Positioning Monitoring - Siemens SIMATIC S7-1500 Function Manual

Basics
3.16 Position-related monitoring
3.16.2

Positioning monitoring

Positioning monitoring monitors the behavior of the actual position at the end of the setpoint
calculation.
As soon as the setpoint velocity reaches the value zero, the actual position value must be
located within a tolerance time in the positioning window. The setpoint must not exit the
positioning window during the minimum dwell time.
If the actual position value at the end of a positioning motion is reached within the tolerance
time and remains in the positioning window for the minimum dwell time, then
<TO>.StatusWord.X6 (Done) is set in the technology data block. This completes a Motion
Control job.
The following figure shows the chronological sequence and the positioning window:
Positioning monitoring does not make any distinction between how the setpoint interpolation
was completed. The end of setpoint interpolation can for example be reached as follows:
● by the setpoint reaching the target position
● by position controlled stopping during the motion, via the Motion Control instruction
"MC_Halt"
Violation of positioning monitoring
In the following cases, technology alarm 541 is output by the positioning monitoring, and the
technology object is disabled (alarm reaction: remove enable).
● The actual value does not reach the positioning window during the tolerance time.
● The actual value exits the positioning window during the minimum dwell time.
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S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC