the MC_GearIn and MC_GearInSuperImposed technology functions, you define

the gear ratio as a function of the ratio between two integers and the offset. You
can modify the offset at later time using the "MC_Phasing" and
"MC_PhasingSuperImposed" technology functions.

Response characteristic
The response characteristic of gearing can be expressed as a linear correlation
between the master setpoint and the slave value.

Slave value = g • master setpoint + φ

g = gear ratio (transmission ratio)
φ = offset

Direction
The gear ratio can be defined by a positive or negative value. Resultant response:
• Positive gear ratio:
The leading and following axes move in the same direction.
• Negative gear ratio:
The leading and following axes move in opposite direction.

Absolute or relative gearing

Absolute or relative gearing can be set at input parameter Absolute.
• Absolute gearing establishes an absolute correlation between the leading and
following axes
Any offset between the leading and following axes is compensated for during
synchronization based on the offset defined at the technology function.
• Relative gearing establishes a relative correlation between the leading and
following axes
Any offset developing between the axes after the start of synchronization is not
compensated for. The offset between the positions of the axes is set at random
and is determined by the time of their synchronization.

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Resetting axis positions during synchronous operation

Absolute coupling results in a compensating motion that eliminates the difference
of position setpoints:

Position
Slave

Speed

t
Start MC_Home

Relative coupling does not result in a compensating motion, i.e. the offset changes:

Slave Position

Speed

t
Start MC_Home

You reset the axis position at the technology function "MC_Home" (Mode = 3 or 4).

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3.4.4 Camming

Camming is characterized by a dynamic gear ratio between the leading and

following axes, and by an offset. The gear ratio is described by a cam disk
(transfer function).
Scaling and offset of the cam disk used is possible both at the leading axis and at
the following axis. This enables individual adaptation of a cam disk in terms of its
definition range and range of values.
Synchronization to a position within the cam disk is also possible, as is a cam disk
changeover at the end of a currently active cam disk.

Response characteristic
The response characteristics of camming are defined by a cam disk (y = f(x)).

Scaling and offset

The scaling and offset of the camming function can be set both at the leading axis
and at the following axis using the camming technology function. The configured
cam disk is not modified by the call of the "MC_CamIn" technology function.
Transfer steps for camming

MasterOffset SlaveOffset

Position Master Position Slave

MasterScaling SlaveScaling

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Non-cyclic or cyclic cam disk operation

You can set non-cyclic (CyclicMode = 0) or cyclic (CyclicMode = 1) mode at input
parameter CyclicMode of the camming technology function.
• Non-cyclic mode means, that the cam disk is only executed once. Camming is
terminated when the end or start point of the cam is reached Example:

(x = master setpoint; y = slave value)

• In cyclic cam disk mode, the leading axis are calculated as modulo function of
the cam disk length As with gearing, the coupling can be terminated by a
programmed cancellation command Example:

(x = master setpoint; y = slave value)

Absolute and relative camming

You configure absolute and relative camming at the MasterAbsolute and
SlaveAbsolute input parameters of the "MC_CamIn" technology function.
• When absolute camming is set, the master setpoints based on the cam disk
definition range, and the slave values based on the range of values of the cam
disk, are interpreted as being absolute values.
In absolute camming mode, the start and end values of modulo axes should be
identical, because otherwise unwanted step jumps may occur.
• In relative camming mode, the cam disk is offset beginning at the start value
of camming
The possible settings for absolute and relative synchronism are shown below.

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Absolute synchronism with the leading axis and following axis

MasterAbsolute = 1; SlaveAbsolute = 1
In absolute synchronous operation, the effective cam disk precisely represents the
configured cam disk. The cam disk is not shifted in the coordinate system slave
value = f(master setpoint).
During synchronization, the system approaches the cam disk point which is
assigned to the actual master position. A synchronization motion is not initiated if
the following axis is already positioned on a cam disk point at the start of camming.

Relative synchronism with the leading axis, and absolute with the following axis

MasterAbsolute = 0; SlaveAbsolute = 1
System variable userdefault.cammingsettings.camstartpositionmaster is evaluated
and defined as start position for relative synchronization of the cam with the leading
axis.
You obtain the effective cam disk by shifting the configured cam disk along the
abscissa of the slave value = f(master setpoint) coordinate, so that its start position
coincides with the actual following axis position. As synchronism is absolute to the
following axis, the axis will not be shifted along the ordinate of the coordinate
system.
When synchronizing, the following axis approaches the slave value at the cam disk
which is defined at userdefault.cammingsettings.camstartpositionmaster.
A synchronization motion is not initiated if the following axis has already reached
this position.

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Absolute synchronism with the leading axis, and relative with the following axis

MasterAbsolute = 1; SlaveAbsolute = 0
You obtain the effective cam disk by shifting the configured cam disk the ordinate
in the slave value = f(master setpoint) coordinate, so that its start position coincides
with the actual following axis position. As synchronism is absolute to the leading
axis, the axis will not be shifted along the abscissa of the coordinate system.
During synchronization, the following axis moves by a distance defined by the
difference between the slave value at the actual position of the leading axis set in
the cam disk definition and the start position of the cam disk. The following axis is
positioned on the point of the effective cam disk assigned to the actual position of
the leading axis.
If the leading axis has reached the start position, or a certain cam disk point of
which the slave value corresponds with that of the start position, the axis will not
perform a synchronizing motion.

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Relative synchronism with the leading axis and following axis

MasterAbsolute = 0; SlaveAbsolute = 0
System variable userdefault.cammingsettings.camstartpositionmaster is evaluated
and defined as start position for relative synchronization of the camk with the
leading axis.
You obtain the effective cam disk by shifting the configured cam disk along the
abscissa in the slave value=f(master value) coordinate system in order to shift
userdefault.cammingsettings.camstartpositionmaster and the actual leading axis
position so that the start position of the cam disk coincides with start position of the
active following axis.
When synchronizing, the following axis approaches the slave value at the cam disk
which is defined at userdefault.cammingsettings.camstartpositionmaster.
When synchronizing, the following axis moves by a distance defined by the
difference between the slave value at
userdefault.cammingsettings.camstartpositionmaster and the slave value at the
start point of the cam disk. The following axis is positioned on the point of the
effective cam disk assigned to the actual position of the leading axis.
A synchronization motion is not initiated if the following axis has already reached
this position.

Correction of synchronous motions

Synchronous motions can be corrected by switching over the scaling and offset of
the master setpoint and slave value.
Other options include:
• Offset and scaling on the cam disk itself
• setting of the reference point on the master setpoint source and on the slave
axis on-the-fly
• superimposing positioning.

Note
Any point of the cam disk can be set as the starting point for camming. This can be
the starting point, the end point, or any point within the cam disk.

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3.4.5 Superimposing synchronism

You can configure superimposed synchronism for camming and gearing. This is
done by configuring an additional superimposing synchronization object at the
synchronization axis. Cross-referencing synchronization objects is impossible.

Configuring axes with superimposed synchronism

A superimposing synchronization object is configured similar to a synchronization
object.

Superimposed motion
Superimposing synchronism responds similar to superimposed positioning motions
with regard to the basic motion on the axis (motion or synchronism).
Only one superimposing motion can be applied to an axis at any given time:
• superimposing positioning motion, or
• superimposing synchronism
Superimposing synchronism can be active without concurrently active basic motion
or basic synchronism.
For further information on superimposing motions at an axis, refer to the
corresponding description of the technological functions.

Coordinates
The basic synchronization object is referenced to the base coordinates when the
axis operates in absolute synchronism and the slave position is defined.
The superimposing synchronization object is referenced to the superimposing
coordinates when the axis operates in absolute synchronism and the slave position
is defined.
Synchronism with reference to base coordinates and superimposing synchronism
with reference to superimposing coordinates do not influence each other.
The cumulative coordinate is derived from the base and superimposing
coordinates.

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Absolute and relative synchronism

You can program and execute relative or absolute superimposing synchronism in
the synchronization function (with absolute reference to the superimposing
coordinates!)

Monitoring
The output values of a synchronization object (and thus the motion element of
superimposing axis synchronism) can be read from the system variable
currentSlaveData at the synchronization object.

Synchronization monitoring / status

The variables and monitoring functions at the axis refer to the resultant
synchronism.
Error messages (synchronization error at the synchronization axis) are reported to
all interconnected synchronization objects.

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3.4.6 Relative / absolute synchronism

The next examples show you the differences between relative and absolute
synchronism.
In camming mode, the dependency of the following axis position (XF) on the
position of the leading axis (XL) is described by a cam. The next examples always
use the basic cam shown below:

The examples refer to "immediate synchronization". The actual positions of the

participating axes are relevant to this use. For position-dependent synchronization,
evaluate the "Synchronization position" instead of the "actual position".

Absolute synchronism:
You configure "absolute synchronism" at technology function "MC_CamIn" using
the following input parameters:
• MasterAbsolute = TRUE
• SlaveAbsolute = TRUE
Absolute synchronism is the simplest use case, as it uses the basic cam. The
assignment is thus defined permanently by the cam. The following axis position is
derived from a certain leading axis position precisely as you can read it from the
cam.
During activation of synchronous operation, the following axis is moved from its
current position to the position derived from the cam.

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Relative synchronism:
A cam with an offset to the basic cam is applied in relative synchronism. We
distinguish the following variants:
• The cam is shifted along the ordinate (MasterAbsolute = FALSE;
SlaveAbsolute = TRUE)
• The cam is shifted along the ordinate (MasterAbsolute = TRUE;
SlaveAbsolute = FALSE)
• The cam is shifted in any direction (MasterAbsolute = FALSE;
SlaveAbsolute = FALSE)

Example 1 - Cam shift along the abscissa

Settings:
• MasterAbsolute = FALSE
• SlaveAbsolute = TRUE
With these settings you produce an effective cam by shifting the basic cam along
the abscissa.
The amount by which the cam is shifted along the abscissa depends on the leading
axis position at the time you activate camming, and on the system variable
userdefault.cammingsettings.camstartpositionmaster of the synchronization object.
The cam is here shifted so that the point of the basic cam with leading axis
coordinate userdefault.cammingsettings.camstartpositionmaster coincides with the
actual leading axis position.
The first diagram applies to userdefault.cammingsettings.camstartpositionmaster =
0, the second to userdefault.cammingsettings.camstartpositionmaster = 180.
The following axis moves from its current position to the position of the shifted cam.

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Example 2 - Cam shift along the ordinate

Settings:
• MasterAbsolute = TRUE
• SlaveAbsolute = FALSE
These settings produce an effective cam by shifting the basic cam along the
ordinate.

The start point of the cam (lowest x value) is relevant in this use case instead of the
system variable userdefault.cammingsettings.camstartpositionmaster. The cam is
shifted so that its start point is shifted to the actual position of the following axis.

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Example 3 - The cam is shifted along the ordinate and abscissa

Settings:
• MasterAbsolute = FALSE
• SlaveAbsolute = FALSE
These settings produce an effective cam by superimposing both of the previously
described functions.
To illustrate the effect, you can shift the basic cam along the abscissa in an interim
step, and then shift the cam start point along the ordinate to the actual value of the
following axis.

The following axis usually has to perform a compensating motion at the start of
synchronism in order to reach the cam point which is assigned to the current
leading axis position. The drawings show this as "motion of the following axis".

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3.5 "Cam disk" technology object

Use the "Cam disk" TO to implement complex motion

sequences. A "cam disk" defines the dependency of the following
axis position on the leading axis position.
A cam disk can also be used to define the valve characteristics
for a hydraulic axis.

You configure the "Cam disk" technology object in S7T Config.

The cam profile can be defined either in S7T Config, or in the user program.

Definition of the cam in S7T Config

Use the CamEdit or Scout CamTool programs to define a cam based on
interpolation points or polynomials.

Cam definition in the user program

1. Create the cam disk in S7T Config.
2. Delete and reset the cam disk using the "MC_CamClear" technology function.
3. Use technology function "MC_CamSectorAdd" to define the cam by setting the
interpolation points or polynomials.
4. Interpolate the cam disk using the "MC_CamInterpolate" technology function in
order to prepare the cam for operation.

Technology functions
Technology functions supported by the TO:

MC_Reset MC_ReadSysParameter MC_WriteParameter

MC_CamClear MC_CamSectorAdd MC_CamInterpolate
MC_GetCamPoint

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3.5.1 Scaling

When a cam disk is defined in S7T Config based on segments, the various cam
segments can be provided in a standard form scaled to factor 1, i.e. the range of
values and the defined range corresponds with the completed interval [0,1].
Mapping of a real cam disk segment to the scaled range

Alternatively, the segments can also be entered in the real range.

Advantages of scaling
• Definite description of the motion for similar tasks
• Independent of real units and ranges of the leading and following axes.

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3.5.2 Cam disk applications

A cam disk can be configured for operation in non-cyclic (single operation), cyclic relative
(continuous) or cyclic absolute (return to interpolation point) mode.

Example of a cam disk operating in absolute cyclic mode

(x = master setpoint; y = slave value)

If the cam disk is operated in cyclic mode and absolute to the following axis, all
successive start and end point values of the cam disk should match.
Any mismatch will cause a step response at the cam disk transition, and thus
trigger synchronization monitoring.

Example of cam disk operation in relative cyclic mode

(x = master setpoint; y = slave value)

If the cam disk is operated in cyclic mode and relative to the following axis, the
successive start and end point values of the cam disk do not have to match.
The system automatically sets the start point value at the end point at the cam disk
transition. This prevents any step response.

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Example of cam disk operation in non-cyclic mode

(x = master setpoint; y = slave value)

Non-cyclic mode means, that the cam disk is only executed once. Camming is
terminated when the end point or start point of the cam is reached.

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3.5.3 Interpolation of cams

Interpolation of a cam disk is a basic requirement for its synchronous operation, or

for using it as valve profile.
The interpolation performs the following checks and corrections:
• Continuity check in the definition range (range of leading axis values) and in
the range of values (of the following axis), i.e., the check prevents redundant
assignment of values to a definition value.
• Gaps between the interpolation points and segments are padded. These areas
are padded according to the interpolation mode
• Missing edge areas are padded These areas are padded according to the
interpolation mode and cam disk type.

When interpolation is completed, the definition range of the cam disk is assigned
an unambiguous range of values.

Interpolate the cam disk:

• In S7T Config - alongside with the download of the cam disk to the target
system.
• In the user program - by calling the "MC_CamInterpolate" technology function.

Continuity check
The system checks the continuity of a cam disk in the definition and value ranges,
and corrects any discontinuity found.
During this process, the points of discontinuity are examined separately for the
definition range / range of values, and are rated for one of the following corrective
actions:
• If the absolute value of the gap between segments exceeds a maximum, a
correction is made by interpolation between the two segments. This inserts a
new segment according to the defined interpolation mode. The cam disk type is
included in this action if a segment is inserted in the edge area.

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• If the absolute value of the gap between segments is greater than the minimum
and less than the maximum, a correction is made by joining the segment end
points. The mean value of the gap of the function is used for the correction.
The shape of the segments is affected as a result.

• If the absolute value of the spacing between segments or interpolation points is

less than the minimum value, a correction is not made. The discontinuity point
is retained. When this discontinuity point is accessed, the right-hand edge point
is output.

The maximum value can be set in the "Interpolation" tab when you interpolate
using CamEdit. The "minimum value" corresponds with the entry "ignore gaps",
and the "maximum" with the entry "join points".
The value 1e-004 is used as minimum and maximum value for interpolation using
technology function "MC_CamInterpolate". Segment end points can thus only be
joined by interpolation using CamEdit.
The point of discontinuity is corrected according to the rating of the definition range
/range of values.

Condition Result
Deviation < minimum Discontinuity retained
Minimum < deviation < maximum Joins segment points
Deviation > maximum Interpolation (new segment)

The correction is controlled (separately for the definition range and the range of
values) by the definition of the min/max shape deviation.

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Depending on the combined evaluation in the definition range and range of values,
the point of discontinuity is corrected according to the following scheme:

Correction for the range of values

Discontinuity Join segment end Interpolation
retained points
Correction for the Discontinuity Discontinuity Join segment end New segment
range of values retained retained points
Join segment end Join segment end Join segment end New segment
points points points
Interpolation Discontinuity Join segment end New segment
retained points

• Function continuity can be achieved by linear interpolation

• Continuity in the derivatives can be achieved by spline interpolation

If the continuity condition can not be adhered to due to the selected interpolation
method or the programmed geometry, a message is output to that effect.
If an interpolation edge point lies within the programmed geometry, all geometry
elements up to the edge points are rejected. If an interpolation edge point lies
outside the programmed geometry, an end point is extrapolated according to the
interpolation method used and taking into account the geometry characteristic.

Note
After interpolation, new polynomials or interpolation points can only be inserted
after resetting the cam with "MC_CamClear".

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Interpolation types
The interpolation type determines the rules for the interpolation of gaps.
Interpolation types which can be used:

Interpolation Description Example

type
Linear Linear interpolation:
Gaps in the cam profile are
closed by a "linear"
operation, i.e., along a
straight.

Cubic splines Interpolation with cubic

splines:
The interpolated cam profile
runs through the cam
interpolation points or
through the defined cam
segments.
When interpolation is
completed, the range of
values at the cam disk may
be (Y-min ro
Y-max) higher than the
value at the start of
interpolation.
Bezier splines Interpolation with Bezier
splines:
The interpolated cam profile
runs along the cam
interpolation points or cam
segments.
Interpolation does not
change the cam disk values
(Y-min to
Y-max).

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You can select the interpolation type using the technology function
"MC_CamInterpolate", or in CamEdit:

Interpolation type "MC_CamInterpolate" CamEdit - "Interpolation" tab

Linear Mode = 0 "linear"
Cubic splines Mode = 1 "cubic splines"
Bezier splines Mode = 2 "Bezier splines"

Cam disk type

The cam disk type describes its application and the resultant interpolation of the
points of discontinuity at the edges of the cam disk:
• Non-cyclic: (Non-cyclic at the edge points)
The Technology CPU uses the cam disk as defined, including any discontinuity
at the edges. This also applies when the cam disk is operated in cyclic mode.
However, the acceleration limits and inertia of the mechanical system and of
drive play a decisive role.
• Cyclic absolute: (Constant position and speed at the edge points)
The cam disk is interpolated so that its position and velocity remain constant at
the edges when operating in cyclic mode. The following axis values and
velocities (cam gradients) are identical at the cam edge points.
• Cyclic relative: (Constant velocity at the edge points)
The Technology CPU converts the cam disk so that its position and velocity in
cyclic mode remain constant at the edges. The values and velocities (cam
gradients) at the cam edges are identical. The following axis values are not be
calibrated.

In "cyclic absolute" or "cyclic relative" mode, the Technology CPU can only
calculate the cam disk if a sufficient distance lies between the first defined position
of the cam disk and the end of the definition range. The same applies to the first
defined position and the start of the definition range.

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Example of the various interpolation modes based on a basic cam profile:

Basic polynomial Polynom1:

X-min=0.0, X-max=0.5
Y-min=0.0, Y-max=0.5

Polynom2:
X-min=0.5, X-max=1.0
Y-min=0.0, Y-max=0.5

The basic cam consists of two polynomials. In order to be able to interpolate the
cam according to its given interpolation mode (non-cyclic, absolute and relative
cyclic mode), the end of the definition range (range of leading axis values) is
extended from 1.00 to 1.50 in the examples shown in the next section. Within this
extended range, the cam is interpolated according to the interpolation mode set.

Interpolation type Description Interpolation result

Linear Interpolation:
linear, non-cyclic

Input parameter
"MC_CamInterpolate":
Mode = 0
CamMode = 2
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. Its end
point is extended by
"linear" interpolation
along the coordinate
abscissa

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Interpolation type Description Interpolation result

Interpolation:
linear, cyclic absolute

Input parameter
"MC_CamInterpolate":
Mode = 0
CamMode = 1
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged; its end
point is extended
relative to its start point
by "linear" interpolation

Interpolation:
linear, cyclic relative

Input parameter
"MC_CamInterpolate":
Mode = 0
CamMode = 0
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged; it is
extended along a linear
coordinate, based on its
initial gradient.

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Interpolation type Description Interpolation result

Cubic splines Interpolation:
Cubic splines,
non-cyclic

Input parameter
"MC_CamInterpolate":
Mode = 1
CamMode = 2
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
extended definition
range according to the
interpolation mode
Interpolation:
Cubic splines,
cyclic absolute

Input parameter
"MC_CamInterpolate":
Mode = 1
CamMode = 1
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
definition range
according to the
interpolation mode; the
interpolated cam has a
constant position and
velocity

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Interpolation type Description Interpolation result

Interpolation:
Cubic splines,
cyclic relative
Input parameter
"MC_CamInterpolate":
Mode = 1
CamMode = 0
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
definition range
according to the
interpolation mode; the
interpolated cam has a
constant velocity

Interpolation type Description Interpolation result

Bezier splines Interpolation:
Bezier splines,
non-cyclic
Input parameter
"MC_CamInterpolate":
Mode = 2
CamMode = 2
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
extended definition
range according to the
interpolation mode

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Interpolation type Description Interpolation result

Interpolation:
Bezier splines,
cyclic absolute

Input parameter
"MC_CamInterpolate":
Mode = 2
CamMode = 1
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
definition range
according to the
interpolation mode; the
interpolated cam has a
constant position and
velocity
Interpolation:
Bezier splines,
cyclic relative

Input parameter
"MC_CamInterpolate":
Mode = 2
CamMode = 0
StartPoint = 0.0
EndPoint = 1.5

Result:
The basic cam remains
unchanged. The cam is
extended in the
definition range
according to the
interpolation mode; the
interpolated cam has a
constant velocity

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Conditions:
• Any different values set at StartPoint and EndPoint in the
"MC_CamInterpolate" technology function determines the range of the master
values. Any interpolation points or segments set outside the defined range will
be truncated. If the setting at StartPoint and EndPoint = 0.0, the limits of the
non-interpolated cam will be maintained
• To interpolate the cam disk in CamMode = 0 or CamMode = 1, you should
always set values at StartPoint or EndPoint which extend beyond the range of
the non-interpolated cam If this condition is not met it is not possible to
interpolate according to default parameters Technology function
"MC_CamInterpolate" outputs the warning 0027 and S7T Config outputs an
alarm if the cam was interpolated in CamEdit

Example:
The "MC_CamSectorAdd" technology function is used to define a polynomial in
the definition range from 0 to 0.9 In order to be able to interpolate the cam disk
in the edge area according to given interpolation rules, you should at least set
a range from 0 to 1.0 at "MC_CamInterpolate"
• "Linear interpolation" (Mode = 0) does not make any sense if the cam disk is to
be interpolated in "cyclic relative"(CamMode = 0) or "cyclic absolute"
(CamMode = 1) mode Instead, select "cubic splines" (Mode = 1) or
"Bezier splines" (Mode = 2)
• If you define several segments by polynomials at technology function
"MC_CamSectorAdd", you should make sure that the start point of a
polynomial matches the end point of the partner polynomial, or that a sufficient
definition gap exists between the various polynomials Interpolation will fail
otherwise The cam disk may show any step response after its interpolation Any
input of partially overlapping segments will violate and thus prevent the
application of given interpolation rules, and warning 0027 will be output at
technology function "MC_CamInterpolate" The cam disk may produce a step at
this position
• The definition ranges of the technology function "MC_CamSectorAdd" (x-min to
x-max) and "MC_CamInterpolate" (StartPoint to EndPoint) should match if the
cam disk is to be interpolated in "acyclic" mode (CamMode = 2)
• Rule for cyclic relative interpolation:
Constant velocity at the cam transition
V(x-Min) = V(x-Max)
• Rule for cyclic absolute interpolation:
Constant velocity and identical position at the cam transition
V(x-Min) = V(x-Max),
Y(x-Min) = Y(x-Max)

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3.6 "Cam" technology object

Use the "Output cam" TO to generate control signals based on

the axis position. You can evaluate the control signals in the user
program, or set these at digital outputs. I/O supported:
• Digital outputs of integrated technology
• Digital outputs of a standard slave on DP(DRIVE)
• Digital outputs of SINAMICS Terminal Modules TM15 or
TM17

The Technology CPU distinguishes between the output cams listed below:
• Position-based cams
Position-based cams are set when the ON position is reached, and are reset
when the OFF position is reached.
• Switching cams
Switching cams are set when the ON position is reached, and must be reset by
the user program.
• Time-based cams
Time-based cams are set for a defined period when the ON position is
reached.

Interconnections
The "Output cam" TO can be interconnected with the TOs listed below:
• Positioning axes
• Synchronization axes
• External encoders

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Reference to the actual or setpoint position

The switching positions of output cams can be referenced to the setpoint or actual
value (setpoint output cam, actual value output cam.)
In order to enhance switching accuracy, you can compute the output cams within
the position controller cycle, or use the integrated outputs of the Technology CPU
for high-speed output cam operation.

Technology functions
Technology functions supported by the TO:

MC_Reset MC_CamSwitch MC_CamSwitchTime

MC_ReadSysParameter MC_WriteParameter

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3.6.1 Position-based cam

Cam activation range

The output cam activation range is defined by the distance between the On and
OFF positions in positive counting direction.
Cam activation position < cam deactivation position:

The cam output is inverted when the activation position > deactivation position.
Cam activation position > cam deactivation position:

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Switching action
The switching characteristic of position-based cams is determined by the cam
activation / deactivation positions. In addition, you can define an effective
direction.

Switching Position-based cam active Position-based cam inactive

characteristic
based on
Cam activation • if the output cam was • when the position is outside the
position, cam enabled with cam activation / deactivation
deactivation "MC_CamSwitch" range
position • if the position is within the • when the position value is shifted
cam activation range out of the cam activation range *
• if the position value is shifted
into the output cam activation
range

Effective direction • when the position lies within • when the position is outside the
the cam activation range and cam activation / deactivation
the effective direction = range
motion direction • if the motion direction does not
match the configured effective
direction
• when the position value is shifted
out of the cam activation range *

Hysteresis when the cam moves out of the

hysteresis range

* The position value of the interconnected object may change abruptly, for
example, as a result of its referencing, or due to the shift of its coordinate system.

Inverted output
The inverted output function interchanges the cam activation range and the cam
deactivation range.

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3.6.2 Switching output cam

Switching action
The switching action of switching cams is determined by the cam activation
position and by the direction of movement.

Action: Condition:
Switching cam activation • The output cam is enabled using the "MC_CamSwitch"
technology function (positive edge at input parameter
Execute)
• Direction of motion = effective direction (Direction input
parameter)
• The cam activation position (OnPosition input parameter)
is passed.
Switching cam deactivation The cam is deactivated by calling the "MC_CamSwitch"
technology function (input parameter Mode = 1)

Note
The switching cam is not activated if the cam activation position is not passed, for
example, as a result of actual value settings.

Inverted switching action

The output cam is activated when it is disabled by means of technology function
"MC_CamSwitch".

Note
The cam is deactivated at the cam activation position if the motion direction =
effective direction, or if the cam was activated using the "MC_CamSwitch"
technology function.

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3.6.3 Time-based cam

Switching action

The switching characteristic of time-based cams is determined by the cam

activation position and the cam activation time. In addition, you can define an
effective direction.

Switching Time-based cam is activated Time-based cam is deactivated

characteristic
based on
Activation position at the activation position
Cam activation on expiration of the configured time
time
Effective direction at the activation position, if the on expiration of the configured time
motion direction = effective
direction

Note
Time-based cams can not be retriggered.

Inverted output
When the output is inverted, the time-based cam is active, and is deactivated at the
cam deactivation position for the duration of a specified time.

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3.6.4 Reaction, effective direction

Reaction
The diagram below shows the ON and OFF switching characteristics of output
cams, without hysteresis, derivative time, and without cam deactivation time:

The switching characteristic depends only on the position (position setpoint or

actual position).

Effective direction
You can define a default effective direction when you activate output cams. The
output cam is only activated if the motion corresponds with the set effective
direction.
Options:

Effective direction Reaction

Positive The output cam is activated only in the positive direction of
movement.
Positive and The output cam is activated independent of the direction of
negative movement.
Negative The output cam is activated only in negative direction of movement.
Current rotational With this setting, the output cam is only activated in the currently set
direction rotational direction. Standstill is a positive direction of rotation.

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The diagram below shows the effects of the effective direction (effective direction
Positive)

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3.6.5 Hysteresis

Mechanical backlash may cause fluctuation of the actual position value, and thus
unwanted transitions of the output cam's switching state. This effect can be
prevented by setting a hysteresis.

Hysteresis conditions
• The hysteresis is always active when the axis reverses its direction.
• The direction of motion is not redefined within the hysteresis.
• Within the hysteresis, the switching state of position-based cams is not
changed.
• This current switching state will be set if modified output cam switching
conditions are detected after the cam has moved out of the hysteresis window.
The diagram below shows the results of the effective direction (effective direction
Positive)

The height of the green hatched area corresponds with the hysteresis.

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Hysteresis range
The high limit of the hysteresis is 25% of the modulo axis working range, and to
25% of the non-modulo axis range. The working range is defined by the software
limit switches. The working range cannot be limited if a SW limit switch does not
exist. You receive an error message if this maximum setting is exceeded.
• Hysteresis of position-based cams
The hysteresis is enabled immediately after a reversal is detected. Position-
based cams are switched off when they move out of the hysteresis window.
• Hysteresis of time-based cams
The deactivation response of a time-based cam is determined by the cam
activation time and not by the hysteresis.
The function is set at the Hysteresis input parameter of the technology function
"MC_CamSwitch" or "MC_CamSwitchTime".

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3.6.6 Time-based offset of cam switching points

You can define a time-based offset, i.e. a derivative action time, in order to
compensate for mechanical reaction times, the rise times at digital outputs, the
reaction time of connected switchgear, and communication times on DP(DRIVE).
The time-based offset represents the cumulative delay times.
The time-based offset can be defined by setting positive and negative values. A
negative cam activation time must be entered if the output cam is to be switched
before it has reached its programmed start position.
The time-based offset is set at input parameter Delay of the technology functions
"MC_CamSwitch" or "MC_CamSwitchTime". To maximize switching accuracy:
• Determine the system delay time, based on several measurements at constant
speed.
• Set the derived mean value as time-based offset at input parameter Delay.
The result is a switching accuracy of +/- 70 µs for high-speed output cams
interconnected with the integrated outputs of the Technology CPU. The absolute
switching accuracy (distance or angle) is derived from the set switching accuracy
and current velocity.

_______ Output cam activation at input parameter Delay = 0 (no time-based offset)
- - - - - - - Output cam activation at input parameter Delay < 0

Note:
• The integrated technology calculates the dynamic switching position based on
the axis speed factor and the defined time-based offset. The reference speed is
derived from the axis speed at the output cam activation time. Subsequent
speed changes will be ignored in the calculation of the output cam switching
points.
• The offset of the calculated switching position may exceed the length of modulo
axes.
Long derivative action times exceeding one modulo cycle may lead to heavy
fluctuation of the switching position of actual value output cams (actual value
profile). Setpoint output cams should be used in this case.

The dynamic derivative action of modulo axes can be greater than one modulo
length. The system does not collect switching operations. One switching operation
is active in the system at any given point in time. A switching operation is
completed when the output cam is switched off.

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3.6.7 Example of an electronic cam control

Lines of glue are applied to a wooden board. The output cams are assigned to an
external encoder. The output cams assigned to defined outputs are switched on
and off at defined positions.

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3.7 "Measuring sensor" technology object

Use the "Measuring input" TO for precise and fast logging of

actual position values.

A measuring input can be assigned in S7T Config to an axis or to an individual

external encoder. The sensor is connected to a digital input of the drive
component, or to a TM15/TM17 High Feature module.
Measurements of actual position values are initiated by calling the Motion Control
command "MC_MeasuringInput" in the user program of the CPU. The operating
range of the sensor can be limited accordingly by setting a start and end value.
The actual position value is recorded and saved at the positive or negative edge of
the sensor signal. The measuring function can be triggered at both edges, provided
the component used supports this mode.

Technology functions
Technology functions supported by the TO:

MC_Reset MC_MeasuringInput MC_ReadSysParameter

MC_WriteParameter

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3.7.1 Interconnection, wiring - Measuring inputs

• In S7T Config, the "Measuring input" TO can only be inserted at the "Axis" and
"External encoder" TOs
• Each "Measuring input" TO is only assigned a single axis or a single external
encoder
• The measuring input must be located either at the corresponding drive
component, or at a TM15/TM17 High Feature module. The measuring inputs
are indicated specifically at the corresponding hardware, or have to be
configured there as measuring inputs. The number of available measuring
inputs depends on the hardware used.

Other digital inputs at DP(DRIVE) can not be used as measuring input.

The digital measuring input used for the "Measuring input" TO at the
TM15/TM17 High Feature module is configured in S7T Config.
• Several "Measuring input" TOs can be configured for a positioning axis,
synchronization axis or an external encoder.

However, "Measuring input" TOs may not be active simultaneously.

• Measuring inputs may not be configured for use with virtual axes.
• Measuring inputs can not be configured for operation with speed-controlled
axes.

Activation / deactivation
Measuring inputs are activated / deactivated by calling the "MC_MeasuringInput"
technology function.

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3.7.2 Measuring range

The measuring command may apply to the entire range, or be limited to a start and
end position (active range).
The measurement can be restricted to a defined range. The measurement is only
triggered when the position lies within the measuring range.

If a trigger signal is not detected within the measuring range, the measuring
command is canceled and an error is indicated at the technology function and at
the technology DB.

For non-modulo axes, the order by which the start and end values are specified is
irrelevant. If the initial value is greater than the end value, the values are
interchanged.
If the start value is greater than the end value at a modulo axis, the valid range is
extended from the start value beyond the modulo transition of the axis to the end
value.

3.8 "External encoder" technology object

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Use the "External encoder" TO to return the position or angle of

a mechanical component as a master setpoint to the Technology
CPU.

The "External encoder" TO outputs the actual values for the position and velocity of
a distance measuring system. The TO does not control the effective drive
component.

Technology functions
Technology functions supported by the TO:

MC_Reset MC_ExternalEncoder MC_ReadSysParameter

MC_WriteParameter

3.8.1 Interconnection, wiring - external encoders

Interconnection
The "External encoder" TO can be interconnected with the following TOs:
• "Synchronization axis" TO as leading axis
• "Output cam" TO as actual position value
• "Measuring input" TO as actual position value

Wiring
Encoders supported by the "External encoders" TO:
• Analog absolute encoder (sensor analog) wired to an analog input module of
ET 200M or ET 200S
• Incremental encoder (rectangular TTL) wired to analog drive interface IM
174/ADI4
• Absolute encoder (SSI) wired to analog drive interface IM 174/ADI4
• Incremental or absolute encoders wired to the encoder input of a DP drive
• Absolute encoder SIMODRIVE Sensor Isochron (message frame 81)

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Examples
• You can use the second encoder interface of a double-axis module can be
used to wire an external encoder to SIMODRIVE 611U
• A second encoder can be wired to MASTERDRIVES MC using an encoder
module
• Isochronous PROFIBUS encoders can be operated directly on DP(DRIVE)
• SINAMICS S120 supports the connection of a second encoder via SMC 30,
SME 20, SME 25

3.8.2 Synchronization - external encoders

The Technology CPU supports various homing modes. The reference position of
the external encoder can be set at input parameter Mode of the
"MC_ExternalEncoder" technology function.

Homing with incremental encoders

• Direct homing (Mode = 2 and 4)
Setting the reference point. The value of the reference point coordinate is
assigned to the current encoder position.
• Passive homing / On-the-fly homing (Mode = 3 and 5)
The value of the reference point coordinate is assigned to the current encoder
position as the encoder is moving:
- on reaching the encoder zero mark (default)
- on reaching the external zero mark (settings in the expert list)
- on reaching the next encoder zero mark after the reference cam (settings in
the expert list)
The distance between the reference cam and the encoder zero mark can be
monitored using the encoder zero mark monitoring function.
Synchronization with incremental encoders can be set in the expert list.

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4.1 Overview - configuration

Steps to perform in order to implement motion control commands:

Tool Step
STEP 7/SIMATIC Manager Create project
HW Config Configuring the Technology CPU
Configuring drives
Station > Save and compile
S7T Config Engineering and configuring electrical axes /
engineering and configuring hydraulic axes
Menu command Project > Save and compile all
Technology Objects Management Creating and managing Technology DBs
LAD/FBD/STL Programming function blocks
STEP 7/SIMATIC Manager Menu command
PLC > Download user program to
Memory Card (including system data)

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4.2 Configuring the Technology CPU and drives in

HW Config

4.2.1 Configuring the Technology CPU in HW Config

To configure the Technology CPU:

Step Description
1. Create a new project SIMATIC Manager, and then add a SIMATIC 300 station.
2. Select the "SIMATIC 300" station and double-click "Hardware" to open HW Config.
3. On the "Hardware catalog" view, select the "SIMATIC Technology CPU" hardware profile from
the "Profile" drop-down list.

4. Copy a mounting rail from the "Hardware catalog" view to the HW Config window.
5. Drag-and-drop a power supply module to the mounting rail (for example: "PS 307 5A".)
6. Drag-and-drop the relevant Technology CPU from the HW catalog to the selected row
containing the rail. This opens the message box shown below.

Minimize transfer times by increasing the transmission rate at the MPI/DP interface.
For further information, refer to the message box help.
7. Close the message box
Set the PROFIBUS properties of DP(DRIVE) in the next dialog box.

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Step Description
8.

Click "New" to create a new "Subnet" (DP master system). Make sure that the Technology CPU
is the only master station on DP(DRIVE.)
Set address 0 at the DP(DRIVE) in order to enhance operating performance.

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Configuration

Step Description
9. Select the "Network settings" tab from the dialog box of PROFIBUS network properties.

Select a transmission rate of 12 Mbps. Do not change the "DP" profile of the PROFIBUS
network.
To enhance performance of the DP(DRIVE) system:
• Set the 0 value at "Highest PROFIBUS address"
• Disable "Enable cyclic broadcast of bus parameters." Click "Bus parameters," and then reset
the check box.

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 Configuration

Step Description
10. Click "Options." On the next dialog box, set the "Activate constant bus cycle time" check box.

As constant DP bus cycle time, enter the time required for isochronous operation of the drive
components on DP(DRIVE). Observe the device-specific properties and data volume of the
components supported for operation on DP(DRIVE.)

Retain the defaults of all other options offered in this dialog box.

Note:
You can also set these configuration data in the properties dialog boxes of the drives. In this
case, the constant DP bus cycle and the cycle time will be activated or calibrated automatically.
11. Close all dialog boxes of HW Config by clicking "OK".
12. Increase the transmission rate at the MPI/DP interface (see step 6.) Save and compile the
hardware configuration data, and then download these to the PLC.
13. In HW Config, double-click the technology (slot 3), and then select the "Technology System
Data" tab. Set the "Generate Technology System Data" check box. Confirm your settings with
"OK."

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Configuration

Step Description
14. Save and compile the hardware configuration data, and then download these to the PLC. Adapt
the PG / PC interface.
Download the hardware configuration and firmware data of the integrated technology to the
PLC.
Result: After you compiled the data, the project dialog box in SIMATIC Manager shows the
"Technology" folder that contains the "Technology Objects".

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4.2.2 Configuring drives in HW Config

Basic procedure
The next steps below describe basic procedures of configuring the drives, based
on the example of a SIMODRIVE 611 universal.
For detailed information on the HW configuration of drives, refer to the product
information and to the relevant drive documentation.

Step Description
1. Open the SIMATIC Technology > PROFIBUS DP (DRIVE) > Drives > SIMODRIVE folder in the
HW catalog.

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Configuration

Step Description
2. Select the required drive component (example: "SIMODRIVE 611 universal".) Drag-and-drop
the component to the DP master system.

The "Properties – PROFIBUS interface SIMODRIVE 611 U DP2, DP3" opens.

3. Set the relevant PROFIBUS address, for example, 4. Confirm your entry with "OK."
The "Properties - Drive" dialog box opens.
Close the dialog box with "OK".
4. Select the "Configuration" tab on the "DP Slave Properties" dialog box. Select the required
message frame (example: telegram 102 for the operation of one drive on SIMODRIVE611
universal as positioning or synchronization axis without DSC and with torque reduction.)

For details on selecting telegrams and on supported function, refer to "Selecting the telegram
type".

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Step Description
5. Select the "Cycle synchronization" tab, and then set the "Synchronize drive with equidistant DP
cycle" check box.

As a result of the settings made in the PROFIBUS network configuration, the DP cycle time will
be activated and are displayed on this dialog box The DP cycle coefficient is adapted
accordingly.
If you do not configure the cycle time in the network properties, the coefficients must be adapted
in this dialog box in order to obtain the relevant cycle time (example: 16 for a DP cycle of
2.00 ms.)
The DP cycle of the DP(DRIVE) interface is always an integer multiple of 0.250 ms, and is
mainly determined by the number and type of components to be operated on the network.
Also observe the drive-specific help available in this dialog box when you define the DP cycle.
6. For this example, set the "To" time coefficient to obtain a time of 0.5 ms. Do not change the
default value of the "Ti" coefficient.
7. Click "Alignment".
This triggers the following settings:·
• The constant bus cycle is activated
• The DP cycle of the master system will be adapted to the drive properties
• All drive components of the same family receive the same parameter configuration

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Configuration

Step Description
8. Close the dialog box with "OK".
9. Save and compile the hardware configuration data, and then download these to the PLC.
If you have set the "Generate technology system data" check box in the technology properties,
the system will generate the system data for the HW configuration and for the technology
firmware.

Note
Drive components of different families must be calibrated manually. To do so, note
down the set values and then transfer these to the corresponding dialog boxes.

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4.2.3 Selecting the message frame type

The message frame used to communicate with the drive must be defined in
HW Config. The message frame to be selected is determined by the axis function
required, for example, torque limiting or DSC, or by the functionality of the drive
used.

Note
When changing the message frame type of a drive component in HW Config, you
also need to adapt the selection of the message frame in the interface
configuration of the corresponding TO in S7T Config.

Communication with digital drives via PROFIBUS DP is handled in accordance with

PROFIdrive Version 3 specifications.
Technologies and message frame types supported:
Message frame types and functionality:

Message frame Short description / functionality

type
1 n-setpoint interface 16 bits
2 n-setpoint interface 32 bit, without encoder
3 n-setpoint interface 32 bit, with encoder 1
4 n-setpoint interface 32 bit, with encoder 1 and encoder 2
5 n-setpoint interface 32 bit, with DSC and encoder 1
6 n-setpoint interface 32 bit, with DSC, encoder 1 and encoder 2
101 n-setpoint interface with torque reduction
102 n-setpoint interface with encoder 1 and torque reduction
103 n-setpoint interface with encoder 1, encoder 2 and torque reduction
105 n-setpoint interface with DSC, encoder 1 and torque reduction
106 n-setpoint interface with DSC, encoder 1, encoder 2 and torque reduction

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Configuration

Drives and message frame types:

Drive component Technology objects Interface Configurable

default message
frame types
SIMODRIVE
SIMODRIVE 611U universal Speed-controlled axis, positioning Digital 1 to 6, 101, 102,
axis, synchronization axis, external 103, 105, 106**
encoder, measuring input, output
cam
SIMODRIVE 611U universal HR Speed-controlled axis, positioning Digital 1 to 6, 101, 102,
axis, synchronization axis, external 103, 105, 106**
encoder, measuring input, output
cam
SIMODRIVE POSMO CA/CD Speed-controlled axis, positioning Digital 1 to 6, 101, 102,
axis, synchronization axis, external 103, 105, 106
encoder, measuring input, output
cam
SIMODRIVE POSMO SI Speed-controlled axis, positioning Digital 1, 2, 3, 5, 101,
axis, synchronization axis, 102, 105
measuring input, output cam
SIMODRIVE sensor External encoder Digital 81
isochronous
MICROMASTER 4
COMBIMASTER 411 Speed-controlled axis Digital * 1
MICROMASTER 420 Speed-controlled axis Digital * 1
MICROMASTER 430 Speed-controlled axis Digital * 1
MICROMASTER 440 Speed-controlled axis Digital * 1
MASTERDRIVES
Motion Control Speed-controlled axis, positioning Digital 1 to 6
axis, synchronization axis, external
encoder, measuring input, output
cam
Motion Control Plus Speed-controlled axis, positioning Digital 1 to 6
axis, synchronization axis, external
encoder, measuring input, output
cam
Vector Control CUVC Speed-controlled axis Digital * 1, 2
Vector Control Plus Speed-controlled axis Digital * 1, 2
SINAMICS
SINAMICS S120 Speed-controlled axis, positioning Digital 1 to 6, 102, 103,
axis, synchronization axis, external 105, 106
encoder, measuring input, output
cam
TM15 terminal module Measuring input Digital -
Output cam
TM17 High Feature Terminal Measuring input Digital -
Module Output cam

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Drive component Technology objects Interface Configurable

default message
frame types
SINUMERIK
ADI4 Speed-controlled axis, positioning Digital 3
axis, synchronization axis, external
encoder, measuring input, output
cam
SIMATIC
distributed I/O
IM 174 PROFIBUS module Speed-controlled axis, positioning Digital 3
axis, synchronization axis, external
encoder, measuring input, output
cam
ET 200M, ET 200S Output cam Digital -

* The drive does not support isochronous operation on PROFIBUS.

** For details, refer to the supplementary description of 611U.

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4.3 Technology Objects Management, operating

4.3.1 Starting Technology Objects Management

Use S7T Config to configure the TOs for your motion control task.
The technology DBs form the interface between the user program and the TOs.
Technology DBs are managed in "Technology Objects Management" (TOM).
"Technology Objects Management" can be used in parallel to SIMATIC Manager.

Prerequisites
• SIMATIC Manager is open
• The Technology CPU was configured in HW Config, and the configuration data
were saved

Starting Technology Objects Management

In SIMATIC Manager, select "Technology objects" from the "Technology" folder to
run "Technology Objects Management".

Select "Technology Objects", and then select Edit > Open object in SIMATIC
Manager.
You can also start S7T Config without running "Technology Objects Management".
Select "Technology objects" from the "Technology" folder in SIMATIC Manager,
and then select Options > Configure technology. Using the menu command in
SIMATIC Manager to start S7T Config is useful if you do want not create any new
TOs, and therefore do not have to create any new technology DBs.

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4.3.2 User interface of Technology Objects Management

Layout of "Technology Objects Management":

Toolbar
The toolbar contains the essential menu commands.

Operating range
Each STEP 7 project is opened in a separate working window on your working
area. Each window shows all existing technology DBs:
• The upper area of the window shows the technology DBs you already created.
• The bottom section of the window lists the TOs for which you have not yet
generated any technology DBs.

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4.3.3 Working window

The working window of TOM is used to manage technology DBs of the active
STEP 7 project. You can identify the active STEP 7 project by the title bar entry of
TOM or of the active working window.
The working window is divided into two areas:

Area showing the technology DBs not yet created (proposals list)
The list in this area shows a new technology DB when a new TO was configured in
S7T Config. The new technology DB is assigned the next free DB number by
default. The symbol names and comments are also assigned default values. The
DB number, symbol and comment entries may be changed, however, you cannot
modify the technology name. Any technology DB deleted from the block folder
using the "Delete" button is listed in the area of technology DBs not created yet.
Click "Generate" to generate the selected technology DBs in the block folder of
SIMATIC Manager. After their generation, the technology DBs are removed from
the list of technology DBs not yet created.

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Technology DB area in the block folder (block list)

This area lists all technology DBs which are already available in the block folder of
SIMATIC Manager. You cannot edit the entries of this area.
Use the "Delete" button to delete selected technology DBs from the block folder.
The deleted technology DBs are added to the list of technology DBs not yet
created.

Technology DB update time

This output box returns the technology DB update time (basic cycle) set in
S7T Config.

Information re columns and cells

You can change the width and sort the contents of all columns.

Selection column
• Here you select the rows which contain the technology DBs to be created or
deleted.

"DB" column
• Shows the technology DB number. The technology DB number can be
changed in the list of technology DBs not yet created.
• Reasons for outputting a cell on a red background:

Block list Proposals list

• The corresponding TO was deleted in • Wrong formalism
S7T Config • The DB number already exists in the block folder
• The DB is no longer interconnected with the TO

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Configuration

"Symbol" column
• Shows the symbolic name of the DB for the symbol table. The technology DB
number can be changed in the list of technology DBs not yet created.
• Reasons for outputting a cell on a red background:

Block list Proposals list

---- • The symbol name is already assigned in the
symbol table

"Technology object" column

• Shows the assignment of the technology DB to the TO.

"Comment" column
• Shows the comment of the DB for the symbol table. The comment entry can be
edited in the list of technology DBs not yet created.

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4.3.4 Working window (expert mode)

The working window is used to manage technology DBs of the active STEP 7
project. You can identify the active STEP 7 project by the title bar entry of TOM or
of the active working window.
BY contrast to the standard working window, the expert mode allows you to set the
technology DB update times and select the "IPO synchronous" property.
The working window is divided into two areas:

Area showing the technology DBs not yet created (proposals list)
The list in this area shows a new technology DB when a new TO was configured in
S7T Config. The new technology DB is assigned the next free DB number by
default. The symbol names and comments are also assigned default values. The
DB number, symbol and comment entries may be changed, however, you cannot
modify the technology name. Any technology DB deleted from the block folder
using the "Delete" button is listed in the area of technology DBs not created yet.
Click "Generate" to generate the selected technology DBs in the block folder of
SIMATIC Manager. After their generation, the technology DBs are removed from
the list of technology DBs not yet created.

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Configuration

Technology DB area in the block folder (block list)

This area lists all technology DBs which are already available in the block folder of
SIMATIC Manager. You cannot edit the entries of this area.
Use the "Delete" button to delete selected technology DBs from the block folder.
The deleted technology DBs are added to the list of technology DBs not yet
created.

Technology DB update time

This output box returns the technology DB update time (basic cycle) set in
S7T Config.

Information re columns and cells

You can change the width and sort the contents of all columns.

Selection column
• Here you select the rows which contain the technology DBs to be created or
deleted.

"IPO synchronous" column

• Activate the check box to determine startup of the axis in "IPO synchronous"
mode. Command monitoring Is handled within the time slice for command
execution.

"Step-down ratio" column

• You define the step-down ratio of the technology update cycle in this column.
This ratio is a function of the time value of "Technology DB update".
• Reasons for outputting a cell on a red background:

Block list Proposals list

---- • The value entered is outside range limits from
1 to 16
• The "step-down ratio" and "offset" values are
incompatible The "offset" must be less than the
"step-down ratio"

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"[ms]" column
• Returns the absolute step-down cycle in milliseconds.
• Example

Technology DB update 18 ms
Step-down ratio 2
Value shown 36 ms

The technology DB is update at intervals of 36 ms.

"Offset" column
• You define the "offset" of the technology update cycle in this column. This
"offset" is a function of the time value of "Technology DB update". The offset is
used to define the start of the cyclic technology DB update.
• Reasons for outputting a cell on a red background:

Block list Proposals list

---- • The value entered is outside range limits from
0 to 15
• The "step-down ratio" and "offset" values are
incompatible The "offset" must be less than the
"step-down ratio"

"[ms]" column
• Returns the absolute "offset" in milliseconds.
• Example

Technology DB update 18 ms
Step-down ratio 3
value shown (step-down) 54 ms
Offset 2
value shown (offset) 36 ms

The start of the 54-ms technology DB update cycle is, however, offset by 36 ms.

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"DB" column
• Shows the technology DB number. The technology DB number can be
changed in the list of technology DBs not yet created.
• Reasons for outputting a cell on a red background:

Block list Proposals list

• The corresponding TO was deleted in • Wrong formalism
S7T Config • The DB number already exists in the block folder
• The DB is no longer interconnected with the TO

"Symbol" column
• Shows the symbolic name of the DB for the symbol table. The DB name can
be edited in the list of technology DBs not yet created.
• Reasons for outputting a cell on a red background:

Block list Proposals list

---- • The symbol name is already assigned in the
symbol table

"Technology object" column

• Shows the assignment of the technology DB to the TO.

"Comment" column
• Shows the comment of the DB for the symbol table. The comment entry can be
edited in the list of technology DBs not yet created.

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4.3.5 Using Technology Objects Management

"Technology Objects Management" is used to manage the technology DBs of a
STEP 7 project.
You can open a separate window for each configured station containing a
Technology CPU on the working area of "Technology Objects Management".
On the active window, you can:
• Create, program or delete technology DBs
• Set synchronous mode of the axis IPO (menu command View > Expert mode)
• Define update cycles of the technology DBs (expert mode)
• Configure the start parameters of axis commands (properties "IPO
synchronous" in expert mode)
• Starting S7T Config

Requirements
• The configuration of the Technology CPU in S7T Config is completed, saved
and compiled.

Creating or deleting technology DBs

Select one or several technology DBs you want to create or delete:

Next, click "Create" or "Delete".

Note
For further information on using "Technology Objects Management", refer to the
corresponding Online Help system.

Starting S7T Config

Start S7T Config by selecting the Options > Configure technology command.

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4.3.6 Creating and managing technology DBs

Technology objects (TOs) are accessed by means of technology DBs. You should
therefore generate the technology DBs using the "Technology Objects
Management" tool before you create the user program.

Requirements
• You concluded the configuration of your Technology CPU and drives in
HW Config by executing the Station > Save and compile command.
• The configuration of the Technology CPU is successfully completed in
S7T Config and saved.

Example To rename a technology DB

Step Description
1. In SIMATIC manager, double-click "Technological objects".

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Step Description
The "Technology Objects Management" dialog opens. (Example):

You selected the DBs you want to create.

2. From the "Technology DBs in block folder" area, select the relevant line to rename its DB.

3. Click "Delete"

4. Edit the block number in the "Technology DBs not created yet" area.

5. Select the line showing the DB you want to create.

6. Click "Create"

Note
Delete any previously downloaded technology DB of this name from the CPU. You
can then download the renamed technology DB with the new DB number to the
CPU.

Note
Technology DBs copied in the block folder of SIMATIC Manager must be verified.
The corresponding DBs are not valid as technology DBs
• if they are marked in red in the dialog box mentioned earlier (in this case, select
"Technology DBs in block folder," and then click "Delete")
• if these are not listed in the dialog box mentioned earlier (in this case, delete the
block from the block folder of SIMATIC Manager.)

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4.4 S7T Config, operating

4.4.1 Starting S7T Config

Prerequisites
• SIMATIC Manager is open
• The Technology CPU was configured in HW Config, and the configuration data
were saved

Starting S7T Config

S7T Config included in your S7-Technology option package provides comfortable
features for programming the TOs of your motion control task.
Start S7T Config by selecting "Technological objects" from the "Technology" folder
in SIMATIC Manager The object is only visible if the Technology CPU is configured
in HW Config and if all configuration data were compiled. The drives and external
encoders will be renamed at the start of S7T Config if their names contain any
white spaces. These white spaces will be replaced with underscore characters.

Select "Technology objects", and then select Edit > Open Object in order to run
"Technology Objects Management."
In "Technology Objects Management," select Options > Configure technology to
configure the TOs in S7T Config. S7T Config starts automatically if you have not
yet created any TOs.
You can also start S7T Config without running "Technology Objects Management."
Select "Technological objects" from the "Technology" folder in SIMATIC Manager,
and then select Options > Configure technology. Using the menu command in
SIMATIC Manager to start S7T Config is useful if you do want not create any new
TOs, and therefore do not have to create any new technology DBs.

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4.4.2 The user interface of S7T Config

S7T Config is used to configure the TOs for your motion control tasks.
S7T Config opens with this user interface:

Navigator
The Navigator visualizes the project structure of the technology, and the
assignment of the configured TOs. Identical objects are indicated by the same
icons. The system indicates online mode by highlighting the icons with a
corresponding background color, or by displaying additional icons (connector
icons) which characterize the interconnection of the PG/PC with the PLC. For
detailed information, refer to the Online Help system of S7T Config. You can open
the relevant configuration dialog box by double-clicking an object on the working
area.

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Operating range
The TO configuration dialog boxes, for example, for setting configuration data,
defaults and limits, are displayed on the working area. The tabs indicate the TOs
for which you have opened the relevant dialog box. You can open dialog boxes for
several TOs.
All parameters you can enter in the working area are assigned high and low limits
which are indicated by a tooltip in S7T Config.

Details view
The details view outputs information about the elements you selected in Navigator.
The view shows different tabs, depending on the object you selected. The number
of tabs depends on the active dialog boxes on the working area and on the project
status (offline or online.)
To view information about an object in the detail view:
1. Select the relevant object in the Navigator. The detail view shows all tabs
available for this object.
2. Click the tab in the detail view The tab content is shown

Title bar
The title bar contains the project name and the name of the active configuration
dialog box of the selected TO.

Menu bar
The menu bar contains the menus currently supported in S7T Config.

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Toolbar
The toolbar icons provide quick access to frequently used and currently available
menu commands by means of mouse click. You can view the tooltip showing the
icon function by positioning the mouse cursor on the icon. The status bar displays
additional information.
Grayed-out symbols indicate functions which cannot be executed in the current
working state.

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Status bar
The status bar indicates context-sensitive information and the project status (offline
or online –mode.)
Offline mode
Communication with the Technology CPU is down when S7T Config is operated in
offline mode. In this mode, you can create new TOs, configure drives using the
integrated STARTER tool, and compile the technology data.
Online mode
S7T Config communication with the Technology CPU is up when operated in online
mode. In this mode you can perform diagnostics operations, download new project
data to the device, and edit parameters in the CPU.
The system checks technology data consistency when you change to online mode.
This check verifies the availability or connection of the devices, drives and TOs
configured in the technology. If inconsistency is detected or an error occurs
(example: inconsistency between the online configuration in the PLC and the offline
configuration in S7T Config) the corresponding objects are highlighted on a red
background in the Navigator.

Caution
! In order to ensure isochronous control of the drives, do not connect the
programming device (PG/PC) to the DP(DRIVE) interface.

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4.5 Configuring electrical axes

Requirements
• The Technology CPU is configured in HW Config and configuration data are
compiled.

Inserting a new axis in S7T Config

The steps below describe the basic procedure of inserting and configuring an axis,
based on the example of a positioning axis.

Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".

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Step Description
2. For this example of a positioning axis configuration, select the "Positioning" technology from the
"General" tab.
Disable the "Positioning" technology when you configure a speed-controlled axis.

You can edit the name, enter an author, define a version name, and enter a comment.
"Technology Objects Management" applies the name of the TO as symbolic name to the
technology DB of the object in STEP 7.
3. Click on the "OK" button.

Result: The Axis Wizard appears.

Note
You define the axis technology (speed, positioning, synchronous operation) once
when you configure a new axis. In order to change the axis technology at a later
time, you must delete and recreate the axis.

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Step Description
4. Select the axis type and the motor type from the dialog box shown below.

Click "Next."

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Step Description
5. From the list in the next dialog box, select the physical units you want to apply to axis
configuration data and to the user program.

Note: The physical unit settings only apply to this axis. The list may also show physical units
which are irrelevant to this axis due to the axis configuration.
Example The value "1000.0" with positioning unit in [mm] setting at input parameter Position of
the technology function "MC_MoveAbsolute" is equivalent to a position value of 1000.0 mm.
Notice:
Numerical values set in the user programs (for motion commands, for example) are not
converted into the new units when you change the unit settings. The values always refer to the
configured unit!
Click "Next."

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Step Description
6. Set the "Modulo axis" check box, and then type in the required modulo length and start value if
you are going to operate the axis in modulo mode.

Click "Next."

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Step Description
7. On the next dialog box, select the drive component you want to connect to the axis.

The drop-down list shows all drives configured in HW Config. Drives already connected are no
longer included in the drop-down list. The program only shows the "Synchronize Sinamics
devices" button if a SINAMICS S120 drive is configured in HW Config.
Select the "virtual axis" drive component in order to allocate a logic control function to the axis in
a synchronized group. The dialog box displays additional options when a real drive unit is
selected.
Select the relevant "Axis" from the "Drive" box if the selected drive is a multiple axis module
(e.g. SIMODRIVE 611 universal double-axis module, IM 174/ADI4, SINAMICS S120.)
The "HW addresses", "Input" and "Output" boxes show the drive's logical addresses you
selected in the drive configuration in HW Config.
When you recreate the configuration, the default message frame type set in HW Config will be
entered in the drop-down list box (see also Selecting the message frame type ). If the message
frame set in HW Config is unknown or was edited by the user, and thus does not match any
known standard message frames, the telegram wizard helps you to make the correct selection
from the drop-down list.
Enter the rated speed of the motor in the "Rated speed" input box. This value is relevant to
speed assessment and must therefore correspond with the drive configuration.
Click "Next."
Result: The "Interaction axis - drive" dialog box opens. Confirm the dialog box with "OK." The
S7T Config Online Help opens. Close the Online Help and continue the axis configuration.

Note
The message frame type you configured in S7T Config for the interface of the TO
for the drive component must match the message frame type of the component
configured in HW Config.

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Step Description
8. In the next dialog box, you can select the encoder of the drive.

Select a default encoder which is to return its values to the CPU in the message frame
configured in HW Config (usually, the encoder directly connected to the drive.) You can select a
different encoder for axis position detection from the list of configured encoders.
Open the drop-down list to select the message frame type used to exchange encoder data.
Default is the message frame configured in HW Config.
In the "Encoder type", "Encoder mode" and "Measuring system" drop-down lists, define the
settings specified in the encoder documentation or in drive configuration data.
Click "Next."
9. On the next dialog box, define the encoder resolution and the multiplication factor of the cyclic
actual value.
For information on the encoder resolution, refer to the encoder documentation. Calibrate the
multiplication factor of the cyclic actual value based on the values used in the configuration of
the drive component.

Click "Next" to continue the axis configuration.

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Step Description
10. You have successfully completed the axis configuration.

Exit the axis configuration dialog by clicking "Finish".

Result: The "Interaction axis - drive" dialog box opens. Confirm the dialog box with "OK." You
have successfully completed a positioning axis configuration with the help of the Axis Wizard.

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4.5.1 Adding a data record for data record changeover

Introduction
The "MC_ChangeDataset" technology function can be used to perform a data
record changeover at an axis. You can create data records for speed-controlled
axes, positioning axes and synchronous axes. Virtual axes always have only one
data record.
The data record changeover function can be used, for example, to toggle between
the motor encoder and the machine encoder, or to edit controller parameters.

Notice
When editing data record parameters, note that certain parameters must be
identical in the data records:
• Parameters changing the structure (different controller types such as PV or
PID controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for
example)
The consistency check reports any illegal technology parameter settings when you
configure data records in S7T Config.

Requirements
• The axis is configured.

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Adding a new data record

To configure a new data record.

Step Description
1. In the Navigator of S7T Config, open the configuration dialog box of the axis to which you want
to add a data record.
2. Set the "data record changeover" check box.
The check box is hidden if the axis already contains several data records.
3. Click "Add".
Result: A new data record is added to the axis.

4. Click "Configure active data set". Confirm the "reconfigure active data record" message with
"Yes".

Result: The Axis Wizard appears.

5. Use the axis wizard to configure the data record.
Note: The technology used is set once when you create the axis. You can not use a second
data record to change the axis technology.
6. You may also perform an encoder changeover using the data record changeover function. Do
so by setting the "enable encoder changeover" check box on the "Axis configuration - Encoder
assignment" dialog box. Ignore this step and the next otherwise.
Click "new encoder" to create the second encoder.
Result: A drop-down list opens from which you can select an encoder for this data record.

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Step Description
7. Select the connection and message frame type for the second encoder. In the final step, enter
the encoder information ("Encoder type", "Encoder mode" and "Measuring system").
In the encoder configuration, select the settings specified in the encoder documentation, or the
settings you made in the configuration of the drive component to which the encoder is
connected.

Click "Next". Continue by editing the steps in the wizard, and finalize your configuration.

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Step Description
8. In the axis configuration dialog box, select the data record to be loaded after CPU startup
("active after startup").

Result: The "Encoder" table shows an overview of the encoders configured for the axis.

Deleting the data record of an axis

You start to delete a data record by selecting it from the axis configuration dialog
box. Next, click "Delete". The data record is deleted.

Selecting a data record

Select the data record to edit from the "Data record active" drop-down list. This
selection is available in all dialog boxes of the axis.
Select the data record which is used by default after startup from the "Data record
active after startup".

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4.5.2 Fine resolution

Encoder pulses can be evaluated in the drive at a higher resolution, depending on

the encoder registration and type. The configuration of signal evaluation in the
drive must be interconnected with the "Multiplication factor of the cyclic actual
value" parameter in the axis configuration in S7T Config.

Example
An incremental encoder is connected to SIMODRIVE 611U and returns 2048 p/rev
(encoder resolution). By default, the drive multiplies this number of pulses by the
factor of 2048 (2 to the power of 11). This factor must be entered at the
"Multiplication factor of the cyclic actual value" parameter.

Default value
The default setting for the "Multiplication factor of cyclic actual value" is "0". The
system automatically uses multiplication factor 2048 (2exp11).

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4.5.3 Actual value logging

The diagram below shows the preparation of the actual value of an axis or external
encoder in the Technology CPU.

Data are logged within the position control cycle. These data can be used to
calculate further variables such as velocity and acceleration.
The system variables sensordata.sensordata[n].incrementalposition and
sensordata.sensordata[n].position are calculated in the position controller cycle; all
other system variable are calculated in the corresponding execution cycle of the
axis or external encoder. For external encoders, the system variables
sensordata.sensordata[n]…. are named sensordata….
The actual position value filter can be configured or activated at configuration
parameter
TypeOfAxis.NumberOfEncoders.Encoder_n.AnalogSensor.PositionFilter. The filter
is only available for analog absolute encoders:

Configuration parameter Meaning

TypeOfAxis.NumberOfEncoders.Encoder_n. • YES
AnalogSensor.PositionFilter.enable Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.NumberOfEncoders.Encoder_n. Time constant for PT1 filtering.
AnalogSensor.PositionFilter.timeConstant

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The "sensor" velocity filter can be configured or activated at configuration

parameter TypeOfAxis.NumberOfEncoders.Encoder_n.Filter:

Configuration parameter Meaning

TypeOfAxis.NumberOfEncoders.Encoder_n. • YES
Filter.enable Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.NumberOfEncoders.Encoder_n. Time constant for PT1 filtering.
Filter.timeConstant

(The configuration parameter of the external encoder is named

TypeOfAxis.Encoder_1.Filter...)

The actual velocity value filter can be set and activated at configuration parameter
TypeOfAxis.SmoothingFilter:

Configuration parameter Meaning

TypeOfAxis.SmoothingFilter.enable • YES
Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.SmoothingFilter.mode You can set the filter calculation method at this
configuration parameter:
• DEFAULT_MODE
Averaging as a function of the ratio:
execution cycle of the axis / external encoder to the
position control cycle
Example: The ratio between the execution cycle and
the position control cycle is 3:1. In this case, the
mean value is formed in three position controller
cycles.
• AVERAGING
Averaging by time constant
• PT1
PT1 smoothing by time constant
TypeOfAxis.SmoothingFilter.timeConstant Time constant for PT1 filtering or averaging
"AVERAGING".

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4.5.4 Configuration

4.5.4.1 Configuration - Axis

The Axis > Configuration dialog box shows the axis and drive settings.
You can edit these settings in a dialog box by clicking "Configure active data set".

This dialog box also contains functions for managing the data records for data
record changeover. If the TO supports multiple data records, you can:
• create new data records
• delete data records
• define which data record to load for the TO during CPU startup, and
• reconfigure the selected data record.

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4.5.5 Mechanical system

4.5.5.1 Mechanics - Electrical axis

The mechanical parameters of the axis and encoder are configured in the Axis >
Mechanics dialog box.

Axis settings:
• Drive direction settings
• Load gear settings
• Leadscrew pitch of a linear axis
• Modulo settings
• Backlash compensation settings
Encoder settings:
• Measuring gear settings
• Backlash compensation settings
• Encoder mounting type

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Conditions of determining gear parameters

The configuration may return error messages indicating incompatible gear
parameters. The selection of incompatible configuration data may lead to internal
overflows in the integrated technology. Formulae used to determine suitable
parameters:
f1 = Measuring gear numerator x 360 x internal resolution x load gear denominator
f2 = Measuring gear denominator x encoder resolution x actual value coefficient x
load gear numerator
Calculate the greatest common divisor k based on the f1 and f2 values, and then
insert the result in the formula shown below:
f11 = (f1/k) < 2exp32
f22 = (f2/k) < 2exp32
The results of f11 and f22 must be less than 2exp32. If this is not the case, check
whether you can change the parameters in formula f1 and f2 to achieve values for
f11 and f22 which do not exceed the maximum permissible value.
Check the value shown below if f11 and f22 satisfy the conditions described earlier
and configuration errors persist:
f3 = modulo length x internal resolution
You can now calculate the greatest common divisor k2 of f3 and f11, and then
insert it into the next formula:
f31 = ((f3 x f22 x f11) / (k2 x k2)) < 2exp63
At this point, check whether the value in f31 is less than 2exp63. If not, check
whether you can reduce modulo length. You could also modify the parameters in
the f1 and f2 formulae. When doing so, however, make sure that f11 and f22
conditions are still satisfied.
Parameter description

parameters Comment Configuration parameter at the axis

Measuring gear Numerator of the measuring gear AdaptDrive.numFactor
numerator ratio AdaptExtern.numFactor
AdaptLoad.numFactor
Measuring gear Denominator of the measuring AdaptDrive.denFactor
denominator gear ratio AdaptExtern.denFactor
AdaptLoad.denFactor
Load gear numerator Load gear ratio numerator Gear.numFactor
Load gear Load gear ratio denominator Gear.denFactor
denominator
Internal resolution Internal increments / position unit Defined in the configuration using the axis
wizard.
Actual value = X for DP drive X for absolute value encoders:
coefficient IncEncoder.incResolution MultiplierCyclic
X for absolute value encoders:
AbsEncoder.absResolution.MultiplierCyclic

A calculation tool is available in a contribution (FAQ) to this topic on the Internet at

http://www.siemens.com/automation/service&support.

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4.5.6 Default

4.5.6.1 Defaults - "Dynamics" tab

The default values for axis dynamics can be set in the Axis > Default dialog box,
"Dynamics" tab. The default values are applied if a negative dynamic value is set at
a technology function.

Default values supported:

• Direction
• Velocity
• Acceleration
• Deceleration
• Jerk
• Velocity profile

Stop time
The time set at "Stop time" comes into effect when a moving axis is disabled and
Stop mode = 2 is set at the MC_Power parameter.

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Velocity profile
The velocity profile defines the response of the axis during startup and when
braking, and to velocity changes.
The technology functions do not use the default value. Use input parameter Jerk to
edit the velocity profile.
You can choose between the following profiles:
• Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative
direction of the motion (jerk = 0).
• Constant
The profile shows a constant acceleration, the jerk profile is controllable (jerk
<> 0).

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4.5.7 Limits

4.5.7.1 Limits - "Position and velocity" tab

In the "Position and velocity" tab of the Axis > Limits dialog box, you can
• configure and enable monitoring of the hardware limit switches
• configure and enable monitoring of the software limit switches
• set velocity limits
• set emergency-off deceleration

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4.5.7.2 Hardware limit switches

You activate hardware limit switch monitoring in the Axis > dialog box, "Position
and velocity" tab. Hardware limit switch monitoring is used to limit the operating
range of an axis, or to protect the machine.

Wiring
The HW limit switches can be wired to the four integrated digital inputs of the
Technology CPU, or to I/O modules such ET 200 or SINAMICS S120 with
TM15/TM17 which are operated on DP(DRIVE).

Traversing range
Traversing limits are monitored at the digital inputs of the HW limit switches. HW
limit switches are always operated with break action, and must always be active
outside the permissible traversing range.

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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and
804B. It is retracted from the HW limit switch (release motion) as described below:
• Manual retraction
The axis is returned manually to the permissible traversing range. The error at
the technology DB can only be acknowledged when the axis is retracted.
• Retraction with drive
The error at the axis technology DB is acknowledged, but the error message
and the LimitSwitchActive status bit remain active. The axis can now be
returned to the permitted traversing range. A reverse motion command once
again triggers an axis error. The LimitSwitchActive status can be
acknowledged after the axis has moved out of the range of the limit switch.
The current position of the axis upon reaching the HW limit switch is saved. Only
when this position, plus a safety range, has been passed is the axis considered to
have left the limit switch.

Caution
Once the HW limit switch has been passed, the controller may not be switched off
in order to avoid a conflict between polarity monitoring of the hardware limit
switches and the overrun monitoring of the hardware limit switches in direction of
the permissible range. In this case, the axis must be moved into the valid range
and enabled again without hardware limit switch monitoring.
When you power up the controller, the axis must be located within the valid
traversing range.

Internal states are lost and the configuration is reloaded when the axis passes the
hardware limit switch. Reloading without loss of the approach information is only
possible within the valid range.
Exception: Deactivation of position limit monitoring after a polarity error.

Safety range
The safety range of the HW limit switches is calculated based on the configured
resolution of the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution
(increments / position) of "1000/unit" in the "Configure units" dialog box, i.e. the
axis position is calculated at an accuracy of 0.001 mm. The safety range in this
example is a multiple of 1000 of the accuracy: 1 mm.

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4.5.7.3 Software limit switches

You can configure the software limits switches and activate the monitoring function
in the Axis > Limits dialog box, "Position and velocity " tab. Software limit switches
should lie within the range of the HW limit switches with reference to the traversing
range in order to limit the working range of an axis, for example.
The response of software limit switches is determined by the axis configuration in
terms of the homing function. The limit switches of a configuration requiring a
homed axis for the execution of absolute motion commands ("Homing required:
Yes" in the Axis > homing dialog box) are not monitored of the axis is not homed.
By contrast, if the execution of absolute motion commands is allowed when the
axis is not homed ("Homing required: No" in the Axis > Homing dialog box) the
software limit switches are monitored regardless of the homing state of the axis.

4.5.7.4 Limits - "Dynamic response" tab

You can adjust the HW limits (mechanical) and SW limits in the "Dynamic
response" tab of the Axis > Limits dialog box.
The set deceleration limit comes into effect when a moving axis is disabled and
parameter FastStop = 1 is set at "MC_Power."
The status-dependent acceleration model is enabled (default) by setting the
"Absolute values" check box.
The direction-dependent acceleration model is enabled by resetting the "Absolute
values" check box. Additional parameters are then displayed.

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Status-dependent acceleration
• Acceleration
Axis acceleration, independent on the direction of movement.
• Deceleration
Axis deceleration, independent of the motion direction.

Direction-dependent acceleration
• Acceleration
Acceleration in positive direction of movement, and deceleration in negative
direction of movement.
• Deceleration
Acceleration in negative direction of movement, and deceleration in positive
direction of movement.
Parameter settings with dynamic direction vector are useful, for example, for
suspended axes.

Local stop response with jerk

Set the "Local stop reactions with jerk" check box to execute a stop reaction
triggered by an alarm reaction at the axis, with jerk limiting and rounding.

Emergency off deceleration

The set emergency off deceleration comes into effect when a moving axis is
disabled and Stopmode = 0 is set at "MC_Power."

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4.5.7.5 Limits - "Fixed end stop" tab

At the "Fixed end stop" tab of the Axis > Limits dialog box, you can enable fixed
end stop detection, and set the corresponding detection mode:
• use following error
• use force/torque
When the selected condition is satisfied, the "fixed end stop" status is reached.
Following error monitoring is disabled when "Move to fixed end stop" is enabled.

Using the following error

Note
When the axis moves onto the fixed end stop, and fixed end stop detection with
"use following error" is set, the entry in "Position tolerance after fixed end stop
detection" should be significantly less than that of "Following error for fixed end
stop detection".

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Using the force/torque

The fixed end stop detection function "use force/torque" requires that the digital
drive assigned to the axis supports torque limiting, and that a corresponding
message frame is set for communication with the drive, for example, message
frames 102 or 105.

Move to end stop

The function "MC_MoveToEndPos" activates the "Move to end stop" function and
sets the clamping torque when the end stop is reached. This operation is also
known as clamping.
The motion is stopped when the axis reaches the fixed end stop, and the control
remains active. The setpoint value at the position controller input is held constant.
New commands directing the motion towards the clamping position are canceled,
while new motion control commands directed towards release are executed and
thus reduce torque. The start position of new motion control commands in release
direction is the position setpoint of the axis.
The position setpoint of the axis is derived from its position at the fixed end stop
• plus the following error when "use following error" is set
• plus the clamping tolerance at the fixed end stop when "use force/torque" is set

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Conditions of fixed end stop detection

• The "Move to fixed end stop" function is reset when the axis moves out of the
clamping tolerance window.
• A new command can also be output to toggle the direction of torque when
clamping is active.
• Non-stepped torque transitions and torque retention over a defined time period
can be implemented in the user program, as can definitions of torque profiles.
• Moving to the fixed end stop (clamping) can be disabled by setting a reverse
positioning command.
• A reversal command MC_MoveToEndPos is not permitted and is ignored.
• A mechanical break of the end stop is monitored by means of the actual value
of the axis (clamping tolerance window monitoring).
• The torque limit of the drive is set in [N/m] at the Torque parameter of
technology function "MC_MoveToEndPos".
• If the command is active and the fixed end stop is not detected, the system
reacts as with active torque limiting.

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4.5.8 Closed-loop control

4.5.8.1 Control loop - "Static controller data" tab

Select the "Static controller data" tab from the Axis > Closed-loop control dialog
box to adjust the position control of the axes.

Manipulated variable limiting

Manipulated variable limiting sets absolute hi and lo limit values of the control
range. This limitation is applied prior to inversion.

Note
When the Dynamic Servo Control (position controller in the drive) function is active,
backlash locking (limiting of manipulated variable for the drive) is not effective. The
backlash interlock therefore needs to be generated in the drive when DSC is
enabled.

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Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the
interpolator and controller have a different duty factor. Optional interpolation mode
settings at the fine interpolator:
• No interpolation
• Linear interpolation (constant position for positioning axis)
• Interpolation with constant acceleration (constant acceleration at positioning
axis)
• Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.

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4.5.8.2 Control loop - "Dynamic controller data" tab

In the "Dynamic controller data" tab of the Axis > Closed-loop control dialog box,
you can adjust the dynamic response of the axes, for example, to match their
response in synchronous operation. The "Dynamic controller data" tab is available
when you set expert mode in the "Static controller data" tab.
The setpoint branch of the control loop contains a configurable dynamic filter which
you can use to adjust the dynamic response of the axes.

• Equivalent time current control loop

Currently not used.
• Equivalent time speed control loop
This parameter can be used to set the time constant vTc (velocity Time
constant) of the balancing filter.
• Equivalent time position control loop
Time required for changing from speed-controlled to position-controlled motion
and for starting the emergency stop ramp.

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4.5.8.3 Control loop - "Friction compensation" tab

You can enable friction compensation in the "Friction compensation" tab of the
Axis > Control dialog box. The "Friction compensation" tab is available when
expert mode is set on the "Static controller data" tab.

The system provides a simple method compensating for the forces of static friction.
During startup from a standstill, a DT1 element adds a static friction compensation
signal to the manipulated variable.

The friction compensation is added relative to the velocity setpoint. It is only active
when motion commands are executed.
The standstill ID for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay
response are set in the configuration.

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4.5.9 Homing

4.5.9.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must
be referenced to the position of the mechanical system of the machine each time
they power is switched on. The axis is synchronized during homing based on the
activation of a certain position value at a defined position of the drive mechanism.
Axes can be homed in:
• active mode (reference point approach)
• passive mode (homing on-the-fly)
• direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the
reference point and on the motion an axis may perform for homing.

4.5.9.2 Homing - "Active homing" tab

Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing
dialog box in S7T Config.
Three homing modes are available for "Active homing":
• Reference cam and encoder zero mark
• Encoder zero mark only
• External zero mark only
Start of the homing function:

MC_Home Mode = 0 Determination of the reference point based on the axis

configuration
Mode = 1 Determination of the reference point based on the axis
Position = x configuration The reference point is assigned the value of
input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

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"No active homing" mode

Select yes on the "Homing required" drop-down list " and no active homing from
the "Homing mode" drop-down list if you only want to use passive homing mode.

Active homing mode with "reference cam and encoder zero mark"

When you start homing by calling the "MC_Home" technology function, the axis
first approaches the reference cam, and secondly the referencing encoder zero
mark, according to the axis configuration. The lower section of the diagram shows
the resultant motion sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder zero
mark"
Encoder zero mark Before reference The axis is homed to the encoder zero mark which
cam lies before the homing cam with reference to the
direction of reference point approach.
After reference The axis is homed to the encoder zero mark which
cam lies after the homing cam with reference to the
direction of the reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Logical address of reference [byte address] Logical byte address of the homing cam. You can
cam connect the homing cam to the integrated inputs of
the Technology CPU, or to the IO on DP(DRIVE).
Bit number [number of the bit] Bit address of the signal used for the reference cam.
Approach velocity Velocity at which the axis approaches the reference
cam.
Entry velocity Velocity at which the axis approaches the (shifted)
reference point after detection of the encoder zero
mark.
Shutdown velocity Velocity at which the axis approaches the encoder
zero mark after detection of the reference cam.
Reference point coordinate Enter the actual position value of the reference point
(Reference cam and encoder based on the axis coordinate system.
zero mark, External zero mark
only, Encoder zero mark only)
Reference point shift The "reference point shift" function shifts the
reference point by a configured distance. The axis
moves along this configured distance at a velocity
defined in Approach Velocity, starting at the
synchronization position with encoder zero mark.
Modulo axes always take the shortest distance.
Max. distance to reference cam Deactivated The distance to reference cam detection is not
monitored
Activated Monitoring of the distance between the start of
reference point approach and detection of the
reference cam. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

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Parameters Value Description

Maximum distance to encoder Deactivated Distance to go to the encoder zero mark is not
zero mark monitored
Activated Monitoring of the distance an axis travels between
the reference cam and the encoder zero mark. If the
difference in this distance exceeds the configured
value, the corresponding technology DB returns
error 801D. The reference point approach is
canceled.

Sequence of the reference point approach

• Phase 1: Reference cam approach
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach". The
reference cam approach ends when this cam (Phase 1) is reached.
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the homing cam by setting the "Max.
distance to reference cam" check box. The reference point approach is
canceled with error if the reference cam is not detected between the start and
end of the configured distance.
• Phase 2: Synchronization with encoder zero mark
After having reached the reference cam, the axis accelerates / decelerates to
shutdown velocity, and approaches the encoder zero mark in the direction
derived from the combined settings of "encoder zero mark" (after or before the
reference cam) and "Start of reference point approach" (positive or negative
direction). After the reference cam is detected, the PLC synchronizes the axis
to the first encoder zero mark detected in accordance with the configuration.
The axis position is set to the default value minus the reference point shift
defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the reference cam
and the encoder zero mark by setting the "Max. distance to encoder zero mark"
check box. The reference point approach is canceled with error if the encoder
zero mark is not found within the specified distance after the reference cam is
detected.

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• Phase 3: Reference point approach

After the encoder zero mark is detected, the axis accelerates / decelerates to
approach velocity to approach the reference point.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing with reversal of the direction.

Active homing without reversal of the direction.

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Active homing mode with "External zero mark only"

When a homing operation is started by calling the "MC_Home" technology function,

the axis approaches the referencing external zero mark in accordance with the
configuration. The lower section of the diagram shows the resultant motion
sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Homing mode: For this homing mode:
Homing with Homing mode: "External zero mark only"
Signal transition Low -> High The motion is referenced to the positive edge of the
(can only be set if changes are (positive) external zero mark (setting according to edge
supported by the selected drive) evaluation in the drive component).
High -> Low The motion is referenced to the negative edge of
(negative) the external zero mark (setting according to edge
evaluation in the drive component).
On the side of the external zero left The signal transition is measured viewed from the
mark left side of the external zero mark, in the selected
(can only be set if changes are direction of reference point approach.
supported by the selected drive) right The signal transition is measured viewed from the
right side of the external zero mark, in the selected
direction of reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Approach velocity Velocity at which the axis approaches the external
zero mark.
Entry velocity Velocity at which the axis approaches the (shifted)
homing position after detection of the external zero
mark.
Reference point coordinate Enter the actual position value of the reference
point based on the axis coordinate system.
Reference point shift The "reference point shift" shifts the reference point
by a configured distance. The axis moves by a
configured distance at the velocity defined at
Homing Velocity, after its synchronization at the
external zero mark edge.
Modulo axes always take the shortest distance.

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Parameters Value Description

Max. distance to external zero Deactivated The distance to external zero mark detection is not
mark monitored.
Activated Monitoring of the distance between the start of the
reference point approach and detection of the
external zero mark. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

Note
When homing with "External zero mark", connect the external zero mark as digital input to
the measuring input of the drive component.

Note
In order to execute a reference point approach in "external zero mark" homing
mode, select values for "Signal transition" and "on the side of the external zero
mark" which correspond with the drive's configuration or functionality. Instead of
being used to configure the measuring function in the drive, the "Signal transition"
and "on external zero mark side" parameters merely reflect their functionality in
order to control the axis motion according to the configuration.
For information on the configuration of external zero mark detection, refer to the
relevant product information or to the drive manuals.

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Sequence of the reference point approach

• Phase 1: Synchronization to external zero mark
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach".
Synchronization ends at the external zero mark (phase 1) when the configured
signal transition (configured at the drive component) is detected at external
zero mark. The axis position is set to the default value minus the reference
point shift defined in "Reference point coordinate" (Mode = 0) or at input
parameter Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the signal edge by setting the "Max.
distance to external zero mark" check box. Homing is canceled with error if the
edge is not detected between the start of reference point approach and the end
of the configured distance.
• Phase 2: Reference point approach
After the configured signal edge is detected, the axis accelerates / decelerates
to approach the reference point coordinate at shutdown velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The traversing direction is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the external zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing mode with "Encoder zero mark only"

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Homing to encoder zero mark is used, for example, at axes for which the encoder
can only set one encoder zero mark in the entire traversing range of the axis. The
homing command initiates axis approach to the encoder zero mark. After the
encoder zero mark is detected, the axis approaches the shifted reference point at
homing velocity. The axis position now has the value defined in the reference point
coordinate. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Start reference point Positive Reference point approach in positive
approach direction direction.
Negative Reference point approach in negative
direction direction.
Entry velocity Velocity at which the axis approaches the
(shifted) reference point after detection of
the encoder zero mark.
Shutdown velocity Velocity at which the axis starts the
reference point approach and approaches
the encoder zero mark.
Reference point coordinate Enter the actual position value of the
reference point based on the axis
coordinate system.
Reference point shift The homing position offset function shifts
the homing position by a configured
distance, i.e. the axis moves along a
configured distance behind the encoder
zero mark detection position at a velocity
defined under Homing Velocity.
Modulo axes always take the shortest
distance.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated Monitoring of the distance between the
start of the reference point approach and
detection of the encoder zero mark.
If the difference in this distance exceeds
the configured value, the corresponding
technology DB returns error 801D. The
reference point approach is canceled.

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Sequence of the reference point approach

• Phase 1: Synchronization to encoder zero mark
The axis starts its reference point approach in the direction set in "Start of
reference point approach" at the configured shutdown velocity Synchronization
with encoder zero mark (phase 1) ends with the detection of the encoder zero
mark. The axis position is set to the default value minus the reference point
shift defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and encoder zero mark detection by setting the "Max.
distance to zero mark" check box. Homing is canceled with error if the encoder
zero mark is not detected between the start of reference point approach and
the end of the configured distance.
• Phase 2: Reference point approach
After the encoder zero mark is detected, the axis accelerates / decelerates to
approach the reference point coordinate at entry velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

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4.5.9.3 Homing - "Passive homing" tab

Passive homing can be set in the "Passive homing" tab of the Axis > Homing
dialog box of S7T Config. The difference compared to active homing is that the
required homing motion is not initiated by a homing command.
Three homing modes are available for "Passive homing":
• Reference cam and encoder zero mark
• External zero mark only
• Encoder zero mark only
Start of the homing function:

MC_Home Mode = 2 At the reference point, the current position is assigned the
Position = x value of input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.

Note
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.

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Passive homing mode with "Reference cam and encoder zero mark"

After the axis has passed the reference cam, the next encoder zero mark triggers
axis homing. At the reference point, the axis position is set to the position value
defined at input parameter Position of the "MC_Home" technology function.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder
zero mark"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the encoder zero mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Logical address of reference [byte Logical byte address of the homing cam. You
cam address] can connect the homing cam to the integrated
inputs of the Technology CPU, or to the IO on
DP(DRIVE).

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Parameters Value Description

Bit number [number of Bit address of the signal used for the
the bit] reference cam.
Max. distance to reference Deactivated The distance to reference cam detection is not
cam monitored
Activated Monitoring of the distance between the start
of the homing function and detection of the
homing cam. If the difference in this distance
exceeds the configured value, the
corresponding technology DB returns error
801D. The homing function is canceled.
Maximum distance to Deactivated Distance to go to the encoder zero mark is not
encoder zero mark monitored
Activated Monitoring of the distance an axis travels
between the reference cam and the encoder
zero mark.
If the difference in this distance exceeds the
configured value, the corresponding
technology DB returns error 801D. The
homing function is canceled.

Passive homing mode with "External zero mark only"

Axis homing starts with the detection of the external zero mark. The axis is set to
the position value at the "Position" input of the technology function "MC_Home".

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode Homing mode described here:
Homing mode: "External zero mark only"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the external zero mark.
Negative The axis is only homed with negative
direction approach to the external zero mark.
Current The axis is homed when it reaches the next
direction external zero mark.
On the side of the external left Direction of motion Positive direction
zero mark Axis homing is triggered at the positive edge.
Direction of motion Negative direction
Axis homing is triggered at the negative edge.
right Direction of motion Positive direction
Axis homing is triggered at the negative edge.
Direction of motion Negative direction
Axis homing is triggered at the positive edge.
Max. distance to external Deactivated Distance to go to the external zero mark is not
zero mark monitored
Activated The function monitors the distance an axis
travels between the start of its homing function
and detection of the external zero mark.
If the difference in this distance exceeds the
configured distance, the corresponding
technology DB indicates error 801D. The
homing function is canceled.

Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.

Note
In order to be able to execute the reference point approach in "external zero mark" homing
mode as required, you should always set values at "Motion direction" and "on the side of the
external zero mark" which are compatible with the drive's configuration or functionality. The
"on the side of the external zero mark" and "Direction of movement" parameters are not
used to configure the measuring function in the drive, but rather reflect their functionality.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.

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Passive homing mode with "Encoder zero mark only"

Homing mode with "Zero mark only" is used, for example, at axes equipped with an
encoder which outputs only one zero mark signal in the entire traversing range of
the axis.
Axis homing starts with the detection of the encoder zero mark. When the encoder
zero mark is detected, the axis position value is set to the position value set at the
Position input parameter of the "MC_Home" technology function.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Direction of motion Positive The axis is only homed with positive
direction approach direction to the encoder zero
mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero
mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated The function monitors the distance an axis
travels between the start of its homing
function and detection of the encoder zero
mark. If the difference in this distance
exceeds the configured distance, the
corresponding technology DB indicates
error 801D. The homing function is
canceled.

Passive homing mode with "Default"

For this mode, set the default value when creating a new axis in S7T Config.
Homing mode with encoder zero mark only is used if the configured encoder
provides a zero mark. Homing mode external zero mark only is used if the encoder
does not provide a zero mark.

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4.5.9.4 Direct homing

The actual axis position is set to the value defined at technology function
"MC_Home". No reference point shift settings are active. The function does not
execute a motion. The axis is homed when the command is executed.
Start of the homing function:

MC_Home Mode = 3 Direct homing:

Position = x The current position is assigned the value of input parameter
Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

4.5.9.5 Position correction

A correction value is deducted from the actual position value of the axis. By
contrast to other homing modes, the axis maintains its homed state (homed / not
homed) in this case.
The position correction function can also be used to manipulate the setpoints of the
various coordinate systems (base coordinate system, superimposing coordinate
system). This is of significance for superimposing camming in order to be able to
generate a reference within a cam disk.
Start of the homing function:

MC_Home Mode = 4 Actual value correction

Position = x (position value = actual position - position parameter).
Mode = 6 Setpoint correction in the base coordinate system
Position = x (position value = actual position - position parameter).
Mode = 7 Setpoint correction in the superimposing coordinate system
Position = x (position value = actual position - position parameter).

Position correction does not influence the Statusword.HomingDone status at the

axis technology DB.

4.5.9.6 Motions with non-homed axes

In the Axis > Homing dialog box, you determine whether absolute positioning is to
be available for a non-homed axis.
Optional settings for "Homing required":
• No: Relative and absolute motions are possible. The software limit switches
are monitored.
• Yes: Relative motion only. The software limit switches are not monitored as
long as the axis is not homed.

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4.5.10 Monitoring

4.5.10.1 Monitoring functions - Overview

Axis monitoring functions you can configure in S7T Config:

Monitoring Speed- Positioning Synchronizati

controlled axis on
axis axis
Velocity error monitoring X - -
Positioning monitoring - X X
Following error monitoring - X X
Standstill signal X X X
Software limit switches - X X
Hardware limit switches X X X
Synchronization monitoring - - X
Manipulated variable monitoring (always X X X
active)
Encoder limit frequency monitoring X (only with X X
encoder)

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Positioning axis monitoring

The figure below shows an example of positioning axis monitoring:

Errors are reported at the ErrorStatus parameter of the technology DB.

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4.5.10.2 Monitoring functions - Positioning and standstill monitoring

At the Axis > Monitoring functions dialog box, "Positioning and standstill
monitoring" tab, set the limit values for monitoring the positioning of position-
controlled and synchronization axes.

The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronism technology is set for the axis.

Positioning monitoring
At the end of a positioning motion, the function monitors axis approach to the target
position. A positioning window and a time tolerance are defined for reaching this
end position. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before
the positive feedback of the positioning command is activated. This time can be
used for oscillating processes and control loops, for which the tolerance window
should be less than the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value
reaches the positioning window.
When positioning monitoring is triggered, the axis technology DB returns error
8019.

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Standstill monitoring
Standstill monitoring is enabled when the position setpoint of a positioning
command equals the value of the target position, and the delay of standstill
monitoring activation has expired.
Standstill monitoring is triggered if the axis moves out of the configured standstill
tolerance window for any time longer than the configured period. When standstill
monitoring is triggered, the axis technology DB returns error 8018.

4.5.10.3 Monitoring functions - "Following error monitoring" tab

Dynamic following error monitoring can be enabled in the "Following error
monitoring" tab of the Axis > Monitoring functions dialog box.
Following error monitoring at the position-controlled axis is based on the calculated
following error. If the offset between the actual position value and the position
setpoint is higher than the configured following error limit triggers, the axis
technology DB returns error 8016. In this context, the permitted following error
depends on the velocity setpoint of the axis.
At velocities lower than the configured minimum, the permitted following error is
constant and is configured at the "constant following error" parameter. Above this
limit, there is a linear increase of the following error to a maximum which is defined
by the parameter "maximum permitted following error" at maximum velocity. The
permissible maximum following error is reached at maximum velocity.

The "Enter velocity value" input box allows the user to verify the set values of
following error monitoring in order to determine the permissible maximum following
error at the set velocity.
The "Following error monitoring" tab is shown for position-controlled real axes.

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4.5.10.4 Monitoring functions - "Standstill signal" tab

Select the "Standstill signal" tab of the Axis > Monitoring functions dialog box to
set the velocity threshold and the delay time.
The standstill signal sets the "standstill" bit in the status word of the technology DB
if the current velocity is below the configured velocity threshold at least for the
duration of the set delay time.
At speed-controlled and positioning axes, the override is carried out in speed-
controlled mode. At the positioning axis, the override is activated when the
positioning window is reached.

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4.5.10.5 Monitoring functions - "Velocity monitoring" tab

Enable velocity error monitoring in the Axis > Monitoring, "Velocity error
monitoring" tab.
Velocity error monitoring is only relevant to these axes:
• Speed-controlled axis with encoder
• Positioning axes operating in speed control mode
("MC_MoveVelocity" – input parameter PositionControl = FALSE)

Velocity error monitoring

Enable velocity error monitoring in this dialog.

Maximum velocity error:

(The input box is only visible if velocity error monitoring is enabled)
Enter the maximum velocity error in this dialog.

4.5.10.6 Manipulated variable monitoring

The maximum values of the manipulated variables are limited for monitoring
configured speed limits. The technology DB returns a warning if the values of
manipulated variables exceed a configurable maximum.
The maximum possible acceleration and thus the maximum torque are monitored
by monitoring the rise of the manipulated variable.
You define the maximum values of the axis in the Axis > Limits dialog box,
"Position and velocity" tab.

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4.6 Configuring hydraulic axes

4.6.1 Configuring hydraulic axes - inserting an axis

Requirements in HW Config
• A Technology CPU was configured
• An analog control output (analog output module, or analog drive interface IM
174/ADI4) is configured
• An encoder is configured (analog encoder, incremental or absolute encoder)
• The configuration was saved in HW Config.

Note
Set "standard telegram 3" in HW Config when using analog drive interface
IM 174/ADI4.
Call "DP Slave properties" in HW Config by double-clicking the IM 174/ADI4 object.
Select the "Configuration" tab, and then select "Standard telegram 3" from the
"Default" drop-down list.

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Inserting a new axis in S7T Config

The next steps show the basic procedure of inserting and configuring an axis,
based on the example of a hydraulic positioning axis. A hydraulic axis can only be
inserted as real axis.

Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".

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Step Description
2. On the "General" tab, select the "speed control" and "positioning" technology.

You can edit the name, enter an author, define a version name, and enter a comment.
"Technology Objects Management" applies the name of the TO as symbolic name to the
technology DB of the object in STEP 7.
3. Click "OK" - this opens the axis wizard.

Note
You define the axis technology (speed, positioning, synchronous operation) once
when you configure a new axis. In order to change the axis technology at a later
time, you must delete and recreate the axis.

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Step Description
4. Select a "linear," or "rotary" and "hydraulic" axis type in the next dialog box. The valve type is
defined as a "Q valve".

Click "Next."

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Step Description
5. From the list in the next dialog box, select the physical units you want to apply to axis
configuration data and to the user program.

Note: The physical unit settings only apply to this axis. The list may also show physical units
which are irrelevant to this axis due to the axis configuration.
Example The value "1000.0" with positioning unit in [mm] setting at input parameter Position of
the technology function "MC_MoveAbsolute" is equivalent to a position value of 1000.0 mm.
Notice:
Numerical values set in the user programs (for motion commands, for example) are not
converted into the new units when you change the unit settings. The values always refer to the
configured unit!
Click "Next."

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Step Description
6. Set the "Modulo axis" check box, and then type in the required modulo length and start value if
you are going to operate the axis in modulo mode.

Click "Next."
For further information on procedures, refer to the chapters listed below:
• "Configuring hydraulic axes – Q output via IM 174/ADI4"
• Configuring hydraulic axes – Q output via analog output module

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4.6.2 Configuring hydraulic axes - Q output via IM 174/ADI4

Configuring the Q output for analog drive interface IM 174/ADI4

The description below is based on the chapter "Configuring hydraulic axes -
inserting an axis".

Step Description
1. Define the properties of the analog output module in the next dialog box.

Which output device are you Select the analog drive interface IM 174/ADI4.
using?:
Outlet: Select the analog output of the drive interface.
logical HW addresses: Outlet: The logical addresses can not be edited, as these are defined
by the selection of the analog output.
Message frame type for data Only "Standard telegram 3" (here, "DP_Tel3") is permitted as
transfer message frame type. The message frame must match the
selection in HW Config.
Output of the inverted value: Set this check box to set invert control output to the hydraulic
drive.
Click "Next" when you completed your selection.

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Step Description
2a. On the next dialog box, assign the hydraulic axis an incremental encoder. The encoder must
support "rectangular TTL" mode.
Continue at step 2b when using an absolute encoder.
For information on using analog absolute encoders, refer to the chapter "Configuring hydraulic
axes - Q output via analog output module" .

Where to connect the position Select the encoder interface of drive interface module IM
encoder: 174/ADI4.
logical HW addresses: Input, The logical addresses can not be edited, as these are defined
output: by the encoders selected.
Message frame type for data Only "Standard telegram 3" (here, "DP_Tel3") is permitted as
transfer message frame type.
Encoder type: Select "Incremental encoder" from the drop-down list.
Measuring system: Select "Linear encoder system" or "Rotary encoder system",
depending on the encoder used.
Click "Next" when you completed your settings.

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Step Description
3a. The encoder data are configured in the next dialog box.

Encoder resolution: For information on the encoder resolution, refer to the encoder
documentation.
Multiplication factor of the Calibrate the multiplication factor of the cyclic actual value
cyclic actual value based on the values used in the configuration of the drive
component.
Click "Next" when you completed your settings.
You have successfully completed the axis configuration.

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Step Description
2b. Assign the hydraulic axis an absolute encoder on the next dialog box. The encoder must
support "SSI" mode.

Where to connect the position Select the encoder interface of drive interface module
encoder: IM 174/ADI4.
logical HW addresses: Input, The logical addresses can not be edited, as these are defined
output: by the encoders selected.
Message frame type for data Only "Standard telegram 3" (here, "DP_Tel3") is permitted as
transfer message frame type.
Encoder type: Select "Absolute encoder" or "Absolute encoder cyclic absolute"
from the drop-down list
Measuring system: Select "Linear encoder system" or "Rotary encoder system",
depending on the encoder used.
Click "Next" when you completed your settings.

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Step Description
3b. The next dialog box is used to configure the scaling of the encoder and the multiplication factor
of the cyclic actual value. Calibrate the multiplication factor of the cyclic actual value based on
the values used in the configuration of the drive component.

Scaling: The scaling value describes the distance per encoder pulse.
Multiplication factor of the Encoders connected to a drive can return pulses at a resolution
cyclic actual value higher than the actual encoder resolution (fine resolution).
The multiplication factor of the cyclic actual value is set to 0 by
default. The system automatically uses multiplier 2048
(2exp11).
Example of a deviating value:
The absolute encoder connected to the drive returns 4096
(2exp12) pulses per revolution (encoder resolution). In this
case, set multiplier 12 for the cyclic actual value.
Multiplication factor of the The encoder actual value transferred at power on (startup) is
absolute actual value multiplied by the multiplication factor of the absolute actual
value.
The multiplication factor 0 is set by default for the absolute
actual value. The system automatically uses multiplication
factor 512 (2exp9).
The multiplication factors also have to be set at the drive!
• At SINAMICS S120: Parameters p0418 and p0419 (for encoder 1);
(the effective value in r0979.3 und r0979.4 can be read)
• At SIMODRIVE 611U: Parameters 1042 and 1043 (for encoder 1)
• At Masterdrives MC: Parameter 171
Number of data bits: Total number of pulses
Example
4096 pulses = 2exp12
Exponent 12 = 12 data bits
Click "Next" when you completed your settings.

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Step Description
End You have successfully completed the axis configuration.

Exit the axis configuration dialog by clicking "Finish".

Note
Conditions of enabling the hydraulic axis with position control using technology
function "MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile in S7T Config.
• The valve profile must be activated by calling technology function
"MC_SetCharacteristic".

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4.6.3 Configuring hydraulic axes - Q output via analog output module

Configuring the Q output for an analog output module of ET 200M or ET 200S

The description below is based on the chapter "Configuring hydraulic axes -
inserting an axis".

Step Description
1. Define the properties of the analog output module in the next dialog box.

Output device used: Select "analog output module" from the drop-down list.
logical HW addresses: Outlet: Enter the HW address of the analog output module of ET 200M
or ET 200S.
Format: Select the "left aligned" format for the analog output modules of
ET 200M and ET 200S.
Output of the inverted value: Set this check box if the analog value is reciprocal to the flow.
Resolution: For information on the resolution, refer to the hardware catalog
of "HW Config" (unsigned resolution).
Valve enable output: Set this check box to use the enable status of technology
function "MC_Power" as control signal.
Logical address: There, you can set the logical address of the enable output
signal if the Valve enable output check box is set.
Bit number: Enter the bit number for the enable output signal.
Click "Next" when you completed your settings.

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Step Description
2. You configure an analog absolute encoder for the hydraulic drive in the next dialog boxes. For
information on using incremental encoders (rectangular TTL) and absolute encoders (SSI), refer
to the chapter "Configuring hydraulic axes - Q output via IM 174/ADI4".

Where to connect the position Select "Encoder value input module" from the drop-down list.
encoder:
logical HW addresses: Input: Enter the HW address of the analog input module of ET 200M
or ET 200S.
Click "Next" when you completed your settings.

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Step Description
3. Opens the dialog box where you program the position value.

Factor / Offset: Set the Factor to define the gradient of the position value, and
set Offset to define the shift.
Number of utilizable bits: Enter the number of utilizable bits of the analog module.
Format: Select "left aligned" for the analog modules of ET 200M and ET
200S.
minimum raw value: Enter the minimum raw value of the analog module.
maximum raw value: Enter the maximum raw value of the analog module.
Error tolerance time: Enter an error tolerance time.
Activate filter: Set the check box to apply a PT1 filter to the analog value of
the position.
Time constant PT1 filter You can enter a time constant for the PT1 filter if the Activate
filter check box was set.
Click "Next" when you completed your settings.

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Step Description
End You have successfully completed the axis configuration.

Exit the axis configuration dialog by clicking "Finish".

Note
Conditions of enabling the hydraulic axis with position control using technology
function "MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile in S7T Config.
• The valve profile must be activated by calling technology function
"MC_SetCharacteristic".

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4.6.4 Determining and adding a valve profile

The non-linearity between the valve's manipulated variable (-10 V to +10 V, for
example) and the velocity of the hydraulic axis is mapped using the valve profile.
The "cam disk" TO is used as valve profile. The valve profile is formed by pairs of
values which map the valve position relative to the velocity reached.

Determining a valve profile using the Symbol Browser and the Trace tool

1. Verify that the hydraulic axis can be moved (hydraulic pressure present, valve ready, etc.).
2. Verify that the hydraulic axis was not assigned a valve profile ("Profiles" setting in the Navigator
of S7T Config).
3. Enable the hydraulic axis by setting Mode = 2 at technology function "MC_Power".
4. Program the following variables in S7T Config for recording in Trace:
• actordata.qoutputvalue - manipulated variable as a percentage relative to the Q output
• sensordata.sensordata[n].velocity - velocity of the hydraulic axis
5. In the symbol browser of S7T Config, set system variable
servosettings.additionalqoutputvalueswitch =YES.
6. Start Trace.
7. In the Symbol Browser, set a small percent value at system variable
servosettings.additionalqoutputvalue. The axis is now moving. Enter value 0 to stop the axis.
8. Enter values between 0% and 100% in succession in order to obtain a sufficient number of
interpolation points for the valve profile.
9. In S7T Config, transfer the recorded values to the cam disk of the valve profile using CamEdit.
Transfer the manipulated variable to the "Master" column, and the velocity value to the "Slave"
column.

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Determining a valve profile using a STEP 7 program and Trace

1. Verify that the hydraulic axis can be moved (hydraulic pressure present, valve ready, etc.).
2. Verify that the hydraulic axis was not assigned a valve profile ("Profiles" setting in the Navigator
of S7T Config).
3. Enable the hydraulic axis by setting Mode = 0 at technology function "MC_Power".
4. Program the following variables in S7T Config for the recording in Trace:
• actordata.qoutputvalue - manipulated variable as a percentage relative to the Q output
• sensordata.sensordata[n].velocity - velocity of the hydraulic axis
5. Start Trace.
6. Move the axis at different velocities using the "MC_MoveVelocity" technology function and the
PositionControl = FALSE setting.
Notice: The velocity displayed in sensordata.sensordata[n].velocity does not necessarily have to
correspond with the default velocity set at "MC_MoveVelocity", because you have not yet
activated a valve profile.
You can stop the axis at a defined position in order to prevent the drive from moving to a fixed
end stop. Use technology function "MC_Stop" to set this position.
7. Set several velocity values up to maximum in succession in order to obtain a sufficient number
of interpolation points for the valve profile.
8. In S7T Config, transfer the recorded values to the cam disk of the valve profile using CamEdit.
Transfer the manipulated variable to the "Master" column, and the velocity value to the "Slave"
column.

As an alternative to CamEdit, you can also create the cam disk using the
technology functions "MC_CamClear", "MC_CamSectorAdd" and
"MC_CamInterpolate".

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Example - Profile of a proportional directional valve

Enter the valve control output as a "%" unit in the "Master" column. The "Slave"
column contains the corresponding velocity values of the hydraulic axis.

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Example - Valve profiles for a variable speed pump with switching directional
valve
In a system containing a variable speed pump with switching directional valve,
negative motion directions are achieved by controlling the switching directional
valve. Use separate valve profiles for the positive and negative direction of
movement.
Example of a valve profile for positive direction of movement:

Enter the valve control output as a "%" unit in the "Master" column. The "Slave"
column contains the corresponding velocity values of the hydraulic axis. Any
negative control values which may briefly develop due to control functions are
limited in row 1 to 0.

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Example of a valve profile for negative direction of movement:

The structure of the valve profile for negative direction of movement is similar that
of positive direction of movement. The first value pair also limits negative
manipulated values to 0.
You activate the relevant valve profile in the user program by calling the
"MC_SetCharacteristic" technology function, depending on the direction of
movement.

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4.6.5 Assigning the valve profile

You assign the corresponding cam disk to the hydraulic axis as possible valve
profile in order to let you activate a valve profile by calling the
"MC_SetCharacteristic" technology function.
To do so, double-click "Profile" in the Navigator of S7T Config.

In the next dialog box, select the cam disks to use as valve profile for this hydraulic
axis.

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4.6.6 Adding a data record for data record changeover

Introduction
The "MC_ChangeDataset" technology function can be used to perform a data
record changeover at an axis. You can create data records for speed-controlled
axes, positioning axes and synchronous axes. Virtual axes always have only one
data record.
The data record changeover function can be used, for example, to toggle between
the motor encoder and the machine encoder, or to edit controller parameters.

Notice
When editing data record parameters, note that certain parameters must be
identical in the data records:
• Parameters changing the structure (different controller types such as PV or
PID controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for
example)
The consistency check reports any illegal technology parameter settings when you
configure data records in S7T Config.

Requirements
• The axis is configured.

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Adding a new data record

To configure a new data record.

Step Description
1. In the Navigator of S7T Config, open the configuration dialog box of the axis to which you want
to add a data record.
2. Set the "data record changeover" check box.
The check box is hidden if the axis already contains several data records.
3. Click "Add".
Result: A new data record is added to the axis.

4. Click "Configure active data set". Confirm the "reconfigure active data record" message with
"Yes".

Result: The Axis Wizard appears.

5. Use the axis wizard to configure the data record.
Note: The technology used is set once when you create the axis. You can not use a second
data record to change the axis technology.
6. You may also perform an encoder changeover using the data record changeover function. Do
so by setting the "enable encoder changeover" check box on the "Axis configuration - Encoder
assignment" dialog box. Ignore this step and the next otherwise.
Click "new encoder" to create the second encoder.
Result: A drop-down list opens from which you can select an encoder for this data record.

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Step Description
7. Select the connection and message frame type for the second encoder. In the final step, enter
the encoder information ("Encoder type", "Encoder mode" and "Measuring system").
In the encoder configuration, select the settings specified in the encoder documentation, or the
settings you made in the configuration of the drive component to which the encoder is
connected.

Click "Next". Continue by editing the steps in the wizard, and finalize your configuration.

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Step Description
8. In the axis configuration dialog box, select the data record to be loaded after CPU startup
("active after startup").

Result: The "Encoder" table shows an overview of the encoders configured for the axis.

Deleting the data record of an axis

You start to delete a data record by selecting it from the axis configuration dialog
box. Next, click "Delete". The data record is deleted.

Selecting a data record

Select the data record to edit from the "Data record active" drop-down list. This
selection is available in all dialog boxes of the axis.
Select the data record which is used by default after startup from the "Data record
active after startup".

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4.6.7 Actual value logging

The diagram below shows the preparation of the actual value of an axis or external
encoder in the Technology CPU.

Data are logged within the position control cycle. These data can be used to
calculate further variables such as velocity and acceleration.
The system variables sensordata.sensordata[n].incrementalposition and
sensordata.sensordata[n].position are calculated in the position controller cycle; all
other system variable are calculated in the corresponding execution cycle of the
axis or external encoder. For external encoders, the system variables
sensordata.sensordata[n]…. are named sensordata….
The actual position value filter can be configured or activated at configuration
parameter
TypeOfAxis.NumberOfEncoders.Encoder_n.AnalogSensor.PositionFilter. The filter
is only available for analog absolute encoders:

Configuration parameter Meaning

TypeOfAxis.NumberOfEncoders.Encoder_n. • YES
AnalogSensor.PositionFilter.enable Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.NumberOfEncoders.Encoder_n. Time constant for PT1 filtering.
AnalogSensor.PositionFilter.timeConstant

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The "sensor" velocity filter can be configured or activated at configuration

parameter TypeOfAxis.NumberOfEncoders.Encoder_n.Filter:

Configuration parameter Meaning

TypeOfAxis.NumberOfEncoders.Encoder_n. • YES
Filter.enable Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.NumberOfEncoders.Encoder_n. Time constant for PT1 filtering.
Filter.timeConstant

(The configuration parameter of the external encoder is named

TypeOfAxis.Encoder_1.Filter...)

The actual velocity value filter can be set and activated at configuration parameter
TypeOfAxis.SmoothingFilter:

Configuration parameter Meaning

TypeOfAxis.SmoothingFilter.enable • YES
Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.SmoothingFilter.mode You can set the filter calculation method at this
configuration parameter:
• DEFAULT_MODE
Averaging as a function of the ratio:
execution cycle of the axis / external encoder to the
position control cycle
Example: The ratio between the execution cycle and
the position control cycle is 3:1. In this case, the
mean value is formed in three position controller
cycles.
• AVERAGING
Averaging by time constant
• PT1
PT1 smoothing by time constant
TypeOfAxis.SmoothingFilter.timeConstant Time constant for PT1 filtering or averaging
"AVERAGING".

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4.6.8 Configuration

4.6.8.1 Configuration - Axis

The Axis > Configuration dialog box shows the axis and drive settings.
You can edit these settings in a dialog box by clicking "Configure active data set".

This dialog box also contains functions for managing the data records for data
record changeover. If the TO supports multiple data records, you can:
• create new data records
• delete data records
• define which data record to load for the TO during CPU startup, and
• reconfigure the selected data record.

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4.6.9 Mechanical system

4.6.9.1 Mechanics - Electrical axis

The mechanical parameters of the axis and encoder are configured in the Axis >
Mechanics dialog box.

Axis settings:
• Drive direction settings
• Load gear settings
• Leadscrew pitch of a linear axis
• Modulo settings
• Backlash compensation settings
Encoder settings:
• Measuring gear settings
• Backlash compensation settings
• Encoder mounting type

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Conditions of determining gear parameters

The configuration may return error messages indicating incompatible gear
parameters. The selection of incompatible configuration data may lead to internal
overflows in the integrated technology. Formulae used to determine suitable
parameters:
f1 = Measuring gear numerator x 360 x internal resolution x load gear denominator
f2 = Measuring gear denominator x encoder resolution x actual value coefficient x
load gear numerator
Calculate the greatest common divisor k based on the f1 and f2 values, and then
insert the result in the formula shown below:
f11 = (f1/k) < 2exp32
f22 = (f2/k) < 2exp32
The results of f11 and f22 must be less than 2exp32. If this is not the case, check
whether you can change the parameters in formula f1 and f2 to achieve values for
f11 and f22 which do not exceed the maximum permissible value.
Check the value shown below if f11 and f22 satisfy the conditions described earlier
and configuration errors persist:
f3 = modulo length x internal resolution
You can now calculate the greatest common divisor k2 of f3 and f11, and then
insert it into the next formula:
f31 = ((f3 x f22 x f11) / (k2 x k2)) < 2exp63
At this point, check whether the value in f31 is less than 2exp63. If not, check
whether you can reduce modulo length. You could also modify the parameters in
the f1 and f2 formulae. When doing so, however, make sure that f11 and f22
conditions are still satisfied.
Parameter description

parameters Comment Configuration parameter at the axis

Measuring gear Numerator of the measuring gear AdaptDrive.numFactor
numerator ratio AdaptExtern.numFactor
AdaptLoad.numFactor
Measuring gear Denominator of the measuring AdaptDrive.denFactor
denominator gear ratio AdaptExtern.denFactor
AdaptLoad.denFactor
Load gear numerator Load gear ratio numerator Gear.numFactor
Load gear Load gear ratio denominator Gear.denFactor
denominator
Internal resolution Internal increments / position unit Defined in the configuration using the axis
wizard.
Actual value = X for DP drive X for absolute value encoders:
coefficient IncEncoder.incResolution MultiplierCyclic
X for absolute value encoders:
AbsEncoder.absResolution.MultiplierCyclic

A calculation tool is available in a contribution (FAQ) to this topic on the Internet at

http://www.siemens.com/automation/service&support.

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4.6.10 Default

4.6.10.1 Defaults - "Dynamics" tab

The default values for axis dynamics can be set in the Axis > Default dialog box,
"Dynamics" tab. The default values are applied if a negative dynamic value is set at
a technology function.

Default values supported:

• Direction
• Velocity
• Acceleration
• Deceleration
• Jerk
• Velocity profile

Stop time
The time set at "Stop time" comes into effect when a moving axis is disabled and
Stop mode = 2 is set at the MC_Power parameter.

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Velocity profile
The velocity profile defines the response of the axis during startup and when
braking, and to velocity changes.
The technology functions do not use the default value. Use input parameter Jerk to
edit the velocity profile.
You can choose between the following profiles:
• Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative
direction of the motion (jerk = 0).
• Constant
The profile shows a constant acceleration, the jerk profile is controllable (jerk
<> 0).

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4.6.11 Limits

4.6.11.1 Limits - "Position and velocity" tab

In the "Position and velocity" tab of the Axis > Limits dialog box, you can
• configure and enable monitoring of the hardware limit switches
• configure and enable monitoring of the software limit switches
• set velocity limits
• set emergency-off deceleration

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4.6.11.2 Hardware limit switches

You activate hardware limit switch monitoring in the Axis > dialog box, "Position
and velocity" tab. Hardware limit switch monitoring is used to limit the operating
range of an axis, or to protect the machine.

Wiring
The HW limit switches can be wired to the four integrated digital inputs of the
Technology CPU, or to I/O modules such ET 200 or SINAMICS S120 with
TM15/TM17 which are operated on DP(DRIVE).

Traversing range
Traversing limits are monitored at the digital inputs of the HW limit switches. HW
limit switches are always operated with break action, and must always be active
outside the permissible traversing range.

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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and
804B. It is retracted from the HW limit switch (release motion) as described below:
• Manual retraction
The axis is returned manually to the permissible traversing range. The error at
the technology DB can only be acknowledged when the axis is retracted.
• Retraction with drive
The error at the axis technology DB is acknowledged, but the error message
and the LimitSwitchActive status bit remain active. The axis can now be
returned to the permitted traversing range. A reverse motion command once
again triggers an axis error. The LimitSwitchActive status can be
acknowledged after the axis has moved out of the range of the limit switch.
The current position of the axis upon reaching the HW limit switch is saved. Only
when this position, plus a safety range, has been passed is the axis considered to
have left the limit switch.

Caution
Once the HW limit switch has been passed, the controller may not be switched off
in order to avoid a conflict between polarity monitoring of the hardware limit
switches and the overrun monitoring of the hardware limit switches in direction of
the permissible range. In this case, the axis must be moved into the valid range
and enabled again without hardware limit switch monitoring.
When you power up the controller, the axis must be located within the valid
traversing range.

Internal states are lost and the configuration is reloaded when the axis passes the
hardware limit switch. Reloading without loss of the approach information is only
possible within the valid range.
Exception: Deactivation of position limit monitoring after a polarity error.

Safety range
The safety range of the HW limit switches is calculated based on the configured
resolution of the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution
(increments / position) of "1000/unit" in the "Configure units" dialog box, i.e. the
axis position is calculated at an accuracy of 0.001 mm. The safety range in this
example is a multiple of 1000 of the accuracy: 1 mm.

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4.6.11.3 Software limit switches

You can configure the software limits switches and activate the monitoring function
in the Axis > Limits dialog box, "Position and velocity " tab. Software limit switches
should lie within the range of the HW limit switches with reference to the traversing
range in order to limit the working range of an axis, for example.
The response of software limit switches is determined by the axis configuration in
terms of the homing function. The limit switches of a configuration requiring a
homed axis for the execution of absolute motion commands ("Homing required:
Yes" in the Axis > homing dialog box) are not monitored of the axis is not homed.
By contrast, if the execution of absolute motion commands is allowed when the
axis is not homed ("Homing required: No" in the Axis > Homing dialog box) the
software limit switches are monitored regardless of the homing state of the axis.

4.6.11.4 Limits - "Dynamic response" tab

You can adjust the HW limits (mechanical) and SW limits in the "Dynamic
response" tab of the Axis > Limits dialog box.
The set deceleration limit comes into effect when a moving axis is disabled and
parameter FastStop = 1 is set at "MC_Power."
The status-dependent acceleration model is enabled (default) by setting the
"Absolute values" check box.
The direction-dependent acceleration model is enabled by resetting the
"Absolute values" check box. Additional parameters are then displayed.

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Status-dependent acceleration
• Acceleration
Axis acceleration, independent on the direction of movement.
• Deceleration
Axis deceleration, independent of the motion direction.

Direction-dependent acceleration
• Acceleration
Acceleration in positive direction of movement, and deceleration in negative
direction of movement.
• Deceleration
Acceleration in negative direction of movement, and deceleration in positive
direction of movement.
Parameter settings with dynamic direction vector are useful, for example, for
suspended axes.

Local stop response with jerk

Set the "Local stop reactions with jerk" check box to execute a stop reaction
triggered by an alarm reaction at the axis, with jerk limiting and rounding.

Emergency off deceleration

The set emergency off deceleration comes into effect when a moving axis is
disabled and Stopmode = 0 is set at "MC_Power."

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4.6.11.5 Limits - "Fixed end stop" tab

At the "Fixed end stop" tab of the Axis > Limits dialog box, you can enable fixed
end stop detection, and set the corresponding detection mode:
• use following error
• use force/torque
When the selected condition is satisfied, the "fixed end stop" status is reached.
Following error monitoring is disabled when "Move to fixed end stop" is enabled.

Using the following error

Note
When the axis moves onto the fixed end stop, and fixed end stop detection with
"use following error" is set, the entry in "Position tolerance after fixed end stop
detection" should be significantly less than that of "Following error for fixed end
stop detection".

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Using the force/torque

The fixed end stop detection function "use force/torque" requires that the digital
drive assigned to the axis supports torque limiting, and that a corresponding
message frame is set for communication with the drive, for example, message
frames 102 or 105.

Move to end stop

The function "MC_MoveToEndPos" activates the "Move to end stop" function and
sets the clamping torque when the end stop is reached. This operation is also
known as clamping.
The motion is stopped when the axis reaches the fixed end stop, and the control
remains active. The setpoint value at the position controller input is held constant.
New commands directing the motion towards the clamping position are canceled,
while new motion control commands directed towards release are executed and
thus reduce torque. The start position of new motion control commands in release
direction is the position setpoint of the axis.
The position setpoint of the axis is derived from its position at the fixed end stop
• plus the following error when "use following error" is set
• plus the clamping tolerance at the fixed end stop when "use force/torque" is set

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Conditions of fixed end stop detection

• The "Move to fixed end stop" function is reset when the axis moves out of the
clamping tolerance window.
• A new command can also be output to toggle the direction of torque when
clamping is active.
• Non-stepped torque transitions and torque retention over a defined time period
can be implemented in the user program, as can definitions of torque profiles.
• Moving to the fixed end stop (clamping) can be disabled by setting a reverse
positioning command.
• A reversal command MC_MoveToEndPos is not permitted and is ignored.
• A mechanical break of the end stop is monitored by means of the actual value
of the axis (clamping tolerance window monitoring).
• The torque limit of the drive is set in [N/m] at the Torque parameter of
technology function "MC_MoveToEndPos".
• If the command is active and the fixed end stop is not detected, the system
reacts as with active torque limiting.

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4.6.12 Closed-loop control

4.6.12.1 Control loop - "Static controller data" tab

Set the position control of the axes in the Axis > Control dialog box,
"Static controller data" tab.

Manipulated variable limiting

Manipulated variable limiting sets absolute hi and lo limit values of the control
range. This limitation is applied prior to inversion.

Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the
interpolator and controller have a different duty factor. Optional interpolation mode
settings at the fine interpolator:
• No interpolation
• Linear interpolation (constant position for positioning axis)
• Interpolation with constant acceleration (constant acceleration at positioning
axis)
• Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.

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4.6.12.2 Control loop - "Dynamic controller data" tab

Set the dynamic controller data for the axis in the Axis > Control dialog box,
"Dynamic controller data" tab.

Position controller time constant:

Enter the equivalent time constant for the position controller of the axis.

Valve & cylinder time constant

Enter the equivalent time constant for the hydraulic control loop at this parameter.

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4.6.12.3 Control loop - "Friction compensation" tab

You can enable friction compensation in the "Friction compensation" tab of the
Axis > Control dialog box. The "Friction compensation" tab is available when
expert mode is set on the "Static controller data" tab.

The system provides a simple method compensating for the forces of static friction.
During startup from a standstill, a DT1 element adds a static friction compensation
signal to the manipulated variable.

The friction compensation is added relative to the velocity setpoint. It is only active
when motion commands are executed.
The standstill ID for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay
response are set in the configuration.

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4.6.12.4 Control loop - "Additional compensation functions" tab

Select the Axis > Control dialog box, "Additional compensation functions" to set a
static compensation element (additive friction coefficient), and a compensation
element which is proportional to velocity (friction) for the position controller of the
hydraulic axis.

• Factor for sliding friction compensation: (Sliding friction compensation

activated)
Enter a value for the factor for the sliding friction compensation at this
parameter.
• Activation of sliding friction compensation
Enable the sliding friction compensation here.
• Offset with positive direction of motion (Offset activated)
Enter the offset for the positive direction of movement.
• Offset activation:
Enable the offset activation here.
• Offset for negative direction of motion (Offset activated)
Enter the offset for the negative direction of movement at this parameter.

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4.6.13 Homing

4.6.13.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must
be referenced to the position of the mechanical system of the machine each time
they power is switched on. The axis is synchronized during homing based on the
activation of a certain position value at a defined position of the drive mechanism.
Axes can be homed in:
• active mode (reference point approach)
• passive mode (homing on-the-fly)
• direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the
reference point and on the motion an axis may perform for homing.

4.6.13.2 Homing - "Active homing" tab

Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing
dialog box in S7T Config.
Three homing modes are available for "Active homing":
• Reference cam and encoder zero mark
• Encoder zero mark only
• External zero mark only
Start of the homing function:

MC_Home Mode = 0 Determination of the reference point based on the axis

configuration
Mode = 1 Determination of the reference point based on the axis
Position = x configuration The reference point is assigned the value of
input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

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"No active homing" mode

Select yes on the "Homing required" drop-down list " and no active homing from
the "Homing mode" drop-down list if you only want to use passive homing mode.

Active homing mode with "reference cam and encoder zero mark"

When you start homing by calling the "MC_Home" technology function, the axis
first approaches the reference cam, and secondly the referencing encoder zero
mark, according to the axis configuration. The lower section of the diagram shows
the resultant motion sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder zero
mark"
Encoder zero mark Before reference The axis is homed to the encoder zero mark which
cam lies before the homing cam with reference to the
direction of reference point approach.
After reference The axis is homed to the encoder zero mark which
cam lies after the homing cam with reference to the
direction of the reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Logical address of reference [byte address] Logical byte address of the homing cam. You can
cam connect the homing cam to the integrated inputs of
the Technology CPU, or to the IO on DP(DRIVE).
Bit number [number of the bit] Bit address of the signal used for the reference cam.
Approach velocity Velocity at which the axis approaches the reference
cam.
Entry velocity Velocity at which the axis approaches the (shifted)
reference point after detection of the encoder zero
mark.
Shutdown velocity Velocity at which the axis approaches the encoder
zero mark after detection of the reference cam.
Reference point coordinate Enter the actual position value of the reference point
(Reference cam and encoder based on the axis coordinate system.
zero mark, External zero mark
only, Encoder zero mark only)
Reference point shift The "reference point shift" function shifts the
reference point by a configured distance. The axis
moves along this configured distance at a velocity
defined in Approach Velocity, starting at the
synchronization position with encoder zero mark.
Modulo axes always take the shortest distance.
Max. distance to reference cam Deactivated The distance to reference cam detection is not
monitored
Activated Monitoring of the distance between the start of
reference point approach and detection of the
reference cam. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

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Parameters Value Description

Maximum distance to encoder Deactivated Distance to go to the encoder zero mark is not
zero mark monitored
Activated Monitoring of the distance an axis travels between
the reference cam and the encoder zero mark. If the
difference in this distance exceeds the configured
value, the corresponding technology DB returns
error 801D. The reference point approach is
canceled.

Sequence of the reference point approach

• Phase 1: Reference cam approach
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach". The
reference cam approach ends when this cam (Phase 1) is reached.
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the homing cam by setting the "Max.
distance to reference cam" check box. The reference point approach is
canceled with error if the reference cam is not detected between the start and
end of the configured distance.
• Phase 2: Synchronization with encoder zero mark
After having reached the reference cam, the axis accelerates / decelerates to
shutdown velocity, and approaches the encoder zero mark in the direction
derived from the combined settings of "encoder zero mark" (after or before the
reference cam) and "Start of reference point approach" (positive or negative
direction). After the reference cam is detected, the PLC synchronizes the axis
to the first encoder zero mark detected in accordance with the configuration.
The axis position is set to the default value minus the reference point shift
defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the reference cam
and the encoder zero mark by setting the "Max. distance to encoder zero mark"
check box. The reference point approach is canceled with error if the encoder
zero mark is not found within the specified distance after the reference cam is
detected.

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• Phase 3: Reference point approach

After the encoder zero mark is detected, the axis accelerates / decelerates to
approach velocity to approach the reference point.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing with reversal of the direction.

Active homing without reversal of the direction.

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Active homing mode with "External zero mark only"

When a homing operation is started by calling the "MC_Home" technology function,

the axis approaches the referencing external zero mark in accordance with the
configuration. The lower section of the diagram shows the resultant motion
sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Homing mode: For this homing mode:
Homing with Homing mode: "External zero mark only"
Signal transition Low -> High The motion is referenced to the positive edge of the
(can only be set if changes are (positive) external zero mark (setting according to edge
supported by the selected drive) evaluation in the drive component).
High -> Low The motion is referenced to the negative edge of
(negative) the external zero mark (setting according to edge
evaluation in the drive component).
On the side of the external zero left The signal transition is measured viewed from the
mark left side of the external zero mark, in the selected
(can only be set if changes are direction of reference point approach.
supported by the selected drive) right The signal transition is measured viewed from the
right side of the external zero mark, in the selected
direction of reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Approach velocity Velocity at which the axis approaches the external
zero mark.
Entry velocity Velocity at which the axis approaches the (shifted)
homing position after detection of the external zero
mark.
Reference point coordinate Enter the actual position value of the reference
point based on the axis coordinate system.
Reference point shift The "reference point shift" shifts the reference point
by a configured distance. The axis moves by a
configured distance at the velocity defined at
Homing Velocity, after its synchronization at the
external zero mark edge.
Modulo axes always take the shortest distance.

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Parameters Value Description

Max. distance to external zero Deactivated The distance to external zero mark detection is not
mark monitored.
Activated Monitoring of the distance between the start of the
reference point approach and detection of the
external zero mark. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

Note
When homing with "External zero mark", connect the external zero mark as digital input to
the measuring input of the drive component.

Note
In order to execute a reference point approach in "external zero mark" homing
mode, select values for "Signal transition" and "on the side of the external zero
mark" which correspond with the drive's configuration or functionality. Instead of
being used to configure the measuring function in the drive, the "Signal transition"
and "on external zero mark side" parameters merely reflect their functionality in
order to control the axis motion according to the configuration.
For information on the configuration of external zero mark detection, refer to the
relevant product information or to the drive manuals.

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Sequence of the reference point approach

• Phase 1: Synchronization to external zero mark
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach".
Synchronization ends at the external zero mark (phase 1) when the configured
signal transition (configured at the drive component) is detected at external
zero mark. The axis position is set to the default value minus the reference
point shift defined in "Reference point coordinate" (Mode = 0) or at input
parameter Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the signal edge by setting the "Max.
distance to external zero mark" check box. Homing is canceled with error if the
edge is not detected between the start of reference point approach and the end
of the configured distance.
• Phase 2: Reference point approach
After the configured signal edge is detected, the axis accelerates / decelerates
to approach the reference point coordinate at shutdown velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The traversing direction is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the external zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing mode with "Encoder zero mark only"

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Homing to encoder zero mark is used, for example, at axes for which the encoder
can only set one encoder zero mark in the entire traversing range of the axis. The
homing command initiates axis approach to the encoder zero mark. After the
encoder zero mark is detected, the axis approaches the shifted reference point at
homing velocity. The axis position now has the value defined in the reference point
coordinate. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Start reference point Positive Reference point approach in positive
approach direction direction.
Negative Reference point approach in negative
direction direction.
Entry velocity Velocity at which the axis approaches the
(shifted) reference point after detection of
the encoder zero mark.
Shutdown velocity Velocity at which the axis starts the
reference point approach and approaches
the encoder zero mark.
Reference point coordinate Enter the actual position value of the
reference point based on the axis
coordinate system.
Reference point shift The homing position offset function shifts
the homing position by a configured
distance, i.e. the axis moves along a
configured distance behind the encoder
zero mark detection position at a velocity
defined under Homing Velocity.
Modulo axes always take the shortest
distance.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated Monitoring of the distance between the
start of the reference point approach and
detection of the encoder zero mark.
If the difference in this distance exceeds
the configured value, the corresponding
technology DB returns error 801D. The
reference point approach is canceled.

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Sequence of the reference point approach

• Phase 1: Synchronization to encoder zero mark
The axis starts its reference point approach in the direction set in "Start of
reference point approach" at the configured shutdown velocity Synchronization
with encoder zero mark (phase 1) ends with the detection of the encoder zero
mark. The axis position is set to the default value minus the reference point
shift defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and encoder zero mark detection by setting the "Max.
distance to zero mark" check box. Homing is canceled with error if the encoder
zero mark is not detected between the start of reference point approach and
the end of the configured distance.
• Phase 2: Reference point approach
After the encoder zero mark is detected, the axis accelerates / decelerates to
approach the reference point coordinate at entry velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

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4.6.13.3 Homing - "Passive homing" tab

Passive homing can be set in the "Passive homing" tab of the Axis > Homing
dialog box of S7T Config. The difference compared to active homing is that the
required homing motion is not initiated by a homing command.
Three homing modes are available for "Passive homing":
• Reference cam and encoder zero mark
• External zero mark only
• Encoder zero mark only
Start of the homing function:

MC_Home Mode = 2 At the reference point, the current position is assigned the
Position = x value of input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.

Note
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.

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Passive homing mode with "Reference cam and encoder zero mark"

After the axis has passed the reference cam, the next encoder zero mark triggers
axis homing. At the reference point, the axis position is set to the position value
defined at input parameter Position of the "MC_Home" technology function.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder
zero mark"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the encoder zero mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Logical address of reference [byte Logical byte address of the homing cam. You
cam address] can connect the homing cam to the integrated
inputs of the Technology CPU, or to the IO on
DP(DRIVE).

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Parameters Value Description

Bit number [number of Bit address of the signal used for the
the bit] reference cam.
Max. distance to reference Deactivated The distance to reference cam detection is not
cam monitored
Activated Monitoring of the distance between the start
of the homing function and detection of the
homing cam. If the difference in this distance
exceeds the configured value, the
corresponding technology DB returns error
801D. The homing function is canceled.
Maximum distance to Deactivated Distance to go to the encoder zero mark is not
encoder zero mark monitored
Activated Monitoring of the distance an axis travels
between the reference cam and the encoder
zero mark.
If the difference in this distance exceeds the
configured value, the corresponding
technology DB returns error 801D. The
homing function is canceled.

Passive homing mode with "External zero mark only"

Axis homing starts with the detection of the external zero mark. The axis is set to
the position value at the "Position" input of the technology function "MC_Home".

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode Homing mode described here:
Homing mode: "External zero mark only"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the external zero mark.
Negative The axis is only homed with negative
direction approach to the external zero mark.
Current The axis is homed when it reaches the next
direction external zero mark.
On the side of the external left Direction of motion Positive direction
zero mark Axis homing is triggered at the positive edge.
Direction of motion Negative direction
Axis homing is triggered at the negative edge.
right Direction of motion Positive direction
Axis homing is triggered at the negative edge.
Direction of motion Negative direction
Axis homing is triggered at the positive edge.
Max. distance to external Deactivated Distance to go to the external zero mark is not
zero mark monitored
Activated The function monitors the distance an axis
travels between the start of its homing function
and detection of the external zero mark.
If the difference in this distance exceeds the
configured distance, the corresponding
technology DB indicates error 801D. The
homing function is canceled.

Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.

Note
In order to be able to execute the reference point approach in "external zero mark" homing
mode as required, you should always set values at "Motion direction" and "on the side of the
external zero mark" which are compatible with the drive's configuration or functionality. The
"on the side of the external zero mark" and "Direction of movement" parameters are not
used to configure the measuring function in the drive, but rather reflect their functionality.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.

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Passive homing mode with "Encoder zero mark only"

Homing mode with "Zero mark only" is used, for example, at axes equipped with an
encoder which outputs only one zero mark signal in the entire traversing range of
the axis.
Axis homing starts with the detection of the encoder zero mark. When the encoder
zero mark is detected, the axis position value is set to the position value set at the
Position input parameter of the "MC_Home" technology function.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Direction of motion Positive The axis is only homed with positive
direction approach direction to the encoder zero
mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero
mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated The function monitors the distance an axis
travels between the start of its homing
function and detection of the encoder zero
mark. If the difference in this distance
exceeds the configured distance, the
corresponding technology DB indicates
error 801D. The homing function is
canceled.

Passive homing mode with "Default"

For this mode, set the default value when creating a new axis in S7T Config.
Homing mode with encoder zero mark only is used if the configured encoder
provides a zero mark. Homing mode external zero mark only is used if the encoder
does not provide a zero mark.

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4.6.13.4 Direct homing

The actual axis position is set to the value defined at technology function
"MC_Home". No reference point shift settings are active. The function does not
execute a motion. The axis is homed when the command is executed.
Start of the homing function:

MC_Home Mode = 3 Direct homing:

Position = x The current position is assigned the value of input parameter
Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

4.6.13.5 Position correction

A correction value is deducted from the actual position value of the axis. By
contrast to other homing modes, the axis maintains its homed state (homed / not
homed) in this case.
The position correction function can also be used to manipulate the setpoints of the
various coordinate systems (base coordinate system, superimposing coordinate
system). This is of significance for superimposing camming in order to be able to
generate a reference within a cam disk.
Start of the homing function:

MC_Home Mode = 4 Actual value correction

Position = x (position value = actual position - position parameter).
Mode = 6 Setpoint correction in the base coordinate system
Position = x (position value = actual position - position parameter).
Mode = 7 Setpoint correction in the superimposing coordinate system
Position = x (position value = actual position - position parameter).

Position correction does not influence the Statusword.HomingDone status at the

axis technology DB.

4.6.13.6 Motions with non-homed axes

In the Axis > Homing dialog box, you determine whether absolute positioning is to
be available for a non-homed axis.
Optional settings for "Homing required":
• No: Relative and absolute motions are possible. The software limit switches
are monitored.
• Yes: Relative motion only. The software limit switches are not monitored as
long as the axis is not homed.

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4.6.14 Monitoring

4.6.14.1 Monitoring functions - Overview

Axis monitoring functions you can configure in S7T Config:

Monitoring Speed- Positioning Synchronizati

controlled axis on
axis axis
Velocity error monitoring X - -
Positioning monitoring - X X
Following error monitoring - X X
Standstill signal X X X
Software limit switches - X X
Hardware limit switches X X X
Synchronization monitoring - - X
Manipulated variable monitoring (always X X X
active)
Encoder limit frequency monitoring X (only with X X
encoder)

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Positioning axis monitoring

The figure below shows an example of positioning axis monitoring:

Errors are reported at the ErrorStatus parameter of the technology DB.

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4.6.14.2 Monitoring functions - Positioning and standstill monitoring

At the Axis > Monitoring functions dialog box, "Positioning and standstill
monitoring" tab, set the limit values for monitoring the positioning of position-
controlled and synchronization axes.

The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronism technology is set for the axis.

Positioning monitoring
At the end of a positioning motion, the function monitors axis approach to the target
position. A positioning window and a time tolerance are defined for reaching this
end position. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before
the positive feedback of the positioning command is activated. This time can be
used for oscillating processes and control loops, for which the tolerance window
should be less than the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value
reaches the positioning window.
When positioning monitoring is triggered, the axis technology DB returns error
8019.

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Standstill monitoring
Standstill monitoring is enabled when the position setpoint of a positioning
command equals the value of the target position, and the delay of standstill
monitoring activation has expired.
Standstill monitoring is triggered if the axis moves out of the configured standstill
tolerance window for any time longer than the configured period. When standstill
monitoring is triggered, the axis technology DB returns error 8018.

4.6.14.3 Monitoring functions - "Following error monitoring" tab

Dynamic following error monitoring can be enabled in the "Following error
monitoring" tab of the Axis > Monitoring functions dialog box.
Following error monitoring at the position-controlled axis is based on the calculated
following error. If the offset between the actual position value and the position
setpoint is higher than the configured following error limit triggers, the axis
technology DB returns error 8016. In this context, the permitted following error
depends on the velocity setpoint of the axis.
At velocities lower than the configured minimum, the permitted following error is
constant and is configured at the "constant following error" parameter. Above this
limit, there is a linear increase of the following error to a maximum which is defined
by the parameter "maximum permitted following error" at maximum velocity. The
permissible maximum following error is reached at maximum velocity.

The "Enter velocity value" input box allows the user to verify the set values of
following error monitoring in order to determine the permissible maximum following
error at the set velocity.
The "Following error monitoring" tab is shown for position-controlled real axes.

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4.6.14.4 Monitoring functions - "Standstill signal" tab

Select the "Standstill signal" tab of the Axis > Monitoring functions dialog box to
set the velocity threshold and the delay time.
The standstill signal sets the "standstill" bit in the status word of the technology DB
if the current velocity is below the configured velocity threshold at least for the
duration of the set delay time.
At speed-controlled and positioning axes, the override is carried out in speed-
controlled mode. At the positioning axis, the override is activated when the
positioning window is reached.

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4.6.14.5 Monitoring functions - "Velocity monitoring" tab

Enable velocity error monitoring in the Axis > Monitoring, "Velocity error
monitoring" tab.
Velocity error monitoring is only relevant to these axes:
• Speed-controlled axis with encoder
• Positioning axes operating in speed control mode
("MC_MoveVelocity" – input parameter PositionControl = FALSE)

Velocity error monitoring

Enable velocity error monitoring in this dialog.

Maximum velocity error:

(The input box is only visible if velocity error monitoring is enabled)
Enter the maximum velocity error in this dialog.

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4.7 Configuring synchronization axes

Requirements
• The Technology CPU is configured in HW Config and configuration data are
compiled.

How to insert a synchronization axis in S7T Config

Step Description
1. In the Navigator of S7T Config, double-click "Insert axis".

2. Activate the synchronous operation technology when you configure the axis.

This "Synchronization" technology requires the active "Positioning" and "Speed control"
technologies. You can not for this reason disable these technologies.

3. Go through the steps as described in the chapter "Configuring axes".

Result: The synchronization axis appears in the Navigator of S7T Config, and its corresponding
synchronization object will be created automatically. The object name is automatically assigned
the name of the axis and appended the "_synchronism" suffix.

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Representation in the Navigator

The leading axes and cam disks assigned to the synchronization axis are
symbolized by means of logic links:
• below the synchronization object
• below the cam disks used
• below the leading axes (axes, external encoders)

Further procedures
For synchronous operation, assign the synchronization axis the corresponding
leading axes and / or cam disks.

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4.7.1 Assigning leading axes and cam disks

In order to implement gearing you must assign the following axis an available
leading axis. In order to implement camming, you must assign the following axis an
additionally available cam disk.

Requirements
• A following axis with the "Synchronism" technology was inserted in S7T Config.
• A leading axis or cam disk was inserted in S7T Config.

How to assign leading axes and cam disks to a following axis

Step Description
1. In Navigator of S7T Config, double-click "Configuration" in the synchronization object (child
object of the synchronization axis).
2. In the next dialog box, assign the following axis one or several available leading axes. To do so,
set the check box in the left column, and then select the relevant coupling mode. Possible
coupling modes:
Leading axis is a real axis:
• Setpoint coupling
• Actual value coupling with extrapolation
Leading axis is a virtual axis:
• Setpoint coupling
Leading axis is an external encoder:
• Actual value coupling with extrapolation
• Actual value coupling without extrapolation

Which one of the axes is to provide the master setpoint to the following axis is determined in
runtime by calling the relevant technology function, for example, MC_GearIn or "MC_CamIn".
3. From the bottom section of the dialog box, select the optional cam disks for the implementation
of camming.

4. Click "Close"

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Actual value coupling with extrapolation

The properties of "actual value coupling with extrapolation" can be set and
configured at the leading axis or at the external encoder which supplies the master
setpoint. Extrapolation is used to compensate for dead times.

Extrapolation and filtering in actual value coupling mode, with system variable for
the display of actual values.
In S7T Config, you can make the following settings in the expert list for the leading
axis or external encoder:

Configuration parameter Meaning

TypeOfAxis.Extrapolation.Filter.enable • YES
Actual value filter activated
• NO
Actual value filter deactivated.
TypeOfAxis.Extrapolation.Filter.mode You can set the filter calculation method at this
configuration parameter:
• DEFAULT_MODE
Averaging as a function of the ratio:
execution cycle of the axis / external encoder to the
position control cycle
Example: The ratio between the execution cycle and
the position control cycle is 3:1. In this case, the
mean value is formed in three position controller
cycles.
• AVERAGING
Averaging by time constant
• PT1
PT1 smoothing by time constant
TypeOfAxis.Extrapolation.Filter.timeConstant Time constant for PT1 filtering or averaging
"AVERAGING".
TypeOfAxis.Extrapolation.extrapolationTime Extrapolation time - no extrapolation when the value is
0.0.

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4.7.2 Configuring superimposing synchronism

A synchronization axis consists of an axis object and of a synchronization object.

Both objects are generated when you create the axis. You configure superimposing
synchronism by assigning the synchronization axis an additional synchronization
object which coordinates the superimposing motions.
A synchronization axis may contain up to two synchronization objects:
• one synchronization object for base synchronism, and
• a synchronization object for superimposing synchronism.

Prerequisites
• A synchronization axis was configured in S7T Config.
• A superimposing synchronization object was not configured for the axis

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Configuring a superimposing synchronization object

The next steps show you the basic procedures of configuring a superimposing
synchronization object.

Step Description
1. In S7T Config Navigator, select the synchronization axis at which you want to configure
superimposing synchronization, and then select the Expert > Add superimposed
synchronization object command from the shortcut menu.

Result: The Navigator shows a second synchronization object under synchronization axis.
2. Double-click Configuration of the second synchronization object to open the configuration
dialog box.

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Step Description
3. Finalize the synchronous grouping of the superimposing synchronism by assigning it a leading
axis (including cam disks as required.) Set the corresponding check boxes, and then select the
coupling mode at the leading axes.

The synchronization-specific parameters of the superimposing synchronization object are

configured and assigned values same as for basic synchronous operation.

Distinguishing between synchronization objects

Whether the synchronization object at a synchronization axis represents a basic
synchronism or superimposing synchronism is defined at configuration parameter
SyncingMotion.motionImpact in the expert list of the synchronization object.

SyncingMotion.motionImpact STANDARD (0) Basic synchronous

operation
SUPERIMPOSED_MOTION (1) Superimposing
synchronism

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4.7.3 Synchronization

Coupling to the master setpoint during synchronization or desynchronization can

be defined differently according to the application.
It is determined based on:
• the synchronization mode
• the synchronization point
• the position of the synchronization point
• the synchronization criterion
• the direction of synchronization (modulo axes only)
You can set the following synchronization modes in the "Dynamics" tab of the
Synchronous operation > Default dialog box:
• Leading axis-related synchronization profile: Synchronization and
desynchronization with master setpoint reference
• Time-related synchronization profile: Synchronization and
desynchronization on the basis of default dynamic values

Synchronization based on a leading axis-related synchronization profile

The leading axis-related synchronization profile is defined at parameters "Sync.

length" and "Desync. length".

Sync. length Synchronization length

Desync. length Desynchronization length

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For leading axis-related synchronization, a start or end value relative to the master
setpoint is defined for synchronization, including a synchronization length ("Sync.
length" or "Desync. length").
A synchronization profile is determined, i.e., a dynamic transition is calculated
independent of the dynamic profile of the master setpoint.
The velocities at the edges of the synchronization operation are constant.
The synchronization length defined in the dialog forms the basis for the definition of
the synchronization range with reference to the master setpoint. Synchronization is
initiated using the "MC_GearIn" (gearing), or "MC_CamIn" (camming), or
"MC_GearInSuperImposed" (superimposed gearing), or
"MC_CamInSuperImposed" (superimposed camming) technology functions.
Input parameter Mode at the technology functions determines whether to activate
the values set in S7T Config (Mode = 0) for the synchronization profile, or whether
to apply the dynamic defaults of the block (Mode = 1).

Note
The synchronization profile depends on the velocity of the leading axis, and on the
set synchronization length. Any dynamic definitions at the synchronization object
will be ignored. For this reason, dynamic response is limited only at the slave axis.

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Synchronization based on a time-based synchronization profile

Based on the dynamic parameters set in S7T Config or at the block input, a time-
based synchronization is performed after the start of the synchronization function.
Input parameter Mode at the technology functions determines whether to activate
the values set in S7T Config (Mode = 0) for the synchronization profile, or whether
to apply the dynamic defaults at the block (Mode = 1).

The time-based synchronization profile is defined by the "Jerk", "Acceleration",

"Deceleration", "Velocity" and "Velocity profile" parameters.

Jerk Jerk settings supported for the velocity

transitions listed below:
• Jerk at the start of acceleration
• Jerk at the end of acceleration
• Jerk at the start of deceleration
• Jerk at the end of deceleration
Acceleration Acceleration of the axis during
synchronization.
Deceleration Deceleration of the axis during
synchronization.
Velocity Maximum velocity of the axis during
synchronization. Whether the velocity can be
reached depends on the synchronization
conditions.
Velocity profile The following velocity profiles are available:
• Trapezoidal
• Constant

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Retarded and advanced synchronization

In time-based synchronization mode we distinguish between advanced
synchronization and retarded synchronization.

Synchronization start point… Synchronization end point…

Advanced Calculated by the system, based Defined implicitly based on the
synchronization on default dynamic values and following axis position, or directly.
master setpoint characteristic.
Retarded Defined implicitly based on the Derived from the dynamic values
synchronization following axis position, or directly. and master setpoint characteristic.

Note
When synchronizing a synchronization axis with default dynamic values for which
the start point of synchronization is defined, the following axis accelerates along a
hyperbolic ramp to its target velocity.

Advanced synchronization (synchronize before synchronization position)

For advanced synchronization, the synchronization motion starts:

• At the start point of synchronization, based on default dynamic response
parameters and constant master setpoint value, if this synchronization can be
performed within an optimal time (dynamic master setpoint)
• Immediately, if an optimal synchronization time can not be calculated and the
synchronization position can be reached (for example, with static master
setpoint)

Note
If synchronization cannot be performed optimally, a reversal of the motion may be
generated.

Any change of the velocity master setpoint is also applied to the dynamic values of
the synchronization operation. A warning message is output if the configured
tolerance is exceeded.
The synchronization is canceled with error if the master setpoint is inverted when
synchronization is active.

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Retarded synchronization (start symmetrically to synchronization position)

In retarded synchronization mode

• the synchronization motion starts when the start criterion is reached
• only a trapezoidal velocity profile is supported
If a velocity profile with constant acceleration is set, a "Dynamic response of
motion profiles... can not be maintained" alarm is generated, and the system
automatically switches over to a trapezoidal velocity profile.

Synchronization direction
You can set the synchronization direction in the following dialog boxes:
• Gearing
Axis_SYNCHRONISM > Default dialog box, "Gear synchronization" tab,
"Synchronization direction"
• Camming
Axis_SYNCHONISM > Default, "Cam synchronization" tab, "Synchronization
direction"
The settings described below apply to synchronization and to desynchronization.
These settings can also be made at the system variables
userdefault.gearingsettings.synchronizingdirection or
userdefault.cammingsettings.synchronizingdirection .
• Compatibility mode (SYSTEM_DEFINED)
The following axis is synchronized within the shortest possible distance. The
direction will be retained if synchronization of the moving following axis is
possible in the currently set direction. The current direction of motion will be
changed for synchronization if necessary. The system calculates the motion
sequences required for synchronization.
• Shortest distance (SHORTEST_WAY)
The following axis is synchronized within the shortest possible distance.
• Negative synchronization direction (NEGATIVE_DIRECTION)
Only synchronization in negative direction is allowed, i.e. there may be no
transitions from negative to positive velocities during synchronization. If
synchronization fails, S7T Config outputs error message "50007 Error when
activating/deactivating synchronous mode".
• Positive synchronization direction (NEGATIVE_DIRECTION)
Only synchronization in positive direction is allowed, i.e. there may be no
transitions from positive to negative velocities during synchronization. If
synchronization fails, S7T Config outputs error message "50007 Error when
activating/deactivating synchronous mode".
Compatibility mode is always used when Mode = 1 is set at "MC_CamIn" or
"MC_GearIn".

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Difference "SHORTEST_WAY - SYSTEM_DEFINED"

Example:
Both axes move at positive velocity. Absolute gearing with a ratio of 1:1 and
immediate synchronization are initiated. The "green" profile shows the actual
motion direction of the following axis, and the "red" profile indicates synchronization
with reversal of direction.

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Example: "Gearingsettings.synchronizingdirection = POSITIVE_DIRECTION"

The next example shows a default setting which only allows synchronization /
desynchronization motions in positive direction of movement. The default settings
for synchronization / desynchronization take "immediate effect". Synchronization
starts immediately when Exe_1 is set. When Exe_2 is set, the slave is moved by a
phase shift value This motion is carried out in negative direction. If the
"immediately" effective "MC_CamOut" is initiated with Exe_3 while negative motion
direction is set, the axis waits until it is moving in positive direction before it is
desynchronized (see "synchronizingstate").

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4.7.4 Synchronization

You can set the desynchronization conditions in the "Gear synchronization" and
"Cam synchronization" tab of the Synchronous operation > Default dialog box.

The synchronization condition is selected from the "Synchronization" drop-down

list:

Settings Meaning
Effective immediately. Synchronization is performed immediately after the start of the
function.
The settings in "Sync. pos. master setpoint", "Sync. pos. following axis"
and "Position reference" are not evaluated.

Default synchronization position The synchronization criterion depends on the position of the leading
of the leading axis axis. The synchronization position is defined in "Sync. pos. master
setpoint".
The setting in "Sync. pos. following axis" is ignored.

Default synchronization position The synchronization criterion depends on the position of the following
of the following axis axis. The synchronization position is defined in "Sync. pos. following
(only with gearing) axis".
The setting in "Sync. pos. master setpoint" is ignored.

Transition at the end of the active This can only be set with relative leading axis reference.
cam disk The synchronization criterion is the master setpoint position at the end
(only with camming) of the current cam disk cycle.
The setting in "Sync. pos. following axis" is ignored.

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Settings Meaning
Default synchronization position The synchronization criterion depends on the position of the leading
of the leading axis and following axis. The synchronization position is defined in "Sync. pos. master
axis setpoint".
In addition, an offset is generated at the following axis as a result of
the setting in "Sync. Pos. following axis", i.e., the following axis does
not synchronize to the programmed (e.g., via cam disk) slave position
but to the "Sync. Pos. following axis" position plus the absolute position
value of the following axis from the cam disk.
Example:
The following axis is coupled to the leading axis via cam disk.
The cam disk was created to position the following axis to 70 at a
leading axis position of 50.
With the parameter setting "SyncPos following axis" = 80, the following
axis is synchronized at position 150 (70 + 80) when the leading axis is
at position 50.
Coupling via the cam disk is still present (scaling remains the same),
but now with and offset an 80.

Effective immediately and Synchronization is performed immediately after the start of the
synchronous position of the function. The phase shift between the leading and following slave axes
following axis results from the position the following axis assumed when the function
was started. The offset caused by the acceleration ramp of the
following axis is this compensated for. The synchronization motion is
based on the dynamic response defaults.
The setting in "Sync. pos. master setpoint" is ignored.
Most recent setting Not usable

Position reference

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The synchronization mode is defined in the "Position reference" drop-down list:

Settings Meaning
Start at synchronization position Synchronization starts at the synchronization position. The
synchronization length is derived form the time-based synchronization
profile in dynamic data, and for a leading axis-related synchronization
profile from the "Synchronization length" parameter. The following axis
is synchronized when this length has been passed.

Synchronization in before the In this synchronization mode, the following axis is in synchronism with
synchronization position the leading axis when it reaches the synchronization position.
The start position of the synchronization with time-based
synchronization profile is determined by the dynamic data, and with
leading axis-related synchronization profile, by the "Synchronization
length" parameter.

Synchronize symmetrically to In this mode, synchronism is reached at the middle of the

synchronization position synchronization length. The synchronization movement starts before
the synchronization position is reached and stopped when the position
is passed.
The synchronization is performed depending on the profile in relation
to the synchronization length or dynamic defaults.
Most recent settings Not usable

Synchronization direction

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The direction of synchronization is determined by the setting in the

"Synchronization Direction" drop-down list. This setting is only available for modulo
axes.

Settings Meaning
Same direction as master Synchronization always takes place in the direction of motion of the
following axis.
Compatibility mode Gearing:
The following axis is synchronized in positive direction
Camming:
The following axis is synchronized within the shortest distance.
Shortest path without direction The following axis is synchronized within the shortest distance.
preset
Negative synchronization The synchronization motion is always performed in negative direction.
direction
Positive synchronization direction The synchronization motion is always performed in positive direction.

4.7.5 Desynchronization

You can set the desynchronization conditions in the "Gear synchronization" and
"Cam synchronization" tab of the Synchronous operation > Default dialog box.

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The desynchronization condition is set in the "Desynchronization" drop-down list.

Settings Meaning
Effective immediately. Desynchronization starts immediately after the start of the function.
The settings in "DeSync. master setpoint", "Desync. following axis" and
"Position reference" are ignored.
Default desynchronization Desynchronization starts based on the following axis position set in
position of the following axis "DeSync following axis".
The settings in "DeSync. leading axis" are ignored.
Default desynchronization Desynchronization starts based on the leading axis position set in
position of the leading axis "DeSync master setpoint".
The settings in "DeSync. following axis" are ignored.
End of cam disk cycle The desynchronization is performed at the end of the current cam disk
(only with camming) cycle.
Most recent setting Not usable

Position reference

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The desynchronization mode is set in the "Position reference" drop-down list:

Settings Meaning
Stop on reaching the Starts desynchronization at the desynchronization position.
desynchronization position The desynchronization length is derived from dynamic data for a time-
based synchronization profile, and from the "Desynchronization length"
parameter for a leading axis-related synchronization profile.
Desynchronization starts after this length has been passed.
Stop in advance of the In this mode, desynchronization starts when the axis reaches the
desynchronization position desynchronization position.
The position at which the desynchronization motion is started is
determined by the dynamic data when operating with time-based
synchronization profile, and by the "Desynchronization length"
parameter when operating with leading axis-related synchronization
profile.
Stop symmetrically to In this mode, desynchronization starts when the axis reaches the
desynchronization position middle of the desynchronization length. The desynchronization motion
is started in advance of the desynchronization position, and stopped
when the position is passed.
Desynchronization is performed based on the profile in relation to the
desynchronization length or dynamic defaults.
Most recent setting Not usable

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4.7.6 Synchronization status

The section below shows various system variables of S7T Config which can be
used to view the synchronization status:

System variable at the synchronization object:

• enablecommand
Shows whether a "MC_GearIn" or a "MC_CamIn" command was started at the
synchronization object. States shown:

ACTIVE - active command

NONE - no active command
WAITING_TO_START - command waiting for synchronization condition
• disablecommand
Shows whether a "MC_GearOut" or a "MC_CamOut" command was started at
the synchronization object. States shown:

ACTIVE - active command, the following axis is currently being desynchronized

NONE - no active command
WAITING_TO_START - command waiting for synchronization condition
• syncstate
Returns the synchronization status. States shown:

NO - No active synchronism yet

YES - Synchronism is active
• state
Returns the synchronization mode of the synchronization object. States shown:

CAMMING - active camming

INACTIVE - no active camming

System variable at the following axis:

• syncmonitoring.differencecommandvalue
Returns the setpoint difference between the leading and following axes.

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4.7.7 Configuration

4.7.7.1 Configuration - Axis

The Axis > Configuration dialog box shows the axis and drive settings.
You can edit these settings in a dialog box by clicking "Configure active data set".

This dialog box also contains functions for managing the data records for data
record changeover. If the TO supports multiple data records, you can:
• create new data records
• delete data records
• define which data record to load for the TO during CPU startup, and
• reconfigure the selected data record.

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4.7.8 Mechanical system

4.7.8.1 Mechanics - Electrical axis

The mechanical parameters of the axis and encoder are configured in the Axis >
Mechanics dialog box.

Axis settings:
• Drive direction settings
• Load gear settings
• Leadscrew pitch of a linear axis
• Modulo settings
• Backlash compensation settings
Encoder settings:
• Measuring gear settings
• Backlash compensation settings
• Encoder mounting type

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Conditions of determining gear parameters

The configuration may return error messages indicating incompatible gear
parameters. The selection of incompatible configuration data may lead to internal
overflows in the integrated technology. Formulae used to determine suitable
parameters:
f1 = Measuring gear numerator x 360 x internal resolution x load gear denominator
f2 = Measuring gear denominator x encoder resolution x actual value coefficient x
load gear numerator
Calculate the greatest common divisor k based on the f1 and f2 values, and then
insert the result in the formula shown below:
f11 = (f1/k) < 2exp32
f22 = (f2/k) < 2exp32
The results of f11 and f22 must be less than 2exp32. If this is not the case, check
whether you can change the parameters in formula f1 and f2 to achieve values for
f11 and f22 which do not exceed the maximum permissible value.
Check the value shown below if f11 and f22 satisfy the conditions described earlier
and configuration errors persist:
f3 = modulo length x internal resolution
You can now calculate the greatest common divisor k2 of f3 and f11, and then
insert it into the next formula:
f31 = ((f3 x f22 x f11) / (k2 x k2)) < 2exp63
At this point, check whether the value in f31 is less than 2exp63. If not, check
whether you can reduce modulo length. You could also modify the parameters in
the f1 and f2 formulae. When doing so, however, make sure that f11 and f22
conditions are still satisfied.
Parameter description

parameters Comment Configuration parameter at the axis

Measuring gear Numerator of the measuring gear AdaptDrive.numFactor
numerator ratio AdaptExtern.numFactor
AdaptLoad.numFactor
Measuring gear Denominator of the measuring AdaptDrive.denFactor
denominator gear ratio AdaptExtern.denFactor
AdaptLoad.denFactor
Load gear numerator Load gear ratio numerator Gear.numFactor
Load gear Load gear ratio denominator Gear.denFactor
denominator
Internal resolution Internal increments / position unit Defined in the configuration using the axis
wizard.
Actual value = X for DP drive X for absolute value encoders:
coefficient IncEncoder.incResolution MultiplierCyclic
X for absolute value encoders:
AbsEncoder.absResolution.MultiplierCyclic

A calculation tool is available in a contribution (FAQ) to this topic on the Internet at

http://www.siemens.com/automation/service&support.

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4.7.9 Default

4.7.9.1 Defaults - "Dynamics" tab

The default values for axis dynamics can be set in the Axis > Default dialog box,
"Dynamics" tab. The default values are applied if a negative dynamic value is set at
a technology function.

Default values supported:

• Direction
• Velocity
• Acceleration
• Deceleration
• Jerk
• Velocity profile

Stop time
The time set at "Stop time" comes into effect when a moving axis is disabled and
Stop mode = 2 is set at the MC_Power parameter.

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Velocity profile
The velocity profile defines the response of the axis during startup and when
braking, and to velocity changes.
The technology functions do not use the default value. Use input parameter Jerk to
edit the velocity profile.
You can choose between the following profiles:
• Trapezoidal
The trapezoidal profile is used for linear acceleration in positive and negative
direction of the motion (jerk = 0).
• Constant
The profile shows a constant acceleration, the jerk profile is controllable
(jerk <> 0).

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4.7.10 Limits

4.7.10.1 Limits - "Position and velocity" tab

In the "Position and velocity" tab of the Axis > Limits dialog box, you can
• configure and enable monitoring of the hardware limit switches
• configure and enable monitoring of the software limit switches
• set velocity limits
• set emergency-off deceleration

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4.7.10.2 Hardware limit switches

You activate hardware limit switch monitoring in the Axis > dialog box, "Position
and velocity" tab. Hardware limit switch monitoring is used to limit the operating
range of an axis, or to protect the machine.

Wiring
The HW limit switches can be wired to the four integrated digital inputs of the
Technology CPU, or to I/O modules such ET 200 or SINAMICS S120 with
TM15/TM17 which are operated on DP(DRIVE).

Traversing range
Traversing limits are monitored at the digital inputs of the HW limit switches. HW
limit switches are always operated with break action, and must always be active
outside the permissible traversing range.

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Retraction
An axis triggering a HW limit switch is stopped with error messages 8013 and
804B. It is retracted from the HW limit switch (release motion) as described below:
• Manual retraction
The axis is returned manually to the permissible traversing range. The error at
the technology DB can only be acknowledged when the axis is retracted.
• Retraction with drive
The error at the axis technology DB is acknowledged, but the error message
and the LimitSwitchActive status bit remain active. The axis can now be
returned to the permitted traversing range. A reverse motion command once
again triggers an axis error. The LimitSwitchActive status can be
acknowledged after the axis has moved out of the range of the limit switch.
The current position of the axis upon reaching the HW limit switch is saved. Only
when this position, plus a safety range, has been passed is the axis considered to
have left the limit switch.

Caution
Once the HW limit switch has been passed, the controller may not be switched off
in order to avoid a conflict between polarity monitoring of the hardware limit
switches and the overrun monitoring of the hardware limit switches in direction of
the permissible range. In this case, the axis must be moved into the valid range
and enabled again without hardware limit switch monitoring.
When you power up the controller, the axis must be located within the valid
traversing range.

Internal states are lost and the configuration is reloaded when the axis passes the
hardware limit switch. Reloading without loss of the approach information is only
possible within the valid range.
Exception: Deactivation of position limit monitoring after a polarity error.

Safety range
The safety range of the HW limit switches is calculated based on the configured
resolution of the system of units of the axis.
Safety range = 1000 / (increments / position)
Example: A linear axis is assigned the position unit "mm" and a resolution
(increments / position) of "1000/unit" in the "Configure units" dialog box, i.e. the
axis position is calculated at an accuracy of 0.001 mm. The safety range in this
example is a multiple of 1000 of the accuracy: 1 mm.

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4.7.10.3 Software limit switches

You can configure the software limits switches and activate the monitoring function
in the Axis > Limits dialog box, "Position and velocity " tab. Software limit switches
should lie within the range of the HW limit switches with reference to the traversing
range in order to limit the working range of an axis, for example.
The response of software limit switches is determined by the axis configuration in
terms of the homing function. The limit switches of a configuration requiring a
homed axis for the execution of absolute motion commands ("Homing required:
Yes" in the Axis > homing dialog box) are not monitored of the axis is not homed.
By contrast, if the execution of absolute motion commands is allowed when the
axis is not homed ("Homing required: No" in the Axis > Homing dialog box) the
software limit switches are monitored regardless of the homing state of the axis.

4.7.10.4 Limits - "Dynamic response" tab

You can adjust the HW limits (mechanical) and SW limits in the "Dynamic
response" tab of the Axis > Limits dialog box.
The set deceleration limit comes into effect when a moving axis is disabled and
parameter FastStop = 1 is set at "MC_Power."
The status-dependent acceleration model is enabled (default) by setting the
"Absolute values" check box.
The direction-dependent acceleration model is enabled by resetting the "Absolute
values" check box. Additional parameters are then displayed.

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Status-dependent acceleration
• Acceleration
Axis acceleration, independent on the direction of movement.
• Deceleration
Axis deceleration, independent of the motion direction.

Direction-dependent acceleration
• Acceleration
Acceleration in positive direction of movement, and deceleration in negative
direction of movement.
• Deceleration
Acceleration in negative direction of movement, and deceleration in positive
direction of movement.
Parameter settings with dynamic direction vector are useful, for example, for
suspended axes.

Local stop response with jerk

Set the "Local stop reactions with jerk" check box to execute a stop reaction
triggered by an alarm reaction at the axis, with jerk limiting and rounding.

Emergency off deceleration

The set emergency off deceleration comes into effect when a moving axis is
disabled and Stopmode = 0 is set at "MC_Power."

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4.7.10.5 Limits - "Fixed end stop" tab

At the "Fixed end stop" tab of the Axis > Limits dialog box, you can enable fixed
end stop detection, and set the corresponding detection mode:
• use following error
• use force/torque
When the selected condition is satisfied, the "fixed end stop" status is reached.
Following error monitoring is disabled when "Move to fixed end stop" is enabled.

Using the following error

Note
When the axis moves onto the fixed end stop, and fixed end stop detection with
"use following error" is set, the entry in "Position tolerance after fixed end stop
detection" should be significantly less than that of "Following error for fixed end
stop detection".

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Using the force/torque

The fixed end stop detection function "use force/torque" requires that the digital
drive assigned to the axis supports torque limiting, and that a corresponding
message frame is set for communication with the drive, for example, message
frames 102 or 105.

Move to end stop

The function "MC_MoveToEndPos" activates the "Move to end stop" function and
sets the clamping torque when the end stop is reached. This operation is also
known as clamping.
The motion is stopped when the axis reaches the fixed end stop, and the control
remains active. The setpoint value at the position controller input is held constant.
New commands directing the motion towards the clamping position are canceled,
while new motion control commands directed towards release are executed and
thus reduce torque. The start position of new motion control commands in release
direction is the position setpoint of the axis.
The position setpoint of the axis is derived from its position at the fixed end stop
• plus the following error when "use following error" is set
• plus the clamping tolerance at the fixed end stop when "use force/torque" is set

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Conditions of fixed end stop detection

• The "Move to fixed end stop" function is reset when the axis moves out of the
clamping tolerance window.
• A new command can also be output to toggle the direction of torque when
clamping is active.
• Non-stepped torque transitions and torque retention over a defined time period
can be implemented in the user program, as can definitions of torque profiles.
• Moving to the fixed end stop (clamping) can be disabled by setting a reverse
positioning command.
• A reversal command MC_MoveToEndPos is not permitted and is ignored.
• A mechanical break of the end stop is monitored by means of the actual value
of the axis (clamping tolerance window monitoring).
• The torque limit of the drive is set in [N/m] at the Torque parameter of
technology function "MC_MoveToEndPos".
• If the command is active and the fixed end stop is not detected, the system
reacts as with active torque limiting.

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4.7.11 Closed-loop control

4.7.11.1 Control loop - "Static controller data" tab

Select the "Static controller data" tab from the Axis > Closed-loop control dialog
box to adjust the position control of the axes.

Manipulated variable limiting

Manipulated variable limiting sets absolute hi and lo limit values of the control
range. This limitation is applied prior to inversion.

Note
When the Dynamic Servo Control (position controller in the drive) function is active,
backlash locking (limiting of manipulated variable for the drive) is not effective. The
backlash interlock therefore needs to be generated in the drive when DSC is
enabled.

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Fine Interpolator
The fine interpolator function is used is to generate interim setpoints when the
interpolator and controller have a different duty factor. Optional interpolation mode
settings at the fine interpolator:
• No interpolation
• Linear interpolation (constant position for positioning axis)
• Interpolation with constant acceleration (constant acceleration at positioning
axis)
• Interpolation with constant velocity (constant velocity at positioning axis)
When set for positioning axes, the position setpoint is interpolated.
When set as speed-controlled axis, the velocity setpoint is interpolated.

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4.7.11.2 Control loop - "Dynamic controller data" tab

In the "Dynamic controller data" tab of the Axis > Closed-loop control dialog box,
you can adjust the dynamic response of the axes, for example, to match their
response in synchronous operation. The "Dynamic controller data" tab is available
when you set expert mode in the "Static controller data" tab.
The setpoint branch of the control loop contains a configurable dynamic filter which
you can use to adjust the dynamic response of the axes.

• Equivalent time current control loop

Currently not used.
• Equivalent time speed control loop
This parameter can be used to set the time constant vTc (velocity Time
constant) of the balancing filter.
• Equivalent time position control loop
Time required for changing from speed-controlled to position-controlled motion
and for starting the emergency stop ramp.

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4.7.11.3 Control loop - "Friction compensation" tab

You can enable friction compensation in the "Friction compensation" tab of the
Axis > Control dialog box. The "Friction compensation" tab is available when
expert mode is set on the "Static controller data" tab.

The system provides a simple method compensating for the forces of static friction.
During startup from a standstill, a DT1 element adds a static friction compensation
signal to the manipulated variable.

The friction compensation is added relative to the velocity setpoint. It is only active
when motion commands are executed.
The standstill ID for static friction compensation can be set separately, as is the
case for the amplitude and the decay response. The amplitude and decay
response are set in the configuration.

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4.7.12 Homing

4.7.12.1 Introduction
Position-controlled axes equipped with incremental motor measuring systems must
be referenced to the position of the mechanical system of the machine each time
they power is switched on. The axis is synchronized during homing based on the
activation of a certain position value at a defined position of the drive mechanism.
Axes can be homed in:
• active mode (reference point approach)
• passive mode (homing on-the-fly)
• direct mode (with position setpoint)
Detailed settings depend on the measuring systems available for measuring the
reference point and on the motion an axis may perform for homing.

4.7.12.2 Homing - "Active homing" tab

Active homing
Active homing can be configured in the "Active homing" tab of the Axis > Homing
dialog box in S7T Config.
Three homing modes are available for "Active homing":
• Reference cam and encoder zero mark
• Encoder zero mark only
• External zero mark only
Start of the homing function:

MC_Home Mode = 0 Determination of the reference point based on the axis

configuration
Mode = 1 Determination of the reference point based on the axis
Position = x configuration The reference point is assigned the value of
input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

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"No active homing" mode

Select yes on the "Homing required" drop-down list " and no active homing from
the "Homing mode" drop-down list if you only want to use passive homing mode.

Active homing mode with "reference cam and encoder zero mark"

When you start homing by calling the "MC_Home" technology function, the axis
first approaches the reference cam, and secondly the referencing encoder zero
mark, according to the axis configuration. The lower section of the diagram shows
the resultant motion sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder zero
mark"
Encoder zero mark Before reference The axis is homed to the encoder zero mark which
cam lies before the homing cam with reference to the
direction of reference point approach.
After reference The axis is homed to the encoder zero mark which
cam lies after the homing cam with reference to the
direction of the reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Logical address of reference [byte address] Logical byte address of the homing cam. You can
cam connect the homing cam to the integrated inputs of
the Technology CPU, or to the IO on DP(DRIVE).
Bit number [number of the bit] Bit address of the signal used for the reference cam.
Approach velocity Velocity at which the axis approaches the reference
cam.
Entry velocity Velocity at which the axis approaches the (shifted)
reference point after detection of the encoder zero
mark.
Shutdown velocity Velocity at which the axis approaches the encoder
zero mark after detection of the reference cam.
Reference point coordinate Enter the actual position value of the reference point
(Reference cam and encoder based on the axis coordinate system.
zero mark, External zero mark
only, Encoder zero mark only)
Reference point shift The "reference point shift" function shifts the
reference point by a configured distance. The axis
moves along this configured distance at a velocity
defined in Approach Velocity, starting at the
synchronization position with encoder zero mark.
Modulo axes always take the shortest distance.
Max. distance to reference cam Deactivated The distance to reference cam detection is not
monitored
Activated Monitoring of the distance between the start of
reference point approach and detection of the
reference cam. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

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Parameters Value Description

Maximum distance to encoder Deactivated Distance to go to the encoder zero mark is not
zero mark monitored
Activated Monitoring of the distance an axis travels between
the reference cam and the encoder zero mark. If the
difference in this distance exceeds the configured
value, the corresponding technology DB returns
error 801D. The reference point approach is
canceled.

Sequence of the reference point approach

• Phase 1: Reference cam approach
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach". The
reference cam approach ends when this cam (Phase 1) is reached.
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the homing cam by setting the "Max.
distance to reference cam" check box. The reference point approach is
canceled with error if the reference cam is not detected between the start and
end of the configured distance.
• Phase 2: Synchronization with encoder zero mark
After having reached the reference cam, the axis accelerates / decelerates to
shutdown velocity, and approaches the encoder zero mark in the direction
derived from the combined settings of "encoder zero mark" (after or before the
reference cam) and "Start of reference point approach" (positive or negative
direction). After the reference cam is detected, the PLC synchronizes the axis
to the first encoder zero mark detected in accordance with the configuration.
The axis position is set to the default value minus the reference point shift
defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the reference cam
and the encoder zero mark by setting the "Max. distance to encoder zero mark"
check box. The reference point approach is canceled with error if the encoder
zero mark is not found within the specified distance after the reference cam is
detected.

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• Phase 3: Reference point approach

After the encoder zero mark is detected, the axis accelerates / decelerates to
approach velocity to approach the reference point.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing with reversal of the direction.

Active homing without reversal of the direction.

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Active homing mode with "External zero mark only"

When a homing operation is started by calling the "MC_Home" technology function,

the axis approaches the referencing external zero mark in accordance with the
configuration. The lower section of the diagram shows the resultant motion
sequence.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order to
execute absolute motion commands.
Homing mode: For this homing mode:
Homing with Homing mode: "External zero mark only"
Signal transition Low -> High The motion is referenced to the positive edge of the
(can only be set if changes are (positive) external zero mark (setting according to edge
supported by the selected drive) evaluation in the drive component).
High -> Low The motion is referenced to the negative edge of
(negative) the external zero mark (setting according to edge
evaluation in the drive component).
On the side of the external zero left The signal transition is measured viewed from the
mark left side of the external zero mark, in the selected
(can only be set if changes are direction of reference point approach.
supported by the selected drive) right The signal transition is measured viewed from the
right side of the external zero mark, in the selected
direction of reference point approach.
Start reference point approach Positive direction Reference point approach in positive direction.
Negative direction Reference point approach in negative direction.
Approach velocity Velocity at which the axis approaches the external
zero mark.
Entry velocity Velocity at which the axis approaches the (shifted)
homing position after detection of the external zero
mark.
Reference point coordinate Enter the actual position value of the reference
point based on the axis coordinate system.
Reference point shift The "reference point shift" shifts the reference point
by a configured distance. The axis moves by a
configured distance at the velocity defined at
Homing Velocity, after its synchronization at the
external zero mark edge.
Modulo axes always take the shortest distance.

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Parameters Value Description

Max. distance to external zero Deactivated The distance to external zero mark detection is not
mark monitored.
Activated Monitoring of the distance between the start of the
reference point approach and detection of the
external zero mark. If the difference in this distance
exceeds the configured value, the corresponding
technology DB returns error 801D. The reference
point approach is canceled.

Note
When homing with "External zero mark", connect the external zero mark as digital input to
the measuring input of the drive component.

Note
In order to execute a reference point approach in "external zero mark" homing
mode, select values for "Signal transition" and "on the side of the external zero
mark" which correspond with the drive's configuration or functionality. Instead of
being used to configure the measuring function in the drive, the "Signal transition"
and "on external zero mark side" parameters merely reflect their functionality in
order to control the axis motion according to the configuration.
For information on the configuration of external zero mark detection, refer to the
relevant product information or to the drive manuals.

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Sequence of the reference point approach

• Phase 1: Synchronization to external zero mark
The axis starts its reference point approach at the configured approach velocity
and towards the direction set in "Start of reference point approach".
Synchronization ends at the external zero mark (phase 1) when the configured
signal transition (configured at the drive component) is detected at external
zero mark. The axis position is set to the default value minus the reference
point shift defined in "Reference point coordinate" (Mode = 0) or at input
parameter Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and detection of the signal edge by setting the "Max.
distance to external zero mark" check box. Homing is canceled with error if the
edge is not detected between the start of reference point approach and the end
of the configured distance.
• Phase 2: Reference point approach
After the configured signal edge is detected, the axis accelerates / decelerates
to approach the reference point coordinate at shutdown velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The traversing direction is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the external zero mark is
detected, if the reference point lies within the deceleration ramp.

Active homing mode with "Encoder zero mark only"

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Homing to encoder zero mark is used, for example, at axes for which the encoder
can only set one encoder zero mark in the entire traversing range of the axis. The
homing command initiates axis approach to the encoder zero mark. After the
encoder zero mark is detected, the axis approaches the shifted reference point at
homing velocity. The axis position now has the value defined in the reference point
coordinate. The lower section of the diagram shows the resultant motion sequence.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Start reference point Positive Reference point approach in positive
approach direction direction.
Negative Reference point approach in negative
direction direction.
Entry velocity Velocity at which the axis approaches the
(shifted) reference point after detection of
the encoder zero mark.
Shutdown velocity Velocity at which the axis starts the
reference point approach and approaches
the encoder zero mark.
Reference point coordinate Enter the actual position value of the
reference point based on the axis
coordinate system.
Reference point shift The homing position offset function shifts
the homing position by a configured
distance, i.e. the axis moves along a
configured distance behind the encoder
zero mark detection position at a velocity
defined under Homing Velocity.
Modulo axes always take the shortest
distance.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated Monitoring of the distance between the
start of the reference point approach and
detection of the encoder zero mark.
If the difference in this distance exceeds
the configured value, the corresponding
technology DB returns error 801D. The
reference point approach is canceled.

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Sequence of the reference point approach

• Phase 1: Synchronization to encoder zero mark
The axis starts its reference point approach in the direction set in "Start of
reference point approach" at the configured shutdown velocity Synchronization
with encoder zero mark (phase 1) ends with the detection of the encoder zero
mark. The axis position is set to the default value minus the reference point
shift defined in "Reference point coordinate" (Mode = 0) or at input parameter
Position (Mode = 1).
You can also monitor the distance an axis travels between the start of
reference point approach and encoder zero mark detection by setting the "Max.
distance to zero mark" check box. Homing is canceled with error if the encoder
zero mark is not detected between the start of reference point approach and
the end of the configured distance.
• Phase 2: Reference point approach
After the encoder zero mark is detected, the axis accelerates / decelerates to
approach the reference point coordinate at entry velocity.
If a reference point shift was configured, the axis approaches this reference
point by the corresponding distance starting at the synchronization position.
The direction of motion is determined by the sign of the reference point shift
and by the length of the deceleration ramp after the encoder zero mark is
detected, if the reference point lies within the deceleration ramp.

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4.7.12.3 Homing - "Passive homing" tab

Passive homing can be set in the "Passive homing" tab of the Axis > Homing
dialog box of S7T Config. The difference compared to active homing is that the
required homing motion is not initiated by a homing command.
Three homing modes are available for "Passive homing":
• Reference cam and encoder zero mark
• External zero mark only
• Encoder zero mark only
Start of the homing function:

MC_Home Mode = 2 At the reference point, the current position is assigned the
Position = x value of input parameter Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

Note
Note that not all drive components support all homing mode or measured signal evaluation
functions. For details, refer to the documentation of the drive components used.

Note
Triggering of encoder zero marks or reference cam monitoring during passive homing
operations is indicated by a corresponding error message at the technology DB. The current
axis motion is terminated in this case.

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Passive homing mode with "Reference cam and encoder zero mark"

After the axis has passed the reference cam, the next encoder zero mark triggers
axis homing. At the reference point, the axis position is set to the position value
defined at input parameter Position of the "MC_Home" technology function.
Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode For this homing mode:
Homing mode: "reference cam and encoder
zero mark"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the encoder zero mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Logical address of reference [byte Logical byte address of the homing cam. You
cam address] can connect the homing cam to the integrated
inputs of the Technology CPU, or to the IO on
DP(DRIVE).

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Parameters Value Description

Bit number [number of Bit address of the signal used for the
the bit] reference cam.
Max. distance to reference Deactivated The distance to reference cam detection is not
cam monitored
Activated Monitoring of the distance between the start
of the homing function and detection of the
homing cam. If the difference in this distance
exceeds the configured value, the
corresponding technology DB returns error
801D. The homing function is canceled.
Maximum distance to Deactivated Distance to go to the encoder zero mark is not
encoder zero mark monitored
Activated Monitoring of the distance an axis travels
between the reference cam and the encoder
zero mark.
If the difference in this distance exceeds the
configured value, the corresponding
technology DB returns error 801D. The
homing function is canceled.

Passive homing mode with "External zero mark only"

Axis homing starts with the detection of the external zero mark. The axis is set to
the position value at the "Position" input of the technology function "MC_Home".

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to execute
absolute motion commands.
No The axis does not have to be homed in order
to execute absolute motion commands.
Referencing mode Homing mode described here:
Homing mode: "External zero mark only"
Direction of motion Positive The axis is only homed with positive approach
direction direction to the external zero mark.
Negative The axis is only homed with negative
direction approach to the external zero mark.
Current The axis is homed when it reaches the next
direction external zero mark.
On the side of the external left Direction of motion Positive direction
zero mark Axis homing is triggered at the positive edge.
Direction of motion Negative direction
Axis homing is triggered at the negative edge.
right Direction of motion Positive direction
Axis homing is triggered at the negative edge.
Direction of motion Negative direction
Axis homing is triggered at the positive edge.
Max. distance to external Deactivated Distance to go to the external zero mark is not
zero mark monitored
Activated The function monitors the distance an axis
travels between the start of its homing function
and detection of the external zero mark.
If the difference in this distance exceeds the
configured distance, the corresponding
technology DB indicates error 801D. The
homing function is canceled.

Note
For homing with "external zero mark", connect the external zero mark as digital measuring
input to the drive component.

Note
In order to be able to execute the reference point approach in "external zero mark" homing
mode as required, you should always set values at "Motion direction" and "on the side of the
external zero mark" which are compatible with the drive's configuration or functionality. The
"on the side of the external zero mark" and "Direction of movement" parameters are not
used to configure the measuring function in the drive, but rather reflect their functionality.
For information on the configuration of external zero mark detection, refer to the relevant
product information or to the drive manuals.

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Passive homing mode with "Encoder zero mark only"

Homing mode with "Zero mark only" is used, for example, at axes equipped with an
encoder which outputs only one zero mark signal in the entire traversing range of
the axis.
Axis homing starts with the detection of the encoder zero mark. When the encoder
zero mark is detected, the axis position value is set to the position value set at the
Position input parameter of the "MC_Home" technology function.

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Meaning of the various parameters:

Parameters Value Description

Homing required Yes The axis must be homed in order to
execute absolute motion commands.
No The axis does not have to be homed in
order to execute absolute motion
commands.
Referencing mode For this homing mode:
Homing mode: "Encoder zero mark only"
Direction of motion Positive The axis is only homed with positive
direction approach direction to the encoder zero
mark.
Negative The axis is only homed with negative
direction approach direction to the encoder zero
mark.
Current The axis is homed when it reaches the next
direction encoder zero mark.
Maximum distance to Deactivated Distance to go to the encoder zero mark is
encoder zero mark not monitored
Activated The function monitors the distance an axis
travels between the start of its homing
function and detection of the encoder zero
mark. If the difference in this distance
exceeds the configured distance, the
corresponding technology DB indicates
error 801D. The homing function is
canceled.

Passive homing mode with "Default"

For this mode, set the default value when creating a new axis in S7T Config.
Homing mode with encoder zero mark only is used if the configured encoder
provides a zero mark. Homing mode external zero mark only is used if the encoder
does not provide a zero mark.

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4.7.12.4 Direct homing

The actual axis position is set to the value defined at technology function
"MC_Home". No reference point shift settings are active. The function does not
execute a motion. The axis is homed when the command is executed.
Start of the homing function:

MC_Home Mode = 3 Direct homing:

Position = x The current position is assigned the value of input parameter
Position.

When homing is successfully completed, the axis technology DB returns the status
Statusword.HomingDone = TRUE.

4.7.12.5 Position correction

A correction value is deducted from the actual position value of the axis. By
contrast to other homing modes, the axis maintains its homed state (homed / not
homed) in this case.
The position correction function can also be used to manipulate the setpoints of the
various coordinate systems (base coordinate system, superimposing coordinate
system). This is of significance for superimposing camming in order to be able to
generate a reference within a cam disk.
Start of the homing function:

MC_Home Mode = 4 Actual value correction

Position = x (position value = actual position - position parameter).
Mode = 6 Setpoint correction in the base coordinate system
Position = x (position value = actual position - position parameter).
Mode = 7 Setpoint correction in the superimposing coordinate system
Position = x (position value = actual position - position parameter).

Position correction does not influence the Statusword.HomingDone status at the

axis technology DB.

4.7.12.6 Motions with non-homed axes

In the Axis > Homing dialog box, you determine whether absolute positioning is to
be available for a non-homed axis.
Optional settings for "Homing required":
• No: Relative and absolute motions are possible. The software limit switches
are monitored.
• Yes: Relative motion only. The software limit switches are not monitored as
long as the axis is not homed.

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4.7.13 Monitoring

The slave values calculated by the synchronization object and the compensation
functions on the following axis are monitored in terms of their dynamic activation at
the following axis. If necessary, corresponding compensatory motions are
generated.
The currently set high limits of velocity and acceleration (including jerk) are active
at the axis.
If a motion can not be carried out, an attempt is made to follow the values as
closely as possible by initiating a compensation motion which is determined by the
maximum dynamic values of the axis. The result is a setpoint error

4.7.13.1 Monitoring functions - Overview

Axis monitoring functions you can configure in S7T Config:

Monitoring Speed- Positioning Synchronization

controlled axis axis
axis
Velocity error monitoring X - -
Positioning monitoring - X X
Following error monitoring - X X
Standstill signal X X X
Software limit switches - X X
Hardware limit switches X X X
Synchronization monitoring - - X
Manipulated variable monitoring (always X X X
active)
Encoder limit frequency monitoring X (only with X X
encoder)

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Positioning axis monitoring

The figure below shows an example of positioning axis monitoring:

Errors are reported at the ErrorStatus parameter of the technology DB.

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4.7.13.2 Monitoring functions - Positioning and standstill monitoring

At the Axis > Monitoring functions dialog box, "Positioning and standstill
monitoring" tab, set the limit values for monitoring the positioning of position-
controlled and synchronization axes.

The "Positioning and standstill monitoring" tab shows whether the Positioning or
Synchronism technology is set for the axis.

Positioning monitoring
At the end of a positioning motion, the function monitors axis approach to the target
position. A positioning window and a time tolerance are defined for reaching this
end position. Monitoring is activated at the end of setpoint interpolation.
You can also set a minimum dwell time in the positioning window to expire before
the positive feedback of the positioning command is activated. This time can be
used for oscillating processes and control loops, for which the tolerance window
should be less than the overshoot amplitude.
A positive feedback for the positioning command is output when the actual value
reaches the positioning window.
When positioning monitoring is triggered, the axis technology DB returns error
8019.

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Standstill monitoring
Standstill monitoring is enabled when the position setpoint of a positioning
command equals the value of the target position, and the delay of standstill
monitoring activation has expired.
Standstill monitoring is triggered if the axis moves out of the configured standstill
tolerance window for any time longer than the configured period. When standstill
monitoring is triggered, the axis technology DB returns error 8018.

4.7.13.3 Monitoring functions - "Following error monitoring" tab

Dynamic following error monitoring can be enabled in the "Following error
monitoring" tab of the Axis > Monitoring functions dialog box.
Following error monitoring at the position-controlled axis is based on the calculated
following error. If the offset between the actual position value and the position
setpoint is higher than the configured following error limit triggers, the axis
technology DB returns error 8016. In this context, the permitted following error
depends on the velocity setpoint of the axis.
At velocities lower than the configured minimum, the permitted following error is
constant and is configured at the "constant following error" parameter. Above this
limit, there is a linear increase of the following error to a maximum which is defined
by the parameter "maximum permitted following error" at maximum velocity. The
permissible maximum following error is reached at maximum velocity.

The "Enter velocity value" input box allows the user to verify the set values of
following error monitoring in order to determine the permissible maximum following
error at the set velocity.
The "Following error monitoring" tab is shown for position-controlled real axes.

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4.7.13.4 Monitoring functions - "Standstill signal" tab

Select the "Standstill signal" tab of the Axis > Monitoring functions dialog box to
set the velocity threshold and the delay time.
The standstill signal sets the "standstill" bit in the status word of the technology DB
if the current velocity is below the configured velocity threshold at least for the
duration of the set delay time.
At speed-controlled and positioning axes, the override is carried out in speed-
controlled mode. At the positioning axis, the override is activated when the
positioning window is reached.

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4.7.13.5 Monitoring functions - "Synchronous operation monitoring" tab

In the "Synchronous operation monitoring" tab of the Axis > Monitoring functions
dialog box, you can enable synchronization error monitoring at the following axis.
The "Synchronous operation monitoring" tab indicates that you have assigned the
synchronization technology to the axis.
The following settings are possible:

Activating setpoint monitoring:

Deviations may develop between the setpoint of the synchronization correlation
and the following axis setpoint which is limited by dynamic values. You can react to
setpoint deviations by taking the following measures:
• "no"
Select "no" if you want to discard monitoring.
• "without jerk"/"with jerk"
Select on of these settings to activate the monitoring function (it is currently not
possible to make allowances for the jerk).
A setpoint error at the following axis stops the axis, and the following axis
technology DB returns error 801A.

Setpoint tolerance:
Enter the maximum permissible setpoint tolerance.

Enable actual value monitoring:

The actual value monitoring function monitors the difference between the setpoint
and actual value of the following axis. Actual value monitoring can be enabled and
disabled.
An actual value error at the following axis stops the axis, and the following axis
technology DB returns error 801A.

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Actual value tolerance:

Enter the maximum permissible actual value tolerance.

Report error of the master axis:

Deviations may develop between the setpoint of the synchronization correlation
and the setpoint which is limited by dynamic values. You can react to setpoint
deviations by taking the following measures:
• "no"
The leading axis is not stopped when a setpoint or actual value error is
detected at the following axis.
• "Setpoints"
A setpoint error at the following axis also stops the leading axis, and the
leading axis technology DB returns error 801A.
• "Actual values"
An actual value error at the following axis also stops the leading axis, and the
leading axis technology DB returns error 801A.

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4.7.13.6 Monitoring functions - "Velocity monitoring" tab

Enable velocity error monitoring in the Axis > Monitoring, "Velocity error
monitoring" tab.
Velocity error monitoring is only relevant to these axes:
• Speed-controlled axis with encoder
• Positioning axes operating in speed control mode
("MC_MoveVelocity" – input parameter PositionControl = FALSE)

Velocity error monitoring

Enable velocity error monitoring in this dialog.

Maximum velocity error:

(The input box is only visible if velocity error monitoring is enabled)
Enter the maximum velocity error in this dialog.

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4.7.14 Followingobject defaults

4.7.14.1 Synchronization object defaults - "Cam synchronization" tab

Set the properties of the synchronization object for the synchronization of camming
in the Axis_SYNCHRONOUS_OPERATION > Default dialog box, "Cam
synchronization" tab.
The settings in this dialog box are only applied if technology function "MC_CamIn"
or "MC_CamInSuperImposed" Mode = 2 is selected.
Camming is characterized by a variable coupling between the master setpoint
source and the following axis/axes. The coupling is described by a cam disk
(transfer function).
Scaling and shift (offset) of camming is possible on both the master setpoint source
side and on the following axis/axes side. This enables individual adaptation of a
cam disk in terms of its definition range and range of values.

Sense of direction in camming:

Specify the direction in which the cam disk is executed.

Start point in the cam disk for relative camming

Here, you define the start point in the cam disk for relative camming as of which the
leading axis passes the cam disk.

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4.7.14.2 Synchronization object defaults - "Gear synchronization" tab

Set the synchronization / desynchronization parameters in the "Gear
synchronization" tab of the Axis_SYNCHRONISM > Default dialog box. These
settings are only relevant in gearing mode. You can set the following parameters:

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Synchronization
• Synchronization:
Here, you specify when the slave axis is synchronized with the master axis.
• Position reference:
Here, you specify the position of the synchronization profile relative to the
position of the synchronization point.
• Synchronization direction (only for modulo axes)
Here, you define the synchronization direction.
• Sync. Pos. master setpoint:
Here, you enter the position of the synchronization point of the master axis.
• Sync. Pos. following axis:
Here, you enter the position of the synchronization point of the slave axis.

Desynchronization
• Desynchronization
Here, you specify when the following axis is desynchronized from the leading
axis.
• Position reference:
Here, you specify the position of the desynchronization profile relative to the
position of the desynchronization point.
• Desync. master setpoint:
Here, you enter the position of the desynchronization point for the leading axis.
• Desync. following axis:
Here, you enter the position of the desynchronization point for the following
axis.

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4.7.14.3 Synchronization object defaults - "Cam synchronization" tab

Set the synchronization /desynchronization parameters in the "Cam
synchronization" tab of the Axis_SYNCHRONISM > Default dialog box. These
settings are only relevant to camming mode. You can set the following parameters:

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Synchronization
• Synchronization:
Here, you specify when the slave axis is synchronized with the master axis
• Position reference:
Here, you specify the position of the synchronization profile relative to the
position of the synchronization point.
• Synchronization direction (only for modulo axes)
Here, you define the synchronization direction
• Sync. Pos. master setpoint:
Here, you enter the position of the synchronization point of the master axis
• Sync. Pos. following axis:
Here, you enter the position of the synchronization point of the slave axis

Desynchronization
• Desynchronization
Here, you specify when the following axis is desynchronized from the leading
axis
• Position reference:
Here, you specify the position of the desynchronization profile relative to the
position of the desynchronization point
• Desync. master setpoint:
Here, you enter the position of the desynchronization point for the leading axis
• Desync. following axis:
Here, you enter the position of the desynchronization point for the following
axis

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4.7.14.4 Synchronization object defaults - "Dynamics" tab

Set the basic defaults for synchronization / desynchronization in the
Axis_SYNCHRONISM > Default dialog box, "Dynamics" tab.

Profile setting:
Here, you specify the reference for the synchronization profile.
• Leading axis-related synchronization
• Time-based synchronization profile
• Last programmed setting
The default "last programmed setting" profile is not available in this version.

Leading axis-related synchronization

• Sync. length:
Here, you enter the path length for synchronization.
• Desync. length:
Here, you enter the path length for desynchronization.
The synchronization length and desynchronization length are only evaluated for
leading axis-related synchronization profiles.

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Time-based synchronization
• Velocity:
Here, you enter the maximum velocity.
• Velocity profile:
Here, you select the velocity profile.
• Acceleration:
Here, you enter the maximum acceleration.
• Deceleration:
Here, you enter the maximum deceleration.
• Jerk:
Here, you enter the maximum jerk.
The Velocity profile, Velocity, Acceleration, Deceleration, and Jerk parameters are
only evaluated for time-related synchronization profiles.

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4.7.14.5 Synchronization object defaults - "Master dynamics" tab

Set your dynamic defaults for master setpoint changeover in the
Axis_SYNCHRONISM > Default dialog box, "Dynamic master" tab.

You can set the following parameters:

• Velocity
Enter the maximum velocity at this parameter.
• Velocity profile
Enter the velocity profile at this parameter.
• Jerk
Enter the maximum jerk at this parameter.
• Acceleration
Enter the maximum acceleration at this parameter.
• Deceleration
Enter the maximum acceleration at this parameter.

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4.8 Configuring cam disks

Any cam disk applied in the user program must have been inserted in S7T Config
as "Cam disk" TO.
The cam disk in the user program is defined using the "MC_CamClear",
"MC_CamSectorAdd" and "MC_CamInterpolate" technology functions. You can
call technology function "MC_GetCamPoint" to read the position values of an
interpolated cam disk. The reference to the cam disk created in S7T Config is set
at input parameter CamTable of the technology function by entering the number of
the technology DB which was created for the cam disk.
A cam disk application is defined in the user program using the "MC_CamIn" and
"MC_CamInSuperimposed" technology functions. The cam disk is selected at input
parameter CamTable. Prerequisite for use is the assignment to a corresponding
synchronization configuration.

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4.8.1 Inserting a cam disk

Requirements
• The data of the Technology CPU are configured and compiled in HW Config.

How to insert a cam disk in S7T Config

Step Description
1. To create a new cam disk in S7T Config using the CamEdit tool, double-click "Insert cam disk"
in the Navigator of S7T Config.

To create the cam disk using the optional SW package SCOUT CamTool, double-click "Insert
cam disk with CamTool" (this entry is only visible if the optional package is installed).
In the next phases of this example we shall only refer to CamEdit. For a detailed description of
the functions and handling of SCOUT CamTool, refer to the "SIMOTION CamTool" manual.

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Step Description
2. In the "Insert cam disk" dialog box, type in the name of the technology object and of the author,
and then add the version number and a comment. Select whether to define the cam disk by
means of interpolation table or polynomials. Set the "Open editor automatically" check box in
order to automatically open the cam configuration dialog box:

Click "OK"
Result: The CamEdit dialog box opens.
3. Define the cam disk by means of the interpolation table or polynomials, depending on the type.
Change the scaling and the interpolation mode of the cam disk if necessary.

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Step Description
4. Close CamEdit.

Result: The TO is inserted.

Note
After interpolation, you can only insert new polynomials or interpolation points after
you cleared the cam disk.
The properties of leading and following axes are ignored during interpolation and in
the continuity check.

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4.8.2 Defining cam disks

In the Insert cam dialog box, you can choose to define the cam disk based on
interpolation points or on polynomials.
• Definition based on interpolation points
The interpolation point table represents the interpolation points by the formula
P = P(x,y). The order by which the value pairs are entered is irrelevant. They
are automatically sorted in the definition range in ascending order.
S7T Config interpolates the cam disks according to the configured interpolation
mode.
• Definition based on polynomials / segments
The various polynomials are described in accordance with "VDI Directive 2143,
Motion Laws for Cam Mechanisms." The maximum degree of the polynomial is
6 and may also contain a trigonometry function.

Cam disk definition methods

Both definitions, i.e. based on interpolation points or on polynomials, have their
advantages and disadvantages. Your application determines which one of these
methods will suit requirements.
A combination of both methods in a cam disk is only possible in runtime using the
technology function "MC_CamSectorAdd".

Definition based on interpolation points Definition based on polynomials

Advantage • Simple definition • Low data volume for the definition
• Any algorithms can be mapped by • Standard transitions in accordance with
interpolation points VDI...
• Cam disk creation by Teach-In • Contour is very precise, continuous
• Simple interface to HMI transitions
Disadvantage • Large number of interpolation points • Complex calculation of coefficients
s required for smooth contour

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4.8.3 Creating cam disks with CamEdit

• The CamEdit dialog box can be used to perform the following tasks:
• Define the cam disk by entering their segments or interpolation points
• Create cam disks with defined motion transitions using the VDI wizard.
• Edit the cam of the cam disk
• Download the cams of a cam disk to the PLC (only possible if the cam disk is
not in use)
• Read the cams from the PLC
• View the cam's geometry. Compare the cam on the PG/PC with the cam in the
PLC (scaled / non-scaled display).
The interpolation settings in CamEdit will be ignored if made in technology function
"MC_CamInterpolate". The cam can not be scaled and shifted in the user program.

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4.8.3.1 Interpolation
At the "Interpolation" tab of the CamEdit dialog box, you define whether to retain
gaps between the segments of the cam disk, or whether to interpolate between the
end points of particular segments. Gaps represent discontinuity in the cam profile.
They develop whenever cam disk segments do not overlap. You can set the priority
of a specific overlapping cam disk segments.

The settings shown can be made by setting the "Expert mode" check box:

1. With gaps up to a length of…

• Retain gaps
In the "retain gaps" row of the "Master" or "Slave" fields, you define the length
of gaps to be retained between the cam disk segments of the "master axis" and
"slave axis". This function is only available when expert mode is activated.
• Join points
In the "join points" row of the "Master" or "Slave" fields, you specify to which
maximum length of the gaps between the segments of the "master axis" and
"slave axis" you want to join the end points of the cam segments. This function
is only available when expert mode is activated.

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2. If the gap length is greater than the length defined in 1., interpolate with ...
At "Interpolation mode", you can select the mode of interpolation between gaps
with a length greater than the previously defined maximum.
• Linear (linear interpolation
Continuous closing of gaps by inserting a linear segment between the
interpolation points.
• Cubic splines (interpolation with cubic splines)
Gap closing with continuous differentiation. The cam profile runs through the
specified interpolation points.
• Bezier Splines (interpolation with Bezier splines)
The approximation trend runs along the defined interpolation points.

If segments overlap, priority is taken by ...

Here, select which of the overlapping cam disk segments should take priority. This
function is only available when expert mode is activated.
• Start point (master axis)
The cam profile is continued at the segment start point of the next segment
• End point (master axis)
The cam profile of the next segment starts at the segment end point of the
current segment.
• Sequence
The cam profile is determined by the sequence of segment insertion. The last
segment inserted takes highest priority, and the first segment inserted takes
lowest priority.

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4.8.3.2 Interpolation(2)
Set the type and range of the leading axis values of the cam disk in the
"Interpolation(2)" tab of CamEdit. These settings form the interpolation conditions.

Cam disk type

Set the mode of operation of the cam disk:
• non-cyclic
The cam disk is not to be used in cyclic mode
• Cyclic absolute
The cam disk is to be operated with cyclic camming, absolute to the following
axis.
• Cyclic relative
The cam disk is to be operated with cyclic camming, relative to the following
axis.

Master range (range of leading axis values)

Here you set the range of leading axis values:
• Start point
Defined by a number, or by setting the check mark. In this setting, the start
point is derived from the existing geometry of the cam disk.
• End point
Defined by a number, or by setting the check mark. In this setting, the end
point is derived from the existing geometry of the cam disk.

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4.8.3.3 Scaling and shift

In CamEdit, you can scale (stretch or compressing) and shift the cam disk profile.
The scaling and shift can be applied to the values of the leading and following
axes.
You can scale the entire cam disk, or a range defined by the start and end points:
• You can define the basic scaling and shift for the entire cam disk
• The range scaling lets you scale and shift selected cam segments Define the
range by its start and end points
The scaling and offset of the cam disk can not be modified by the user program.
You can not change the scaling and shift in the user program.

Select the "Scaling" tab in the CamEdit dialog box to define the scaling and shift of
the leading and following axes.

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Scaling and shift settings in the range

of the leading axis values (master axis):
• Basic scaling
Enter the scaling coefficient for the leading axis in the basic scaling dialog of
the "Master axis". The center of scaling is always the coordinate origin.
Do not use any scaling values greater than 5 Greater values cause a
roughness in the cam profile
• Scaling 1) and Scaling 2)
In the scaling dialogs, you can set user-specific parameters for scaling up to
two ranges of the "master axis" (range of leading axis values) At from...to, you
define your scaling range, and then enter the scaling coefficient in "coefficient"
Do not overlap the ranges when scaling two ranges Start point of the scaling
range is the center of scaling
• Shift
In the shift dialog, you can enter a shift coefficient for the master axis (leading
axis values) The shift refers to the previously scaled cam or to the elementary
shape if you have not performed any scaling

Scaling and shift settings in the range

of the following axis values (slave axis):
• Basic scaling
Enter the scaling coefficient for the following axis in the basic scaling dialog of
the "slave axis" The center of scaling is always the coordinate origin Do not
use any scaling values greater than 5 Greater values cause a roughness in the
cam profile
• Scaling 1) and Scaling 2)
In the scaling dialogs, you can set user-specific parameters for scaling up to
two ranges of the "slave axis" (range of following axis values) At from... and
to..., you define your scaling range, and then enter the scaling coefficient in
"coefficient" Do not overlap the ranges when scaling two ranges Start point of
the scaling range is the center of scaling
• Shift
In the shift dialog, you can enter a shift coefficient for the "slave axis" (following
axis values) The shift refers to the previously scaled cam or to the elementary
shape if you have not performed any scaling

Note
If a scaled and/or shifted cam disk is used in more than one object, the
adjustments affect all relevant objects.

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Examples of cam scaling and shift

The examples below demonstrate the effects of scaling and shift on the cams. The
original cam is represented by a black line. The blue line represents a scaled or
shifted cam.
Shift of the leading axis values:

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Shift of the following axis values:

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Shift of the leading axis values and of the following axis values:

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Scaling of the leading axis values:

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Scaling of the following axis values:

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Scaling of the leading axis values and the following axis values:

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Shift of the leading axis values and the following axis values
Scaling of the leading axis values and the following axis values:

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4.8.4 Creating cam disks with CamTool

You can also use SCOUT CamTool to create and edit cam disks. This tool must be
purchased separately. Benefits derived from using the SCOUT CamTool:
• Precise, graphic visualization of the cam
• Quick and easy cam definition by means of drag-and-drop of cam elements
• Quick and easy cam tuning by means of "dragging at the profile"
• Simultaneous visualization of the position, velocity, acceleration and jerk profile
has an immediate effect on maximum velocity, the motor torque required and
on mechanical load.
• Tuning the velocity, acceleration or jerk parameters of the cam
The SCOUT CamTool SW can be totally integrated in the user interface of
S7T Config.
For detailed information on the functions and handling of this SW, refer to the
"SIMOTION CamTool" manual.

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4.8.5 VDI laws of motion

4.8.5.1 Working ranges and motion transitions

The VDI concept distinguishes between Working ranges and motion transitions:
• Working ranges correspond to sequences in a process. VDI distinguishes
between four working ranges.
• Motion transitions represent transitions between working ranges. Although
these are not directly relevant to the process, they must satisfy certain
conditions such as constant velocity and acceleration.

Working ranges

The VDI concept distinguishes between the following working ranges:

Working range Velocity (v) Acceleration (a)

R Dwell =0 =0
G Constant velocity ≠0 =0
U Reversal =0 ≠0
B Motion ≠0 ≠0

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Example of a cam disk with three working ranges

Motion transitions
Possible motion transitions in the various working ranges:

Note
The VDI Wizard supports the creation of cam disks in S7T Config. Select CamEdit
to open this tool.

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4.8.5.2 Defining cam disk segments for motion control tasks

Definition of working ranges

The working ranges of motion tasks are usually determined by the process.
Example
1. A tool waits on a production line for a part to pass by (dwell state).
2. The tool is synchronized to the part and performs an action on the work piece
(constant velocity).
3. The tool then returns to the waiting position (reversal).
The process starts over from the beginning.
In order to implement this sequence, the cam disk must be segmented in the first
step according to the working ranges.

Creating a motion transition

In the next step, you define the motion transitions which satisfy certain conditions,
e.g. jerk-free motion.
• Start by transforming the motion transition to the normalized range.
• Make allowances for conditions such as the position, velocity, and acceleration
at the segment limits.
• In order to apply the polynomial defined in this way, it must be transformed
back into the real range.
Creating motion transitions to VDI:

References
• VDI-Richtlinie 2143, Bl. 1: Bewegungsgesetze für Kurvengetriebe –
Theoretische Grundlagen. Düsseldorf: VDI-Verlag, 1980
• Volmer, J. (edited.): Getriebetechnik – Kurvengetriebe. 2. Printed in Berlin
Published by Technik Verlag, 1989

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4.9 Configuring cams

4.9.1 Configuring output cams

Any output cam to be used in the user program must have been be inserted in
S7T Config as "Output cam" TO.
You program the object in the user program using the technology function
"MC_CamSwitch" (position-based/switching output cam) or "MC_CamSwitchTime"
(time-based output cam.) The reference to the output cam created in S7T Config is
defined by setting the corresponding Technology DB number at input CamSwitch.
The ON / OFF conditions are configured directly at the block.

4.9.2 Inserting output cams

Requirements
• The data of the Technology CPU are configured and compiled in HW Config.
• An axis or external encoder was created in S7T Config.

How to insert an output cam in S7T Config

Step Description
1. In S7T Config Navigator, double-click "Insert output cam".

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Step Description
2. In the "Insert output cam" dialog box, type in the name of the TO and of the author, then add the
version number and a comment. Set the "Open editor automatically" in order to automatically
open the output cam configuration dialog box:

3. Click "OK" to confirm your entries.

Result: The TO is inserted.

Further procedures
Configure the output cam in the Cams> Configuration dialog box.

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4.9.3 Configuration - Output cams

In the Output Cam_1 - Configuration dialog box, you can set the following items
for the "Output Cam" TO.
• The output cam type: Position-based cams, time-based cams, or switching
cams
• The system cycle in which the cam is calculated
• Reference value of the output cam: Setpoints or actual values
Applicable to the setpoint reference:
If the cam is not being processed within the position control cycle, it must be
run within the same cycle as the axis.
• Using the output cam as high-speed output cam

Note
Output cams also take effect at non-homed axes.

Output
Set the "Enable output" check box to assign a HW address and a logic operation to
the "Output Cam" TO.
With disabled output the output cam can only be evaluated in the software.

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HW address
The output cam is assigned only to one output. This may be an integrated digital
output of the Technology CPU, a digital output on DP(DRIVE), for example, at an
ET200 station, or the output of a TM15 or TM17 High-Feature module.
Several output cams can be connected to the same output.
The switching accuracy of the output cam is determined by:
• The accuracy of I/O output
• The priority of the output cam in the system cycles
• The compensation for constant delay times

Logical operation
In the Cams > Configuration dialog box, you can determine whether to
interconnect the output cam with the output by means of a logical AND or OR
operation.
That is, all ORed output cams will be grouped and then logically linked at the
output with the output cams linked by AND logic.
OR logic with two output cams

100 µm 105 µm 110 µm

s
Cam 1

Cam 2

Output

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4.9.4 High-speed output cams

In order to enhance the switching accuracy of output cams you can enable the
"High-speed cams" function in the Output cam_1 - Configuration dialog box.
Only the integrated outputs of the Technology CPU or the outputs of a TM15 or
TM17 High Feature modules support operation as high-speed cam, because these
are supported by internal HW functions.

Instructions
• High-speed and normal output cams may not share the same hardware
address and bit number. Always use separate addresses.
• A high-speed cam output may not be operated at a hardware address on
DP(DRIVE)

Output cams are calculated based on the IPO cycle or on the position controller
cycle. High-speed output cams should always be calculated based on the position
controller cycle. The cam signal is output within the position control cycle. TM15
and TM17 output cams are output with time stamp. Hence, their accuracy does not
depend on the execution cycle.

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4.9.5 Type of output cam values - setpoints

The examples below shows the time-based reaction of output cams when "Type of
output cam values = setpoints" is set in S7T Config. The examples are based on a
1:1 ratio between the position control cycle and the IPO cycle.

Example - next higher target position

The default switching position -90000 is defined in the example below.
The target positions calculated within the IPO cycle do not precisely correspond
with the default switching position. For this reason, the integrated technology uses
the next target position of the axis as threshold value In our example this is the
next higher target position -90076.

System variable positioningstate.commandposition (axis target position)

System variable state (activation state of the output cam)
Target position at the drive
The example shows an offset between the axis target position and the drive
setpoint. This offset develops due to clocked communication between integrated
technology and the drive. The offset has a length of one position control cycle
(corresponds with one IPO cycle in our example).
System variable state returns the activation state of the output cam. The cam
output is activated at the drive at the next setpoint (-90076).

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Example - next lower target position

The default activation position -250000 is set in the next example.
The example also shows a slight offset between target positions calculated within
the IPO cycle and the default activation positions. The integrated technology uses
the corresponding next target position of the axis as threshold value. In this
example, this is the next lower target position -249916.

System variable positioningstate.commandposition (axis target position)

System variable state (activation state of the output cam)
Target position at the drive
This example, too, shows that communication causes an offset between the axis
and drive target positions.
System variable state returns the activation state of the output cam, similar to the
example shown earlier. The cam output is activated at the drive at the next setpoint
(-249916).

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4.10 Configuring measuring sensors

4.10.1 Configuring measuring inputs

Any measuring input deployed in the user program must be inserted in S7T Config
as a "Measuring input" TO.
You program the function by calling the technology function "MC_MeasuringInput"
in the user program. There, you enable and disable the measuring input according
to the various operating mode settings, and define its measurement range. The
reference to the measuring input created in S7T Config is defined by setting the
number of the relevant technology DB at the MeasuringInput input parameter.

4.10.2 Inserting a measuring input

Requirements
• The data of the Technology CPU are configured and compiled in HW Config.
• An axis or external encoder was inserted in S7T Config.

How to insert a measuring input in S7T Config

Step Description
1. In the S7T Config navigator, double-click "Insert measuring input".

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Step Description
2. On the "Insert measuring input" dialog box, type in the name of the TO, and then add the name
of the author, the version number and a comment as required. Set the "Open editor
automatically" in order to automatically open the measuring input configuration dialog box:

3. Click "OK" to confirm your entries.

Result: The TO is inserted.

Further procedures
Configure the measuring input in the Measuring Input> Configuration dialog box.

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4.10.3 Configuration - Measuring input

Select the Measuring input > Configuration dialog box to set the following
parameters for the "measuring input" TO:
• The system clock: Ipo, Ipo2, or position control cycle. The measurement
results are written by default to the system variables of the TO within the
interpolator cycle.
• The measuring input number: This measuring input number corresponds with
the measuring input used at the drive component (only if "Measuring input at
TM15/TM17" is disabled.) You can assign several measuring inputs to a
measuring input.
• Die system number: Corresponds with the number of the encoder system used
(if several encoders are configured at the axis, otherwise 1.) An encoder
system can be assigned to several measuring inputs.
Set the "monitor current status" check box to suppress short pulses (shorter than
the position control cycle) at the measuring input. A measuring input triggered at
the positive edge is not enabled until the signal status at the measuring input was 0
for the duration of at least one position control cycle.
If the measuring input is located on a TM15/TM17 High Feature module, set the
"Measuring input at TM15/TM17 module" check box in the configuration dialog.

An input box opens after you set the check box, showing the byte address of the
measuring input signal on DP(DRIVE), and a drop-down list from which you can
select the corresponding bit number.

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Note
The measuring input must be located either on the drive component used, or on a
TM15/TM17 High Feature module. Other digital inputs can not be used as
measuring inputs.
The measuring input can only be connected to the drive component containing the
encoder input. If the encoder input is connected to SIMODRIVE, for example, you
can only connect the measuring input to IM 174/ADI4 if the IM 174/ADI4 is also
connected to SIMODRIVE.

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4.11 Configuring external encoders

Encoders supported by the "External encoders" TO:
• Analog absolute encoder (sensor analog) wired to an analog input module of
ET 200M or ET 200S
• Incremental encoder (rectangular TTL) wired to analog drive interface IM
174/ADI4
• Absolute encoder (SSI) wired to analog drive interface IM 174/ADI4
• Incremental or absolute encoders wired to the encoder input of a DP drive
• Absolute encoder SIMODRIVE Sensor Isochron (message frame 81)
The hardware of any external encoders applied in the user program must be
configured in HW Config, and the external encoder must be inserted as "External
encoder" TO in S7T Config. For information on configuring the encoder system in
HW Config, refer to the description of the drive or of the SIMODRIVE sensor.
You program the system by calling technology function "MC_ExternalEncoder" in
the user program. This function allows you to enable and disable the external
encoder and the homing settings You define the reference to the external encoder
created in S7T Config by setting the number of the technology DB at the Axis input.

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4.11.1 Inserting an external encoder

Requirements
• The Technology CPU is configured in HW Config
• You configured a drive component with a free encoder system, or a
PROFIBUS encoder SIMODRIVE sensor in HW Config A PROFIBUS encoder
SIMODRIVE sensor must be operated in "isochronous" mode. For details, refer
to the product information, or to the encoder documentation.
• The hardware configuration was compiled in HW Config and saved.

How to insert an external encoder in S7T Config

Step Description
1. Open the Navigator of S7T Config, and then double-click "Insert external encoder."
{bmc To_extgeber_einfuegen_b.bmp}
2. On the next dialog box, type in the TO name, and include the name of the author, the version
number and a comment as required.
{bmc D_extgeber_allgemein_b.bmp}
Click "OK" to confirm your entries.
3. The "External encoder configuration" wizard opens.
Select the encoder type: linear or rotary.
{bmc D_extgeber_achstyp_b.bmp}
Confirm your entry by clicking "Next."
4. The "External encoder configuration units" dialog box opens.
Select the units required, for example "degrees."
{bmc D_extgeber_Einheiten_b.bmp}
Confirm your entries by clicking "Next."
5. The "External encoder configuration - Modulo encoder" dialog box opens.
{bmc D_geber_modulo_b.bmp}
You can implement the external encoder as modulo encoder, i.e. the position values returned by
the encoder refer to a traversing range which is defined by the modulo start and length values,
by setting the check box and these modulo values.
The address information will be read from HW Config.
6. The "External encoder configuration - Encoder number" dialog box opens.
The "External encoder configuration - Encoder number" dialog box will open if several encoder
systems are available. If you configure only one drive or only one encoder system in HW Config,
the dialog box from shown in step 7 will be opened immediately.
{bmc D_extgeber_auswahl_b.bmp}
From the drop-down list, select the relevant encoder system, or the drive component to which it
is connected, for operation as external encoder.

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Step Description
7. The dialog box shows additional information and options after you selected the encoder.
{bmc D_extgeber_auswahl_2_b.bmp}
Message frame type:
The message frame type selected for the encoder system of the drives must correspond with
the setting in HW Config (see also Selecting the message frame type).
• SIMODRIVE sensor settings
When using the PROFIBUS encoder SIMODRIVE sensor, always select "Standard
telegram 81" as the message frame type.
• IM 174/ADI4 settings
Always select "Standard telegram 3" as message frame type for IM 174/ADI4
The "Drive number" parameter is displayed as drop-down list when you make your settings
for IM 174/AD14 From this drop-down list, select the encoder number set at IM 174/ADI4
for this encoder.
Encoder type / mode and measuring system:
From the "Encoder type", "Encoder mode" and "Measuring system" drop-down lists, select the
settings used to configure the drive component or encoder. For details, refer to the
supplementary descriptions of SIMODRIVE 611 universal, MASTERDRIVES MC, IM 174/ADI4
and SIMODRIVE Sensor, or to the device manuals.
Example of settings at the SIMODRIVE Sensor:
• Encoder type: "Absolute encoder cyclic absolute"
• Encoder mode: "SSI"
• Measuring system: "Rotary encoder system"
Confirm your entries by clicking "Next."
8. The "External encoder configuration - Encoder data" dialog box opens. The content of this
dialog box depends on the selected encoder type. The diagram shows the dialog box for the
SIMODRIVE Sensor encoder.
{bmc D_extgeber_GebDat_b.bmp}
• IM 174/ADI4 settings
Enter the encoder data at IM 174/ADI4 which you configured in HW Config
• Settings of the encoder systems on SIMODRIVE, MASTERDRIVES etc
Enter the same encoder data you set in the drive configuration
• SIMODRIVE sensor settings
Enter the values shown below for the SIMODRIVE sensor:
Parameters Single-turn Multiturn encoder
encoder
Encoder resolution 8192 8192
Multiplication factor of the absolute actual 1 1
value
Multiplication factor of the cyclic actual value 524288 128
Number of data bits 13 25
Confirm your entry by clicking "Next."
9. The dialog box below shows a summary of the configuration.
{bmc D_extgeber_fertig_b.bmp}
Close the wizard by clicking "Apply".

Result: The TO will be inserted.

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4.11.2 Configuration - External encoder

The External encoder > Configuration dialog box shows the drive and encoder
settings.
Click "Reconfigure external encoder" in order to open the encoder wizard and edit
the settings.

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4.11.3 Mechanics - External encoder

You define the mechanical parameters of the external encoder in the External
encoder > Mechanics dialog box.

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4.11.4 Defaults - External encoder

Open the External encoder > Default dialog box to enter the reference position
of the external encoder. Use the reference position to define the position within the
coordinate system of the "External encoder" TO. This position setting can be used
for synchronization using the "MC_ExternalEncoder" technology function in modes
4 and 5.

4.11.5 External encoders - Synchronization with incremental encoders

The Technology CPU supports various synchronization modes for incremental

encoders operating as external encoder. You can set the reference position of the
external encoder in the Expert List of S7T Config.
When synchronizing the encoder, the value of the reference point coordinate will
be assigned to the current encoder position:
• when the encoder zero mark is reached (default setting)
• on reaching the external zero mark (set in the expert list)
The homing mode of the external encoder can be set in the
TypeOfAxis.Encoder_1.IncHomingEncoder.passiveHomingMode configuration
data of the Expert list.
Options:
• CAM_AND_ZM_PASSIVE(1)
Passive homing with reference output cam and the next encoder zero mark
• ZM_PASSIVE(2)
Passive homing with the next encoder zero mark
• CAM_PASSIVE(3)
Passive homing with external zero mark
• DEFAULT_PASSIVE(4)
The ZM_PASSIVE(2) (with encoder zero mark) or CAM_PASSIVE(3) (without
encoder zero mark) homing modes will be used, depending on the encoder
type.

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You also need to set an expected homing approach direction at configuration

parameter TypeOfAxis.Encoder_1.IncHomingEncoder.passiveApproachDirection.
Options available:
• APPROACH_NEGATIVE_PASSIVE(0)
Homing with approach to the encoder zero mark in negative direction of travel
• APPROACH_POSITIVE_PASSIVE(1)
Homing with approach to the encoder zero mark in positive direction of travel
• EDGE_POS_SIDE_NEG_PASSIVE(2)
Homing with approach to the external zero mark in positive direction of travel
• EDGE_POS_SIDE_POS_PASSIVE(3)
Homing with approach to the external zero mark in negative direction of travel
• EDGE_NEG_SIDE_NEG_PASSIVE(4)
Homing when the axis has passed the external zero mark in negative direction
of travel
• EDGE_NEG_SIDE_POS_PASSIVE(5)
Homing when the axis has passed the external zero mark in positive direction
of travel
• ACTUAL_DIRECTION_PASSIVE(6)
Homing at the next edge of the external / encoder zero mark
The selection of the approach direction depends on the homing mode. The table
below shows the relationship between the approach direction and homing mode:

Referencing mode
Approach direction CAM_AND_ZM_ ZM_ CAM_ DEFAULT_
PASSIVE(1) PASSIVE(2) PASSIVE(3) PASSIVE(4)
APPROACH_NEGATIVE_PASSIVE(0) X X F Gx
APPROACH_POSITIVE_PASSIVE(1) X X F Gx
EDGE_POS_SIDE_NEG_PASSIVE(2) F F X Gy
EDGE_POS_SIDE_POS_PASSIVE(3) F F X Gy
EDGE_NEG_SIDE_NEG_PASSIVE(4) F F X Gy
EDGE_NEG_SIDE_POS_PASSIVE(5) F F X Gy
ACTUAL_DIRECTION_PASSIVE(6) X X N Gx

X – Permissible configuration
F – Illegal configuration
N - Function not supported
Gx – Encoder with encoder zero mark (TTL, sine/cosine)
Gy - Encoder without encoder zero mark (Endat)

Note
Please note that the reference point modes listed above are not supported by all
drive components (for details, refer to the corresponding documentation).

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Homing mode DEFAULT_PASSIVE(4) supports the selection of the approach

direction according to the encoder mode setting in your configuration. You can only
select approach directions 0, 1 and 6 if you define an encoder with encoder zero
mark in your configuration. An encoder setting without zero mark only lets you
select approach directions 2, 3, 4 and 5. Any other combination will lead to
configuration errors.
In CAM_AND_ZM_PASSIVE(1) homing mode, the reference output cam can be
connected directly to a hardware input of the Technology CPU (address 66, for
example) or of the distributed I/O at DP(DRIVE). The address is set at the
configuration data shown below:
• Bit address
TypeOfAxis.Encoder_1.IncHomingEncoder.passiveBitNumberBero
• Byte address
TypeOfAxis.Encoder_1.IncHomingEncoder.passiveLogAdressBero
In CAM_PASSIVE(3) homing mode, the external zero mark must be connected to
the relevant drive component of the corresponding axis.

4.11.6 Setting the standstill signal

The standstill signal for the external encoder can be set at the configuration data in
the Expert List of S7T Config:
• The "Standstill signal velocity threshold" can be set at configuration parameter
TypeOfAxis.StandStillSignal.maxVeloStandStill
• The "Signal output delay" can be set at configuration parameter
TypeOfAxis.StandStillSignal.delayTimeToActivate

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4.12 Copying configuration data of another station

The next steps show how you can reuse the HW and technology configuration data
and the user program in a second station of the same project.
Conditions for the next actions:
• The HW configuration of the source station is successfully compiled and saved
• The configuration data of the technology in S7T Config are compiled and
saved in the source project
• SIMATIC Manager is open (S7T Config, HW Config etc. are closed)

Step Description
1. Select the source station in SIMATIC Manager, and then select the Edit > Copy command.
2. Select the destination project, and then select the Edit > Paste command.
After this insertion, a new station with an unambiguous name is shown in the project. All STEP 7
components were copied to this new station.
3. Open the hardware configuration of the new station. Add it to the configuration of the
DP(DRIVE) interface, and of the MPI/DP interface as required, because the logical network links
or the networks are not included in the copy operation. You should therefore create new
network objects, and then adapt the settings for isochronous operation of the configured drive
component.
4. Save and compile the HW configuration. Close HW Config.
5. Select "Technology objects" in SIMATIC Manager, and then run "Technology Objects
Management" by selecting Edit > Open object.
Adapt the technology DBs you generated as required.

You have now created a new station which contains the data of the source station
(save for the difference in names.)

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5.1 Time pattern of CPU 31xT

The diagram below shows the cycles of integrated technology, and their influence
on command processing of the technology objects for CPU 31xT.
The time slices selected only represent an example and may deviate depending on
your plant settings.

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The diagram represents time requirements of the various cycles in time slice units.
The time slice requirements vary, depending on the number of TOs configured.
The time slices of the interpolator cycle, the interpolator cycle 2 and the update
cycle of the technology DBs are not processed in all position control cycles.
DP communication, the position control cycle, the interpolator cycle, interpolator
cycle 2 and the Technology DB update cycle are executed with descending priority.
Command execution utilizes the interval between the position control cycles. The
smaller this interval, the more time is required for command execution.
Cycles selected in the example shown:
• Position control cycle = 1
(corresponds with a 1:1 ratio between the DP cycle and the position control
cycle)
• Interpolator cycle = 2
(corresponds with a 1:2 ratio between the position control cycle and the
interpolator cycle)
• Interpolator cycle 2 = 2
(corresponds with a 1:2 ratio between the interpolator cycle and interpolator
cycle 2)
• Update cycle of the technology DBs = four times the interpolator cycle
(interpolator cycle 2 in the example shown)
The cycles shown are synchronized with the DP cycle, or with DP communication.
• DP cycle
The DP cycle determines the intervals for data exchange with the DP I/O on
DP(DRIVE.) Data are exchanged within the "DP communication" time slice.
The constant bus cycle time at the DP(DRIVE) must be enabled by setting the
corresponding parameters in HW Config. The integrated technology in
combination with the isochronous components on DP(DRIVE) form the basis of
isochronous operation.
• Position control cycle clock
The system also computes the axis position control within the time slice of the
position control cycle clock. The time requirements of this time slice remain
near constant while the Technology CPU is in operation.
The position control cycle clock determines the interval between the position
control cycles.
The value of the position control cycle clock can be set to a multiple of the DP
cycle in S7T Config. We recommend a clock ratio of 1:1 in order to enhance
performance in terms of TO processing.
• Interpolator cycle
The time slice of the interpolator cycle is also used to compute the control
variables. The interpolator cycle clock determines the interval between two
interpolator cycles. Time slice requirements may increase briefly at the start of
one or several commands.
• Interpolator cycle 2
Interpolator cycle 2 handles the same tasks as the interpolator cycle and can
be used for TOs of a lower priority class.

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• Updating technology DBs

The technology DBs are updated within the time slice. Integrated technology
with firmware version V3.2.x or higher supports the distribution of technology
DB updates to different cycles (see also "Updating the Technology DBs".).
Older firmware versions only support the update of all Technology DBs within
the same time slice.
The update cycle of the technology DBs can be set to a multiple of the
interpolator cycle in S7T Config. The technology synchronization interrupt OB
is called after each update of the Technology DBs.
Command processing
The commands of integrated technology are processed and tracked at indefinite
cycles. The time required to process current commands depends on the number of
active commands and on CPU load. The average and maximum command
processing times can be read from the CmdLoopDuration and MaxLoopDuration
variables of the MCDevice Technology DB. Integrated technology firmware V3.2.x
or later supports the start of axis commands within the interpolator cycle.
Subsequent command tracking operations are again handled by means of the
command processing functions of the integrated technology.
The example above shows that cycle 1 only provides a small time slice for
command processing. In addition to DP communication and the position control
cycle, the system also processes the interpolator cycle and interpolator cycle 2,
and the update of the Technology DBs. This method provides additional time for
command processing in the next cycles.

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The example shows the time profiles with insufficient DP cycle length. The clock
ratios as shown in the previous example apply:
• Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle
1. Interpolator cycle 2, including the update of Technology DBs, can thus not
be started within this cycle. The start will be postponed to the next cycle.
• Cycle 2
DP communication and the position control cycle interrupt the interpolator
cycle. The time slice of the interpolator cycle resumes when the interrupt is
cleared. Next, the system executed interpolator cycle 2, and initiates the
Technology DB update.
• Cycle 3
The Technology DB update will be interrupted in order to execute tasks of
higher priority (DP communication, position controller / interpolator cycle) Same
as in cycle 1, the interpolator cycle cannot be terminated within this cycle.
• Cycle 4
The time slice of the interpolator cycle will be resumed and concluded on
completion of the position controller cycle. Next, the system executes the time
slice of interpolator cycle 2 and finalizes the update of the Technology DBs.
This leaves only a narrow time slice for command processing.
• Cycle 5
The sequence restarts at cycle 5 as explained in cycles 1 to 4.

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The command start may briefly increase time requirements of the interpolator
cycle. The diagram shows a state which may lead to an "overflow" of the
interpolator cycle. The cycle characteristics apply as in the examples shown earlier:
• Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle
1. Interpolator cycle 2, including the update of Technology DBs, can thus not
be started within this cycle. The start will be postponed to a later cycle.
• Cycle 2
DP communication and the position control cycle interrupt the interpolator
cycle. The time slice of the interpolator cycle resumes when the interrupt is
cleared.
• Cycle 3
The time slice of the interpolator cycle is interrupted again in order to execute
DP communication and the position control cycle. The system is still busy
executing the current interpolator cycle, and calls a new interpolator cycle. This
action leads to an "overflow" of the interpolator cycle. The Technology CPU
goes into stop or tolerates this overflow, depending on the system clock
settings in S7T Config. In this example, at least one overflow will be tolerated
and processing is continued, i.e., the Interpolator cycle will be completed. Next,
the system executes interpolator cycle 2 and updates the Technology DBs.
This leaves only a narrow time slice for command processing.
• Cycle 4
The interpolator cycle which should have been started in cycle 3 will be
skipped, i.e., the system executes the time slice for command processing after
the position control cycle is completed.
• Cycle 5
Again, time requirements of the interpolator cycle are slight. The interpolator
cycle, interpolator cycle 2 and the Technology DB update can be processed in
cycle 5.

Note
A narrow margin in the cycle time settings may lead to an overflow of interpolator
cycle 2.
The number of tolerated overflows of interpolator cycle and interpolator cycle 2 can
be set in the "System clock cycles" dialog of S7T Config (Target system > Set
System Clock Cycles command.) The Technology CPU goes into STOP if the
number of tolerated overflows is exceeded.

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5.2 Time pattern of WinLC T (Microbox T)

The diagram below shows the cycles of integrated technology and their influence
on the processing of TO commands for Microbox T.
The time slices selected only represent an example and may deviate depending on
your plant settings.

The diagram represents time requirements of the various cycles in time slice units.
The time slice requirements vary, depending on the number of TOs configured.
The time slices of the interpolator cycle, the interpolator cycle 2 and the update
cycle of the technology DBs are not processed in all position control cycles.

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DP communication, the position control cycle, the interpolator cycle, interpolator

cycle 2 and the Technology DB update cycle are executed with descending priority.
At the Microbox T, the time for DP communication is also available for integrated
technology cycles, with the exception of the position control cycle.
Command execution utilizes the interval between the position control cycles. The
smaller this interval, the more time is required for command execution.
Cycles selected in the example shown:
• Position control cycle = 1
(corresponds with a 1:1 ratio between the DP cycle and the position control
cycle)
• Interpolator cycle = 2
(corresponds with a 1:2 ratio between the position control cycle and the
interpolator cycle)
• Interpolator cycle 2 = 2
(corresponds with a 1:2 ratio between the interpolator cycle and interpolator
cycle 2)
• Update cycle of the technology DBs = four times the interpolator cycle
(interpolator cycle 2 in the example shown)
The cycles shown are synchronized with the DP cycle, or with DP communication.
• DP cycle
The DP cycle determines the intervals for data exchange with the DP I/O on
DP(DRIVE.) Data are exchanged within the "DP communication" time slice.
The constant bus cycle time at the DP(DRIVE) must be enabled by setting the
corresponding parameters in HW Config. The integrated technology in
combination with the isochronous components on DP(DRIVE) form the basis of
isochronous operation.
• Position control cycle clock
The system also computes the axis position control within the time slice of the
position control cycle clock. The time requirements of this time slice remain
near constant while the Technology CPU is in operation.
The position control cycle clock determines the interval between the position
control cycles.
The value of the position control cycle clock can be set to a multiple of the DP
cycle in S7T Config. We recommend a clock ratio of 1:1 in order to enhance
performance in terms of TO processing.
• Interpolator cycle
The time slice of the interpolator cycle is also used to compute the control
variables. The interpolator cycle clock determines the interval between two
interpolator cycles. Time slice requirements may increase briefly at the start of
one or several commands.
• Interpolator cycle 2
Interpolator cycle 2 handles the same tasks as the interpolator cycle and can
be used for TOs of a lower priority class.

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• User program
The user program and all interrupt OBs from WinLC T (Microbox T control) are
executed within the time slice shown. The length of the time slice can be set on
the WinLC T panel to a percentage of the DP cycle time. You can set values
between 10% and 50%.
The OB 1 cycle is executed within this time slice. However, it is not started
synchronously with the DP cycle. Once the time slice of the user program has
ended, current program execution will be interrupted, and is resumed at the
start of the next time slice.
The time slice of the user program is called at each cycle clock of the DP cycle.
The WinLC T status changes to STOP if the time slice cannot be executed
three times in succession.
• Updating technology DBs
The technology DBs are updated within the time slice. Integrated technology
with firmware version V3.2.x or higher supports the distribution of technology
DB updates to different cycles (see also "Updating the Technology DBs".).
Older firmware versions only support the update of all Technology DBs within
the same time slice.
The update cycle of the technology DBs can be set to a multiple of the
interpolator cycle in S7T Config. The technology synchronization interrupt OB
is called after each update of the Technology DBs.

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Command processing
The commands of integrated technology are processed and tracked at indefinite
cycles. The time required to process current commands depends on the number of
active commands and on CPU load. The average and maximum command
processing times can be read from the CmdLoopDuration and MaxLoopDuration
variables of the MCDevice Technology DB. Integrated technology firmware V3.2.x
or later supports the start of axis commands within the interpolator cycle.
Subsequent command tracking operations are again handled by means of the
command processing functions of the integrated technology.
The example above shows that cycle 1 only provides a small time slice for
command processing. In addition to DP communication and the position control
cycle, the system also processes the interpolator cycle and interpolator cycle 2,
and the update of the Technology DBs. This method provides additional time for
command processing in the next cycles.

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The example shows the time profiles with insufficient DP cycle length. The clock
ratios as shown in the previous example apply:
• Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle
1. Interpolator cycle 2, including the update of Technology DBs, can thus not
be started within this cycle. The start will be postponed to the next cycle.
• Cycle 2
DP communication and the position control cycle interrupt the interpolator
cycle. The time slice of the interpolator cycle resumes when the interrupt is
cleared. Next, the system executed interpolator cycle 2, and initiates the
Technology DB update.
• Cycle 3
The Technology DB update will be interrupted in order to execute tasks of
higher priority (DP communication, position controller / interpolator cycle) Same
as in cycle 1, the interpolator cycle cannot be terminated within this cycle.
• Cycle 4
The time slice of the interpolator cycle will be resumed and concluded on
completion of the position controller cycle. Next, the system executes the time
slice of interpolator cycle 2 and finalizes the update of the Technology DBs.
This leaves only a narrow time slice for command processing.
• Cycle 5
The sequence restarts at cycle 5 as explained in cycles 1 to 4.

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The command start may briefly increase time requirements of the interpolator
cycle. The diagram shows a state which may lead to an "overflow" of the
interpolator cycle. The cycle characteristics apply as in the examples shown earlier:
• Cycle 1
The time required for the interpolator cycle exceeds the time available in cycle
1. Interpolator cycle 2, including the update of Technology DBs, can thus not
be started within this cycle. The start will be postponed to a later cycle.
• Cycle 2
DP communication and the position control cycle interrupt the interpolator
cycle. The time slice of the interpolator cycle resumes when the interrupt is
cleared.
• Cycle 3
The time slice of the interpolator cycle is interrupted again in order to execute
DP communication and the position control cycle. The system is still busy
executing the current interpolator cycle, and calls a new interpolator cycle. This
action leads to an "overflow" of the interpolator cycle. The Technology CPU
goes into stop or tolerates this overflow, depending on the system clock
settings in S7T Config. In this example, at least one overflow will be tolerated
and processing is continued, i.e., the Interpolator cycle will be completed. Next,
the system executes interpolator cycle 2 and updates the Technology DBs.
This leaves only a narrow time slice for command processing.
• Cycle 4
The interpolator cycle which should have been started in cycle 3 will be
skipped, i.e., the system executes the time slice for command processing after
the position control cycle is completed.
• Cycle 5
Again, time requirements of the interpolator cycle are slight. The interpolator
cycle, interpolator cycle 2 and the Technology DB update can be processed in
cycle 5.

Note
A narrow margin in the cycle time settings may lead to an overflow of interpolator
cycle 2.
The number of tolerated overflows of interpolator cycle and interpolator cycle 2 can
be set in the "System clock cycles" dialog of S7T Config (Target system > Set
System Clock Cycles command.) The Technology CPU goes into STOP if the
number of tolerated overflows is exceeded.

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5.3 Cycles of the Technology CPU

The diagrams below shows the correlation between the various cycles and clocks
of the Technology CPU:

Control cycles
• OB 1 cycle
The length of the OB 1 cycle is determined by the number of instructions to be
executed. The OB 1 cycle operates independent on the cycles of integrated
technology.
• OB 32…35 cycle
The time interrupt OBs are called within a time pattern of 1 s to 60 s. The time
interrupts are called independent on the clocks and cycles of the integrated
technology.
• OB 65 cycle
The technology synchronization interrupt OB is called after each update of the
Technology DBs. The technology synchronization interrupt is thus coupled to
the integrated technology.

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Cycles of the integrated technology

The cycles of the integrated technology are synchronized with the DP cycle and DP
communication.
• DP cycle
Data are exchanged with the DP I/O on DP(DRIVE) within the DP cycle.
• Position control cycle clock
The system also computes the axis position control within the position control
cycle clock.
• Interpolator cycle
The interpolator cycle is primarily used to calculate control variables.
• Interpolator cycle 2
Interpolator cycle 2 handles the same tasks as the interpolator cycle and can
be used operate TOs of a lower priority class.
• Technology DB update cycle
The Technology DBs are updated in this cycle.
Command processing
The commands of integrated technology are processed and tracked at indefinite
cycles. The time required to process current commands depends on the number of
active commands and on CPU load.

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5.4 Assigning system clocks

You can improve utilization of system resources by assigning system clocks to the
technology objects.

You can assign the following clocks to the technology objects:

Motion control task High priority ... Low priority

Technology object Position control Interpolator cycle Interpolator cycle 2
cycle
Speed-controlled axis - Default X
Positioning axis - Default X
Synchronization axis - Default X
External encoder - Default X
Output cam X X X
Measuring input X X X

"X" = allowed
"-" = not allowed

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You can set the basic clock for Technology DB updates to a multiple of the
interpolator cycle.

Note
The following combinations are not possible when selecting different execution
cycles for an output cam and the associated axis:
• Axis in interpolator cycle; output cam in interpolator cycle 2
• Axis in interpolator cycle 2; output cam in interpolator cycle

The technology system clock of axes, external encoders, output cams and
measuring inputs are configured in the Configuration dialog box of S7T Config.
The synchronization axis and the corresponding synchronization object must be
operated within the same execution cycle. Any change of the processing cycle of a
synchronization axis also has to be applied to the synchronization object:
1. In Navigator of S7T Config, select the synchronization object of the
corresponding synchronization axis.
2. Select Expert > Expert list from the shortcut menu.
3. You can edit the processing cycle at configuration parameter
Execution.executionlevel.

Change the default setting.

• if you detect command execution times of excess length. The execution times
are available in the MaxLoopDuration and CmdLoopDuration variables of
Technology DB MCDevice.
• if load on the Technology CPU is too high. Load of the Technology CPU can
be determined in online mode using the Target system > Device diagnostics
> System load command.
Assign the "axis" and "external encoder" TOs with low-priority tasks to "interpolator
cycle 2", and the "output cam" and "measuring input" TOs to the "interpolator cycle"
or "interpolator cycle2." Assign the "interpolator cycle" or the "position control
cycle" to the "Output cam" and "Measuring input" TOs with high-priority tasks.
If the command monitoring time is exceeded you can reduce command execution
time by taking the following measures:
• Set a longer DP cycle or position control cycle
• Extend the Technology DB update cycle, or distribute the update of individual
Technology DBs to different cycles (see also Updating the technology DBs ).
• Assign interpolator cycle 2 to the low-priority TOs. This reduces load on the
interpolator cycle and increases the time slices for command execution.
• Select the expert mode in Technology Objects Management and set "IPO
synchronous" command start for specific technology objects This setting forces
the command to be started within the time slice of the interpolator cycle in
order to reduce load on the time slice for command execution

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5.5 Sequence and programming model

Sequence model
The diagram below shows the command interface for the PLC and integrated
technology.

The sequential user program (OB 1 or the watchdog interrupt OBs) initiates a
command and enters this in the command buffer of integrated technology. "IPO
synchronous" and "non-IPO synchronous" commands are saved to separate input
buffers. Each TO is capable of handling several commands in parallel without
having to wait for discrete commands to be processed.
The status and error messages, including the actual values of the TO, are updated
alongside with the Technology DBs in the PLC. Updates run asynchronously to the
OB XY cycle, i.e. a new actual is returned in each scan cycle of the user program.

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Programming model
The diagram below shows the structure of a user program. The step sequence is
independent of processing in OB 1 or in a watchdog interrupt cycle (OB 32 to
OB 35).

Each command step consists of these subroutines:

• Request of the TO status
• Evaluation of TO errors
• Initiation of a new command for the TO
• Evaluation of command errors

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The programming model shown serves as a guideline. The programming model

can be customized to suit user requirements, taking into account the time patterns
and sequence models shown earlier.

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5.6 Accessing address spaces of CPU 31xT

CPU 31xT features separate address areas for the PLC and for integrated
technology.

Addresses
CPU 315T-2DP CPU 317T-2 DP
CPU 31xT PLC 0 to 2047 0 to 8191
Process image 0 to 127 0 to 255
Integrated technology 0 to 1023 0 to 1023
I/O image 0 to 63 0 to 63

Access via the PLC

The user program can be used to access the entire address space of the PLC
using STEP 7 commands.

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Programming

Access via TOs

Assign the addresses to be accessed using the TOs to address space 64 to 1023,
as the TOs cannot access addresses outside this space.

Access using the "MC_ReadPeriphery" and "MC_WritePeriphery" technology

functions

You can use the "MC_ReadPeriphery" and "MC_WritePeriphery" technology

functions to access the I/O image of integrated technology (address space 0 to 63).
Use the "MC_ReadPeriphery" and "MC_WritePeriphery" technology functions to
assign all addresses to be accessed to this address space. These technology
functions cannot access addresses outside this space.
The /O image can be assigned addresses of the DP(DRIVE) interface (X3) or of
the integrated I/O.

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5.7 Accessing address spaces of Microbox T

The Microbox T has a common address area for the controller and the integrated
technology. This address space can be assigned addresses of the DP interface
(X1) and DP(DRIVE) interface (X2), and addresses of integrated I/O.

Addresses
Microbox 420-T
Microbox T controller 0 to 2047
Process image (default setting *) 0 to 511
Integrated technology 0 to 2047
I/O image 0 to 63

*) The size of the process image can be set in HW Config.

Access via the PLC

The entire address space of Microbox T can basically be addressed by the user
program using STEP 7 commands. The spaces addressed, however, must be
assigned to the DP interface (X1) in HW Config.
Direct access to addresses of integrated I/O or to addresses assigned to the
DP(DRIVE) interface (X2) is not supported. If these addresses are accessed in the
user program, the controller reacts as though these addresses were not in use
physically.

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Access via TOs

Assign the addresses to be accessed via TOs to address space 64 to 1023. TOs
cannot access addresses outside this space. The TOs can only access addresses
that were assigned in HW Config to the DP(DRIVE) interface (X2) or to the
integrated I/O.

Access using the "MC_ReadPeriphery" and "MC_WritePeriphery" technology

functions

You can use the "MC_ReadPeriphery" and "MC_WritePeriphery" technology

functions to access the I/O image of integrated technology (address space 0 to 63).
Use the "MC_ReadPeriphery" and "MC_WritePeriphery" technology functions to
assign all addresses to be accessed to this address space. These technology
functions cannot access addresses outside this space.
The I/O image can be assigned addresses of the DP(DRIVE) interface (X2) or of
the integrated I/O.

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Note
• "MC_ReadPeriphery"
If the "MC_ReadPeriphery" technology function is used to access address
spaces or subsections which are assigned to the DP interface (X1), the values
read for these addresses will be invalid.
• "MC_WritePeriphery"
If the "MC_WritePeriphery" technology function is used to access address
spaces or subsections which were assigned to the DP interface (X1), the write
operation will not be carried out for these addresses.

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5.8 Monitoring active commands

You can monitor active commands by reading the output parameters of the
technology functions. The output parameters (status outputs) of the technology
functions indicate the command state.
Output parameter Busy=TRUE when a command is active; Busy=FALSE when the
command is completed.
The remaining output parameters indicate the status at least for the duration of one
cycle. These status messages will be saved as long as input parameter
Execute=TRUE (this also applies to cases 1 and 3 shown in the diagram below.)

Technology functions with output parameter Done

Commands assigned output parameter Done have a defined termination. Output
parameter Done =TRUE indicates successful completion of the command (see
case 1).
Output parameter CommandAborted will be set when the command is prematurely
canceled, and output parameter Done will not be set (see case 3.) The cancellation
may be triggered when a new command is output to the same technology object, or
by an error event.

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Technology functions without output parameter Done

Commands not assigned the output parameter Done do not have a defined
termination. The action or motion continues until a cancel command is received or
an error is detected.
These technology functions return a status message which indicates the initial
reaching of the required operating state (InVelocity, InSync, InGear, DataValid etc.)
Example - Technology function "MC_MoveVelocity" (see the diagram below)
The command starts when input parameter Execute = 1. Output parameter Busy
indicates the active state of the command. The status at output parameter
InVelocity changes to TRUE when the required velocity has been reached for the
first time. The command would remain active permanently if not canceled (Busy =
TRUE)
The busy command is canceled (Busy = FALSE, InVelocity = FALSE and
CommandAborted = TRUE) when a new command is initiated at the same TO, or
when an error is detected

Cancellation of commands by the same technology function

It may prove necessary to override an active command with a new command of the
same type (for example, positioning to 100 with positioning to 200), depending on
the application.

Note
Use different instance DBs in this case. Using the same instance DB will prevent
you from tracking the active command at the output parameters of the technology
function (if a start of the new command was prevented due to an error, for
example.) You can avoid this problem by using different instance DBs.

Each one of the instance DBs is assigned a separate command buffer. A rapid
sequence of commands with the same instance DB may lead to consistency
problems at the command buffer. New commands are thus rejected with
ErrorID = 804C as long as the command buffer is being processed. This scenario
also prevents command tracking by reading the output parameters of the
technology function.

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5.9 IPO synchronous start of axis commands

Valid for Integrated Technology with firmware V3.2.x

The integrated technology executes commands by default during the time gaps
after the interpolator cycles and before the subsequent position control cycle. Short
clock times may lead to the distribution of command processing, and thus also of
the command start, to several position control cycles.
Integrated technology V3.2.x or higher supports the "IPO synchronous" start of
single axis commands. The "IPO synchronous" property can be set for the
corresponding "Axis TO" in "Technology Objects Management". Start by selecting
the View > Expert mode command.

The "IPO synchronous" property allows the deterministic, faster on average start of
axis commands.

Axis commands which can be started "IPO synchronously":

MC_Power MC_Home MC_Stop

(not for absolute value
adjustment)
MC_Halt MC_ChangeDataset MC_MoveAbsolute
MC_MoveRelative MC_MoveAdditive MC_MoveSuperImposed
MC_MoveVelocity MC_MoveToEndPos MC_GearIn
(the commands are also
monitored in "IPO synchronous"
mode until the fixed end stop is
reached)
MC_CamIn MC_GearOut MC_CamOut
MC_Phasing MC_SetTorqueLimit MC_SetCharacteristic
MC_GearInSuperImposed MC_CamInSuperImposed MC_GearOutSuperImposed
MC_CamOutSuperImposed MC_PhasingSuperImposed

Unless otherwise specified in the table, only the command start is carried out in
"IPO synchronous" mode. Commands continue to be tracked during standard
command processing.

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Sequence of "IPO synchronous" and "non-IPO synchronous" commands

Not all commands for the "Axis" TO can be executed in "IPO synchronous" mode.
"IPO synchronous" and "non-IPO synchronous" commands are saved to separate
input buffers. Conditions of mixing "IPO synchronous" and "non-IPO synchronous"
commands:
• All "IPO synchronous" commands of an axis are processed in the order of their
startup.
• All the "non-IPO synchronous" commands for an axis are processed in the
order of their startup.
Please note that the order of start and processing sequences may differ when you
mix "IPO synchronous" and "non-IPO synchronous" commands.

Note
To define a fixed order of command processing:
Analyze the Done, InGear, InSync and InClamping output parameters of the
commands before you transfer a new command to the TO.

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5.10 Errors and warnings at the technology function

The technology functions indicate any errors at the output parameters Error,
ErrorID, or CommandAborted. If the program fails to correctly update all output
parameters due to insufficient length of an instance DB you can evaluate this error
by reading the BRB bit.

Warnings and errors at the output parameters Error or ErrorID

Output parameter Error = TRUE indicates that the technology function was unable
to initiate the command. The cause of error is indicated by the value at output
parameter ErrorID (ErrorID = 8xxx).
Warnings are also relevant to command initiation. Output parameter ErrorID
returns the value 00xx to indicate the cause of a warning. Output parameter Error =
FALSE.
If the technology function reports an error, you need to call it either with the correct
parameters or at a different time, provided that function is allowed.
It is neither required, nor is it possible to acknowledge the errors or warnings. The
error not cleared unless the Enable or Execute parameters are reset.

Output parameter CommandAborted

Output parameter CommandAborted reports an error status if execution of the
current command was aborted because a new command was output or an error
has been detected. If ErrorStatus of the technology DB does not report an error,
the command was canceled by a successive command. An error reported at
ErrorStatus indicates that an error in integrated technology during command
execution has canceled the command.

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Error evaluation with the BRB bit

BRB bit = 0 indicates an active error or that the output parameters of the
technology functions could not be updated correctly.
Failure of the update of the output parameters is caused by an instance DB of
insufficient length in the controller.
The example below shows how you can evaluate the BRB bit in the user program:

When an error is detected, the BRB bit is reset from 1 to 0, and output Q16.0 =
TRUE.

Note
In order to validate the output parameters, you should always evaluate the BRB bit
immediately after the call of the technology function.
In the next step, check the Error and ErrorID output parameters.

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5.11 Errors at the technology DB - MCDevice & Trace

Invalid technology DBs "MCDevice" or "Trace" are reported with ErrorID 8008 at
the corresponding Technology DB. An error message is also output when the
technology DB is replaced with a new instance (ErrorID 8009).
Error indications defined at Technology DB "MCDevice" and "Trace" :
• ErrorID variable
The ErrorID variable indicates the most recently detected error (ErrorID =
8xxx.)
The value of this variable is cleared by acknowledging it with MC_Reset
(Restart = FALSE).
• ErrorBuffer[0..2] variable (not available at Technology DB "Trace")
The ErrorBuffer[0..2] variable array is used to buffer the first three error events.
The first error is written to ARRAY element 1, the second to ARRAY-Element 2
and so forth.
You clear the value of this variable by acknowledging it with a call of
"MC_Reset" (Restart = FALSE.)

Acknowledging errors
Eliminate the cause of any errors detected in the ErrorID variable (ErrorID = 8xxx).
Errors indicated at the Technology DB "MCDevice" and "Trace" cannot be
acknowledged.

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5.12 Errors and warnings at the Technology DB – Axes &

External Encoders
Any errors and warnings occurring at the TO during command execution are
reported at the Technology DB. This also applies to the transfer of inconsistent or
contradictory dynamic values.
Error indications defined at the Technology DB for axes and external encoders:
• Statusword.Error variable
The value of this variable TRUE if at least one error has occurred. Based on
the ErrorID, the error can be analyzed by reading the ErrorID or
ErrorBuffer[0..2] variables.
• Statusword.Errorstop variable
The axis is being stopped / was stopped due to an error. The TO may be
disabled.
When the Statusword.Errorstop and Statusword.Error variables are TRUE, the
error can be analyzed by reading ErrorID or ErrorBuffer[0..2].
• ErrorID variable
The ErrorID variable indicates the last error (ErrorID = 8xxx) detected, or the
last warning detected (ErrorID = 00xx) at the TO.
The value of this variable is cleared by acknowledging it with MC_Reset
(Restart = FALSE).
• ErrorBuffer[0..2] variable
The ErrorBuffer[0..2] variable array is used to buffer the first three errors or
warnings occurred since the last acknowledgment. The first error is written to
ARRAY element 1, the second to ARRAY-Element 2 and so forth.
You clear the value of this variable by acknowledging it with a call of
"MC_Reset" (Restart = FALSE.)
• ErrorStatus.xxx variable
The ErrorStatus.xxx variable is used to indicate specific axis error information
in bit format (note the comments in the Technology DB).

Acknowledging warnings
Warnings at the (ErrorID = 00xx) Technology DB may, but do not necessarily have
to be acknowledged by calling "MC_Reset."
However, observe the data volume at the ErrorBuffer[0..2] variable. You can keep
the ErrorBuffer[0..2] variable clear for any incoming error messages by
acknowledging the warnings in due time.

Acknowledging errors
In order to acknowledge all errors, you first eliminate their cause, and then
acknowledge the errors by executing "MC_Reset" (Restart = FALSE). You can
then re-enable the TO by calling the "MC_Power" technology function.

Caution
! Several unacknowledged errors may cause the CPU to go into STOP.

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Programming

5.13 Errors and warnings at the Technology DB - Cam Disk

& Measuring Input & Output Cam
Any errors and warnings occurring at the TO during command execution are
reported at the Technology DB. This also applies to the transfer of inconsistent or
contradictory data.
Error indications defined at the Technology DB for cam disks, measuring encoders
and output cams:
• ErrorID variable
The ErrorID variable indicates the last error (ErrorID = 8xxx) detected, or the
last warning detected (ErrorID = 00xx) at the TO.
The value of this variable is cleared by acknowledging it with MC_Reset
(Restart = FALSE).
• ErrorBuffer[0..2] variable
The ErrorBuffer[0..2] variable array is used to buffer the first three errors or
warnings occurred since the last acknowledgment. The first error is written to
ARRAY element 1, the second to ARRAY-Element 2 and so forth.
You clear the value of this variable by acknowledging it with a call of
"MC_Reset" (Restart = FALSE.)

Acknowledging warnings
Warnings at the (ErrorID = 00xx) Technology DB may, but do not necessarily have
to be acknowledged by calling "MC_Reset."
However, observe the data volume at the ErrorBuffer[0..2] variable. You can keep
the ErrorBuffer[0..2] variable clear for any incoming error messages by
acknowledging the warnings in due time.

Acknowledging errors
In order to acknowledge all errors, you first eliminate their cause, and then
acknowledge the errors by executing "MC_Reset" (Restart = FALSE).

Caution
! Several unacknowledged errors may cause the CPU to go into STOP.

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5.14 Behavior of virtual axes

Although virtual axes feature a control variable, they neither feature a position
control system, nor a drive, nor an encoder interface. The actual value of the virtual
axis is always set equal to the setpoint. The absence of the position control system,
and of the drive and encoder interface, leads to certain particularities during
command processing which are described below:

Particular reaction of the Statusword.DriveEnabled variable

The status of the Statusword.DriveEnabled variable of the corresponding
technology DB remains TRUE if the enable status of a virtual axis is reset at the
Enable input parameter of "MC_Power".
The Statusword.DriveEnable variable is always TRUE at a virtual axis.

Editing parameters when the Technology CPU is in RUN

• Restart
Seeing that virtual axis do not feature a position control function and are
lacking drive and encoder interfaces, it is often not required to perform a restart
in order to activate parameter changes, regardless of technical specifications in
the help systems of the dialog boxes or in the list of technology parameters.
Whether or not a restart is required is indicated at the
Statusword.RequestRestart variable of the corresponding Technology DB.
• Parameter changes
All axis parameters are listed in the list of technology parameters, and in the
dialogs of DB-Param.

Take into account that it is not possible to read or edit all the parameters of
virtual axes.

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Programming

5.15 Symbolic programming with FC 400 "DB2INT"

Use FC 400 "DB2INT" of the "S7-Tech" library if you want to use the symbolic
name of the technology block to call the technology functions.
The example below shows an application with FC 400 "DB2INT":

1. Define a variable of the type INT (here, the variable "TECH_DB").

2. Call FC 400 "DB2INT" by executing the "CALL" command.
3. Set the symbolic name of the technology DB at input parameter Dbref.
4. Set the defined variable value at output parameter RET_VAL.
5. Next, call the technology function by executing the "CALL" command (here,
FB 401 technology function "MC_Power").
6. Set the defined variable at input parameter Axis (for other technology
functions, at the input parameters Master, Slave, CamSwitch, MeasureInput or
CamTable).

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5.16 Programming axis-specific parameter changes

The parameters of the technology objects set in S7T Config can be changed in the
user program when the Technology CPU is in RUN by calling technology function
"MC_WriteParameter." These changes are active until the next POWER OFF or
CPU memory reset.
Certain parameters are not activated unless the addressed TO has been initialized
(restart.) This is only possible when the TO is disabled. The parameters set in
S7T Config are valid again after power is cycled OFF and ON at the Technology
CPU.
You basically have two options of editing parameters:
• By editing the corresponding input parameter data.
• The parameter changes are made at the instance DB of the technology
function. You can select different instance DBs to edit different parameters.

Creating a new instance DB for the "MC_WriteParameter" technology function

1. Select the block folder in SIMATIC Manager.
2. Select Insert > S7 block > Data block to insert a new block.
3. Assign the required name, and then select the "Instance DB" type and the
corresponding FB 407.
4. You can also define a symbolic name and enter a symbol comment.
5. Close DB creation by clicking "OK".

Changing parameters by editing input parameter data

In order to change a TO parameter you require its parameter number, and
information about the type, the access mode, and the permitted range of values.
This information is available in the parameter list. However, it is advisable to use
the configuration view of the instance DB, because there you can also search for
specific parameters.
1. Open the instance DB in SIMATIC Manager (opens the "DB-Param" tool and
shows the content of the instance DB in the parameter assignment view.)
2. Select the TO from the drop-down list in order to edit its parameters.
3. Select the relevant group and the parameter from the tree view.
4. Position the mouse cursor on the parameter. The tooltip shows you the
parameter number, the type, and the access mode ("read, write".) Note down
these values for setting the input parameters of the technology function. You
can also open the Online Help system to output the list of technology
parameters to a printer.
5. You can view the permitted parameter values in the "Value" field of the drop-
down list or in the tooltip.
6. Close the parameter assignment view, and then cancel or confirm the changes
made in the next dialog box. The configured content of the instance DB is
irrelevant when data are set at the input parameters of the technology function.

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Programming

7. Call the "MC_WriteParameter" technology function in the user program using

the instance DB, and then set the input parameter values you have noted
down. The parameter assignment command is initiated by a positive edge at
the Execute input.
The advantage of this procedure is that you only need one instance DB. However,
the draw-back is that you can only edit one parameter at a time, and that you have
to wait for the response of the MC_WriteParameter technology function before can
you edit the next parameter.

Editing parameter using different instance DBs

Each parameter change requires the creation and configuration of a new instance
DB.
1. Open the instance DB in SIMATIC Manager (opens the "DB-Param" tool and
shows the content of the instance DB in the parameter assignment view.)
2. From the drop-down list, select the TO which contains the parameter you want
to edit using this instance DB.
3. Select the relevant group and the parameter from the tree view.
4. Select the required value from the "Value" drop-down list, or type in the value.
5. Close the dialog box and confirm your changes in the next dialog box.
6. Call the "MC_WriteParameter" technology function in the user program using
the relevant instance DB.
7. Edit only the Execute input parameter. A positive at input parameter Execute
initiates the command to activate the parameters with the values of the
instance DB.
Repeat this procedure for all parameter changes.
The positive aspect of this procedure is that you can comfortably set the
parameters using DB-Param. It is also of advantage that you can edit several
parameters in immediate succession. However, the negative aspect is that you
always require several DBs or a multiple instance DB.

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6 Technology functions

6.1 Overview

6.1.1 Overview - Programming

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

Prerequisites
Motion control commands can be programmed with the help of function blocks, if
• the station configuration in HW Config was saved and compiled
• the TOs were inserted and configured in S7T Config
• the technology DBs were generated in the "Technology Objects Management"
dialog box of S7T Config.
Define the reference to the TO by means of the relevant technology DB number.

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Technology functions

Function blocks
Programmable function blocks:

Function No. Name Description

Single axis FB 401 MC_Power Enable/disable axis
FB 403 MC_Home Home / set axis
FB 404 MC_Stop Stop axis and prevent new motion commands
FB 405 MC_Halt Normal stop
FB 409 MC_ChangeDataset Change data record
FB 410 MC_MoveAbsolute Absolute positioning
FB 411 MC_MoveRelative Relative positioning
FB 412 MC_MoveAdditive Relative positioning to the current target
position
FB 413 MC_MoveSuperImposed Superimposed positioning
FB 414 MC_MoveVelocity Motion with speed preset
FB 415 MC_MoveToEndPos Move to fixed end stop / clamping
FB 437 MC_SetTorqueLimit Enable / disable torque limiting
FB 439 MC_SetCharacteristic Activate valve profile
Synchronous FB 420 MC_GearIn Start gearing
Operation FB 440 MC_GearInSuperImposed Start superimposed gearing
FB 422 MC_GearOut End gearing
FB 442 MC_GearOutSuperImposed End superimposed gearing
FB 421 MC_CamIn Start camming
FB 441 MC_CamInSuperImposed Start superimposed camming
FB 423 MC_CamOut End camming
FB 443 MC_CamOutSuperImposed End superimposed camming
FB 424 MC_Phasing Change phase shift between the leading axis
and following axis
FB 444 MC_PhasingSuperImposed Change superimposed phase shift
Advanced FB 430 MC_CamSwitch Position-based cam / switching cam
functions FB 431 MC_CamSwitchTime Time-based cam
FB 432 MC_ExternalEncoder External encoder
FB 433 MC_MeasuringInput Measuring input
Cam disk FB 434 MC_CamClear Delete cam
FB 435 MC_CamSectorAdd Add cam sector
FB 436 MC_CamInterpolate Interpolate cam
FB 438 MC_GetCamPoint Read points from cam disk
Basic function FB 402 MC_Reset Acknowledge errors/interrupts
FB 406 MC_ReadSysParameter Read parameters
FB 407 MC_WriteParameter Change parameter
FB 450 MC_ReadPeriphery Read technology I/O
FB 451 MC_WritePeriphery Write technology I/O
FB 453 MC_ReadRecord Read data record
FB 454 MC_WriteRecord Write data record
FB 455 MC_ReadDriveParameter Read drive parameters
FB 456 MC_WriteDriveParameter Write drive parameters

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 Technology functions

6.2 Technology functions - Single axes

6.2.1 FB 401 MC_Power - Disable / enable axis

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_Power" technology function can be used to enable or disable an axis.
• You can define the operating mode of the axis
• You can also define the emergency program for handling a disabled axis or a
CPU transition to STOP.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• There may be no active errors at the technology DB which prevent enabling of
the axis.
• The technology function may only be active once per axis

Overriding commands
MC_Power commands can not be canceled by any other command.
MC_Power commands do not cancel any other commands with Enable = TRUE.
The MC_Power command cancels all other commands output to this TO with
Enable = FALSE.
New command – active single command (3)

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Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Enable BOOL FALSE When Enable = TRUE, the system attempts to enable
the axis. The axis is enabled if there are no errors
preventing that.
An error that prevents enabling is queued at the
relevant technology DB when both of the variables
Statusword.Error and Statusword.Errorstop are set
TRUE.
All active commands are canceled when Enable =
FALSE.
Mode INT 0 Axis mode:
Wert = 0: Default (according to the axis
configuration)
Speed-controlled axis:
Speed-controlled
(speed-controlled axis without encoder)
Positioning axis and synchronization
axis:
Position- or speed controlled
("MC_MoveVelocity"
PositionControl = FALSE)
Value = 1: Reserved
Value= 2: Following mode with power enable
Value = 3: Following mode without power enable
Value = 4: Simulation mode
StopMode INT 0 Value = 0: DefaultStop (emergency off deceleration)
Value= 1: FastStop (hardware limits of
acceleration)
Value = 2: TimeStop
Axis stops within the configured
emergency stop time (stop time)
Value = 3: OFF2Stop (only hydraulic axes)
The control signal of the axis is changed
with a set ramp to the configured control
signal substitute value (input parameter
QOutputValue). Motion commands are
canceled with"Missing enable signals"
error.
Any configured digital enable output is
reset.
The ramp can be set at system variable
userdefaultqfaxis.maxderivative.qoutput
in S7T Config. The ramp value can also
be changed at parameter 5009 by calling
the "MC_WriteParameter" technology
function.
The value is defined in percent / sec.
Default is 100%/sec.
Value = 4: GearStop
The synchronization axis maintain
synchronism until the leading axis has
reached a standstill.

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 Technology functions

Parameters Data type Initial value Description

QOutputValue REAL 0.0 Control signal substitute value for Q valve.
The substitution value of the control signal is defined
as a percentage of the maximum setpoint voltage
output for the valve (corresponds with the percentage
of the valve opening.)
The values can be set within the range from -100.0%
to +100.0%.
The substitute value is activated when the axis is
disabled by setting input parameter Enable = FALSE
and StopMode = 3.
Set the substitution value of the control signal to
prevent movement of the hydraulic drive when the axis
is disabled.
A modified value for QOutputValue activated at the
positive and negative edges at the Enable input
parameter. If an invalid value is detected at the
negative edge of Enable at input parameter
QOutputValue, ErrorID 808B is output at the
"MC_Power" technology function for the duration of
one cycle. In this case, "MC_Power" sets a value at
QOutputValue which was valid at the time the positive
edge was output at Enable.
FOutputValue REAL 0.0 This input parameter is not yet supported by the
integrated technology with firmware V3.2.x.

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Status BOOL FALSE Axis enable status:
FALSE: No enable signal. Axis disabled
The axis neither existing, nor accepts new
motion commands. The drive power unit is
disabled.
TRUE: Enable set
The axis is only enabled if cyclic communication
between the control and drive is active and the actual
position value of the active encoder is valid. Check
Statusword.CyclicInterface und
Statusword.EncoderValid at the technology DB.
The enable signal is reset when an error preventing
enabling has occurred (indicated at the relevant
technology DB by Statusword.Error = TRUE and
Statusword.Errorstop = TRUE).
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to
the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Caution
An axis switched off due to an error is enabled again by setting Enable = TRUE
after the error elimination and acknowledgment.

Note
The "MC_Power" technology function influences the following status bits of the
Statusword variable at the technology DB:
• DriveEnable
• FollowUpControl
• simulation

Recommended procedure for disabling an axis

To disable an axis:
1. Stop the drive
2. Disable the axis after the drive has stopped (Enable = FALSE).

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 Technology functions

Parameter Mode - Mode of operation

The drive is enabled with a positive edge at input Enable.

Axis technology Modes of operation supported

Real axes Virtual axes
Speed-controlled axis Mode 0: Speed-controlled Mode 0: Speed-controlled
Mode 3: Following mode
Mode 4: Simulation
Positioning axis Mode 0: Position-controlled Mode 0: Position-controlled
Mode 3: Following mode
Mode 4: Simulation
Synchronization axis Mode 0: Position-controlled Mode 0: Position-controlled
Mode 3: Following mode
Mode 4: Simulation

Parameter StopMode - Emergency program

An emergency program is triggered when a drive is disabled while it is in RUN
(negative edge at MC_Power) or when the CPU goes into STOP. The reaction of
the axis can be defined at input StopMode. StopMode is set with a negative or
positive edge at input parameter Enable.
The StopMode parameter is disabled when torque reduction is set. In this case, the
axis is disabled immediately. The drive is then brought to a standstill based on its
internal decelaration ramp settings.
An emergency program started after the CPU goes into STOP must be executed
within the "maximum shutdown time". The CPU goes into STOP on expiration of
the "maximum shutdown time". Instead of stopping according to the selected
StopMode, the drives will stop as defined in the drive configuration.
The "maximum shutdown time" can be configured in the "System cycles" dialog
box of S7T Config (menu command Target system > Set System Cycles).

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Technology functions

All errors must be acknowledged before the restart by calling the "MC_Reset"
technology function.

StopMode Reaction of the axis

0: DefaultStop The axis is ramped down by activating the "Emergency stop
deceleration" function. The "Emergency stop deceleration" function can
be defined in S7T Config, Axis > Limits dialog box > "Position and
velocity" tab > "Emergency stop deceleration" input box.
1: FastStop The axis is ramped down with maximum deceleration (S7T Config >
Limits > "Dynamic response" tab > Hardware limits).
2: TimeStop The axis is ramped down within the "Stop time" configured for the E-Stop
(S7T Config > Default > "Dynamics" tab > Stop time).
3: OFF2Stop The drive is disabled by a pulse inhibit signal and trails to standstill
(OFF2). The missing enable signal is indicated by ErrorID 8040 at the
technology DB of the axis.
4: GearStop Synchronized axes maintain their status until the leading axis has
reached a standstill. The axis is then disabled.
In any other case, the axis is ramped down based on the default axis
configuration (for speed-controlled axes, for example)

Note
The selected StopMode is of no significance when an axis is operating in following
mode, because the axis can not be ramped down dynamically! A rotating axis will
thus trail to a standstill within an indefinite time.

Caution
When StopMode = 4 and camming is set, the following axis may restart before the
leading axis has reached a standstill!

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 Technology functions

MC_Power, MC_Reset - example

The example shows the interaction between the technology functions "MC_Power"
(axis enable), "MC_Reset" (error acknowledgment) and a technology function for
axis motion (here "MC_MoveVelocity".)
a) The axis was enabled and accelerated to a speed of 100. An error resets the
axis enable signal. The error is eliminated and acknowledged with MC_Reset. The
axis is enabled again.
b) The axis was accelerated to a speed of 100. The enable (Enable) signal is
removed from the technology function "MC_Power". The axis now ramps down at a
defined deceleration rate, and is then disabled.

MC_Power MC_MoveVelocity
Axis_1 Axis Status Status Axis_1 Axis InVelocity
Enable Enable Busy ExeVelo Execute Busy
0 Mode Error 100 Velocity CommandAborted
0 StopMode ErrorID Acceleration Error
Deceleration ErrorID
Jerk
FB2 Direction
MC_Reset Current
Axis_1 Axis Done PositionControl
ExeReset Execute Busy DoneFlag
0 Restart CommandAborted
Error
ErrorID

FB1
1
Enable
0 t
1
Status
0 t
FB2
1
ExeReset
0 t

FB3
1
ExeVelo
0 t
Error

100

Velocity

a b

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Technology functions

MC_Power - Example - "Hydraulic axis"

A proportional valve is to be used to run two axes. Both axes have different valve
profiles. At "Axis 1", velocity v = 0 is proportional to a valve position of 3%. At "Axis
2", velocity v = 0 is proportional to a valve position of 0%.
In this example, "Axis 1" is enabled for position control. A master signal of 3% is
therefore output to hold the axis at its position. "Axis 1" is positioned relative by a
small value. At the end of positioning, the axis is held again at its position with v =
0. When "Axis 1" is disabled, the value of the manipulated variable is ramped down
to the programmed substitution value QOutputValue = 0%.
The manipulated variable will thus have the correct value when axis 2 is now
enabled by the call of MC_Power.

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 Technology functions

Edge-triggered axis enable signal

The "MC_Power" technology function enables the drive, based on the logical status
at input Enable. Logic operations you can use to enable the drive only at the
positive edge of a control signal:

Network 1 - Control logic for edge evaluation

EnableInput Control input for the axis enable signal

AxisError 0 no error
1 an error is active at the axis
EnableOutput Output signal (to "MC_Power"; enable input)

Network 2 - Axis enable signal with "MC_Power"

Corresponding signal diagram

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Technology functions

MC_Power - ErrorIDs
Valid for Integrated Technology with firmware V3.2.x
This section describes applications with firmware to V3.1.x

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns all input parameters of data type REAL, and
input parameters Mode or StopMode.
Example An invalid value was entered atMode or
Stopmode, for example, Mode = 129.
8044 Command not supported by the TO. Sending the "MC_Power" command to an output cam.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804E Only one instance allowed per axis The technology function may only be active at one
instance per axis.
Another "MC_Power" (Busy = TRUE) is already active at
the specified axis.
Use only one instance, or terminate the current command.
804F Change of the axis at MC_Power is An axis was disabled (Enable 1->0) while an axis other
not permitted. than the one set at the enable parameter was set at input
parameter "Axis". You can only disable an axis which was
actually enabled by this instance of "MC_Power".
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found
or is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and
then recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input
format parameter value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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Technology functions

6.2.2 FB 403 MC_Home - Homing/setting axis

Purpose
• The "MC_Home" technology function establishes a position-based correlation
between the control and mechanical systems by means of a measuring
system.
• Active and passive homing of an axis The homing mode is always defined at
the technology function The homing mode and direction parameters must be
set in S7T Config
• Setting a position value The assigned position value is an absolute value which
allows absolute and relative motions.
• Relative correction / offset of the actual value
• Correction of the setpoint in the base coordinate system and superimposed
coordinate system Only relative offset is supported
• Absolute encoder adjustment.

Supported for
• Positioning axes
• Synchronization axes

Restraints
Virtual axes only support Mode = 3, 4, 6 and 7.
Axes with incremental encoders only support Mode = 0, 1, 2, 3 4, 6 and 7.
Axes with absolute encoder only support Mode = 3, 4, 5, 6 and 7.
You can only set Mode = 3, 4, 6 and 7 if "no mode" was selected in the homing
configuration of the axis.
In mode = 4, 6 and 7, the axis status remains unchanged (homed/not homed.)
Mode = 2, 3 and 5 can only be used if the axis not operating in "speed-controlled
mode" ("MC_MoveVelocity" – PositionControl = FALSE).

Prerequisites
• When Mode = 0, 1 and 2 is set, the axis must be enabled for position-
controlled operation
• In Mode = 0 and 1, no MC_Stop command may be active
• The drive interface IM 174/ IM 174 does not support simultaneous execution of
the MC_MeasuringInput and MC_Home commands

Interaction of commands
New command – active single command (2)
New command – active commands (2)

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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Position REAL 0.0 Absolute position when reaching the home position, or
position setpoint or position correction value.
Mode INT 0 Homing mode:
Value = 0: Active homing:
Reference point approach according to the
axis configuration
Value = 1: Active homing:
Reference point approach according to the
axis configuration The value of input
parameter Position is used as reference point
coordinate.
Value = 2: Passive homing:
Homing according to the configuration in
S7T Config. The value of input parameter
Position is used as reference point
coordinate.
Value = 3: Direct homing:
The current position is assigned the value of
input parameter Position.
Value = 4: Correction of the actual position
(New actual position = current actual position
- parameter Position).
Value = 5: Absolute encoder adjustment:
The current position is assigned the value of
input parameter Position.
The position shift as a result of absolute
encoder adjustment is retained in case of
power failure. The axis must be at a standstill
in order to allow precise adjustments. Any
correction of the position when operating in
Mode = 3, 4, 6 or 7 will be retained after
absolute encoder adjustment.
The axis must be operated in position-
controlled mode for absolute encoder
adjustment. For details, refer to the
description of input parameter PostionControl
for "MC_MoveVelocity".
Value = 6: Correction of the position setpoint on the
base coordinate system.
Any active superimposing motion is based on
the corrected position setpoint. (new position
setpoint = current base position –input
parameter Position)
Value = 7: Correction of the position setpoint in the
superimposing coordinate system.
(new position setpoint = current
superimposing position –input parameter
Position)

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Technology functions

Parameters Data type Initial value Description

Note that any position adjustments (Mode = 3, 4, 6 or 7)
also affect absolute value encoder adjustment. Only the
absolute encoder adjustment is activated after POWER
OFF or restart ("MC_Reset", Restart = TRUE).
"MC_Home" can be executed in Mode = 2 to 7 without
enabled axis. At an axis operating with absolute encoder,
Statusword.EncoderValid of the technology DB must be
TRUE before the MC_Home command is initiated (this
signal is output with delay after axis restart).
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Note on Mode 7
The superimposing coordinate system can be modified by superimposing motions
or homing commands ("MC_Home" Mode = 7). The coordinates of the
superimposed coordinate system are transferred to the basic coordinate system
according to the settings at TypeOfAxis.DecodingConfig.transferSuperimposed.
The superimposing coordinate system is reset in this operation.
Set this configuration parameter to determine the time at which the coordinates of
the superimposing coordinate system should be activated at the base coordinate
system.
Settings of configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposed:
• TRANSFER_STANDSTILL (default):
- Activation when the axis is at a standstill - the axis must be desynchronized.
- Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
- Activation at axis restart ("MC_Reset" and Restart = TRUE)
- Activation when commands are output to override the basic motion
• TRANSFER_MERGE:
- Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
- Activation at axis restart ("MC_Reset" and Restart = TRUE)
- Activation when commands are output to override the basic motion
• TRANSFER_RESET:
- Activation when the axis changes to following mode
("MC_Power" Mode = 2 or 3)
- Activation at axis restart ("MC_Reset" and Restart = TRUE)
Caution: In this mode, the override response of the modules will differ.
Superimposing motions are no longer canceled by basic motions (exceptions).
When axes are operating in following mode, Mode = 7 is always applied to the
base coordinate system.

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 Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command completed
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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Technology functions

MC_Home - Example - "Passive homing"

The example demonstrates the reaction to passive (on-the-fly) homing.
Axis_1 is started by calling MC_MoveVelocity. Passive homing is enabled
(MC_Home; Mode = 2). At the next synchronization event (in this case: The actual
position of 180° is set at the axis, triggered by the edge of the external zero mark.

FB1 FB2
MC_MoveVelocity MC_Home
Axis_1 Axis InVelocity InVel_1 Axis_1 Axis Done Done_1
Exe_1 Execute Busy Exe_2 Execute Busy
50 Velocity CommandAborted 180 Position CommandAborted
10 Acceleration Error 2 Mode Error
10 Deceleration ErrorID 0 DoneFlag ErrorID
0 Jerk
1 Direction
0 Current
1 PositionControl
0 DoneFlag

FB1
1
Exe_1 0 t
1
InVel_1
0 t
FB2
1
Exe_2
0 t
1
Done_1
0 t
50
Velocity
Axis_1 t

360

Position
Axis_1
180

0 t

1
BERO
0 t

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 Technology functions

MC_Home - Example - "Mode 6"

A position setpoint correction only affects the base coordinate system, i.e.
superimposed synchronism is not affected by this change. In the example, the
system starts "MC_MoveAbsolute", and then starts "MC_MoveSuperImposed" with
a short delay. The position in the base coordinate system is corrected by 100 while
the axis is in motion.

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Technology functions

MC_Home - Example - "Mode 7"

The position change initiated by a superimposing command is transferred by
default from the superimposing to the base coordinate system after the axis has
reached a standstill. This reaction can be set at axis configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposed. By contrast to the default
setting, Transfer_Reset is set in the next example. The superimposing coordinate
system is thus only transferred to the base coordinate system after the axis enable
signals are canceled.
In the example, the system starts "MC_MoveAbsolute", and then starts
"MC_MoveSuperImposed" with a short delay. Superimposing positioning is to be
corrected by 50.
The correction in Mode 6 or 7 adjusts the position setpoint of the relevant
coordinate system. The actual position is followed based on the evaluation of the
actual following error.

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 Technology functions

MC_Home - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all queued errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or DoneFlag.
8044 Command not supported by the TO. Sending a homing command to a speed-controlled axis or
output cam.

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Technology functions

ErrorID Fault message Description / to correct or avoid errors

8045 Command not allowed in current Examples:
state. • MC_Stop command active.
• The axis is not operated in position-controlled mode
during absolute encoder adjustment. For details, refer
to the description of input parameter PostionControl re
"MC_MoveVelocity".
• Active homing is requested (Mode = 0, 1) and a
MC_MoveToEndPos command is active.
• The selected axis is in speed-controlled mode
("MC_MoveVelocity", PositionControl = FALSE)
• Power is disabled with servo interlocking (e.g. due to
an emergency stop).
• A parameter of the TO was changed. This change to
the parameter requires a restart, but the restart has
not yet been carried out.
• The "Collect changes" button is active in the expert list
for the TO (value of system variable
activationmodechangedconfigdata =
collect_changed_config_data).
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804D Illegal axis type This is a virtual axis. Virtual axes do not support modes 0,
1, 2 and 5.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.

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 Technology functions

ErrorID Fault message Description / to correct or avoid errors

8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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Technology functions

6.2.3 FB 404 MC_Stop - Pause axis and prevent new travel jobs

Purpose
• The "MC_Stop" technology function stops all motions and brings the axis to a
standstill. The standstill position is not defined.
• The command is completed (Done = TRUE) when the axis has stopped and
Execute = FALSE, i.e. drive startup is prevented as long as Execute = TRUE.
This also applies if the axis was disabled in the meantime with MC_Power and
then enabled again.
• The dynamic response when stopping the motion is determined at the Jerk and
Deceleration input parameters.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• Dynamic stopping requires that the axis is enabled for position-/speed-
controlled operation. The axis can not be ramped down dynamically when
operated in following mode or when it is disabled!

Interaction of commands
New command – active single command (2)
New command – active commands (2)

Note
You should not disable the axis by calling MC_Power if MC_STOP is active. If this
happens all the same, the STOP condition configured at MC_Power overrides the
STOP motion configured at MC_Stop. The axis can not be moved dynamically
after it is enabled again by MC_Power as long as Execute = TRUE is set at
"MC_Stop".

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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

The maximum deceleration is applied to stop the axis by setting

Deceleration > +1E+12.
The axis is stopped with maximum jerk when the value at Jerk > +1E+12.

Warning
! MC_Stop is not executed if a numerical value which can not be represented as a
REAL value is set at the Deceleration or Jerk input parameters.

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Zero velocity reached and
input Execute = FALSE
(set for the duration of one cycle)
Busy BOOL FALSE TRUE: The command is being executed
CommandAborte BOOL FALSE TRUE: The command was canceled by another
d MC_Stop command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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 Technology functions

MC_Stop - example
a) A rotary axis is ramped down by the call of technology function "MC_Stop".
b) The axis rejects motion commands as long as parameter Execute = TRUE at the
"MC_Stop" technology function. The "MC_MoveVelocity" technology function
outputs an error message to indicate the active MC_Stop command.

FB1 FB2
MC_MoveVelocity MC_Stop
Axis_1 Axis InVelocity InVel_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
50 Velocity CommandAborted Abort_1 20 Deceleration Error
10 Acceleration Error Error_1 0 Jerk ErrorID
10 Deceleration ErrorID 0 DoneFlag
0 Jerk
1 Direction
0 Current
1 PositionControl
0 DoneFlag

FB1 a b
1
Exe_1
0 t
1
InVel_1
0 t

Abort_1 1
0 t
1
Error_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

50
Velocity
Axis_1
t

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Technology functions

MC_Stop - ErrorIDs

ErrorID Warning message Description / to correct or avoid errors

0000 No error -
0021 Dynamic values are limited The dynamic values of the command (Deceleration or
Jerk) are limited because they exceed the configured
limits.
0028 Invalid parameter value was ignored Illegal value at an input parameter. The value is ignored,
and the default is used instead.
Check the input parameter values and correct the value.

ErrorID Error message Description / to correct or avoid errors

8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameter DoneFlag.
8044 Command not supported by the TO Command request to an output cam, for example.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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 Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found
or is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and
then recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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Technology functions

6.2.4 FB 405 MC_Halt - Normal stop

Purpose
• The "MC_Halt" technology function stops all motions and ramps down the axis
to a standstill. The standstill position is not defined.
• You define the dynamic response of the motion at the input parameters Jerk
and Deceleration.
• The command ends when the axis has reached a standstill, or is canceled by a
new motion command.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• The axis is enabled for speed- or position-controlled operation
• No active MC_Stop command

Interaction of commands
New command – active single command (2)
New command – active commands (2)

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed, except when the axis is not
moving
Value < 0 Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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 Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Zero velocity reached.
When a new superimposing MC_Halt
command is initiated, the active MC_Halt
command can be terminated by setting
Done = TRUE, irrespective of any active
superimposing motion command.
For further information, refer to
New command – active single command (2).
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during ist
execution.
If ErrorStatus of the technology DB does
not report an error, the command was
canceled by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
Note that the Technology CPU reduces any active acceleration based on set
dynamic parameters (Jerk). The axis velocity may thus still increase after initiation
of the MC_Halt command.

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Technology functions

MC_Halt - example
a) Rotary axes are stopped by calling technology function "MC_Halt".
b) Another motion command overrides the active MC_Halt command. By contrast
to "MC_Stop.", this action is supported at the "MC_Halt" command.

FB1 FB2
MC_MoveVelocity MC_Halt
Axis_1 Axis InVelocity InVel_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
50 Velocity CommandAborted Abort_1 5 Deceleration CommandAborted Abort_2
10 Acceleration Error 0 Jerk Error
10 Deceleration ErrorID 0 DoneFlag ErrorID
0 Jerk
1 Direction
0 Current
1 PositionControl
0 DoneFlag

FB1
1
Exe_1
0 t
1
InVel_1
0 t

Abort_1 1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t
1
Abort_2
0 t

50
Velocity
Axis_1
t
a b

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 Technology functions

MC_Halt - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all queued errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameter DoneFlag.
8044 Command not supported by the TO. Sending "MC_Halt" to an external encoder, for example.
8045 Command not allowed in current MC_Stop command active.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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Technology functions

ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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 Technology functions

6.2.5 FB 409 MC_ChangeDataset - Change over record

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The technology function can be used to change between the data records of
an axis.
• Several data sets can be used, e.g. to:
- change controller data when the system is in run.
- changeover the encoder used while the system is in run (motor encoder,
machine encoder, ...).

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• The corresponding data records must have been configured at the relevant
technology object.
• The encoders must be interconnected with the technology object in order to
allow the changeover. The encoders must return valid values at the time of
changeover. You can verify this by calling the technology function
"MC_ReadSysParameter" with parameter number 4050.

Interaction of commands
New command – active single command (3)

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Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
SyncEncoder BOOL FALSE FALSE: Without encoder synchronization
TRUE: With encoder synchronization
Input parameter SyncEncoder only has an effect if
different encoders were specified in the data records.
Dataset INT 1 Number of the data record to be enabled.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: The data record was changed.
The technology function immediately returns
Done = TRUE if the specified data record
and the active data record do not differ.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
For further information on the cause,
refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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 Technology functions

Conditions of data record changeover

The conditions of data record changeover are defined at the configuration variable
TypeOfAxis.NumberOfDataSets.changeMode. The variable can assume the
following values:
• NEVER:
Data record changeover not allowed. "MC_ChangeDataset" is terminated with
error (ErrorID = 8045).
• IN_POSITION: (Default setting in S7T Config after an axis was inserted)
Changeover of the data record takes place when the active motion has
reached the programmed positioning window. Position control must be enabled
at the axis. If the axis is disabled, the data record is changed over immediately
after the axis is enabled.
The data records are not changed at following axes which are in synchronism
(InSync = TRUE or InGear = TRUE) Use the value IN_STANDSTILL or
IMMEDIATELY for following axes
• IN_STANDSTILL:
The data record is changed over when the standstill signal of the relevant axis
is output The data record is changed immediately after the axis has stopped
• IMMEDIATELY:
The data record is changed over immediately
You can modify this response in the expert list of S7T Config You could also edit
the configuration variable at the "MC_WriteParameter" technology function

Caution
If the data records differ in terms of parameters which have an influence on the
generation of control variables, the axis may perform unwanted jumps irrespective
of its standstill state. This status has an impact on gear ratio parameters or on all
controller parameters, for example.

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Technology functions

Encoder synchronization
If the current encoder does not match the encoder of the new data record, the
encoders will be synchronized according to the settings at input parameter
SyncEncoder. The encoder synchronization sets the actual position value of the
current encoder at the new encoder. The data record is changed over when
synchronization is successfully completed.
Both encoders must rotate at the same speed in order to ensure precise
synchronization. Slip between the encoders or one of the encoders being in idle
state will prevent the precise interconnection of the encoder with the active
process. Synchronization of the encoders would therefore fail, due to the difference
between encoder values which would develop in the period between encoder
synchronization and data record changeover.
The encoder synchronization is repeated cyclically if the data record cannot be
changed over immediately.

Caution
If you change over the encoder alongside with the data record without
synchronizing the encoders, the axis may perform a compensating movement as a
result of the different encoder positions.

MC_ChangeDataset - Example - "Encoder changeover"

In the example below we change over the data record at the axis. The position
value of the second measurement system is then used without encoder
synchronization.

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 Technology functions

MC_ChangeDataset - Example - "Application"

The diagram below shows the encoder changeover as a typical application of the
"MC_ChangeDataset" technology function.
Continuous steel strip is to be cut to equal length in a processing machine. An
additional machine encoder with measuring wheel is used to eliminate any
measuring errors caused by slip of the feed rollers.
The measuring wheel does not return a position value when a new steel strip is fed
into the machine, i.e. positioning must therefore rely on the motor encoder. A
sensor registers the position when the measuring wheel detects the position of the
steel strip. The sensor signal is then used with "MC_ChangeDataset" to change
over from the motor encoder to the machine encoder (when the system is in
operation and with encoder synchronization). After the encoder changeover, the
steel strip can be fed precisely for further processing in position-controlled
operations.

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Technology functions

MC_ChangeDataset - ErrorIDs
Supported by Integrated Technology with firmware V3.1.x or higher

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters Dataset or DoneFlag.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current Example:
state. • The value NEVER is set at configuration variable
TypeOfAxis.NumberOfDataSets.changeMode Data
record changeover is not possible.
• The TO is currently performing a restart with
"MC_Reset"
• The encoder of the new data record does not return
valid values Such an error may occur immediately
after a STOP to RUN transition, axis restart, or
hardware failure.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804D Illegal axis type This is a virtual axis. Virtual axes do not support this
function.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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 Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB

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Technology functions

6.2.6 FB 410 MC_MoveAbsolute - Absolute positioning

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_MoveAbsolute" technological function starts the approach of an axis
to an absolute position.
• Define the dynamic response of the axis motion at input parameters Velocity,
Jerk, Acceleration and Deceleration.
• The function is terminated when the target position is reached.
• You can preset the direction of rotation of modulo axes.
• At input parameter Mode, you can specify whether to trigger an active motion,
or whether to append or overlay the motion.

Supported for
• Positioning axes
• Synchronization axes

Prerequisites
• Axis is enabled for position-controlled operation
• The axis performs a homing operation if "Referencing obligatory" has been
selected in the configuration
• No active MC_Stop command
• Valid for appended and superimposing motions (mode = 1, 2):
- No "MC_CamIn" or "MC_GearIn" commands were started
- No active basic synchronism

Interaction of commands
New command – active single command (2)
New command – active commands (2)

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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Position REAL 0.0 Target position (negative or positive)
Velocity REAL -1.0 Maximum velocity (not always reached):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Direction INT 0 Direction preset for modulo axes:
Value = 0: Default in S7T Config.*
Value = 1: Positive rotational direction
Value = 2: Shortest distance
Value = 3: Negative rotational direction
Value = 4: Current direction of rotation
(direction of rotation used last)
Mode INT 0 Override mode:
Value = 0: Override motion:
Canceling the current motion
Value = 1: Append motion:
The motion command is written to the
input buffer.
The axis stops at the motion transition
Value = 2: Overlay motion:
The motion command is written to the
input buffer, and the motion transition is
overlaid
The override mode "overlay motion" can
only be used for modulo axes if the
conditions outlined below are satisfied:
Input parameter Direction = 4.
Input parameter Direction = 0 and
setting in Axis > Dynamics of S7T Config
"direction = last programmed target
direction".
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

* It is not advisable to select the direction by setting "Determine based on sign of

velocity setpoint" in the defaults of S7T Config, because input parameter
Velocity does not support negative velocity setpoints.

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Target position reached
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates that
an error at the TO during command execution
has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

MC_MoveAbsolute - Example -"Override motion"

The signal profile below shows the override characteristic of the (Mode = 0)
"MC_MoveAbsolute" technology function.

Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB 1 starts absolute
positioning of the axis (Axis_1). Done_1 reports that the absolute target position
1000 has been reached.
In time with Done_1 = TRUE, the system starts a further positioning command at
FB 2 (input parameter Execute (Exe_2)). Reaction times during command
execution will briefly cause a standstill of the axis (see the zoomed view). After a
brief standstill, the axis (Axis_1) approaches absolute position 1500. Done_2
generates a message when this position is reached.

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 Technology functions

Phase "b"
A further positive edge at input parameter Execute (Exe_1) of FB 1 starts absolute
positioning of the axis (Axis_1).
A further positioning command is started at FB 2 before the axis has reached target
position 1000 (input parameter Execute (Exe_2)). Abort_1 reports cancellation of
the current positioning command at FB 1. The axis (Axis_1) is driven at the
specified deceleration Deceleration = 10 until it has reached Velocity = 30. Done_2
generates a message at FB 2 when the axis has reached target position 1500.

FB1 FB2
MC_MoveAbsolute MC_MoveAbsolute
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1000 Position CommandAborted Abort_1 1500 Position CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Direction 0 Direction
0 Mode 0 Mode
0 DoneFlag 0 DoneFlag

a b
FB1
1
Exe_1
0 t
1
Done_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0 t

50
30
Velocity
t

1500

1000

Position
t

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Technology functions

MC_MoveAbsolute - Example - "Append motion"

The signal profile below shows the "appending" characteristic of the (Mode = 1)
"MC_MoveAbsolute" technology function.
Absolute positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveAbsolute command is
started (positive edge Exe_2 at FB 2) before the axis reaches the target position
(Position = 1000). Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "appended" by
setting Mode = 1 at FB 2. "MC_MoveAbsolute" decelerates with Deceleration = 10,
and then approaches target position 1000 according to the initiated command.
Completion of the command is reported with Done_1.
When target position 1000 is reached, the system appends the second
MC_MoveAbsolute command without time gap for immediate execution (see the
zoom view). The axis (Axis_1) approaches target position 1500 based on the
default acceleration and deceleration values. Done_2 outputs a message when the
target position is reached, and Busy_2 is toggled to FALSE.

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 Technology functions

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Technology functions

MC_MoveAbsolute - Example - "Overlay motion 1"

The signal profile shown below shows the "overlaying" characteristic of technology
function "MC_MoveAbsolute" (Mode = 2) in situations where the current velocity
exceeds the new velocity.

Current velocity > new velocity

Absolute positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveAbsolute command is
started (positive edge Exe_2 at FB 2) before the axis reaches the target position
(Position = 1000). Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. "MC_MoveAbsolute" decelerates the axis with Deceleration =
10, i.e. at target position 1000 the axis has reached final velocity 30 as defined by
the overlaying MC_MoveAbsolute command. Completion of the command is
reported with Done_1 at FB 1.
After having reached target position 1000, the axis (Axis_1) continues at a velocity
of 30 and approaches target position 1500 with Deceleration = 10. Done_2 at FB 2
reports the axis at the target position, and Busy_2 is toggled to FALSE.

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 Technology functions

FB1 FB2
MC_MoveAbsolute MC_MoveAbsolute
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Position CommandAborted 1500 Position CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Direction 0 Direction
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

50
30
Velocity
t

1500

1000

Position
t

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Technology functions

MC_MoveAbsolute - Example - "Overlay motion 2"

The signal profile shown below shows the "overlaying" characteristic of technology
function "MC_MoveAbsolute" (Mode = 2) in situations where the current velocity is
less than the new velocity.

Current velocity < new velocity

Absolute positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveAbsolute command is
started (positive edge Exe_2 at FB 2) before the axis reaches the target position
(Position = 1000). Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. "MC_MoveAbsolute" approaches target position 1000 at its final
speed 50 set by the first command. Done_1 at FB 1 reports completion of the
command.
After having reached target position 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to the final speed 70 set by the second command. The axis
approaches target position 1500 at Deceleration = 10. Done_2 reports the axis at
the target position at FB 2, and Busy_2 is toggled to FALSE state.

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 Technology functions

FB1 FB2
MC_MoveAbsolute MC_MoveAbsolute
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Position CommandAborted 1500 Position CommandAborted
50 Velocity Error 70 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Direction 0 Direction
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

70
50
Velocity
t

1500

1000
Position
t

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Technology functions

MC_MoveAbsolute - Example - "Overlay motion 3"

The signal profile below shows the "overlaying" characteristic of the (Mode = 2)
"MC_MoveAbsolute" technology function with reversal.

Direction reversal
Absolute positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveAbsolute command is
started (positive edge Exe_2 at FB 2) before the axis reaches the target position
(Position = 1000). Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. The value of target position 1000 of the currently active
MC_MoveAbsolute command is higher than target position 700 of the next
MC_MoveAbsolute command. You therefore have to reverse the direction.
"MC_MoveAbsolute" decelerates the axis with Deceleration = 10 in order to reach
0 at target position 1000. Completion of the command is reported with Done_1 at
FB 1.
After having reached target position 1000, the axis decelerates (Axis_1) with
Acceleration = 10 to the final velocity -30. The axis approaches target position 700
at Deceleration = 10. Done_2 reports the axis at the target position at FB 2, and
Busy_2 is toggled to FALSE state.

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 Technology functions

FB1 FB2
MC_MoveAbsolute MC_MoveAbsolute
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Position CommandAborted 700 Position CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Direction 0 Direction
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

50

Velocity
t

-30

1000
Position
700

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Technology functions

MC_MoveAbsolute - ErrorIDs
Valid for Integrated Technology with firmware V3.1.x or higher

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameters Mode, Direction or DoneFlag.
Example: Mode=2 and Direction = 4.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current "MC_Stop" is active
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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 Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8055 Latching motion not allowed in A latching command cannot be accepted at the current
current state axis state. Reasons:
• A basic synchronization or superimposing
synchronization command is being executed at the
axis
• "MC_Halt" is active
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not meet this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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Technology functions

6.2.7 FB 411 MC_MoveRelative - Relative positioning

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_MoveRelative" technology function starts axis motion at a position
relative to the start position.
If the axis was already in motion at the start of command execution and a
"motion override" was set with Mode = 0, the system uses its internal start
position which is valid the start of command execution. Allowances must be
made for the reaction time between the execution of a technology function and
of a command, based on the load and cycle time.
• Define the dynamic response of the axis motion at input parameters Velocity,
Jerk, Acceleration and Deceleration.
• At input parameter Mode, you can specify whether to trigger an active motion,
or whether to append or overlay the motion.

Supported for
• Positioning axes
• Synchronization axes

Prerequisites
• Axis is enabled for position-controlled operation
• No active MC_Stop command
• Valid for saving and overlaying motions (mode = 1, 2):
- No "MC_CamIn" or "MC_GearIn" commands were started
- No active basic synchronism

Interaction of commands
New command – active single command (2)
New command – active commands (2)

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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Distance REAL 0.0 Positioning distance (negative or positive)
Velocity REAL -1.0 Maximum velocity (not always reached):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Mode INT 0 Override mode:
Value = 0: Override motion:
Canceling the current motion
Value = 1: Append motion:
The motion command is written to the
command buffer The axis stops at the
motion transition
Value = 2: Overlay motion:
The motion command is written to the
command buffer The motion transition is
overlaid.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Target position reached
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

MC_MoveRelative - Example - "Override motion"

The signal profile below shows the overriding characteristic of the (Mode = 0)
"MC_MoveRelative" technology function.

Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB 1 starts relative
positioning of the axis (Axis_1). Done_1 changes to TRUE when Distance = 1000
is reached.
In time with Done_1 = TRUE, the system starts a further relative positioning
command at FB 2 (input parameter Execute (Exe_2)). Reaction times during
command execution will briefly cause a standstill of the axis (see the zoomed
view). After a brief stop, the axis (Axis_1) continues to move by a distance of 500.
Done_2 reports conclusion of the command.

Phase "b"
A further positive edge at input parameter Execute (Exe_1) of FB 1 starts relative
positioning of the axis (Axis_1).
A further positioning command is started at FB 2 before the axis has traversed the
distance 1000 (input parameter Execute (Exe_2)). Abort_1 reports cancellation of
the current positioning command at FB 1. The axis (Axis_1) is driven at the
specified deceleration Deceleration = 10 until it has reached Velocity = 30. Done_2
outputs a message at FB 2 when the axis has passed the Distance = 500.

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 Technology functions

FB1 FB2
MC_MoveRelative MC_MoveRelative
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1000 Distance CommandAborted Abort_1 500 Distance CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 0 Mode
0 DoneFlag 0 DoneFlag

a b
FB1
1
Exe_1
0 t
1
Done_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0 t

50
30
Velocity
t

1500
500
1000
500
Position
t

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A5E00251798-05 6-59
Technology functions

MC_MoveRelative - Example - "Append motion"

The signal profile below shows the "appending" characteristic of the
"MC_MoveRelative" technology function (Mode = 1).
Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveRelative command is
started with a positive edge Exe_2 at FB 2 before the axis has traversed the
specified Distance = 1000. Busy_2 reports that the new command is active.
The current relative positioning command is not canceled and is "appended" by
setting Mode = 1 at FB 2. "MC_MoveRelative" slows down the axis at Deceleration
= 10, and moves it axis according to the initiated command by a distance of 1000.
Done_1 reports completion of the command.
After the axis has traversed the distance 1000, the system appends the second
MC_MoveAbsolute motion command for immediate execution without time gap
(see the zoom view). The (Axis_1) moves by a distance of 500 according to the set
acceleration and deceleration values. Done_2 is toggled to TRUE state, and
Busy_2 is toggled to FALSE state when the axis has traversed the Distance = 500.

S7-Technology
6-60 A5E00251798-05
 Technology functions

FB1 FB2
MC_MoveRelative MC_MoveRelative
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Distance CommandAborted 500 Distance CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 1 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

50
30
Velocity
t

1500

1000

Position
t

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A5E00251798-05 6-61
Technology functions

MC_MoveRelative - Example - "Overlay motion 1"

The signal profile shown below shows the "overlaying" characteristic of the
"MC_MoveRelative" (Mode = 2) technology function in situations where the current
velocity exceeds the new velocity.

Current velocity > new velocity

Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveRelative command is
started with a positive edge Exe_2 at FB 2 before the axis has traversed the
specified Distance = 1000. Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. "MC_MoveRelative" decelerates the axis after it has traversed
the distance 1000 with Deceleration = 10 so that the final velocity 30 requested by
the overlaying MC_MoveRelative command is reached. Completion of the
command is reported with Done_1 at FB 1.
After it has traversed the distance 1000, the axis (Axis_1) continues to move at
velocity 30. The (Axis_1) traverses the distance 500 according to the set velocity
and deceleration values. Done_2 is toggled to TRUE state, and Busy_2 is toggled
to FALSE state when the axis has traversed the Distance = 500.

S7-Technology
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 Technology functions

FB1 FB2
MC_MoveRelative MC_MoveRelative
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Distance CommandAborted 500 Distance CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

50
30
Velocity
t

1500

1000

Position
t

S7-Technology
A5E00251798-05 6-63
Technology functions

MC_MoveRelative - Example - "Overlay motion 2"

The signal profile shown below shows the "overlaying" characteristic of technology
function "MC_MoveRelative" (Mode = 2) in situations where the current velocity is
less than the new velocity.

Current velocity < new velocity

Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveRelative command is
started with a positive edge Exe_2 at FB 2 before the axis has traversed the
specified Distance = 1000. Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. "MC_MoveRelative" traverses the axis across the remaining
distance at final velocity 50. Done_1 reports completion of the command at FB 1.
After having traversed the distance 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to final velocity 70 set by the second command. The axis
(Axis_1) covers the remaining distance at the set velocity and deceleration.
Done_2 is toggled to TRUE, and Busy_2 is toggled to FALSE after the axis has
traversed the Distance = 500.

S7-Technology
6-64 A5E00251798-05
 Technology functions

FB1 FB2
MC_MoveRelative MC_MoveRelative
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Distance CommandAborted 500 Distance CommandAborted
50 Velocity Error 70 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

70
50
Velocity
t

1500

1000

Position
t

S7-Technology
A5E00251798-05 6-65
Technology functions

MC_MoveRelative - Example - "Overlay motion 3"

The signal profile below shows the "overlaying" characteristic of technology
function "MC_MoveRelative" the (Mode = 2) with direction reversal.

Direction reversal
Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity 50 based on the
set acceleration (Acceleration = 10). A further MC_MoveRelative command is
started with a positive edge Exe_2 at FB 2 before the axis has traversed the
specified Distance = 1000. Busy_2 reports that the new command is active.
Instead of being canceled, the current positioning command is "overlaid" by setting
Mode = 2 at FB 2. The direction is reversed, because a negative distance was set
at FB 2 (Distance = -300). "MC_MoveRelative" decelerates the axis with
Deceleration = 10 in order to reach 0 speed after the axis has traversed the
distance 1000. Completion of the command is reported with Done_1 at FB 1.
After having traversed the distance 1000, the axis accelerates (Axis_1) with
Acceleration = 10 to the final velocity -30. The zoomed view shows that gaps do
not develop during transition. The axis (Axis_1) covers the remaining distance at
the set velocity and deceleration. Done_2 is toggled to TRUE, and Busy_2 is
toggled to FALSE after the axis has traversed the Distance = -300.

S7-Technology
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 Technology functions

FB1 FB2
MC_MoveRelative MC_MoveRelative
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Distance CommandAborted -300 Distance CommandAborted
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 2 Mode
0 DoneFlag 0 DoneFlag

FB1
1
Exe_1
0 t
1
Done_1
0 t

FB2
1
Exe_2
0 t
1
Done_2
0 t

Busy_2
0 t

50

Velocity t
-30

1000

700

Position
t

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A5E00251798-05 6-67
Technology functions

MC_MoveRelative - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters DoneFlag or Mode.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current MC_Stop command is active, for example.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

S7-Technology
6-68 A5E00251798-05
 Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example:
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8055 Latching motion not allowed in A latching command cannot be accepted at the current
current state axis state. Reasons:
• A basic synchronization or superimposing
synchronization command is being executed at the
axis
• "MC_Halt" is active
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

S7-Technology
A5E00251798-05 6-69
Technology functions

6.2.8 FB 412 MC_MoveAdditive - Positioning relative to current target

position

Purpose
• The "MC_MoveAdditive" technology function starts axis positioning with user-
definable dynamic values to a position which is relative to the target position of
the current positioning command. This method allows the correction of a
previously commanded target position by a defined distance.
• Using the dynamics parameters Use Velocity, Jerk, Acceleration, Deceleration
to define dynamic response of the axis motion
• The axis stops at the target position
• Any MC_MoveAdditive command overrides the current command

Supported for
• Positioning axes
• Synchronization axes

Prerequisites
• Axis must be enabled for position-controlled operation.
• The axis must be homed if "Homing required" was set in the configuration
- and the axis is in motion
- or "MC_MoveAdditive" overrides an active motion command (except
"MC_MoveVelocity").
• Axis does not have to be homed is
- the axis is at a standstill
- an active MC_MoveVelocity command is overridden.
• No active MC_Stop command

Note
"MC_MoveAdditive" responds as "MC_MoveRelative",
• when the axis is at a standstill at the start of the command, or
• a continuous function is overridden, i.e. the target position is not defined. In
this case, the target position depends on the override position, and is derived
from the distance and the position at the start of the operation.

S7-Technology
6-70 A5E00251798-05
 Technology functions

Restraints for modulo axes

The application of this function to modulo axes is restricted and only possible for
small distances (in terms of modulo length) which may not exceed the current
modulo length:
(new target position = (old target position + distance) modulo length)
• Distance must be less than one modulo length.
• The distance to go must be less than one modulo length.
• Distance plus the distance to go of the overriding command must be less than
one modulo length.

Interaction of commands
New command – active single command (2)
New command – active commands (2)

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Distance REAL 0.0 Positioning distance (negative or positive)
Velocity REAL -1.0 Maximum velocity (not always reached):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

S7-Technology
A5E00251798-05 6-71
Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Target position reached
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during ist
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

S7-Technology
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 Technology functions

MC_MoveAdditive - example
Signal profile
Case a: Two MC_MoveAdditive commands are started in succession.
Case b: The second MC_MoveAdditive command (FB 2) is started before the first
is completed. This action cancels the first command (FB 1). The target
position is derived from the target position of the first command, corrected
by the distance of the second command.

FB1 FB2
MC_MoveAdditive MC_MoveAdditive
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1000 Distance CommandAborted Abort_1 500 Distance CommandAborted Abort_2
50 Velocity Error 30 Velocity Error
10 Acceleration ErrorID 10 Acceleration ErrorID
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 DoneFlag 0 DoneFlag

a b
FB1
1
Exe_1
0 t
1
Done_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0 t

50
30
Velocity
t

1500
500
1000

Position
t

S7-Technology
A5E00251798-05 6-73
Technology functions

MC_MoveAdditive - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all queued errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameter DoneFlag.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current MC_Stop command active.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

S7-Technology
6-74 A5E00251798-05
 Technology functions

ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

S7-Technology
A5E00251798-05 6-75
Technology functions

6.2.9 FB 413 MC_MoveSuperImposed - Overlapping positioning

Purpose
• The "MC_Move SuperImposed" technology function allows superimposed
positioning of an axis, for example, for pressure mark adjustment.
• Define the dynamic response of the motion at the dynamic parameters
VelocityDiff, Jerk, Acceleration, Deceleration.
• The dynamic values of technology function "MC_MoveSuperImposed" are add
up to form the dynamic values of the basic motion If the dynamic values
derived from this addition exceed the dynamic value configured in S7T Config
(Default > Dynamics dialog box) the actual dynamic values are limited to the
value configured in S7T Config The axis technology DB returns warning 0021
in this case
• Active positioning or synchronization operations are not canceled.
• A new MC_MoveSuperImposed command overrides the active
MC_MoveSuperImposed command. The distance-to-go value of the canceled
MC_MoveSuperImposed command will be lost!

Supported for
• Positioning axes
• Synchronization axes

Prerequisites
• Axis is enabled for position-controlled operation
• No active MC_Stop command
• The axis velocity usually needs to be increased for superimposed positioning.
For this reason, the basic velocity of the axis may not have reached its
maximum when this positioning function is set.

Interaction of commands
New command – active single command (2)
New command – active commands (2)

S7-Technology
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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Distance REAL 0.0 Additional distance for superimposed positioning
VelocityDiff REAL -1.0 Maximum velocity deviation compared to current
motion:
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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A5E00251798-05 6-77
Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Superimposed positioning completed
Busy BOOL FALSE TRUE: Superimposed positioning is active
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

S7-Technology
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 Technology functions

MC_MoveSuperImposed - Example - "Absolute positioning"

Signal profile: Effect of superimposed positioning
(a) MC_MoveSuperImposed is started when absolute positioning is active.
(b) "MC_MoveSuperImposed" is restarted before it has completed its cycle.
(c) Start of MC_MoveSuperImposed when the axis is at a standstill.

FB1 FB2
MC_MoveAbsolute MC_MoveSuperImposed
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1000 Position CommandAborted 100 Distance CommandAborted
50 Velocity Error 25 VelocityDiff Error
20 Acceleration ErrorID 10 Acceleration ErrorID
20 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Direction 0 DoneFlag
0 Mode
0 DoneFlag

FB1 a b c
1
Exe_1
0 t

1
Done_1
0 t
FB2
1
Exe_2
0 t

1
Done_2
0 t
75

Velocity 50
25
t

1500

1300

1000

Position

500

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A5E00251798-05 6-79
Technology functions

MC_MoveSuperImposed - Example - "Relative positioning"

Signal profile: Effect of superimposed positioning
(a) "MC_MoveSuperImposed" is started when relative positioning is active.
(b) "MC_MoveSuperImposed" is restarted before it has completed its cycle.
(c) Start of MC_MoveSuperImposed when the axis is at a standstill.

FB1 FB2
MC_MoveRelative MC_MoveSuperImposed
Axis_1 Axis Done Done_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1000 Distance CommandAborted 100 Distance CommandAborted
50 Velocity Error 25 VelocityDiff Error
20 Acceleration ErrorID 10 Acceleration ErrorID
20 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 Mode 0 DoneFlag
0 DoneFlag

FB1 a b c
1
Exe_1
0 t

1
Done_1
0 t
FB2
1
Exe_2
0 t

1
Done_2
0 t
75

Velocity 50
25
t

1500

1300

1000

Position

500

S7-Technology
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 Technology functions

MC_MoveSuperImposed - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all queued errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameter DoneFlag.
8044 Command not supported by the TO. Example
• A command is output to a speed-controlled axis
• The superimposing synchronization object was
not created in S7T Config
8045 Command not allowed in current MC_Stop command active.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

S7-Technology
A5E00251798-05 6-81
Technology functions

ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.2.10 FB 414 MC_MoveVelocity - Travel with preset speed

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_MoveVelocity" technology function initiates acceleration of the axis to
its preset velocity.
• Define motion dynamics at the input parameters Jerk, Acceleration and
Deceleration.
• Allowances are made for any active velocity override function in the calculation
of the final velocity (output parameter InVelocity). Make allowances for this
reaction in the user program.
• You can use input parameter PositionControl to set position- or speed-
controlled mode at position-controlled axes.
• At input parameter Mode you can specify whether to trigger an active motion,
to override the current motion or to append the motion.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• The axis is enabled for speed- or position-controlled operation
• No active MC_Stop command
• Conditions for appending motions (Mode = 1):
- No MC_CamIn or MC_GearIn has been started
- No active basic synchronism
- "MC_MoveVelocity" cannot be saved and appended to an active
"MC_MoveVelocity".

Interaction of commands
New command – active single command (2)
New command – active commands (2)

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Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Velocity REAL -1.0 Final velocity:
Value < 0: Use default
Value < 0: Allowed
Value > 0: Final velocity
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Only permitted if the axis does not have
to be accelerated in order to reach final
velocity.
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Only permitted if the axis does not have
to be accelerated in order to reach final
velocity.
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Direction INT 0 Direction preset:
Value = 0: Default in S7T Config.*
Value = 1: Positive rotational direction
Value = 2: Not allowed
Value = 3: Negative rotational direction
Value = 4: Current direction of rotation
(direction of rotation used last)
Current BOOL FALSE Maintain current velocity:
FALSE: "Maintain current velocity" is disabled
TRUE: Maintain current velocity and direction.
Used to terminate synchronous
operation, for example.
Input parameter Velocity is ignored.
When the drive continues operation at
the current velocity, output InVelocity
returns a TRUE value.

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Parameters Data type Initial value Description

PositionControl BOOL TRUE TRUE: Position-controlled mode
FALSE: Speed-controlled mode
Use input parameter PositionControl to toggle position-
controlled / speed-controlled mode at the axis. Input
parameter PositionControl is ignored at speed-
controlled axes.
To allow its use as leading axis, the axis must be set
to operate in position-controlled mode.
The currently active mode can be read from
Statusword.SpeedMode of the technology DB.
The changeover to speed-controlled mode is retentive.
Speed-controlled mode can be terminated by a new
MC_MoveVelocity command with PositionControl =
TRUE and by any other motion command (with the
exception of "MC_Halt" and "MC_Stop".) You can stop
speed-controlled mode without active motion with a
MC_MoveRelative command by setting input
parameter Distance = 0.0.

Mode INT 0 Override mode:

Value = 0: Override motion:
The current motion is canceled
Value = 1: Append motion:
The motion command is written to the
command buffer.
The axis stops at the motion transition
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The DoneFlag value is inverted when the final velocity
is reached.

* It is not advisable to select the direction by setting "Determine based on sign of

velocity setpoint" in the defaults of S7T Config, because input parameter
Velocity does not support negative velocity setpoints. The axis always moves in
positive direction if the configuration in S7T Config is faulty.

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

InVelocity BOOL FALSE TRUE: The velocity defined at input parameter
Velocity was reached or is retained.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
(see the note below)
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
When speed setpoint = zero (Velocity = 0.0): InVelocity is set when the axis has
reached a standstill, and remains set as long as Execute = 1. Command execution
is completed when InVelocity is set, i.e. Busy = FALSE, and the technological
function can neither report CommandAborted, nor an Error.

Speed-controlled operation of a position-controlled axis

The transition from "position-controlled motion" to "speed-controlled motion" and
vice versa can be set both when the axis is at a standstill and when it is moving.
You can use input parameters PositionControl to set either position- or speed-
controlled mode at the position-controlled axes.
In speed-controlled mode with velocity preset 0, the axes can be ramped down
immediately, regardless whether a greater following error has developed at the axis
as a result of torque limiting, for example.

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Software limit switch monitoring stays active.

Note
Speed-controlled operation is maintained until one of the following positioning
commands is started:
• "MC_MoveAbsolute"
• "MC_MoveRelative"
• "MC_MoveAdditive"
• MC_MoveVelocity (when PositionControl = TRUE)
• "MC_MoveToEndPos"
• "MC_GearIn"
• "MC_CamIn"
Restraints when speed control is active:
• Homing is not possible ("MC_Home")
• The axis must operate in position-controlled mode in order to allow its use as
leading axis with setpoint coupling. When PositionControl = FALSE, the
setpoint position of the axis is held constant.

Note
The effect of the software limit switch in speed-controlled mode depends on the
settings in S7T Config Axis >Limitations, "Position and velocity" tab, "Effect of the
software limit switches" drop-down list.
• "Stop at software limit switch only when moving in position-controlled
mode"
With this setting, the user program can command an axis operating on speed-
controlled mode to pass the software limit switch. This axis can only be
retracted subsequently when the software limit switch is deactivated.
If the user program does not allow the deactivation of software limit switches,
you can only return the axis to position-controlled mode by cycling POWER
OFF / ON. You can then release the axis.
• "Stop at software limit switch in all modes of operation and force
position-controlled mode"
With this setting, the axis will also stop at the software limit switch when
operated in speed-controlled mode. To do this, the axis first changes to
position-controlled mode. Retraction is not required.

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Technology functions

MC_MoveVelocity - Example - "Override motion"

The signal profile below shows the overriding characteristic of the (Mode = 0)
"MC_MoveVelocity" technology function.

Phase "a"
The first positive edge at input parameter Execute (Exe_1) of FB 1 initiates axis
(Axis_1) motion at a velocity of 50. InVel_1 generates a message when the final
velocity is reached.
A positive edge at input parameter Execute (Exe_2) of FB 2 overrides the current
motion. Abort_1 reports the override operation. Abort_1 remains set as long as
Exe_1 is set at FB 1. After the override, the axis continues to move (Axis_1) at
velocity 15.

Phase "b"
A further positive edge at input parameter Execute (Exe_1) of FB 1 overrides the
current motion and resets the velocity to 50.
A further command at FB 2 (positive edge at Exe_2) overrides the motion before
the axis has reached a velocity of 50. After this override, the axis continues
operation (Axis_1) at velocity 15. InVel_2 outputs a message when this velocity is
reached.
Exe_1 is only set briefly in phase "b"; Abort_1 is therefore indicated only for the
duration of one cycle.

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FB1 FB2
MC_MoveVelocity MC_MoveVelocity
Axis_1 Axis InVelocity InVel_1 Axis_1 Axis InVelocity InVel_2
Exe_1 Execute Busy Exe_2 Execute Busy
50 Velocity CommandAborted Abort_1 15 Velocity CommandAborted
10 Acceleration Error 10 Acceleration Error
10 Deceleration ErrorID 10 Deceleration ErrorID
0 Jerk 0 Jerk
1 Direction 1 Direction
0 Current 0 Current
1 PositionControl 1 PositionControl
0 Mode 0 Mode
0 DoneFlag 0 DoneFlag

a b
FB1
1
Exe_1 0 t
1
InVel_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
InVel_2
0 t

50
Velocity
Axis_1
15
t

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Technology functions

MC_MoveVelocity - Example - "Append motion"

The signal profile below shows the "appending" characteristic of the
"MC_MoveVelocity" technology function (Mode = 1).

Phase - relative positioning

Relative positioning is started with a positive edge at input parameter Execute
(Exe_1) of FB 1. The axis (Axis_1) accelerates to its final velocity along the set
acceleration ramp (Acceleration = 10). The MC_MoveVelocity command is output
(positive edge Exe_2 at FB 2) before it reaches the target position (Distance =
1000).
The current positioning command is not canceled if Mode = 1 is set at
"MC_MoveVelocity". "MC_MoveAbsolute" decelerates the axis with Deceleration =
10, and then approaches the target position according to the initiated command.
Completion of the command is reported with Done_1.

Phase - Motion with velocity preset

The MC_MoveVelocity motion is appended for immediate execution after the axis
has reached the target position set by the MC_MoveRelative command. InVel_2
reports the final velocity with a short delay. The axis (Axis_1) moves at the set
velocity 15.

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FB1 FB2
MC_MoveRelative MC_MoveVelocity
Axis_1 Axis Done Done_1 Axis_1 Axis InVelocity InVel_2
Exe_1 Execute Busy Exe_2 Execute Busy Busy_2
1000 Distance CommandAborted 15 Velocity CommandAborted
50 Velocity Error 5 Acceleration Error
10 Acceleration ErrorID 5 Deceleration ErrorID
10 Deceleration 0 Jerk
0 Jerk 1 Direction
0 Mode 0 Current
0 DoneFlag 1 PositionControl
1 Mode
0 DoneFlag

Relative positioning Motion with speed preset

FB1
1
Exe_1 0 t
1
Done_1
0 t
FB2
1
Exe_2
0 t

1
Busy_2
0 t
1
InVel_2
0 t

50
Velocity
Axis_1
15
t

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Technology functions

MC_MoveVelocity - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL or
input parameters Direction, Mode or DoneFlag.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current MC_Stop command active.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8055 Latching motion not allowed in A latching command cannot be accepted at the current
current state axis state. Reasons:
• A basic synchronization or superimposing
synchronization command is being executed at the
axis
• "MC_Halt" is active
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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Technology functions

6.2.11 FB 415 MC_MoveToEndPos - Travel to fixed stop/terminals

Purpose
• The "MC_MoveToEndPos" technology function moves the axis into contact
with an obstruction and holds it at this position, for example, at the end of the
distance traversed.
• You define dynamic response of the motion at the dynamic parameters
Velocity, Jerk, Acceleration, Deceleration
• The method and criteria for detecting the end position can be defined in the
axis configuration of S7T Config, for example, following error or torque
• If drive torque can be limited, torque limiting at the technology function also
influences the end stop detection setting "use following error" (in S7T Config)

Supported for
• Positioning axes (only electrical real axes)
• Synchronization axes (only electrical real axes)

Prerequisites
• Axis is enabled for position-controlled operation
• No active MC_Stop command
• End stop detection must be enabled for the axis.
In the Axis > Limiting > End stop dialog box of S7T Config, set the end stop
detection criteria "use following error" or "use force/torque".

Interaction of commands
• Other motion commands can override the current command before the fixed
end stop is reached.
• When the axis is clamped at the fixed end stop (InClamping = TRUE), the
system only accepts commands for motions which release the axis from the
end stop. The MC_MoveToEndPos command remains active until the drive
has left the clamping tolerance window. New motion commands in direction of
the fixed end stop can then be output. Any synchronization commands which
are executed within the clamping tolerance window and trigger a reversal in
direction of the fixed end stop will be canceled.
• MC_MoveToEndPos can only override an active MC_MoveToEndPos
command if both set the same effective direction.

Interaction of commands
New command – active single command (2)
New command – active commands (2)

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 Technology functions

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Direction INT 0 Direction preset:
Value = 0: Default
Value = 1: Positive rotational direction
Value = 2: Not allowed
Value = 3: Negative rotational direction
Value = 4: Current direction of rotation (direction of
rotation used last)
Torque REAL 1.0 Drive torque limit in [N/m].
Condition:
The drive supports and uses telegrams 101 to 106, or
the maximum torque of the drive will be entered.
Value > 0: Use the specified value
Value = 0: Not allowed
Velocity REAL 0.0 Maximum velocity (not always reached):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration (increasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration (decreasing energy in the motor):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

InClamping BOOL FALSE TRUE: The axis has reached the fixed end stop and
is now within the "position tolerance after fixed end
stop detection".
(Position tolerance setting in S7T Config > Limits >
"Fixed end stop" tab > Parameter "Position tolerance
after fixed end stop detection").
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
When "use following error" is set at the " S7T Config > Limits > "End stop" tab in
the axis configuration, following error monitoring is disabled when the technology
function is used.
If the fixed end stop breaks, the following error is reduced according to limits
configured at the drive. Neither the dynamic values defined at the input
parameters, nor the limits set in the TO influence this operation.
Make sure that the following error is reduced before you stop the axis with
"MC_Stop" or "MC_Halt".

Dynamic parameter Velocity

Caution
The initial velocity value is set to 0.0 for reasons of safety. This value is not
permitted in actual fact, and will lead to an error. Define a suitable value.

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MC_MoveToEndPos - example
a) An axis is moved to the fixed end stop with reduced torque. A following error is
generated based on position setpoint > actual position value in order to maintain
torque.
b) The clamping torque is doubled when a new command is received to move the
axis towards the same direction.
c) The "MC_MoveRelative" command is output to start the drive in reversed
direction and thus to terminate clamping. Clamping is terminated after the position
setpoint is outside of clamping tolerance window.

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Technology functions

FB1 FB2
MC_MoveToEndPos MC_MoveRelative
Axis_1 Axis InClamping Clamp_1 Axis_1 Axis Done Done_2
Exe_1 Execute Busy Exe_2 Execute Busy
1 Direction CommandAborted -300 Distance CommandAborted
Torque_1 Torque Error 200 Velocity Error
100 Velocity ErrorID Acceleration ErrorID
Acceleration Deceleration
Deceleration Jerk
Jerk 0 DoneFlag
0 DoneFlag

FB1 a b c
1
Exe_1
0 t
Torque_1 10
5
t
1
Clamp_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0
t
position setpoint

Position dX
position actual
value

Actual
t
values
100

Velocity t

-150

10
Torque
5
t

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 Technology functions

MC_MoveToEndPos - ErrorIDs

ErrorID Warning message Description / to correct or avoid errors

0000 No error -
0029 "MC_MoveToEndPos" command in A new MC_MoveToEndPos command for reversing the
reverse direction was ignored direction was started in order to override the active
MC_MoveToEndPos command. This is not permitted.
For information on permissible commands and conditions
for terminating a current MC_MoveToEndPos command,
refer to the MC_MoveToEndPos documentation.

ErrorID Fault message Description / to correct or avoid errors

8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all queued errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value • Concerns all input parameters of the data type REAL,
or input parameter Direction or DoneFlag.
• Fixed end stop detection is not enabled for the axis in
S7T Config
• The message frame used is either unequal 101 to 106,
or the value at input parameter Torque does not
correspond with the maximum drive torque.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current The MC_Stop command is active
state. - or -
The MC_MoveToEndPos command and clamping are
active, and a new instance of "MC_MoveToEndPos" was
started to reverse the direction. This is not permitted.

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Technology functions

ErrorID Fault message Description / to correct or avoid errors

804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804D Illegal axis type The "MC_MoveToEndPos" technology function is not
supported for this axis type.
• The axis is a virtual axis
• The axis is a hydraulic axis
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB

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ErrorID Fault message Description / to correct or avoid errors

808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.2.12 FB 437 MC_SetTorqueLimit - Activate/deactivate torque

limitation

Purpose
• The "MC_SetTorqueLimit" technology function enables/disables torque limiting.
• Torque limiting is always disabled when the axis enable signal is reset.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes

Prerequisites
• No active MC_Stop command
• The axis is enabled for speed- or position-controlled operation
• The torque reference for the axis must be set correctly in order to maintain the
specified torque The default torque reference is 3.2 N/m
• The drive must support torque reduction, and must be operated by one of the
telegrams 101 to 106.

Interaction of commands
New command – active single command (3)

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
EnableLimit BOOL TRUE Enable / disable limits
MaxTorque REAL 3.2 Maximum effective drive torque. *
Define the torque in [Nm].
Value >= 0: Use the specified value
Value < 0: Not allowed

* Always set the "Max. drive torque" parameter in your axis configuration (expert
list: TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque).

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command successfully executed
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
Following error monitoring is disabled when the technology function is being used.
Any developed following error is eliminated based on the configured drive limits
when torque is increased or countering torque is reduced. Neither the dynamic
values defined at the input parameters, nor the limits set in the TO influence this
operation.
Make sure that the following error is reduced before you stop the axis with
"MC_Stop" or "MC_Halt". You should preferably stop the axis without position
control, i.e. by using the technology function MC_MoveVelocity with the settings
PositionControl = FALSE and Velocity = 0.0.

MC_SetTorqueLimit - example
A torque limit of 3.2 N/m is set by default at configuration parameter
TypeOfAxis.SetPointDriverInfo.maxTorque.
In the example below, torque limiting is reduced to 1.6 N/m.

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MC_SetTorqueLimit - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns input parameter MaxTorque (the value must be
greater than or equal to zero).
8044 Command not supported by the TO Sending a command to an output cam, for example.
8045 Command not allowed in current MC_Stop command is active
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804D Illegal axis type The "MC_SetTorqueLimit" technology function is not
supported for this axis type.
• The axis is a virtual axis
• The axis is a hydraulic axis
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.2.13 FB 439 MC_SetCharacteristic - Activate valve characteristics

Supported by Integrated Technology with firmware V3.2.x

Purpose
• Activating a Q valve profile (speed valve)
• The valve characteristic can also be changed while the hydraulic axis is in
motion The optional control signal compensation is limited
• A repeated call of the technology function with the positive edge at input
parameter Execute cancels the previous command.

Supported for
• Hydraulic speed-controlled axes
• Hydraulic positioning axes
• Hydraulic synchronization axes

Prerequisites
• The selected axis must be configured for operation as hydraulic axis
• The profile is mapped to a cam disk and configured in S7T Config as optional
valve profile.

Interaction of commands
New command – active single command (3)

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the following axis technology DB
CamTable INT 0 Number of the cam disk technology DB
Execute BOOL FALSE Activate profile at the positive edge
Mode INT 0 Profile type:
Wert = 0: Q valve profile
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Profile activated
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
For further information on the cause,
refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Limitation of control signal compensation

At changeover, the output signal compensation is limited by default to 100%/s, i.e.
an output signal jump of 100% is compensated for in 1 second.
Control signal compensation can be configured in the expert list of the hydraulic
axis:
"System variable" userdefaultqfaxis.maxderivate.qoutput tab

Note
Conditions to be satisfied before you enable the hydraulic axis for position control
by calling technology function "MC_Power":
• The hydraulic axis must be assigned a cam disk as valve profile.
• The valve profile must be activated by calling technology function
"MC_SetCharacteristic".

MC_SetCharacteristic - example
The characteristic valve profile is stored in cam disk (Cam_1). When called, it is
used at the hydraulic axis to determine control signals for motion commands.

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MC_SetCharacteristic - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one of
the output parameters Done, CommandAborted or Error is
TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters Mode and DoneFlag.
8044 Command not supported by the TO. Concerns the input parameters Axis and CamTable.
• Axis is not an axis or not a hydraulic axis
• CamTable is not a cam disk
804A The required object interconnection The configured cam disk was not assigned to the axis as
is missing valve profile in S7T Config. (Axis > Profiles dialog box)
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
804D Illegal axis type The technology function can only be applied to a hydraulic
axis.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology DB
specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB

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6.3 Technology functions - Gear/curve synchronism

6.3.1 FB 420 MC_GearIn - Start gear synchronism

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_GearIn" technology function starts basic gearing between the leading
(master) and following (slave) axes
• You define the dynamic response of the following axis during synchronization
at the dynamic parameters Velocity, Jerk, Acceleration, and Deceleration
• The gear ratio is defined by the ratio between two integer numbers at the input
parameter (numerator / denominator)
• Synchronism can be relative to the start position (random position values upon
reaching synchronism) or absolute
• The gear ratio can be changed when the system is in operation by requesting a
new MC_GearIn command This operation does not require a stop of the
leading or following axis Transitions are executed according to specified
acceleration or deceleration values
• The function can be started when the leading axis is at a standstill, or when it is
in motion.

Supported for
• Synchronization axes

Prerequisites
• The leading axis is configured for operation as external encoder, or as
positioning axis, or as synchronization axis
• The following axis is configured for operation as synchronization axis
• The leading axis is set for use as master value at the base synchronization
object of the following axis
• The following axis is enabled for position-controlled operation
• No MC_Stop command is being executed at the following axis.

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
RatioNumerator DINT 1 Gear ratio numerator (value 0 is not allowed)
RatioDenominator DINT 1 Gear ratio denominator (value 0 is not allowed)
Velocity REAL -1.0 Maximum velocity at the transition to gearing (only
when Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration at the transition to gearing (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration at the transition to gearing (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk at the transition to gearing (only when Mode = 1):
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
PhaseShift REAL 0.0 Phase offset after reaching synchronism
When Absolute = TRUE, the phase offset effect is
absolute when synchronism is reached.
When Absolute = FALSE, the specified phase offset is
added to the phase offset determined by the relative
relationship.
Value > 0: Use the specified value
Value = 0: No phase offset
Value = 0: Not permissible
Absolute BOOL TRUE TRUE: Absolute gearing
The parameter preset at Jerk is ignored; the
trapezoidal motion profile is always active (unlimited
jerk).
FALSE: Relative gearing

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Parameters Data type Initial value Description

Mode INT 0 Synchronization mode / coupling mode:
Value = 0: Use the defaults of the corresponding
synchronization object
Value = 1: Time-based synchronization:
Immediate synchronization according to
the settings at input parameters Velocity,
Jerk, Acceleration, Deceleration
(corresponds with "Compatibility mode"
for the synchronization direction set in
S7T Config)
Value = 2: Time-based synchronization:
Synchronize immediately according to the
settings at the input parameters Velocity,
Jerk, Acceleration, Deceleration System
variable userdefault.gearingsetting
synchronizingdirection is also evaluated.
You can set the system variable in the
expert list of S7T Config or by calling the
"MC_WriteParameter" technology
function.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The DoneFlag value is inverted when gearing is
reached.

Output parameters (status outputs)

Parameters Data type Initial value Description

InGear BOOL FALSE TRUE: Basic gearing reached
Busy BOOL FALSE TRUE: Command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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Input parameter Mode = 1

Synchronization (compensating operation) starts immediately when operating with
relative synchronism. When synchronism is reached, a random offset is set
between the leading and following axes.
Synchronization may start with delay when operating with absolute synchronism.
When synchronism is reached, the actual position value of the leading axis is
equivalent to that of the following axis (offset = 0).
At a gear ratio of 1:1 and equal modulo length, or with modulo axes, the offset
value stays at zero during synchronous operation.
Synchronization direction at modulo axes:
"Compatibility mode" is active when Mode = 1 is set, regardless of settings in
S7T Config:
• Gearing:
The following axis is synchronized in positive direction

MC_GearIn - Example - "Relative/absolute synchronism"

Absolute / relative base synchronism after synchronization based on preset
dynamic parameters
In the first step, Axis_2 is synchronized to Axis_1 when relative synchronism is
active (Absolute = FALSE). A random offset develops between both axes. In the
next step, the axes are once again synchronized with Absolute = TRUE. This
eliminates any offset between the axes.

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FB1 FB2
MC_GearIn MC_GearIn
Axis_1 Master InGear InGear_1 Axis_1 Master InGear InGear_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Exe_2 Execute CommandAborted Abort_2
1 RatioNumerator Error 1 RatioNumerator Error
1 RatioDenominator ErrorID 1 RatioDenominator ErrorID
50 Velocity 50 Velocity
10 Acceleration 10 Acceleration
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 PhaseShift 0 PhaseShift
0 Absolute 1 Absolute
1 Mode 1 Mode
0 DoneFlag 0 DoneFlag

FB1 Absolute = 0 Absolute = 1

1
Exe_1 0 t
1
InGear_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
InGear_2
0 t

50
Slave (Axis_2)
Velocity
25

Master (Axis_1)
t

Masterposition (Axis_1)
Position

Slaveposition (Axis_2)
t

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MC_GearIn - Example - "Synchronization based on configuration data"

In Mode = 0, the axes are synchronized based on the default axis configuration
data. In this example, we have configured:
Synchronization: "Default synchronization position of the leading axis"
Position reference: "Start synchronization at synchronization position"
Sync. Pos. master value: 80.0
Profile default: "Leading axis-related synchronization profile"
Synchronization. length: 220.0
Synchronization starts when the leading axis has passed the synchronization
position at 80°. The operation ends when the leading axis reaches 220°.
The dynamic parameters Velocity, Acceleration, Deceleration and Jerk are
irrelevant.

MC_GearIn
Axis_1 Master InGear InGear_1
Axis_2 Slave Busy
Exe_1 Execute CommandAborted
1 RatioNumerator Error
1 RatioDenominator ErrorID
Velocity
Acceleration
Deceleration
Jerk
PhaseShift
1 Absolute
0 Mode
DoneFlag

1
Exe_1
0 t
1
InGear_1
0 t

Master (Axis_1) Slave (Axis_2)

Velocity 25

360°

300°

Masterposition
Position (Axis_1) 220°

80°
Slaveposition
(Axis_2)
t

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MC_GearIn - Example - "Phase shift"

The example below shows the differences based on the signal profile between
absolute synchronism with and without phase shift.

Absolute synchronism without phase shift

Start positions of the signal profile:
• Master position (Axis_1) = 0
• Slave position (Axis_2) = 0
A positive edge at Exe_1 starts absolute synchronism without phase shift. After a
short delay, InGear_1 reports that absolute synchronism is reached. Absolute
synchronism is established between the leading axis position (Axis_1) and the
following axis position (Axis_2), i.e. their positions are identical.

Absolute synchronism with phase shift

The signal profile shown applies to the start positions same as to the signal profile
without phase shift.
A positive edge at Exe_2 starts absolute synchronism with phase shift
(PhaseShift = 20). After a short delay, InGear_2 reports that absolute synchronism
is reached. The specified phase shift between the leading axis position and the
following axis position is applied.

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FB1 FB2
MC_GearIn MC_GearIn
Axis_1 Master InGear InGear_1 Axis_1 Master InGear InGear_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Exe_2 Execute CommandAborted Abort_2
1 RatioNumerator Error 1 RatioNumerator Error
1 RatioDenominator ErrorID 1 RatioDenominator ErrorID
50 Velocity 50 Velocity
10 Acceleration 10 Acceleration
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 PhaseShift 20 PhaseShift
1 Absolute 1 Absolute
1 Mode 1 Mode
0 DoneFlag 0 DoneFlag

Absolute synchronism Absolute synchronism

FB1 without phase shift with phase shift
1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
InGear_2
0 t
50
Velocity Slave (Axis 2)
25
Master (Axis 1)
t

Slaveposition Slaveposition
(Axis_2) (Axis_2)
Masterposition
Masterposition (Axis_1)
(Axis_1)

Position
} Phaseshift

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MC_GearIn - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The signal required for a command to enable the following
disabled, or the wrong mode is set axis is missing.
8043 Illegal parameter value or preset Concerns all input parameters of data type REAL or input
value parameters RatioNumerator, RatioDenominator, Mode or
DoneFlag.
There may be a configuration error in S7T Config (typically
if a synchronization length of 0 was configured).
8044 Command not supported by the TO The technology DB defined at input parameter Master
must be of the type "positioning axis", "synchronization
axis" or external encoder".
The technology DB defined at input parameter Slave must
be of the type "synchronization axis."
8045 Command not allowed in current MC_Stop command active.
state
804A The required object interconnection The leading axis defined at input parameter Master is not
is missing selected in the configuration of the basic synchronization
object.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
807A Invalid master setpoint Invalid actual value of the leading axis.
807B Recursive interconnection of TOs The leading axis defined at the input parameter is already
active as following axis in synchronous operation, and the
master setpoint is derived directly or indirectly from the
following axis defined at the input parameter.
8083 DB is not a technology DB The DB specified at the input parameters Master or Slave
does not exist or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the PLC, or
change the DB number at the Master or Slave input
parameters
• The user has entered invalid data at the technology
DB specified at input parameter Master or Slave
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.2 FB 422 MC_GearOut - End gear synchronism

Purpose
• The "MC_GearOut" technology function stops basic gearing. Superimposing
motions or superimposed synchronism are not affected by this operation.
• Synchronous operation is stopped according to the default setting of the
synchronization object in S7T Config.
• The technology function is terminated after basic gearing of the following axis
was stopped.
• Recommendation: Use the technology function when the shutdown process
should depend on the position of the leading axis and/or of the following axis.
You can also remove the following axis from the synchronized group by calling
the technology functions "MC_Halt", "MC_Stop", "MC_MoveRelative",
"MC_MoveAdditive", "MC_MoveAbsolute", "MC_MoveVelocity" or
"MC_MoveToEndPos"

Supported for
• Synchronization axes

Prerequisites
• The axis must be operated as following axis (slave) for basic gearing. The
command is ignored if no basic gearing is active, and the technology function
reports Done = TRUE.
• No MC_Stop command is being executed at the following axis

Interaction of commands
New command – active single command (1)
New command – active commands (1)

Input parameters

Parameters Data type Initial value Description

Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Basic gear synchronism stopped
Output parameter Done also signals TRUE if no
basic gearing command was active.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during ist
execution.
If ErrorStatus of the technology DB does
not report an error, the command was
canceled by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
Simultaneous output of MC_GearIn and MC_GearOut commands to the same TO
may cancel the MC_GearIn command (CommandAborted = TRUE). IN this case,
the technology function "MC_gearOut" return the message Done = TRUE.
Do not start the MC_GearOut command unless MC_GearIn has reported
synchronism (InGear = TRUE).

MC_GearOut - example
The "MC_GearOut" technology function (technology function) is used to stop basic
gearing, and to stop the axis according to the configured mode. In this example we
have a relative basic gearing with an offset between the leading and following axes
which has developed during synchronization. The gear ratio is 1:1. The following
axis should stop at position 180°. Corresponding settings:
Desynchronization "Default desynchronization position of the following axis"
Position reference: "Stop before desynchronization position"
Desynchronization Following axis: 180°
The axis is desynchronized based on the leading axis position. The following axis
is desynchronized within the desynchronization length of 100° covered by the
leading axis. The following axis covers half the distance of the leading axis (50°).
Profile setting: "Leading axis-related synchronization profile"
Desync. length: 100°

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MC_GearOut
Axis_1 Axis Done Done_1
Exe_1 Execute Busy
CommandAborted
Error
ErrorID

1
Exe_1
0 t
1
Done_1
0 t

360

Position
Master 100° syncofflength

180
50°

Slave

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MC_GearOut - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded
limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter"
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The signal required for a command to enable the
disabled, or the wrong mode is set following axis is missing.
8043 Illegal parameter value or preset There may be a configuration error in S7T Config
value (typically caused when a desynchronization length of 0 is
set).
8044 Command not supported by the TO. The technology DB defined at input parameter Slave
must be at least of the type "synchronization axis."
8045 Command not allowed in current "MC_Stop" is still active, for example
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not
to violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run
levels using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology
function started in OB 1, and was interrupted by its call
in OB 35. Based on the shared use of the instance DB,
the error is indicated at output parameter ErrorID of both
calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored
at the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Slave was not
found or is not a technology DB.
8084 Invalid technology DB • A technology object does not exist in the PLC for the
technology DB specified at input parameter Slave.
Download the current technology to the PLC, or
change the DB number at input parameter Slave.
• The user has written invalid data to the technology
DB specified at input parameter Slave.
In "Technology Objects Management", delete and
then recreate the technology DB

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6.3.3 FB 440 MC_GearInSuperImposed - Start overlapping gear

synchronism

Supported by Integrated Technology with firmware V3.2.x

Purpose
• The "MC_GearInSuperImposed" technology function starts superimposed
gearing between a leading axis and a following axis.
• You define the dynamic response of the following axis during synchronization
at the dynamic parameters Velocity, Jerk, Acceleration, Deceleration.
• The gear ratio is defined by the ratio between two integer numbers at the input
parameter (numerator / denominator)
• Synchronism can be relative to the start position (random position values upon
reaching synchronism) or absolute
• The gear ratio can be changed while the system is in RUN by requesting a new
MC_GearInSuperImposed command. This operation does not require a stop of
the leading or following axis Transitions are executed according to specified
acceleration or deceleration values
• The function can be started when the leading axis is at a standstill, or when it is
in motion.

Supported for
• Synchronization axes with superimposing synchronization object

Prerequisites
• The leading axis is configured for operation as external encoder, or as
positioning axis, or as synchronization axis
• The following axis is configured as synchronization axis with superimposing
synchronization object
• The leading axis is set as possible superimposing synchronization object of the
following axis
• The following axis is enabled for position-controlled operation
• No MC_Stop command is executed at the following axis

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
RatioNumerator DINT 1 Gear ratio numerator
RatioDenominator DINT 1 Gear ratio denominator
Velocity REAL -1.0 Maximum velocity at the transition to gearing (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration at the transition to gearing (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration at the transition to gearing (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk at the transition to gearing (only when Mode = 1):
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
PhaseShift REAL 0.0 Phase offset after reaching synchronism
When Absolute = TRUE, the phase offset effect is
absolute when synchronism is reached.
When Absolute = FALSE, the specified phase offset is
added to the phase offset determined by the relative
relationship.
Value > 0: Use the specified value
Value = 0: No phase offset
Value = 0: Not allowed
Absolute BOOL TRUE TRUE: Absolute superimposed gearing
The parameter setting at Jerk is ignored; the
trapezoidal motion profile is always active
(unlimited jerk).
FALSE: Relative superimposed gearing

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Parameters Data type Initial value Description

Mode INT 0 Synchronization mode / coupling mode:
Value = 0: Use the defaults of the corresponding
synchronization object
Value = 1: Time-based synchronization:
Immediate synchronization according to the
settings at input parameters
Velocity, Jerk, Acceleration, Deceleration
(corresponds with "Compatibility mode"
for the synchronization direction set in
S7T Config)
Value = 2: Time-based synchronization:
Synchronize immediately according to the
settings at the input parameters Velocity,
Jerk, Acceleration, Deceleration
System variable userdefault.gearingsetting
synchronizingdirection is also evaluated.
You can set the system variable in the
expert list of S7T Config or by calling the
"MC_WriteParameter" technology function.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The DoneFlag value is inverted when the axis has
reached its final velocity.

Output parameters (status outputs)

Parameters Data type Initial value Description

InGear BOOL FALSE TRUE: Superimposed gearing reached
Busy BOOL FALSE TRUE: Command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the
ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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Input parameter Mode = 1

Synchronization direction at modulo axes:
"Compatibility mode" is active when Mode = 1 is set, regardless of settings in
S7T Config:
• Gearing:
The following axis is synchronized in positive direction

MC_GearInSuperImposed - Example - "Superimposition"

The signal profile in the example below demonstrates the differences between
absolute base synchronism and absolute superimposing synchronism.

Phase one - Base synchronism

Exe_1 starts absolute base synchronism. The following axis (Axis_3) changes to
synchronous operation after a short delay. The technology function reports
InGear_1.
Within the phase of base synchronism, the position of the basic motion
corresponds with the position of the additive motion, because the position of the
superimposing motion starts at 0 by default.
An absolute reference is established between the leading axis position (Axis_1)
and the position of the basic motion (green signal profile.)

Phase two - Base synchronism and superimposing synchronism

Exe_2 starts absolute superimposing synchronism (orange-colored signal profile.)
An absolute reference is established between the leading axis position (Axis_2)
and the superimposing motion of the following axis. The absolute reference is
retained between the following axis position (Axis_1) and the position of the basic
motion (green signal profile).
The following axis position (Axis_3) is derived from the total of the "position of
basic motion" plus the "position of superimposing motion" values. When
superimposed synchronism is reached, the technology function reports InGear_2.

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FB1 FB2
MC_GearIn MC_GearInSuperImposed
Axis_1 Master InGear InGear_1 Axis_2 Master InGear InGear_2
Axis_3 Slave Busy Axis_3 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Exe_2 Execute CommandAborted Abort_2
1 RatioNumerator Error 1 RatioNumerator Error
1 RatioDenominator ErrorID 1 RatioDenominator ErrorID
50 Velocity 75 Velocity
10 Acceleration 10 Acceleration
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 PhaseShift 0 PhaseShift
1 Absolute 1 Absolute
1 Mode 1 Mode
0 DoneFlag 0 DoneFlag

Base synchronism and

FB1 Base synchronism
superimposing cam synchronism
1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
InGear_2
0 t

Master (Axis_2)
75

Velocity 50
Slave (Axis_3)
25
Master (Axis_1)
t
Master(Axis_1)

Position of
basic motion

t
Master(Axis_2)

Position of
superimposing
motion

Sum

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MC_GearInSuperImposed - Example - "Relative/absolute superimposing

synchronism"
The signal profile in the example below demonstrates the differences between
relative and absolute superimposing synchronism. In order to keep the example as
simple as possible, we have excluded base synchronism from the signal profile
shown.

Phase one - relative superimposing synchronism

At the start of the signal profile shown the leading axis (Axis_1) and the following
axis (Axis_2) are at the same start position. A positive edge at Exe_1 starts relative
superimposing synchronism. After a short delay, InGear_1 reports that relative
superimposing synchronism is reached.
The signal profile highlighted in orange color (phase 1) shows the superimposing
following axis position (Axis_2). The default start position of the superimposing
following axis position is 0.
Relative synchronism is established between the leading axis position (Axis_1) and
the superimposing following axis position (Axis_2).

Phase two - absolute superimposing synchronism

Exe_2 cancels the current relative superimposing synchronism and starts absolute
superimposing synchronism. After a short delay, InGear_2 reports that absolute
superimposing synchronism is reached.
The signal profile highlighted in orange color (phase 2) shows the superimposing
following axis position (Axis_2). Absolute synchronism is established between the
leading axis position (Axis_1) and the superimposing following axis position
(Axis_2). The reference to the original superimposing following axis position is
retained, including the offset between the superimposing following axis position
and the following axis position.

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FB1 FB2
MC_GearInSuperImposed MC_GearInSuperImposed
Axis_1 Master InGear InGear_1 Axis_1 Master InGear InGear_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Exe_2 Execute CommandAborted Abort_2
1 RatioNumerator Error 1 RatioNumerator Error
1 RatioDenominator ErrorID 1 RatioDenominator ErrorID
50 Velocity 50 Velocity
10 Acceleration 10 Acceleration
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 PhaseShift 0 PhaseShift
0 Absolute 1 Absolute
1 Mode 1 Mode
0 DoneFlag 0 DoneFlag

FB1 Absolute = 0 Absolute = 1

1
Exe_1 0 t
1
InGear_1
0 t
1
Abort_1
0 t
FB2
1
Exe_2
0 t
1
InGear_2
0 t

50
Slave (Axis_2)
Velocity
25

Master (Axis_1)
t

Slaveposition (Axis_2)

Masterposition (Axis_1)
Position

superimposing
slave position (Axis_2)
t

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MC_GearInSuperImposed - Example - "Phase shift"

The signal profile in the example below shows the differences between absolute
superimposing synchronism with and without phase shift. In order to keep the
example as simple as possible, we have excluded base synchronism from the
signal profile shown.

Absolute superimposing synchronism without phase shift

Start positions of the signal profile:
• Leading axis position (Axis_1) = 0
• Following axis position (Axis_2) = X
• Superimposing following axis position = 0
A positive edge at Exe_1 starts absolute superimposing synchronism without
phase shift. After a short delay, InGear_1 reports that absolute superimposing
synchronism is reached.
The signal flow highlighted in orange color indicates the superimposing slave
position. The default start position of the superimposing slave position is 0.
Absolute synchronism is established between the leading axis position (Axis_1)
and the superimposing following axis position (Axis_2).

Absolute superimposing synchronism with phase shift

The signal profile applies to the start positions similar to the signal profile without
phase shift.
• Leading axis position (Axis_1) = 0
• Following axis position (Axis_2) = Y
• Superimposing following axis position = 0
A positive edge at Exe_2 starts absolute superimposing synchronism with phase
shift. After a short delay, InGear_2 reports that absolute superimposing
synchronism is reached.
This time, however, the orange-colored signal profile shows the superimposing
following axis position (Axis_2) with the specified phase shift. The default start
position of the superimposing following axis position is again 0.

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FB1 FB2
MC_GearInSuperImposed MC_GearInSuperImposed
Axis_1 Master InGear InGear_1 Axis_1 Master InGear InGear_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Exe_2 Execute CommandAborted Abort_2
1 RatioNumerator Error 1 RatioNumerator Error
1 RatioDenominator ErrorID 1 RatioDenominator ErrorID
50 Velocity 50 Velocity
10 Acceleration 10 Acceleration
10 Deceleration 10 Deceleration
0 Jerk 0 Jerk
0 PhaseShift 20 PhaseShift
1 Absolute 1 Absolute
1 Mode 1 Mode
0 DoneFlag 0 DoneFlag

FB1 Phaseshift = 0 Phaseshift = 20

1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
InGear_2
0 t
50
Velocity Slave (Axis 2)
25
Master (Axis 1)
t
superimposing slave
Slaveposition (Axis_2) Masterposition (Axis_1) position (Axis_2)

Position

} Phaseshift

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MC_GearInSuperImposed - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters RatioNumerator, RatioDenominator, Mode or
DoneFlag.
This may be caused by the configuration, as this error
also appears when a faulty command parameter is found
within the block that forms the default based on the
configuration, for example, the synchronization length = 0.
8044 Command not supported by the TO. Examples:
• The technology DB defined at input parameter Master
must be at least of the type "positioning axis."
• The technology DB defined at input parameter Slave
must be at least of the type "synchronization axis"
• The superimposing synchronization object was not
created in S7T Config
8045 Command not allowed in current Examples:
state. • MC_Stop command is active
• The motion of the slave axis is speed-controlled by the
technology function "MC_MoveVelocity" when input
parameter PositionControl = TRUE The slave axis
must be operated in position-control mode if
superimposed synchronism is set
804A The required object interconnection The leading axis defined at input parameter Master is not
is missing selected in the configuration of the superimposed
synchronization object.

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ErrorID Error message Description / to correct or avoid errors

804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
807A Invalid master setpoint Invalid actual value of the leading axis.
807B Recursive interconnection of TOs The leading axis defined at the input parameter is already
active as following axis in synchronous operation, and the
master setpoint is derived directly or indirectly from the
following axis defined at the input parameter.
8083 DB is not a technology DB A DB defined at the Master or Slave input parameters was
not found or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the PLC, or
change the DB number at the Master or Slave input
parameters
• The user has entered invalid data at the technology
DB specified at input parameter Master or Slave
In "Technology Objects Management", delete and then
recreate the technology DB

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ErrorID Error message Description / to correct or avoid errors

808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.4 FB 442 MC_GearOutSuperImposed - End overlapping gear

synchronism

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_CamOutSuperImposed" technology function terminates
superimposing gearing. This does not affect basic motions or base
synchronism.
• Superimposed gearing can be terminated immediately in Mode = 1 by setting
the input parameters Deceleration and Jerk. You can also terminate
superimposed gearing in Mode = 0 according to the default settings of the
superimposing synchronization object in S7T Config.
• The technology function is terminated after superimposing synchronism of the
following axis is terminated.

Supported for
• Synchronization axes with superimposing synchronization object

Prerequisites
• The axis must be configured as following axis (slave) for operation on a system
with superimposed synchronization. If the axis is not operating with
superimposed synchronism, the command is ignored and the technology
function reports Done = TRUE.
• No MC_Stop command is busy

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
Deceleration REAL -1.0 Deceleration at the end of superimposed gearing (only
when Mode = 1): Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk at the end of superimposed gearing (only when
Mode = 1): Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Mode INT 0 Desynchronization mode:
Wert = 0: Use the defaults of the relevant
synchronization object
Value = 1: Desynchronize immediately according
to the settings at input parameters
Deceleration and Jerk
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Output parameters (status outputs)

Parameters Data type Initial value Description
Done BOOL FALSE TRUE: Superimposed gearing stopped.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the
ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
Simultaneous output of MC_GearInSuperImposed and
MC_GearOutSuperImposed commands to the same TO may cancel the
MC_GearInSuperImposed command (CommandAborted = TRUE). In this case,
technology function "MC_GearOutSuperImposed" returns Done = TRUE.
Do not start MC_GearOutSuperImposed command unless
MC_GearInSuperImposed has reported synchronism (InGear = TRUE).

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MC_GearOutSuperImposed - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or DoneFlag.
8044 Command not supported by the TO. Examples:
• The command was output to a measuring input or
output cam
• The superimposing synchronization object was not
created in S7T Config
8045 Command not allowed in current MC_Stop command is active, for example.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Slave was not found
or is not a technology DB.
8084 Invalid technology DB • A technology object does not exist in the PLC for the
technology DB specified at input parameter Slave
Download the current technology to the target system,
or change the DB number at input parameter Slave
• The user has written invalid data to the technology DB
specified at input parameter Slave
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.5 FB 421 MC_CamIn - Start curve synchronism

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_CamrIn" technology function starts camming between the leading
and following axes (master and slave).
• You define the dynamic response of the following axis during synchronization
at the dynamic parameters Velocity, Jerk, Acceleration.
• You can scale the specified cam, and/or shift its position.
• You can run the specified cam disk either once or cyclically.
• The synchronism can be absolute or relative.

Supported for
• Synchronization axes

Prerequisites
• The leading axis is configured for operation as external encoder, or as
positioning axis, or as synchronization axis
• The following axis is configured for operation as synchronization axis
• In your configuration of the synchronization object of the following axis, you
must have selected the required cam disk and leading axis
• Axis is enabled for position-controlled operation
• No MC_Stop command is being executed at the following axis.

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
CamTable INT 0 Number of the cam disk technology DB
Execute BOOL FALSE Start of the command at the positive edge
MasterOffset REAL 0.0 Shift the cam in coordinates of the leading axis (takes
effect only when MasterAbsolute = TRUE)
SlaveOffset REAL 0.0 Shift the cam in coordinates of the following axis
(takes effect only when SlaveAbsolute = TRUE)
MasterScaling REAL 1.0 Illegal scaling factor for the cam in the coordinates of
the leading axis (value 0 is not allowed)
SlaveScaling REAL 1.0 Illegal scaling factor for the cam in the coordinates of
the following axis (value 0 is not allowed)
MasterAbsolute BOOL TRUE Interpret cam disk coordinates absolute or relative to
the leading axis
TRUE: Absolute coordinates
FALSE: Relative coordinates
SlaveAbsolute BOOL TRUE Interpret cam disk coordinates absolute or relative to
the following axis
TRUE: Absolute coordinates
FALSE: Relative coordinates
CyclicMode BOOL TRUE Cam disk execution
TRUE: Cyclic execution
FALSE: No cyclic execution
Velocity REAL -1.0 Maximum coupling velocity
(only when Mode = 1)
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration when coupling:
(only when Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk when coupling the following axis
(only when Mode = 1)
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default

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Parameters Data type Initial value Description

Mode INT 0 Synchronization mode / coupling mode:
Value = 0: Use the defaults of the corresponding
synchronization object
Value = 1: Time-based synchronization:
Immediate synchronization according to
the settings at input parameters
Velocity, Jerk, Acceleration, Deceleration
(corresponds with "Compatibility mode"
for the synchronization direction set
in S7T Config)
Value = 2: Time-based synchronization:
Synchronize immediately according to the
settings at the input parameters Velocity,
Jerk, Acceleration, Deceleration
The synchronization object settings in the
"Camming" tab at the
Axis_SYNCHRONOUS_OPERATION
> Default dialog box are also taken into
account. System variable
userdefault.cammingsetting.
synchronizingdirection is also evaluated.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The value of DoneFlag is inverted when the command
is completed (InSync)

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Output parameters (status outputs)

Parameters Data type Initial value Description

InSync BOOL FALSE TRUE: Basic camming reached
Busy BOOL FALSE TRUE: Command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Input parameter Mode = 1

Synchronization direction at modulo axes:
"Compatibility mode" is active when Mode = 1 is set, regardless of settings in
S7T Config:
• Camming:
The following axis is synchronized within the shortest distance.

Recommendation for the start of camming

1. Move the following axis (slave) to position XS
2. Move the leading axis (master) to position Xm, with XS = cam value (Xm)
3. Start the "MC_CamIn" technology function

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MC_CamIn - Example - "Effect of scaling factors and offset values"

Effect of the scaling factors
(1) Shows the non-scaled output cams (scaling factors are 1.0).
(2) At the SlaveScaling parameter, the cam can be expanded or compressed
along the Y coordinate. The following axis is therefore displaced more or less
within a leading axis cycle.
(3) At the MasterScaling parameter, the cam can be expanded or compressed
along the X coordinate.

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Effect of offset values

(4) The SlaveOffset parameter shifts the entire cam along the Y coordinate.
(5) The MasterOffset parameter shifts the cam along the X coordinate, and thus
generates a cam with phase shift.

MC_CamIn - Example - "Synchronization with the leading axis position

(cyclic relative synchronism)"
Synchronization mode:
Relative camming, cyclic mode
In relative camming mode, the Y coordinates of the cam start and end values may
be identical. At the end of a current cam cycle, the cam is added to the current Y
value.
Synchronization condition:
When Mode = 0, the synchronization condition defined in the axis configuration or
at the corresponding parameters is active:
Synchronization: "Default synchronization position of the leading axis"
Position reference: "Start synchronization at synchronization position"
SyncPos master value: 100.0
Profile default: "Leading axis-related synchronization profile"
Synchronization. length: 100.0

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Synchronization starts when the leading axis has passed position 100°. The
following axis is synchronized while the leading axis is moving within the angular
range from 100° to 200° (synchronization length = 100°).

MC_CamIn
Axis_1 Master InSync InSync_1
Axis_2 Slave Busy
Cam_1 CamTable CommandAborted
Exe_1 Execute Error
0.0 MasterOffset ErrorID
0.0 SlaveOffset
1.0 MasterScaling
1.0 SlaveScaling
1 MasterAbsolute
Cam_1
0 SlaveAbsolute
1 CycleMode Position
50 Velocity Slave
10 Acceleration
10 Jerk
0 Mode
0 DoneFlag 20

Position 360
Master

1
Exe_1 0 t
1
InSync_1
0 t

Position Position
Slave
x

Startpos
x

Cam_1
20
t

360
Position
Master
Xend 200

Xstart 100

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MC_CamIn - Example - "Synchronization with the leading axis position (cyclic

absolute synchronism)"
Synchronization mode:
Absolute camming, cyclic mode
The Y values and gradients at the cam start and end position are identical. This
allows you to join the cams in cyclic mode without causing discontinuity.
Synchronization condition:
When Mode = 0, the synchronization condition defined in the axis configuration or
at the corresponding parameters is active:
Synchronization: "Default synchronization position of the leading axis"
Position reference: "Start synchronization at synchronization position"
SyncPos master value: 70
Profile default: "Leading axis-related synchronization profile"
Synchronization. length: 130.0

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Synchronization starts when the leading axis has passed position 70°. The
following axis is synchronized while the leading axis is moving within the angular
range from 70° to 200° (synchronization length = 130°).

MC_CamIn
Axis_1 Master InSync InSync_1
Axis_2 Slave Busy
Cam_1 CamTable CommandAborted
Exe_1 Execute Error
0.0 MasterOffset ErrorID
0.0 SlaveOffset
1.0 MasterScaling
1.0 SlaveScaling
1 MasterAbsolute Cam_1
1 SlaveAbsolute
1 CycleMode Position
50 Velocity Slave
10 Acceleration
10 Jerk
0 Mode 40
0 DoneFlag

Position 360
Master

1
Exe_1 0 t
1
InSync_1
0 t

Position

100
Position
Slave
40
Cam_1
t

360
Position
Master

Xend 200
synclength

Xstart 70 syncpositionmaster

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MC_CamIn - Signal profile with immediate synchronization

Synchronization mode:
Relative camming, cyclic mode
In relative camming mode, the Y coordinates of the cam start and end values may
be identical. At the end of a current cam cycle, the cam is added to the current Y
value.
Synchronization condition:
In Mode = 1, the cam is synchronized immediately based on the dynamic
parameters set at the "MC_CamIn" technology function.
In this example, the leading and following axes are initially moved to their initial
positions by means of positioning commands. The technology function
"MC_CamIn" is started in the next step. Synchronism comes into effect
instantaneously, because both axes are at standstill and relative synchronism is
requested. (For absolute synchronism, the slave would first have to be moved to
the absolute cam interpolation point that is assigned to the leading axis).

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MC_CamIn
Axis_1 Master InSync InSync_1
Axis_2 Slave Busy
Cam_1 CamTable CommandAborted
Exe_1 Execute Error
0.0 MasterOffset ErrorID
0.0 SlaveOffset
1.0 MasterScaling
1.0 SlaveScaling
1 MasterAbsolute Cam_1
Position
0 SlaveAbsolute
Slave
1 CyclicMode
50 Velocity 120
10 Acceleration
10 Jerk
1 Mode
20
0 DoneFlag
Position 360
Master

1
Exe_1 0 t
1
InSync_1
0 t

360
Master

Position

Slave
160

Startpos = 60 Cam_1
20
0 t

Velocity
Master

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MC_CamIn - Example - "Cam changeover at the end of a cycle"

Synchronization mode:
The following axis operates in absolute camming mode. The leading axis must be
operated in relative synchronization mode for synchronization "at the end of active
cycle".
Synchronization condition:
Input parameter Mode = 0 sets the synchronization condition which is defined in
the axis configuration or at the corresponding parameters. In this example, the
synchronization condition is changed while the system is in RUN.

Sequence
1. In S7T Config, "Preset synchronization position of the leading axis" was
selected as the synchronization mode in the default settings of the
synchronization axis. The position reference was set to "Synchronize starting
at the synchronization position" and the value 0.0 was selected as the Sync.
pos. master value.
When Execute = 1, synchronization to Cam_1 starts at value 0.0 of the leading
axis.
2. The synchronization condition is changed by calling FB MC_WriteParameter
(set "AT_THE_END_OF_CAM_CYCLE" at parameter 4266 of the following
axis).
3. The cam instance of Cam_2 is set at input parameter CamTable.
4. After the next Execute = 1, synchronization to Cam_2 starts at the end of the
active cams.

Position
Cam_1
Slave

Cam_2
80

360
Position Master

CamTable = Cam_1 CamTable = Cam_2

on_master_position at_the_end_of_cam_cycle
1
Execute
0 t

360

Master
Slave
Position

Startpos = 80

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MC_CamIn - Example - "Synchronization condition

AT_MASTER_AND_SLAVE_POSITION"
Synchronization mode:
The leading and following axes are operating in absolute camming mode.
Synchronization condition:
Input parameter Mode = 0 sets the synchronization condition which is defined in
the axis configuration or at the corresponding parameters.
In this example, the synchronization position (parameter 4269) of the following axis
is changed while the system is in RUN.
Sequence
1) Synchronization condition: "Default synchronization position of the leading
and following axes"
Position reference: "Start synchronization at synchronization position"
Sync. Pos. leading axis: 0.0
Sync. Pos. following axis: 0.0
2) Changing the synchronization position at the MC_WriteParameter technology
function (parameter 4269)
3) Synchronization condition: "Default synchronization position of the leading
and following axes"
Position reference: "Start synchronization at synchronization position"
Sync. Pos. leading axis: 0.0
Sync. Pos. following axis: 100.0

Position
Slave Definition
Cam_1

80

360
Position Master

syncpositionslave (MC_WriteParameter)
100

0 t
1
Execute
0 t

360
Master

Position Slave

120 100
80

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MC_CamIn - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The signal required for a command to enable the following
disabled, or the wrong mode is set axis is missing.
8043 Illegal parameter value or preset Concerns all input parameters of data type REAL, or input
value parameters Mode or DoneFlag.
There may be a configuration error in S7T Config (typically
if a synchronization length of 0 was configured).
8044 Command not supported by the TO. The technology DB defined at input parameter Master
must be at least of the type "positioning axis."
The technology DB defined at input parameter Slave must
be at least of the type "synchronization axis"
8045 Command not allowed in current MC_Stop command is active
state
804A The required object interconnection Neither the leading axis defined at input parameter
is missing Master, nor the cam disk defined at input parameter
CamTable are selected in the configuration of the basic
synchronization object.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
807A Invalid master setpoint Invalid actual value of the leading axis.
807B Recursive interconnection of TOs The leading axis defined at the input parameter is already
active as following axis in synchronous operation, and the
master setpoint is derived directly or indirectly from the
following axis defined at the input parameter.
8083 DB is not a technology DB The DB specified at the input parameters Master or Slave
does not exist or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the PLC, or
change the DB number at the Master or Slave input
parameters
• The user has entered invalid data at the technology
DB specified at input parameter Master or Slave
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.6 FB 423 MC_CamOut - End curve synchronism

Purpose
• "MC_CamOut" stops camming and the following axis. You can define the
corresponding conditions in the axis configuration

Recommendation:
• Use the technology function when the standstill process should depend on the
position of the leading axis and/or of the following axis.
• You can also remove the following axis from the synchronized group by calling
the technology functions "MC_Halt", "MC_Stop", "MC_MoveRelative",
"MC_MoveAdditive", "MC_MoveAbsolute", "MC_MoveVelocity" or
"MC_MoveToEndPos"

Supported for
• Synchronization axes

Prerequisites
• The axis must be configured as following axis (slave) for camming operations If
camming is not active the command is ignored and the technology function
reports Done = TRUE
• No active MC_Stop command

Interaction of commands
New command – active single command (1)
New command – active commands (1)

Input parameters

Parameters Data type Initial value Description

Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Camming stopped
Output parameter Done also signals TRUE if no
camming command was active.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further
information on the cause, refer to the
ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
Simultaneous output of MC_CamIn and MC_CamOut commands to the same TO
may cancel the MC_CamIn command (CommandAborted = TRUE). In this case,
the "MC_CamOut" technology function reports Done = TRUE.
Do not start the MC_CamOut command unless MC_CamIn has reported cam
synchronism (InSync = TRUE).

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MC_CamOut - example
The MC_CamOut technology function is used to stop camming and to stop the axis
according to the configured mode. In this example, the following axis should stop at
position 160°. Corresponding settings:
Desynchronization "at the following axis position"
Position reference: "Stop before desynchronization position"
Desynchronization following axis: 160°
The axis is desynchronized based on the leading axis position. The following axis
is desynchronized within the desynchronization length of 80° covered by the
leading axis. The start time of desynchronization is calculated internally.
Profile setting: "Leading axis-related synchronization profile"
Desync. length: 80°

Position
MC_CamOut Slave Definition
Axis_1 Axis Done Done_1 Cam_1
Exe_1 Execute Busy
CommandAborted
Error 80
ErrorID

360
Position Master

1
Exe_1
0 t
1
Done_1
0 t

360
Master
Position
Slave 80° syncofflength

160

80
Cam_1
t

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MC_CamOut - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The signal required for a command to enable the following
disabled, or the wrong mode is set axis is missing.
8043 Illegal parameter value or preset There may be a configuration error in S7T Config (typically
value caused when a desynchronization length of 0 is set).
8044 Command not supported by the TO. The technology DB defined at input parameter Slave must
be at least of the type "synchronization axis."
8045 Command not allowed in current "MC_Stop" is still active, for example
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Slave was not found
or is not a technology DB.
8084 Invalid technology DB • A technology object does not exist in the PLC for the
technology DB specified at input parameter Slave.
Download the current technology to the PLC, or
change the DB number at input parameter Slave.
• The user has written invalid data to the technology DB
specified at input parameter Slave.
In "Technology Objects Management", delete and then
recreate the technology DB

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6.3.7 FB 441 MC_CamInSuperImposed - Start overlapping curve

synchronism

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_CamInSuperImposed" technology function initiates superimposed
camming between the leading and following axes (master and slave axes.)
• You define the dynamic response of the following axis during synchronization
at the dynamic parameters Velocity, Jerk, Acceleration.
• You can scale the specified cam, and/or shift its position.
• The synchronism can be absolute or relative.
• The specified cam disk can be executed once or cyclically.

Supported for
• Synchronization axes with superimposing synchronization object

Prerequisites
• The leading axis is configured for operation as external encoder, or as
positioning axis, or as synchronization axis
• The following axis is configured as synchronization axis with superimposing
synchronization object
• The leading axis is set as possible superimposing synchronization object of the
following axis
• The cam disk is marked available at the superimposing synchronization object.
• The following axis is enabled for position-controlled operation
• No active MC_Stop command at the following axis

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
CamTable INT 0 Number of the cam disk technology DB
Execute BOOL FALSE Start of the command at the positive edge
MasterOffset REAL 0.0 Shift of the cam along the leading axis coordinates
SlaveOffset REAL 0.0 Shift of the cam along the following axis coordinates
MasterScaling REAL 1.0 Illegal scaling factor for the cam in the coordinates of the
leading axis (value 0 is not allowed)
SlaveScaling REAL 1.0 Illegal scaling factor for the cam in the coordinates of the
following axis (value 0 is not allowed)
MasterAbsolute BOOL TRUE Interpret cam disk coordinates absolute or relative to the
leading axis
TRUE: Absolute coordinates
FALSE: Relative coordinates
SlaveAbsolute BOOL TRUE Interpret cam disk coordinates absolute or relative to the
following axis
TRUE: Absolute coordinates
FALSE: Relative coordinates
CyclicMode BOOL TRUE Cam disk execution
TRUE: Cyclic execution
FALSE: No cyclic execution
Velocity REAL -1.0 Maximum velocity when coupling the slave
(only Mode = 1)
Value = 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Maximum acceleration when coupling the slave
(only when Mode = 1)
Value = 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Maximum jerk when coupling the slave (only when
Mode = 1)
Value = 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default

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Parameters Data type Initial value Description

Mode INT 0 Synchronization mode / coupling mode:
Value = 0: Use the defaults of the corresponding
synchronization object
Value = 1: Time-based synchronization:
Immediate synchronization according to
the settings at input parameters Velocity,
Jerk, Acceleration, Deceleration
(corresponds with "Compatibility mode"
for the synchronization direction set in
S7T Config)
Value = 2: Time-based synchronization:
Synchronize immediately according to the
settings at the input parameters Velocity,
Jerk, Acceleration, Deceleration
The synchronization object settings in the
"Camming" tab at the
Axis_SYNCHRONISM > Default dialog
box are also taken into account.
System variable
userdefault.cammingsetting.
synchronizingdirection is also evaluated.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The value of the DoneFlag is inverted when the
command (InSync) is completed.

Output parameters (status outputs)

Parameters Data type Initial value Description

InSync BOOL FALSE TRUE: Superimposed camming reached
Busy BOOL FALSE TRUE: Command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does
not report an error, the command was
canceled by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorIDwith output parameter Error.

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Input parameter Mode = 1

Synchronization direction at modulo axes:
"Compatibility mode" is active when Mode = 1 is set, regardless of settings in
S7T Config:
• Camming:
The following axis is synchronized within the shortest distance.

MC_CamInSuperImposed - Example - "Superimposition"

The example below shows the operating principle of a superimposing cam disk,
based on its signal profile. In order to keep the example as simple as possible, we
have excluded base synchronism from the signal profile shown.
At the start of the signal profile, both the leading axis (Axis_1) and the following
axis (Axis_2) are at start position > 0. The superimposing position of the following
axis starts at 0 by default.
Exe_1 starts superimposing camming. Synchronization starts according to Mode =
0 according to the default settings in S7T Config (synchronization starting at
leading axis position 100 with dynamic setpoints.) Synchronization starts when the
leading axis has reached (Axis_1) position 100. After a short delay, InSync_1
reports that cam synchronism is reached.
The signal flow highlighted in orange color indicates the superimposing position of
the following axis. The following axis position follows according to its start position
and with constant offset to the superimposing following axis position.

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MC_CamInSuperImposed
Axis_1 Master InSync InSync_1
Axis_2 Slave Busy
Cam_1 CamTable CommandAborted
Exe_1 Execute Error
0.0 MasterOffset ErrorID
0.0 SlaveOffset
1.0 MasterScaling
1.0 SlaveScaling
1 MasterAbsolute
Cam_1
0 SlaveAbsolute
1 CycleMode Position
0 Velocity Slave
0 Acceleration
0 Jerk
0 Mode
0 DoneFlag 20

Position 360
Master

1
Exe_1 0 t
1
InSync_1
0 t
360
Masterposition (Axis_1)

Slaveposition (Axis_2)
Cam_1
Position

Startpos Xstart

superimposing slave
20 position (Axis 2)
t

MC_CamInSuperImposed - Example - "Base synchronism with superimposing

camming"
The signal profile in the example below demonstrates the effect of absolute base
synchronism and superimposing camming.

Phase one - Base synchronism

Exe_1 starts absolute base synchronism. Synchronization starts with Mode = 0 at
"MC_GearIn" according to the default settings in S7T Config (synchronization
starts at the leading axis position 100 with dynamic setpoints). Synchronization
starts when the leading axis has reached (Axis_1) position 100. After a short delay,
InGear_1 reports that absolute base synchronism is reached.

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Phase two - Base synchronism and superimposing camming

Exe_2 starts superimposing camming. The default start position of the
superimposing slave is 0. After a short delay, InSync_2 indicates that
superimposed camming is reached. The slave position is derived from the total of
the "Base slave position" (identical with master position (Axis_1)) + "superimposing
slave position".

FB1 FB2
MC_GearIn MC_CamInSuperImposed
Axis_1 Master InGear InGear_1 Axis_1 Master InSync InSync_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Abort_1 Cam_1 CamTable CommandAborted
1 RatioNumerator Error Exe_2 Execute Error
1 RatioDenominator ErrorID 0.0 MasterOffset ErrorID
Velocity 0.0 SlaveOffset
Acceleration 1.0 MasterScaling
1.0 SlaveScaling Position
Deceleration Slave
0 Jerk 1 MasterAbsolute Cam_
1 SlaveAbsolute 1
0 PhaseShift 90
1 CycleMode
1 Absolute
Velocity
0 Mode
Acceleration
0 DoneFlag
Jerk
0
0 Mode Position 360
0 DoneFlag Master

Base synchronism and

FB1 Base synchronism
superimposing cam synchronism
1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
InSync_2
0 t
Slaveposition (Axis_2)
Masterposition (Axis_1)

Position
Xstart 100

superimposing
slave position (Axis_2)

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MC_CamInSuperImposed - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters DoneFlag or Mode.

The source of the error may also be found in the

configuration data, as the error also appears when the
block contains an incorrect command parameter which
was accepted as default from configuration data.
Example: synchronization length = 0.
Another cause of error could be that the specified cam
disk is not selected in the configuration data of the
synchronization object.
8044 Command not supported by the TO. Examples:
• The command was output to a measuring input or
output cam
• The superimposing synchronization object was not
created in S7T Config

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ErrorID Error message Description / to correct or avoid errors

8045 Command not allowed in current Examples:
state. • MC_Stop command is active
• The specified cam disk is currently performing a
restart. Wait until "MC_Reset" (Restart = TRUE) was
executed. Then, call "MC_CamInSuperImposed" once
again.
• The motion of the slave axis is speed-controlled by the
technology function "MC_MoveVelocity" when input
parameter PositionControl = TRUE The slave axis
must be operated in position-control mode if
superimposed synchronism is set
804A The required object interconnection Neither the leading axis defined at input parameter
is missing Master, nor the cam disk defined at input parameter
CamTable are selected in the configuration of the basic
synchronization object.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
807A Invalid master setpoint Invalid actual value of the leading axis.

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ErrorID Error message Description / to correct or avoid errors

807B Recursive interconnection of TOs The leading axis defined at the input parameter is already
active as following axis in synchronous operation, and the
master setpoint is derived directly or indirectly from the
following axis defined at the input parameter.
8083 DB is not a technology DB The DB specified at the input parameters Master or Slave
does not exist or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the PLC, or
change the DB number at the Master or Slave input
parameters
• The user has entered invalid data at the technology
DB specified at input parameter Master or Slave
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.8 FB 443 MC_CamOutSuperImposed - End overlapping curve

synchronism

Valid for Integrated Technology with firmware version V3.1.x

Purpose
• The "MC_CamOutSuperImposed" technology function stops superimposing
camming. This does not affect basic motions or base synchronism.
• The command is completed when the following axis is desynchronized
according to the axis configuration or to the dynamic parameters of the
technology function.

Supported for
• Synchronization axes with superimposing synchronization object

Prerequisites
• The axis must be configured as following axis (slave) for operation on the
system with superimposing camming. If no synchronism is active, the
command is ignored and the technology function reports Done = TRUE.
• No MC_Stop command is busy

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Input parameters

Parameters Data type Initial value Description

Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
Deceleration REAL -1.0 Deceleration at the end of camming (only when
Mode = 1):
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk at the end of camming (only when Mode = 1):
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Mode INT 0 Decoupling mode
Value = 0: Default
Value = 1: according to dynamic preset
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The DoneFlag value is inverted when the axis has
reached its final velocity.

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Technology functions

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Superimposing camming terminated
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates that
an error at the TO during command execution
has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
For further information on the cause, refer to
the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
The simultaneous output of MC_CamInSuperImposed and
MC_CamOutSuperImposed commands to the same technology object may lead to
the cancellation the MC_CamInSuperImposed command (CommandAborted =
TRUE). In this case, the technology function "MC_CamOutSuperImposed" returns
Done = TRUE.
Do not start the MC_CamOutSuperImposed command unless
MC_CamInSuperImposed has reported synchronism (InGear = TRUE).

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MC_CamOutSuperImposed - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or DoneFlag.
This could also be a faulty configuration in S7T Config.
8044 Command not supported by the TO. Examples:
• The command was output to a measuring input or
output cam
• The superimposing synchronization object was not
created in S7T Config
8045 Command not allowed in current MC_Stop command is active, for example.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Slave was not found
or is not a technology DB.
8084 Invalid technology DB • A technology object does not exist in the PLC for the
technology DB specified at input parameter Slave.
Download the current technology to the target system,
or change the DB number at input parameter Slave.
• The user has written invalid data to the technology DB
specified at input parameter Slave.
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.9 FB 424 MC_Phasing - Change phase shift between leading and

following axes

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_Phasing" technology function sets a phase shift of the leading axis
position relative to the following axis position. The actual position of the leading
axis is not influenced.
• The effect on a following axis operating in camming mode is the same as a
horizontal cam shift.
• The phase reference can be either relative or absolute.
• The function can be started when the leading axis is at a standstill or in motion.
• You define the dynamic response of the motion at the dynamic parameters
Velocity, Jerk, Acceleration, Deceleration.

Supported for
• Synchronization axes operating in camming or gearing mode

Prerequisites
• No active MC_Stop command at the following axis
• The axis must be configured as following axis for gearing or camming
operations.

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Technology functions

Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
PhaseShift REAL 0.0 Phase offset
Velocity REAL -1.0 Maximum velocity for setting the phase angle:
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Acceleration for setting the phase angle:
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Deceleration for setting the phase angle:
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Jerk for setting the phase angle:
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Absolute BOOL TRUE Phase shift:
Value = 0: Relative to current phase
Value = 1: Absolute to current phase
(see the example)
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Required phase angle reached
Busy BOOL FALSE TRUE: The command is being executed
Command BOOL FALSE TRUE: The command was canceled by another
Aborted command or as a result of error during its execution.
If ErrorStatus of the technology DB does not report an
error, the command was canceled by a successive
command.
When error at the integrated technology is indicated at
ErrorStatus, the command was canceled by the next
command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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Technology functions

MC_Phasing - example
Use the "MC_Phasing" technology function to shift the phase angle of a cam during
camming.
When Absolute = 1, the cam shift is set as an absolute value compared to its
defined phase angle. Repeated phasing with the same value of PhaseShift does
not have any effect.
The shift is relative when Absolute = 0, i.e. each command shifts the phase angle
by the value defined at PhaseShift.

MC_Phasing
Axis_1 Master Done Done_1
Axis_2 Slave Busy
Exe_1 Execute CommandAborted Definition
90 PhaseShift Error Cam
Velocity ErrorID Position
Acceleration Slave
Deceleration
Jerk 180 360
Abs_1 Absolute
Position Master
0 DoneFlag

Exe_1 1
0 t

Abs_1 1
0 t
1
Done_1
0 t

Position
Slave
t
180 270 270 360 450

Position
Master
t

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MC_Phasing - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The signal required for a command to enable the
disabled, or the wrong mode is set following axis is missing.
8043 Illegal parameter value Concerns all input parameters of data type REAL or input
parameter DoneFlag.
8044 Command not supported by the TO Sending a command to an output cam, for example.
8045 Command not allowed in current No active synchronism.
state
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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Technology functions

ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop
movement to the fixed end stop (InClamping = TRUE). New commands are only accepted
if these release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8079 No synchronization with specified The specified master and the slave are not in
master synchronism.
Synchronize the relevant axes before you call the
function.
8083 DB is not a technology DB The DB specified at the input parameters Master or Slave
does not exist or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the target system,
or change the DB number at the Master or Slave input
parameters
• The user has written invalid data to the technology DB
specified at input parameter Master or Slave
In "Technology Objects Management", delete and
then recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input
format parameter value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.3.10 FB 444 MC_PhasingSuperImposed - Change overlapping phase

shift

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The MC_PhasingSuperImposed technology function sets a superimposing
phase shift between the leading axis and following axis positions. The phase
shift value is defined based on the following axis position. Superimposing
phase shift affects the following axis. It does not influence the position of the
leading axis.
• The effect on a following axis operating in camming mode is the same as a
horizontal cam shift.
• The phase reference can be either relative or absolute.
• The function can be started when the leading axis is at a standstill or in motion.
• Use the dynamic parameters Velocity, Jerk, Acceleration, Deceleration to
define the dynamic response of the axis in motion.

Supported for
• Synchronization axes with superimposing synchronization object operating in
camming and gearing mode

Prerequisites
• No active MC_Stop command at the following axis
• The axis must be configured as following axis (slave) for operation on the
system in superimposing camming mode or gearing mode.

Interaction of commands
New command – active single command (1)
New command – active commands (1)

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Technology functions

Input parameters

Parameters Data type Initial value Description

Master INT 0 Number of the leading axis technology DB
Slave INT 0 Number of the following axis technology DB
Execute BOOL FALSE Start of the command at the positive edge
PhaseShift REAL 0.0 Phase offset
Velocity REAL -1.0 Maximum velocity for setting the phase angle
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Acceleration REAL -1.0 Maximum velocity for setting the phase angle
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Deceleration REAL -1.0 Maximum deceleration for setting the phase angle
Value > 0: Use the specified value
Value = 0: Not allowed
Value < 0: Use default
Jerk REAL -1.0 Maximum jerk for setting the phase angle
Value > 0: Use the specified value
Value = 0: Use trapezoidal motion profile
Value < 0: Use default
Absolute BOOL TRUE Phase shift
Value = 0: Relative
Value = 1: Absolute to current phase
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Required phase angle reached
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates that
an error at the TO during command execution
has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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MC_PhasingSuperImposed - example

FB1 FB2
MC_GearInSuperImposed MC_PhasingSuperImposed
Axis_1 Master InGear InGear_1 Axis_1 Master Done Done_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Exe_2 Execute CommandAborted
1 RatioNumerator Error 20 PhaseShift Error
1 RatioDenominator ErrorID 50 Velocity ErrorID
50 Velocity 10 Acceleration
10 Acceleration 10 Deceleration
10 Deceleration 0 Jerk
0 Jerk 0 Absolute
0 PhaseShift 0 DoneFlag
1 Absolute
0 Mode
0 DoneFlag

FB1
1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0 t
Masterposition (Axis_1)
Slaveposition (Axis_2)

} Phaseshift

Position

} 2x Phaseshift

überlagernde
Slaveposition (Axis_2)
t

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FB1 FB2
MC_GearInSuperImposed MC_PhasingSuperImposed
Axis_1 Master InGear InGear_1 Axis_1 Master Done Done_2
Axis_2 Slave Busy Axis_2 Slave Busy
Exe_1 Execute CommandAborted Exe_2 Execute CommandAborted
1 RatioNumerator Error 20 PhaseShift Error
1 RatioDenominator ErrorID 50 Velocity ErrorID
50 Velocity 10 Acceleration
10 Acceleration 10 Deceleration
10 Deceleration 0 Jerk
0 Jerk 1 Absolute
0 PhaseShift 0 DoneFlag
0 Absolute
0 Mode
0 DoneFlag

FB1
1
Exe_1 0 t
1
InGear_1
0 t
FB2
1
Exe_2
0 t
1
Done_2
0 t
Slaveposition (Axis_2)
Masterposition (Axis_1)

Position

} Phaseshift

überlagernde
Slaveposition (Axis_2) t

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MC_PhasingSuperImposed
Axis_1 Master Done Done_1
Axis_2 Slave Busy
Exe_1 Execute CommandAborted Definition
90 PhaseShift Error Cam
Velocity ErrorID Position
Acceleration Slave
Deceleration
Jerk 180 360
Abs_1 Absolute
Position Master
0 DoneFlag

Exe_1 1
0 t

Abs_1 1
0 t
1
Done_1
0 t

überlagernde
Slaveposition
t
180 270 270 360 450

Master-
position
t

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MC_PhasingSuperImposed - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8040 The axis / external encoder are The enable signal required for a motion command is
disabled, or the wrong mode is set missing.
Eliminate and acknowledge all active errors and then
enable the relevant axis mode (e.g. position-controlled).
8043 Illegal parameter value Concerns all input parameters of the data type REAL, or
input parameter DoneFlag.
8044 Command not supported by the TO. Examples:
• The command was output to a measuring input or
output cam
• The superimposing synchronization object was not
created in S7T Config
8045 Command not allowed in current MC_Stop command is active, for example.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8056 Cancellation due to active The axis has moved to the fixed end stop (InClamping =
movement to the fixed end stop TRUE). New commands are only accepted if these
release the axis from the fixed end stop.
The command initiated does not fulfill this condition.
8079 No synchronization with specified The specified master and the slave are not in
master synchronism.
Synchronize the relevant axes before you call the
function.
8083 DB is not a technology DB The DB specified at the input parameters Master or Slave
does not exist or is not a technology DB.
8084 Invalid technology DB • A technology object was not found in the system for
the technology DB specified at the Master or Slave
input parameters
Download the current technology to the target system,
or change the DB number at the Master or Slave input
parameters
• The user has written invalid data to the technology DB
specified at input parameter Master or Slave
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.4 Technology functions - Cam disks

6.4.1 FB 434 MC_CamClear - Delete curves

Purpose
• The "MC_CamClear" technology function deletes all defined interpolation
points or segments of a cam, and sets cam disk editing mode.

Supported for
• Cam disks

Prerequisites
• The cam disk may not be in use when you delete it.
• No MC_CamSectorAdd commands may be active (restriction only applies to
firmware V3.0.x of integrated technology).

Overriding commands
The MC_CamClear command can not be canceled by any other command.
The MC_CamClear command does not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

CamTable INT 0 Number of the technology DB
Execute BOOL FALSE Starts deletion at the positive edge

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Cam sectors were deleted
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Caution
The deletion of cam disks with many interpolation points or polynomials may take a
relatively long time. Other TOs can not accept any new commands such as
MC_Stop within this period! Note that you can not cancel commands without
defined termination ("MC_MoveVelocity", for example) within this time.
If the setting of the command monitoring time is too short in S7T Config, the
deletion may lead to timeout and, thus, to a STOP of the Technology CPU.

MC_CamClear - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8044 Command not supported by the TO. Command request to an axis, for example.
8045 Command not allowed in current • The cam is in use.
state. • A MC_CamSectorAdd is active and is busy inserting
interpolation points into the cam disk.
(The cause only applies to integrated technology with
firmware V3.0.x).

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ErrorID Fault message Description / to correct or avoid errors

804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8051 Read / write access denied. Read / write access to the relevant TO failed.
This error may occur when a cam disk is tracked actively
in a synchronous operation and MC_CamClear is started.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB

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6.4.2 FB 435 MC_CamSectorAdd - Add curve section

Purpose
• The "MC_CamSectorAdd" technology function adds new interpolation points or
polynomials to a cam disk.

Supported for
• Cam disks

Prerequisites
• The cam is in editing mode
Editing mode is started by calling the "MC_CamClear" technology function, and
ends with cam interpolation by technology function "MC_CamInterpolate". The
cam disk can then be reused for camming.

Overriding commands
MC_CamSectorAdd commands can not be canceled by any other command.
MC_CamSectorAdd commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

CamTable INT 0 Number of the cam disk technology DB
Execute BOOL FALSE Start at the positive edge
Data ANY - Data area which contains the cam segments to be
inserted (interpolation points or polynomials).
The data area has a maximum length of 240 bytes
(equivalent to 30 interpolation points, or 4
polynomials).
Table INT 0 Specification of the data area:
Value = 0: Polynomial (mathematical function)
Value = 1: Interpolation point table

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Change of cam sector done
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD FALSE ErrorID of output parameter Error.

Input parameter Data) Definition of polynomials (mathematical function)

Note
• Only use mathematical functions up to the 3rd order when you add segments.
Any coefficients of a higher order may lead to inaccuracies due to the resolution
of floating-point values.
• Segments defined as polynomials are recalculated in the Technology CPU.
When you subsequently read the values in S7T Config, you may be returned
deviating coefficients. It is also possible that the Y-coordinates of the start and
end points are swapped.
The cam shape, however, is retained.

Mathematical functions are derived from the following formula:

Y = A0 + A1 ⋅ X + A2 ⋅ X 2 + A3 ⋅ X 3 + A4 ⋅ X 4 + A5 ⋅ X 5 + A6 ⋅ X 6 + B 0 ⋅(sin (B1 ⋅ X ) + B2 )

Relative Data type Variables Meaning

byte address
0 INT Type Cam type (0 = polynomial)
2 INT Standby -
4 REAL X - Min X coordinate (minimum value)
8 REAL Y - Min Y coordinate (minimum value)
12 REAL X - Max X coordinate (maximum value)
16 REAL Y - Max Y coordinate (maximum value)
20 REAL A0 Order 0 coefficient
24 REAL A1 Order 1 coefficient
28 REAL A2 Order 2 coefficient
32 REAL A3 Order 3 coefficient
36 REAL A4 Order 4 coefficient
40 REAL A5 Order 5 coefficient
44 REAL A6 Order 6 coefficient
48 REAL B0 Coefficient 0 of the trigonometrical element
52 REAL B1 Coefficient 1 of the trigonometrical element
56 REAL B2 Coefficient 2 of the trigonometrical element

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Example

In the example, the ANY pointer refers to a range of values starting at address 16
in DB20. The data structure of the polynomial is fixed and has a set length of 60
bytes.

Note
You can save yourself editing work by using UDT 20 from the "S7-Tech" library.
UDT 20 contains the data structure of the polynomial. You can add up to 4
polynomials in one call by repeating this structure.

Input parameter Data) Interpolation point table

When cams are created using the interpolation point tables, the X and Y values are
fetched from a data area in the user program. The interpolation point table consists
of at least one interpolation point (two REAL values). You can transfer up to 30
interpolation points per call.
Example

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In our example, the ANY pointer refers to a range of values of interpolation points
that begins at address 6 in DB10 and consists of eight interpolation points (eight
value pairs).

Relative Data type Variables Meaning

byte address
0 REAL X1 X coordinate of interpolation point 1
4 REAL Y1 Y coordinate of interpolation point 1
8 REAL X2 X coordinate of interpolation point 2
12 REAL Y2 Y coordinate of interpolation point 2
... ... ... ...
REAL Xn X coordinate of the last interpolation point
REAL Yn Y coordinate of the last interpolation point

Disadvantage: The creation of cams based on interpolation point tables takes a

longer time, because the data volume required for the cam description is higher
compared to polynomial definitions.

Note
Integrated technology with firmware V3.1.x or higher
This firmware version allows you to add all interpolation points and polynomials of
the MC_CamSectorAdd command in a single command execution cycle. You can
add more than 30 interpolation points, or more than 4 polynomials to the cam disk
by running several MC_CamSectorAdd commands.

Note
Integrated Technology with firmware V3.0.x
With this firmware version, the insertion of interpolation points and polynomials is
distributed to several command execution cycles.
You may not start any further MC_CamSectorAdd, MC_CamClear or
MC_CamInterpolate commands while MC_CamSectorAdd commands are active.

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Effect of the cam segment coefficients

The coefficients A0 to A6 and B0 to B2 define the normalized cam profile of a cam
segment. The range of the cam within interval 0.0 = X = 1.0 is transformed by
interpolation into the image area defined by {X1,Y1} and {X2,Y2}.

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MC_CamSectorAdd - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8006 Insufficient memory Integrated Technology is out of memory.
Reduce the number of interpolation points or polynomials
to be inserted.
8043 Illegal parameter value Table = 167 or illegal polynomials value (Xmin and Xmax
are equal), for example.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
8045 Command not allowed in current A MC_CamSectorAdd is active and is busy inserting
state. interpolation points into the cam disk. Wait for the Done bit
of the other MC_CamSectorAdd, and then retrigger this
command.
(the error can only occur in integrated technology with
firmware V3.0.x).
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8051 Read / write access denied. Read / write access to the relevant TO failed.
An error may occur if the cam disk is actively tracked in
synchronous operation.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8062 Access to interpolated cam disk not The cam disk is already interpolated. For this reason, you
permitted can not insert any new interpolation points or polynomials
at this cam disk. To correct or avoid errors:
Delete the content of the cam disk with MC_CamClear,
and then recreate it.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data record length (ANY For mathematical functions 60 bytes, for interpolation
pointer) points a multiple of 8 bytes must be transferred. (An
interpolation point consists of X and Y values of the data
type REAL (4 bytes))
808A Invalid REAL values in DB The DB transferred to the technology contains at least one
value that is incompatible with a permissible REAL format
specification
Check all DB values and adjust these as required.

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ErrorID Fault message Description / to correct or avoid errors

808C Pointer format is invalid or not The ANY pointer contains illegal definitions.
supported Accepted areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Reduce the length definition in the
ANY pointer.

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6.4.3 FB 436 MC_CamInterpolate - Interpolate curves

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_CamInterpolate" technology function interpolates a cam disk After its
interpolation, the cam disk can be used for camming
• Interpolation closes the gaps between the cam disk interpolation points and
polynomials, according to the specified type of interpolation.

Supported for
• Cam disks

Prerequisites
• The cam is in editing mode
Editing mode is started by calling technology function "MC_CamClear", and
ends with cam interpolation by the call of technology function
"MC_CamInterpolate". The cam disk can then be reused for camming.

Conditions
• Rule for interpolation points:
- The last interpolation point set overrides superimposed interpolation points
- The system uses value 1e-4 for the continuity check
• Rule for segments:
Gaps between segments are filled with an interpolated cam
- The segment start point is used when segments overlap, the preceding
segment is truncated at this position.
• Rule for mixed mode cam disks (segments and interpolation points):
- The start point takes priority as with pure segments
• The cam is calculated in accordance with settings at input parameter
"CamMode" This system may change the cam disk boundaries accordingly.

Overriding commands
MC_CamInterpolate commands can not be canceled by any other command.
MC_CamInterpolate commands do not cancel any other commands.

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Input parameters

Parameters Data type Initial value Description

CamTable INT 0 Number of the technology DB
Execute BOOL FALSE Starts at the positive edge
Mode INT 0 Interpolation mode:
Value = 0: Linear interpolation
Value = 1: Cubic splines (cam profile through the
interpolation points)
Value = 2: Bezier splines
(cam path along the interpolation points
or cam segments)
CamMode INT 0 Cam disk type:
You define the way interpolation handles irregularities
at the cam disk edges at input parameter CamMode.
Value = 0: cyclic relative - constant velocity:
The start and end point of the cam disk
is interpolated so that any velocity jumps
are prevented at the following axis when
operating the cam disk in cyclic mode.
The cam disk operates at constant
velocity in its edge areas.
Value = 1: Cyclic absolute - constant position and
velocity:
The start and end point of the cam disk is
equalized.
In addition, the cam disk is interpolated so
that any velocity jumps are prevented at
the following axis when operating the cam
disk in cyclic mode.
Wert = 2: Non-cyclic - not constant
The start and end position of the cam disk
is not changed.

Non-cyclic: Not constant at the edge points

The runtime system uses the cam disk as specified,
including all discontinuities at the edges, regardless of
cyclic operation of the cam disk. However, the
acceleration limits and inertia of the mechanical
system and of drive play a decisive role.

Set CamMode = 0 or 1 to operate the cam disk in

cyclic mode. Set CamMode = 2 if the cam disk is not
operated in cyclic mode.
StartPoint REAL 0.0 Start position (minimum X value of the cam disk)
(maximum value: 3.402 823E+38)
EndPoint REAL 0.0 End position (maximum X value of the cam disk)
(maximum value: 3.402 823E+38)

With a cyclic absolute or relative setting, the cam disk can only be calculated in the
runtime system if there is a sufficient interval between the last defined position of
the cam and the end of the defined range, or between the beginning of the defined
range and the first defined value.

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: The cam disk can only be used for
synchronous operation
(TRUE is also indicated when a blank cam disk was
interpolated)
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Caution
The interpolation of cam disks with many interpolation points or polynomials may
take a relatively long time. Other TOs can not accept any new commands such as
MC_Stop within this period! Note that you can not cancel commands without
defined termination ("MC_MoveVelocity", for example) within this time.
If the command monitoring time is set too short in S7T Config, the interpolation
may lead to timeout and subsequently to a STOP of the Technology CPU.

Interpolation between two cam segments

At a cam consisting of several segments various kinds of discontinuity may develop
at the segment boundaries:

1. A gap between two segments is closed automatically during interpolation. A gap smaller than a
specific limit is closed by joining the interpolation points.
At a cam disk is created in S7T Config you can define the gap limit in expert mode (go to
CamEdit > "Interpolation" Tab, and then activate the "Expert mode" check box.
A gap limit of 1E-04 is assigned permanently to a cam disk which is created using the
"MC_CamSectorAdd" technology function. Above this limit, the gap is closed by interpolation.
Below this limit, the gap is closed by joining the interpolation points.

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2. Where the end point of one segment and the start point of the next have the same X value and
different Y coordinates, this discontinuity persists irrespective of the interpolation.

3. The start position of the successive segment (sector 2) is applied where two successive
segments overlap. The overlapping end position of the previous segment (sector 1) is truncated
and therefore lost. Overlapping segments are particularly prone to discontinuity at the segment
limits, because as a result of the truncation sector 1 is assigned a random Y value at the end of
the segment (Y(X1).

MC_CamInterpolate - ErrorIDs

ErrorID Warning Description / to correct or avoid errors

0000 No warning -
0027 Interpolation property can not be The interpolation property of an interpolated cam disk
maintained could not be maintained.
Example: A cam disk only contains a polynomial with
different gradient at its start and end point.

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ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8006 Insufficient memory Integrated Technology is out of memory. Cam
interpolation failed.
Reduce the number of interpolation points or polynomials
to be inserted, and then interpolate the cam again.
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or CamMode.
The value at input parameter StartPoint equals EndPoint
(the value 0.0 is allowed at input parameters)
8044 Command not supported by the TO Sending a command to an output cam, for example.
8045 Command not allowed in current • The cam is already interpolated
state • A MC_CamSectorAdd is active and is busy inserting
interpolation points into the cam disk.
(The cause only applies to integrated technology with
firmware V3.0.x).
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8051 Read / write access denied. Read / write access to the relevant TO failed.
This error may occur when MC_CamInterpolate is started
while a cam disk is tracked actively in a synchronous
operation.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8062 Cam interpolation failed The cam is in use or is already interpolated.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.4.4 FB 438 MC_GetCamPoint - Read points from cam disk

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_GetCamPoint" technology function can be used based an existing
cam disk to determine the offset between the position of a following axis and
the leading axis.
• The "MC_GetCamPoint" technology function can be used based on an existing
cam disk to determine the offset between the position of a leading axis and the
following axis.
- As the same following axis positions can be entered for different leading
axis positions when the cam is defined, the leading axis position requires a
more precise definition. This can be done at input parameter
ApproachPosition. Enter an approximation of the presumed leading axis
position at this input parameter.
• If the cam disk was configured in S7T Config using CamEdit or CamTool, the
scaling and shift defined there are included when you calculate the positions.
Cam disk dynamically created in RUN are never scaled or shifted.
Any scaling or shift operations by the input parameters of the technology
function MC_CamIn are ignored when the positions are determined.

Supported for
• Cam disks

Prerequisites
• The cam disk was interpolated without error (status at technology DB 2 =
interpolated.)

Overriding commands
MC_GetCamPoint commands cannot be canceled by any other command.
MC_GetCamPoint commands do not cancel any other commands.

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Input parameters

Parameters Data type Initial value Description

CamTable INT 0 Number of the cam disk technology DB
Execute BOOL FALSE Start of the command at the positive edge
Mode INT 0 Value = 0: The position of the following axis is
determined for a position of the leading axis
Value = 1: The position of the leading axis is
determined for a position of the following axis.
Any scaling and offset configured in S7T Config is taken
into account in both modes.
Position REAL 0.0 Leading or following axis position for which the
corresponding value is to be determined:
• Mode = 0: Position of the leading axis
• Mode = 1: Position of the following axis
The valid range of parameter values is derived from the
defined range or from the cam's range of values.
ApproachPosition REAL 0.0 Assumed leading axis position
Approximate value within the definition range of the cam
disk, used to determine the leading axis position
(effective only when Mode = 1).
• The function determines only the leading axis
position nearest to the ApproachPosition.
• When two leading axes are positioned at the same
distance to the ApproachPosition, the leading axis
position with the lower position value is determined.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command successfully completed.
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates that
an error at the TO during command execution
has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.
Value REAL 0.0 Read position value
Mode = 0: Position of the following axis
Mode = 1: Position of the leading axis

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MC_GetCamPoint - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or DoneFlag.
8044 Command not supported by the TO. Command request to an axis, for example.
8045 Command not allowed in current The cam disk is not interpolated.
state.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8061 Cam point out of the definition range The leading/following axis positions defined at
/ range of values "MC_GetCamPoint" do not exist in the definition
range/range of values of the cam disk
Set a valid position at "MC_GetCamPoint".
8083 DB is not a technology DB The DB specified at input parameter CamTable does not
exist or is not a technology DB.
8084 Invalid technology DB • A technology object does not exist in the PLC for the
technology DB specified at input parameter CamTable.
Download the current technology to the target system,
or change the DB number at input parameter
CamTable.
• The user has written invalid data to the technology DB
specified at input parameter CamTable.
In "Technology Objects Management", delete and then
recreate the technology DB.
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.5 Technology functions - Cams, probes, external

sensors

6.5.1 FB 430 MC_CamSwitch - Displacement cam

Purpose
• The "MC_CamSwitch" technology function is used to enable / disable position-
based cams or switching cams, and to define their switching characteristic.
• In your cam configuration, you can define whether the switching positions are
based on setpoints or on actual values.
• Switching points can be advanced or retarded (derivative time and deactivation
time). The time unit set in S7T Config applies to the axis
• The current switching state of the cam is saved to the technology DB.

Supported for
• Position-based cam
• Switching output cam

Overriding commands
MC_CamSwitch commands can only be canceled by a further MC_CamSwitch
command output to the same TO. MC_CamSwitch commands do not cancel any
other commands.

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Input parameters

Parameters Data type Initial value Description

CamSwitch INT 0 Number of the technology DB
Execute BOOL FALSE Operating state transition at the positive edge
OnPosition REAL 0.0 Cam activation position
OffPosition REAL 0.0 Off position (applies to position-based cams)
Hysteresis REAL 0.0 Hysteresis
Delay REAL 0.0 Time-based offset of output cam switching points)
Value < 0: Advanced switching
Value > 0: Retarded switching
The time unit set for the output cam in S7T Config
applies.
To verify or set the time unit in S7T Config:
• Select the output cam TO in the Navigator, and
then select shortcut menu Expert > Configure
units.
Mode INT 2 Mode:
Value = 1: Disable output cam (output permanently
deactivated, Technology DB:
state = 0 (OFF)
Value = 2: Enable output cam (output not inverted)
(output cam activation within the activation
range)
Value = 3: Enable output cam (output inverted)
(output cam activation outside the
activation range)
Value = 4: Output cam permanently On (output cam
permanently activated Technology DB:
state = 1 (ON))
Direction INT 1 Effective direction of the output cam:
Value = 1: Positive effective direction
Value = 2: Positive and negative (i.e. the effective
direction is irrelevant)
Value = 3: Negative effective direction
Value = 4: Use last active effective output cam
direction
DoneFlagPos INT 0 DoneFlag generation in MCDevice-DB when the cam
is activated.
The DoneFlag value is inverted when the cam
activation position is passed.
DoneFlagNeg INT 0 DoneFlag generation in MCDevice-DB when the cam
is deactivated.
The DoneFlag value is inverted when the cam
deactivation position is passed.

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Instructions
Reaction to the failure of the drive of an actual value cam:
An output cam configured as actual value cam in S7T Config requires a valid
encoder value. The associated output cam is therefore disabled when the drive
fails. The command is canceled with ErrorID = 8021 at the technology DB.
Reaction to the failure of the drive of a setpoint cam:
An output cam configured as setpoint cam in S7T Config does not require the
corresponding encoder value. The output cam remains active when the drive fails.
The output cam resumes switching operations at the configured positions after the
error is acknowledged and the drive is enabled.
Reaction to axis restart
The output cam is deactivated when its associated axis performs a restart
("MC_Reset", Restart = TRUE). This always applies, regardless whether the output
cam was configured as setpoint or as actual value cam in S7T Config.

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Change accepted
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further
information on the cause, refer to the
ErrorID.
FALSE: Command initiation without error.
ErrorID BOOL 0 ErrorID of output parameter Error.

Input parameter OffPosition

A deactivation position is not defined for the switching cam. The OffPosition input
does not have any effect. The switching cam can be reset by the user program, for
example, by repeating the call of the "MC_CamSwitch" technology function.

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MC_CamSwitch - Example - "Position-based cam"

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MC_CamSwitch - Example - "Switching cam"

Call of FB 1:
The "Enable output cam" operating mode is selected by setting input parameter
Mode = 2. The switching cam is enabled by a positive edge at input parameter
Execute.
The direction of movement corresponds to the "positive effective direction" (input
parameter Direction = 1). The switching cam is activated when the cam activation
position is passed (input parameter OnPosition = 20) and remains in this state.

Call of FB 2:
The "Disable output cam" operating mode is selected by setting input parameter
Mode = 1. The switching cam is disabled by a positive edge at input parameter
Execute.

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MC_CamSwitch - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns all input parameters of the data type REAL or
the input parameters Mode, Direction, DoneFlagPos or
DoneFlagNeg.
Valid for input parameter Hysteresis:
• Infinite axis - Value > ¼ of the operating range
(the operating range is defined by the position of the
software limit switches).
• Modulo axes - value > ¼ of the modulo length
8044 Command not supported by the TO. • The command was sent to a measuring input, for
example.
• The command was output to a cam configured as
time-based cam, for example.
8045 Command not allowed in current For example, in case of a hardware failure of an output
state. cam output at an ET 200M.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.5.2 FB 431 MC_CamSwitchTime - Timer cam

Purpose
• The "MC_CamSwitchTime" technology function is used to activate / deactivate
time-based cams or switching cams, and to define their switching
characteristic. Time-based cams are activated when the cam activation
position is reached, and are reset when the pulse period has expired.
• In your configuration, you can define whether the switching positions are based
on setpoints or actual values.
• All time definitions refer to the timebase configured in S7T Config.
• The current activation state of the cam is saved to the technology DB.

Supported for
• Time-based cam

Overriding commands
MC_CamSwitchTIME commands can only be canceled by a further
MC_CamSwitchTime command output to the same TO. MC_CamSwitchTime
commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

CamSwitch INT 0 Number of the technology DB
Execute BOOL FALSE Operating state transition at the positive edge
OnPosition REAL 0.0 Cam activation position
Duration REAL 0.0 Pulse width (physical unit according to the "time" unit
set at the corresponding axis)
Hysteresis REAL 0.0 Hysteresis
Delay REAL 0.0 Time-based offset of output cam switching points)
Value = < 0: Advanced switching
Value = > 0: Retarded switching
The time unit set for the output cam in S7T Config
applies.
To verify or set the time unit in S7T Config:
Select the output cam TO in the Navigator, and then
select shortcut menu Expert > Configure units.
Mode INT 2 Mode:
Value = 1: Output cam disabled
Value = 2: Output cam enabled (output not inverted)
Value = 3: Output cam enabled (output inverted)
Value = 4: Output cam permanently activated

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Parameters Data type Initial value Description

Direction INT 1 Effective direction of the output cam:
Value = 1: Positive effective direction
Value = 2: Positive and negative
(i.e. the effective direction is irrelevant)
Value = 3: Negative effective direction
Value = 4: Use last active effective output cam
direction
DoneFlagPos INT 0 DoneFlag generation in MCDevice-DB when the cam
is activated.
The DoneFlag value is inverted when the cam
activation position is passed.
DoneFlagNeg INT 0 DoneFlag generation in MCDevice-DB when the cam
is deactivated.
The DoneFlag value is inverted when the cam
deactivation position is passed.

Note
Reaction to the failure of the drive of an actual value cam:
An output cam configured as actual value cam in S7T Config requires a valid
encoder value. The associated output cam is therefore disabled when the drive
fails. The command is canceled with ErrorID = 8021 at the technology DB.
Reaction to the failure of the drive of a setpoint cam:
An output cam configured as setpoint cam in S7T Config does not require the
corresponding encoder value. The output cam remains active when the drive fails.
The output cam resumes switching operations at the configured positions after the
error is acknowledged and the drive is enabled.
Reaction to axis restart
The output cam is deactivated when its associated axis performs a restart
("MC_Reset", Restart = TRUE). This always applies, regardless whether the output
cam was configured as setpoint or as actual value cam in S7T Config.

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Change accepted
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further information on the
cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID BOOL 0 ErrorID of output parameter Error.

MC_CamSwitchTime - example

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MC_CamSwitchTime - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns all input parameters of the data type REAL or
the input parameters Mode, Direction, DoneFlagPos or
DoneFlagNeg.
Valid for input parameter Hysteresis:
• Infinite axis - Value > ¼ of the operating range
(the operating range is defined by the position of the
software limit switches).
• Modulo axes - value > ¼ of the modulo length
8044 Command not supported by the TO • The command was sent to a measuring input, for
example.
• The command was sent to a position-based cam or
switching cam, for example.
8045 Command not allowed in current For example, in case of a hardware failure of an output
state. cam output at an ET 200M.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.5.3 FB 433 MC_MeasuringInput - Probe

Purpose
• The "MC_MeasuringInput" technology function is used to enable the
acquisition of a single measurement by means of measuring input.
• A measuring input records the length of a configured axis or of an external
encoder, based on the trigger by an external event such as a pressure mark or
reference cam.
• The measurement range can be limited The first measured value within the
range defined by the StartPosition and EndPosition is accepted
• When StartPosition = EndPosition, the measurement range is ignored.
• The function is terminated after the measured value has been recorded and
output, or when the measurement was canceled, for example, by another
command.
• Several operating modes can be selected at input Mode, based on the drive
and measuring components used.

Supported for
• Measuring input

Prerequisites
• The axis is enabled for position-controlled operation
• The connected drive or measuring component supports the selected mode.
Refer to the relevant drive documentation!
• The drive interface IM 174/ IM 174 does not support simultaneous execution of
the MC_MeasuringInput and MC_Home commands

Note
Make allowances for the drive reaction times. For further information, refer to the
relevant drive documentation
(on the "S7-Technology" CD, for example).

Overriding commands
MC_MeasuringInput commands can only be canceled by a further
MC_MeasuringInput command output to the same technology object.
MC_MeasuringInput commands do not cancel any other commands.

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Input parameters

Parameters Data type Initial value Description

MeasureInput INT 0 Number of the technology DB
Execute BOOL FALSE Start of the operating mode at the positive edge
Mode INT 1 Mode:
Value = 1: Measurement at the positive edge
Value = 2: Measurement at the negative edge
Value = 3: Measurement at both edges, starting at
the positive edge (two separate
measured values)
Value = 4: Measurement at both edges, starting at
the negative edge (two separate
measured values)
Value = 5: Cancel current measurement
StartPosition REAL 0.0 Start of the measurement range
EndPosition REAL 0.0 End of the measurement range
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB
The DoneFlags value is inverted when a new
measured value has been returned

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Measurement completed, measured value
is valid
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The measurement command was canceled
(no edge detected within the measurement
range)
Error BOOL FALSE TRUE: Command initiation with error. The
command is rejected. For further
information on the cause, refer to the
ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.
MeasuringValue1 REAL 0.0 MeasuringValue1
MeasuringValue2 REAL 0.0 MeasuringValue2 (only valid with measurement trigger
at both edges)

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MC_MeasuringInput - example
The measuring input is activated. The actual position value (46.7, for example) will
be saved to MeasuringValue1 when the measuring input is detected.

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MC_MeasuringInput - ErrorIDs

ErrorID Fault message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8034 Could not record a measured value Possible causes:
in the measuring range • No measurement event within the specified measuring
range
• Measuring input on the drive not programmed
8043 Illegal parameter value Concerns all input parameters of data type REAL or the
input parameters Mode and DoneFlag.
8044 Command not supported by the TO. Sending a command to an output cam, for example.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Fault message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.5.4 FB 432 MC_ExternalEncoder - External sensor

Valid for Integrated Technology with firmware V3.2.x

Purpose
• The "MC_ExternalEncoder" technology function controls an external encoder
which can is used, for example, as real leading axis (master) for synchronous
operation.
• The external encoder can be enabled / disabled
• Absolute encoder adjustment is supported
• Synchronization: The actual position value of an incremental encoder can be
influenced by corresponding settings, or by passive homing.

Supported for
• External encoder

Prerequisites
• You can only modify the actual position value of an enabled external encoder.

Overriding commands
MC_ExternalEncoder commands can only be canceled by a further
MC_ExternalEncoder command output to the same technology object.
MC_ExternalEncoder commands do not cancel any other commands.

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Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start at the positive edge
Position REAL 0.0 Position setpoint
Mode INT 1 Mode:
Value = 0: Disable external encoder
(do not update the actual position value)
Value= 1: Enable external encoder
(update the actual position value)
Value = 2: Direct homing:
The current position is assigned the value
of input parameter Position.
Wert = 3: Passive homing with "encoder zero mark"
or "reference cam" or
"reference cam and encoder zero mark"
(default: "encoder zero mark only"):
At the reference point, the current position
is assigned the value of input
parameter Position.
Wert = 4: Direct homing:
The current position is assigned the
default reference position configured in
S7T Config.
Wert = 5: Passive homing with "encoder zero
mark only" or "external zero mark only"
or "reference cam and encoder zero
mark" (default: "encoder zero mark only"):
The current position is assigned the
default reference position configured in
S7T Config (Default).
Wert = 6: Absolute encoder adjustment:
The current position is assigned the value
of input parameter Position.
The position shift as a result of absolute
encoder adjustment is retained in case of
power failure. The axis must be at a
standstill in order to allow precise
adjustments.
Value = 7: Actual value correction
(position value = actual position –
input parameter Position)
Note that any position adjustments (Mode = 2, , 4 or 7)
also affect absolute encoder adjustment. Only
absolute encoder adjustment is effective after POWER
OFF or restart ("MC_Reset", Restart = TRUE).
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command completed
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

MC_ExternalEncoder - example
An external encoder is enabled. The position value is zero prior to this enable. The
position value not updated until activation is completed. The position value is no
longer updated if the encoder is subsequently disabled, regardless whether the
encoder can be moved. The position changes to the actual value when the encoder
is enabled again.

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MC_ExternalEncoder - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8022 No actual value at the axis / external Encoder or data bus not ready, for example.
encoder
8040 The axis / external encoder are The external encoder is disabled. The external encoder
disabled, or the wrong mode is set must be enabled for the call of "MC_ExternalEncoder"
with
Mode > 1.
To correct or avoid errors:
• Enable the external encoder at the technology function
"MC_ExternalEncoder" with Mode = 1.
• Eliminate and acknowledge any error which may have
disabled the external encoder, and then enable the
external encoder by setting Mode = 1 at the
"MC_ExternalEncoder" technology function.
8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameters Mode or DoneFlag.
Mode = 167, for example
8044 Command not supported by the TO Command request to an axis, for example.
8045 Command not allowed in current Example: The encoder value is invalid at the time of
state command start (for example, hardware switched off).
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the PLC, or
change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.6 Technology functions - Basic functions

6.6.1 FB 402 MC_Reset - Acknowledge error

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• Call the "MC_Reset" technology function to acknowledge all errors accepting
acknowledgment in the user program. Acknowledgment of fatal errors is only
possible either by cycling power, or by downloading the project data to the
module again. The acknowledgment also clears the entries at the ErrorID and
ErrorBuffer parameters, and resets the ErrorStatus bits in the technology DB.
• Call technology function "MC_Reset" Restart = TRUE to start the initialization
(restart) of axes, cams, cam disks, external encoders and measuring inputs.
After initialization, the state of an axis with incremental encoder is "Not homed".
The cam originally configured in S7T Config is restored at the cam disks.
• If technology function "MC_Reset" (Restart = TRUE or FALSE) is applied to
the technology DB "MCDevice" (Axis = DB no. of the MCDevice DB), the
maximum runtime of command execution is reset to 0 (MaxLoopDuration at the
MCDevice DB). When using integrated technology with firmware V3.2.x or
higher, the system also sets the TODBTaskOverflows (number of overflows in
technology DB updates) variable to zero.
• The system continues command execution during a restart. However, the TO
performing the restart cannot accept any commands for the duration of the
restart.

Supported for
• Speed-controlled axes
• Positioning axes
• Synchronization axes
• Output cams
• Measuring inputs
• Cam disks
• External encoders
• MCDevice DB

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Restart conditions
• "Axis" TO
Restart is only possible when the axis is disabled ("MC_Power" output
parameter Status = FALSE and Busy = FALSE)
• "External encoder" TO
Restart is only possible when the external encoder is disabled (technology DB,
variable Statusword.DriveEnabled = FALSE)
• "Output cam" TO
Restart is only possible when the output cam is disabled (technology DB,
variable Mode = 1)
• "Measuring input" TO
Restart is only possible when the measuring input is inactive (technology DB,
variable Status = 0, 2 or 3)
• "Cam disk" TO
Restart is only possible when the cam disk is not in use (technology DB,
variable UserCount = 0)

Caution
Set Restart = FALSE if you only want to clear the errors of a TO.
Reinitialization of a TO (Restart = TRUE) may take several 100 milliseconds. The
technology object is not available for the duration of this process.

Interaction of commands
New command – active single command (3)

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
Restart BOOL FALSE FALSE: Acknowledge errors
TRUE: Restart - initialize and activate changed
configuration parameters

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Error was acknowledged, or restart was
executed
Busy BOOL FALSE TRUE: The command is being executed
CommandAborted BOOL FALSE TRUE: The command was canceled by another
command or as a result of error during its
execution.
If ErrorStatus of the technology DB does not
report an error, the command was canceled
by a successive command.
An error reported at ErrorStatus indicates
that an error at the TO during command
execution has canceled the command.
Error BOOL FALSE TRUE: Command initiation with error. The command
is rejected. For further information on the cause, refer
to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorIDs of output parameter Error.

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MC_Reset - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter"
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8045 Not permitted at current status "MC_Reset" (Restart = TRUE) is already active. The
command is canceled
8047 Cannot acknowledge this error It is not possible to acknowledge the error by calling
technology function "MC_Reset". Examples:
• An axis has been brought to standstill, and the error
causing this can not be acknowledged
• Further errors occur during acknowledgment or in the
restart phase
• Superimposed commands caused the dynamic values
to be limited (see warning 0021 at the Synchronization
technology DB)
Eliminate all causes of error and retry to acknowledge.
Please note that you must acknowledge particular errors
by cycling power OFF and ON.
8048 Unable to restart • Restart only permitted when the axis is disabled
• The cam disk is in use by another application and can
thus not be reset.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example.)
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB

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6.6.2 FB 406 MC_ReadSysParameter - Read parameter

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• Technology function "MC_ReadSysParameter" returns the value of the most
important system variables and configuration data of the TOs, for example,
axis or output cam data The system variables and configuration data are
addressed by setting a parameter number
• The result is transferred to the corresponding output parameter, depending on
the data type of the parameter value read In this case, the other outputs return
a 0 value
• Input parameter Index can be used to access multiple instances of the
parameters Multiple parameters exist in these areas:
- Data records (Dataset_1 to Dataset_16)
- Encoders (Encoder_1 to Encoder_8)
- Synchronization objects (1 for synchronization object, 2 for superimposing
synchronization object)

Supported for
• The parameter defined by the parameter number and index must be configured
in S7T Config

Prerequisites
• The parameter defined by parameter number and index must be available in
the system.
• Check the validity of the encoder values before you read the encoder
parameters. You can validate the encoder values of currently active encoder by
reading the variable Statusword.EncoderValid at the technology DB of the axis
or external encoder. The status of axes assigned several data records can be
requested by calling the "MC_ReadSysParameter" technology function with
parameter number 4050.

Overriding commands
MC_ReadSysParameter commands cannot be canceled by any other command.
MC_ReadSysParameter commands do not cancel any other commands.

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Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Request of a parameter value at the positive edge
ParameterNumber INT 0 Number of the parameter to read
Index INT 1 Multiple parameter number (2 for data_set_2, for
example)

Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: The requested parameter value is available
at output Value, ValueDInt, ValueDword1,
ValueDword2 or ValueBool.
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.
Value REAL 0.0 Value of the specified parameter if this is of the
REAL type (otherwise 0.0).
ValueDInt DINT 0 Value of the specified parameter if this is of the DINT
type (otherwise 0).
(the parameter also returns the ENUM values)
ValueDword1 DWORD 0 Value of the specified parameter, if this is of the
DWORD type and has a length of 1 DWORDs
(otherwise 0).
ValueDword2 DWORD 0 Value of the specified parameter, if this is of the
DWORD type and has a length of 2 DWORDs
(otherwise 0).
ValueBool BOOL FALSE Value of the specified parameter, if it is of the BOOL
type (otherwise FALSE).

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MC_ReadSysParameter - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns input parameter ParameterNumber or Index.
8044 Command not supported by the TO Sending a command to MCDevice DB, for example
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8080 Invalid parameter number or The technology object does not support this parameter or
parameter index parameter index.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
8086 Parameter not available Example:
• Access to incremental encoder parameters in a
system with absolute value encoders
• The technology object is currently performing a restart.
It is therefore not possible to read the parameter.

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6.6.3 FB 407 MC_WriteParameter - Modify parameter

Valid for Integrated Technology with firmware V3.1.x or higher

Purpose
• You can use the "MC_WriteParameter" technology function to edit the most
important system variable and configuration data of the TOs while the
Technology CPU is in RUN. The system variables and configuration data are
addressed by setting a parameter number The change is active until the next
POWER OFF / POWER ON cycle, or until the CPU performs a memory reset.
Exception: the value set during absolute encoder adjustment is retained even
under those conditions.
• Of the input parameters Value, ValueDInt, ValueDword1, ValueDword2 und
ValueBool the system evaluates only the ones which conform to the relevant
technology parameter (for details, refer to the List of technology parameters).
• The technology function can only modify parameters identified in the list of
technology parameters by access mode "W" ("Write").
• Input parameter Index can be used to access multiple instances of the
parameters Multiple parameters exist in these areas:
- Data records (Dataset_1 to Dataset_16)
- Encoders (Encoder_1 to Encoder_8)
- Synchronization objects (1 for synchronization object, 2 for superimposing
synchronization object)

Caution
! The use of this technology function is intended for experienced users. Wrong input
may result in uncontrolled response of the drive!
The system does not check the plausibility of your entries.
Wrong input may lead to inconsistency of the technology object.

Supported for
• TO parameters you configured in S7T Config
Note that some parameter changes require a system restart (for information,
refer to the list of technology parameters, "Activation" column.)

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Prerequisites
• The parameter defined by parameter number and index must be available and
allow write access. The data record defined by index must be enabled in the
Technology CPU by calling technology function "MC_ChangeDataset."
• Validate the encoder values before you write the encoder parameters (absolute
encoder adjustment, for example). You can validate the encoder values of
currently active encoder by reading the variable Statusword.EncoderValid at
the technology DB of the axis or external encoder. The status of axes assigned
several data records can be requested by calling the "MC_ReadSysParameter"
technology function with parameter number 4050.

Overriding commands
MC_WriteParameter commands cannot be canceled by any other command.
MC_WriteParameter commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

Axis INT 0 Number of the technology DB
Execute BOOL FALSE Write parameters at the positive edge at Execute
ParameterNumber INT 0 Number of the technology parameter

Index INT 1 Parameter field number, for example, for Dataset_2

(the value is ignored if only one dataset number
exists).
Value REAL 0.0 New value of the specified parameter if it is of the type
REAL (ignored otherwise).
ValueDInt DINT 0 New value of the specified parameter, if it is of the type
DINT (the value is ignored otherwise.)
ValueDword1 DWORD 0 New value of the defined parameter, if of the type
DWORD and with a length of 1 DWORD (the value is
ignored otherwise.)
ValueDword2 DWORD 0 New value of the defined parameter, if of the type
DWORD and with a length of 2 DWORD (the value is
ignored otherwise.)
ValueBool BOOL 0 New value of the specified parameter, if it is of the type
BOOL (the value is ignored otherwise.)

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Technology parameter successfully changed
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error.
The command is rejected. For further
information on the cause, refer to the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Caution
Observe the valid range limits of the parameters. Valid range limits are listed in the
"list of technology parameters".
When editing data record parameters, note that certain parameters must be
identical in the data records:
• Parameters changing the structure (different controller types such as PV or PID
controllers, for example)
• Important activating parameters (following monitoring on/off, DSC on/off, for
example)
The system reports a configuration error if you assign illegal values to data record
parameters in runtime by means of the technology function "MC_WriteParameter."
You should therefore edit only the data record parameters you can compile as
consistent project when you configure these in S7T Config.

Note
To change several parameters which do not require a restart and come into effect
immediately in one pass, you should collect all parameter changes and then
activate these.
To do this, proceed as follows:
1. Use "MC_WriteParameter" to set technology parameter
ParameterNumber = 4001 (activationmodechangedconfigdata) to
COLLECT_CHANGED_CONFIG_DATA (82).
This forms a collection of all subsequent changes at the relevant technology
object.
2. Use "MC_WriteParameter" to change the relevant technology parameters.
3. Use "MC_WriteParameter" to set activationmodechangedconfigdata to
ACTIVATE_CHANGED_CONFIG_DATA (81) in order to apply all changes.
This procedure is called for when editing technology parameters requiring identical
values in all data records.

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6.6.3.1 MC_WriteParameter - Example - "Override"

Example of changing parameters with "Override"

Factors can be superimposed online on the actual velocity or acceleration /
deceleration. Velocity override affects the velocity, and acceleration override
affects acceleration and deceleration.
Set the following input parameter values, in order to set velocity override:
ParameterNumber = 4142
Value = 0.0 to 200.0 (in percent)
Set the following input parameter values for acceleration / deceleration override:
ParameterNumber = 4141
Value = 1.0 to 1000.0 (in percent)

6.6.3.2 MC_WriteParameter - Example - "Drive control word"

Drives coupled via PROFIBUS communicate by means of standard message
frames. These message frames contain up to two drive control words. The content
of these words is specified in PROFIdrive standards.

Structure of control word CW1 Structure of control word CW2

Bit reserved for PROFIdrive V3.1 definition Bit reserved for PROFIdrive V3.1
TO TO definition
0 X Drive ON (not OFF1) 0 NC
1 X Operating condition (not OFF2) 1 NC
2 X Operating condition (not OFF3) 2 NC
3 X Rectifier enable 3 NC
4 X Ramp-up generator enabled 4 NC
5 X Ramp-up generator start 5 NC
6 X Setpoint enable 6 NC
7 X Reset error memory 7 NC
8 Step distance 1 (optional) 8 NC
9 Step distance 2 (optional) 9 NC
10 X Control required 10 NC
11 NC 11 NC
12 NC 12 X Master sign-of-life
13 NC 13 X Master sign-of-life
14 NC 14 X Master sign-of-life
15 NC 15 X Master sign-of-life

Drive control words can be written by setting parameter number 4500 at

"MC_WriteParameter", or be read by calling "MC_ReadSysParameter". Both
control words are available for reading at output parameter ValueDword1
(unmasked).

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The control word is written using the corresponding value and a mask. The mask
determines which of the bits of the control word can be accessed by the write
operation. This mask can be used to manipulate single or several bits. Unmasked
bits (value 0) retain their current state. Criterion for selecting the mask is that the
bits reserved for the TO remain unchanged.
The values of control words CW1 and CW2 are defined at input parameter
ValueDword1. Their corresponding mask values are set at input parameter
ValueDword2.
Example of ValueDword1

DW#16# 0001 0300

CW2 CW1

Example of ValueDword2

DW#16# 0FFF FB00

Mask Mask
CW2 CW1

Set mask value FB00 for control word CW1 if you want to overwrite all free bits of
the control word. Meaning of the hex code:
F = 1111 / bits 12 to 15 are written
B = 1011 / bits 8, 9 and 11 are written, and bit 10 is protected
0 = 0000 / bits 4 to 7 are protected
0 = 0000 / bits 0 to 3 are protected

Set mask value 0FFF for control word CW1 if you want to overwrite all free bits of
the control word. Meaning of the hex code:
0 = 0000 / bits 12 to 15 are protected
F = 1111 / bits 8 to 11 are written
F = 1111 / bits 4 to 7 are written
F = 1111 / bits 0 to 3 are written

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MC_WriteParameter - Example - "Backup of absolute encoder adjustment data"

Editing parameters, based on the example "Backup of absolute encoder
adjustment data"
The data of absolute encoder adjustment are saved to nonvolatile memory of the
Technology CPU. These data will therefore be lost when you replace the CPU.
The "MC_ReadSysParameter" and "MC_WriteParameter" technology functions
can be used to backup the data of absolute encoder adjustment to a Micro Memory
Card, and to restore these to the nonvolatile memory of your Technology CPU.
Prerequisite is that you have set the "absolute encoder" type in S7T Config.
After you completed absolute encoder adjustment using the "MC_Home"
technology function, proceed as described below:

Backing up absolute encoder adjustment data

Step Description
1. Read the current value of absolute encoder adjustment by calling the "MC_ReadSysParameter"
technology function and reading the input parameters described below, for example:
• Axis = Technology DB of the relevant axis
• Execute = positive edge to start the read operation
• ParameterNumber = 4010 Parameter number of absolute encoder adjustment
• ValueDword1 = DBx.DBD0 (temporary memory space)
• ValueDword2 = DBx.DBD4 (temporary memory space)
2. Call SFC 82 "CREA_DBL" to generate a DBy in load memory of the Technology CPU. The DB
is also generated in RAM when you reset bit 0 at input parameter ATTRIB.
3. Call SFC 84 "WRIT_DBL" to write the previously backed up data of the absolute encoder
adjustment to the new DB.

Replacing the CPU and restoring absolute encoder adjustment data

Step Description
1. Replace the Technology CPU, and then insert the MMC which contains the configuration data.
2. The backup DB for absolute encoder adjustment is available in RAM after startup of the
Technology CPU.
3. Call the "MC_WriteParameter" technology function to restore the data of absolute encoder
adjustment to the nonvolatile memory of your Technology CPU. Use these input parameters:
• Axis = Technology DB of the relevant axis
• Execute = positive edge to start the write operation
• ParameterNumber = 4010 Parameter number of absolute encoder adjustment
• ValueDword1 = DBx.DBD0 (x = number of the DB generated by SFC 82)
• ValueDword2 = DBx.DBD4 (x = number of the DB generated by SFC 82)

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MC_WriteParameter - ErrorIDs

ErrorID Warning Description / to correct or avoid errors

0000 No error -
0020 Restart to activate the parameter A parameter was changed, and normally requires a restart
changes of the TO. The restart is not required if the new parameter
value corresponds to the old parameter value (for
example, the parameter value "5" is modified to "5").
The information whether a restart is required is contained
in the technology data block.
• For axes and external encoders, the RequestRestart
bit is set in the status word.
• Restarts required of output cams and measuring
inputs are indicated by ErrorID 0020 of the technology
data block.

ErrorID Error message Description / to correct or avoid errors

8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or Error
is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.

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ErrorID Error message Description / to correct or avoid errors

8043 Illegal parameter value Concerns all input parameters of data type REAL, or input
parameter Value, ValueDInt, ValueDword1 or
ValueDword2.
The error can also occur if there has been any interaction
with other parameters.
Examples:
• Parameter 1100
If you reduce the leadscrew pitch (parameter 1100),
the axis can no longer reach maximum velocity.
Adjust the maximum velocity (parameter 8)
• Parameters 2020 and 2021
If you change the gear factor (parameter 2020 or
2021), the axis may no longer be able to reach
maximum velocity.
Adjust the maximum velocity (parameter 8)
• Parameter 8
If the maximum velocity (parameter 8) is less than the
minimum velocity for dynamic following error
monitoring.
In this case, increase the minimum velocity for
dynamic following error monitoring (parameter 2072)
• Invalid value for the selected ENUM
8044 Command not supported by the TO. Sending a command to MCDevice DB, for example
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.

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ErrorID Error message Description / to correct or avoid errors

8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8080 Invalid parameter number or The technology object does not support this parameter or
parameter index parameter index.
8081 Parameter cannot be changed The selected parameter is read-only.
Check the selected parameter number and the ID of the
technology object.
8083 DB is not a technology DB The DB specified at input parameter Axis was not found or
is not a technology DB.
8084 Invalid technology DB • The PLC does not contain a TO for the technology DB
specified at input parameter Axis
Download the current technology to the target system,
or change the DB number at input parameter Axis
• The user has entered invalid data at the technology
DB specified at input parameter Axis
In "Technology Objects Management", delete and then
recreate the technology DB
8086 Parameter not available Possible causes:
• Access to incremental encoder parameters in a
system with absolute encoders, for example.
• The data record defined in the Index is not active. The
data record must be changed by calling
"MC_ChangeDataset."
808B Parameter value of invalid REAL Invalid floating-point format of at least one input parameter
format value.
Check the input parameter values or the instance DB
data. Invalid values can not be represented in floating-
point format. They are shown in hexadecimal format
(DW16# ...).

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6.6.4 FB 450 MC_ReadPeriphery - Read technology I/Os

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_ReadPeriphery" technology function is used to read the I/O image of
the integrated technology. The time-based dependency of the update is shown
in the example.

Supported for
• DP I/O on DP(DRIVE) at address area 0 to 63
• Integrated I/O of the Technology CPU at address area 0 to 63

Prerequisites
• The addressed I/O must exist in the I/O image DP(DRIVE) of the integrated
technology.

Overriding commands
MC_ReadPeriphery commands cannot be canceled by any other command.
MC_ReadPeriphery commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

Enable BOOL FALSE While Enable = TRUE, an area of the I/O image is read.
Changes at the input parameters InputOutput,
ByteAddress and Data are only activated with a positive
edge at Enable.
InputOutput BOOL FALSE Definition of the I/O area to be read:
FALSE: I/O image of inputs
TRUE: I/O image of outputs
ByteAddress INT 0 Byte start address from where reading is to start
(possible values: 0-63).
Data ANY -- Destination for read data.
The length of data to be read is determined by the data
type and the repetition factor in the ANY pointer. The
maximum length is 64 bytes.

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Output parameters (status outputs)

Parameters Data type Initial value Description

DataValid BOOL FALSE TRUE: Valid read data available
(set with the first successful read operation)
Busy BOOL FALSE TRUE: The command is being executed

Error BOOL FALSE TRUE: Command initiation with error. The command is
rejected. For further information on the cause, refer to
the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
The runtime of command execution at the integrated technology plus the runtime
of the OBx cycle in which "MC_ReadPeriphery" is called may lead to considerable
reaction times. You should therefore connect the I/O requiring quick reactions to
the MPI/DP interface of your Technology CPU.

MC_ReadPeriphery - example
The example in the diagram below shows the time-based coherency when reading
or loading the I/O image DP(DRIVE).
At the start of each command execution cycle, the signal status of inputs is loaded
from the position controller and written to the I/O image of inputs. This load
operation is independent of the "MC_ReadPeriphery" technology function. The
"MC_ReadPeriphery" technology function accesses this I/O image and provides
these data to the user program.
The I/O image is transferred to the controller, starting at the first call of
MC_ReadPeriphery with Enable = TRUE. Output parameter Busy is set TRUE in
time with this operation. The MC_ReadPeriphery command is executed as new
command within the first command execution cycle (new commands are executed
at the start of the command execution). The I/O image of inputs is written to the
controller inputs at the next call of MC_ReadPeriphery. Output parameter
DataValid reports TRUE status.
The current MC_ReadPeriphery command is monitored starting at the second
command execution cycle (current commands are processed at the end of
command execution, whereby the most recent command is executed last). The I/O
image of inputs of the second command execution cycle is transferred to the PLC
at the third call of MC_ReadPeriphery.
The DB update is triggered by the subsequent IPO cycle. This is not concluded
until the next position control cycle is completed, and is interrupted by the position
control. The time slice for the third command execution is available after the DB
update. Due to the delayed start of command execution, this is interrupted by the
next position control and by the subsequent IPO. An updated I/O image is therefore
not available at the time of the fourth call of MC_ReadPeriphery. Hence, the I/O
image of call 3 is transferred to the PLC.

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The I/O image of the fourth call is available at the fifth call of MC_ReadPeriphery,
and is transferred to the PLC (the PLC does not read the I/O image of the third
command execution cycle).

Position controller, IPO, DB update

DB update

DB update

DB update
Position c.

Position c.

Position c.

Position c.

Position c.

Position c.

Position c.
IPO

IPO

IPO

IPO
load inputs into I/O load inputs into I/O load inputs into I/O load inputs into I/O load inputs into I/O
image image image image image

Command execution

1 2 3 3 4

Start Read Read Read

command data data data

OB 1 cycle

Call 1 Call 2 Call 3 Call 4 Call 5

FB 450 FB 450 FB 450 FB 450 FB 450

1
0 Enable
t
1
0 Busy
t
1
DataValid
0 t

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MC_ReadPeriphery - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns input parameter ByteAddress.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.
8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.

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ErrorID Error message Description / to correct or avoid errors

8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) Specified data length is invalid. Possible causes:
• The length exceeds 64 bytes
• The specified length plus the start address defines an
address outside of the I/O image DP(DRIVE).
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Reduce the length definition in the
ANY pointer.

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6.6.5 FB 451 MC_WritePeriphery - Write technology I/Os

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_WritePeriphery" technology function is used to write the I/O image of
integrated technology. The time-based dependency of the update is shown in
the example.

Supported for
• DP I/O on DP(DRIVE) at address area 0 to 63
• Integrated I/O of the Technology CPU at address area 0 to 63

Prerequisites
• The addressed I/O must exist in the I/O image DP(DRIVE) of the integrated
technology.

Overriding commands
MC_WritePeriphery commands cannot be canceled by any other command.
MC_WritePeriphery commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

Execute BOOL FALSE Start of a single write command at the positive edge
ByteAddress INT 0 Byte start address from where reading is to start
(possible values: 0-63)
Data ANY -- Source area of data to be written.
The length of data to be written is defined by the data
type and the repetition factor in the ANY pointer. The
maximum length is 64 bytes.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command successfully completed
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Command initiation with error. The command is
rejected. For further information on the cause, refer to
the ErrorID.
FALSE: Command initiation without error.
ErrorID WORD 0 ErrorID of output parameter Error.

Note
The runtime of command execution at the integrated technology plus the runtime
of the OBx cycle in which "MC_WritePeriphery" is called may lead to considerable
reaction times. You should therefore connect any I/O requiring quick write access
to the MPI/DP interface of your Technology CPU.

Note
To write the I/O image DP(DRIVE) cyclically, always retrigger input parameter
Execute after each write operation.
Interconnect input parameter "Execute" with the inverted signals of the output
parameters Busy and Error.

MC_WritePeriphery - example
The example shown in the diagram shows the time-based coherency when writing
the I/O image DP(DRIVE).
The I/O image of outputs is written to the I/O via the position controller at the end of
each time slice for command execution. This write operation is carried out
regardless of the run state of the "MC_WritePeriphery" technology function.
"MC_WritePeriphery" is used to write the PLC data specified at input parameter
Data to the I/O image of outputs.
A positive edge at input parameter Execute triggers write access to the I/O image
of outputs and TRUE status at output parameter Busy. The MC_WritePeriphery
command is added as new command to the time slice of the first command
execution cycle. Command execution is started within the first command execution
time slice. The second MC_WritePeriphery call reports completion of this command
(sets Busy = FALSE and Done = TRUE).
At the end of the second command execution time slice, the most recently written
I/O image of outputs is once again written to the I/O via the position controller.
The DB update is triggered in the next position controller cycle. The DB update is
interrupted within the time slice of the position controller, but is resumed on
expiration of this time slice. The start of command execution is delayed due to the
missing time gaps. The delayed command execution cycle is interrupted by the
next position controller time slice and by the subsequent IPO time slice.

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A third call of MC_WritePeriphery plus a positive edge at input parameter Execute

starts a new write command. Because of the fact that further commands were
started, the new write command is queued in the second half of the command
execution time slice. For this reason, the completion of the command is not
immediately reported at the fourth, but rather at the fifth of MC_WritePeriphery
(now, Busy = FALSE state and Done = TRUE).

Position controller, IPO, DB update

DB update

DB update

DB update
Position c.

Position c.

Position c.

Position c.

Position c.

Position c.

Position c.
IPO

IPO

IPO

IPO
Writing the I/O image Writing the I/O image Writing the I/O image Writing the I/O image
DP(DRIVE) DP(DRIVE) DP(DRIVE) DP(DRIVE)

Command execution

1 2 3 3 4

Start Command Start Command

command completed command completed
OB 1 cycle

Call 1 Call 2 Call 3 Call 4 Call 5

FB 451 FB 451 FB 451 FB 451 FB 451

1
0 Execute
t
1
0 Busy t
1
0 Done t

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MC_WritePeriphery - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters ByteAddress or
DoneFlag..
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) Specified data length is invalid. Possible causes:
• The length exceeds 64 bytes
• The specified length plus the start address defines an
address outside of the I/O image DP(DRIVE).
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Reduce the length definition in the
ANY pointer.

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6.6.6 FB 453 MC_ReadRecord - Read record

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_ReadRecord" technology function can be used to read a data record
from an I/O on DP(DRIVE).
• The technology function can be compared with the system function SFC 59
"RD_REC" which is used to read data records at the DP interface of an S7
CPU.

Supported for
• DP I/O on DP(DRIVE)

Prerequisites
• The I/O must support data record communication.
• The I/O must support the relevant data record.

Overriding commands
MC_ReadRecord commands cannot be canceled by any other command.
MC_ReadRecord commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

Execute BOOL FALSE Start of the command at the positive edge
InOut BOOL FALSE I/O assignment of the logical base address of the I/O
module
FALSE: Input address
TRUE: Output address
Address INT 0 Logical base address of the I/O module
RecordNumber INT 0 Number of the data record of the I/O module (possible
values 0 to 255)
Data ANY - Destination for read data.
The maximum length of data to be read is defined by the
data type and by the repetition coefficient at the ANY
pointer.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command successfully completed.
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Error in command execution. Command
execution failed. For information on the cause, refer to
the ErrorID.
FALSE: Command executed without error.
ErrorID WORD 0 ErrorID of output parameter Error.
DataLength INT 0 Length of read data record information in bytes

MC_ReadRecord - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns input parameters RecordNumber or DoneFlag.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) The data length specified at the ANY pointer is shorter
than the data record length.
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Reduce the length definition in the
ANY pointer.
8090 Invalid logical base address Error in data record transfer, command canceled.
Specified logical base address invalid: There is no
assignment in the SDB1/SDB2x, or it is not a base
address.
8091 Logical base address is not Error in data record transfer, command canceled.
available The function cannot access the specified logical base
address.
Possible causes of error:
• An attempt was made to open data record
communication with integrated I/O of the Technology
CPU
• An attempt was made to transfer a data record at a
PROFIBUS DP address of Microbox T (interface (X1))
8092 Faulty response ID Error in data record transfer, command canceled. Error in
response identifier.

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ErrorID Error message Description / to correct or avoid errors

80A0 Error when reading module data Error in data record transfer, command canceled.
Negative acknowledgment when reading module data:
• Module was removed during the read operation
• Module defective
80A2 DP protocol error in layer 2 Error in data record transfer, retry possible in next
program cycle.
PROFIBUS DP error at layer 2:
• Station failure
• Timeout
• Protocol error
• Bus error
80A3 DP protocol error in user interface Error in data record transfer, command canceled.
PROFIBUS DP protocol error in user interface/user.
80B0 Data record not supported Error in data record transfer, command canceled.
• System function not supported for this module type.
• Module does not recognize the data record
• Data record number out of the range from 0 to 255
80B1 Faulty length definition Error in data record transfer, command was canceled.
Wrong length definition at input parameter Data.
Examples:
• The data record read 240 bytes, but the ANY pointer
only points to a field with a length of 80 bytes.
• The length definition in the ANY pointer is not
supported, for example, 260 bytes.
80C0 No read data Error in data record transfer, retry possible in next
program cycle. The module maintains the data record, but
read data do not exist yet.
80C2 Maximum number of commands Error in data record transfer. Immediate command
reached repetition possible. The module is currently executing the
maximum possible number of commands for a CPU.
80C3 Module at capacity limits Error in data record transfer. Immediate command
repetition possible. Required resources are currently in
use by another application:
• In the module
80C4 Communication error Error in data record transfer. Immediate command
repetition possible. Communication error:
• Parity error
• SW ready not set
• Error in block length management
• Checksum error on CPU side
• Checksum error on module side
80C5 Access to distributed I/O failed Error in data record transfer, retry possible in next
program cycle. Distributed I/O currently unavailable.
80C6 Priority class error Error in data record transfer, retry possible in next
program cycle.
Data record transfer canceled because of priority class
cancellation (restart or background).

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Note
In accordance with PROFIBUS DP V1, a DP slave can report the errors A0 to CF.
The errors A0 to CF are mapped to the ErrorID of the technology function as error
80A0 to 80CF.
When output parameter ErrorID reports any error in the range from 80A0 to 80CF
which is not listed in the list shown earlier, consult your DP slave documentation.

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6.6.7 FB 454 MC_WriteRecord - Write record

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_WriteRecord" technology function can be used to write a data record
to an I/O on DP(DRIVE).
• The technology function can be compared with system function SFC 58
"WR_REC" which is used to write data records at the DP interface of an
S7 CPU.

Supported for
• DP I/O on DP(DRIVE)

Prerequisites
• The I/O must support data record communication.
• The I/O must support the relevant data record.

Overriding commands
MC_WriteRecord commands cannot be canceled by any other command.
MC_WriteRecord commands do not cancel any other commands.

Input parameters

Parameters Data type Initial value Description

Execute BOOL FALSE Start of the command at the positive edge
InOut BOOL FALSE I/O assignment of the logical base address of the I/O
module
FALSE: Input address
TRUE: Output address
Address INT 0 Logical base address of the I/O module
RecordNumber INT 0 Number of the data record of the I/O module (possible
values 0 to 255)
Data ANY - Source area of data to be written.
The length of data to be written is defined by the data
type and the repetition factor in the ANY pointer.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

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Output parameters (status outputs)

Parameters Data type Initial value Description

Done BOOL FALSE TRUE: Command successfully completed.
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Error in command execution.
Command execution failed.
For information on the cause,
refer to the ErrorID.
FALSE: Command executed without error.
ErrorID WORD 0 ErrorID of output parameter Error.

MC_WriteRecord - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters RecordNumber or
DoneFlag.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) The data length specified at the ANY pointer is shorter
than the data record length.
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Correct the length definition in the
ANY pointer.
8090 Invalid logical base address Error in data record transfer, command canceled.
Specified logical base address invalid: There is no
assignment in the SDB1/SDB2x, or it is not a base
address.
8091 Logical base address is not Error in data record transfer, command canceled.
available The function cannot access the specified logical base
address.
Possible causes of error:
• An attempt was made to open data record
communication with integrated I/O of the Technology
CPU
• An attempt was made to access a PROFIBUSDP
address of Microbox T (interface (X1))
8092 Faulty response ID Error in data record transfer, command canceled. Error in
response identifier.

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ErrorID Error message Description / to correct or avoid errors

80A1 Error when writing to module Error in data record transfer, command canceled.
Negative acknowledgment when writing to module:
• Module removed during write operation
• Module defective
80A2 DP protocol error in layer 2 Error in data record transfer, retry possible in next
program cycle.
PROFIBUS DP error at layer 2:
• Station failure
• Timeout
• Protocol error
• Bus error
80A3 DP protocol error in user interface Error in data record transfer, command canceled.
PROFIBUS DP protocol error in user interface/user.
80B0 Data record not supported Error in data record transfer, command canceled.
• System function not supported for this module type.
• Module does not recognize the data record
• Data record number out of the range from 0 to 255
80B1 Faulty length definition Error in data record transfer, command canceled. Wrong
length definition at input parameter Data.
• The data record read 240 bytes, but the ANY pointer
only points to a field with a length of 80 bytes.
• The length definition in the ANY pointer is not
supported, for example, 260 bytes.
80C0 Previous write command is still busy Error in data record transfer. Immediate command
repetition possible. The module has not yet processed the
data of the previous write command to the same data
record.
80C2 Maximum number of commands Error in data record transfer. Immediate command
reached repetition possible. The module is currently executing the
maximum possible number of commands for a CPU.
80C3 Module at capacity limits Error in data record transfer. Immediate command
repetition possible. Required resources are currently in
use by another application:
• In the module
80C4 Communication error Error in data record transfer. Immediate command
repetition possible. Communication error:
• Parity error
• SW ready not set
• Error in block length management
• Checksum error on CPU side
• Checksum error on module side
80C5 Access to distributed I/O failed Error in data record transfer, retry possible in next
program cycle. Distributed I/O currently unavailable.
80C6 Priority class error Error in data record transfer, retry possible in next
program cycle.
Data record transfer canceled because of priority class
cancellation (restart or background).

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Note
In accordance with PROFIBUS DP V1, a DP slave can report the errors A0 to CF.
The errors A0 to CF are mapped to the ErrorID of the technology function as error
80A0 to 80CF.
When output parameter ErrorID reports any error in the range from 80A0 to 80CF
which is not listed in the list shown earlier, consult your DP slave documentation.

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6.6.8 FB 455 MC_ReadDriveParameter - Read drive parameter

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_ReadDriveParameter" technology function allows the user program
to read the parameters of a drive connected to DP(DRIVE).

Supported for
• PROFIdrive-compliant drives on DP(DRIVE)

Prerequisites
• The drive is configured for operation on DP(DRIVE).
• The drive must support data record communication.
• The drive must support the parameter number and the index.

Overriding commands
MC_ReadDriveParameter commands cannot be canceled by any other command.
MC_ReadDriveParameter commands do not cancel any other commands.

Input parameters

Parameters Data Initial value Description

type
Execute BOOL FALSE Start of the command at the positive edge
InOut BOOL FALSE I/O assignment of the logical base address of the drive
FALSE: Input address
TRUE: Output address
Address INT 0 Definition of the logical base address of the module
ParameterNumber DINT 0 Specifies the number of the parameter from which the
data is to be read - Range of values: 0-65535
SubIndex DINT 0 Specifies the first parameter index to be read (with
NumberOfElements = 0 the value is internally set to
zero) - Range of values: 0-65535
NumberOfElements DINT 0 Number of sub-parameters to be read:
Value > 0: Parameter with subindex, range of
values 0 to 234 (according to the maximum
length of the data area at input
parameter Data)
Value = 0: Parameter without subindex
Value < 0: Not allowed

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Parameters Data Initial value Description

type
Data ANY -- Destination data area to which the parameter values
should be saved.
The maximum length of data to be read is defined by the
data type and the repetition coefficient at the ANY
pointer.
The data area has a maximum size of 240 bytes.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Output parameters (status outputs)

Parameters Data Initial value Description

type
Done BOOL FALSE TRUE: Command successfully completed
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Error in command execution.
Command execution failed.
For information on the cause,
refer to the ErrorID.
FALSE: Command executed without error.
ErrorID WORD 0 ErrorID of output parameter Error.
DataLength INT 0 Length of read data record information in bytes

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MC_ReadDriveParameter - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters ParameterNumber,
SubIndex, NumberOfElements or DoneFlag.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) The data length specified at the ANY pointer is shorter
than the data record length.
The length of the data record is determined by the number
and type of parameter values to be read.
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 240 bytes. Reduce the length definition in the
ANY pointer.
8090 Invalid logical base address Error in data record transfer, command canceled.
Specified logical base address invalid: There is no
assignment in the SDB1/SDB2x, or it is not a base
address.
8091 Logical base address is not Error in data record transfer, command canceled.
available The function cannot access the specified logical base
address.
Possible causes of error:
• An attempt was made to open data record
communication with integrated I/O of the Technology
CPU
• An attempt was made to access a PROFIBUS DP
address of Microbox T (interface (X1))

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ErrorID Error message Description / to correct or avoid errors

8092 Faulty response ID Error in data record transfer, command canceled. Error in
response identifier.
80A0 Error when reading module data Error in data record transfer, command canceled.
Negative acknowledgment when reading module data:
• Module was removed during the read operation
• Module defective
80A2 DP protocol error in layer 2 Error in data record transfer, retry possible in next
program cycle.
PROFIBUS DP error at layer 2:
• Station failure
• Timeout
• Protocol error
• Bus error
80B0 Data record not supported Error in data record transfer, command canceled.
• System function not supported for this module type.
• Module does not recognize the data record
• Data record number out of the range from 0 to 255
80B5 System function cannot be executed Error in data record transfer, retry possible in next
program cycle. The system function cannot be executed
due to the internal processing state of the drive.
80B7 Faulty command Error in data record transfer, PROFIBUS DP error,
command canceled. The faulty command could not be
output.
80C3 Module at capacity limits Error in data record transfer, retry possible in next
program cycle. Required resources currently in use by
other applications:
• In the technology function "MC_ReadDriveParameter"
• In the module
80C5 Access to distributed I/O failed Error in data record transfer, retry possible in next
program cycle. Distributed I/O currently unavailable.
80C7 A command has already been Error in data record transfer, retry possible in next
output to the drive program cycle. Another command has already been
output to the drive
8100 Parameter not found Parameter error, command canceled. Access to a non-
existent parameter.
8103 Subindex not found Parameter error, command canceled. Access to a non-
existent subindex.
8104 Parameter not indexed Parameter error, command canceled. Access with
subindex to a non-indexed parameter.
8111 Access denied in current state Parameter error, command canceled. Request cannot be
executed due to operating status
8115 Max. transferable length exceeded Parameter error, command canceled. The requested
number of sub parameters cannot be transferred with a
single command.
Note that the number of bytes of the parameter data type
multiplied by NumberOfElements may not exceed 234.
8116 Value is invalid or not supported Parameter error, command canceled. Illegal or
unsupported value for attribute, number of elements,
parameter number, subindex or a combination of these.

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ErrorID Error message Description / to correct or avoid errors

8119 Axis does not exist Parameter error, command canceled. Access to a non-
existent axis.
8120 - Standby Reserved error codes to PROFIdrive
8164
8165 - Manufacturer-specific error Manufacturer-specific error codes to PROFIdrive
81FF Errors are formed by the drive.

Note
In accordance with PROFIBUS DP V1, a DP slave can report the errors A0 to CF.
The errors A0 to CF are mapped to the ErrorID of the technology function as error
80A0 to 80CF.
When output parameter ErrorID reports any error in the range from 80A0 to 80CF
which is not listed in the list shown earlier, consult your DP slave documentation.

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6.6.9 FB 456 MC_WriteDriveParameter - Write drive parameter

Supported by Integrated Technology with firmware V3.1.x or higher

Purpose
• The "MC_WriteDriveParameter" technology function allows the user program
to write the parameters of a drive connected to DP(DRIVE).

Supported for
• PROFIdrive-compliant drives on DP(DRIVE)

Prerequisites
• The drive is configured for operation on DP(DRIVE).
• The drive must support data record communication.
• The drive supports the parameter number and the index.

Overriding commands
MC_WriteDriveParameter commands cannot be canceled by any other command.
MC_WriteDriveParameter commands do not cancel any other commands.
Input Data type Initial value Description
parametersParame
ters
Execute BOOL FALSE Start of the command at the positive edge
InOut BOOL 0 I/O assignment of the logical base address of the drive
FALSE: Input address
TRUE: Output address
Address INT 0 Definition of the logical base address of the module
ParameterNumber DINT 0 Definition of the parameter number to which data
should be written.
Possible Values: 0 - 65535
SubIndex DINT 0 Specifies the first parameter index to be read (with
NumberOfElements = 0 the value is internally set to
zero) - Range of values: 0-65535
NumberOfElements DINT 0 Number of sub-parameters to be written:
Value > 0: Parameter with subindex, range
of values 1 to 228 (according to the
maximum length of the data area at
input parameter Data)
Value = 0: Parameter without subindex
Value < 0: Not allowed

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Input Data type Initial value Description

parametersParame
ters
Data ANY -- Data area containing the parameter values.
The data length is determined by the parameter data
type and the number of parameters to be written. The
combination consisting of the data type and repetition
coefficient of the ANY pointer must result in the same
data length.
The data area has a maximum size of 228 bytes.
DoneFlag INT 0 DoneFlag - generated in the MCDevice DB

Output parameters (status outputs)

Parameters Data Initial value Description

type
Done BOOL FALSE TRUE: Command successfully completed
Busy BOOL FALSE TRUE: The command is being executed
Error BOOL FALSE TRUE: Error in command execution. Command
execution failed. For information on the cause, refer to
the ErrorID.
FALSE: Command executed without error.
ErrorID WORD 0 ErrorID of output parameter Error.

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MC_WriteDriveParameter - ErrorIDs

ErrorID Error message Description / to correct or avoid errors

0000 No error -
8001 Internal error Faulty or inconsistent project / software.
8005 Command canceled because The command can not be executed, because of
command memory is in use by insufficient command capacity.
another process. Possible causes:
• The number of active commands has exceeded limits
• Too many active commands at the next technology
functions:
"MC_CamSectorAdd"
"MC_ReadPeriphery"
"MC_WritePeriphery"
"MC_ReadRecord"
"MC_WriteRecord"
"MC_ReadDriveParameter"
"MC_WriteDriveParameter
Call the technology functions in the same cycle until one
of the output parameters Done, CommandAborted or
Error is TRUE. Verify that the program does not contain
unnecessary (redundant) commands.
8043 Illegal parameter value Concerns the input parameters ParameterNumber,
SubIndex, NumberOfElements or DoneFlag.
804C Command output rate too high. The rate at which commands with the same instance DB
were output exceeded the capacity of the command
interface. The second command is rejected in order not to
violate consistency of the first command.
For high command output rates, always use a separate
instance DB, or request the command again. Note that
although the first accepted command may be active you
may not be able to monitor it at the status outputs.
8050 Technology not ready During testing with breakpoints (CPU in HOLD), the
technology function has output a new command to the
technology. The command is rejected.

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ErrorID Error message Description / to correct or avoid errors

8052 Block call at different run levels This technology function was called at different run levels
using the same instance DB.
Example
Technology function x is called in the instance DBx, in
OB 1, and in OB 35. Execution of the technology function
started in OB 1, and was interrupted by its call in OB 35.
Based on the shared use of the instance DB, the error is
indicated at output parameter ErrorID of both calls.
Error reactions to be expected:
• The new command (positive or negative edge at
parameter input Execute/Enable) is not transferred to
the integrated technology
• The initially started command can not be monitored at
the output parameters of the technology function
However, the command may still be active in the
integrated technology
Caution:
Use different instance DBs at different run levels, or
interlock the call of the technology function.
8053 Invalid instance DB. Faulty instance DB of the technology function (wrong
length, for example).
8088 Invalid DB (ANY pointer) The ANY pointer refers to an invalid data area.
• Data block not found
• Specified start address not found
• Data area too short
8089 Invalid data length (ANY pointer) The data length specified at the ANY pointer is shorter
than the data record length.
The length of the data record is determined by the number
and type of parameter values to be written.
808C Pointer format is invalid or not The ANY pointer contains illegal definitions. Accepted
supported areas:
I, O, M, DB, DI
Accepted data types:
BYTE, CHAR, WORD, INT, DWORD, DINT, REAL
808D Data record length out of range An attempt was made to transfer a data record of a length
exceeding 228 bytes. Reduce the length definition in the
ANY pointer.
808E Invalid data format Error in data record transfer, command canceled. No valid
data format found.
8090 Invalid logical base address Error in data record transfer, command canceled.
Specified logical base address invalid: There is no
assignment in the SDB1/SDB2x, or it is not a base
address.

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ErrorID Error message Description / to correct or avoid errors

8091 Logical base address is not Error in data record transfer, command canceled.
available The function cannot access the specified logical base
address.
Possible causes of error:
• An attempt was made to open data record
communication with integrated I/O of the Technology
CPU
• An attempt was made to access a PROFIBUSDP
address of Microbox T (interface (X1))
8092 Faulty response ID Error in data record transfer, command canceled. Error in
response identifier.
80A1 Error when writing to module Error in data record transfer, command canceled.
Negative acknowledgment when writing to module:
• Module removed during write operation
• Module defective
80A2 DP protocol error in layer 2 Error in data record transfer, retry possible in next
program cycle.
PROFIBUS DP error at layer 2:
• Station failure
• Timeout
• Protocol error
• Bus error
80B0 Data record not supported Error in data record transfer, command canceled.
• System function not supported for this module type.
• Module does not recognize the data record
• Data record number out of the range from 0 to 255
80B5 System function cannot be executed Error in data record transfer, retry possible in next
program cycle. The system function cannot be executed
due to the internal processing state of the drive.
80B7 Faulty command PROFIBUS DP error, command canceled. The faulty
command could not be output.
80C3 Module at capacity limits Error in data record transfer, retry possible in next
program cycle. Required resources currently in use by
other applications:
• In the technology function "MC_WriteDriveParameter"
• In the module
80C5 Access to distributed I/O failed Error in data record transfer, retry possible in next
program cycle. Distributed I/O currently unavailable.
80C7 A command has already been Error in data record transfer, retry possible in next
output to the drive program cycle. Another command has already been
output to the drive
8100 Parameter not found Parameter error, command canceled. Access to a non-
existent parameter.
8101 Parameter cannot be changed Parameter error, command canceled. Attempt to modify a
read only parameter.
8102 Parameter limits violated Parameter error, command canceled. Modification access
with value outside value limits.
8103 Subindex not found Parameter error, command canceled. Access to a non-
existent subindex.

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ErrorID Error message Description / to correct or avoid errors

8104 Parameter not indexed Parameter error, command canceled. Access with
subindex to a non-indexed parameter.
8105 Invalid data type Parameter error, command canceled. Attempt to modify a
value to a value not supported by the data type of the
parameter.
8106 Parameter value not equal to 0 Parameter error, command canceled. Attempt to modify
with value not equal to 0.
810B No exclusive access Parameter error, command canceled. Attempt to modify
without exclusive access privileges.
8111 Access denied in current state Parameter error, command canceled. Request cannot be
executed due to operating status
8114 Illegal parameter value Parameter error, command canceled. Attempt to modify
with value which may not violate value limits, but is still not
permissible for reasons of permanent compatibility
(existing parameters with defined single values.)
8116 Value is invalid or not supported Parameter error, command canceled. Illegal or
unsupported value for attribute, number of elements,
parameter number, subindex or a combination of these.
8117 Illegal format Parameter error, command canceled. Illegal format
8118 Invalid number of parameter data Parameter error, command canceled. The number of
values in parameter data does not match the number of
addresses in the parameter address.
8119 Axis does not exist Parameter error, command canceled. Access to a non-
existent axis.
8120 - Standby Reserved error codes to PROFIdrive
8164
8165 - Manufacturer-specific error Manufacturer-specific error codes to PROFIdrive
81FF Errors are formed by the drive.

Note
In accordance with PROFIBUS DP V1, a DP slave can report the errors A0 to CF.
The errors A0 to CF are mapped to the ErrorID of the technology function as error
80A0 to 80CF.
When output parameter ErrorID reports any error in the range from 80A0 to 80CF
which is not listed in the list shown earlier, consult your DP slave documentation.

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6.7 Interaction of commands

6.7.1 New command - active single command (1)

The table below shows the reciprocal actions of a new command on active single commands.

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driving waiting
The axis is moving, i.e., it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being condition.
synchronized or desynchronized. • The command is active in synchronization wait
• The output parameters of InGear or InSync state. The Statusword.SynchrCommand variable
technology functions are set for synchronous is not yet set at the technology DB (system
operation. (System variable of the variable of the synchronization object
synchronization object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync or
motion is active. Variable InGear output parameters of the technology
Statusword.SynchrCommand in the technology function are still set. In addition, the
DB of the synchronization axis is set (system Statusword.SynchrCommand variable is set at
variable of the synchronization object the technology DB of the synchronization axis
enablecommand=active). (system variable of the synchronization object
• The output parameters InGear or InSync of the disablecommand=waiting_to_start).
technology function are FALSE when a
desynchronization motion is active. Variable
Statusword.SynchrCommand at the technology
DB of the synchronization axis is still set (system
variable of synchronization object
disablecommand=active).
Abort 1 Abort direction
The new command is executed. Active commands The MC_MoveToEndPos command is canceled, or
are canceled immediately. the new command is aborted with error, depending
on the direction of the new command.
Abort error Error
The new command is canceled, an ErrorID is A new command reports an error at the technology
entered at the technology DB, and execution of the function and is not executed. Execution of the active
active command continues. command is continued.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution depends on the TO current motion command. The active command is
status. not canceled.
Superimposed abort Superimposed waiting
The new motion command is superimposed on the A new command is executed and waits for the
current motion command. The active command is desynchronization condition. The motion initiated by
not canceled. If neither the synchronization nor this new command is superimposed on the motion of
desynchronization condition of the active command the active command without canceling the active
is met, the new command will be canceled when a command.
condition is satisfied.
Waiting Waiting abort
The new command is queued in memory and is A new command is executed and waits for the
appended in waiting state to the active command. synchronization or desynchronization condition. The
The waiting command is executed after the active active command is aborted when either the
command was completed. synchronization or the desynchronization condition of
the new command is satisfied.

The default axis configuration data shown in the table above apply to the axes
(configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposedPosition =
TRANSFER_STANDSTILL(0)).

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6.7.2 New command - active single command (2)

The table below shows the reciprocal actions of a new command on active single commands.

driving waiting
The axis is moving, i.e., it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being condition.
synchronized or desynchronized. • The command is active in synchronization wait
• The output parameters of InGear or InSync state. The Statusword.SynchrCommand variable
technology functions are set for synchronous is not yet set at the technology DB (system
operation. (System variable of the variable of the synchronization object
synchronization object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization In desynchronization wait state, the InSync or InGear
motion is active. Variable output parameters of the technology function are still
Statusword.SynchrCommand in the technology set. In addition, the Statusword.SynchrCommand
DB of the synchronization axis is set (system variable is set at the technology DB of the
variable of the synchronization object synchronization axis (system variable of the
enablecommand=active). synchronization object
The output parameters InGear or InSync of the disablecommand=waiting_to_start).
technology function are FALSE when a
desynchronization motion is active. Variable
Statusword.SynchrCommand at the technology DB
of the synchronization axis is still set (system
variable of the synchronization object
disablecommand=active).
Abort 1 Abort direction
The new command is executed. The active The MC_MoveToEndPos command is canceled or
command is canceled immediately. the new command is canceled with error, depending
on the direction of the new command.

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Abort error Error

The new command is canceled, an ErrorID is A new command reports an error at the technology
entered at the technology DB, and execution of the function and is not executed. Execution of the active
active command continues. command continues.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution depends on the TO current motion command. The active command is
status. not canceled.
Superimposed abort Waiting
The new motion command is superimposed on the The new command is queued in memory and is
active motion command. The active command is not appended in waiting state to the active command.
canceled. If neither the synchronization nor The waiting command is executed after the active
desynchronization condition of the active command command was completed.
is met, the new command will be canceled when a
condition is satisfied.

The default axis configuration data shown in the table above apply to the axes
(configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposedPosition =
TRANSFER_STANDSTILL(0)).

6.7.3 New command - active single command (3)

The table below shows the reciprocal actions of a new command on active single commands.

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No reciprocal effect, or status not possible. Abort 1

The new command is executed. The active
command is canceled immediately.
Error Superimposed
A new command reports an error at the technology The new motion command is superimposed on the
function and is not executed. Execution of the active active motion command. The active command is not
command is continued. canceled.
Waiting
The new command is queued in memory and is
appended in waiting state to the active command.
The waiting command is executed after the active
command was completed.

The default axis configuration data shown in the table above apply to the axes
(configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposedPosition =
TRANSFER_STANDSTILL(0)).

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6.7.4 New command - active commands (1)

The table below shows the reciprocal actions of a new command on active commands.

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driving waiting
The axis is moving, i.e., it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being condition.
synchronized or desynchronized. • The command is active in synchronization wait
• The output parameters of InGear or InSync state. The Statusword.SynchrCommand variable
technology functions are set for synchronous is not yet set at the technology DB (system
operation. (System variable of the variable of the synchronization object
synchronization object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync or
motion is active. Variable InGear output parameters of the technology
Statusword.SynchrCommand in the technology function are still set. In addition, the
DB of the synchronization axis is set (system Statusword.SynchrCommand variable is set at
variable of the synchronization object the technology DB of the synchronization axis
enablecommand=active). (system variable of the synchronization object
• The output parameters InGear or InSync of the disablecommand=waiting_to_start).
technology function are FALSE when a
desynchronization motion is active. Variable
Statusword.SynchrCommand at the technology
DB of the synchronization axis is still set (system
variable of the synchronization object
disablecommand=active).
Abort 1 Abort 2
The new command is executed. Active commands The new command is executed. A waiting command
are canceled immediately. is canceled immediately. An active command is
canceled if either the synchronization or the
desynchronization condition of the new command is
satisfied.
Abort 3 Abort direction
The new command is executed and immediately The MC_MoveToEndPos command is canceled or
cancels the second active command. Execution of the new command is canceled with error, depending
the first active command continues and is not on the direction of the new command.
canceled.
Abort error Error
The new command is canceled, an ErrorID is A new command reports an error at the technology
entered at the technology DB, and execution of the function and is not executed. Execution of active
active commands continues. commands is continued.
No influence Superimposed
Does not have any direct influence on the active The new motion command is superimposed on the
function. Command execution is determined by the active motion commands. The active commands are
TO status. not canceled.
Superimposed abort Waiting abort
The new motion command is superimposed on the A new command is executed and waits for the
active motion commands. Active commands are not synchronization or desynchronization condition. The
canceled. If neither the synchronization nor active commands are aborted when either the
desynchronization condition of the active command synchronization or the desynchronization condition of
is met, the new command will be canceled when a the new command is satisfied.
condition is satisfied.

The default axis configuration data shown in the table above apply to the axes
(configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposedPosition =
TRANSFER_STANDSTILL(0)).

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6.7.5 New command - active commands (2)

The table below shows the reciprocal actions of a new command on active commands.

driving waiting
The axis is moving, i.e., it is operating in The axis is waiting for the (de)synchronization
synchronous mode, or is currently being condition.
synchronized or desynchronized. • The command is active in synchronization wait
• The output parameters of InGear or InSync state. The Statusword.SynchrCommand variable
technology functions are set for synchronous is not yet set at the technology DB (system
operation. (System variable of the variable of the synchronization object
synchronization object enablecommand=active). enablecommand=waiting_to_start).
• The command is active when a synchronization • In desynchronization wait state, the InSync or
motion is active. Variable InGear output parameters of the technology
Statusword.SynchrCommand in the technology function are still set. In addition, the
DB of the synchronization axis is set (system Statusword.SynchrCommand variable is set at
variable of the synchronization object the technology DB of the synchronization axis
enablecommand=active). (system variable of the synchronization object
• The output parameters InGear or InSync of the disablecommand=waiting_to_start).
technology function are FALSE when a
desynchronization motion is active. Variable
Statusword.SynchrCommand at the technology
DB of the synchronization axis is still set (system
variable of the synchronization object
disablecommand=active).
Abort 1 Superimposed
The new command is executed. Active commands The new motion command is superimposed on the
are canceled immediately. active motion commands. Active commands are not
canceled.

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Superimposed abort
The new motion command is superimposed on the
active motion commands. Active commands are not
canceled. If neither the synchronization nor
desynchronization condition of the active command
is met, the new command will be canceled when a
condition is satisfied.

The default axis configuration data shown in the table above apply to the axes
(configuration parameter
TypeOfAxis.DecodingConfig.transferSuperimposedPosition =
TRANSFER_STANDSTILL(0)).

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6.7.6 Examples of using the tables

Example 1

A MC_GearIn command is waiting for its synchronization condition ("w").

A new MC_GearOut command is started, and its desynchronization condition is not
yet met at startup ("w"). Both commands refer to the same TO.
The Technology CPU reacts by setting "Wa". The meaning of reaction "Wa" is
defined in the corresponding legend.

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Example 2

A TO is in synchronism. An MC_GearIn command is active and output parameter

InGear = TRUE ("d"). A MC_GearOut command is waiting for its desynchronization
condition ("w"). Both commands refer to the same TO.
A new MC_Phasing command is initiated at the same TO.
The Technology CPU reacts by setting "S". The meaning of reaction "S" is defined
in the corresponding legend.

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6.8 Information about parameters

6.8.1 Reaction of the technology function after POWER OFF and

restart

The technology function is initialized after each POWER OFF (POWER OFF ->
POWER ON) and restart (RUN-STOP -> STOP-RUN).

Note
If input parameter Execute=TRUE after POWER OFF or restart, the system starts
the command when it detects a signal edge.
In order to prevent any unintentional start of the command, open SIMATIC
Manager, and then set the "non-retain" check box in the block properties of the
instance DB.
The relevant block is initialized again after POWER On or restart if "non-retain" is
set.

6.8.2 DoneFlag generation

The DoneFlag can be used to indicate and evaluate the completion of TO

commands in the local MCDevice DB.
At the input parameter DoneFlag of the technology function, you define which or
whether a DoneFlag is to be generated in the MCDevice DB.

Parameter value Meaning

0 A DoneFlag is not generated in the MCDevice DB
1 DoneFlag[1] is generated in the MCDevice DB
...
32 DoneFlag[32] is generated in the MCDevice DB

Each time a command is completed, the value in DoneFlag is inverted at the

MCDevice DB (FALSE = TRUE or TRUE = FALSE) . The DoneFlag is only set as
long as the initiated command can be monitored. The command can no longer be
monitored if a subsequent command uses the same instance.

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6.8.3 Range of values

Range of REAL values

The following applies to all REAL values at the input parameters of the technology
functions:
-1E+12 < REAL value < +1E+12
The restrictions specified in the descriptions of the input parameters also apply.
These values are verified in the integrated technology at the start of motion control
commands. If these values ranges are exceeded, an error message is output at the
technology DB and at the technology function.

Range of values for dynamic parameters at the technology functions

You define the limits of the dynamic response of motions at the Velocity,
Acceleration, Deceleration and Jerk input parameters.
If the dynamic value of a motion lies within default limits of the axis configuration,
the axis responds as follows:

Dynamic Response when < 0 Response when = 0 Response when > 0

parameters
Velocity Use the default velocity set in Error: The command is Use Velocity
the axis configuration ignored
Exception:
"MC_MoveVelocity"
Acceleration Use the default acceleration Error: Command is ignored Use Acceleration
set in the axis configuration (not permitted)
Deceleration Use the default deceleration Error: Command is ignored Use Deceleration
set in the axis configuration
Jerk Use the default jerk values set Use a trapezoidal profile Use Jerk
in the axis configuration

A warning is output at the technology DB if the dynamic value of a motion is

outside the default limits set in the axis configuration.

Note
You can edit the default limits of the axis configuration by calling the
"MC_WriteParameter" technology function.

Note
Initially, the dynamic values in the technology function are not verified at the start
of motion control commands. The command is output to the system. The system
verifies the dynamic values and reports any errors at the corresponding technology
DB. It also sets output parameter CommandAborted at the technology function.

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Technology DBs - Range of values

The range of values of technology DBs corresponds with the range of numbers for
DBs implemented in the Technology CPU used. For information on the range of
values, refer to the technology CPU manual.
The input parameters at the technology function Axis, Master etc. are of the INT
data type. This data type can be used to address technology DBs using positive
values from 0 to +32767. It is advisable to assign the range from 0 to +32767 to the
technology DBs.
If this is not possible, you can address technology DBs within the range from 32768
to 65535 as shown below:
1. Solution
Use FC 400 "DB2INT"
2. Solution
Enter the value shown below at input parameter Axis etc. for the technology
DB number:
Value = technology DB number-65536.
3. Solution
Use a variable - Example:
- Define the variable in the block's declaration section:
VAR_TEMP
TechDB : INT ;
END_VAR
- Use the variable at the call of the technology function:
L L#56000 //Technology DB no.
T #TechDBNR
CALL "MC_Power" , DB401
Axis :=#TechDBNR

6.8.4 Absolute positioning of modulo axes

The technology converts all absolute positioning parameters to the modulo axis
cycle.
Example of an axis with modulo start value 0° and modulo length 360°:
1. Absolute positioning to position 400° positions the axis to 40° (400 modulo
360° = 40°).
2. When a homing position of -20° is set, the effect is the same as a homing
position 340°.
3. The ON position of an output cam is set to 730°. The output cam ON position is
10° (730° modulo 360° = 10°)

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7.1 "Speed-controlled axis" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

The integrated technology writes the data to the DB which is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
Returns the ErrorID of the error or warning most recently detected at the speed-
controlled axis.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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ErrorStatus.xxx variable
The bits in the ErrorStatus.xxx variable return information on certain axis errors.

Bit Variables Significance to the TRUE state

no.
0 ErrorStatus.SystemFault Internal system error
1 ErrorStatus.ConfigFault Faulty TO configuration
2 ErrorStatus.UserFault The user program has caused an error by outputting an illegal
command
3 ErrorStatus.FaultDrive A drive or TO reports an error
4 ErrorStatus.Reserve4 Not used
5 ErrorStatus.FollowingWarning Not used
6 ErrorStatus.FollowingError Not used
7 ErrorStatus.StandstillFault The axis has moved out the standstill window or could not reach
the standstill window within the time specified.
8 ErrorStatus.PositioningError Not used
9 ErrorStatus.SynchronOpError Not used
10 ErrorStatus.DynamicError Dynamic limits were exceeded
11 ErrorStatus.ClampingError Not used
12 ErrorStatus.SoftwareLimitPos Not used
13 ErrorStatus.SoftwareLimitNeg Not used
14 ErrorStatus.LimitSwitchActive Hardware limit switch is active
15 ErrorStatus.SensorFreqViolation Encoder limit frequency exceeded.
16 ErrorStatus.ReferenceNotFound Not used
17 ErrorStatus.ZeroMonitoring Zero pulse monitoring has detected an error (not a homing
error)
18 ErrorStatus.Overspeed Not used
19 ErrorStatus.FollowObjectError Not used
20 ErrorStatus. Not used
SupImpFollowObjectError

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Statusword.xxx variable
Statusword indicates the current status of the speed-controlled axis.

Bit Variables Significance to the TRUE state

no.
0 Statusword.DriveEnabled Drive pulse enabled (not axis enable!). At virtual axes this
value is always TRUE.
Pulse enable is not active in following mode ("MC_Power"
with Mode = 3).
1 Statusword.HomingDone Irrelevant to the speed-controlled axis.
2 Statusword.Done No motion command is being executed (MC_Power does not
represent a motion command in this case).
3 Statusword.SuperImposedCommand Irrelevant to the speed-controlled axis.
4 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
5 Statusword.Errorstop The axis is being stopped / was stopped due to an error; the
TO may be disabled.
Eliminate the cause and acknowledge the error.
6 Statusword.Stopping Active MC_Stop command at the axis. New motion
commands are rejected.
You can read the motion status from variable
Statusword.Standstill, Statusword.ConstantVelocity,
Statusword.Accelerating or Statusword.Decelerating. The
reaction may be delayed.
7 Statusword.Standstill The axis speed (absolute value) is lower than the configured
standstill limit.
8 Statusword.PositioningCommand Irrelevant to the speed-controlled axis.
9 Statusword.SpeedCommand Active speed command at the axis. Examples:
• "MC_MoveVelocity"
• "MC_MoveToEndPos" (before the fixed end stop is
detected)
10 Statusword.SynchrCommand Irrelevant to the speed-controlled axis.
11 Statusword.Homing Irrelevant to the speed-controlled axis.
12 Statusword.FollowUpControl Set as long as following mode is active.
This is the case if the axis is disabled with "MC_Power" or
enabled with Mode = 3.
13 Statusword.ConstantVelocity Set as long as the speed setpoint remains constant.
14 Statusword.Accelerating Axis is accelerating (increasing drive power).
15 Statusword.Decelerating Axis is decelerating (declining drive power).
16 Statusword.RequestRestart Axis parameters were changed and are not activated until
the next restart is completed (MC_Reset with Restart =
TRUE.)
17 Statusword.Simulation Axis in simulation mode.
You achieve this with "MC_Power" by setting Mode = 4.

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Bit Variables Significance to the TRUE state

no.
18 Statusword.CyclicInterface At virtual axes:
The value of this variable is always TRUE.
At electrical axes:
Cyclic communication between the controller and the drive is
active. No active drive errors.
At hydraulic axes:
The I/O for control signal output and encoder signals is
detected on DP(DRIVE) and can be used by the axis TO.
If several axis TOs are configured at the same I/O address,
Statusword.CyclicInterface returns the TRUE at all relevant
technology DBs. The status indicated is independent of any
TO access to the I/O.
19 Statusword.EncoderValid Irrelevant to the speed-controlled axis.
20 Statusword.SpeedMode At the speed-controlled axis this is always TRUE.
21 Statusword.TorqueLimiting The torque of the axis was limited by a "MC_SetTorqueLimit"
or "MC_MoveToEndPos" command, and the drive is
operating at this limit. The drive must support torque limiting
in this case (message frame 10x).
22 Statusword.SupImpSynchrCommand Irrelevant to the speed-controlled axis.
23 Statusword.TorqueLimitingCommand A command is busy reducing the axis torque
("MC_SetTorqueLimit" or "MC_MoveToEndPos").
24 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

CommandVelocity variable
Shows the current velocity setpoint for the axis (allowance is made for the actual
SpeedOverride).

CommandAcceleration variable
Shows the current acceleration setpoint for the axis (allowance is made for the
actual AccelerationOverride).

ActualVelocity variable
The variable returns the actual velocity of the axis.
If the speed-controlled axis is lacking an encoder, this value is always 0.

ActualAcceleration variable
Returns the current acceleration of the axis.
If the speed-controlled axis is lacking an encoder, this value is always 0.

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SpeedOverride variable
Returns the percentage of the currently effective SpeedOverride. The percentage
is reciprocal to the velocity setpoint of the axis. Default = 100%t.
SpeedOverride can be set within the range from 0% to 200% using the
"MC_WriteParameter" technology function.

AccelerationOverride variable
Returns a percentage of the currently active AccelerationOverride. The percentage
is reciprocal to the acceleration setpoint of the axis. Default value = 100%
AccelarationOverride can be set from 1% to 1000% at the "MC_WriteParameter"
technology function.

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7.2 "Positioning axis" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
The variable returns the ErrorID of the last error or warning detected at the
positioning axis.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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ErrorStatus.xxx variable
The bits in variable ErrorStatus.xxx return information on certain positioning axis
errors.

Bit Variables Significance to the TRUE state

no.
0 ErrorStatus.SystemFault Internal system error
1 ErrorStatus.ConfigFault Faulty TO configuration
2 ErrorStatus.UserFault The user program has caused an error by outputting an illegal
command
3 ErrorStatus.FaultDrive A drive or TO reports an error
4 ErrorStatus.Reserve4 Not used
5 ErrorStatus.FollowingWarning Dynamic following error monitoring function reports violation of
warning limits
6 ErrorStatus.FollowingError Dynamic following error monitoring function reports violation of
window limits
7 ErrorStatus.StandstillFault The axis has moved out the standstill window or could not reach
the standstill window within the time specified.
8 ErrorStatus.PositioningError The axis failed to reach the positioning window within the
specified time.
9 ErrorStatus.SynchronOpError Synchronization tolerances exceeded
10 ErrorStatus.DynamicError Dynamic limits were exceeded
11 ErrorStatus.ClampingError Clamping error.
The axis has exceeded the "Position tolerance after fixed end
stop detection" without having received a new motion
command.
(Position tolerance setting in S7T Config > Limits > "Fixed end
stop" tab > Parameter "Position tolerance after fixed end stop
detection").
12 ErrorStatus.SoftwareLimitPos Upper software limit switch reached or passed
13 ErrorStatus.SoftwareLimitNeg Lower software limit switch reached or passed
14 ErrorStatus.LimitSwitchActive Hardware limit switch is active
15 ErrorStatus.SensorFreqViolation Encoder limit frequency exceeded.
16 ErrorStatus.ReferenceNotFound Reference cam or zero pulse not found when homing
17 ErrorStatus.ZeroMonitoring Zero pulse monitoring has detected an error (not a homing
error)
18 ErrorStatus.Overspeed Not used
19 ErrorStatus.FollowObjectError Not used
20 ErrorStatus. Not used
SupImpFollowObjectError

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Statusword.xxx variable
The Statusword variable returns the current status of the positioning axis.

Bit Variables Significance to the TRUE state

no.
0 Statusword.DriveEnabled Drive pulse enabled (not axis enable!). At virtual axes this
value is always TRUE.
Pulse enable is not active in following mode ("MC_Power"
with Mode = 3).
1 Statusword.HomingDone The axis was homed. The homing condition was satisfied.
During active homing the Statusword.HomingDone in the
technology DB will be set when the encoder zero mark is
detected. However, the axis is still decelerating, or moving
by the value of the reference point offset.
Technology function "MC_Home" only reports Done=TRUE
after the axis has reached a standstill. The axis has now
reached the position of the reference point coordinate.
2 Statusword.Done No motion command is being executed (MC_Power does not
represent a motion command in this case).
3 Statusword.SuperImposedCommand A superimposing motion is active (e.g.
"MC_MoveSuperImposed")
4 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
5 Statusword.Errorstop The axis is being stopped / was stopped due to an error; the
TO may be disabled.
Eliminate the cause and acknowledge the error.
6 Statusword.Stopping Active MC_Stop command at the axis. New motion
commands are rejected.
You can read the motion status from variable
Statusword.Standstill, Statusword.ConstantVelocity,
Statusword.Accelerating or Statusword.Decelerating. The
reaction may be delayed.
7 Statusword.Standstill The axis velocity (absolute value) is lower than the
configured standstill limit.
8 Statusword.PositioningCommand A positioning command is active at the axis (may also be
superimposing.)
9 Statusword.SpeedCommand Active speed command at the axis. Examples:
• "MC_MoveVelocity"
• "MC_MoveToEndPos" (before the fixed end stop is
detected)
10 Statusword.SynchrCommand Irrelevant to the positioning axis.
11 Statusword.Homing The bit is set at the start, and reset at the end of MC_Home.
12 Statusword.FollowUpControl Set as long as following mode is active.
This is the case if the axis is disabled with "MC_Power" or
enabled with Mode = 3.
13 Statusword.ConstantVelocity Set as long as the speed setpoint remains constant.
14 Statusword.Accelerating Axis is accelerating (increasing drive power).
15 Statusword.Decelerating Axis is decelerating (declining drive power).

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Bit Variables Significance to the TRUE state

no.
16 Statusword.RequestRestart Axis parameters were changed and are not activated until
the next restart is completed (MC_Reset with Restart =
TRUE.)
17 Statusword.Simulation Axis in simulation mode.
You achieve this with "MC_Power" by setting Mode = 4.
18 Statusword.CyclicInterface At virtual axes:
The value of this variable is always TRUE.
At electrical axes:
Cyclic communication between the controller and the drive is
active. No active drive errors.
At hydraulic axes:
The I/O for control signal output and encoder signals is
detected on DP(DRIVE) and can be used by the axis TO.
If several axis TOs are configured at the same I/O address,
Statusword.CyclicInterface returns the TRUE at all relevant
technology DBs. The status indicated is independent of any
TO access to the I/O.
19 Statusword.EncoderValid The actual position value of the encoder that is relevant to
the axis is valid (of particular importance in the startup phase
of absolute encoders).
20 Statusword.SpeedMode TRUE = speed-controlled mode
FALSE = position-controlled mode
Speed-controlled mode is activated at the technology
function "MC_MoveVelocity" by setting input parameter
PositionControl = FALSE.
21 Statusword.TorqueLimiting The torque of the axis was limited by a "MC_SetTorqueLimit"
or "MC_MoveToEndPos" command, and the drive is
operating at this limit. The drive must support torque limiting
in this case (message frame 10x).
22 Statusword.SupImpSynchrCommand Irrelevant to the positioning axis.
23 Statusword.TorqueLimitingCommand A command is busy reducing the axis torque
("MC_SetTorqueLimit" or "MC_MoveToEndPos").
24 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

CommandVelocity variable
Shows the current velocity setpoint for the axis (allowance is made for the actual
SpeedOverride).

CommandAcceleration variable
Shows the current acceleration setpoint for the axis (allowance is made for the
actual AccelerationOverride).

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ActualVelocity variable
The variable returns the actual velocity of the axis.

ActualAcceleration variable
Returns the current acceleration of the axis.

SpeedOverride variable
Returns the percentage of the currently effective SpeedOverride. The percentage
is reciprocal to the velocity setpoint of the axis. Default = 100%t.
SpeedOverride can be set within the range from 0% to 200% using the
"MC_WriteParameter" technology function.

AccelerationOverride variable
The variable returns the percentage of a currently effective AccelerationOverride.
The percentage is reciprocal to the acceleration setpoint of the axis. Default
value = 100%
AccelarationOverride can be set from 1% to 1000% at the "MC_WriteParameter"
technology function.

ActualPosition variable
Shows the current axis position.

CommandPosition variable
Indicates the current position setpoint for positioning operations.

TargetPosition variable
Indicates the target position for the current command. This value only applies
during the execution of a positioning command.

Distance variable
Shows the current distance of relative / absolute positioning. This value applies
only when a positioning command is busy.

DecelerationDistance variable
The variable returns the current stop distance of the axis. This value only applies
during the execution of a positioning command.

FollowingError variable
Indicates the current following error value of the axis. This value only applies during
the execution of a positioning command.

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 Technology DBs

7.3 "Synchronization axis" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
Shows the ErrorID of the last error or warning detected at the synchronization axis.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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Technology DBs

ErrorStatus.xxx variable
The bits in the ErrorStatus.xxx variable return information on certain axis errors.

Bit Variables Significance to the TRUE state

no.
0 ErrorStatus.SystemFault Internal system error
1 ErrorStatus.ConfigFault Faulty TO configuration
2 ErrorStatus.UserFault The user program has caused an error by outputting an illegal
command
3 ErrorStatus.FaultDrive A drive or TO reports an error
4 ErrorStatus.Reserve4 Not used
5 ErrorStatus.FollowingWarning Dynamic following error monitoring function reports violation of
warning limits
6 ErrorStatus.FollowingError Dynamic following error monitoring function reports violation of
window limits
7 ErrorStatus.StandstillFault The axis has moved out the standstill window or could not reach
the standstill window within the time specified.
8 ErrorStatus.PositioningError The axis failed to reach the positioning window within the
specified time.
9 ErrorStatus.SynchronOpError Synchronization tolerances exceeded
10 ErrorStatus.DynamicError Dynamic limits were exceeded
11 ErrorStatus.ClampingError Clamping error.
The axis has exceeded the "Position tolerance after fixed end
stop detection" without having received a new motion
command.
(Position tolerance setting in S7T Config > Limits > "Fixed end
stop" tab > Parameter "Position tolerance after fixed end stop
detection").
12 ErrorStatus.SoftwareLimitPos Upper software limit switch reached or passed
13 ErrorStatus.SoftwareLimitNeg Lower software limit switch reached or passed
14 ErrorStatus.LimitSwitchActive Hardware limit switch is active
15 ErrorStatus.SensorFreqViolation Encoder limit frequency exceeded.
16 ErrorStatus.ReferenceNotFound Reference cam or zero pulse not found when homing
17 ErrorStatus.ZeroMonitoring Zero pulse monitoring has detected an error (not a homing
error)
18 ErrorStatus.Overspeed Not used
19 ErrorStatus.FollowObjectError Error at the synchronization object.
20 ErrorStatus. Error at the superimposing synchronization object.
SupImpFollowObjectError

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 Technology DBs

Statusword.xxx variable
The statusword variable returns the current status of the synchronization axis.

Bit Variables Significance to the TRUE state

no.
0 Statusword.DriveEnabled Drive pulse enabled (not axis enable!). At virtual axes this
value is always TRUE.
Pulse enable is not active in following mode ("MC_Power"
with Mode = 3).
1 Statusword.HomingDone The axis was homed. The homing condition was satisfied.
In active homing operations, the reference point coordinate
and Statusword.HomingDone in the technology DB is set
when the encoder zero mark is detected. However, the axis
is still decelerating, or moving by the value of the reference
point offset. However, the axis is already homed. Technology
function "MC_Home" only reports Done=TRUE after the axis
has reached a standstill.
2 Statusword.Done No motion command is being executed (MC_Power does not
represent a motion command in this case).
3 Statusword.SuperImposedCommand A superimposing motion is active (e.g.
"MC_MoveSuperImposed")
4 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
5 Statusword.Errorstop The axis is being stopped / was stopped due to an error; the
TO may be disabled.
Eliminate the cause and acknowledge the error.
6 Statusword.Stopping Active MC_Stop command at the axis. New motion
commands are rejected.
You can read the motion status from variable
Statusword.Standstill, Statusword.ConstantVelocity,
Statusword.Accelerating or Statusword.Decelerating. The
reaction may be delayed.
7 Statusword.Standstill The axis velocity (absolute value) is lower than the
configured standstill limit.
8 Statusword.PositioningCommand A positioning command is active at the axis (may also be
superimposing.)
9 Statusword.SpeedCommand Active speed command at the axis. Examples:
• "MC_MoveVelocity"
• "MC_MoveToEndPos" (before the fixed end stop is
detected)
10 Statusword.SynchrCommand Axis in synchronism (active MC_GearIn or MC_CamIn)
11 Statusword.Homing The bit is set at the start, and reset at the end of MC_Home.
12 Statusword.FollowUpControl Set as long as following mode is active.
This is the case if the axis is disabled with "MC_Power" or
enabled with Mode = 3.
13 Statusword.ConstantVelocity Set as long as the speed setpoint remains constant.
14 Statusword.Accelerating Axis is accelerating (increasing drive power).
15 Statusword.Decelerating Axis is decelerating (declining drive power).

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Technology DBs

Bit Variables Significance to the TRUE state

no.
16 Statusword.RequestRestart Axis parameters were changed and are not activated until
the next restart is completed (MC_Reset with Restart =
TRUE.)
17 Statusword.Simulation Axis in simulation mode.
You achieve this with "MC_Power" by setting Mode = 4.
18 Statusword.CyclicInterface At virtual axes:
The value of this variable is always TRUE.
At electrical axes:
Cyclic communication between the controller and the drive is
active. No active drive errors.
At hydraulic axes:
The I/O for control signal output and encoder signals is
detected on DP(DRIVE) and can be used by the axis TO.
If several axis TOs are configured at the same I/O address,
Statusword.CyclicInterface returns the TRUE at all relevant
technology DBs. The status indicated is independent of any
TO access to the I/O.
19 Statusword.EncoderValid The actual position value of the encoder that is relevant to
the axis is valid (of particular importance in the startup phase
of absolute encoders).
20 Statusword.SpeedMode TRUE = speed-controlled mode
FALSE = position-controlled mode
Speed-controlled mode is activated at the technology
function "MC_MoveVelocity" by setting input parameter
PositionControl = FALSE.
21 Statusword.TorqueLimiting The torque of the axis was limited by a "MC_SetTorqueLimit"
or "MC_MoveToEndPos" command, and the drive is
operating at this limit. The drive must support torque limiting
in this case (message frame 10x).
22 Statusword.SupImpSynchrCommand Axis in superimposed synchronism (active
MC_GearInSuperImposed or MC_GearInSuperImposed)
23 Statusword.TorqueLimitingCommand A command is busy reducing the axis torque
("MC_SetTorqueLimit" or "MC_MoveToEndPos").
24 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

CommandVelocity variable
Shows the current velocity setpoint for the axis (allowance is made for the actual
SpeedOverride).

CommandAcceleration variable
Shows the current acceleration setpoint for the axis (allowance is made for the
actual AccelerationOverride).

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 Technology DBs

ActualVelocity variable
The variable returns the actual velocity of the axis.

ActualAcceleration variable
Returns the current acceleration of the axis.

SpeedOverride variable
Returns the percentage of the currently effective SpeedOverride. The percentage
is reciprocal to the velocity setpoint of the axis. Default = 100%t.
SpeedOverride can be set within the range from 0% to 200% using the
"MC_WriteParameter" technology function.

AccelerationOverride variable
The variable returns the percentage of a currently effective AccelerationOverride.
The percentage is reciprocal to the acceleration setpoint of the axis. Default value
= 100%
AccelarationOverride can be set from 1% to 1000% at the "MC_WriteParameter"
technology function.

ActualPosition variable
Shows the current axis position.

CommandPosition variable
Indicates the current position setpoint for positioning operations.

TargetPosition variable
Indicates the target position for the current command. This value only applies
during the execution of a positioning command.

Distance variable
Shows the current distance of relative / absolute positioning. This value only
applies during the execution of a positioning command.

DecelerationDistance variable
The variable returns the current stop distance of the axis. This value only applies
during the execution of a positioning command.

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Technology DBs

FollowingError variable
Indicates the current following error value of the axis. This value is only valid during
the execution of a positioning command or in synchronous operation.

SyncStatus variable

Value Meaning Comment

0 No synchronism Active synchronization mode is "No synchronism".
1 Gearing Active synchronization mode is "Gearing".
2 Camming Active synchronization mode is "Camming".

Direction variable
The Technology CPU uses the RatioNumerator and RatioDenominator input
parameters to calculate the gear ratio and sense of direction for gearing mode.
The sense of direction of the gear is defined by the Direction variable.

Value Meaning Comment

5 positive The leading and following axis move in the same direction.
4 negative The leading and following axis move in opposite direction.

Camming rules out a contradictory sense of direction, i.e. the value 5 will be set in
camming mode.

NumGear/DenomGear variable
The variables return the gear ratio of basic synchronism. The NumGear variable
returns the leading axis coefficient and the DenomGear variable the following axis
coefficient (in the context of basic synchronism). The indicated values apply only to
basic synchronism.
Example:
At a gear ratio of 17:25 between the leading and following axes, the NumGear
variable shows value 17, and the DenomGear variable the value 25.

PhaseShift variable
Shows the phase offset between the position setpoints of the leading axis and
following axis operating in basic synchronism. The value indicated is only valid
during basic synchronism.

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 Technology DBs

SupImpSyncStatus variable

Value Meaning Comment

0 No synchronism Active mode of the superimposing synchronization object is "No
synchronism"
1 Gearing Active mode of the superimposing synchronization object is "Gearing"
2 Camming Active mode of the superimposing synchronization object is "Camming"

SupImpDirection variable
The Technology CPU uses input parameters RatioNumerator and
RatioDenominator to calculate the gear ratio and sense of direction for
superimposed gearing.
The sense of direction of the gear is defined by the Direction variable.

Value Meaning Comment

5 positive The leading and following axis move in the same direction.
4 negative The leading and following axis move in opposite direction.

Superimposed camming rules out a contradictory sense of direction, i.e. the value
5 will be set in superimposed camming mode.

SupImpNumGear/SupImpDenomGear variable
These variables return the gear ratio for superimposed synchronism. The
SupImpNumGear variable shows the coefficient of the leading axis, and the
SupImpDenomGear shows the coefficient of the following axis (with reference to
the superimposing coordinate system of the following axis). The indicated values
apply only to active superimposed synchronism.

SupImpPhaseShift variable
The variable indicates the offset between the position setpoints of the leading axis
and the superimposing coordinate system of the following axis. This value is only
applies to active superimposed synchronism.

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Technology DBs

7.4 "External encoder" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
Shows the ErrorID of the last detected error or warning of the external encoder.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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 Technology DBs

ErrorStatus.xxx variable
The bits in variable ErrorStatus.xxx return information on various errors at the
external encoder.

Bit Variables Significance to the TRUE state

no.
0 ErrorStatus.SystemFault Internal system error
1 ErrorStatus.ConfigFault Faulty TO configuration
2 ErrorStatus.UserFault The user program has caused an error by outputting an illegal
command
3 ErrorStatus.FaultDrive The external encoder or technology object reports an error
4 ErrorStatus.Reserve4 Not used
5 ErrorStatus.FollowingWarning Dynamic following error monitoring function reports violation of
warning limits
6 ErrorStatus.FollowingError Dynamic following error monitoring function reports violation of
window limits
7 ErrorStatus.StandstillFault The external encoder has moved out the standstill window, or
could not reach the standstill window in the specified time.
8 ErrorStatus.PositioningError The axis failed to reach the positioning window within the
specified time.
9 ErrorStatus.SynchronOpError Not used
10 ErrorStatus.DynamicError Dynamic limits were exceeded
11 ErrorStatus.ClampingError Clamping error.
The axis has exceeded the "Position tolerance after fixed end
stop detection" without having received a new motion
command.
(Position tolerance setting in S7T Config > Limits > "Fixed end
stop" tab > Parameter "Position tolerance after fixed end stop
detection").
12 ErrorStatus.SoftwareLimitPos Not used
13 ErrorStatus.SoftwareLimitNeg Not used
14 ErrorStatus.LimitSwitchActive Not used
15 ErrorStatus.SensorFreqViolation Encoder limit frequency exceeded.
16 ErrorStatus.ReferenceNotFound Reference cam or zero pulse not found when homing
17 ErrorStatus.ZeroMonitoring Zero pulse monitoring has detected an error (not a homing
error)
18 ErrorStatus.Overspeed Not used
19 ErrorStatus.FollowObjectError Not used
20 ErrorStatus. Not used
SupImpFollowObjectError

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Technology DBs

Statusword.xxx variable
The Statusword indicates the current status of the external encoder.
These values are no longer updated when the external encoder is disabled. The
values shown correspond with the last status registered at the time the enable
signal was reset.

Bit Variables Significance to the TRUE state

no.
0 Statusword.DriveEnabled The external encoder is enabled (Mode = 1 at the input
parameter of "MC_ExternalEncoder")
1 Statusword.HomingDone The axis is homed, i.e. "MC_ExternalEncoder" was
successfully completed in Mode = 2 to 6
2 Statusword.Done No active command
3 Statusword.SuperImposedCommand Irrelevant to the external encoder.
4 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
5 Statusword.Errorstop The external encoder will be/was locked due to an error.
Eliminate the cause and acknowledge the error.
6 Statusword.Stopping Irrelevant to the external encoder.
7 Statusword.Standstill The velocity at the external encoder (absolute value) is lower
than the set standstill limit.
8 Statusword.PositioningCommand Irrelevant to the external encoder.
9 Statusword.SpeedCommand Irrelevant to the external encoder.
10 Statusword.SynchrCommand Irrelevant to the external encoder.
11 Statusword.Homing The bit is set at the start and reset at the end of homing
("MC_ExternalEncoder" Mode = 2 to 6)
12 Statusword.FollowUpControl Irrelevant to the external encoder.
13 Statusword.ConstantVelocity Irrelevant to the external encoder.
14 Statusword.Accelerating Irrelevant to the external encoder.
15 Statusword.Decelerating Irrelevant to the external encoder.
16 Statusword.RequestRestart Parameters of the external encoder were changed and are
not activated until the next restart is completed ("MC_Reset"
with Restart = TRUE).
17 Statusword.Simulation Irrelevant to the external encoder.
18 Statusword.CyclicInterface Irrelevant to the external encoder.
19 Statusword.EncoderValid The actual position value of the external encoder is valid (of
particular importance in the startup phase of absolute
encoders.)
20 Statusword.SpeedMode Always FALSE for the external encoder.
21 Statusword.TorqueLimiting Irrelevant to the external encoder.
22 Statusword.SupImpSynchrCommand Irrelevant to the external encoder.
23 Statusword.TorqueLimitingCommand A command is busy reducing the axis torque
("MC_SetTorqueLimit" or "MC_MoveToEndPos").
24 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

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 Technology DBs

ActualPosition variable
Shows the actual position of the external encoder.
The position is no longer updated when the external encoder is disabled. The
indicated position corresponds with the last position before the enable signal was
reset.

ActualVelocity variable
Shows the current velocity of the external encoder.
The velocity value is no longer updated when the external encoder is disabled. The
indicated velocity corresponds with the last velocity before the enable signal was
reset.

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Technology DBs

7.5 "Cam disk" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x

The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

ErrorID variable
Shows the ErrorID of the last error or warning detected at the cam disk.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

Status variable

Value Meaning Comment

0 Blank The cam does not contain any interpolation points or segments.
1 Interpolation points / The cam contains interpolation points / segments.
segments inserted
2 Interpolated The cam is interpolated, i.e. it is ready for synchronous operation.
3 Error There is an error.

UserCount variable
This variable returns the number of TOs which currently use the cam.

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 Technology DBs

Statusword.xxx variable
The Statusword variable indicates the current status of the cam disk.

Bit Variables Significance to the TRUE state

no.
0 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
1 Statusword.RequestRestart Cam parameters were changed and are not activated until
the next restart is completed (technology function MC_Reset
with Restart = TRUE).
2 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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Technology DBs

7.6 "Measuring input" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x
The "Measuring input" technology DB contains information relating to the
"Measuring input" TO and to command execution. The integrated technology writes
the data to the DB. The DB is read-only in the STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
The variable returns the ErrorID of the last error or warning detected at the
measuring input.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

Status variable
Indicates the operating state of the measuring input. The following operating states
may be shown:

Value Meaning Comment

0 Init Measuring input in idle state
1 WaitForTrigger Waiting for edge(s) at the measuring input (measured value(s) not
recorded yet)
2 DataValid Measurement completed, value(s) logged and valid
3 Error Error detected; value(s) invalid

MeasureValue1 variable
Returns measured value 1 of the measuring input. This value is valid in status
(operating state) 2.

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 Technology DBs

MeasureValue2 variable
Returns measured value 2 of the measuring input. This value is valid in status
(operating state) 2.
The measured value 2 is only logged in modes 3 and 4 of the
"MC_MeasuringInput" technology function.

MeasureStart/MeasureEnd variable
The MeasureStart variable returns the low limit, the MeasureEnd variable the high
limit of the measurement window. Only the measured values within these limits are
logged. When the MeasureStart value equals the MeasureEnd value, the
measuring window limits are ignored.
The MeasureStart/MeasureEnd variables shown at the DB correspond with the
values at the input parameters of the relevant
technology function "MC_MeasuringInput."

Statusword.xxx variable
The Statusword indicates the current status of the measuring input.

Bit Variables Significance to the TRUE state

no.
0 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
1 Statusword.RequestRestart Measuring input parameters were changed and do not take
effect until after the next restart (technology function
MC_Reset with Restart = TRUE).
2 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

Reserve02 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve03 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve04 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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Technology DBs

Reserve05 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve06 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve07 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve08 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve09 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve10 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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 Technology DBs

7.7 "Output cam" technology DB

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x
The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

ErrorID variable
Shows the ErrorID of the last error or warning detected at the output cam.
An error entry can be acknowledged by calling technology function "MC_RESET"
(with Axis = number of the technology DB).
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

State variable

Value Meaning Comment

0 OFF The current activation state of the output cam is "OFF".
1 ON The current activation state of the cam is "ON."

CamType Variable

Value Meaning Comment

0 Position-based cam The output cam is operated as position-based cam.
1 Time-based cam The output cam is operated as time-based cam.
2 Switching output The output cam is operated as switching cam.
cam

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Technology DBs

Mode variable

Value Meaning Comment

1 Disabled The current output cam operating state is "Cam disabled"

2 normal The current operating state output cam is "Cam enabled (output not
inverted)"
3 Inverse The current operating state of the output cam is "Cam enabled (output
inverted)"
4 Always on The current operating state of the output cam is "Cam always on."

Direction variable
The variable returns the effective cam direction of the most recent MC_CamSwitch
or MC_CamSwitchTime command. It is not changed in the following
"MC_CamSwitch" and "MC_CamSwitchTime" modes:
• Mode = 1 (output cam disabled)
• Mode = 4 (cam always on)

Value Meaning
1 Positive effective direction
2 Positive and negative effective direction , i.e. the effective direction is irrelevant
3 Negative effective direction
4 The current rotational direction of the axis is the effective direction

OnPosition variable
This variable returns the current cam activation position.

OffPosition variable
The variable returns the current cam deactivation position.

Duration variable
The variable returns the pulse duration of a time-based cam. The physical unit
corresponds with the physical unit of the "time" at the corresponding axis.

Delay variable
Indicates the current offset (derivative action time) of the cam
activation/deactivation times.
Value < 0: advanced activation
Value > 0: retarded activation

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 Technology DBs

Hysteresis variable
The variable returns the actual value of the hysteresis.

Statusword.xxx variable
The Statusword indicates the current status of the cam.

Bit Variables Significance to the TRUE state

no.
0 Statusword.Error At least one error has occurred (variable ErrorID = 8xxx).
When warnings are generated, the
Error = FALSE status is retained.
1 Statusword.RequestRestart Cam parameters were changed and are not activated until
the next restart ids completed (technology function
MC_Reset with Restart = TRUE).
2 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

Reserve02 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve03 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve04 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve05 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve06 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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Technology DBs

Reserve07 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve08 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve09 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve10 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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 Technology DBs

7.8 "Trace" technology DB

Valid for Integrated Technology with firmware V3.1.x or higher

This section describes applications with firmware V3.0.x
You can use the TraceTool in S7T Config to record variables of the integrated
technology in graphic realtime format. The "Trace" DB forms the interface between
TraceTool and the user program.
For tracing, you can write two values of the data type DINT, two values of the data
type DWORD and four values of the data type REAL to the relevant variables of
the Trace DB. The ErrorID variable may not be overwritten by the user program.
The DB data are fetched from integrated technology within the technology DB
update cycle. The technology DB update cycle can be set in S7T Config by
selecting the Target System > Set system clocks command.
The DB is not retentive, irrespective of retention settings at the CPU.

ErrorID variable
Returns the ErrorID of the most recently detected error. The cause of error must be
eliminated. The error can not be acknowledged.
See: Possible error messages and warnings

S7_TraceDINT[0..1] variable
The S7_TraceDINT variable contains an ARRAY with two elements of the data
type DINT.
These values can be selected for signal tracing in the TraceTool of S7T Config in
Technology > userdata1 > user1 and user2.

S7_TraceDWORD[0..1] variable
The S7_TraceDWORD variable contains an ARRAY with two elements of the data
type DWORD. Use this variable to trace bit information such as status word or error
word using the S7T Config TraceTool. In the TraceTool, you can select the bits as
usual in the SIMATIC numbering system.
These values can be selected for tracing when you select the signal in Technology
> userdata1 > user3 and user4 in the TraceTool of S7T Config.

S7_TraceREAL[0..3] variable
The S7_TraceREAL variable contains an ARRAY with four elements of the data
type REAL.
These values can be selected for tracing at Technology > userdata1 > user5,
user6, user7 and user8 when you select the signal in the TraceTool of S7T Config.

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Technology DBs

7.9 "MCDevice" technology DB

Valid for Integrated Technology with firmware V3.2.x or higher

This section describes applications with firmware V3.0.x and V3.1.x
The "MCDevice" technology DB contains general information of the integrated
technology. Information on the various TOs is found in the corresponding DBs.
The integrated technology writes the data to the DB. The DB is read-only in the
STEP 7 user program.
The DB is not retentive, irrespective of retention settings at the CPU.

UpdateFlag/UpdateCounter variable
See: Updating technology DBs

ErrorID variable
Returns the ErrorID of the most recently detected error. The cause of error must be
eliminated. The error can not be acknowledged.
See: Possible error messages and warnings

ErrorBuffer[0..2] variable
Memory for the first three errors and warnings received. The first error is written to
ARRAY element 0, the second to ARRAY element 1, etc.
The content of this memory can be cleared by calling technology function
"MC_RESET" (with Axis = number of the technology DB).

Reserve34 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

MaxLoopDuration variable
Returns the maximum command execution time of integrated technology.
The entry will be deleted during startup of the Technology CPU, or at the call of FB
"MC_Reset" (with Axis = MCDevice DB; Restart = TRUE or FALSE.)

CmdLoopDuration variable
The variable returns the mean value by seconds of the command execution time of
integrated technology.
The entry will be deleted during startup of the Technology CPU, or at the call of FB
"MC_Reset" (with Axis = MCDevice DB; Restart = TRUE or FALSE.)

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 Technology DBs

StationLifeList[0..127] variable
The ARRAY of this variable lists all partner stations available on PROFIBUS
DP(DRIVE). The number of the ARRAY element corresponds to the PROFIBUS
address. A value 1 in an element indicates that the partner station is available, and
the value 0 that it is not available.

DoneFlag[1..32] variable
The ARRAY elements 1 to 32 can be assigned to the DoneFlag input parameter of
the function blocks.

Value of the DoneFlag ARRAY element

at the FB used
0 A DoneFlag is not generated
1 1 DoneFlag[1] is generated
… …
32 32 DoneFlag[32] is generated

The value of the DoneFlag is inverted (FALSE is set TRUE or TRUE is set FALSE)
each time a command of the technology function is completed. The DoneFlag is
only set as long as the initiated command can be monitored. The command can no
longer be monitored if a subsequent command uses the same instance.

DIStatus[0..3] variable
The ARRAY elements 0 to 3 return the status at the integrated digital inputs of
CPU 31xT.

DOStatus[0..7] variable
The ARRAY elements 0 to 7 indicate the status at the integrated digital outputs of
the Technology CPU. The outputs of the integrated technology can be assigned to
individual output cams in S7T Config, for example.

Statusword.xxx variable
The statusword variable returns the current status of the synchronization axis.

Bit Variables Significance to the TRUE state

no.
0 Reserve01 Not used
1 Reserve02 Not used
2 Statusword.RequestStartUp The "Reduction", "Offset" or "IPO synchronous" entries were
changed in "Technology Objects Management". The
changed values are not activated until the next startup of the
controller.

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Technology DBs

TODBTaskOverflows variable
Shows the number of technology DB update overflows. The maximum value
returned is FFFFFFFF.
The entry will be deleted during startup of the Technology CPU, or at the call of the
"MC_Reset" technology function (with Axis = MCDevice-DB; Restart = TRUE or
FALSE.)

Note
You also set the basic clock for the technology DB updates in S7T Config by
selecting the Target system > Set system clocks command.
A time setting which is too short can lead to an overflow during the technology DB
update (when operating with integrated technology with firmware V3.2x or higher,
the CPU will no longer go into STOP).
An "overflow" is given when the active technology DB update is not yet completed
and thus prevents the start of a new update cycle. The new update command will
be discarded.
The number of overflows, and therefore the number of failed technology DB
updates, can be read from the TODBTaskOverflows variable.

Reserve02 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve03 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve04 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve05 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve06 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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 Technology DBs

Reserve07 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve08 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve09 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

Reserve10 variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

TO_Adaption variable
The variable is reserved for internal functions. It does not contain any user-relevant
information.

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Technology DBs

7.10 Updating technology DBs

Valid for Integrated Technology with firmware V3.2.x

This section describes applications with firmware V3.0.x and V3.1.x
The integrated technology updates the technology DBs asynchronously to the
cyclic user program. The technology DB update cycle can be set in S7T Config by
selecting the Target system > Set system clocks command. The update can be
set to a multiple of the interpolator cycle.
Integrate technology with firmware V3.2.x supports distribution of the technology
DB update cylce to different system clocks (exception: technology DB "Trace").
The technology DB update cycle represents the basic update cycle.

Note
You define the basic clock of the update in S7T Config by selecting the Target
system > Set system clocks command.
We speak of an "overflow" situation when a new Technology DB update is initiated
while a previous update cycle is not yet completed. When operating with integrated
technology firmware V3.1.x or earlier, the Technology CPU will go into STOP when
it detects a technology DB update overflow. Integrated technology with firmware
V3.2.x or higher tolerates this overflow, i.e. the non-executable update is
discarded, and technology synchronization interrupt OB 65 will not be called.
The number of overflows, and therefore the failure rate of Technology DB updates,
can be read from the TODBTaskOverflows variable at Technology DB
"MCDevice".

With reference to this basic clock, you can distribute the update of the various
technology DBs to several basic clocks by programming a step-down ratio and an
offset in "Technology Objects Management". Select View > Expert mode to
activate the expert mode.

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Update of technology DBs with default settings

A step-down ratio 1 and offset 0 are set for the technology DBs by default. All
technology DBs are updated within the basic clock cycle (technology DB update
cycle). The selected basic clock cycle of the technology DB update must be of
sufficient length to allow the update of all technology DBs.

Update of technology DBs with graded reduction ratio and uniform offset

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Technology DBs

The reduction ratio determines in which basic clock the technology DB is to be

updated.
• A reduction ratio 1 means that the technology DB is updated within each basic
clock
• A reduction ratio 2 means that the technology DB is updated at every second
basic clock, and so forth
By comparison to the default setting, this improves the distribution of technology
DB updates. However, the basic clocks 1, 5, 7 and 9 will still generate high system
load.

Example of an update with graded step-down ratio and offset

The example shows that a graded reduction ratio and offset can be used to limit
update load to three technology DBs per basic clock. Compared to the example
shown earlier, this allows doubling of the basic clock. The update time of DB 1 and
DB 2 is reduced by 50%. The update time of DB 3 remains the same. The update
time of DB 3 to DB 6 is tripled.

Note
Use the information below in order to optimize the step-down ratio and offset:
• Do not set shorter cycles than you can evaluate in the user program
• Select the same step-down ratio and offset for technology DBs which you want
to evaluate consistently to each other
• Create a diagram of your update schedule which shows you the cyclic
distribution of updates
• The time required for the update of a technology DB depends on the DB's
length Cyclic distribution of technology DBs of greater length (for example, axis
technology DBs) will lead to a more even distribution of load compared to the
distribution of short technology DBs

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 Technology DBs

"UpdateFlag", "UpdateCounter" and technology synchronization interrupt OB

(OB 65)
The diagram below shows the sequence of "UpdateFlag", "UpdateCounter" of a
technology DB.

The technology DB update is initiated by the transition of the "UpdateFlags" from

W#16#0000 to W#16#0100.
All technology DBs relevant to this update cycle will be updated. The integrated
technology always writes the entire technology DB.
The "UpdateCounter" increments its value by the count of 1. All "UpdateCounter"
values relevant to this update cycle will be incremented.
The "UpdateFlag" changes from W#16#0100 to W#16#0000 for all technology DBs
concerned.
The technology synchronization interrupt OB 65 is called. For details on local data
(start info in OB 65), refer to the STEP 7 Online Help. OB 65 can be copied from the
"Organization Blocks" folder of the "Standard Library" to the project.

Instructions
• The technology synchronization interrupt is called in each basic clock,
regardless whether or not a technology DB is updated within this basic clock
• The technology DBs update and the generation of the feedback signals of the
technology functions are handled asynchronously The data are therefore
inconsistent
After the call of the Done output parameter, wait until the "UpdateCounter" is
incremented before you analyze the technology data block (to determine the
position, for example)

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Technology DBs

Consistent evaluation of the technology DBs using technology synchronization

interrupt OB 65
As the technology synchronization interrupt OB is called after each update of the
technology DBs, the relevant actual values will be available at the time this OB is
called. This function allows you to evaluate technology DBs synchronously to the
integrated technology. It is therefore advisable to use the technology
synchronization interrupt OB in order to ensure consistent evaluation of technology
DB data.
If the user program contains a long technology synchronization interrupt OB, and
the technology DB update cycle is short, a new technology DB update cycle may
be started before the technology synchronization interrupt OB is terminated. The
data just read will be overwritten again straight-away.
Use the "UpdateCounter" and "UpdateFlag" of the technology DBs to verify
consistent evaluation of the technology DBs. The response of the "UpdateFlag"
and of the "UpdateCounter" is shown in the diagram above:
How to verify consistent evaluation of the technology DBs
Based on the procedure described below, check whether a new technology DB
update cycle was started while the operation which is relevant to consistency is
active at OB 65. Technology DB updates start at the "MCDevice" DB. However, in
order to ensure consistency, the "UpdateCounter" and "UpdateFlag" of each
technology DB to be evaluated must be verified. The procedure is as follows:
1. At the start of OB 65, save the value of the various "UpdateCounter" of the
technology DBs to be evaluated
2. Evaluate the consistent data, or transfer the technology DBs to be evaluated to
another working area
3. Check the "UpdateFlag" If the "UpdateFlag" value = W#16#0100, consistent
evaluation of this technology data block is no longer guaranteed
4. Compare the "UpdateCounter" with the previously saved value If the
"UpdateCounter" was incremented by the count of 1, consistent evaluation of
the technology DB is no longer guaranteed
5. Repeat steps 3 and 4 for all technology DBs to be evaluated
Identical "UpdateCounter" values in the technology DBs originate from the
same update cycle
Counter any consistency issues by taking the following measures:
• Extend the technology DB update time
• Evaluate the technology DBs at the start of OB 65
• Reduce the number of instructions to be evaluated

Note
The ErrorID, ErrorStatus and ErrorBuffer entries are updated asynchronously, i.e.
irrespective of the status of the "UpdateFlag".

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7.11 ErrorID - Technology DBs

7.11.1 ErrorIDs – Axis technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
0020 Restart to activate the A parameter was changed Apply the parameter changes by 20010
parameter changes and is not applied disabling and then initializing the
immediately object ("MC_Reset" with Restart =
TRUE)
0021 Dynamic values are The command's dynamic Check the cause of the excess 40002,
limited values (velocity, setpoint values: Configured high 40003,
acceleration, deceleration limits; speed setpoint interface; 40004,
or jerk) are being limited encoder wiring; mechanical 50003,
because these exceed set configuration. 50005
limits.
Any superimposing
commands which are active
at the technology object
may also limit dynamic
values. The warning can
only be acknowledged if
only one motion command
remains active.
0022 Internal warning Temporary internal problem For detailed information, refer to the 20009,
alarm view of S7T Config 40109,
50010
0023 The max. acceleration The defined stop time Increase the stop time or acceleration 40013
limits the stop time cannot be reached. The setting in your configuration.
stop time is prolonged
because it cannot be
reached due to the effective
maximum acceleration.
0026 Position limited to The target position of a Check the calculated target position 40105
software limit switch positioning command is
outside the range of the
software limit switch

* Alarms in S7T Config which may be associated with the warning indicated.

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Technology DBs

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8001 Fatal internal error Project/software Check consistency of the project. 20001,
faulty/inconsistent; cannot Recompile all data and download 50015
be rectified by the user. these to the module. Read the error
code from the alarm view in
S7T Config and then inform the
Siemens Hotline.
8002 Internal error • Version conflict Check consistency of the project. 30004,
• Firmware error Recompile all data and download 30005,
these to the module. Evaluate the 30010,
• Inconsistent software alarm view of S7T Config and inform 30011,
the Siemens Hotline. 30015
8003 Fatal configuration error Faulty axis configuration. A • Check the plausibility of changed 20004,
hardware driver, or the parameters. Examples: 20006
device it addresses, may Leadscrew pitch is 0; homing with
not be available absolute value encoder beyond
zero mark is not possible.
• Check the connected devices and
their configuration in HW Config.
• Verify that the message frame
type used is compatible with the
object.
• Download the technology to the
PLC again.
8004 Configuration error Incomplete or faulty Check the plausibility of changed 20003,
configuration of a TO. parameters. Evaluate the detailed 20011
information in the alarm view of
S7T Config.
8005 Command memory is full The command can not be In S7T Config, increase the 30003
executed, because of "maximum number of active
insufficient command command IDs." Set the value in the
capacity - Cause: Expert List at configuration parameter
• The TO can not save numberOfMaxBufferedCommandId.
additional commands This setting also increases the
command handling capacity of the
TO.
8006 Insufficient memory Integrated Technology is Reduce the number of technology 20002
out of memory. objects, or the number of interpolation
points or the polynomials in the cam
disks.
8008 Invalid technology DB The Technology rejects the Recreate the DB in the "Technology
DB because this does not Objects Management" dialog box and
have a valid internal ID. download the configuration data
Perhaps the DB was again, i.e. establish online / offline
generated in a copy consistency.
operation.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
800A HW driver not available The driver of a physical Check whether the logical device was 20014
device is unavailable or in available at the time the request was
use by another TO. output, or whether it was in use by
another technology object (TO).
Connect a suitable device. Check the
device, i.e. its function, connections
and wiring.
Check the topology in HW Config.
Compare the configuration in HW
Config with that of the TO.
8010 Drive failure Failure of the drive, or of an Check the device functions, 20005,
external device, or connections and wiring. Check the 50001
communication is configuration in HW Config, based on
disrupted, as a result of current message frame settings.
faulty configuration or
parameter data.
8012 Homing error The requested homing Check the settings for axis homing in 40103
mode is not supported. terms of inconsistency and illegal
Examples: Homing with values.
absolute value encoder;
Homing
velocity = 0.;
8013 Hardware limit switch is • The hardware- Return the drive to its operating 50007
active limit switch was range. Check the limit switch
triggered. connections.
• The polarity of the
switch was reversed.
• Wrong direction of the
release motion
8014 Software- A motion was stopped Check the motion program. 40106,
limits switch approached when the software limit 40111
switch was reached
8015 Software limit switch An axis has passed the Check the motion program. 40107,
passed software limit switch. 40112
8016 Following error out of The offset between the Check the sense of direction of the 50102
limits position setpoint and the encoder, the settings of the position
actual position of the axis control loop and of following error
has exceeded configured monitoring.
limits.
8017 Following error has The offset between the Check the sense of direction of the 50103
exceeded the warning position setpoint and the encoder, the settings of the position
limit actual position of the axis control loop and of following error
has exceeded configured monitoring.
warning limits.
8018 Standstill monitoring error The axis has moved out of Check the functions of the speed / 50107,
the standstill window or position control loops, and the 50008
could not reach the settings of standstill monitoring.
standstill window within the
time specified.
8019 Positioning monitoring The axis failed to reach the Check the functions of the speed / 50106
error positioning window within position control loops, and the
the specified time. settings of positioning monitoring.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
801A Synchronization The following axis of a Check the synchronization and 40110,
monitoring error synchronous grouping can desynchronization parameters, the 40201
not operate within gear ratio, and the configured units.
configured tolerance limits, Increase the set tolerance.
i.e. the offset between the
position setpoint and actual
value is too high.
801B Clamping monitoring error Clamping error. Check: 50108
The axis has exceeded the • the fixed end stop
"Position tolerance after • the function of the position control
fixed end stop detection" loop
without having received a
• the clamping monitoring settings
new motion command.
in S7T Config
(Position tolerance setting
in S7T Config > Limits >
"Fixed end stop" tab >
Parameter "Position
tolerance after fixed end
stop detection").
801C Dynamic limits are The internal monitoring Particularly when setting the values of 40012,
exceeded system has intervened in overriding motions, make sure you do 40202
the dynamic process, not set these too low in terms of
because user input would acceleration, deceleration and jerk.
violate limit values or lead With superimposing motions, always
to impermissible reversal or make allowances for superimposing
overshoot of the axis. values at the dynamic parameters.
801D Reference cam or • Reference cam or Check the permissible ranges (max. 40101,
encoder zero mark not encoder zero mark distance between reference cam and 40102
found outside the permitted encoder zero mark, for example) and
range. the end position monitoring system,
• An end position and reduce the cutoff speed.
monitoring function has
responded.
• The speed was too
high.
801F Dynamic control loop out • The position or speed • Check the sense of direction of 50101
of range controllers are not the encoder.
tuned • Check the control loop
• Wrong sense of parameters.
direction of the encoder • Modify the parameters of
• The parameter settings following error monitoring.
of following error
monitoring are too
sensitive
• Offset between speed
setpoint and actual
value too high
8020 Setpoint limiting active The speed setpoint is • Check the maximum values of 50016
limited by the manipulated manipulated variable limiting in
variable limiting. the "Manipulated variable limiting"
field in the "Static controller data"
tab of the Axis > Control dialog
• Check the configuration of the
speed setpoint interface
• Check the mechanical
configuration.
• Check the encoder connection

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ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8030 Limit frequency of the The pulse rate of the Check the encoder wiring. Check 50002
measuring system encoder signals is out of whether the configured maximum
exceeded the permitted range. speed is too low.
8031 Actual value monitoring • An incremental encoder Check and adjust the configuration 50001,
error is out of range data for the adaptation of the actual 50013
• The movement per value to mechanical requirements
position controller cycle
exceeds the modulo
length of the axis
8032 Cannot shift the The programmed Check the programmed shift of the 30014
coordinate system coordinate system shift (set coordinate system.
or correct the actual
position value) leads to a
violation of the internal
traversing range. The
coordinate system is not
shifted.
8033 Encoder zero mark Wrong number of Check the wiring and the set encoder 50006
monitoring triggered increments between resolution.
encoder zero marks.
8040 The axis / external The enable signal required Eliminate and acknowledge all 40005
encoder are disabled, or for a motion command is queued errors and then enable the
the wrong mode is set missing. relevant axis mode (e.g. position-
controlled).
8041 Axis not homed The active motion Home the axis ("MC_Home") If this 40108
command requires a command is to be executed at an axis
homed axis. which is not homed, then set axis
homing to "Homing required = no"
8042 Illegal change of the axis The command for changing 40001
status the axis status was
rejected, because:
• The current operating Retry job
phase is not completed
yet.
• A mode transition is not Initialize with reset.
possible.
8043 Illegal command One or several invalid Check the command and adjust illegal 30001
parameter value or preset values at the input parameters. You should also observe
value parameters in the current preset values.
technology function of the
command, or illegal default
parameters.
8045 Command not allowed in • A command of higher Acknowledge all queued errors of the 30006,
current state priority is active (e.g. technology object. 30009
"MC_Stop") Wait for initialization of the TO (after
• Technology object restart).
disabled or not ready.
Enable the technology object.
• Received measurement Disable "MC_Stop."
command when
homing Do not start any measuring
commands during homing.
8046 Command not supported The connected drive does Check and adjust the drive settings 50012
by the drive not support this type of and configuration data.
command, for example, a
specific homing mode.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8047 Cannot acknowledge this It is not possible to reset Eliminate all causes of error and retry 30007
error the error with "MC_Reset." to acknowledge. Please note that you
Examples: must acknowledge particular errors by
• An axis has been cycling power OFF and ON.
brought to standstill,
and the error causing
this can not be
acknowledged.
• Further errors occur
during acknowledgment
or in the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge all 20012
queued error prevents queued errors and disable the object.
restart.
8049 Illegal object combination Faulty combination of 20007
technology objects.
Examples:
• Axis_2 was set as • Set a defined leading / following
leading synchronization axis combination.
axis for Axis_1, while
Axis_1 is set as leading
axis for Axis_2.
• The synchronized
drives are processed at • Assign the leading / following
different run levels. axes to the same run level
(usually the interpolator cycle).
804A The required object • No allowances have Select the required leading axes, cam 30008
interconnection is missing been made in the disks, or valve profiles from the
application program for "Configuration" section of the
relevant combinations synchronization object of the following
of leading / following axis.
axes and cam disks.
• The configured cam
disk was not assigned
to the axis as valve
profile in S7T Config.
804B Limit switch active; illegal A hardware Check the mechanical configuration 50009
command limit switch is active. Only and the wiring.
motion commands in Correct any program errors or use the
direction of the operating software limit switches.
range are allowed.
8082 Illegal Zero value in The command passed Check the parameters and default 40006,
parameter contains a Zero parameter. values. Observe in particular the limits 40007,
This value, however, must and dynamic values (for example, 40008,
be unequal to Zero. max. speed or deceleration of a 40009,
positioning operation.) 40010,
40011
8085 Illegal limit switch Implausible position values Adjust the setting of the SW limit 40104
parameters set at the SW limit switch. switch. After the first change of the
One of the values violates position, the position value of the
the range, or the start value positive switch must be higher than
exceeds the end value. The that of the negative switch.
latter may occur if you
neglect the order by which
parameters are changed.

* Alarms in S7T Config which may be associated with the indicated error.

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 Technology DBs

7.11.2 ErrorIDs – Synchronization technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
0020 Restart to activate A parameter was changed Apply the parameter 20010 20010
the parameter and is not applied changes by disabling and
changes immediately then initializing the object
("MC_Reset" with Restart =
TRUE)
0021 Dynamic values are • The command's Check the cause of the 40002, 40002,
limited dynamic values excess setpoint values: 40003, 40004 40003,
(velocity, acceleration, Configured high limits; 40004,
deceleration or jerk) speed setpoint interface; 50003, 50005
are being limited encoder wiring; mechanical
because these exceed configuration.
set limits.
• Any superimposing
commands which are
active at the Acknowledge the warning
technology object may when the superimposing
also limit dynamic motion has ended.
values. The warning
cannot be
acknowledged until
the resulting dynamic
response of the
superimposed
commands is no
longer limited.
0022 Internal warning Temporary internal For detailed information, 50103, 20009,
problem refer to the alarm view of 50104, 40109, 50010
S7T Config 50105,
50106,
50108, 50109
0023 The max. The defined stop time Increase the stop time or 40013 0023
acceleration limits cannot be reached. The acceleration setting in your
the stop time stop time is prolonged configuration.
because it cannot be
reached due to the
effective maximum
acceleration.
0024 No long-term The numerator and Modify the transmission 50008
stability of gear denominator values of the ratio, or correct any
synchronism gear ratio are too high. inaccuracy with a new
This may result in synchronization.
mathematical rounding
errors in long-term
operation.
0026 Position limited to The target position of a Check the calculated target 40105
software limit switch positioning command is position
outside the range of the
software limit switch

* Alarms in S7T Config which may be associated with the warning indicated.

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Technology DBs

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8001 Fatal internal error Project/software Check consistency of the 20001 20001, 50015
faulty/inconsistent; cannot project. Recompile all data
be rectified by the user. and download these to the
module. Read the error
code from the alarm view in
S7T Config and then inform
the Siemens Hotline.
8002 Internal error • Version conflict Check consistency of the 30004, 30004,
• Firmware error project. Recompile all data 30005, 30005,
and download these to the 30010, 30010,
• Inconsistent software module. Evaluate the alarm 30011, 30015 30011, 30015
view of S7T Config and
inform the Siemens Hotline.
8003 Fatal configuration Faulty axis configuration. • Check the plausibility of 20004, 20006 20004, 20006
error A hardware driver, or the changed parameters.
device it addresses, may Examples: Leadscrew
not be available pitch is 0; homing with
absolute value encoder
beyond zero mark is not
possible.
• Check the connected
devices and their
configuration in HW
Config.
• Verify that the message
frame type used is
compatible with the
object.
• Download the
technology to the PLC
again.
8004 Configuration error Incomplete or faulty Check the plausibility of 20003, 20011 20003, 20011
configuration of a TO. changed parameters.
Evaluate the detailed
information in the alarm
view of S7T Config.
8005 Command memory The command can not be In S7T Config, increase the 30003 30003
is full executed, because of "maximum number of active
insufficient command command IDs." Set the
capacity - Cause: value in the Expert List at
• The TO can not save configuration parameter
additional commands numberOfMaxBufferedCom
mandId.
This setting also increases
the command handling
capacity of the TO.
8006 Insufficient memory Integrated Technology is Reduce the number of 20002 20002
out of memory. technology objects, or the
number of interpolation
points or the polynomials in
the cam disks.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8008 Invalid technology The Technology rejects Recreate the DB in the
DB the DB because this does "Technology Objects
not have a valid internal Management" dialog box
ID. Perhaps the DB was and download the
generated in a copy configuration data again, i.e.
operation. establish online / offline
consistency.
8009 The technology DB The DB is no longer Delete the DB
is disabled because assigned to the technology
it was replaced with object, because a newer
a newer instance instance with a different
DB number has been
downloaded.
800A HW driver not The driver of a physical Check whether the logical 20014 20014
available device is unavailable or in device was available at the
use by another TO. time the request was output,
or whether it was in use by
another technology object
(TO).
Connect a suitable device.
Check the device, i.e. its
function, connections and
wiring.
Check the topology in HW
Config.
Compare the configuration
in HW Config with that of
the TO.
8010 Drive failure Failure of the drive, or of Check the device functions, 20005 20005, 50001
an external device, or connections and wiring.
communication is Check the configuration in
disrupted, as a result of HW Config, based on
faulty configuration or current message frame
parameter data. settings.
8012 Homing error The requested homing Check the settings for axis 40103
mode is not supported. homing in terms of
Examples: Homing with inconsistency and illegal
absolute value encoder; values.
Homing
velocity = 0.;
8013 Hardware limit • The hardware- Return the drive to its 50007
switch is actuated limit switch was operating range. Check the
triggered. limit switch connections.
• The polarity of the
switch was reversed.
• Wrong direction of the
release motion
8014 Software- A motion was stopped Check the motion program. 40106, 40111
limits switch when the software limit
approached switch was reached
8015 Software limit switch An axis has passed the Check the motion program. 40107, 40112
passed software limit switch.

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A5E00251798-05 7-49
Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8016 Following error out The offset between the Check the sense of direction 50102
of limits position setpoint and the of the encoder, the settings
actual position of the axis of the position control loop
has exceeded configured and of following error
limits. monitoring.
8017 Following error has The offset between the Check the sense of direction 50103
exceeded the position setpoint and the of the encoder, the settings
warning limit actual position of the axis of the position control loop
has exceeded configured and of following error
warning limits. monitoring.
8018 Standstill monitoring The axis has moved out of Check the functions of the 50107, 50008
error the standstill window or speed / position control
could not reach the loops, and the settings of
standstill window within standstill monitoring.
the time specified.
8019 Positioning The axis failed to reach Check the functions of the 50106
monitoring error the positioning window speed / position control
within the specified time. loops, and the settings of
positioning monitoring.
801A Synchronization The following axis of a Check the synchronization 40110, 40201
monitoring error synchronous grouping can and desynchronization
not operate within parameters, the gear ratio,
configured tolerance limits, and the configured units.
i.e. the offset between the Increase the set tolerance.
position setpoint and
actual value is too high.
801B Clamping monitoring Clamping error. Check: 50108
error The axis has exceeded • the fixed end stop
the "Position tolerance • the function of the
after fixed end stop position control loop
detection" without having
• the clamping monitoring
received a new motion
command. settings in S7T Config

(Position tolerance setting

in S7T Config > Limits >
"Fixed end stop" tab >
Parameter "Position
tolerance after fixed end
stop detection".)

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
801C Dynamic limits are • The internal Particularly when setting the 40012
exceeded monitoring system has values of release motions,
intervened in the make sure you do not set
dynamic process, these too low in terms of
because user input acceleration, deceleration
would violate limit and jerk. With
values or lead to superimposing motions,
impermissible reversal always make allowances for
or overshoot of the superimposing values at the
axis. dynamic parameters.
• The dynamic values Change the value at
returned by the configuration parameter
leading axis during SyncingMotion.
synchronization are synchronizingAdaption of
higher than the values the synchronization object
defined at the to NO, if the following axis is
following axis. The to be synchronized based
dynamic values set at on its set dynamic values.
the following axis for You can also change the
synchronization will be configuration parameter
ignored, and the using parameter number
following axis is 4337 at the
synchronized with the "MC_WriteParameter"
leading axis technology function.
accordingly.
801D Reference cam or • Reference cam or Check the permissible 40101, 40102
encoder zero mark encoder zero mark ranges (max. distance
not found outside the permitted between reference cam and
range. encoder zero mark, for
• An end position example) and the end
monitoring function position monitoring system,
has responded. and reduce the cutoff
speed.
• The speed was too
high.
801F Dynamic control loop • The position or speed • Check the sense of 50101
out of range controllers are not direction of the encoder.
tuned • Check the control loop
• Wrong sense of parameters.
direction of the • Modify the following
encoder error monitoring
• The parameter parameters.
settings of following
error monitoring are
too sensitive
• Offset between speed
setpoint and actual
value too high
8030 Limit frequency of The pulse rate of the Check the encoder wiring. 50002
the measuring encoder signals is out of Check whether the
system exceeded the permitted range. configured maximum speed
is too low.

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A5E00251798-05 7-51
Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8031 Actual value • An incremental Check and adjust the 50001, 50013
monitoring error encoder is out of configuration data for the
range adaptation of the actual
• The movement per value to mechanical
position controller requirements
cycle exceeds the
modulo length of the
axis
8032 Cannot shift the The programmed Check the programmed shift 30014
coordinate system coordinate system shift of the coordinate system.
(set or correct the actual
position value) leads to a
violation of the internal
traversing range. The
coordinate system is not
shifted.
8033 Encoder zero mark Wrong number of Check the wiring and the set 50006
monitoring increments between encoder resolution.
triggered encoder zero marks.
8040 The axis / external The enable signal required Eliminate and acknowledge 40005
encoder are for a motion command is all queued errors and then
disabled, or the missing. enable the relevant axis
wrong mode is set mode (e.g. position-
controlled).
8041 Axis not homed The active motion Home the axis 40108
command requires a ("MC_Home") If this
homed axis. command is to be executed
at an axis which is not
homed, then set axis
homing to "Homing required
= no"
8042 Illegal change of the The command for 40001
axis status changing the axis status
was rejected, because:
• This phase of the Repeat the command
operating state
is not completed.
• A mode transition is Initialize with reset.
not possible.
8043 Illegal command One or several invalid Check the command and 30001, 50107 30001
parameter- values at the input adjust illegal parameters.
or preset value parameters in the You should also observe
technology function of the current preset values.
command, or illegal
default parameters.
8045 Command not • A command of higher Acknowledge all queued 30006 30006, 30009
allowed in current priority is active (e.g. errors of the technology
state "MC_Stop") object.
• Technology object Wait for initialization of the
disabled or not ready. TO (after restart).
• Received Enable the technology
measurement object.
command when Disable "MC_Stop."
homing
Do not start any measuring
commands during homing.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8046 Command not The connected drive does Check and adjust the drive 50012
supported by the not support this type of settings and configuration
drive command, for example, a data.
specific homing mode.
8047 Cannot It is not possible to reset Eliminate all causes of error 30007 30007
acknowledge this the error with "MC_Reset." and retry to acknowledge.
error Examples: Please note that you must
• An axis has been acknowledge particular
brought to standstill, errors by cycling power OFF
and the error causing and ON.
this can not be
acknowledged.
• Further errors occur
during
acknowledgment or in
the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge 20012 20012
queued error prevents all queued errors and
restart. disable the object.
8049 Illegal object Faulty combination of 20007 20007
combination technology objects.
Examples:
• Axis_2 was set as • Set a defined leading /
leading following axis
synchronization axis combination.
for Axis_1, while
Axis_1 is set as
leading axis for
Axis_2.
• The synchronized • Assign the leading /
drives are processed following axes to the
at different run levels. same run level (usually
the interpolator cycle).
804A The required object • No allowances have Select the required leading 30008 30008
interconnection is been made in the axes, cam disks, or valve
missing application program profiles from the
for relevant "Configuration" section of
combinations of the synchronization object
leading / following of the following axis.
axes and cam disks.
• The configured cam
disk was not assigned
to the axis as valve
profile in S7T Config.
804B Limit switch active; A hardware Check the mechanical 50009
illegal command limit switch is actuated. configuration and the wiring.
Only motion commands in Correct any program errors
direction of the operating or use the software limit
range are allowed. switches.
8063 Cam is not At the start of camming, it Check the current cam 50002
interpolated was detected that the cam status at the technology DB.
was not interpolated yet. Add the missing points or
segments, and then
interpolate the cam.

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A5E00251798-05 7-53
Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8064 Failed to access the • The cam disk • Check the cam disk and 50001, 50004
cam specified does not all possible
exist. interconnections with
the axes (configuration
of synchronism).
• The cam disk is not • In order to be able to
interconnected with edit the cam disk, the
synchronous cam disk may neither be
operation. active in cam
synchronization, nor be
used as valve profile of
• The cam disk is a hydraulic axis.
already active. • If camming is started
relative to the leading
axis, the value of the
system variable
userdefault.
cammingsettings.
camstartpositionmaster
at the synchronization
object must lie within
the definition range of
the cam disk.
• The position of the
leading axis is outside • In order to execute non-
the cam definition cyclic cam
range synchronization with
absolute reference to
the leading axis, the
current position of the
master must be within
the definition range of
the cam.
Make allowances for the
cam shift caused by input
parameter MasterOffset.
8065 Cam A specified cam Check the start and end 50003
out of range interpolation point violates positions of cam
the defined cam range. synchronization and
desynchronization.
8072 Error when This error is caused by an Check the motion of the 50007
activating/deactivatin illegal status of the leading leading axis, or select a
g synchronous axis during different synchronization
operation synchronization and strategy.
desynchronization.
Example The leading axis
reverses during position-
based synchronization.
8073 Violation of leading The dynamic values at the Check the motion of the 50009
axis dynamics in leading axis are too high leading axis, or select a
synchronous during synchronization different synchronization
operation and desynchronization strategy.
(e.g. acceleration values
too high)

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in Alarms in
S7T Config * S7T Config *
Synchroni- Synchroni-
zation zation
object axis
8074 The leading axis is • In the configuration of Adjust the configuration of 50101, 50102
not configured for the following axis, the the following axis or use the
synchronous axis connected at the configured leading axes.
operation "master" terminal was Operate the leading axis in
not defined as leading position-controlled mode or
axis. enable it.
• The leading axis is not
enabled (applies only
for the external
encoder).
• The leading axis is
operated in speed-
controlled mode.
8077 Deactivation of Deactivation of Deactivate camming with 50005
synchronous synchronism has been MC_CamOut and gearing
operation aborted rejected because the with MC_GearOut, or use
current synchronization global instructions
mode (gear / cam gear) (MC_Halt,
does not agree with the "MC_Stop", ...)
deactivation type.
8078 Superimposing Superimposing Adjust the settings in the
synchronism is not synchronism was set for experts list
possible the axis in the experts list.
8082 Illegal Zero value in The command passed Check the parameters and 40006, 40006,
parameter contains a Zero default values. Observe in 40007, 40007,
parameter. This value, particular the limits and 40008, 40008,
however, must be unequal dynamic values (for 40009, 40009,
to Zero. example, max. speed or 40010, 40011 40010, 40011
deceleration of a positioning
operation.)
8085 Illegal limit switch Implausible position Adjust the setting of the SW 40104
parameters values set at the SW limit limit switch. After the first
switch. One of the values change of the position, the
violates the range, or the position value of the positive
start value exceeds the switch must be higher than
end value. The latter may that of the negative switch.
occur if you neglect the
order by which parameters
are changed.

* Alarms in S7T Config which may be associated with the indicated error.

S7-Technology
A5E00251798-05 7-55
Technology DBs

7.11.3 ErrorIDs – External encoder technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
0020 Restart to activate the A parameter was changed Apply the parameter changes by 20010
parameter changes and is not applied disabling and then initializing the
immediately object ("MC_Reset" with Restart =
TRUE)
0021 Dynamic values are The command's dynamic Check the cause of the excess 50003,
limited values (velocity, setpoint values: Configured high 50005
acceleration, deceleration limits; speed setpoint interface;
or jerk) are being limited encoder wiring; mechanical
because these exceed set configuration.
limits.

* Alarms in S7T Config which may be associated with the warning indicated.

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8001 Fatal internal error Project/software Check consistency of the project. 20001,
faulty/inconsistent; cannot Recompile all data and download 50015
be rectified by the user. these to the module. Read the error
code from the alarm view in
S7T Config and then inform the
Siemens Hotline.
8002 Internal error • Version conflict Check consistency of the project. 30004,
• Firmware error Recompile all data and download 30005,
these to the module. Evaluate the 30010,
• Inconsistent software alarm view of S7T Config and inform 30011,
the Siemens Hotline. 30015
8003 Fatal configuration error Faulty axis configuration. A • Check the plausibility of changed 20004,
hardware driver, or the parameters. Examples: 20006
device it addresses, may Leadscrew pitch is 0; homing with
not be available absolute value encoder beyond
zero mark is not possible.
• Check the connected devices and
their configuration in HW Config.
• Verify that the message frame
type used is compatible with the
object.
• Download the technology to the
PLC again.
8004 Configuration error Incomplete or faulty Check the plausibility of changed 20003,
configuration of a TO. parameters. Evaluate the detailed 20011
information in the alarm view of
S7T Config.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8005 Command memory is full The command can not be In S7T Config, increase the 30003
executed, because of "maximum number of active
insufficient command command IDs." Set the value in the
capacity - Cause: Expert List at configuration parameter
• The TO can not save numberOfMaxBufferedCommandId.
additional commands This setting also increases the
command handling capacity of the
TO.
8006 Insufficient memory Integrated Technology is Reduce the number of technology 20002
out of memory. objects, or the number of interpolation
points or the polynomials in the cam
disks.
8008 Invalid technology DB The Technology rejects the Recreate the DB in the "Technology
DB because this does not Objects Management" dialog box and
have a valid internal ID. download the configuration data
Perhaps the DB was again, i.e. establish online / offline
generated in a copy consistency.
operation.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.
800A HW driver not available The driver of a physical Check whether the logical device was 20014
device is unavailable or in available at the time the request was
use by another TO. output, or whether it was in use by
another technology object (TO).
Connect a suitable device. Check the
device, i.e. its function, connections
and wiring.
Check the topology in HW Config.
Compare the configuration in HW
Config with that of the TO.
8010 Drive failure Failure of the drive, or of an Check the device functions, 20005,
external device, or connections and wiring. Check the 50001
communication is configuration in HW Config, based on
disrupted, as a result of current message frame settings.
faulty configuration or
parameter data.
8012 Homing error The requested homing Check the settings for axis homing in 40103
mode is not supported. terms of inconsistency and illegal
Examples: Homing with values.
absolute value encoder;
Homing
velocity = 0.;
8013 Hardware limit switch is • The hardware- Return the drive to its operating 50007
active limit switch was range. Check the limit switch
triggered. connections.
• The polarity of the
switch was reversed.
• Wrong direction of the
release motion

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A5E00251798-05 7-57
Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8016 Following error out of The offset between the Check the sense of direction of the 50102
limits position setpoint and the encoder, the settings of the position
actual position of the axis control loop and of following error
has exceeded configured monitoring.
limits.
8017 Following error has The offset between the Check the sense of direction of the 50103
exceeded the warning position setpoint and the encoder, the settings of the position
limit actual position of the axis control loop and of following error
has exceeded configured monitoring.
warning limits.
8018 Standstill monitoring error The axis has moved out of Check the functions of the speed / 50107,
the standstill window or position control loops, and the 50008
could not reach the settings of standstill monitoring.
standstill window within the
time specified.
8019 Positioning monitoring The axis failed to reach the Check the functions of the speed / 50106
error positioning window within position control loops, and the
the specified time. settings of positioning monitoring.
801B Clamping monitoring error Clamping error. Check: 50108
The axis has exceeded the • the fixed end stop
"Position tolerance after • the function of the position control
fixed end stop detection" loop
without having received a
new motion command. • the clamping monitoring settings
in S7T Config
(Position tolerance setting
in S7T Config > Limits >
"Fixed end stop" tab >
Parameter "Position
tolerance after fixed end
stop detection".)
801D Reference cam or • Reference cam or Check the permissible ranges (max. 40102
encoder zero mark not encoder zero mark distance between reference cam and
found outside the permitted encoder zero mark, for example) and
range. the end position monitoring system,
• An end position and reduce the cutoff speed.
monitoring function has
responded.
• The speed was too
high.
801F Dynamic control loop out • The position or speed • Check the sense of direction of 50101
of range controllers are not the encoder.
tuned • Check the control loop
• Wrong sense of parameters.
direction of the encoder • Modify the parameters of
• The parameter settings following error monitoring.
of following error
monitoring are too
sensitive
• Offset between speed
setpoint and actual
value too high
8030 Limit frequency of the The pulse rate of the Check the encoder wiring. Check 50002
measuring system encoder signals is out of whether the configured maximum
exceeded the permitted range. speed is too low.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8031 Actual value monitoring • An incremental encoder Check and adjust the configuration 50001,
error is out of range data for the adaptation of the actual 50013
• The movement per value to mechanical requirements
pulse of the position
controller exceeds the
modulo length of the
axis
8032 Cannot shift the The programmed Check the programmed shift of the 30014
coordinate system coordinate system shift (set coordinate system.
or correct the actual
position value) leads to a
violation of the internal
traversing range. The
coordinate system is not
shifted.
8033 Encoder zero mark Wrong number of Check the wiring and the set encoder 50006
monitoring triggered increments between resolution.
encoder zero marks.
8040 The axis / external The required command Eliminate and acknowledge all 40005
encoder are disabled, or enable signal is missing. queued errors and then enable the
the wrong mode is set axis for the relevant mode.
8043 Illegal command One or several invalid Check the command and adjust illegal 30001
parameter value or preset values at the input parameters. You should also observe
value parameters in the current preset values.
technology function of the
command, or illegal default
parameters.
8045 Command not allowed in • A command of higher Acknowledge all queued errors of the 30006,
current state priority is active (e.g. technology object. 30009
"MC_Stop") Wait for initialization of the TO (after
• Technology object restart).
disabled or not ready.
Enable the technology object.
• Received measurement Disable "MC_Stop."
command when
homing Do not start any measuring
commands in the homing phase.
8046 Command not supported The connected drive does Check and adjust the drive settings 50012
by the drive not support this type of and configuration data.
command, for example, a
specific homing mode.
8047 Cannot acknowledge this It is not possible to reset Eliminate all causes of error and retry 30007
error the error with "MC_Reset." to acknowledge. Please note that you
Examples: must acknowledge particular errors by
• An axis has been cycling power OFF and ON.
brought to standstill,
and the error causing
this can not be
acknowledged.
• Further errors occur
during acknowledgment
or in the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge all 20012
queued error prevents queued errors and disable the object.
restart.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8049 Illegal object combination Faulty combination of 20007
technology objects.
Examples:
• Axis_2 was set as • Set a defined leading / following
leading synchronization axis combination.
axis for Axis_1, while
Axis_1 is set as leading
axis for Axis_2.
• The synchronized
drives are processed at • Assign the leading / following
different run levels. axes to the same run level
(usually the interpolator cycle).
804A The required object No allowances have been Set the required leading axes and 30008
interconnection is missing made in the application cam disks in the "Configuration"
program for relevant section of the synchronization object
combinations of leading / of the following axis.
following axes and cam
disks.
804B Limit switch active; illegal A hardware Check the mechanical configuration 50009
command limit switch is actuated. and the wiring.
Only motion commands in Correct any program errors or use the
direction of the operating software limit switches.
range are allowed.

* Alarms in S7T Config which may be associated with the indicated error.

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 Technology DBs

7.11.4 ErrorIDs – Output cam technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
0020 Restart to activate the A parameter was changed Apply the parameter changes by 20010
parameter changes and is not applied disabling and then initializing the
immediately object ("MC_Reset" with Restart =
TRUE)

* Alarms in S7T Config which may be associated with the warning indicated.

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8001 Fatal internal error Project/software Check consistency of the project. 20001
faulty/inconsistent; cannot Recompile all data and download
be rectified by the user. these to the module. Read the error
code from the alarm view in
S7T Config and then inform the
Siemens Hotline.
8002 Internal error Version conflict, firmware Check consistency of the project. 30004,
error, inconsistent software Recompile all data and download 30005,
these to the module. Evaluate the 30010,
alarm view of S7T Config and inform 30011,
the Siemens Hotline. 30015
8003 Fatal configuration error Faulty axis configuration. A • Check the plausibility of changed 20004,
hardware driver, or the parameters. Examples: 20006
device it addresses, may Leadscrew pitch is 0; homing with
not be available absolute value encoder beyond
zero mark is not possible.
• Check the connected devices and
their configuration in HW Config.
• Verify that the message frame
type used is compatible with the
object.
• Download the technology to the
PLC again.
8004 Configuration error Incomplete or faulty Check the plausibility of changed 20003,
configuration of a TO. parameters. Evaluate the detailed 20011
information in the alarm view of
S7T Config.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8005 Command memory is full The command can not be In S7T Config, increase the 30003
executed, because of "maximum number of active
insufficient command command IDs." Set the value in the
capacity - Cause: Expert List at configuration parameter
• The TO can not save numberOfMaxBufferedCommandId.
additional commands This setting also increases the
command handling capacity of the
TO.
8006 Insufficient memory Integrated Technology is Reduce the number of technology 20002
out of memory. objects, or the number of interpolation
points or the polynomials in the cam
disks.
8008 Invalid technology DB The Technology rejects the Recreate the DB in the "Technology
DB because this does not Objects Management" dialog box and
have a valid internal ID. download the configuration data
Perhaps the DB was again, i.e. establish online / offline
generated in a copy consistency.
operation.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.
800A HW driver not available The driver of a physical Check whether the logical device was 20014
device is not available or is available at the time the request was
being used by another TO. output, or whether it was in use by
another technology object (TO).
Connect a suitable device. Check the
device, i.e. its function, connections
and wiring.
Check the topology in HW Config.
Compare the configuration in HW
Config with that of the TO.
8010 Drive failure Failure of the drive, or of an Check the device functions, 20005
external device, or connections and wiring. Check the
communication is configuration in HW Config, based on
disrupted, as a result of current message frame settings.
faulty configuration or
parameter data.
8021 Invalid cam position Invalid actual value at the • Restart of the corresponding axis 40005
cam. or external encoder.
• Failure of the output of actual
values at the encoder system
(due to drive failure, for example.)
8043 Illegal command One or several invalid Check the command and adjust illegal 30001,
parameter value or preset values at the input parameters. You should also observe 40003
value parameters in the current preset values.
technology function of the
command, or illegal default
parameters. Example
• The switching position
of an output cam is
outside the operating
range of the axis.

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7-62 A5E00251798-05
 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8045 Command not allowed in • A command of higher Acknowledge all queued errors of the 30006,
current state priority is active (e.g. technology object. 30009
"MC_Stop") Wait for initialization of the TO (after
• Technology object restart).
disabled or not ready.
Enable the technology object.
• Received measurement Disable "MC_Stop."
command when
Do not start any measuring
homing
commands in the homing phase.
8047 Cannot acknowledge this It is not possible to reset Eliminate all causes of error and retry 30007
error the error with "MC_Reset." to acknowledge. Please note that you
Examples: must acknowledge particular errors by
• An axis has been cycling power OFF and ON.
brought to standstill,
and the error causing
this can not be
acknowledged.
• Further errors occur
during acknowledgment
or in the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge all 20012
queued error prevents queued errors and disable the object.
restart.
8049 Illegal object combination Faulty combination of 20007
technology objects.
Examples:
• Axis_2 was set as • Set a defined leading / following
leading synchronization axis combination.
axis for Axis_1, while
Axis_1 is set as leading
axis for Axis_2.
• The synchronized
drives are processed at • Assign the leading / following
different run levels. axes to the same run level
(usually the interpolator cycle).
804A The required object No allowances have been Set the required leading axes and 30008
interconnection is missing made in the application cam disks in the "Configuration"
program for relevant section of the synchronization object
combinations of leading / of the following axis.
following axes and cam
disks.
8087 Illegal output cam position At least one output cam Check the output cam positions. 40001
position is invalid. The Reduce the current delay / derivative
output cam was moved time.
beyond the limits of the
operating range.

* Alarms in S7T Config which may be associated with the indicated error.

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Technology DBs

7.11.5 ErrorIDs – Measuring input technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
0020 Restart to activate the Changes to a parameter Apply the parameter changes by 20010
parameter changes are not applied directly disabling and then initializing the
object ("MC_Reset" with Restart =
TRUE)

* Alarms in S7T Config which may be associated with the warning indicated.

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8001 Fatal internal error Project/software Check consistency of the project. 20001
faulty/inconsistent; cannot Recompile all data and download
be rectified by the user. these to the module. Read the error
code from the alarm view in
S7T Config and then inform the
Siemens Hotline.
8002 Internal error Version conflict, firmware Check consistency of the project. 30004,
error, inconsistent software Recompile all data and download 30005,
these to the module. Evaluate the 30010,
alarm view of S7T Config and inform 30011,
the Siemens Hotline. 30015
8003 Fatal configuration error Faulty axis configuration. A • Check the plausibility of changed 20004,
hardware driver, or the parameters. Examples: 20006,
device it addresses, may Leadscrew pitch is 0; homing with 40006
not be available absolute value encoder beyond
zero mark is not possible.
• Check the connected devices and
their configuration in HW Config.
• Verify that the message frame
type used is compatible with the
object.
• Download the technology to the
PLC again.
8004 Configuration error Incomplete or faulty Check the plausibility of changed 20003,
configuration of a TO. parameters. Evaluate the detailed 20011
information in the alarm view of
S7T Config.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8005 Command memory is full The command can not be In S7T Config, increase the 30003
executed, because of "maximum number of active
insufficient command command IDs." Set the value in the
capacity - Cause: Expert List at configuration parameter
• The TO can not save numberOfMaxBufferedCommandId.
additional commands This setting also increases the
command handling capacity of the
TO.
8006 Insufficient memory Integrated Technology is Reduce the number of technology 20002
out of memory. objects, or the number of interpolation
points or the polynomials in the cam
disks.
8008 Invalid technology DB The Technology rejects the Recreate the DB in the "Technology
DB because this does not Objects Management" dialog box and
have a valid internal ID. download the configuration data
Perhaps the DB was again, i.e. establish online / offline
generated in a copy consistency.
operation.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.
800A HW driver not available The driver of a physical Check whether the logical device was 20014
device is unavailable or in available at the time the request was
use by another TO. output, or whether it was in use by
another technology object (TO).
Connect a suitable device. Check the
device, i.e. its function, connections
and wiring.
Check the topology in HW Config.
Compare the configuration in HW
Config with that of the TO.
8010 Drive failure Failure of the drive, or of an Check the device functions, 20005
external device, or connections and wiring. Check the
communication is configuration in HW Config, based on
disrupted, as a result of current message frame settings.
faulty configuration or
parameter data.
8034 Could not record a The expected edge of the Check the measuring range and the 40003,
measured value in this sensor signal was not electrical function of the sensor. 40004
range detected within the
specified measuring range.
8035 Measuring command Causes: Eliminate the encoder / drive error. Do 40005,
canceled • Drive or encoder error not access the same encoder in 40007,
parallel with several measuring 40008
• Operation aborted by inputs.
the recording device
• Multiple measuring
inputs access the same
encoder
8043 Illegal command One or several invalid Check the command and adjust illegal 30001
parameter value or preset values at the input parameters. You should also observe
value parameters in the current preset values.
technology function of the
command, or illegal default
parameters.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8044 Command not supported The technology DB Use the correct object type. Adjust the 40001
by the TO parameterized at the axis configuration.
technology function
belongs to a technology
object which does not
support this type of
command.
Example
Measurements at a virtual
axis are not possible.
8045 Command not allowed in • A command of higher Acknowledge all queued errors of the 30006,
current state priority is active (e.g. technology object. 30009,
"MC_Stop") Wait for initialization of the TO (after 40002
• Technology object restart).
disabled or not ready.
Enable the technology object.
• Received measurement Disable "MC_Stop."
command when
homing Do not start any measuring
commands in the homing phase.
8047 Cannot acknowledge this It is not possible to reset Eliminate all causes of error and retry 30007
error the error with "MC_Reset." to acknowledge. Please note that you
Examples: must acknowledge particular errors by
• An axis has been cycling power OFF and ON.
brought to standstill,
and the error causing
this can not be
acknowledged.
• Further errors occur
during acknowledgment
or in the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge all 20012
queued error prevents queued errors and disable the object.
restart.
8049 Illegal object combination Faulty combination of 20007
technology objects.
Examples:
• Axis_2 was set as • Set a defined leading / following
leading synchronization axis combination.
axis for Axis_1, while
Axis_1 is set as leading
axis for Axis_2.
• The synchronized
drives are processed at • Assign the leading / following
different run levels. axes to the same run level
(usually the interpolator cycle).
804A The required object No allowances have been Set the required leading axes and 30008
interconnection is missing made in the application cam disks in the "Configuration"
program for relevant section of the synchronization object
combinations of leading / of the following axis.
following axes and cam
disks.

* Alarms in S7T Config which may be associated with the indicated error.

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 Technology DBs

7.11.6 ErrorIDs – Cam technology DB

Valid for Integrated Technology with firmware V3.2.x

Warnings

ErrorID Warning message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
0020 Restart to activate the A parameter was changed Apply the parameter changes by 20010
parameter changes and is not applied disabling and then initializing the
immediately object ("MC_Reset" with Restart =
TRUE)
0022 Internal warning Temporary internal problem For detailed information, refer to the 40003
alarm view of S7T Config
0027 Failed to maintain Discontinuity of the position Move the interpolation limits. 40008
interpolation properties. or gradient was detected at Check the cam disk profile.
the transition between cam
segments Change the criteria for the
interpolation of segments.

* Alarms in S7T Config which may be associated with the warning indicated.

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8001 Fatal internal error Project/software Check consistency of the project. 20001
faulty/inconsistent; cannot Recompile all data and download
be rectified by the user. these to the module. Read the error
code from the alarm view in
S7T Config and then inform the
Siemens Hotline.
8002 Internal error • Version conflict Check consistency of the project. 30004,
• Firmware error Recompile all data and download 30005,
these to the module. Evaluate the 30010,
• Inconsistent software alarm view of S7T Config and inform 30011,
the Siemens Hotline. 30015
8003 Fatal configuration error Faulty axis configuration. A • Check the plausibility of changed 20004,
hardware driver, or the parameters. Examples: 20006
device it addresses, may Leadscrew pitch is 0; homing with
not be available absolute value encoder beyond
zero mark is not possible.
• Check the connected devices and
their configuration in HW Config.
• Verify that the message frame
type used is compatible with the
object.
• Download the technology to the
PLC again.
8004 Configuration error Incomplete or faulty Check the plausibility of changed 20003,
configuration of a TO. parameters. Evaluate the detailed 20011
information in the alarm view of
S7T Config.

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Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8005 Command memory is full The command can not be In S7T Config, increase the 30003
executed, because of "maximum number of active
insufficient command command IDs." Set the value in the
capacity - Cause: Expert List at configuration parameter
• The TO can not save numberOfMaxBufferedCommandId.
additional commands This setting also increases the
command handling capacity of the
TO.
8006 Insufficient memory Integrated Technology is Reduce the number of technology 20002
out of memory. objects, or the number of interpolation
points or the polynomials in the cam
disks.
8008 Invalid technology DB The Technology rejects the Recreate the DB in the "Technology
DB because this does not Objects Management" dialog box and
have a valid internal ID. download the configuration data
Perhaps the DB was again, i.e. establish online / offline
generated in a copy consistency.
operation.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.
800A HW driver not available The driver of a physical Check whether the logical device was 20014
device is unavailable or in available at the time the request was
use by another TO. output, or whether it was in use by
another technology object (TO).
Connect a suitable device. Check the
device, i.e. its function, connections
and wiring.
Check the topology in HW Config.
Compare the configuration in HW
Config with that of the TO.
8010 Drive failure Failure of the drive, or of an Check the device functions, 20005
external device, or connections and wiring. Check the
communication is configuration in HW Config, based on
disrupted, as a result of current message frame settings.
faulty configuration or
parameter data.
8043 Illegal command One or several invalid Check the command and adjust illegal 30001
parameter value or preset values at the input parameters. You should also observe
value parameters in the current preset values.
technology function of the
command, or illegal default
parameters.
8045 Command not allowed in • A command of higher Acknowledge all queued errors of the 30006,
current state priority is active (e.g. technology object. 30009
"MC_Stop") Wait for initialization of the TO (after
• Technology object restart).
disabled or not ready.
Enable the technology object.
• Received measurement Disable "MC_Stop."
command when
homing Do not start any measuring
commands during homing.

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 Technology DBs

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Confi
g*
8047 Cannot acknowledge this It is not possible to reset Eliminate all causes of error and retry 30007
error the error with "MC_Reset." to acknowledge. Please note that you
Examples: must acknowledge particular errors by
• An axis has been cycling power OFF and ON.
brought to standstill,
and the error causing
this can not be
acknowledged.
• Further errors occur
during acknowledgment
or in the restart phase.
8048 Unable to restart The object is active, or a Eliminate and acknowledge all 20012
queued error prevents queued errors and disable the object.
restart.
8049 Illegal object combination Faulty combination of 20007
technology objects.
Examples:
• Axis_2 was set as • Set a defined leading / following
leading synchronization axis combination.
axis for Axis_1, while
Axis_1 is set as leading
axis for Axis_2.
• The synchronized
drives are processed at • Assign the leading / following
different run levels. axes to the same run level
(usually the interpolator cycle).
804A The required object No allowances have been Set the required leading axes and 30008
interconnection is missing made in the application cam disks in the "Configuration"
program for relevant section of the synchronization object
combinations of leading / of the following axis.
following axes and cam
disks.
8051 Read / write access An attempt was made to Necessary procedure: 40001,
denied. delete a cam, or to adjust it • Terminate synchronous operation 40002
while it was in use. of the cam, and then edit it.
• Assign a different cam disk to the
hydraulic axis with
"MC_SetCharacteristic".
8060 Error when adding a cam The new cam segment is Check the values defining the new 40004
segment faulty, e.g. its start and end cam segment.
points are identical.
8061 Cam point out of the The leading/following axis Set a valid position at 40005,
definition range / range of positions defined at "MC_GetCamPoint". 40006
values "MC_GetCamPoint" do not
exist in the definition
range/range of values of
the cam disk
8062 Access to an interpolated An illegal command was You can not adjust a cam while it is in 40007
cam not allowed output to an already use. Before you do so, delete it with
interpolated cam. MC_CamClear.
Example
"MC_CamSectorAdd"

* Alarms in S7T Config which may be associated with the indicated error.

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Technology DBs

7.11.7 ErrorIDs – MCDevice/Trace technology DB

Valid for Integrated Technology with firmware version V3.1.x

Errors

ErrorID Fault message Possible causes To correct or avoid errors Alarms in

S7T Config *
8008 Invalid technology DB The Technology rejects the Recreate the DB in the
DB because this does not "Technology Objects
have a valid internal ID. Management" dialog box and
Perhaps the DB was download the configuration data
generated in a copy again, i.e. establish online /
operation. offline consistency.
8009 The technology DB is The DB is no longer Delete the DB
disabled because it was assigned to the technology
replaced with a newer object, because a newer
instance instance with a different DB
number has been
downloaded.

* Alarms in S7T Config which may be associated with the indicated error.

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8 Download, test and diagnose

8.1 Connecting the programming device

All configuration data and programs are created on the PG or PC.

Always use the online cable to interconnect the PG with "X1" interface of the
Technology CPU.
Programming devices such as text-based displays and OPs may not be connected
to the "X3" interface (DP(DRIVE)). Any operation of these devices will jeopardize
isochronous operation on DP(DRIVE).
As an option, you may connect the programming device to a CP in your system.
Make allowances for prolonged load times when connecting to a CP, or when
setting a constant bus cycle at the "X1" interface.

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Download, test and diagnose

8.2 Online functions

8.2.1 Load commands in STEP 7

Regardless whether you are working in SIMATIC Manager, HW Config or in

S7T Config, you can always download your configuration data to the PLC, i.e. your
Technology CPU. Objects you can download:

User program (OB, FC, FB, DB) Program blocks and DBs from the blocks folder of your project.
System data The system data contain the permanent and configured
technical data of the CPU, i.e. the HW configuration and all
configuration data of integrated technology.
Hardware configuration The hardware configuration data are created in HW Config and
reflect the HW configuration of the station.
Technology These data comprise the configuration data of integrated
technology and of the TOs.
Firmware of integrated technology The current firmware of integrated technology is packed to
SDBs and saved to load memory of your Technology CPU. The
firmware download is based on the conditions listed below:
• The "Generate technology data" check box was set at the
time "Save and compile" was executed. You will find this
check box in the properties dialog box of the technology >
"Technology system data" tab in HW Config.
If the technology system data were not generated in the
"Save and compile" operation (check box was reset), all
existing firmware data will be deleted from load memory.
• The current firmware of integrated technology is not yet
saved to load memory. If it already exists in load memory,
the firmware will not be downloaded again.
Drive configuration In S7T Config, you can configure the MICROMASTER and
SINAMICS drives with integrated STARTER.

Below you will find a listing of objects you can download with the various tools:

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 Download, test and diagnose

Download in "SIMATIC Manager"

Marking Menu commands What is downloaded

PLC > Download • User Program
• Hardware configuration
• Technology
• Firmware of integrated
technology 1)

Selection has no effect PLC > Upload Station to • User Program

PG • Hardware configuration
• Technology (backup copy
only; can not be edited in
S7T Config)
• Firmware of integrated
technology
PLC > Download • User Program
• Hardware configuration
• Technology
• Firmware of integrated
technology 1)

PLC > Download user • User Program

program to memory card • Hardware configuration
• Technology
• Firmware of integrated
technology 1)
The contents of load memory will
be deleted before the download
starts.
PLC > Download • Hardware configuration
• Technology
• Firmware of integrated
technology 1)

No download The block folder and the

"technology objects" icon are only
representative objects used for
configuring the technology.

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Download, test and diagnose

Load commands of the "HW Config" tool

Marking Menu commands What is downloaded

No selection required / possible PLC -> Download to • Hardware configuration
Module • Technology
• Firmware of integrated
technology 1)

Load commands in the "S7T Config" tool

1) If the integrated technology firmware is identical in load memory of the
Technology CPU, the Technology CPU will not automatically perform a memory
reset after the download.

All download operations described can also be directed to the MMC in the MMC
interface of the PG / PC. The card can be used to reduce download times. The
same applies to the compact Flash card of the Technology CPU Microbox T.

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 Download, test and diagnose

8.2.2 Download commands in S7T Config - memory organization

8.2.2.1 Memory organization of integrated technology

The diagram below shows the memory areas associated with integrated
technology:

ROM (load memory)

"ROM" memory forms a part of load memory in the Technology CPU. At
CPU 31xT, this memory is located on the Micro Memory Card (MMC). A Compact
Flash Card as load memory in Microbox T. The entire "Technology" is stored in this
memory area. This includes the following data:
• Configuration data (defined in S7T Config)
• Default values of system variables
• Default interpolation points/polynomials (configured in S7T Config) of the cam
disks.

RAM (load memory)

The "RAM" memory area is also located in load memory of the Technology CPU.
The entire "Technology" is loaded to this memory area. This includes the following
data:
• Configuration data (defined in S7T Config)
• Default values of system variables
• Default interpolation points/polynomials (configured in S7T Config) of the cam
disks.

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Download, test and diagnose

ACTUAL
The "ACTUAL" memory area is a component of integrated technology. The
"ACTUAL" memory area is used to save and process actual runtime configuration
data, system variables, and the interpolation points and polynomials of the cam
disks.

NEXT
The "NEXT" memory area is also a component of integrated technology. This
memory area is used for the interim storage of changes which are not immediately
activated.

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 Download, test and diagnose

8.2.2.2 POWER ON and CPU memory reset

The representation below shows which memory areas will be loaded after POWER
ON, and after a memory reset of the Technology CPU.

The complete technology will be transferred from ROM to RAM.

The configuration data, the default values of system variables, including the default
interpolation points/polynomials of the cam disks are transferred from "RAM" to
"ACTUAL."

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Download, test and diagnose

8.2.2.3 Restarting a technology object

The representation below shows which memory area is copied to a TO after restart
(for example, by calling technology function "MC_Reset", input parameter Restart =
TRUE).

The configuration data and the default values of system variables for the relevant TO
are transferred from "ROM" to" RAM."
If the TO is a cam disk, the default interpolation points/polynomials will be included.
The configuration data, the default values of system variables, including the default
interpolation points/polynomials of the cam disks are transferred from "RAM" to
"ACTUAL."

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 Download, test and diagnose

8.2.2.4 Load commands in S7T Config

Target system / Target device

S7T Config distinguishes between the "Target system" and "Target device" objects
when handling download commands.
"Target device" is always the object selected in the Navigator. If the destination
device is a drive, all nested drive objects will be included.
The "Target system" is defined by calling the Options > Customize command.

You define the destination devices of the "Target system" in the "Download" tab.
• set the "CPUs" check box if the Technology CPU should belong to the "Target
system"
• set the "Drives" check box if all drives listed in the Navigator should belong to
the "Target system"

Note
The target devices of the "Target system" must be online.
You define which destination devices should go online by selecting the Target
system > Select target device command.

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Download, test and diagnose

Download to the Technology CPU

The diagram below shows the reaction in memory to commands of S7T Config to
download data to the Technology CPU.

Menu commands or shortcut menu commands:

• Project > Download to target system
• Target system > Download > Project to target system
• Target system > Download > to target device (if the technology is selected in
the Navigator)

The delta data of the project will be downloaded from the PG/PC to "RAM."
The delta data of the project are downloaded from "RAM" to "ROM."
At the transition of the Technology CPU from STOP to RUN, the configuration data,
the default values of the system variables, and the default interpolation
points/polynomials are transferred from "RAM" to "ACTUAL."

• Target system > Upload > Configuration data to PG

• Shortcut menu command Target device > Download Technology configuration
data to PG (if the technology was selected in the navigator)

This command uploads the configuration data from "RAM" to the project data on the
PG/PC.

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 Download, test and diagnose

Download to drive
The diagram below shows the reaction in memory to commands of S7T Config to
download data to the drive.

Menu commands or shortcut menu commands:

• Target system > Download > to target device (drive is selected in navigator)
• Shortcut menu Target system >Download to target device (drive is selected in
navigator)

Downloads drive-specific project data from the PG/PC to "ACTUAL" of the drive.
Transfers drive-specific project data from "ACTUAL" to "ROM" of the drive.

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Download, test and diagnose

8.2.2.5 Copying ACTUAL to ROM

The diagram below shows the memory areas copied by executing Target system
> Copy ACTUAL to ROM.

The configuration data are transferred from "ACTUAL" to "RAM," and then from
"RAM" to "ROM."
The configuration data defined in item 1 will also be uploaded to the PG/PC when
you set the "Upload configuration data to PG" in the dialog box of the menu.

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 Download, test and diagnose

8.2.2.6 Online changes in S7T Config

The diagrams below demonstrate the effects of online changes on the memory
areas of integrated technology.

Online changes in dialog boxes, in the expert list of the TOs, and by calling the
technology function "MC_WriteParameter"
In online mode of S7T Config, the modified value will be accepted and transferred
to the memory areas shown below when you close a field in the dialog boxes or in
the expert list. This also applies to write operations of the technology function
"MC_WriteParameter".
You must distinguish between changed configuration data of the type "Restart" and
"Immediate." You can identify the type in online mode by the entries in the "Effects"
column of the expert list, or by the entries in the parameters list.

Configuration data of the type "Restart" which were modified in online mode are
initially downloaded to the "NEXT" memory area.
When a TO "Restart" is executed (example: by setting input parameter Restart =
TRUE at technology function "MC_Reset",) the changed value is transferred from
memory area "NEXT" to "ACTUAL."
Changed values of configuration data of the "Immediate" type and of system
variables will be downloaded directly to "ACTUAL." Memory area "NEXT" will be by-
passed.

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Download, test and diagnose

Online changes using the "Collect changes" button function

In online mode, the expert list of the TOs features the "Collect changes" and
"Activate changes" buttons. Use the "Collect changes" button to maintain
consistency when editing selected configuration data.
By clicking "Collect changes," you open the "Next value" column in the expert list of
the configuration data, and gray out the "Actual value" column.

Any values changed in the "Next value" column will be transferred immediately to
memory area "NEXT." This applies to configuration data of the type "Restart" and
"Immediate."
When a TO "Restart" is executed (example: by setting input parameter Restart =
TRUE at the technology function "MC_Reset") you transfer the changed value from
memory area "NEXT" to "ACTUAL" (applies only to configuration data of the type
"Restart".)
When "Collect changes" is active, all configuration data of the type "immediate" will
also be transferred to memory area "NEXT."
Click "Activate changes" to apply all collected changes to the integrated technology.
Changed values of system variables are downloaded directly to "ACTUAL." Memory
area "NEXT" will be by-passed.

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Online change of a cam disk

In online mode of S7T Config, you can transfer cam disks from the cam disk
creation tool "CamEdit" to "AKTUAL" and vice versa. You can only transfer cam
disks to "ACTUAL" which are currently not in use by the Technology CPU.

Click "Download to device" to interpolate the cam disk represented in CamEdit, and
to download it to memory area "ACTUAL" of the integrated technology.
Click "Upload from device" to upload the interpolated cam disk from memory area
"ACTUAL" to CamEdit.

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8.3 Technology system cycles

8.3.1 Setting technology system clocks

The integrated technology processes your tasks in single processing cycles. Based
on the task, you can adjust the technology system clocks to suit your requirements
and to enhance performance of the Motion Control application.
Select the technology in S7T Config, and then select Target system > Set system
clocks.

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Cycle clock ratios

Set the clock of integrated technology in the "Cycle clock ratio". Select a suitable
ratio from the corresponding drop-down list. The absolute cycle time is displayed in
the column on the right side. Cycle times defined in this dialog box:
• Bus clock
Cannot be set in thus dialog box The "Bus clock" is set in HW as "constant
DP cycle" in the DP(DRIVE) settings
The constant DP cycle of the DP(DRIVE) interface forms the basic clock of the
technology system clocks.

The DP cycle time must be an integral multiple of 0.250 ms. Change the
value in HW Config if this not the case.
• Servo (position control cycle)
The system also calculates the axis position control within this cycle The
position control cycle can be set to an integral multiple of the DP cycle. The
Technology CPU supports the values 1 and 2. Select a multiplication factor
from the drop-down list box in order to set the required position control cycle.

Factor 1 should be the usual entry If you set the factor 2 dynamic performance
of the controller will deteriorate, however, computing time will be released for
processing other tasks. The average and maximum command execution times
can be read from the variables MaxLoopDuration and CmdLoopDuration of
Technology DB MCDevice.

The reduction ratio between the DP cycle and the position control cycle must
also be set at the drive as "master application cycle." This setting is required
for mutual sign-of-life monitoring. For further information, refer to the drive
documentation.
• Ipo (interpolator cycle)
Axis, external encoders, output cams and measuring inputs are computed by
default within the "Interpolator cycle" Select a multiplication factor from the
drop-down list box in order to set the required interpolator cycle
• Ipo_2 (Interpolator cycled 2)
"Interpolator cycle 2" is used to control motions of axis with lower priority This
value determines the time pattern for the calculation of axes, external
encoders, output cams and measuring inputs of a lower priority class. Select a
factor from the drop-down list box in order to set the required interpolator
cycle 2.

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Technology parameterization
Click the selection button of the drop-down box on the left edge of the dialog box to
view the contents of this area. Input boxes in this area:
• Command monitoring time
Set this time to determine the maximum execution time of all active Motion
Control command
If the job monitoring time is exceeded, the Technology CPU changes to the
safe operation mode STOP. An error message will be entered in the diagnostic
buffer.
• Technology DB update time
Select an entry from the drop-down list to determine the basic cycle used by
integrated technology to update the technology DBs (cf. "Updating technology
DBs"). Frequent update operations will prolong the execution of Motion Control
commands.
We speak of an "overflow" situation when a new Technology DB update is
initiated while a previous update cycle is not yet completed. When operating
with integrated technology firmware V3.1.x or earlier, the Technology CPU will
go into STOP when it detects a technology DB update overflow. Integrated
technology with firmware V3.2.x or higher tolerates this overflow, i.e. the non-
executable update is discarded, and technology synchronization interrupt OB
65 will not be called. The number of overflows, and therefore the failure rate of
Technology DB updates, can be read from the TODBTaskOverflows variable at
Technology DB "MCDevice"
• Maximum shutdown time
Enter the shutdown monitoring time for integrated technology If the shutdown
of integrated technology is not completed within this time the technology CPU
automatically goes into STOP.
• Number of tolerated IPO overflows / IPO2 overflows
An "IPO overflow" develops when the interpolator execution time exceeds the
configured interpolator cycle In this case, the next interpolator cannot be
started in the selected cycle and will be omitted. The interpolator will be started
as usual if processing is completed up to the next cycle.
Each omitted interpolator will be added to the number of "IPO overflows." At
the dropdown list box, set the number of successive "IPO overflows" to be
tolerated before the Technology CPU goes into STOP operation mode. The
number of overflow can be set separately for IPO and IPO2.

Network settings
Check your DP(DRIVE) settings in HW Config in this area.

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8.3.2 Checking the load on integrated technology

The typical use of memory by TOs and cam disk IPOs are described in the
"CPU Data" documentation of your Technology CPU. Determine the approximate
percentile value of memory utilization based on the values described in this
documentation. This approximate value should not exceed 80%.
You can check current memory load in S7T Config.

Checking the load on integrated technology

How to check load on integrated technology.
1. Download all TOs required to the Technology CPU.
Verify that the cam disks contain all interpolation points required. When
changing cam disks dynamically in runtime using the "MC_CamClear",
"MC_CamSectorAdd" and "MC_CamInterpolate" technology functions, use
these functions to create the interpolation points.
2. Change to "Online" mode in S7T Config.
3. In S7T Config, select the Target system > Device diagnostics command.
The "Device diagnostics" dialog box opens.
4. Select the "System load" tab.
This tab shows current memory load and "CPU load due to system tasks" of
integrated technology. The value indicated should not exceed 80%.
"CPU load due to system tasks" indicates the load on integrated technology
caused by the position control and interpolator cycles (ipo and ipo2) by percentage
(for example, 40%). The remaining time slice (60%, for example) is available for
Technology DB updates and command processing.
You can modify CPU load by adjusting the system clocks:
• Shorter system clocks increase control performance, but reduce the time slice
for command processing. Technology DB updates may require a longer clock.
• Longer system clocks, however, increase computing time for command
processing and Technology DB updates. This reduces control performance.
The value of "CPU load due to system tasks" should normally lie between 40% and
60%.

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8.4 Tuning position controllers

8.4.1 Position controller tuning - Overview

Tune the position controller of your axes if you set the focus on precise drive
positioning without oscillation. The description below is a practical example which
can be varied as required.

8.4.2 Preparing for tuning

In order to tune the position controller, it must be reduced to its basic functionality,
i.e. the "pre-control" and "balancing filter" must be disabled.

Block diagram of a position control loop without DSC

In a system operating a position control loop without DSC (Dynamic Servo

Control), the system calculates the position controller in the Technology CPU, and
the speed controller of the drive. The parameters are calculated in different cycles.

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Block diagram of a position control loop with DSC

For position control with DSC (Dynamic Servo Control), the system calculates the
position controller and the speed controller in the drive. This allows you to set
significantly higher gain factors (Kv) for the position controller. The position and
speed control parameters are calculated within the same cycle. Hence, the position
control and its subordinate control loop, i.e. the speed controller, are calculated at
precisely the same speed.
Do not disable Dynamic Servo Control (DSC) when tuning if you want to operate
the drive in tuned state with DSC.

Prerequisites
• You configured the axis, with the exception of acceleration limits and input of
the controller settings.
• You commissioned the lower-level control loops, and set a speed control loop
that is free of overshoot when applying pre-control settings.
• The drive, encoder and TO scaling match.

Tune the position controller by making the settings outlined in the next section.
Make a note of all originally set values before you change these in order to be able
to undo these settings after tuning.
• Disabling speed pre-control
Reset the "Pre-control" check box on the "Static controller data" of the Axis >
Control dialog box.
• Fine interpolator "constant acceleration interpolation"
Select "constant acceleration interpolation" from the "Fine interpolator" drop-
down list box. This drop-down list box is available in the "Static controller data"
tab of the Axis > Control dialog box.
• Disabling drift compensation
Reset the "Drift compensation" check box in the "Static controller data" tab of
the Axis > Control dialog box.

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• Disabling friction compensation

Reset the "Enable friction compensation" check box in the "Friction
compensation" tab of the Axis > Control dialog box. This setting is only
available in expert mode.
• Disable balancing filters
Set the value Off at configuration parameter
TypeOfAxis.NumberOfDataSets.DataSet_x.ControllerStruct.PV_Controller.bala
nceFilterMode.
Alternatively, the balancing filter can also be disabled by calling the
"MC_WriteParameter" technology function by setting parameter number 2035
and value 89
• Disabling following error monitoring
Reset the "dynamic following error monitoring active" check box in the
"Following error monitoring" tab of the Axis > Monitoring dialog box.
• Positioning window / Standstill window
Enter a high value in the "Positioning window" and "Standstill window" input
box of the Axis > Monitoring dialog box. A high value prevents any reaction of
these monitoring functions during tuning.

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8.4.3 User program for controller tuning

Implement a test routine in the user program which sets step response values at
the position controller.

The example below lists a practical function block. You can copy its contents from
the Online Help to STEP 7 as STL source file.
The function block generates a step function. Using technology function
"MC_MoveRelative" the axis position is increased by 100 mm, and is then returned
to its initial position.

Input parameters of FB 130 PositionControl

parameters Data type Description

Axis_No INT Enter the number of your axis Technology DB
Enable_Axis BOOL You can enable and disable the axis by setting this
parameter
TRUE = Enable axis
FALSE = Disable axis
Start_Function BOOL TRUE = Start the function
FALSE = Stop the function
Reset_Axis BOOL Use this parameter to "Reset" the axis
Restart_Axis BOOL Use this parameter to "Restart" the axis

Requirements:
Your project must contain the following technology functions. Copy the technology
function from the block library of S7-Technology to your block folder:
• FB 401 MC_Power
• FB 402 MC_Reset
• FB 411 MC_MoveRelative

To generate the function block:

Copy the block code shown below to an STL source file. Change the block number
of FB 130 if this number already exists in your project. Compile the block from the
STL source.

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STL source code

FUNCTION_BLOCK FB 130
TITLE = PositionControl
VERSION : 1.0

VAR_INPUT
Axis_No : INT ;
Enable_Axis : BOOL ;
Start_Function : BOOL ;
Reset_Axis : BOOL ;
Restart_Axis : BOOL ;
END_VAR
VAR
MC_Power_Axis : FB 401; // MC_Power
MC_Reset_Axis : FB 402; // MC_Reset
MC_Move_Axis : FB 411; // MC_MoveRelative
Start_Optimation : BOOL ;
Forward : BOOL ;
Backward : BOOL ;
Forward_Store : BOOL ;
END_VAR
BEGIN
NETWORK
TITLE =Enable Axis

U #Enable_Axis;
= #MC_Power_Axis.Enable;

L #Axis_No;
T #MC_Power_Axis.Axis;
NETWORK
TITLE =Reset / Restart Axis

L #Axis_No;
T #MC_Reset_Axis.Axis;

U #Reset_Axis;
O #Restart_Axis;
= #MC_Reset_Axis.Execute;

U #Restart_Axis;
= #MC_Reset_Axis.Restart;
NETWORK
TITLE =Generation of Testfunction for Optimation of Axis

L #Axis_No;
T #MC_Move_Axis.Axis;

U #Start_Function;
FP #Start_Optimation;
O( ;
U #Start_Function;
U #MC_Move_Axis.Done;
UN #Forward_Store;
) ;
= #Forward;

U #Forward;
S #Forward_Store;

U #Forward;
SPB FWD;

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U #Start_Function;
U #Forward_Store;
U #MC_Move_Axis.Done;
= #Backward;

U #Backward;
R #Forward_Store;

U #Backward;
SPB BWD;
SPA GO;

FWD: L 1.000000e+002;
T #MC_Move_Axis.Distance;
L 1.000000e+002;
T #MC_Move_Axis.Velocity;
L 1.000000e+004;
T #MC_Move_Axis.Acceleration;
T #MC_Move_Axis.Deceleration;
SPA GO;

BWD: L -1.000000e+002;
T #MC_Move_Axis.Distance;
L 1.000000e+002;
T #MC_Move_Axis.Velocity;
L 1.000000e+004;
T #MC_Move_Axis.Acceleration;
T #MC_Move_Axis.Deceleration;

GO: U #Forward;
O #Backward;
= #MC_Move_Axis.Execute;
NETWORK
TITLE =Call Motion Commands

CALL #MC_Power_Axis ;

CALL #MC_Reset_Axis ;

CALL #MC_Move_Axis ;
END_FUNCTION_BLOCK

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8.4.4 Tuning position controllers

In this procedure you adapt the gain factor Kv of the position controller. Record and
analyze the speed profile of the axis using the TraceTool of S7T Config during
positioning. The user program described earlier controls the axis motion between
two positions.

Settings in TraceTool

Set the following values in TraceTool of S7T Config:

"Signals" drop-down list

Signal 1 _to."Achsname".motionstatedata. commandvelocity

Signal 2 _to."Achsname".motionstatedata. actualvelocity

The recording signals are available in the "Project name" > Technology > TO >
"Axis name" path of the corresponding selection window.

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"Recording" drop-down list

Condition Isochronous recording

Cycle Position control cycle
Factor 1
Duration approx. 5000 ms or longer

The recording signals are available in the "Project name" > Technology > TO >
"Axis name" path of the corresponding selection window.

"Trigger" drop-down list

Trigger Value
Type Trigger on variable - positive edge
Variables _to."Achsname".motionstatedata. commandvelocity
Cycle Position control cycle
Pretrigger approx. 6 ms or higher
Threshold value approx. 0.01000
(this value serves is used as trigger threshold)

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Analysis of the recorded Trace trends and adaptation of the Kv factor

In the trends shown below, we assume a low gain factor Kv with iterative
adaptation for position controller tuning.
Set the Kv factor in the user program using technology function
"MC_WriteParameter", parameter number 2033, or at configuration parameter
TypeOfAxis.NumberOfDataSets.DataSet_x.ControllerStruct.PV_Controller.kv.
You can also set the Kv factor in the "Static controller data" tab of the Axis >
Control dialog box.

Trend profile - gain factor Kv too low

Although this trend profile does not show any overshoot, it discloses significant
settling times. The Kv factor must be increased to tune the position controller.

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Trend profile - optimized gain factor Kv (detail view)

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When increasing the Kv factor, keep an eye on the following properties of the trend
profile:
• The curve shows a short settling time.
• The trend does not disclose any reversal of the actual value.
• There is no overshoot when the setpoint is activated.
• The trend profile shows an overall stable response (no oscillation in trend
profile.)

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8.4.5 Tuning balancing filters

After having tuned the gain factor Kv, you continue by tuning the time constant vTc
(velocity Time constant) of the balancing filter.

Block diagram of the position control

Setpoint changes require fast and precise settling of the controller. The Technology
CPU thus controls setpoint deviations using pre-control and the position controller.
The balancing filter compensates for the runtime delay of the pre-control function.
• Pre-control
Pre-control represents a differential function which reacts to setpoint changes,
and thus produces high-speed reactions. The pre-control function immediately
settles the greater part of a setpoint change.
• Position controller
The p-action position controller is slower in its step response, but its precision
is significantly higher. Its task is to fine adjust the residual control error the pre-
control function has not yet settled. The error in a well-tuned control loop is
small compared to the setpoint change.
• Balancing filter
The balancing filter compensates for runtime delay caused by the pre-control
circuit.

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Function of the balancing filter

The pre-control function has a differential effect on changing setpoints, i.e. the
resultant value is transferred to the drive at considerable speed. The speed
controller in the drive corrects the portion of the setpoint change output by the pre-
control, and the drive moves. The change of the actual value is returned to the
position controller.
The position controller now has to correct the residual error between the defined
position setpoint and the difference of the actual value generated by the pre-
control. The position controller thus requires the setpoint at the correct time.
The balancing filter has to compensate for the runtime delay caused by the pre-
control circuit. This requires a delayed transfer of the setpoint to the position
controller.

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Tuning the balancing filter

Use the user program described above and the TraceTool to tune the balancing
filter. By contrast to previous changes made, change the settings for the signals to
be logged:

Recording: Value
Signal 1 _project."Achsname".servodata.
controllerdifference
Signal 2 _project."Achsname".servodata.
followingerror

The balancing filter and pre-control must be activated before you can tune the
balancing filter.
• Activating the balancing filter
Reset the value at configuration parameter
TypeOfAxis.NumberOfDataSets.DataSet_x.ControllerStruct.PV_Controller.bala
nceFilterMode to the original value Mode_1 or Mode_2.
You can also reset the balancing filter by setting parameter number 2035 at the
"MC_WriteParameter" technology function. Select value 90 for Mode_1, or
value 91 for Mode_2
• Activating speed pre-control
Set the "Pre-control" check box on the "Static controller data" tab of the Axis >
Control dialog box.
The objective of balancing filter tuning is to correct the time slice required by the
pre-control.
• Setting the time constant vTc
Set the time constant vTc (velocity Time constant) by executing technology
function "MC_WriteParameter" and setting parameter number 2063 in the user
program, or set configuration parameter
TypeOfAxis.NumberOfDataSets.DataSet_x.DynamicData.velocityTimeConstan
t accordingly.

You can also set the time constant vTc (velocity Time constant) on the
"Dynamic controller data tab of the " Axis > Control dialog box. The tab is
visible when the "Expert" check box is set in the dialog box. Edit the value at
parameter "Substitution time speed control loop" in this tab.

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Example of a time constant vTc setting of insufficient length

The setpoint is output too early to the position control. The difference between the
setpoint and actual value is too high, because the setpoint leads the returned
actual value. The value output by the position controller in the control variable is
therefore too high; the speed controller overreacts and the following error will
deteriorate.

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Example of an ideal setting of time constant vTc

The balancing filter is tuned to optimum performance. The position controller

receives the setpoint in time with the actual value. The position controller only has
to correct the slight deviations the pre-control has not yet corrected.
Tuning of the position controller is successfully completed when you have tuned
the balancing filter.

Note
• The following error cannot assume a zero value if the constant velocity phase is
configured without overshoot!
• As the position controller cycle is included in the calculation of the equivalent
time constant of the speed control loop (=velocityTimeConstant), the maximum
value of this time constant is equivalent to 16 position controller clocks. The lag
element has a maximum buffer length of 16
• Do not forget to restore the original values after you completed the changes
described in "preparing for tuning"
• Make sure that you also change the tuned values of the Kv factor and of time
constant vTc in the offline project

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8.4.6 Calculating the equivalent time constant of the position control

loop

The equivalent time constant of the position control loop comes into effect in the
following situations:
• Emergency Off by setting StopMode = 0 at the "MC_Power" technology
function
• Changeover from position-control to speed-control mode by setting
PositionControl = FALSEusing at the "MC_MoveVelocity" technology function.

Note
If the equivalent time constant of the position control loop has not been tuned
adequately, the axis may perform unwanted compensation motions in the
situations described earlier.

To determine the equivalent time constant of the position control circuit pTc:

P-controller with pre-control vTc <> 0 pTc = vTc + Tservo/2

vTc = 0 pTc = 0
P-action controller without pTc = 1/Kv
pre-control

The equivalent time constant used in this case for the speed control circuit (vTc)
can be determined as described in the "tuning balancing filters" section.

Enter the calculated equivalent time constant for the position control loop thus
determined in the "Dynamic controller data" tab of the Axis > Control dialog box.
This tab can only be selected when expert mode is set.

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The equivalent time of the position control loop can be set in the S7T Config expert
list at configuration parameter
TypeOfAxis.NumberOfDataSets.DataSet_x.DynamicData.velocityTimeConstant.

Note
Use an emergency off command to verify the value you determined for the
equivalent time constant of the position control loop. To execute the emergency off
command:
1. "MC_Power" StopMode = 0
2. Negative edge at Enable of "MC_Power"
Increase the value of the equivalent time constant for the position control loop if the
axis shows a tendency towards overshooting.

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8.5 Testing with breakpoints

You can use the STEP 7 program editor to test the user program with breakpoints.
For further information, refer to the STEP 7 documentation.
Safety considerations result in various special features at the Technology CPU
shown in the diagram below:

Breakpoint reached
After the breakpoint is reached, the PLC changes as usual to "HOLD"; the "RUN"
LED flashes at 0.5 Hz, the "STOP" LED is lit permanently. In "HOLD" mode, the
outputs of the PLC and of its integrated technology are shut down.
Test > Execute next statement command
After the breakpoint is reached, you can continue to test your user program by
selecting Test > Execute next statement.
Test > Resume command
The Technology CPU changes to "STOP" when you execute the Test > Resume
command. "Restart" the Technology CPU in order to resume "RUN" mode.

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8.6 Testing with the watch table

8.6.1 Using the Watch Table to monitor system variables

Use the Watch Table in S7T Config to monitor or control system variables of the
TOs. The Watch Table in S7T Config can be compared with the variable table of
STEP 7.
You can group different variables (system variables of several TOs, user variables
of several programs) in a Watch Table and monitor this group.

Note
Monitoring of variables in the Watch Table requires an online connection.

How to create a Watch Table:

1. Open the Navigator and select the MONITOR element.
2. Select the Insert > Watch table command.
3. Enter the name of the Watch Table.
4. Confirm your entries with OK.

To add a variable to the Watch Table:

1. In the Navigator, select the element containing the variable you want to add to
the Watch Table (the variable table is shown in the symbol browser).
2. In the symbol browser, select the rows containing the variables to be added to
the Watch Table.
3. Select Move to watch table from the shortcut menu.
4. Repeat steps 1 to 3 as required.

To monitor variables in the watch table:

1. Go online to the Technology CPU.
2. Open the Watch Table.
3. Monitor the current value of the variable in the "Status value" column.

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To control variables in the Watch Table:

1. Go online to the Technology CPU.

2. Enter the value to be controlled in the "Control value" column. The check box in
the cell will be set.
3. Click "Control immediately" to transfer the values to be controlled to the
Technology CPU. Reset the check box if you do not want to transfer the value
to the Technology CPU.

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8.7 Testing with the TraceTool

8.7.1 Overview - TraceTool

You can use the TraceTool of S7T Config to trace and save signal profiles and the
values of variables. The data recorded can be used to analyze motion sequences
of the machine, and for troubleshooting in user programs, for example. In order to
achieve better diagnostics results, you can assign defined setpoints to variables
using the function generator, while simultaneously recording the values of other
variables. You can visualize and edit your measurements in a diagram.
For information about the user interface and operation of TraceTool, refer to the
S7T Config Online Help.

8.7.2 Tracing values of the user program in the CPU

The "Trace" technology DB forms the interface between TraceTool and the user
program. For tracing, you can write two values of the data type DINT, two values of
the data type DWORD and four values of the data type REAL to the relevant
variables of the Trace DB. The ErrorID variable may not be overwritten by the user
program.
The DB data are fetched from integrated technology within the technology DB
update cycle. The technology DB update cycle can be set in S7T Config by
selecting the Target System > Set system clocks command.
The DB is not retentive, irrespective of the retention setting of the CPU.

S7_TraceDINT[0..1] variable
The S7_TraceDINT variable contains an ARRAY with two elements of the data
type DINT.
These values can be selected for tracing when you select the signal in the
TraceTool of S7T Config in Technology > userdata1 > user1 and user2.

S7_TraceDWORD[0..1] variable
The S7_TraceDWORD variable contains an ARRAY with two elements of the data
type DWORD. Use these variables if you want to trace bit information (e.g. status
word or error word) in the S7T Config TraceTool. In the TraceTool, you can select
the bits as you are used to in the SIMATIC numbering system.
These values can be selected for tracing when you select the signal in Technology
> userdata1 > user3 and user4 in the TraceTool of S7T Config.

S7_TraceREAL[0..3] variable
The S7_TraceREAL variable contains an ARRAY with four elements of the data
type REAL.
These values can be selected for tracing at Technology > userdata1 > user5,
user6, user7 and user8 when you select the signal in the TraceTool of S7T Config.

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8.7.3 Tracing controller data

The TraceTool is particularly useful for monitoring dynamic controller data. The
next section shows various interesting trace values which support controller tuning.
The trace values are available in the signal selection in Trace, under Project name
> Technology > TO > Axis name:

sensordata

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sensormonitoring

servodata

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servomonitoring

servosettings

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8.8 Testing with the control panel

8.8.1 Introduction - Control panel

The control panel is used to control and monitor individual axes and drives. You
can use it to move drives or axes. This allows the commissioning engineer:
• to test each plant component individually before he initiates program driven,
coordinated axis motions
• to simulate error conditions in order to test whether the various axes can be
operated at all from the control panel, or whether this section is already posing
problems
• "Retract the axis": Moving the axis quickly to another position, independent on
the program.
• to move the axes for tuning purposes (controller tuning)
• perform active homing
• to position in relative / absolute mode
• to set and reset the axis enable signal
• to initiate an axis reset
• to adjust the absolute value encoder by adding the absolute value encoder
offset ("Homing" dialog box)

Note
While the control panel is active and S7T Config has control priority, you can only
edit configuration data that become immediately active.
Control priority must be returned before you edit any configuration data which
require a RESTART. Control priority must be requested again after RESTART

Warning
! Use the axis control panel only in the commissioning phase and for test purposes.

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8.8.2 Starting the Axis Control Panel

Verify that the following conditions are satisfied:

1. The axis is configured.
2. S7T Config is in online mode.
3. The technology was downloaded to the target system.
To start the axis control panel:
1. In Navigator, open the "AXES" folder.
2. Select the required axis.
3. Select Edit > Open object.
4. Select Axis > Control Panel.
The "Control panel" tab opens in the detail view. The control panel is now in
monitoring mode.

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8.8.3 Layout of the Axis Control Panel

The axis control panel is divided into several partitions:

Axis control panel (the CP is in control mode)

• Selection area
Click the relevant buttons to show or hide specific areas.
In monitoring mode, you can select the axis. All axes configured in the
technology are available for selection.

• Control area (show and hide by clicking )

In this area you can assume control priority at the selected axis, or transfer
motion commands to the axis.
•
In monitoring mode, only the "Trace Editor" button is enabled.

• Monitoring area (hide and show using the button )

You can monitor values of a selected axis on this area:
- in monitoring mode:
You can, for example, run the user program to test
axis motions.
- in control mode:
You can test axis motions which are
initiated by commands transferred to the axis.

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8.8.4 Monitoring axis values on the Control Panel

You monitor values of the selected axis on this area in monitoring mode and
control mode:
• In monitoring mode (directly after the start of the Control Panel, for example):
You can, for example, test the axis motions which were initiated by a program.
• In control mode (after assuming control priority):
You can test axis motions which are initiated by motion command output to the
axis.

Monitoring area of the Control Panel

The view is determined by the technology of the selected axis (speed-controlled,
positioning or synchronization axis):
• Speed setpoint and actual value
• Position setpoint and actual value
• Distance to go
• Following error
• Two further system variables which you can select from the drop-down list box.
The motion state of the axis, for example, axis in stop or accelerating, is visualized
in a text box with colored background.
The colored "LEDs" keep you informed of:
• Alarms and enable states of the axis:
- Active technological alarm (red) Select the "Alarms" tab on the detail view
for further information.
- in operation (green). The "LED" indicates whether following mode is
cancelled;
axis commands can only be processed in this state.
- Axis is homed (green)
• Monitoring functions and enable signals of the drive:
- Drive error (red)
- Drive enabled (green)
- Power unit enabled (pulse enabled - green)

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8.8.5 Assuming control priority

Verify that the condition outlined is satisfied:

• The Technology CPU is in STOP
• Select a STEP 7 variable list, and then select Variable > Enable Peripheral
Outputs

Warning
! You must strictly observe pertinent safety regulations.
Use the axis control panel in control mode only when PG / CPU life-sign monitoring
is enabled and a suitably short monitoring time is set!
The axis may otherwise perform uncontrollable motions if problems occur in the
communication between the programming device and the Technology CPU.

Proceed as follows:
1. On the control area, click "Assume control priority !".
A warning message box opens.
2. Read the warning message in S7T Config!
3. Do not change life-sign monitoring defaults
Changes should only be made in exceptional circumstances and in observance
of all danger warnings.
4. Check the emergency off settings and modify these if necessary
- Click "Expand>>".
- For reasons of safety, you should set the "Emergency-Stop when changing
to another Windows application" check box. Monitoring is not relevant to
the function.
- Set the key that triggers the emergency stop.
<SPACE>
<Esc>
The CP is in control mode after it has assumed control priority. The previously
grayed out buttons and fields on the control area are now active.

Notice
When the control panel is in control mode, a space bar signal will be interpreted as
a control signal to stop the axis. This also affects other applications running on the
programming device (word processors, for example). If you assign the space bar to
the emergency-stop function, it's function no longer available for entering space
characters in a word processor.

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8.8.6 Controlling an axis

Verify that the following conditions are satisfied:

• The axis CP is in control mode.
• The CP has assumed control priority.
The buttons on the control area are active.

Control area of the axis CP

Control elements in the control area of the axis CP:

Command Control Description

element
Set / reset enable signals This command toggles the enable signals at the axis.
States
• Drive enabled
• Pulse enabled (power unit enabled)
are indicated at the corresponding "LEDs" on the monitoring
area.
In order to enable motion command processing at the axis, all
enable signals must be set and the following mode must be
disabled.
The position control enable signal is ignored at speed-controlled
axes.
Details Check When this check box is set, certain commands will open a
box separate parameter input box.
When the check box is reset, you can enter selected
parameters in the input box next to it.
Speed-controlled axis Use this command to set axis startup with speed control.
motion A speed setpoint is preset to which the axis accelerates along a
configured ramp. The command is available to all axis types.
Positioning and synchronization axes are speed-controlled.
Start the motion by clicking "Start" or "Jog".
Position-controlled axis This command specifies axis startup with position control.
motion A speed setpoint is preset to which the axis accelerates along a
configured ramp. The command is available to all positioning
and synchronization axes.
Start the motion by clicking "Start" or "Jog".
Relative / absolute This command positions the axis (positioning or synchronization
positioning axis). The position value entered can be absolute or relative.
Modulo axes can also be positioned along the "shortest path".
You start the motion by clicking "Start".

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Command Control Description

element
Axis homing An absolute measuring system only requires homing once, i.e.
when it is being commissioned. When commissioning is
completed, the position value will be known when the machine
is switched on.
When using an incremental measuring system, the machine
must be homed again each time power is switched on.
You start the motion by clicking "Start".
- Input boxes Input boxes used to enter the position and speed setpoints
when the "Details" check box is reset
Speed override Slider The preset speed is multiplied by the set override factor (0% to
200 %).
A value of 100 will be set for safety reasons when you start the
CP.
This value affects all subsequent commands.
Simulation ON This command sets axis simulation mode. Setpoint output will
be suppressed.

Simulation OFF This command returns the axis from simulation mode to normal
operation. The setpoint last valid in the simulation will be
activated for output.
Notice:
As the drive is disabled in simulation mode, it may perform an
adjusting movement when you exit simulation mode.
You can avoid these adjusting motions by moving the axis to its
initial position while you are still in simulation mode.
Reset axis Resets the axis to its initial state.
This command should be applied if the axis is in an indefinite
state as a result of incorrect parameters.
Start motion The last motion command configured (speed preset, start axis
with position control, position axis or home axis) will be started.

Stop motion Stops the last motion started.

Jog Speed preset and position-controlled start of the axis motion

commands can also be executed in jog mode. The axis will
move as long as you keep the right mouse button pressed on
the button.
Execute trace recording Starts the TraceTool.

Notice
Take all safety measures before you put the axis into operation.

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To move an axis using the axis CP:

1. Click "Details".
2. Click "Enable axis".
On the window shown, check that all enable signals are set, and that following
mode is disabled. Confirm with "OK."
3. Click a motion command button (Speed preset, Start axis position-controlled,
Position axis or Home axis.)
This opens the next dialog box. There, enter your parameters. Confirm your
entries with "OK".
4. Set an appropriate override value at the "Speed Override" shift register.
5. Click "Start".
This starts the motion.
You can modify the speed override factor while the motion is active.
6. You can stop the motion by clicking "Stop," or by pressing the space bar.
You can resume motion by clicking "Start."
7. Repeat steps 3 to 6 as required.

Note
When using the "Speed preset" and "Start axis position controlled" commands, you
can also start the motion by clicking "Jog." Keep the left mouse button pressed to
run the motion as long as necessary. The motion stops when you release the
mouse button.
You can also stop the axis by pressing the space bar.

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A.1 Sample applications

A.1.1 Application example "Positioning with target sensor"

The example shows a typical application of a positioning task on a conveyor.

Here, a part is to be moved to a defined end position. The discharge area is
variable, i.e. the current position of the part is not known at the outset of the
motion.
A target sensor attached at a distance of 500 mm downstream of the end position
enables precise positioning of the part. The target sensor is connected to a digital
input of the drive. The actual position value of 500 mm will be set at the conveyor
when the sensor is triggered. The part position and measuring input data are saved
without noticeable delay thanks to the integrated technology of the Technology
CPU. The actual position value is known and positioning can be completed at high
accuracy.

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Technology objects
In S7T Config, you configure the TOs which you can use to control the conveyor
drive and the target sensor. Technology objects used in this example:

Technology objects:
• Positioning axis
(conveyor)
• Measuring input (target
sensor)

Technology functions
The technology functions required to solve this task are executed by calling the
function blocks listed below in the application program:

Technology function Task / description

1. MC_Power Enable axis
2. MC_MeasuringInput Set the parameters and enable the measuring input (target
sensor)
3. MC_MoveVelocity Move the axis with speed preset
4. MC_Home The system corrects the position when it detects the target
sensor (actual position value – target sensor position.) The
position value will therefore be reset to zero when the target
sensor is detected.
5. MC_MoveAbsolute Absolute positioning of the axis to 500 mm.

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A.1.2 Application example "Flying shears"

This example shows a typical application for cutting continuously produced material
to length.
The incoming material is fed continuously by the feed axis (Axis1) and cut to length
"on-the-fly" by the shearing axis (Axis2.)
Pressure marks applied to the material indicate the cutting position. A sensor
registers the position of the pressure mark and sets the actual value of the feed
axis (Axis1) to -500 mm. The system starts synchronous operation of the shearing
axis when it detects the sensor. The shear blades approach the pressure mark
while the system performs this synchronization. The material is cut immediately
after the shearing axis has reached synchronism. The shearing axis returns to its
home position after having completed the cut and waits for the next pressure mark.

Technology objects
You configure the Technology objects in S7T Config. Technology objects used in
this example:

Technology objects:
• Positioning axis (feed axis)
• Synchronization axis (shearing
axis)
• Measuring input (sensor)

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Technology functions
The technology functions required to solve this task are executed by calling the
function blocks listed below in the application program:

Technology function Task / description

1. MC_Power Enable feed axis
2. MC_Power Enable shearing axis
3. MC_Home Home the shearing axis in basic position to position value 0
mm
4. MC_MeasuringInput Set the parameters and enable the sensor
5. MC_MoveVelocity Move the feed axis at preset speed
6. MC_Home A position value of -500 mm will be set at the feed axis
when the sensor detects the pressure mark. "MC_Home" in
Mode 4 (position override):
Xact = Xact - "sensor position" - 500 mm
7. MC_GearIn Synchronous operation of the shearing axis starts when the
sensor detects the pressure mark
8. MC_GearIn The material is cut when the "InGear" value is returned
(gear synchronism reached)
9. MC_MoveAbsolute The shearing axis returns to its home position
Further cyclic processing at steps 5 to 10

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A.1.3 Application example "Gripper feed"

The example shows a press to which the material is fed by means of a gripper feed
mechanism.
The gripper closes at an angular position of 300° and then pushes the material into
the press position at angular position 150°.
The gripper remains closed during the press operation and opens again at 200°.
The gripper feed returns from angular position 200° to its home position at 270°.
The motion of the feed axis is directly proportional to the rotary movement of the
die axis. The feed axis is therefore coupled to the press axis by means of a cam
disk technology. The gripper release and closing motion is controlled by means of
a cam switch function (close at 300°, release at 200°.)

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Technology objects
You configure the Technology objects in S7T Config. Technology objects used in
this example:

Technology objects
• Positioning axis (press axis)
• Synchronization axis (feed axis)
• Cam disk (to couple the feed and
press axes)
• Output cam (gripper control)

Technology functions
The technology functions required to solve this task are executed by calling the
function blocks listed below in the application program:

Technology function Task / description

1. MC_Power Enable feed axis
2. MC_Power Enable press axis
3. MC_Home Homing of the press axis at angular position 0°
4. MC_Home Homing of the feed axis in home position
5. MC_CamIn The feed and pressure axes are coupled by means of a cam
disk
6. MC_CamSwitch Setup of a position-based cam which controls gripper
clamping
7. MC_MoveVelocity Move the press axis at preset speed
Active production process
Press shut-down:
a. MC_MoveAbsolute Move press axis to angular position 0°
b. MC_Halt "Normal stop" feed axis
c. MC_Halt "Normal stop" press axis

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A.2 Queries, Tips & Tricks

A.2.1 How to utilize the new performance features

Question:
How to utilize the performance features of S7-Technology described in "What's
new in S7-Technology V2.."
Answer:
In order to utilize the new performance features of S7-Technology you must install
the firmware versions listed in the diagram. Start by checking the firmware versions
of the integrated technology and of the CPU.

Perform the upgrade steps as described below.

Upgrade to a new version of S7-Technology

The upgrade described below applies to all upgrades of S7-Technology V2.x, V3.x,
etc.
1. Upgrading CPU firmware
2. Upgrading technology firmware
3. Converting the technology and upgrading the technology packages
4. Recreating technology DBs
5. Download to the PLC

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Upgrade to a Service Pack of S7-Technology

The description below comprises the upgrade from a version of S7-Technology to
the corresponding Service Pack (for example, upgrade from V2.0 to V2.0 + SP1.)
This upgrade is only required if the version of S7T Config is changed.
1. Converting the technology
2. Download to the PLC

Caution
Create a backup copy of your project data before you run the upgrade.

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A.2.2 How to replace the Technology CPU with a different type

Question:
Can I replace the Technology CPU with a different type and reuse its configuration
data?

Answer:
The Technology CPUs listed below support interchanging and reuse of their
configuration data:

Certain versions may be omitted if you replace the Technology CPU.

Caution
When you save the current project in SIMATIC Manager by selecting the File >
Save as command and set the "With reorganization (slow)" check box, you need to
perform the following steps before you replace the Technology CPU:
1. Run S7T Config
2. Follow the instructions on your screen and then close S7T Config

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Replacing the Technology CPU with a CPU and technology firmware of the same
version
1. Replace the Technology CPU in HW Config (analog to the description in
chapter "How to upgrade the firmware of the integrated technology")
2. Select Station > Save
3. Close HW Config
4. In SIMATIC manager, double-click "Technological objects" Open S7T Config by
selecting Options > Configure technology
5. Select Project > Save and compile all
6. Close S7T Config
7. Download the project data to the PLC (as described in the chapter "What to
download to the PLC after the upgrade")

Replacing the Technology CPU with a CPU and technology with different
firmware version
To replace the Technology CPU, proceed as with the upgrade. For detailed
information, refer to the chapter "How to utilize the new performance features."

Note
Make allowances for any different data volumes when you replace the Technology
CPU.

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A.2.3 Identifying firmware versions

Question:
The documentation frequently refers to different firmware versions. How do I
identify the firmware version of the Technology CPU or Technology used in my
system?
Answer:
Open HW Config, and then mark the top station window (represented below by an
example of a 317T-2 DP CPU.) The station window at the bottom shows you the
firmware version of the CPU and of the Technology.

Note
Open HW Config in Online mode if you are uncertain of consistency between
offline and online data.

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A.2.4 How to upgrade the firmware of CPU 31xT-2 DP

Question:
The new performance features offered in S7-Technology may require an upgrade
of the firmware of CPU 31xT-2 DP. How can I upgrade the firmware of
CPU 31xT-2 DP?

Answer:
Check the relevant firmware versions before you upgrade the CPU firmware:
• You identify the firmware version of CPU 31xT-2 DP as described in the chapter
"Identifying firmware versions".
• The firmware version required for the upgrade is specified in the representation
of chapter "How to utilize the new performance features".

The firmware upgrade is carried out from a Micro Memory Card. Components
required:
• A programming device / PC with STEP 7 Basis and Micro Memory Card
adapter.
• A Micro Memory Card with a minimum capacity of 8 MB.
You can download the current firmware update from our Internet Service & Support
pages:
http://www.siemens.com/automation/service&support
In SIMATIC Manager, select PLC > Update Operating System. For details on
procedures, refer to the STEP 7 Online Help.

Note
Note the differences in the hardware versions of CPU 31xT-2 DP.
The hardware versions differ, for example, in terms of memory load of the
integrated technology. For further information, refer to relevant the CPU Data
manual, chapter 6.6 "Memory in the integrated technology of the CPU".

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A.2.5 How to upgrade the firmware of the integrated technology

Question:
You may need to upgrade the firmware of the integrated technology in order to be
able to use the new performance features of S7-Technology. How can I upgrade
the firmware of the integrated technology?

Answer:
Check the relevant firmware versions before you upgrade the firmware of
integrated technology:
• You identify the firmware version of the integrated technology as described in
the chapter "Identifying firmware versions".
• The firmware version required for the upgrade is specified in the representation
of chapter "How to utilize the new performance features".
To upgrade the firmware: The diagrams below show the upgrade of a CPU 317T-2
DP. The representation in HW Config may differ slightly according to the
Technology CPU used:

1. Open HW Config.
2. From the hardware catalog, select the "SIMATIC Technology CPU" profile.
3. Open the folder which contains the Technology CPU or firmware version as shown in
the diagram below. Drag-and-drop the required component to the slot on the CPU.

4. A dialog box appears. Confirm component replacement with "Yes".

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5. Double-click the "Technology" entry of the Technology CPU.

6. The "Properties - Technology" dialog box opens.

On the "Technology system data" tab, set the "Generate technology system data"
check box.

7. Click "OK" to close the "Properties - Technology" dialog box.

8. Select Station > Save.
9. Close HW Config.

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A.2.6 How to convert the technology

Question:
A new version of S7-Technology may require conversion of the technology. How to
convert the technology

Answer:
Configurations which may require a conversion of the technology are specified in
the chapter "How to utilize the new performance features".
Convert the technology as described below. The diagrams show the conversion of
S7-Technology from V1.0 to V2.0. The text contents of the diagrams may differ
depending on the conversion:

1. In SIMATIC Manager, select "Technological objects", then select Options >

Configure technology
2. S7T Config opens with a dialog box.

Confirm this dialog box with "Yes". The project is now converted.
3. The next dialog box opens:

Confirm the question with "No".

4. Select Project > Save and compile all.
5. Close S7T Config.

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6. A dialog box appears when you close S7T Config.

Confirm it with "No".

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A.2.7 How to convert the technology and upgrade the technology

packages

Question:
You may need to convert the technology and upgrade the technology packages
when you implement a new version of S7-Technology. How can I do this?

Answer:
The configuration which may require these actions are specified in the chapter
"How to utilize the new performance features".
Proceed as described below. The diagrams show the conversion of S7-Technology
from V1.0 to V2.0. The text contents of the diagrams may differ depending on the
conversion:

1. In SIMATIC Manager, select "Technological objects", then select Options >

Configure technology
2. S7T Config opens with a dialog box.

Confirm this dialog box with "Yes". The project is now converted.
3. The next dialog box opens:

Confirm the question with "No".

Next, the system automatically saves and compiles the project. Certain warning and
error messages may be generated because of the incomplete upgrade operation.
Ignore such warnings and errors and confirm the message box with "OK".

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4. Select the technology from the Navigator, then select Edit > Select technology
packages.
5. Confirm the message box with "OK".

The "Select technology packages" dialog box opens.

6. Select the "CAM" technology package, and confirm by clicking "Update".

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7. Confirm the message box with "OK".

8. Confirm the next message with "Yes". The system updates the technology
packages.
Note
The conversion changes the units at some of the system variables. For this reason,
the detail view of S7T Config outputs warnings during conversion, indicating that
certain system variables ("userdefaultqfaxis.maxderivative.foutput", for example)
could not be set.
You can ignore the warnings, because these system variables are not used in the
Technology CPU.
9. Confirm the "Update of technology objects completed" message with "OK".
10. Close the "Select technology packages" dialog box with "OK".
11. Select Project > Save and compile all.
11a. Continue at step 11b if any error messages appear.
Continue with step 12 if no error messages appear.
11b. Select Project > Check consistency to localize the errors.
Note
Possible causes of the error messages:
• For axis and external encoders, the value at configuration parameter
TypeOfAxis.NumberOfEncoders.Encoder1.DriverInfo. EncoderNumberOnDevice
is not 0.

Exception: An external encoder returns an additional actual value for the axis.
Prerequisite in this case is the use of the standard message frames 4 or 6, or
103, 104, or 106.

To correct or avoid errors: Set the value "0" at the configuration parameter.
• At speed-controlled axes without encoder, the value at configuration parameter
"TypeOfAxis.NumberOfDataSets.DataSet_1.EncoderNumber.EncoderNumber"
is not "0". Set the value "0" at the configuration parameter.
11c. Eliminate the causes of error, and continue at step 11.
You can also save the project with Project > Save, and then continue at step 12 to
eliminate the causes of error at a later time.
12. Close S7T Config.

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13. A dialog box appears when you close S7T Config.

Confirm it with "No".

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A.2.8 How to recreate the technology DBs

Question:
It may be necessary to recreate the technology DBs when you implement a new
version of S7-Technology. How to recreate the technology DBs

Answer:
The configurations which may require the recreation of technology DBs are defined
in the chapter "How to utilize the new performance features".
To create new technology DBs:

1. Run "Technology Objects Management"

2. Select all existing technology DBs

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3. Next, click "Delete"

After this deletion, all technology DBs are marked in the area of the technology DBs
which are not generated yet.

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4. Click "Generate" in order to generate the technology DBs with the new structure.

5. Close "Technology Objects Management"

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A.2.9 What to download to the PLC after a migration

Question:
Which data do I have to download to the PLC after migration?

Answer:
The conversion is finalized by downloading the user program, the HW
configuration, the technology and the firmware of integrated technology to the
Technology CPU. Procedure:

1. Change to SIMATIC Manager. Select the upgraded SIMATIC station in your project.

2. Select PLC > Download.

The Technology CPU automatically performs a memory reset after the download 1)
The new performance features are available after you completed the download.

1) If the integrated technology firmware is identical in load memory of the

Technology CPU, the Technology CPU will not automatically perform a memory
reset after the download.

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A.2.10 How to analyze an older project using S7-Technology

Question:
The current project was created in a previous version of S7-Technology. Can I
analyze an older project using S7-Technology?
Answer:
Yes. You can analyze a project using your current S7-Technology. Write protect
your project data. Procedure:

1. In SIMATIC Manager, select "Technological objects", and then select Options >
Configure technology.
2. A dialog box (as shown below) appears when S7T Config opens:

3. You need to convert the project to view it in S7T Config. Confirm the question with
"Yes".
4. The next dialog box opens:

Confirm the question with "Yes".

When you write protect the project data, the entire STEP 7 project will inherit this
setting. When you close S7T Config at a later time, the conversion will be undone,
and the write protection will be removed
5. Carry out the required analysis.
6. Close S7T Config.

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Note
Meaning of the Navigator icons during online analysis:
• Objects with green icons are consistent
• Objects with red/green icons have an indefinite state, i.e., the "consistent" or
"inconsistent" state can not be determined

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A.2.11 How to edit an older project using S7-Technology

Question:
The current project was created in a previous version of S7-Technology. Can I
change the contents of the project using the current S7-Technology and maintain
down compatibility with the original version
Answer:
Yes, you can change the project so that it retains its compatibility with the original
version. Procedure:

1. In SIMATIC Manager, select "Technological objects", and then select Options >
Configure technology.
2. A dialog box (as shown below) appears when S7T Config opens:

3. You need to convert the project to edit it in S7T Config. Confirm the question with
"Yes".
4. The next dialog box opens:

Confirm the question with "No".

5. Make your relevant changes.
6. Select Project > Save and compile all.
6a. Open Technology Objects Management (double-click "Technological objects" in
SIMATIC Manager) if you have inserted or deleted technology objects. Continue at
step 7 if you have not inserted or deleted any technology objects.
6b. Create or delete the corresponding technology DBs as described in "Creating and
managing technology DBs" .
6c. Close "Technology Objects Management".
7. Close S7T Config.

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8. The dialog box shown below appears when you close the tool.

9. Confirm the dialog with "Yes" in order to reconvert the project to its original version.

Caution
An offline-online comparison of converted or reconverted projects may return
inconsistency of identical same project data.
Reason: Internal data structure adjustments in newer versions.
To correct or avoid errors: Carry out the following steps to eliminate inconsistency
as indicated:
1. "Save and compile all" in S7T Config
3. Download the project data to the Technology CPU
Carry out these steps in the relevant version of S7-Technology.

Note
If you forgot to reconvert the project before you closed S7T Config, you can rectify
the issue by calling the Project > Save in old project format command in
S7T Config.

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A.2.12 What to observe when using "Save as" with reorganization

Open S7T Config based on the following conditions:

• After module replacement
• After a station is copied
• When you executed the File > Save As command and the "With reorganization
(slow)" check box is checked
Follow the instructions on your screen and then close S7T Config.
If you created, saved and reorganized a project created in an older version of
S7-Technology, the system may output a message reporting that certain
technology objects could not be copied.
You can ignore this message, because the technology objects were in actual fact
copied.

A.2.13 Why do specific system DBs have a different online / offline time
stamp?

Question:
Specific SDBs in the project have a different time stamp than the SDBs in the
technology CPU.
Does this time stamp difference pose a problem?
Answer:
When you download the technology in S7T Config to the Technology CPU with
Target system> Download > Technology to target system, the downloaded
SDBs of the type 3311 are assigned the time stamp of the integrated real-time
clock of the CPU. A different time stamp as such does not pose a problem at the
moment.
The SDBs of the type 3311 are assigned the time stamp of the integrated real-time
clock of the CPU at the time of their download. Hence, it may well be that the
online / offline SDBs are assigned different time stamps, but are not different by
content. If all drives "green" are marked in green color in the online view of
S7T Config, you can presume that your technology configuration is consistent.

Note
When "Automatic summertime/wintertime" is set in Windows, the time stamp of the
system data shows an additional hour during summertime.

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Appendix

A.2.14 Why does the number of system DBs differ in the online and
offline configuration?

Question:
The online view of the Technology CPU shows more system DBs of the type 3311
than the project view. Does this difference pose a problem?
Answer:
When you download the technology in S7T Config to the CPU, the system
generates additional SDBs of the type 3311 and assigns these a different time
stamp.
You can use S7T Config to compare the online and offline data. If all objects
appear in green color, these are identical.
When you download system data with STEP 7 or HW Config, the online / offline
comparison does not return any differences.

A.2.15 STEP 7 reports "Insufficient memory space"

Question:
During the download of blocks to the Technology CPU, STEP 7 returns the
message "Insufficient memory space on the module. Do you want to compress
load memory?" The message persists after you compressed the data and sufficient
work memory is available.
Answer:
The cause of this message may be:
• The Technology CPU contains "orphan" technology DBs which are not listed in
your project. You can identify technology DBs based on the creation language
"TechObj".
To perform a corresponding check, open SIMATIC Manager and select View >
Details.
Delete all technology DBs you do not require from the Technology CPU.

A.2.16 The CPU goes into STOP sporadically as a result of timeout

Question:
You have tuned the system cycles. When operating in continuous mode, however,
the CPU sporadically goes into STOP because of a timeout at the integrated
technology.
Answer:
System load at the integrated technology fluctuates, based on the command rate
and possibly occurring errors. Short system cycles may lead to timeout at the
integrated technology and thus to CPU STOP.
If this happens, extend the system clocks, so that the system no longer reacts with
timeout errors over a longer period of time.

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A.2.17 Errors occur when the "Save and compile all" function is
executed for the technology data

Question:
Errors occur when the "Save and compile all" function is executed for the
technology data in S7T Config But I have only set the default parameter values?
Answer:
For reasons of safety, all safety- and function-relevant parameters or addresses
are assigned default values in S7T Config which prevent execution of the "Save
and compile all" function.
This is why you should always exercise due care when setting safety- and function-
relevant parameters, and verify their values and logical context.

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A.3 Expert list in S7T Config

A.3.1 Using the Expert List

Experience in using the Expert List in S7T Config is prerequisite for handling the
settings described in the chapters below. The Expert List in S7T Config provides
read / write access to all configuration data and system variables of a TO. This
includes data which cannot be set neither in the wizards, nor in the parameter
assignment windows.
Expert Lists are available for all configured TOs.

Caution
! The expert mode is intended for experienced users. Incorrect input may result in
uncontrolled response of the drive!
The system does not check the plausibility of your entries.
Incorrect input may lead to inconsistency of the TO.

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Calling the Expert List

1. Select a TO (axis, for example) from the Navigator to view or edit its
configuration data or system variables.
2. Select the Expert > Expert List shortcut menu.
The Expert List opens in the working area.

The left pane of the Expert List shows the tree structure of the system variables
and of configuration data. The right pane outputs a tabular view of the system
variables and configuration data.
Select an element from the tree structure to view the corresponding parameter
values in this table.
Values which require a restart, and all subsequently changed configuration data,
are represented in brown color until you have performed the restart.
Click the value you want to edit. Type in a new value or select a symbolic name
(grayed out values can not be edited.) Save your changes with ENTER. Set the
"Collect changes" check box to change a group of values. Make your changes, and
then confirm your entries by clicking "Activate." All your changes will be saved and
accepted.

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Appendix

Effect of ONLINE changes

• Modified system variables are applied immediately.
• Changes in configuration data are applied according to the setting at the
"Effectiveness" column.
- "immediately"
Values are applied when you press ENTER or click "Activate."
- "restart"
Values are applied after you restart the TO by calling the "MC_Reset"
technology function.
- "download"
Values cannot be edited in online mode. Change to OFFLINE mode, edit
the technology, and then download your changes to the PLC.
• Changes to system variables and configuration data are retained when the
Technology CPU changes from STOP to RUN.
• Changes to system variables and configuration data are non-retentive, i.e. they
will be lost when power is cycled OFF and ON.

Select the technology from the Navigator, and then select Target device >
Copy current data to ROM to save your changes of configuration data to non-
volatile memory.

In order to save the values permanently to your project data, make your
changes in OFFLINE mode, save and compile the technology data, and then
download these to the target device. You can also upload the changes to
configuration data to the project data of the technology by executing the Target
system > Upload > Configuration data to PG command. Next, save and
compile the technology data by calling the Project > Save and Compile All
command

Effect of OFFLINE changes

• OFFLINE changes only apply to technology project data. In order to implement
the changes in the Technology CPU, save and compile the technology data by
calling the Project > Save and Compile All command, and then download
these data to the PLC (Target system > Download > Technology Data to
target system command).

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A.3.2 Axis settings

A.3.2.1 Assigning interpolator cycle 2

Axes, external encoders, output cams and measuring inputs are processed by
default within the interpolator cycle. Technology objects of a lower priority class can
also be assigned interpolator cycle 2.
Select the Axis > Configuration dialog box, "Execution cycle" tab, and then
select the required interpolator cycle.

Note
The interpolator cycle may not be assigned online!
"Save and compile all" technology data, and then download system data to the
technology CPU in SIMATIC Manager.

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Appendix

A.3.2.2 Torque settings

You can reduce torque of the drive motor by setting the "MC_SetTorqueLimit" and
"MC_MoveToEndPos" technology functions (not by means of following error
detection.) The torque is defined in N/m. Set the corresponding reference torque of
the motor at configuration parameter
"TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque."

Percentile reduction
In order to override the absolute value with a reduction percentage, set a reference
torque of 100.0 N/m:
Configuration parameter: TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque =
100.0 N/m
You reduce the maximum torque of the motor to 25 % by setting parameter
MaxTorque = 25.0 at the call of MC_SetTorqueLimit.

Load conversion
You can calculate the load torque based on the motor torque coefficient, making
allowances for the gear load and spindle pitch. Frictional losses will be ignored in
the following.
Rotary axes:

MMotor
NM NM
Motor
DN
MLoad M Load = M Motor ⋅
DN
Gear

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Linear axes (here, the force is calculated):

MMotor MLoad DX
NM 2π
Motor
NM
FLoad = M Motor ⋅ ⋅
DN DN DX
FLoad
Gear

MMotor Drive motor torque in [N/m]

MLoad Torque at the gear load side in [N/m]
FLoad Load force in [N]
NM Number of motor revolutions
DN Number of load revolutions
DX Load feed per revolution (spindle pitch, for example) in [m]

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Appendix

A.3.3 Monitoring

A.3.3.1 Encoder monitoring functions

• Monitoring the zero mark of incremental encoders
You can activate the function for monitoring the number of increments between
encoder zero marks. An alarm will be triggered if the encoder zero mark is not
reached within the defined distance.
In homing mode with encoder zero mark, the path is monitored after the axis
has moved off the reference cam.
• Permissible changes to the actual value of an absolute encoder
The user can activate the function for monitoring permissible changes to the
actual value at an absolute encoder.
• Actual velocity
The permissible maximum value of the actual velocity can be monitored. If the
maximum value is exceeded, the system variable
sensordata.sensormonitoring.velocity is output as limitexceeded. The velocity
is not limited to this value.

A.3.3.2 Encoder limit frequency monitoring

The system monitors the limit frequency of the encoders. It also monitors the actual
speed /actual acceleration in order to detect errors in the control loop of the drives.
An error is reported at the technology DB if the actual value overshoots the
encoder limit frequency. The error is indicated at ErrorStatus "SensorFreqViolation"
of the Technology DB.

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A.4 Technology parameters

A.4.1 List of technology parameters

Valid for firmware version V3.2.x of the integrated technology

The lists below contain the parameter numbers and the range of values of the
technology parameters. These specifications are required, when using FB
"MC_WriteParameter" to change the parameters of the (Axes, Output cams,
External encoders, Traces, Measuring sensors) technology objects.

Supplementary conditions to change Technology parameters:

• If parameters were changed and if the old value equals the new value then a
restart is not required as mentioned in the list. Parameter changes in virtual
axes, too, do not necessarily require a restart. If a restart is really required is to
be extruded from the variable Statusword.RequestRestart of the corresponding
Technology DB.
• The parameter listed as a parameter number and listed in the index must exist
and must have write access. The data block listed in the index must be
activated in the Technology CPU with the Technology function
"MC_ChangeDataset".

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Appendix

Legend

No. Number of parameter marked in blue and italics are parameters of the
"System variable" type; not marked parameters are of the "Configuration
data" type.
Name Name of parameter in Expert list in S7T Config.
Data type For parameters marked with "Enum...", several value ranges of the data
type DINT exist for each parameter. They are included in the List of DINT
values.
Min./Max. Value range of parameter
Access R (Read): Parameters can only be read
W (Write): Parameters can be changed
Activation Immediately: Changes in the parameters are immediately effective.
Restart: Changes in the parameters become effective only after a restart,
i.e. if the Technology Object has been re-initialized. This is possible only if
the Technology Object is locked.
Index Value range of index

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Technology parameters - Axes
D: Speed axis, P: Positioning axis, V: Synchronization axis

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1 Setpoints. Position. Set positioningstate. REAL - -1E+12 1E+12 R - X X Position setpoint of axis
position commandposition
2 Limits. Position and velocity. swlimit. minusposition REAL - -1E+12 1E+12 R, W Imme- X X Negative software limit switch
Software limit switch. Negative diately
3 Limits. Position and velocity. swlimit. plusposition REAL - -1E+12 1E+12 R, W Imme- X X Positive software limit switch
Software limit switch. Positive diately
4 Limits. Position and velocity. swlimit. state DINT Enum - - - R, W Imme- X X Activation of the software limit switch
Software limit switch. active / inactive diately
Activation
6 Monitoring. Following error TypeOfAxis. DINT 1-16 - - R, W Restart X X Activation of the dynamic following
monitoring. Activation NumberOfDataSets. EnumYesNo error monitoring
DataSet_x. DynamicFollowing.
enable
7 Monitoring. Following error TypeOfAxis. REAL 1-16 -1E+12 1E+12 R, W Imme- X X Upper barrier of the following error
monitoring. Maximum NumberOfDataSets. diately characteristic
DataSet_x. DynamicFollowing.
maxPositionTolerance
8 Limits. Position and velocity. TypeOfAxis. MaxVelocity. REAL - 0.0 1E+12 R, W Restart X X X Maximum permissible velocity
Velocity. Maximum maximum
10 Actual values. Motion. Velocity motionstatedata. actualspeed REAL - -1E12 +1E12 R - X X X Actual velocity of the axis
11 Setpoints. Motion. Velocity motionstatedata. REAL - -1E12 +1E12 R - X X X Set velocity of the axis
commandvelocity
12 Limits. Dynamic TypeOfAxis. MaxAcceleration. REAL - -1E+12 1E+12 R, W Imme- X X X Maximum permissible acceleration
response.Acceleration. maximum diately
Maximum
16 Limits. Dynamic response. TypeOfAxis. MaxJerk. REAL - -1E+12 1E+12 R, W Imme- X X X Maximum permissible jerk
Jerk. Maximum maximum diately

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1100 Mechanics. Spindle settings. LeadScrew. pitchVal REAL - 0.0 1E+12 R, W Restart X X Spindle pitch for each revolution of the
Spindle pitch for each axis
revolution of the axis
1110 Synchronous operation. TypeOfAxis. Extrapolation. REAL - 0.0 1E+12 R, W Imme- X X Extrapolation time of the master axis
Extrapolator. Extrapolation ExtrapolationTime diately
time
1111 Synchronous operation. TypeOfAxis. Extrapolation. DINT - - - R, W Restart X X Selection criterion for actual value
Extrapolator. Filter. Mode Filter. Mode EnumAxis smoothing
FilterMode
1112 Synchronous operation. TypeOfAxis. Extrapolation. DINT - - - R, W Imme- X X Activation status
Extrapolator. Filter. Activation Filter. Enable EnumYesNo diately
1113 Synchronous operation. TypeOfAxis. Extrapolation. REAL - 0.0 1E+12 R, W Imme- X X Time constant for PT1 smoothing
Extrapolator. Filter. Time Filter. TimeConstant diately
Constant
1114 Synchronous operation. TypeOfAxis. Extrapolation. DINT - R, W Imme- X X Activation of the tolerance range
Extrapolator. Tolerance ToleranceRange. Enable EnumYesNo diately
Range. Activation
1115 Synchronous operation. TypeOfAxis. Extrapolation. REAL - -1E+12 1E+12 R, W Imme- X X Tolerance window
Extrapolator. Tolerance ToleranceRange. Value diately
Range. Tolerance window
1120 Homing. Distance to the bero TypeOfAxis. Homing. REAL - 0.0 1E+12 R, W Imme- X X Travel path to the BERO
beroDistance diately
1121 Homing. Approach direction TypeOfAxis. Homing. direction DINT Enum - - - R, W Imme- X X Approach direction for homing
DirectionType diately
1122 Homing. Bero monitoring TypeOfAxis. Homing. DINT - - - R, W Imme- X X Activation status of the monitoring
activation enableBeroDistance EnumYesNo diately mode
1123 Homing. Homing required TypeOfAxis. Homing. DINT - - - R, W Imme- X X Homing required
referencingNecessary EnumYesNo diately
1201 Mechanics. Modulo. Activation Modulo. state DINT Enum - - - R, W Restart X X Activation of the modulo settings
active / inactive
1202 Mechanics. Modulo. Length Modulo. length REAL - -1E-12 1E+12 R, W Restart X X Modulo length
1203 Mechanics. Modulo. Starting Modulo. startValue REAL - -1E+12 1E+12 R, W Restart X X Modulo starting value
value
1211 Monitoring. Acceleration. TypeOfAxis. DINT - - - R, W Imme- X X Activation of the actual acceleration
Activation ActualAccelerationMonitoring. EnumYesNo diately monitoring
enable

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1212 Monitoring. Acceleration. TypeOfAxis. REAL - -1E+12 1E+12 R, W Imme- X X Maximum value of the permissible
Maximum value ActualAccelerationMonitoring. diately actual acceleration
maximum
1221 Monitoring. Velocity.Activation TypeOfAxis. DINT - - - R, W Imme- X X X Activation of the actual velocity
ActualVelocityMonitoring. EnumYesNo diately monitoring
Enable
1222 Monitoring. Velocity. Maximum TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X X X Maximum permissible actual velocity
value ActualVelocityMonitoring. diately
maximum
1231 Position control. Static TypeOfAxis. Drift. enable DINT - - - R, W Imme- X X X Activation of the drift compensations
controller data. Drift EnumYesNo diately
compensation
1241 Limits. Position and velocity. TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X X Delay of the emergency stop ramp
Emergency stop delay EmergencyRampGenerator. diately generator
maxDeceleration
1251 Position control. Static TypeOfAxis. FineInterpolator. DINT Enum - - - R, W Restart X X X Fine interpolator type
controller data. Fine _type AxisFine
interpolator type Interpolator
Mode
1261 Position control. Friction TypeOfAxis.Friction. amplitude REAL - -1E+12 1E+12 R, W Imme- X X X Amplitude of the friction compensation
compensation. Amplitude diately characteristic
1262 Position control. Friction TypeOfAxis.Friction. REAL - 0.0 1E+12 R, W Imme- X X X Decay time constant
compensation. Decay time decayTime diately
constant
1263 Position control. Friction TypeOfAxis. Friction. REAL - 0.0 2^31 * R, W Imme- X X X Delay time for standstill signal
compensation. Standstill delayTimeStandStill Servotime * 9 diately
decay time constant
1264 Position control. Friction TypeOfAxis. Friction. enable DINT - - - R, W Restart X X X Activation of the friction compensation
compensation. Activation EnumYesNo
1265 Position control. Friction TypeOfAxis. Friction. REAL - -1E+12 1E+12 R, W Imme- X X X Maximum value for standstill signal
compensation. Standstill maxVeloStandStill diately
maximum velocity
1271 Monitoring.Synchronous TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X Permissible actual value deviation
operation monitoring. Actual GearingPosTolerance. diately
value tolerance actualValueTolerance
1272 Monitoring. Synchronous TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X Permissible setpoint deviation
operation monitoring. Setpoint GearingPosTolerance. diately
tolerance commandValueTolerance
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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1273 Monitoring. Synchronous TypeOfAxis. DINT - - - R, W Imme- X Tolerance monitoring of the actual
operation monitoring. GearingPosTolerance. EnumYesNo diately value
Activation of actual value enableActualValue
monitoring
1274 Monitoring.Synchronous TypeOfAxis. DINT Enum - - - R, W Imme- X Tolerance monitoring of the setpoint
operation GearingPosTolerance. Gearing diately
monitoring.Activation of enableCommandValue PosTolerance
setpoint monitoring Command
Value
1275 Monitoring. Synchronous TypeOfAxis. DINT Enum - - - R, W Imme- X Signalling of the tolerance monitoring
operation monitoring. GearingPosTolerance. ErrorReporting diately
Message to master enableErrorReporting
1281 Limits. Position and velocity. TypeOfAxis. HWEndPos. DINT - - - R, W Restart X X X Activation of the limit switches
Hardware limit Enable EnumYesNo
switch.Activation
1284 Limits. Position and velocity. TypeOfAxis.HWEndPos. Mode DINT - - R, W Restart X X X Position of the hardware limit switch
Hardware limit switch. Mode EnumMount for the axis travel range
Switch
1291 Limits. Dynamic TypeOfAxis. MaxAcceleration. EnumYesNo - - - R, W Restart X X X Activation of the output value
response.Acceleration. enableSetPointMonitoring monitoring
Activation of the monitoring

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1301 Configuration. Dead zone TypeOfAxis. NeutralBand. REAL - -1E+12 1E+12 R, W Imme- X X X Center point of the dead zone range
compensation. Center point centreValue diately
1302 Configuration. Dead zone TypeOfAxis. NeutralBand. DINT - - - R, W Restart X X X Activation of the dead zone
compensation. Activation enable EnumYesNo compensation
1303 Configuration. Dead zone TypeOfAxis. NeutralBand. REAL - -1E+12 1E+12 R, W Imme- X X X Expansion of the dead zone range
compensation. Expansion range diately
1311 Monitoring. Positioning and TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X X Delay time until the activation of the
standstill monitoring. Message PositionMonitoring. diately message
delay time posWinTolDelayTime
1312 Monitoring. Positioning and TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X X Delay time until the tolerance window
standstill monitoring. PositionMonitoring. diately is reached
Tolerance window delay time posWinTolTime
1313 Monitoring. Positioning and TypeOfAxis. REAL - -1E+12 1E+12 R, W Imme- X X Width of the positioning window
standstill monitoring. PositionMonitoring. tolerance diately
Tolerance
1321 Mechanics. Measuring TypeOfAxis. DINT - - - R, W Restart X X X Activation of the reversal of the
system. Reversal of direction SetPointDriverInfo. EnumYesNo direction of rotation
of rotation InvertSetPoint. invSetPoint
1331 Configuration. Actual value TypeOfAxis. SmoothingFilter. DINT - - - R, W Imme- X X X Activation of the filter functionality
smoothing. Activation enable EnumYesNo diately
1332 Configuration. Actual value TypeOfAxis. SmoothingFilter. DINT Enum - - - R, W Restart X X X Calculation method for actual value
smoothing. Mode mode AxisFilter Mode smoothing
1333 Configuration. Actual value TypeOfAxis. SmoothingFilter. REAL - 0.0 1E+12 R, W Imme- X X X Time constant for PT1 smoothing
smoothing. Time constant timeConstant diately
1341 Monitoring. Positioning and TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- X X Delay time for the activation of the
standstill monitoring. Standstill StandStillMonitoring. diately message
message delay time delayTimeToActivate
1342 Monitoring. Positioning and TypeOfAxis. REAL - -1E+12 1E+12 R, W Imme- X X Permissible position tolerance in
standstill monitoring. Position StandStillMonitoring. diately standstill
tolerance in standstill stillStandTolerance
1351 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. REAL - 0.0 214748 R, W Imme- X X X Delay time for the triggering of the
Message delay time delayTimeToActivate diately standstill signal
1352 Monitoring.Standstill signal. TypeOfAxis. StandStillSignal. DINT - 0 15 R, W Imme- X X X Degree of filtering
Degree of filtering filterDegree diately
1353 Monitoring.Standstill signal. TypeOfAxis. StandStillSignal. REAL - 0.0 1E+12 R, W Imme- X X X Filter frequency
Filter frequency filterFrequency diately

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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
1354 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. REAL - 0.0 1E+12 R, W Imme- X X X Velocity limit for standstill signal
Velocity limit maxVeloStandStill diately
1400 Position control. Static TypeOfAxis. SpeedLimitation. DINT Enum - - - R, W Restart X X X Activation status of the speed range
controller data. Manipulated Enable AxisFilterMode limit
variable limit. Activation
1401 Position control. Static TypeOfAxis. SpeedLimitation. REAL - -1E+12 1E+12 R, W Imme- X X X Lower limit for the speed range
controller data. Manipulated MinSpeed diately
variable limit. Lower limit
1402 Position control. Static TypeOfAxis. SpeedLimitation. REAL - -1E+12 1E+12 R, W Imme- X X X Upper limit for the speed range
controller data. Manipulated MaxSpeed diately
variable limit. Upper limit

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
2000 Configuration. Data block TypeOfAxis. NumberOfData DINT - 0 16 R - X X X Number of data blocks
switching. Data blocks count Sets. numberOfDataSets
2001 Configuration. Data block TypeOfAxis. NumberOfData DINT - 0 16 R, W Restart X X X Initialization data block
switching. Data block Sets. initDataSet
initialization
2002 Configuration. Data block TypeOfAxis. NumberOfData DINT Enum - - - R, W Restart X X X Mode for the data record switching
switching. Data block Sets. changeMode ChangeMode
switching mode
2010 Limits. Fixed stop. Following TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Details of the following error required
error NumberOfDataSets.DataSet_x diately for the detection of the end limit
. ClampingMonitoring.
followingErrorDeviation
2011 Limits. Fixed stop. Position TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Permitted deviation of the actual value
tolerance NumberOfDataSets.DataSet_x diately from the setpoint in the clamped state
. ClampingMonitoring.
positionTolerance
2012 Limits. Fixed stop. Fixed stop TypeOfAxis. DINT Enum 1-16 - - R, W Restart X X Activation type of the torque
detection mode NumberOfDataSets.DataSet_x Recognition monitoring
. ClampingMonitoring Mode
.recognitionMode
2020 Mechanics. Load gearbox. TypeOfAxis. DINT 1-16 0 2147483647 R, W Restart X X X Gearbox factor denominator
Load revolutions count NumberOfDataSets.
DataSet_x. Gear denFactor
2021 Mechanics. Load gearbox. TypeOfAxis. DINT 1-16 0 2147483647 R, W Restart X X X Gearbox factor numerator
Motor revolutions count NumberOfDataSets.
DataSet_x.Gear. numFactor
2031 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Restart X X DSC activation
controller data. PV controller. NumberOfDataSets. EnumYesNo
DSC activation DataSet_x. ControllerStruct.
PV_Controller. enableDSC
2032 Position control. Static TypeOfAxis. REAL 1-16 0.0 150.0 R, W Imme- X X Weighting of the precontrol
controller data. PV controller. NumberOfDataSets. diately
Weighting factor DataSet_x. ControllerStruct.
PV_Controller. kpc
2033 Position control. Static TypeOfAxis. REAL 1-16 0.0 < 1E+7 R, W Imme- X X P controller gain
controller data. PV controller. NumberOfDataSets. diately
kp DataSet_x. ControllerStruct.
PV_Controller. kv

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
2034 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Restart X X Activation of the precontrol
controller data. PV controller. NumberOfDataSets. EnumYesNo
Activation of the precontrol DataSet_x. ControllerStruct.
PV_Controller. preCon
2035 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Imme- X X Symmetry filter mode
controller data. PV controller. NumberOfDataSets.DataSet_x EnumBalance diately
Symmetry filter . FilterMode
activation/mode ControllerStruct.PV_Controller
. balanceFilterMode
2041 Position control. Static TypeOfAxis. REAL 1-16 0.0 100 R, W Imme- X X P controller gain
controller data. PD controller. NumberOfDataSets. diately
kp DataSet_x. ControllerStruct.
PD_Controller. kp
2042 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Time constant of the DT1 element
controller data. PD controller. NumberOfDataSets. diately
Delay time DataSet_x. ControllerStruct.
PD_Controller. decayTime
2043 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Gain of the DT1 element
controller data. PD controller. NumberOfDataSets. diately
kd DataSet_x. ControllerStruct.
PD_Controller. kd
2051 Position control. Dynamic TypeOfAxis. DINT 1-16 - - R, W Restart X X Activation of the dynamic
compensation. Activation NumberOfDataSets. EnumYesNo compensation
DataSet_x. DynamicComp.
enable
2052 Position control. Dynamic TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X First time constant
compensation. First time NumberOfDataSets. diately
constant DataSet_x. DynamicComp. T1
2053 Position control. Dynamic TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Second time constant
compensation. Second time NumberOfDataSets. diately
constant DataSet_x. DynamicComp. T2
2061 Position control.Dynamic TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Replacement time constant of the
controller data. Position NumberOfDataSets. diately position control loop
control loop time constant DataSet_x. DynamicData.
positionTimeConstant
2062 Position control.Dynamic TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X X Replacement time constant of the
controller data. Torque control NumberOfDataSets. diately torque control loop
loop time constant DataSet_x. DynamicData.
torqueTimeConstant
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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
2063 Position control.Dynamic TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X X Replacement time constant of the
controller data. Velocity control NumberOfDataSets. diately velocity control loop
loop time constant DataSet_x. DynamicData.
velocityTimeConstant
2071 Monitoring. Following error TypeOfAxis. REAL 1-16 -1E+12 1E+12 R, W Imme- X X Lower barrier of the following error
monitoring. Minimum NumberOfDataSets. diately characteristic
DataSet_x. DynamicFollowing.
minPositionTolerance
2072 Monitoring. Following error TypeOfAxis. REAL 1-16 -1E+12 1E+12 R, W Imme- X X Lower velocity barrier of the following
monitoring. Minimum velocity NumberOfDataSets. diately error characteristic
DataSet_x. DynamicFollowing.
minVelocity
2073 Monitoring. Following error TypeOfAxis. REAL 1-16 0.0 100.0 R, W Imme- X X Warning limit of the following error
monitoring. Warning limit NumberOfDataSets. diately monitoring
DataSet_x. DynamicFollowing.
warningLimit
2081 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Gain of the P component
controller data. PID controller. NumberOfDataSets. diately
kp DataSet_x. ControllerStruct.
PID_Controller. kp
2082 Position control. Static TypeOfAxis. REAL 1-16 0.0 150.0 R, W Imme- X X Weighting of the precontrol
controller data. PID controller. NumberOfDataSets. diately
Evaluation factor DataSet_x. ControllerStruct.
PID_Controller. kpc
2083 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Gain of the I component
controller data. PID controller. NumberOfDataSets. diately
ki DataSet_x. ControllerStruct.
PID_Controller. ki
2084 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Restart X X Activation of the precontrol
controller data. PID controller. NumberOfDataSets. EnumYesNo
Precontrol activation DataSet_x. ControllerStruct.
PID_Controller. preCon
2085 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Gain of the D component
controller data. PID controller. NumberOfDataSets. diately
kd DataSet_x. ControllerStruct.
PID_Controller. kd

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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
2086 Position control. Static TypeOfAxis. REAL 1-16 0.0 1E+12 R, W Imme- X X Delay time of the DT1 component
controller data. PID controller. NumberOfDataSets. diately
Delay time DataSet_x. ControllerStruct.
PID_Controller. DecayTime
2087 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Restart X X Activation of the integrator limitation
controller data. PID controller. NumberOfDataSets. EnumYesNo
Integrator limitation activation DataSet_x. ControllerStruct.
PID_Controller.
EnableAntiWindUp
2088 Position control. Static TypeOfAxis. DINT 1-16 - - R, W Imme- X X Specification of the balancing filter
controller data. PID controller. NumberOfDataSets. EnumBalance diately
Activation/mode balancing DataSet_x. ControllerStruct. FilterMode
filter PID_Controller.
BalanceFilterMode

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
3000 Mechanics. Measuring TypeOfAxis. DINT - 0 8 R - X X X Number of measuring systems
system. Encoder count NumberOfEncoders.
numberOfEncoders
3010 Mechanics. Measuring TypeOfAxis. DINT Enum 1-8 - - R, W Restart X X X Attachment type of the encoder
system. Encoder attachment NumberOfEncoders. AxisEncoder
type Encoder_x. AssemblyBase. AssemblyType
assemblyBase
3011 Mechanics. Measuring TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Denominator
system. Motor side measuring NumberOfEncoders.
gearbox. Encoder revolutions Encoder_x. AdaptDrive.
denFactor
3012 Mechanics. Measuring TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Numerator
system. Motor side measuring NumberOfEncoders.
gearbox. Motor revolutions Encoder_x. AdaptDrive.
count numFactor
3013 Mechanics. Measuring TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Denominator
system. Load side measuring NumberOfEncoders.
gearbox. Encoder revolutions Encoder_x. AdaptExtern.
count denFactor
3014 Mechanics. Measuring TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Numerator
system. Load side measuring NumberOfEncoders.
gearbox. Load revolutions Encoder_x. AdaptExtern.
count numFactor
3015 Mechanics. Measuring TypeOfAxis. REAL 1-8 0.0 1E+12 R, W Restart X X Path for each measuring wheel
system. External measuring NumberOfEncoders. rotation
gearbox. Path per measuring Encoder_x.
wheel rotation PathPerRevolution. length

3016 Mechanics. Measuring TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Denominator

system. External measuring NumberOfEncoders.
gearbox. Encoder revolutions Encoder_x. AdaptLoad.
count denFactor
3017 Mechanics.Measuring system. TypeOfAxis. DINT 1-8 1 2147483647 R, W Restart X X X Numerator
External measuring gearbox. NumberOfEncoders.
Measuring wheel revolutions Encoder_x. AdaptLoad.
count numFactor

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
3021 Mechanics.Backlash on TypeOfAxis. DINT 1-8 - - R, W Imme- X X Activation/deactivation of the backlash
reversal compensation. NumberOfEncoders. EnumYesNo diately on reversal compensation of the
Absolute encoder. Activation Encoder_x. AbsBackLash. absolute encoder
enable
3022 Mechanics.Backlash on TypeOfAxis. DINT Enum 1-8 - - R, W Imme- X X Effective direction of the backlash on
reversal compensation. NumberOfEncoders. BackLash Type diately reversal compensation of the absolute
Absolute encoder. Direction Encoder_x. AbsBackLash. encoder
_type
3023 Mechanics.Backlash on TypeOfAxis. DINT Enum 1-8 - - R, W Imme- X X Specification of the preferred position
reversal compensation. NumberOfEncoders. BackLash Diff diately of the backlash on reversal
Absolute encoder. Preferred Encoder_x. AbsBackLash. compensation for the first traversing
position startUpDifference motion
3024 Mechanics.Backlash on TypeOfAxis. REAL 1-8 -1E+12 1E+12 R, W Imme- X X Backlash on reversal value
reversal compensation. NumberOfEncoders. diately
Absolute encoder. Value Encoder_x. AbsBackLash.
length
3025 Mechanics.Backlash on TypeOfAxis. REAL 1-8 -1E+12 1E+12 R, W Imme- X X Velocity with which the backlash on
reversal compensation. NumberOfEncoders. diately reversal compensation is traversed
Absolute encoder. Velocity Encoder_x. AbsBackLash.
velocity
3031 Homing. Offset TypeOfAxis. REAL 1-8 0.0 1E+12 R, W Imme- X X Offset of the absolute encoder
NumberOfEncoders. diately
Encoder_x.
AbsHomingEncoder. absShift
3041 Configuration. Measuring TypeOfAxis. Encoder_x. Filter. DINT 1-8 - - R, W Imme- X X X Activation status of the filter
system. Filter. Activation enable EnumYesNo diately functionality

3042 Configuration. Measuring TypeOfAxis. REAL 1-8 0.0 1E+12 R, W Imme- X X X Time constant for PT1 smoothing
system. Filter. Time constant NumberOfEncoders. diately (actual value smoothing)
Encoder_x. Filter.
timeConstant

3051 Mechanics. Backlash on TypeOfAxis. DINT Enum 1-8 - - R, W Imme- X X Effective direction of the backlash on
reversal compensation. NumberOfEncoders. BackLash Type diately reversal compensation
Incremental encoder. Direction Encoder_x. IncBackLash.
_type

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
3052 Mechanics.Backlash on TypeOfAxis. DINT 1-8 - - R, W Imme- X X Activation/deactivation of the backlash
reversal compensation. NumberOfEncoders. EnumYesNo diately on reversal compensation
Incremental Encoder_x. IncBackLash.
encoder.Activation enable
3053 Mechanics. Backlash on TypeOfAxis. REAL 1-8 -1E+12 1E+12 R, W Imme- X X Backlash on reversal value
reversal compensation. NumberOfEncoders. diately
Incremental encoder. Value Encoder_x. IncBackLash.
length
3054 Mechanics.Backlash on TypeOfAxis. REAL 1-8 -1E+12 1E+12 R, W Imme- X X Velocity with which the backlash on
reversal compensation. NumberOfEncoders. diately reversal compensation is traversed
Incremental encoder. Velocity Encoder_x. IncBackLash.
velocity
3061 Homing. Active homing. TypeOfAxis. DINT 1-8 - - R, W Imme- X X X Homing approach direction
Approach direction NumberOfEncoders. EnumAxis diately
Encoder_x. Approach
IncHomingEncoder. Direction
approachDirection
3063 Homing. Zero mark activation TypeOfAxis. DINT 1-8 - - R, W Imme- X X X Activation status of the zero reference
monitoring NumberOfEncoders. EnumYesNo diately mark monitoring
Encoder_x.
IncHomingEncoder.
enableZeroMarkDistance
3064 Homing. Active homing. TypeOfAxis. DINT Enum 1-8 - - R, W Restart X X X Homing mode
Homing mode NumberOfEncoders. AxisHoming
Encoder_x. Mode
IncHomingEncoder.
homingMode
3066 Homing. Passive homing. TypeOfAxis. DINT 1-8 - - R, W Imme- X X X Expected approach direction
Approach direction NumberOfEncoders. EnumAxis diately
Encoder_x. Passive
IncHomingEncoder. Approach
passiveApproachDirection Direction
3068 Homing. Passive homing. TypeOfAxis. DINT 1-8 - - R, W Restart X X X Homing mode
Homing mode NumberOfEncoders. EnumAxis
Encoder_x. Passive
IncHomingEncoder. HomingMode
passiveHomingMode

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
3070 Homing. Active homing. TypeOfAxis. REAL 1-8 -1E+12 1E+12 R, W Imme- X X X Reference point offset
Reference point offset NumberOfEncoders. diately
Encoder_x.
IncHomingEncoder.
proceedShiftPos
3071 Homing. Distance to zero TypeOfAxis. REAL 1-8 0.0 1E+12 R, W Imme- X X X Maximum distance between BERO
mark NumberOfEncoders. diately and the zero mark
Encoder_x.
IncHomingEncoder.
zeroMarkDistance

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4001 Configuration. Accept changes Activationmodechanged DINT EnumTo - - - R, W Imme- X X X Activation of modified configuration
configdata Activation diately data
ModeSet
ConfigData
4010 Homing. Absolute value absoluteEncoder_x. 2 x DWORD 1-8 - - R, W Imme- X X Measuring system state of the
encoder adjustment. Total totalOffsetValue diately absolute value encoder, calculated
offset total offset
4011 Homing. Absolute value absoluteEncoder_x. DINT 1-8 - - R - X X Measuring system state of the
encoder adjustment. activationstate EnumYesNo absolute value encoder, including
Measuring system status calculated total offset
4020 Actual values. Data block datasetmonitoring. DINT - 0 16 R - X X X Currently active data block number
switching. Active data block actualdataset
4030 Actual values. Motion. superimposedmotion. position REAL - -1E+12 1E+12 R - X X Position in the overlaid coordinate
Overlaid movement. Position system
4031 Actual values. Motion. superimposedmotion. velocity REAL - -1E+12 1E+12 R - X X Speed in the overlaid coordinate
Overlaid movement. Speed system
4040 Actual values. Motion. Base basicmotion. position REAL - -1E+12 1E+12 R - X X X Position in the main coordinate system
motion. Position
4041 Actual values. Motion. Base basicmotion. velocity REAL - -1E+12 1E+12 R - X X X Speed in the main coordinate system
motion. Speed
4050 Actual values. Sensor. Status sensordata_x. state DINT 1-8 - - R - X X X Measuring system status
EnumSensorSt
ate
4121 Limits. Dynamic response. minuslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Negative acceleration/deceleration
Negative direction of travel. negativeaccel diately limitation
Negative acceleration
4122 Limits. Dynamic response. minuslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at end of acceleration
Negative direction of travel. negativeacceljerk diately and start of deceleration
Negative jerk
4123 Limits.Dynamic response. minuslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Positive acceleration/deceleration
Negative direction of travel. positiveaccel diately limitation
Positive acceleration
4124 Limits.Dynamic response. minuslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at start of acceleration
Negative direction of travel. positiveacceljerk diately and end of deceleration
Positive jerk

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4125 Limits.Position and velocity. minuslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Velocity limitation
Negative direction of travel. velocity diately
Velocity
4141 Setpoints. Override. override. acceleration REAL - 1.0 1000.0 R, W Imme- X X X Acceleration override in percent
Acceleration diately
4142 Setpoints. Override. Velocity override. velocity REAL - 0.0 200.0 R, W Imme- X X X Velocity override in percent
diately
4151 Limits.Dynamic response. pluslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Negative acceleration/deceleration
Positive direction of travel. negativeaccel diately limitation
Negative acceleration
4152 Limits.Dynamic response. pluslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at end of acceleration
Positive direction of travel. negativeacceljerk diately and start of deceleration
Negative jerk
4153 Limits.Dynamic response. pluslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Positive acceleration/deceleration
Positive direction of travel. positiveaccel diately limitation
Positive acceleration
4154 Limits.Dynamic response. pluslimitsofdynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at start of acceleration
Positive direction of travel. positiveacceljerk diately and end of deceleration
Positive jerk
4155 Limits.Position and velocity. pluslimitsofdynamics. velocity REAL - 0.0 1E+12 R, W Imme- X X X Velocity limitation
Positive direction of travel. diately
Velocity
4162 Actual values. poscommand. distancetogo REAL - -1E+12 1E+12 R - X X Current resulting distance to go
Commands.Positioning.
Distance to go
4173 Actual values. Homing. positioningstate. homeposition REAL - -1E+12 1E+12 R - X X Home position coordinates
Reference position
coordinates
4174 Actual values. Homing.Bero homingcommand. berostate DINT Enum - R - X X Bero active
status ActiveInactive
4180 Homing. Reference point userdefaulthoming. REAL - -1E+12 1E+12 R, W Imme- X X Reference point coordinate
coordinate homeposition diately
4181 Homing. Approach speed userdefaulthoming. REAL - 0.0 10000.0 R, W Imme- X X Reference point approach speed
homingapproachvelocity diately
4182 Homing. Creep speed userdefaulthoming. REAL - 0.0 2000.0 R, W Imme- X X Reference point creep speed
homingentryvelocity diately

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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4183 Homing. Shutdown speed userdefaulthoming. REAL - 0.0 1000.0 R, W Imme- X X Reference point shutdown speed
homingreducedvelocity diately
4190 Position control. Static servosettings. setpointoffset REAL 0.0 -1E+12 1E+12 R, W Imme- X X X Offset compensation for the analog
controller data. Offset compensation diately drive interface
compensation

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4231 Limits. Fixed stop. Clamping userdefaultclamping. REAL - 0.0 1E+12 R, W Imme- X X Clamping value (e.g. travel to fixed
value clampingvalue diately stop)
4241 Default. Default value. userDefaultDynamics. DINT Enum - - - R, W Imme- X X X Direction specification
Dynamics.Direction direction Direction diately
4242 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Negative acceleration/deceleration
Dynamics.Negative negativeAccel diately
acceleration
4243 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at end of deceleration
Dynamics. Jerk at end of negativeAccelEndJerk diately
deceleration
4244 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at start of deceleration
Dynamics. Jerk at start of negativeAccelStartJerk diately
deceleration
4245 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Positive acceleration
Dynamics. Positive positiveAccel diately
acceleration
4246 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at end of acceleration
Dynamics. Jerk at end of positiveAccelEndJerk diately
acceleration
4247 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Jerk limitation at start of acceleration
Dynamics. Jerk at start of positiveAccelStartJerk diately
acceleration
4248 Default. Default value. userDefaultDynamics. profile DINT Enum - - - R, W Imme- X X X Velocity profile type
Dynamics. Velocity profile Profile diately
4249 Default. Default value. userDefaultDynamics. REAL - 0.0 1E+12 R, W Imme- X X X Time specification for emergency off
Dynamics. Stopping time stopTime diately
4250 Default. Default value. userDefaultDynamics. velocity REAL - -1E+12 1E+12 R, W Imme- X X X Velocity specification
Dynamics. Velocity diately
4262 Synchronous operation. Cam userdefault. cammingsettings. REAL 1-2 -1E+12 1E+12 R, W Imme- X Offset for the cam start position with
synchronization. Master offset camstartpositionmaster diately 'relative' master
4266 Synchronous operation. Cam userdefault. cammingSettings. DINT Enum 1-2 - - R, W Imme- X Cam synchronization criterion
synchronization. synchronizingMode Sync Mode diately
Synchronization mode Camming
4267 Synchronous operation. Cam userdefault. cammingSettings. DINT Enum 1-2 - - R, W Imme- X Cam desynchronization criterion
synchronization. syncOffMode SyncOff Mode diately
Desynchronization mode Camming

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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4268 Synchronous operation. Cam userdefault. cammingSettings. REAL 1-2 -1E+12 1E+12 R, W Imme- X Master position for the synchronization
synchronization. syncPositionMaster diately
Synchronization master
position
4269 Synchronous operation. Cam userdefault. cammingSettings. REAL 1-2 -1E+12 1E+12 R, W Imme- X Slave position for the synchronization
synchronization. syncPositionSlave diately
Synchronization slave position
4270 Synchronous operation.Cam userdefault. cammingsettings. DINT Enum 1-2 - - R, W Imme- X Synchronization direction of the slave
synchronization.Slave syncronizingDirection Following diately
synchronization direction Object
Synchronizing
Direction
4286 Synchronous operation. Gear userdefault. gearingSettings. DINT Enum 1-2 - - R, W Imme- X Gearing synchronization criterion
synchronization. synchronizingMode SyncMode diately
Synchronization criteria Gearing
4287 Synchronous operation. Gear userdefault. gearingSettings. DINT Enum 1-2 - - R, W Imme- X Gearing desynchronization criterion
synchronization. syncOffMode SyncOff diately
Desynchronization criteria ModeGearing
4288 Synchronous operation.Gear userdefault. gearingSettings. REAL 1-2 -1E+12 1E+12 R, W Imme- X Synchronization position of the master
synchronization. Master syncPositionMaster diately
position
4289 Synchronous operation. Gear userdefault. gearingSettings. REAL 1-2 -1E+12 1E+12 R, W Imme- X Synchronization position of the slave
synchronization. Slave syncPositionSlave diately
position
4291 Synchronous operation. Gear userdefault. gearingsettings. DINT Enum 1-2 - - R, W Imme- X Synchronization direction of the slave
synchronization. Slave syncronizingDirection Following diately
synchronization direction Object
Synchronizing
Direction

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4301 Synchronous operation. userDefault. syncDynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Negative acceleration
Dynamics. Negative negativeAccel diately
acceleration
4302 Synchronous operation. userdefault. syncdynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Jerk limit at end of deceleration
Dynamics. Jerk at end of negativeaccelendjerk diately
deceleration
4303 Synchronous operation. userdefault. syncdynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Jerk limit at start of deceleration
Dynamics. Jerk at start of negativeaccelstartjerk diately
deceleration
4304 Synchronous operation. userDefault. syncDynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Positive acceleration
Dynamics. Positive positiveAccel diately
acceleration
4305 Synchronous operation. userdefault. syncdynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Jerk limit at end of acceleration
Dynamics. Jerk at end of positiveaccelendjerk diately
acceleration
4306 Synchronous operation. userdefault. syncdynamics. REAL 1-2 0.0 1E+12 R, W Imme- X Jerk limit at start of acceleration
Dynamics. Jerk at start of positiveaccelstartjerk diately
acceleration
4307 Synchronous operation. userDefault. syncDynamics. REAL 1-2 -1E+12 1E+12 R, W Imme- X Velocity
Dynamics. Velocity velocity diately
4308 Synchronous operation. userdefault. syncdynamics. DINT Enum 1-2 - - R, W Imme- X Velocity profile type
Dynamics. Velocity profile velocityprofile Profile diately
4321 Synchronous operation. userdefault. syncoffpositions. REAL 1-2 -1E+12 1E+12 R, W Imme- X Desynchronization position of the
Synchronization. master diately master
Desynchronization master
position
4322 Synchronous operation. userdefault. syncoffpositions. REAL 1-2 -1E+12 1E+12 R, W Imme- X Desynchronization position of the slave
Synchronization. slave diately
Desynchronization slave
position
4331 Synchronous operation. userdefault. syncProfile. REAL 1-2 0.0 1E+12 R, W Imme- X Synchronization length for leading-
Synchronization. syncLength diately axis-related synchronization profile
Synchronization path
4332 Synchronous operation. userdefault. syncProfile. REAL 1-2 0.0 1E+12 R, W Imme- X Desynchronization length for leading-
Synchronization. syncOffLength diately axis-related synchronization profile
Desynchronization path

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4333 Synchronous operation. userdefault. syncProfile. DINT Enum 1-2 - - R, W Imme- X Position of the desynchronization
Synchronization. syncOffPositionReference SyncOff diately profile relative to the desynchronization
Desynchronization reference Position position
Reference
4334 Synchronous operation. userdefault. syncProfile. DINT Enum 1-2 - - R, W Imme- X Position of the synchronization profile
Synchronization. syncPositionReference SyncPosition diately relative to the synchronization position
Synchronization reference Reference
4335 Synchronous operation. userdefault. syncprofile. DINT Enum 1-2 - - R, W Imme- X Reference variable of the
Synchronization. Profile syncprofilereference SyncProfile diately sychronization profile
reference Reference
4336 Synchronous operation. SyncinMotion. DINT - - - R, W - - X jerk limited synchronizing movement
absolut. jerkLimiting smoothAbsolute EnumYesNo
Synchronization
4337 Synchronous operation. SyncingMotion. DINT - - - R, W Imme- - - X Slave dynamic could be risen over the
synchronisation. limiting synchronizingAdaption EnumYesNo diately limiting values during synchronizing
4350 Default.Default values. cammingadjustments. master. REAL 1-2 -1E+12 1E+12 R - X Synchronization position
Synchronization position offset
4351 Actual values. Synchronous cammingadjustments. master. REAL 1-2 -1E+12 1E+12 R - X Master offset
operation. Cam scale
synchronization. Master offset
4360 Actual values. Synchronous cammingadjustments. slave. REAL 1-2 -1E+12 1E+12 R - X Master scale
operation. Cam offset
synchronization. Master scale
4361 Actual values. Synchronous cammingadjustments. slave. REAL 1-2 -1E+12 1E+12 R - X Slave offset
operation. Cam scale
synchronization. Slave offset
4370 Actual values. Synchronous gearingadjustments. master. REAL 1-2 -1E+12 1E+12 R - X Slave scale
operation. Cam offset
synchronization. Slave scale
4400 Actual values. Synchronous swlimitstate. DINT - - - R - - X X Master offset
operation. Gear swlimitswitchminus EnumLimit
synchronization. Master offset ExceededOk
4401 Actual values. Limits. Software swlimitstate. swlimitswitchplus DINT - - - R - - X X Software minus limit switch
limit switch. SW minus limit EnumLimit
switch status ExceededOk
4410 Actual values. Limits. Software sensormonitoring. DINT - - - R - X X X Software plus limit switch
limit switch. SW plus limit hwlimitswitchminus EnumLimit
switch status ExceededOk
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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
4411 Actual values. Limits. sensormonitoring. DINT - - - R - X X X Hardware minus limit switch
Hardware limit switch. HW hwlimitswitchplus EnumLimit
minus limit switch status ExceededOk
4412 Actual values. Limits. sensormonitoring. DINT - 1 8 R - X X X Hardware plus limit switch
Hardware limit switch. HW actualsensor
plus limit switch status
4500 Actual values. Drive. Status drivedata. stw DWORD - - - R, W Restart X X X Satus word 1 and status word 2
words
4501 Setpoints. Drive. Control word. drivedata. zsw DWORD - - - R - X X X Control word 1 and control word 2
Control words

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
5000 Hydraulic. superposition. servosettings. REAL - -1E+12 1E+12 R, W Imme- X X X Interface-specific superimposition of
Setpoint additionalqoutputvalue diately the direct output value
5001 Hydraulic. superposition. servosettings. DINT - - - R, W Imme- X X X Interface-specific superimposition of
Activation additionalqoutputvalue switch EnumYesNo diately the direct output value
5002 Hydraulic. Setpoints. actordata. qoutputvalue REAL - -1E+12 1E+12 R Imme- X X X Output value in relation to Q-output
QOutputValue diately
5003 Hydraulic. Sliding friction actordata. slidingfriction REAL - -1E+12 1E+12 R Imme- X X X Velocity-dependent sliding-friction
compensation. Dynamic. set compensationvalue diately compensation value
value
5004 Hydraulic. Sliding friction TypeOfAxis. SlidingFriction. DINT - - - R, W Imme- X X X Activation of the sliding-friction
compensation. Dynamic. enable EnumYesNo diately compensation
Activation
5005 Hydraulic. Sliding friction TypeOfAxis.SlidingFriction. REAL - 0.0 1E+12 R, W Imme- X X X Factor for actual velocity
compensation. Dynamic. FactorMotionControl diately
Factor
5006 Hydraulic. Sliding friction TypeOfAxis.AdditionalOffset. DINT - - - R, W Imme- X X X Activation of the offset injection
compensation. Static. enable EnumYesNo diately
Activation
5007 Hydraulic. Sliding friction TypeOfAxis.AdditionalOffset. REAL - -1E+12 1E+12 R, W Imme- X X X Offset when traversing with motion
compensation. Static. offsetMotionControlNegative diately setting and negative direction of
Negative direction motion
5008 Hydraulic. Sliding friction TypeOfAxis.AdditionalOffset. REAL - -1E+12 1E+12 R, W Imme- X X X Offset when traversing with motion
compensation. Static. Positive offsetMotionControlPositive diately setting and positive direction of motion
direction
5009 Hydraulic. Limiting. set value userdefaultqfaxis. REAL - 0.0 1E+12 R, W Imme- X X X Limit
increasing maxderivative. qoutput diately
5010 Hydraulic. Sliding friction actordata. REAL - -1E+12 1E+12 R - X X X Direction-dependent sliding-friction
compensation. static. Set frictionadditionaloffsetvalue compensation value
value
5011 Position control. Static friction actordata. DINT - - - R - X X X Activation state of the static friction
compensation. Aktivierung frictioncompensation EnumActive compensation
Inactive
5012 Position control. Static friction actordata. REAL - -1E+12 1E+12 R - X X X Static friction compensation value
compensation. Stellsignal frictioncompensationvalue
5013 Hydraulic. Limiting. Set value actormonitoring. DINT - - - R - X X X Limit of Q-output increase
limit exceeded qoutputderivativelimiting state EnumLimit
ExceededOk

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active D P V Description
(type of indication "Normal") (type of indication "Expert") cess
5014 Hydraulic. Valve active actormonitoring. qoutputstate DINT - - - R - X X X Q-output active
EnumActive
Inactive
5015 Hydraulic. DynamicData. NumberOfDataSets. REAL - 0.0 1E+12 R, W Imme- X X X Replacement time constant of the
Hydraulic time constant DynamicQFData. diately hydraulic controlled system
qOutputTimeConstant
5016 Hydraulic. DynamicData. NumberOfDataSets. REAL - 0.0 1E+12 R, W Imme- X - - Replacement time constant of the
Velocity time constant DynamicQFData. diately velocity control loop
velocityTimeConstant
5017 Hydraulic. DynamicData. NumberOfDataSets. REAL - 0.0 1E+12 R, W Imme- X X X Replacement time constant of the
Position time constant DynamicQFData. diately position control loop
positionTimeConstant
5018 Hydraulic. invert setpoint. In NumberOfDataSets. DINT - - - R, W Restart X X X Activation of the output value inversion
front of characteristic InvertQOutput. invSetPoint EnumYesNo
5019 Hydraulic. invert setpoint. After NumberOfDataSets. DINT - - - R, W Imme- X X X Activation of the inversion of the Q-
characteristic InvertSetPoint. Invert EnumYesNo diately output value
5020 Actual values. Sensor. Velocity sensordata. sensordata_x. REAL 1-8 -1E+12 1E+12 R - X X X Actual velocity value
velocity

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Technology parameters - Cams

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
1361 Configuration. Activate cam LogAddress. enableOutput DINT - - - R, W Restart Activation status for the output cam output
output EnumYesNo
1362 Configuration. Logic operation LogAddress. logicOperation DINT - - - R, W Restart Operation for the interconnection of the output cam
EnumLogic signals
Operation
1371 Configuration. Cam type OcaType. _type DINT - - - R, W Restart Output cam type
EnumOutput
CamType
4001 Configuration. Accept changes activationmodechanged DINT EnumTo - - - R, W Imme- Activation of modified configuration data
configdata ActivationMode diately
SetConfigData

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Appendix

Technology parameters - External encoders

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
1100 Mechanics. Spindle settings. LeadScrew. pitchVal REAL - 0.0 1E+12 R, W Restart Spindle pitch for each revolution of the axis
Spindle pitch for each
revolution of the axis
1110 Synchronous operation. TypeOfAxis. Extrapolation. REAL - 0.0 1E+12 R, W Imme- Extrapolation time of the master axis
Extrapolator. Extrapolation time ExtrapolationTime diately
1111 Synchronous operation. TypeOfAxis. Extrapolation. DINT - - - R, W Restart Selection criterion for actual value smoothing
Extrapolator. Filter. Mode Filter. Mode EnumAxisFilter
Mode
1112 Synchronous operation. TypeOfAxis. Extrapolation. DINT - - - R, W Imme- Activation status
Extrapolator. Filter. Activation Filter. enable EnumYesNo diately
1113 Synchronous operation. TypeOfAxis. Extrapolation. REAL - 0.0 1E+12 R, W Imme- Time constant for PT1 smoothing
Extrapolator. Filter. Time Filter. timeConstant diately
Constant
1114 Synchronous operation. TypeOfAxis. Extrapolation. DINT - - - R, W Imme- Activation of the tolerance range
Extrapolator. Tolerance Range. ToleranceRange. Enable EnumYesNo diately
Activation
1115 Synchronous operation. TypeOfAxis. Extrapolation. REAL - -1E+12 1E+12 R, W Imme- Tolerance window
Extrapolator. Tolerance Range. ToleranceRange. Value diately
Tolerance window
1201 Mechanics. Modulo. Activation Modulo. state DINT - - - R, W Restart Activation of the modulo settings
EnumActive
Inactive
1202 Mechanics. Modulo. Length Modulo. length REAL - -1E+12 1E+12 R, W Restart Modulo length
1203 Mechanics. Modulo. Starting Modulo. startValue REAL - -1E+12 1E+12 R, W Restart Modulo starting value
value
1221 Monitoring. Velocity. Activation TypeOfAxis. DINT - - - R, W Imme- Activation of the actual velocity monitoring
ActualVelocityMonitoring. EnumYesNo diately
enable
1222 Monitoring. Velocity. Maximum TypeOfAxis. REAL - 0.0 1E+12 R, W Imme- Maximum permissible actual velocity
value ActualVelocityMonitoring. diately
maximum
1331 Configuration. Actual value TypeOfAxis. SmoothingFilter. DINT - - - R, W Imme- Activation of the filter functionality
smoothing. Activation enable EnumYesNo diately

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 Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
1332 Configuration. Actual value TypeOfAxis. SmoothingFilter. DINT Enum - - - R, W Restart Calculation method for actual value smoothing
smoothing. Mode mode AxisFilterMode
1333 Configuration. Actual value TypeOfAxis. SmoothingFilter. REAL - 0.0 1E+12 R, W Imme- Time constant for PT1 smoothing
smoothing. Time constant timeConstant diately
1351 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. REAL - 0.0 214748 R, W Imme- Delay time for the triggering of the standstill signal
Message delay time delayTimeToActivate diately
1352 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. DINT - 0 15 R, W Imme- Degree of filtering
Degree of filtering filterDegree diately
1353 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. REAL - 0.0 1E+12 R, W Imme- Filter frequency
Filter frequency filterFrequency diately
1354 Monitoring. Standstill signal. TypeOfAxis. StandStillSignal. REAL - -1E+12 1E+12 R, W Imme- Velocity limit for standstill signal
Velocity limit maxVeloStandStill diately
1400 Position control. Static TypeOfAxis. SpeedLimitation. DINT Enum - - - R, W Restart Activation status of the speed range limit
controller data. Manipulated Enable AxisFilterMode
variable limit. Activation
1401 Position control. Static TypeOfAxis. SpeedLimitation. REAL - -1E+12 1E+12 R, W Imme- Lower limit for the speed range
controller data. Manipulated MinSpeed diately
variable limit. Lower limit
1402 Position control. Static TypeOfAxis. SpeedLimitation. REAL - -1E+12 1E+12 R, W Imme- Upper limit for the speed range
controller data. Manipulated MaxSpeed diately
variable limit. Upper limit
2020 Mechanics. Load gearbox. TypeOfAxis. Gear. denFactor DINT - 0 2147483647 R, W Restart Gearbox factor denominator
Load revolutions count
2021 Mechanics. Load gearbox. TypeOfAxis. Gear. numFactor DINT - 0 2147483647 R, W Restart Gearbox factor numerator
Motor revolutions count
3010 Mechanics.Measuring TypeOfAxis. Encoder_1. DINT Enum - - - R, W Restart Attachment type of the encoder
system.Encoder attachment AssemblyBase. assemblyBase AxisEncoder
type AssemblyType
3011 Mechanics. Measuring TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Denominator
system.Motor side measuring AdaptDrive. denFactor
gearbox. Encoder revolutions
count
3012 Mechanics. Measuring system. TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Numerator
Motor side measuring gearbox. AdaptDrive.numFactor
Motor revolutions count

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Appendix

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
3013 Mechanics. Measuring system. TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Denominator
Load side measuring gearbox. AdaptExtern. denFactor
Encoder revolutions count
3014 Mechanics.Measuring system. TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Numerator
Load side measuring gearbox. AdaptExtern. numFactor
Load revolutions count
3015 Mechanics. Measuring system. TypeOfAxis. Encoder_1. REAL - 0.0 1E+12 R, W Restart Path for each measuring wheel rotation
External measuring gearbox. PathPerRevolution. length
Path per measuring wheel
rotation
3016 Mechanics. Measuring system. TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Denominator
External measuring gearbox. AdaptLoad.denFactor
Encoder revolutions count
3017 Mechanics. Measuring system. TypeOfAxis. Encoder_1. DINT - 1 2147483647 R, W Restart Numerator
External measuring gearbox. AdaptLoad.numFactor
Measuring wheel revolutions
count
3031 Homing Offset TypeOfAxis. Encoder_1. REAL - 0.0 1E+12 R, W Imme- Offset of the absolute encoder
AbsHomingEncoder. absShift diately
3041 Configuration. Measuring TypeOfAxis. Encoder_1. Filter. DINT - - - R, W Imme- Activation status of the filter functionality
system. Filter. Activation enable EnumYesNo diately
3042 Configuration. Measuring TypeOfAxis. Encoder_1. Filter. REAL - 0.0 1E+12 R, W Imme- Time constant for PT1 smoothing (actual value
system. Filter. Time constant timeConstant diately smoothing)
3063 Homing. Zero mark activation TypeOfAxis. Encoder_1. DINT - - - R, W Imme- Activation status of the zero reference mark
monitoring IncHomingEncoder. EnumYesNo diately monitoring
enableZeroMarkDistance
3066 Homing. Passive homing. TypeOfAxis. Encoder_1. DINT - - - R, W Imme- Expected approach direction
Approach direction IncHomingEncoder. EnumAxisPassi diately
passiveApproachDirection ve _Approach_
Direction
3068 Homing. Passive homing. TypeOfAxis. Encoder_1. DINT - - - R, W Restart Homing mode
Homing mode IncHomingEncoder. EnumAxisPassi
passiveHomingMode ve
Homing_Mode
3071 Homing. Distance to zero mark TypeOfAxis. Encoder_1. REAL - 0.0 1E+12 R, W Imme- Maximum distance between BERO and the zero
IncHomingEncoder. diately mark
zeroMarkDistance

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No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
4001 Configuration. Accept changes Activationmodechanged DINT EnumTo - - - R, W Imme- Activation of modified configuration data
configdata ActivationMode diately
SetConfigData
4010 Homing. Absolute value absoluteEncoder. 2 x DWORD - - - R, W Imme- Measuring system state of the absolute value
encoder adjustment. Total totalOffsetValue diately encoder, calculated total offset
offset
4011 Homing. Absolute value absoluteEncoder. DINT - - - R - Measuring system state of the absolute value
encoder adjustment. activationstate EnumYesNo encoder, including calculated total offset
Measuring system status
4341 Default. Default values. userdefault. syncposition REAL - -1E+12 1E+12 R, W Imme- Synchronization position
Synchronization position diately
4410 Actual values. Limits. sensormonitoring. DINT - - - R - Hardware minus limit switch
Hardware limit switch. HW hwlimitswitchminus EnumLimit
minus limit switch status ExceededOk
4411 Actual values. Limits. sensormonitoring. DINT - - - R - Hardware plus limit switch
Hardware limit switch. HW plus hwlimitswitchplus EnumLimit
limit switch status ExceededOk

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Technology parameters - Cams

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
4001 Configuration. Accept changes Activationmodechanged DINT - - - R, W Imme- Activation of modified configuration data
configdata EnumToActivati diately
on ModeSet
ConfigData
4201 Actual values. Cam type interpolation. camMode DINT - - - R - Boundary conditions of the interpolation
EnumCam
Mode
4202 Actual values. Interpolation interpolation. DINT - - - R - Interpolation type
type interpolationMode EnumCam
InterpolationMo
de
4211 Default. Default values. userDefault. camPositionMode DINT - - - R, W Imme- Reference of the coordinate specifications
Coordinate reference EnumCam diately
PositionMode

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Technology parameters - Measuring sensors

No. Name in DB-Param Name in DB-Param Data type Index min. max. Ac- Active Description
(type of indication "Normal") (type of indication "Expert") cess
4001 Configuration. Accept changes Activationmodechanged DINT EnumTo - - - R, W Imme- Activation of modified configuration data
configdata ActivationMode diately
SetConfigData

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Appendix

A.4.2 List of DINT values for technology parameters

Valid for firmware version V3.2.x of the integrated technology

This section describes firmware version V3.0.x, V3.1.x

The list below contains the DINT values of technology parameters, for which several ranges of values can be selected. These specifications are
required, when using FB "MC_WriteParameter" to edit the parameters of technology objects.

Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumActiveInactive INACTIVE - 0 61
ACTIVE - 1 4
EnumAxis Approach Direction APPROACH_NEGATIVE Approach direction negative zero mark 15 0
APPROACH_POSITIVE Approach direction positive zero mark 16 1
EDGE_POS_SIDE_NEG Positive edge at negative side BERO 17 2
EDGE_POS_SIDE_POS Positive edge at positive side BERO 18 3
EDGE_NEG_SIDE_POS Negative edge at positive side BERO 19 4
EDGE_NEG_SIDE_NEG Negative edge at negative side BERO 20 5
EnumAxisEncoderAssemblyType ASSEMBLY_BASE_DRIVE Drive side 83 0
ASSEMBLY_BASE_LOAD Load side 84 1
ASSEMBLY_BASE_EXTERN External 85 2
ASSEMBLY_BASE_LINEAR LINEAR 86 3
EnumAxisFilterMode DEFAULT_MODE Mean value of the IPO clock to Servo clock ratio 9 0
AVERAGING Mean value 10 1
PT1 Smoothing by filtering; adjustment based on time constant 11 2
EnumAxisFineInterpolatorMode DIRECT_MODE No interpolation 12 0
LINEAR_MODE Linear interpolation 13 1
CUBIC_MODE Constant speed interpolation 14 2

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Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumAxisHomingMode MODE_CAM_AND_ZM BERO and zero mark 22 1
MODE_ZM Zero mark only 23 2
MODE_CAM BERO only 24 3
MODE_NO_REFERENCE no mode 88 0
EnumAxisPassiveApproach Direction APPROACH_NEGATIVE_ Approach direction negative zero mark 15 0
PASSIVE
APPROACH_POSITIVE_ Approach direction positive zero mark 16 1
PASSIVE
EDGE_POS_SIDE_ Positive edge at negative side BERO 17 2
NEG_PASSIVE
EDGE_POS_SIDE_ Positive edge at positive side BERO 18 3
POS_PASSIVE
EDGE_NEG_SIDE_ Negative edge at positive side BERO 19 4
POS_PASSIVE
EDGE_NEG_SIDE_ Negative edge at negative side BERO 20 5
NEG_PASSIVE
ACTUAL_DIRECTION_ next edge 21 6
PASSIVE
EnumAxisPassiveHomingMode CAM_AND_ZM_PASSIVE BERO and zero mark 22 1
ZM_PASSIVE Zero mark only 23 2
CAM_PASSIVE BERO only 24 3
DEFAULT_PASSIVE Preset depending on encoder type 25 4
with zero mark: ZM_PASSIVE
without zero mark: CAM_PASSIVE
EnumBackLashDiff DIFF_POSITIVE Positive 26 0
DIFF_NEGATIVE Negative 27 1
EnumBackLashType NEGATIVE Negative 4 1
POSITIVE Positive 5 0
EnumBalanceFilterMode OFF Symmetry filter disabled 89 0
MODE_1 Balance filter enabled 90 1
MODE_1 Extended balance filter enabled 91 2

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Appendix

Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumCamInterpolationMode B_SPLINE Approximation by means of Bezier splines 28 25
C_SPLINE Interpolation by means of cubic splines 29 38
LINEAR Linear interpolation 30 72
EnumCammingDirection USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed direction 3 45
NEGATIVE In the opposite direction 4 85
POSITIVE In the same direction 5 107
EnumCammingMode USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
CYCLIC Cyclic cam: 31 35
NOCYCLIC Acyclic cam 32 92
EnumCamMode CYCLIC_ABSOLUTE Cyclic absolute cam disk 35 36
CYCLIC_RELATIVE Cyclically relative cam disk 36 37
NO_CONSTRAINTS Acyclic cam 37 96
EnumCamPositionMode USER_DEFAULT User default / default 2 149
ACTUAL Indication with scaling and offset 33 7
BASIC Indication without scaling and offset 34 16
EnumChangeMode NEVER no changeover 92 0
IN_POSITION Changeover when axis is in positioning window 93 1
IN_STANDSTILL Changeover when axis is below zero speed 94 3
IMMEDIATELY Immediate changeover 95 7
EnumDirection USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed default direction 3 45
NEGATIVE Negative 4 85
POSITIVE Positive 5 107
BY_VALUE From sign of speed setpoint value 38 24
SHORTEST_WAY Shortest path 39 121
EnumDirectionType NEGATIVE Negative direction 4 1
POSITIVE Positive direction 5 0

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Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumErrorReporting NO_REPORTING No 40 0
COMMAND_VALUE_ Setpoint values 41 1
TOLERANCE
ACTUAL_VALUE_ TOLERANCE Actual values 42 2
EnumFollowingObject SynchronizingDirection USER_DEFAULT User default / default 2 149
SHORTEST_WAY Shortest distance without direction preset 96 121
SYSTEM_DEFINED Compatibility mode 97 316
SAME_DIRECTION Same direction as master 98 317
POSITIVE_DIRECTION Positive synchronization direction 99 319
NEGATIVE_DIRECTION Negative synchronization direction 100 320
EnumForceDirection USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed effective direction 3 45
NEGATIVE Negative direction of action 4 85
POSITIVE Positive direction of action 5 107
BOTH Positive and negative effective direction 43 20
EnumGearingDirection USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed direction 3 45
NEGATIVE In the opposite direction 4 85
POSITIVE In the same direction 5 107
BY_VALUE Sign 38 24
CURRENT Current slave direction 44 33
REVERSE Opposite to the current slave direction 45 116
EnumGearingMode USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed type 3 45
GEARING_WITH_FRACTION Gear ratio as fraction 46 55
GEARING_WITH_RATIO Gear ratio as floating-point number 47 56
EnumGearingPosTolerance CommandValue NO_ACTIVATE No 48 0
WITHOUT_JERK Without jerk 49 1
WITH_JERK With jerk 50 2

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Appendix

Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumGearingType USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed type 3 45
ABSOLUTE Absolute gear 6 1
RELATIVE Relative gear 7 115
EnumLogicOperation OPERATION_OR Logical OR 51 0
OPERATION_AND Logical AND 52 1
EnumLimitExceededOk LIMIT_EXCEEDED 101 71
O_K_ within permitted range 102 102
EnumMasterMode USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed master mode 3 45
ABSOLUTE Reference to master is absolute 6 1
RELATIVE Reference to master is relative 7 115
EnumMeasuredEdge USER_DEFAULT User default / default 2 149
FALLING_EDGE Negative edge (hi to lo) 53 86
RISING_EDGE Positive edge (lo to hi) 54 117
BOTH_EDGES Measurement triggered at both edges 55 224
BOTH_EDGES_FIRST_ Measurement triggered at both edges, starting at the positive edge 56 225
RISING (lo to hi)
BOTH_EDGES_FIRST_ Measurement triggered at both edges, starting at the negative edge 57 226
FALLING (hi to lo)
EnumMeasuringRangeMode USER_DEFAULT User default / default 2 149
WITHOUT_SPECIFIC_ AREA Measurement without specified area 58 168
WITH_SPECIFIC_AREA Measurement in the specified area 59 170
EnumMountSwitch END_MOUNTED_SWITCH limit switch outside the permissible traversing range is always active 103 0
FLEXIBLE_MOUNTED_ SWITCH Limit switch may be passed 104 1
EnumOutputCamType TYPE_WAY Position-based cam 60 0
TYPE_TIME Time-based cam 61 1

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Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumProfile USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed speed profile 3 45
PARABOLIC Parabolic speed profile/not available 64 103
SINUSOIDAL Sinusoidal speed profile / not available 65 122
SMOOTH Smooth acceleration curve 66 124
TRAPEZOIDAL Trapezoidal speed profile 67 146
EnumRecognitionMode DO_NOT_CLAMP no detection 105 0
CLAMP_BY_FOLLOWING_ ERROR_ when value of follow-up error is exceeded 106 1
DEVIATION
CLAMP_WHEN_TORQUE_ LIMIT_ REACHED when torque limit is reached /not available (or to be verified) 107 2
EnumSensorState NOT_VALID Invalid 204 109
WAIT_FOR_VALID Waiting for validity 205 110
VALID Values are valid 206 111
EnumSlaveMode USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed slave mode 3 45
ABSOLUTE Reference to slave is absolute 6 1
RELATIVE Reference to slave is relative 7 115
EnumSyncModeCamming USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
IMMEDIATELY Effective Immediately 8 60
AT_THE_END_OF_ Transition at the end of the active cam 68 14
CAM_CYCLE
NEXT_WITH_ REFERENCE At the next master axis position/not available 69 90
ON_MASTER_AND_SLAVE_ Specification of the sync position of the master axis and slave axis 70 99
POSITION
ON_MASTER_POSITION Default synchronization position of master axis 71 100

S7-Technology
A5E00251798-05 A-77
Appendix

Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumSyncModeGearing USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
IMMEDIATELY Effective Immediately 8 60
NEXT_WITH_ REFERENCE At the next master axis position/not available 69 90
ON_MASTER_AND_ Specification of the sync position of the master axis and slave axis 70 99
SLAVE_POSITION
ON_MASTER_POSITION Default synchronization position of master axis 71 100
ON_SLAVE_POSITION Synchronization before synchronization position 72 101
EnumSyncOffMode Camming USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
IMMEDIATELY Effective Immediately 8 60
AT_THE_END_OF_ End of cam cycle 68 14
CAM_CYCLE
ON_MASTER_POSITION At position of master axis 71 100
ON_SLAVE_POSITION at the position of the slave axis 72 101
EnumSyncOffModeGearing USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
IMMEDIATELY Effective Immediately 8 60
ON_MASTER_POSITION Default SyncOff position of the master axis 71 100
ON_SLAVE_POSITION Default SyncOff position of the slave axis 72 101
EnumSyncOffPositionReference USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
AXIS_STOPPED_AT_ POSITION Stop before SyncOff position 73 15
BEGIN_TO_STOP_WHEN_ Stop at SyncOff position 74 18
POSITION_ REACHED
STOP_SYMMETRIC_WITH_ Stop symmetrically to SyncOff position 75 137
POSITION

S7-Technology
A-78 A5E00251798-05
 Appendix

Name Values Description S7 Int.

(Expert list in S7T Config) technolog
y
EnumSyncPositionReference USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
BE_SYNCHRONOUS_AT_ Synchronize before sync position 76 19
POSITION
SYNCHRONIZE_ Synchronize symmetrically to sync position 77 143
SYMMETRIC
SYNCHRONIZE_WHEN_ Synchronize from sync position 78 144
POSITION_ REACHED
EnumSyncProfileReference USER_DEFAULT User default / default 2 149
EFFECTIVE Last programmed setting 3 45
RELATE_SYNC_PROFILE_ Master axisspecific synchronization profile 79 113
TO_ LEADING_VALUE
RELATE_SYNC_PROFILE_ Timerelated synchronization profile 80 114
TO_TIME
EnumToActivationMode SetConfigData ACTIVATE_CHANGED_ Enable configuration data Immediately 81 291
CONFIG_DATA
COLLECT_CHANGED_ Collect changed configuration data, do not enable 82 292
CONFIG_DATA
EnumYesNo NO Enable: No 0 91
YES Enable: Yes 1 173
RESERVE_EnumOutput CamType TYPE_SWITCH Switching cams 62 2
TYPE_REVERSE Reversing cam 63 3

S7-Technology
A5E00251798-05 A-79
A.5 Additional information on the Internet
If you can access the Internet on your PG/PC, you can download supplementary
information from the Internet.
Additional information on the Technology CPU can also be obtained on the Internet
URL shown below if your PG/PC is capable of connecting to the Internet:

Your Siemens contact partners

http://www.siemens.com/automation/partner

Service & Support

http://www.siemens.com/automation/service&support

Technical support for all A&D products

http://www.siemens.com/automation/support-request

SIMATIC documentation
http://www.ad.siemens.de/support

Training Centers
http://www.sitrain.com

FAQs
http://support.automation.siemens.com

S7-Technology
A-80 A5E00251798-05
Index
Active range - Measuring input 3-74
A Active single command 1 - new command
6-282
Absolute and relative camming 3-33 Active single command 2 - New command
Absolute encoder adjustment 3-13 6-284
Absolute encoder on ADI4 - Encoder Active single command 3- new command
parameter assignment 4-93 6-285
Absolute encoders - External encoders ACTUAL 8-9, 8-12
3-76 ACTUAL - memory area 8-5
Absolute gearing 3-31 Actual value - acceleration 4-44, 4-113
Absolute positioning of modulo axes 6-295 Actual value - Position 4-44, 4-113
Absolute positioning with FB 410 Actual value - Velocity 4-44, 4-113
MC_MoveAbsolute 6-42 Actual value coupling 4-158, 4-159
Absolute synchronism 3-38 Actual value detection A-38
Absolute values 4-54, 4-123, 4-185 Actual value logging 4-44, 4-113
Acceleration 4-54, 4-55, 4-123, 4-124, Actual value setting 3-11
4-185, 4-186 Actual values 2-12
Acceleration model - direction-dependent ActualAcceleration - Technology DB 7-1,
4-54, 4-123, 4-185 7-6, 7-11
Acceleration model - status-dependent ActualPosition - Technology DB 7-6, 7-11,
4-54, 4-123, 4-185 7-18
AccelerationOverride - Technology DB 7-1, ActualVelocity - Technology DB 7-1, 7-6,
7-6, 7-11 7-11, 7-18
Accessing address spaces of CPU 31xT Adding a cam sector with FB 435
5-19 MC_CamSectorAdd 6-191
Accessing address spaces of Microbox T Adding a data record 4-39, 4-109
5-21 Adding a data record for data record
Acknowledge 5-28 changeover 4-39, 4-109
Acknowledging errors with FB 402 Adding a sector to a cam disk with FB 435
MC_Reset 6-232 MC_CamSectorAdd 6-191
Acknowledgment 5-30, 5-31, 5-32 Adding a valve profile 4-103
Activating a valve profile by calling FB 439 Additional information on the Internet A-80
MC_SetCharacteristic 6-106 Address spaces of CPU 31xT 5-19
Activating changes 8-13 Address spaces of the Microbox T 5-21
Active - Monitoring active commands 5-24 Addresses of CPU 31xT 5-19
Active command 2 - New command 6-289 Addresses of the Microbox T 5-21
Active commands 5-24 ADI4 2-3
Active commands 1- new command 6-287 Analog absolute encoder - encoder
Active homing 4-63, 4-64, 4-67, 4-68, parameter assignment 4-99
4-71, 4-132, 4-133, 4-136, 4-137, 4-140, Analyzing a project A-25
4-194, 4-195, 4-198, 4-199, 4-202 AND logic - Output cams 4-252
Active homing - in homing mode with ANY-Pointer - MC_CamSectorAdd 6-191
reference cam only 4-63, 4-132, 4-194 Application example Flying shears A-3
Active homing - Time-based reference point Application example Gripper feed A-5
approach Application example positioning with target
Active homing - in homing mode with sensor A-1
reference cam and encoder zero mark Application examples on the Internet A-1
4-63, 4-132, 4-194 Assigning cam disks 4-158
Active homing mode with encoder zero Assigning interpolator cycle 2 A-35
mark only 4-63, 4-132, 4-194 Assigning leading axes 4-158

S7-Technology
A5E00251798-05 Index-1
Index

Assigning leading axes and cam disks - CamEdit - Interpolation 2 4-236

Actual value coupling 4-158 Camming 3-33, 3-34, 3-35, 3-37
Assigning leading axes and cam disks - Scaling and offset 3-33, 3-37
Setpoint coupling 4-158 Transmission characteristic 3-33
Assigning processing cycles 5-12 Camming - Basics 3-33
Assigning system clocks 5-12, 5-14 Cams - Position-based cams 6-210
Assigning the valve profile 4-108 Cams - Time-based cams 6-217
Assuming control priority - Control panel CamTool 2-2, 2-9
8-49 CamType - Technology DB 7-27
Averaging - Actual value logging 4-44, Cancel message 2-11
4-113 Changeover of data records with FB 409
Axis - Configuration 4-46, 4-115, 4-177 MC_ChangeDataset 6-35
Axis - Position and velocity 4-51, 4-120, Changing parameters with FB 407
4-182 MC_WriteParameter 6-241
Axis Control Panel - Layout 8-47 Changing superimposing phase shift with
Axis control panel - Starting 8-46 FB 444 MC_PhasingSuperImposed
Axis enable 6-11 6-181
Axis technologies 3-1 Changing the phase shift between the
Axis technology DB - ErrorIDs 7-41 leading and following axes with FB 424
Axis types 3-3 MC_Phasing 6-175
Axis wizard 4-32, 4-38 Checking CPU load caused by system
clocks 8-19
B Checking load on integrated technology
8-19
B spline 6-199 Clamping - MC_MoveToEndPos 6-94
Backup of absolute encoder adjustment Clock cycles - time pattern 5-1
data 6-246 CmdLoopDuration - Technology DB 7-32
Balancing filter = Balancing filter 8-31 CmdLoopDuration - time pattern 5-1
Base coordinate system - superimposing COMBIMASTER 2-3
coordinate system 3-9 Command execution cycle 8-16
Base synchronization object 3-38 Command monitoring time 8-16
Coordinates 3-38, 3-39 Command processing - time pattern 5-1
Basic motion 3-10, 3-11 Command start - IPO synchronous 5-26
Behavior of virtual axes 5-33 Command tracking 5-25
BERO - reference cam 3-11 CommandAborted - Monitoring active
Bestellnummern 2-2 commands 5-24
Bezier splines 3-57, 3-58 CommandAcceleration - Technology DB
Block editor 2-9 7-1, 7-6, 7-11
BRB bit 5-28, 5-29 CommandPosition - Technology DB 7-6,
Bus clock - Constant DP cycle time 8-16 7-11
CommandVelocity - Technology DB 7-1,
C 7-6, 7-11
Commissioning tools 2-8
Calculating the equivalent time constant of
Compact and integrated 2-1
the position control loop 8-36
Configuration - Axis 4-46, 4-115, 4-177
Calculation reference point - Actual value
Configuration - External encoder 4-264
logging 4-44, 4-113
Configuration - Measuring input 4-259
Cam activation position 3-65
Configuration – Output cams 4-252
Cam activation time 3-65
Configuration - overview 4-1
Cam disk 3-33, 3-34, 3-35, 3-36, 3-37
Configuration data 2-12, 8-5, 8-6, 8-7, 8-8,
cyclic or acyclic applications 3-33
8-10, 8-12, 8-13, 8-14
Cam disk - scaled input 4-232
Configuration tools 2-8
Cam disk - Technology DB 7-22
Configuring a cam disk 4-228
Cam disk applications 3-47
Configuring a measuring input in S7T
Cam disk as valve profile 4-103
Config 4-257
Cam disk coupling 3-27
Configuring an electrical axis/synchronizing
Cam technology DB - ErrorIDs 7-67
axis 4-31
CamEdit 4-234, 8-15

S7-Technology
Index-2 A5E00251798-05
 Index

Configuring an external encoder 4-261 Creating an electrical axis 4-31

Configuring an output cam 4-250 Creating and managing technology DBs
Configuring drives in HW Config 4-7 4-24
Configuring electrical axes 4-31 Creating cam disks using CamTool 4-246
Configuring external encoders 4-261 Creating cam disks with CamEdit 4-233
Configuring hydraulic axes - inserting Cubic splines 3-56, 3-57, 6-200
an axis 4-87 Cycles 5-1, 5-2, 5-3, 5-4
Configuring hydraulic axes - Q output Cycles of the Technology CPU 5-12
via analog output module 4-99 Cylinders - hydraulic 3-4
Configuring hydraulic axes - Q output
via IM 174/ADI4 4-93 D
Configuring output cams 4-250
Configuring superimposing synchronism Data record changeover 3-14, 4-39, 4-40,
4-160 4-109, 4-110
Configuring synchronizing axis 4-31 DB parameter - Synchronization axis 7-11
Configuring the Technology CPU in DB parameters - External encoder 7-18
HW Config 4-2 DB parameters - Output cam 7-27
Configuring the technology objects 4-26 DB parameters - Speed-controlled axis 7-1
Connecting the programming device 8-1 DB parameters - Trace 7-31
consistency A-25, A-27 DB2INT 5-34
Continuity check 3-49, 4-234 DBDevice 7-36
Continuous function 6-70 DB-Parameter - Cam disk 7-22
Control - Additional compensation functions DB-Parameter - MCDevice 7-32
4-131 DB-Parameter - Measuring input 7-24
Control loop - Dynamic controller data DB-Parameter - Positioning axis 7-6
4-61, 4-192 Deceleration 4-54, 4-55, 4-123, 4-124,
Control loop - Dynamic controller data tab 4-185, 4-186
4-129 DecelerationDistance - Technology DB
Control loop - Friction compensation tab 7-6, 7-11
4-62, 4-130, 4-193 Defaults - Dynamics tab 4-49, 4-118, 4-180
Control loop - Static controller data tab Defaults - External encoder 4-266
4-59, 4-128, 4-190 DefaultStop 6-3
Control panel - Assuming control priority Defining cam disk segments for motion
8-49 control tasks - VDI 4-249
Control Panel - Controlling the axis 8-50 Defining cam disks 4-232
Control panel - Introduction 8-45 Defining cam disks - scaling 3-46
Control Panel - Monitoring axis values 8-48 Definition of cam disks 4-232
Control signal compensation - limiting Delay 3-70, 6-210, 6-217
6-106 Deleting - Technology DBs 4-24
Controller 2-10 Deleting cams 6-188
Controller - tuning 8-20 Deleting cams with FB 434 MC_CamClear
Controlling the axis 8-50 6-188
converting A-27 Deleting the contents of a cam disk with
converting technology A-15 FB 434 MC_CamClear 6-188
Converting the technology A-15 Deleting the data record of an axis 4-39,
Copying - Technology DBs 4-24 4-109
Copying ACTUAL to ROM 8-12 DenomGear - Technology DB 7-11
Copying the configuration data from Derivative action time – output cams 3-70
another station 4-269 Derivative action times of output cams 3-70
Correction of synchronized motions 3-33 Desynchronization - Position reference
CPU memory reset 8-7 4-173
CPU replacement A-9 Desynchronization - Synchronism 4-173
CPU replacement - Backup of absolute Determining and adding a valve profile
encoder adjustment data 6-246 4-103
CPU upgrade A-7 Difference between "Axis" and "Drive" 3-8
CPU utilization 5-1 Differentation - Actual value logging 4-44,
Creating a synchronization axis 4-156 4-113

S7-Technology
A5E00251798-05 Index-3
Index

DINT values for technology parameters Einsetzbare Komponenten und Systeme

A-72 2-2
Direct homing / setting the reference point Emergency off 8-36, 8-37
4-80, 4-149, 4-211 Emergency program 6-3, 6-7
Directional valve - digital 3-4 enable PA 8-49
Directional valve - proportional 3-4 enabling the axis 8-50
Direction-dependent acceleration model Enabling/disabling an axis with FB 401
4-54, 4-123, 4-185 MC_Power 6-3
Disabling the axis 8-50 Encoder limit frequency monitoring A-38
Distance - Technology DB 7-6, 7-11 Encoder monitoring functions A-38
DIStatus - Technology DB 7-32 Encoder system 4-259
Done - Monitoring active commands 5-24 Encoder zero mark - homing 3-11
Done message 2-11 Encoder zero mark monitoring A-38
DoneFlag 2-11, 6-293 Enum - Technology parameters A-39
DoneFlag - Technology DB 7-32 Enum values A-72
DoneFlag generation 6-293 Equivalent time constant of the position
DOStatus - Technology DB 7-32 control loop 8-36, 8-37
Download - user program Configuration Equivalent time of the position control loop
data Firmware 8-2 8-37
Download after migration A-24 Error message 2-12
DP cycle 8-17 ErrorBuffer 5-30, 5-31, 5-32
DP cycle - time pattern 5-1 ErrorBuffer - Technology DB 7-1, 7-6, 7-11,
Drive ES Basic 2-9 7-18, 7-22, 7-24, 7-27, 7-32
DriveMonitor 2-9 ErrorIDs - Axis technology DB 7-41
drives 4-7 ErrorIDs - Cam technology DB 7-67
Drives - overview 4-11 ErrorIDs - External encoder technology DB
DSC 3-24 7-56
Dynamic adaptation 4-61, 4-192 ErrorIDs - MC_CamClear 6-189
Dynamic controller data 4-61, 4-192 ErrorIDs - MC_CamOut 6-159
Dynamic controller data - Hydraulic axis ErrorIDs - MC_ChangeDataset 6-40
4-129 ErrorIDs - MC_MoveAbsolute 6-54
Dynamic following error monitoring 4-84, ErrorIDs - MC_Power 6-12
4-153, 4-215 ErrorIDs – MCDevice/Trace technology DB
Dynamic parameters 6-241 7-70
Dynamic parameters - Range of value ErrorIDs - Measuring input technology DB
6-294 7-64
Dynamic response - Absolute values 4-54, ErrorIDs - Output cam technology DB 7-61
4-123, 4-185 ErrorIDs - Synchronization technology DB
Dynamic response - Acceleration 4-54, 7-47
4-123, 4-185 ErrorIDs - Technology DB 7-1, 7-6, 7-11,
Dynamic response - Deceleration 4-54, 7-18, 7-22, 7-24, 7-27, 7-31, 7-32
4-123, 4-185 Errors and warnings at the
Dynamic response - Hardware limits 4-54, Technology DB - Axes & External
4-123, 4-185 Encoders 5-31
Dynamic response - Software limits 4-54, Errors and warnings at the
4-123, 4-185 Technology DB - Cam disk & Measuring
Dynamic response adaptation 3-21 Input & Output Cam 5-32
Dynamic Servo Control DSC 3-24 Errors and warnings at the technology
Dynamics 4-49, 4-118, 4-180 function 5-28
Errors at the technology DB - MCDevice &
E Trace 5-30
Errors occur when the "Save and compile
Edge-triggered axis enable signal 6-11 all" function is executed for the
editing older project A-27 technology data. Default values -
Effect of the cam segment coefficients S7T Config A-31
6-195 ErrorStatus - Technology DB 7-1, 7-6,
Effective direction - Output cams 3-66 7-11, 7-18

S7-Technology
Index-4 A5E00251798-05
 Index

ErrorStatus.xxx 5-31 Example encoder changeover -

ET 200M 2-4 MC_ChangeDataset 6-38
ET 200S 2-4 Example passive homing - MC_Home 6-18
Example - absolute positioning - Examples of using the tables 6-291
MC_MoveSuperImposed 6-79 Execute 5-16
Example - Electronic cam control 3-71 Execute – Monitoring active
Example – Flying shears A-3 commands 5-24
Example – Gripper feed A-5 Execution.ExecutionLevel 5-12
Example - Hydraulic axis 6-10 Expert list 8-13, 8-14
Example - MC_CamInSuperImposed - Expert List in S7T Config A-32
Superimposition 6-164 External encoder - Configuration 4-264
Example - MC_CamOut 6-158 External encoder - defaults 4-266
Example - MC_CamSwitchTime 6-219 External encoder - Dynamic Servo Control -
Example - MC_ExternalEncoder 6-229 DSC 3-75
Example - MC_GearIn 6-113 External encoder - High resolution 4-43
Example - MC_GearInSuperImposed - External encoder - Interconnection 3-75
relative/absolute 6-130 External encoder - Mechanics 4-265
Example - MC_GearOut 6-121 External encoder - Technology DB 7-18
Example - MC_Halt 6-32 External encoder - wiring 3-75
Example - MC_MeasuringInput 6-224 External encoder technology DB - ErrorIDs
Example - MC_MoveAdditive 6-73 7-56
Example - MC_MoveToEndPos 6-97 External encoders - Direct homing 3-76
Example - MC_Phasing 6-178 External encoders – monitoring functions
Example - MC_PhasingSuperImposed A-38
6-183 External encoders - Passive homing 3-76
Example - MC_Power 6-9 External encoders - Synchronization 3-76
Example - MC_ReadPeriphery 6-251 External encoders - Synchronization with
Example - MC_Reset 6-9 incremental encoders 4-266
Example - MC_SetTorqueLimit 6-103 External encoders with FB 432
Example - MC_Stop 6-27 MC_ExternalEncoder 6-227
Example - MC_WriteParameter 6-244 extrapolationdata.filteredvelocity 4-158
Example - MC_WritePeriphery 6-256 extrapolationdata.position 4-158
Example - Mode 0 - MC_MoveAbsolute extrapolationdata.velocity 4-158
6-44
Example - Mode 0 - MC_MoveRelative F
6-58
Example - Mode 1 - MC_MoveAbsolute FastStop 6-4
6-46 FB 401 MC_Power 6-3
Example - Mode 1 - MC_MoveRelative FB 402 MC_Reset 6-232
6-60 FB 403 MC_Home 6-14
Example - Mode 2 - MC_MoveAbsolute FB 405 MC_Halt 6-30
6-48 FB 406 MC_ReadSysParameter 6-237
Example - Mode 2 - MC_MoveRelative FB 407 MC_WriteParameter 6-241
6-62 FB 409 MC_ChangeDataset 6-35
Example - Mode 6 - MC_Home 6-19 FB 410 MC_MoveAbsolute 6-42
Example - Mode 7 - MC_Home 6-20 FB 411 MC_MoveRelative 6-56
Example - Position-based cam - FB 412 MC_MoveAdditive 6-70
MC_CamSwitch 6-213 FB 413 MC_MoveSuperImposed 6-76
Example - Positioning with target sensor FB 414 MC_MoveVelocity 6-83
A-1 FB 415 MC_MoveToEndPos 6-94
Example - relative positioning - FB 420 MC_GearIn 6-110
MC_MoveSuperImposed 6-80, 6-107 FB 422 MC_GearOut 6-120
Example - Switching cam - MC_CamSwitch FB 423 MC_CamOut 6-156
6-214 FB 424 MC_Phasing 6-175
Example application - MC_ChangeDataset FB 430 MC_CamSwitch 6-210
6-39 FB 431 MC_CamSwitchTime 6-217
FB 432 MC_ExternalEncoder 6-227

S7-Technology
A5E00251798-05 Index-5
Index

FB 433 MC_MeasuringInput 6-222 Homing - Passive homing tab 4-74, 4-143,

FB 434 MC_CamClear 6-188 4-205
FB 435 MC_CamSectorAdd 6-191 Homing / setting axes with FB 403
FB 436 MC_CamInterpolate 6-199 MC_Home 6-14
FB 437 MC_SetTorqueLimit 6-102 Homing- Incremental encoders 3-76
FB 438 MC_GetCamPoint 6-205 Homing on-the-fly = Passive homing 4-74,
FB 439 MC_SetCharacteristic 6-106 4-143, 4-205
FB 440 MC_GearInSuperImposed 6-125 How to analyze an older project using S7-
FB 441 MC_CamInSuperImposed 6-161 Technology A-25
FB 442 MC_GearOutSuperImposed 6-137 How to convert the technology A-15
FB 443 MC_CamOutSuperImposed 6-170 How to convert the technology and upgrade
FB 444 MC_PhasingSuperImposed 6-181 the technology packages A-17
FB 450 MC_ReadPeriphery 6-250 How to edit an older project using S7-
FB 451 MC_WritePeriphery 6-255 Technology A-27
FB 453 MC_ReadRecord 6-260 How to recreate the technology DBs A-21
FB 454 MC_WriteRecord 6-265 How to replace the Technology CPU with a
FB 455 MC_ReadDriveParameter 6-270 different type A-9
FB 456 MC_WriteDriveParameter 6-276 How to upgrade the firmware of
Filter - Actual value logging 4-44, 4-113 CPU 31xT-2 DP A-12
Fine interpolator 4-60, 4-191 How to upgrade the firmware of the
firmware upgrade A-7 integrated technology A-13
Fixed end stop 4-56, 4-57, 4-58, 4-125, How to utilize the new performance
4-126, 4-127, 4-187, 4-188, 4-189 features A-7
Fixed end stop - MC_MoveToEndPos 6-94 HW Config 4-2, 4-5, 4-7
Fixed end stop - Violation of torque limits Hydraulic axes 3-4, 3-5
4-56, 4-125, 4-187 Hydraulic axis 6-106, 6-107
Flow volume Q 3-4 Hydraulic axis – determining and adding a
Following axis - gearing 6-110 valve profile 4-103
Following error 6-94, 6-96 Hydraulic pump 3-5
Following error monitoring 4-84, 4-153, Hydraulic reservoir 3-5
4-215 Hysteresis 3-68, 3-69
Following mode 3-2, 6-4, 6-8, 6-24 Hysteresis range 3-69
FollowingError - Technology DB 7-6, 7-11
Friction compensation 4-62, 4-130, 4-193 I
Function block 2-11
Further compensation 4-131 I/O image of integrated technology 5-22
I/O image of the integrated technology
5-19
G
Identifying firmware versions A-11
Gear ratio 3-31 Identifying the firmware version A-11
Gearing 3-31 IM 174 2-3
GearStop 6-4, 6-8 Immediately 8-14
Geometry 3-51, 4-229 Inconsistency A-28
Incremental encoder - Homing 3-76
H Incremental encoder on ADI4 - Encoder
parameter assignment 4-93
hardware components 2-6, 2-7 Incremental encoder on the drive - encoder
Hardware components and their tasks 2-6 parameter settings 4-31
Hardware limit switches 4-51, 4-120, 4-182 Infinite axes - Modulo axes 3-3
Hardware limit switches - wiring 4-52, inputs - integrated 2-6
4-121, 4-183 Inserting a cam disk 4-229, 4-232
Hardware limits 4-54, 4-123, 4-185 Inserting a measuring input 4-257
High resolution 4-43 Inserting a synchronization axis 4-156
High-speed output cams 4-254 Inserting an electrical axis 4-31
Homing 3-11, 3-12, 4-63, 4-132, 4-194 Inserting an external encoder 4-262
Homing - Active homing 4-63, 4-132, 4-194 Inserting output cams 4-250
Homing - Active homing tab 4-63, 4-132, integrate I/O 2-6
4-194

S7-Technology
Index-6 A5E00251798-05
 Index

Integrated I/O 2-12, 5-20, 5-21, 5-22 Linear axes 3-3

Integrated PLCopen-compliant Motion List - Technology parameters A-39
Control functions in STEP 7 2-2 Load commands in S7T Config 8-9
Integrated Technology 2-8 Load commands in STEP 7 8-2
Interaction between axis and Logging changes 8-13
synchronization technology objects 3-27 Logic operation - Output cams 4-252
Interconnection - external encoder 3-75
Interconnection - Measuring input 3-73 M
Interface TraceTool - Trace DB 8-41
Interpolate 6-199 Manipulated variable limiting 4-59, 4-190
Interpolating cams with FB 436 Manipulated variable monitoring 4-86
MC_CamInterpolate 6-199 Manipulated variable superimposition 3-23
Interpolation - CamEdit 4-234 Master - gearing 6-110
Interpolation - Correction options 4-234 Master setpoint – synchronized group 3-27
Interpolation - Overlapping segments Master setpoint coupling 3-29
4-234 MASTERDRIVES 2-3
Interpolation 2 - CamEdit 4-236 MASTERDRIVES – hardware components
Interpolation 2 - master range 4-236 2-6
Interpolation between two cam segments MaxLoopDuration - Technology DB 7-32
6-201 MaxLoopDuration - time model 5-1
Interpolation conditions 3-49 MC_CamClear 6-188
Interpolation modes 3-54, 6-199 MC_CamClear - ErrorIDs 6-189
Interpolation of cams 3-49 MC_CamIn - Effect of offset values 6-145
Interpolation point table 4-232, 6-199 MC_CamIn - Effect of the scaling factors
Interpolator cycle 5-13, 8-17, 8-18 6-145
Interpolator cycle - time pattern 5-1 MC_CamIn - Example - Cam changeover at
Interpolator cycle 2 8-17 the end of a cycle 6-152
Interpolator cycle 2 - time pattern 5-1 MC_CamIn - Example - cyclic absolute
Introduction - Control panel 8-45 synchronism 6-148
Inverted output 3-66 MC_CamIn - Example - cyclic relative
IPO levels 3-27 synchronism 6-146
IPO overflow 5-1, 8-16 MC_CamIn - Example - Synchronization
IPO synchronous command start 5-26 condition
isochronous 2-7 AT_MASTER_AND_SLAVE_POSITION
6-153
MC_CamIn - Example - Synchronization
J
with the leading axis position 6-146,
Job Processing Task - Command 6-148
monitoring time 8-16 MC_CamInSuperImposed - Example -
"Base synchronism with superimposing
K camming" 6-165
MC_CamInSuperImposed - Example -
Komponenten 2-2 Superimposition 6-164
MC_CamInterpolate 6-199
L MC_CamOut 6-157
MC_CamOut - ErrorIDs 6-159
LAD/FBD/STL 2-9
MC_CamOut - example 6-158
Layout of the Axis Control Panel 8-47
MC_CamOutSuperImposed 6-172
Leading axis - gearing 6-110
MC_CamSectorAdd 6-191, 6-194
Limit frequency A-38
MC_CamSectorAdd - Effect of the cam
Limit monitoring - Actual value logging
segment coefficients 6-195
4-44, 4-113
MC_CamSectorAdd - Interpolation between
Limits - Dynamic response tab 4-54, 4-123,
two cam segments 6-201
4-185
MC_CamSwitch 6-210
Limits - Fixed end stop tab 4-56, 4-125,
MC_CamSwitch - Example - Position-based
4-187
cam 6-213
Limits - Position and velocity tab 4-51,
4-120, 4-182

S7-Technology
A5E00251798-05 Index-7
Index

MC_CamSwitch - Example - Switching cam MC_MoveAbsolute - Example - Override

6-214 motion 6-44
MC_CamSwitchTime 6-217 MC_MoveAdditive 6-70
MC_CamSwitchTime - example 6-219 MC_MoveAdditive - example 6-73
MC_ChangeDataset - ErrorIDs 6-40 MC_MoveRelative - Example - Append
MC_ChangeDataset - Example - Motion 6-60
Application 6-39 MC_MoveRelative - Example - Mode 0
MC_ChangeDataset - Example - Encoder 6-58
changeover 6-38 MC_MoveRelative - Example - Mode 1
MC_ExternalEncoder 6-227 6-60
MC_ExternalEncoder - example 6-229 MC_MoveRelative - Example - Mode 2
MC_GearIn 6-110 6-62
MC_GearIn - Absolute synchronism with MC_MoveRelative - Example - Motion
phase shift 6-116 override 6-58
MC_GearIn - Absolute synchronism without MC_MoveRelative - Example - Overlay
phase shift 6-116 Motion 1 6-62
MC_GearIn - Example - "Synchronization MC_MoveRelative - Example - Overlay
based on configuration data" 6-115 motion 2 6-64
MC_GearIn - Example - Phase shift 6-116 MC_MoveRelative - Example - Overlay
MC_GearIn - Synchronization based on motion 3 6-66
configuration data 6-113 MC_MoveSuperImposed 6-76
MC_GearIn - Synchronization based on MC_MoveSuperImposed - Example -
preset dynamic parameters 6-113 Absolute positioning 6-79
MC_GearInSuperImposed 6-125 MC_MoveSuperImposed - Example -
MC_GearInSuperImposed - Example - relative positioning 6-80, 6-107
Phase shift 6-132 MC_MoveToEndPos 6-94
MC_GearInSuperImposed - Example - MC_MoveToEndPos - example 6-97
Superimposition 6-128 MC_MoveToEndPos - Torque settings
MC_GearInSuperImposed - Example A-36
relative/absolute 6-130 MC_MoveVelocity 6-85, 6-87
MC_GearOut 6-121 MC_Phasing - example 6-178
MC_GearOut - example 6-121 MC_PhasingSuperImposed 6-181
MC_GearOutSuperImposed 6-138 MC_PhasingSuperImposed - Example
MC_GetCamPoint 6-205 6-183
MC_Halt - example 6-32 MC_Power 6-3, 6-10
MC_Home 6-14, 6-16 MC_Power - ErrorIDs 6-12
MC_Home - Example - Mode 6 6-19 MC_Power - Example - Hydraulic axis 6-10
MC_Home - Example Mode 7 6-20 MC_ReadDriveParameter 6-270
MC_Home - Example passive homing 6-18 MC_ReadPeriphery 6-250
MC_MeasuringInput 6-222 MC_ReadPeriphery - address access 5-19,
MC_MeasuringInput - example 6-224 5-21
MC_MoveAbsolute - ErrorIDs 6-54 MC_ReadPeriphery - example 6-251
MC_MoveAbsolute - Example - Append MC_ReadRecord 6-260
Motion 6-46 MC_ReadSysParameter 6-237
MC_MoveAbsolute - Example - Mode 0 MC_Reset 5-16, 5-30, 5-31, 5-32, 8-13
6-44 MC_Reset - example 6-9
MC_MoveAbsolute - Example - Mode 1 MC_SetCharacteristic - example 6-107
6-46 MC_SetTorqueLimit - example 6-103
MC_MoveAbsolute - Example - Mode 2 MC_SetTorqueLimit - Torque settings A-36
6-48 MC_Stop 6-24, 6-25, 6-26
MC_MoveAbsolute - Example - Overlay MC_Stop - example 6-27
motion 1 6-48 MC_WriteDriveParameter 6-276
MC_MoveAbsolute - Example - Overlay MC_WriteParameter 5-36, 6-242, 8-13
motion 2 6-50 MC_WriteParameter - Example - Drive
MC_MoveAbsolute - Example - Overlay control word 6-244
motion 3 6-52 MC_WritePeriphery 6-255

S7-Technology
Index-8 A5E00251798-05
 Index

MC_WritePeriphery - address access 5-19, MMC 2-2

5-21 MMC - memory area 8-5
MC_WritePeriphery - Example 6-256 Mode - Technology DB 7-27
MC_WriteRecord 6-265 modes of operation 3-1
MCDevice 2-12 Modulo axes 3-3, 6-42, 6-43
MCDevice - Error 5-30 Modulo axes - absolute positioning 6-295
MCDevice - Technology DB - Integrated Modulo cycle 6-295
Technology with firmware V3.1.x 7-32 Monitoring - Hardware limit switches 4-52,
MCDevice/Trace technology DB- ErrorIDs 4-121, 4-183
7-70 Monitoring - Positioning monitoring 4-83,
MeasureEnd - Technology DB 7-24 4-152, 4-214
Measurement results 4-259 Monitoring - Software limit switches 4-54,
MeasureStart - Technology DB 7-24 4-123, 4-185
MeasureValue - Technology DB 7-24 Monitoring - Stillstandsüberwachung 4-83,
MeasureValue1 - Technology DB 7-24 4-152, 4-214
Measuring component 6-222 Monitoring - Synchronism 4-212
Measuring input - Active range 3-74 Monitoring active commands 5-24
Measuring input - Configuration 4-259 Monitoring axis values on the Control Panel
Measuring input - function 3-73 8-48
Measuring input - interconnection 3-73 Monitoring functions - Following error
Measuring input - Measuring range 3-73, monitoring tab 4-84, 4-153, 4-215
3-74 Monitoring functions - Overview 4-81,
Measuring input - wiring 3-73 4-150, 4-212
Measuring input technology DB 7-24 Monitoring functions - Positioning and
Measuring input technology DB - ErrorIDs standstill monitoring tab 4-83, 4-152,
7-64 4-214
Measuring input with FB 433 Monitoring functions - Standstill signal tab
MC_MeasuringInput 6-222 4-85, 4-154, 4-216
Measuring range 3-74, 6-222 Monitoring functions - Synchronization
Measuring range - Measuring input 3-73, monitoring 4-217
3-74 Monitoring functions - Velocity error
Mechanical gear synchronism 3-27 monitoring tab 4-86, 4-155, 4-219
Mechanical settings of an electrical axis Monitoring functions (external encoders)
with encoder 4-47, 4-116, 4-178 A-38
Mechanics - electrical axis 4-47, 4-116, Monitoring system variables 8-39
4-178 Motion laws to VDI 4-247
Mechanics - External encoder 4-265 Motion transitions to VDI 4-247
Memory area - NEXT 8-5 Motions with non-homed axes 4-80, 4-149,
Memory area ACTUAL 8-5, 8-7, 8-8, 8-9, 4-211
8-12, 8-13 motionstatedata.actualacceleration 4-44,
Memory area NEXT 8-13 4-113
Memory area RAM 8-5, 8-7, 8-8, 8-9, 8-12, motionstatedata.actualvelocity 4-44, 4-113,
8-13 4-158
Memory area ROM 8-5, 8-7, 8-8, 8-9, 8-12, Moving the axis with speed preset using
8-13 FB 414 MC_MoveVelocity 6-83
Memory concept of integrated technology Moving to fixed end stop - Following error
8-5 monitoring 4-56, 4-125, 4-187
Memory organization of integrated Moving to the fixed end stop with FB 415
technology 8-5 MC_MoveToEndPos 6-94
Message frame types - overview 4-11 Multiplication factor - High resolution 4-43
Micro Memory Card 2-2 Multiplier of the absolute actual value 4-93
Micro Memory Card - memory area 8-5 Multiplier of the cyclic actual value 4-93
MicroboxT 2-2
MICROMASTER 2-3
MICROMASTER – hardware components
2-6
MLFB 2-2

S7-Technology
A5E00251798-05 Index-9
Index

N P
New command - active command 2 6-289 Parameter 5009 6-3
New command - active commands 1 6-287 Parameter list - Technology parameter
New command - active single command 1 A-39
6-282 Parameter numbers A-39
New command - active single command 2 Passive homing 4-74, 4-75, 4-76, 4-78,
6-284 4-79, 4-143, 4-144, 4-145, 4-147, 4-148,
New command - active single command 3 4-205, 4-206, 4-207, 4-209, 4-210
6-285 Passive homing mode with BERO and
NEXT 8-13 encoder zero mark 4-74, 4-143, 4-205
NEXT - memory area 8-5 Passive homing mode with BERO only
Normal stop with FB 405 MC_Halt 6-30 4-74, 4-143, 4-205
Not 6-3, 6-5, 6-8 Passive homing mode with default settings
NumGear - Technology DB 7-11 4-74, 4-143, 4-205
Passive homing mode with encoder zero
O mark only 4-74, 4-143, 4-205
performance features A-7
OB 1 - Sequence and programming model Phase position 6-175
5-16 PhaseShift - gearing 6-110
OB 1 - time pattern 5-1 PhaseShift - Technology DB 7-11
OB 1- Programming model 5-16 PLCopen 2-2
OB 32...35 - time pattern 5-1 Polynomial 6-199
OB 65 7-36, 7-39, 7-40 Polynomials 4-232
OB 65 - time pattern 5-1 Position and velocity - Axis 4-51, 4-120,
OFF2Stop 6-4 4-182
Offline A-30 Position control 3-17, 3-19
time stamp A-29 Position control cycle 5-13, 8-17
Offline/Online comparison A-27 Position controller - tuning 8-20
Offset 7-36, 7-37, 7-38 Position controller cycle - time pattern 5-1
Offset compensation 6-76 Position controller tuning - overview 8-20
Online A-29, A-30 Position correction 4-80, 4-149, 4-211,
Online changes in S7T Config 8-13 6-76
Online changes of a cam disk 8-13 Position monitoring 4-83, 4-152, 4-214
OR logic - Output cams 4-252 Position reference 4-174
Output cam - inverted output 3-62 Position-based cams 3-63
Output cam - Technology DB 7-27 Cam activation range 3-62, 3-63
Output cam configuration 4-254 Cam deactivation range 3-63
Output cam technology DB - ErrorIDs 7-61 Inverted output 3-63
Output cams - Configuration 4-252 Switching characteristic 3-63
Output cams - derivative action time 3-70 Position-based cams or switching cams
Output cams - effective direction 3-66 with FB 430 MC_CamSwitch 6-210
Output cams - reaction 3-66 position-controlled mode 6-85, 6-87
outputs - integrated 2-6 Positioning and standstill monitoring 4-83,
Overflow - Technology DB update 8-16 4-152, 4-214
Overflow IPO 5-1 Positioning axis - Technology DB -
Override response 6-16 Firmware version 3.1.x of the integrated
Overview - configuration 4-1 technology 7-6
Overview - Monitoring functions 4-81, Positioning relative to current target position
4-150, 4-212 with FB 412 MC_MoveAdditive 6-70
Overview - Programming 6-1 positioningstate.actualposition 4-44, 4-113,
Overview - TraceTool 8-41 4-158
POWER OFF 6-293
POWER ON 6-293, 8-7
POWER ON and CPU memory reset 8-7

S7-Technology
Index-10 A5E00251798-05
 Index

Preparation of manipulated variables for Relative gearing 3-31

electric axes 3-22 Relative positioning with FB 411
Pressure mark 6-222 MC_MoveRelative 6-56
Pressure mark correction 6-76 Relative synchronism 3-34, 3-35, 3-37,
Preventing startup of the axis 6-30 3-39
Priority - time pattern 5-1 To the following axis 3-35
Processing cycles 8-16, 8-19 To the leading and following axes 3-33
Profile of a proportional directional valve To the leading axis 3-36
4-103 Release motion - manually 4-52, 4-121,
Programming - FBs 6-1 4-183
Programming - Overview 6-1 Release motion - with drive 4-52, 4-121,
Programming axis-specific parameter 4-183
changes 5-35 Reorganisation A-29
Programming device 8-1 Replacing the Technology CPU A-10
Programming model 5-17, 5-18 Reset - MC_Reset 6-232
Programming PC 8-1 Resetting axis positions during
Proportional directional valve 3-5 synchronous operation 3-32
Proximity switch - homing 3-11 Response characteristics in synchronous
PT1 smoothing 4-159 operation 3-31
pTc 8-36 Restart 6-293, 8-8
Restart - After changes in technology
Q parameters A-39
Restart - MC_Reset 6-232
Q valve 6-106 Restarting a technology object 8-8
Q-valve 3-4, 4-87 Restraints for modulo axes 6-71
ROM 8-7, 8-8, 8-9, 8-12, 8-13
R ROM - memory area 8-5
Rotary axes 3-3
RAM 8-7, 8-8, 8-9, 8-12, 8-13
RUN-STOP 6-293
RAM - memory area 8-5
Range of values - Dynamic parameters
6-294 S
Range of values - REAL values 6-294 S120 1-1
Range of values - Technology DBs 6-294 S7_TraceDINT - Technology DB 7-31
Reaction of the technology function after S7_TraceDWORD - Technology DB 7-31
POWER OFF and restart 6-293 S7_TraceREAL - Technology DB 7-31
Reading data records with FB 453 S7T Config 2-8, 2-9, 2-10
MC_ReadRecord 6-260 S7-Tech library 2-8, 2-9
Reading parameters with FB 406 S7-Technology 2-8
MC_ReadSysParameter 6-237 Scaling 4-237, 4-238, 4-239, 4-242, 4-243,
Reading parameters with FB 455 4-244, 4-245
MC_ReadDriveParameter 6-270 Scaling - Defining cam disks 3-46
Reading points from the cam disk with FB Scaling and shift 4-237, 4-238, 4-239
438 MC_GetCamPoint 6-205 Scaling factor 3-49
Reading technology I/O with FB 450 Schrittmotor - siehe Schrittantriebe
MC_ReadPeriphery 6-250 an IM 174 2-2
ReadSysParameter 2-12 SCOUT CamTool 2-2
REAL - Range of values 6-294 SDBs A-30
Real and virtual axes 3-7 Selecting the message frame type 4-11
Real axis 3-7 Sensor - Driver - Actual value logging 4-44,
Recalculating the cam disk 6-199 4-113
reconverting A-27 sensordata 8-42
Recreating technology DBs A-21 sensordata.sensordata[n]. velocity 4-44,
reduction 7-37, 7-38 4-113
Reference cam - homing 3-11 sensordata.sensordata[n].acceleration
Re-initialization of technology 4-44, 4-113
objects 6-232
Relative / absolute synchronism 3-40

S7-Technology
A5E00251798-05 Index-11
Index

sensordata.sensordata[n].incrementalpositi Standstill monitoring 4-84, 4-153, 4-215

on 4-44, 4-113 Standstill signal - basics 4-85, 4-154, 4-216
sensordata.sensordata[n].position 4-44, Standstill signal - external encoder 4-268
4-113 Standstill signal - Setting 4-268
sensormonitoring 8-42 STARTER functionality 1-1
Sequence and programming model 5-16 Starting - Axis control panel 8-46
Sequence model 5-16 Starting camming with FB 421 "MC_CamIn"
Servo - position control cycle 8-16 6-141
servodata 8-42 Starting gearing with FB 420 MC_GearIn
servomonitoring 8-42 6-110
servosettings 8-42 Starting S7T Config 4-26
set override 6-244 Starting superimposed camming with
Setpoint cams - Type of output cam values FB 441 MC_CamInSuperImposed 6-161
Setpoints 4-255 Starting superimposed gearing with FB 440
Setpoint coupling 4-158 MC_GearInSuperImposed 6-125
Setpoint superimposition 3-20 Starting Technology Objects Management
Setting technology system clocks 8-16 4-14
Setting the reference point 4-80, 4-149, State - Technology DB 7-27
4-211 Static controller data 4-128
Setting the standstill signal 4-268 Static controller data - Basics 4-59, 4-190
Shutdown time 8-16 Status - Technology DB 7-22, 7-24
Sign-of-life monitoring A-38 Status message 2-11
SIMATIC Manager 2-8 Status word - Technology DB 7-6
SIMATIC S7-Technology 2-8 Status-dependent acceleration model 4-54,
SimoComU 2-8 4-123, 4-185
SIMODRIVE 2-3, 2-5 Statusword - Technology DB 7-1, 7-11,
SIMODRIVE - hardware components 2-6 7-18
SIMODRIVE Sensor - encoder parameter Statusword.Error 5-31
assignment 4-262 Statusword.Errorstop 5-31
SIMODRIVE sensor isochronous – STEP 7 – Configuration tools 2-8
hardware components 2-6 STEP 7 reports "Insufficient memory
Simulation mode 3-2 space". Insufficient memory on the
SINAMICS 1-1, 2-3 module A-30
SINAMICS - hardware components 2-6 Stop time 4-49, 4-118, 4-180
SINUMERIC 2-2 STOP to RUN 8-10
Slave - gearing 6-110 Stopping camming with FB 423
Software components 2-11 MC_CamOut 6-156
Software limit switches 4-51, 4-54, 4-120, Stopping gearing with FB 422 MC_GearOut
4-123, 4-182, 4-185 6-120
Software limits 4-54, 4-123, 4-185 Stopping superimposed gearing with
Special modes of operaiton 3-2 FB 442 MC_GearOutSuperImposed
Speed controller 4-61, 4-192 6-137
speed preset 6-83 Stopping superimposing camming with
speed valve 6-106 FB 443 MC_CamOutSuperImposed
Speed-controlled axis - Technology DB 7-1 6-170
Speed-controlled axis technology DB 7-1 Stopping synchronous operation 6-120
Speed-controlled mode - SpeedMode 6-83 stopping the following axis (camming)
Speed-controlled mode at a position- 6-156
controlled axis 6-83 Stopping the following axis (synchronism)
Speed-controlled operation of a position- 6-120
controlled axis 3-25 STOP-RUN 6-293
SpeedMode - Speed-controlled 7-1, 7-6, Structure of the synchronization axis
7-11 technology object 3-27
SpeedMode - speed-controlled mode 6-83 Superimposed positioning with FB 413
SpeedOverride - Technology DB 7-11 MC_MoveSuperImposed 6-76
SpeedOverride - Technology DB 7-1, 7-6 Superimposing coordinate system - Base
Standstill - basics 4-85, 4-154, 4-216 coordinate system 3-9

S7-Technology
Index-12 A5E00251798-05
 Index

Superimposing motion 3-11, 3-38 Synchronization technology DB - ErrorIDs

Superimposing synchronism 3-30, 3-38, 7-47
3-39 Synchronization with incremental encoders
Switching accuracy 4-254 - External encoders 4-266
Switching action - Switching cams 3-64 Synchronized group 3-27, 3-28
Switching cam - example 6-214 SyncStatus - Technology DB 7-11
Switching cams 3-64 System clocks 8-16, 8-17, 8-19
Inverse switching action 3-64 System DBs A-29, A-30
Switching action 3-64 System number 4-259
Switching cams - Switching action 3-64 System variables 2-12
Switching directional valve 3-4
Symbolic programming with FC 400 T
DB2INT 5-34
Synchronism 3-31 Table - DINT values for technology
Synchronism - Actual value coupling 4-158 parameters A-72
synchronism - Assigning cam disks 4-158 Table - Technology parameters A-39
Synchronism - Assigning leading axes and TargetPosition - Technology DB 7-6, 7-11
cam disks 4-158 Technology CPU 2-8, 2-9, 4-2, 4-3
Synchronism - Desynchronization 4-173 Technology data block 2-11
Synchronism - Monitoring 4-212 Technology DB 2-12, 4-24, 4-25
Synchronism - Position reference 4-170, Technology DB - Cam disk 7-22
4-173 Technology DB - External encoder 7-18
Synchronism - setpoint coupling 4-158 Technology DB - Measuring input 7-24
Synchronism - Synchronization 4-170 Technology DB - Output cam 7-27
Synchronization - Advanced Technology DB - Positioning axis 7-6
synchronization 4-163 Technology DB - Speed-controlled axis 7-1
Synchronization - Configuration 4-163 Technology DB - synchronization axis 7-11
Synchronization - Default profile 4-163 Technology DB - Trace 7-31
Synchronization - external encoders 3-76 Technology DB update 8-18
Synchronization - Leading axis-related Technology DBs 4-24, 4-25
synchronization profile 4-163 Technology DBs - Range of values
Synchronization - MC_GearIn - based on 6-295
configuration data 6-113 Technology function 2-12
Synchronization - MC_GearIn - based on Technology functions and Technology DBs
preset dynamic parameters 6-113 2-11
Synchronization - Position reference 4-170 Technology objects – System clocks 5-12
Synchronization - Retarded synchronization Technology objects could not be copied
4-163 A-29
Synchronization - Synchronism 4-163, Technology Objects Management 2-8
4-170 Technology Objects Management -
Synchronization - Time-based Working window 4-16
synchronization profile 4-163 Technology Objects Management -
Synchronization axis - Technology DB 7-11 Working window - Expert mode 4-19
Synchronization conditions 4-170 Technology parameters A-39, A-66, A-70,
Synchronization monitoring 4-217 A-71
Synchronization monitoring functions 3-38 Technology synchronization alarm - time
Synchronization object defaults - Cam pattern 5-1
synchronization tab 4-220, 4-223 Technology synchronization interrupt 7-36,
Synchronization object defaults - 7-39, 7-40
Dynamics tab 4-225 Technology upgrade A-13
Synchronization object defaults - Gear Terminal Module 2-3
synchronization 4-221 Testing with breakpoints 8-38
Synchronization object defaults - Master Testing with the control panel 8-45
dynamics tab 4-227 The CPU goes into STOP sporadically as a
Synchronization objects 3-30 result of timeout. Timeout A-30
Synchronization status 4-176 The familiar SIMATIC World 2-1
The user interface of S7T Config 4-27

S7-Technology
A5E00251798-05 Index-13
Index

Time constants 4-61, 4-192 U

Time pattern - CPU 31xT 5-1
Time pattern - CPU31xT 5-1 Update CPU A-7
Time pattern of Microbox T 5-6 Update firmware A-7
Time pattern of WinLC T Microbox T 5-6 UpdateCounter - Technology DB 7-11,
Time slice 5-2, 5-3, 5-4, 5-5 7-36
Time-based cams 3-65 UpdateCounter- Technology DB 7-1, 7-6,
Effective direction 3-65 7-18, 7-22, 7-24, 7-27, 7-32
Inverted output 3-65 UpdateFlag - Technology DB 7-1, 7-6,
Switching characteristic 3-65 7-11, 7-18, 7-22, 7-24, 7-27, 7-32, 7-36
Time-based cams - Effective direction 3-65 Updating technology DBs 5-3, 7-36
Time-based cams with FB 431 Upgrading technology A-13
MC_CamSwitchTime 6-217 Upgrading the firmware of CPU 31xT-2 DP
Time-based offset of cam activation points A-12
3-70 Upgrading the firmware of the integrated
TimeStop 6-4 technology A-13
TM15 2-3 User interface of Technology Objects
TM17 2-3 Management 4-15
TODBTaskOverflows 7-34 User interface of TOM 4-15
TOM 2-8 User program - Tracing values 8-41
TOM - starting 4-14 UserCount - Technology DB 7-22
TOM user interface 4-15 userdefaultqfaxis.maxderivative.qoutput
Torque controller 4-61, 4-192 6-4
Torque limiting with FB 437 Using Technology Objects Management
MC_SetTorqueLimit 6-102 4-23
Torque settings A-36 Using the Expert List A-32
Trace 2-12, 7-36, 8-41 Using TOM 4-23
Trace - Error 5-30 Utilization - time pattern 5-1
Trace - Technology DB 7-31
TraceTool 2-12 V
TraceTool - Overview 8-41
Valve manipulated variable 4-103
Tracing controller data 8-42
Valve profile 3-4
Tracing values in the user program of the
Valve profiles for a variable speed pump
CPU 8-41
with switching directional valve 4-103
Traversing range 4-52, 4-53, 4-121,
Variable speed pump 3-6, 4-106
4-122, 4-183, 4-184
VDI - Defining cam disk segments for
Tuning - Position controller 8-20
motion control tasks 4-249
Tuning balancing filters 8-31
VDI - Motion laws 4-247
Tuning DP DRIVE - Address 0 4-2
VDI Assistant 4-247
Tuning DP DRIVE – Bus parameters 4-2
Velocity error monitoring 4-86, 4-155,
Type 3311 A-29, A-30
4-219
Type immediately 8-13
velocity override 6-244
Type of cam disk 4-236
Velocity profile 4-50, 4-119, 4-181
Type of output cam values - setpoints
Virtual axes - Behavior 5-33
4-255
virtual axis 3-7
Type restart 8-13
vTc 8-36
TypeOfAxis.Extrapolation.Filter.enable
4-158
TypeOfAxis.Extrapolation.Filter.mode W
4-158 Watch table - creating 8-39
TypeOfAxis.Extrapolation.Filter.timeConsta Watch table - Monitoring system variables
nt 4-158 8-39
TypeOfAxis.NumberOfEncoders.Encoder_n Watchdog interrupt 5-16, 5-17
. Filter 4-45, 4-114 What to download to the PLC after
TypeOfAxis.SmoothingFilter 4-45, 4-114 migration A-24
What to observe when saving data with
reorganization A-29

S7-Technology
Index-14 A5E00251798-05
 Index

What's new in S7-Technology 1-1 WriteParameter - Example - Backup of

Why do specific system DBs have a absolute encoder adjustment data 6-246
different online / offline time stamp? A-29 Write-protected project A-25
Why does the number of system DBs differ Writing data records FB 454
in the online and offline configuration? MC_WriteRecord 6-265
A-30 Writing drive parameters with FB 456
Wiring - External encoder 3-75 MC_WriteDriveParameter 6-276
Wiring - Hardware limit switches 4-52, Writing technology I/O with FB 451
4-121, 4-183 MC_WritePeriphery 6-255
Wiring - Measuring inputs 3-73
Working ranges and motion transitions X
4-247
Working ranges to VDI 4-247 X1 interface 8-1
Working window - Expert mode - X3 interface 8-1
Technology Objects Management 4-19
Working window - Technology Objects Z
Management 4-16
Zero mark - encoder zero mark 3-12
write protection A-25
WriteParameter 2-11

S7-Technology
A5E00251798-05 Index-15
Index

S7-Technology
Index-16 A5E00251798-05