Siemens SIMATIC S7 System Manual page 12

Table of contents
10.6 How to execute a limited number of scans .......................................................................... 576
10.7 Hardware troubleshooting guide .......................................................................................... 578
11 PID loops and tuning ............................................................................................................................ 581
11.1 PID loop definition table ....................................................................................................... 582
11.2 Prerequisites ........................................................................................................................ 586
11.3 Auto-hysteresis and auto-deviation...................................................................................... 586
11.4 Auto-tune sequence ............................................................................................................. 587
11.5 Exception conditions ............................................................................................................ 589
11.6 Notes concerning PV out-of-range (result code 3) .............................................................. 590
11.7 PID Tune control panel ........................................................................................................ 590
12 Open loop motion control ..................................................................................................................... 595
12.1 Using the PWM output ......................................................................................................... 596
12.1.1 Configuring the PWM output ................................................................................................ 596
12.1.2 PWMx_RUN subroutine ....................................................................................................... 598
12.2 Using motion control ............................................................................................................ 599
12.2.1 Maximum and start/stop speeds .......................................................................................... 599
12.2.2 Entering the acceleration and deceleration times ................................................................ 600
12.2.3 Configuring the motion profiles ............................................................................................ 601
12.3 Features of motion control ................................................................................................... 604
12.4 Programming an Axis of Motion ........................................................................................... 606
12.5 Configuring an Axis of Motion .............................................................................................. 607
12.6 Subroutines created by the Motion wizard for the Axis of Motion ........................................ 620
12.6.1 Guidelines for using the Motion subroutines ........................................................................ 621
12.6.2 AXISx_CTRL subroutine ...................................................................................................... 622
12.6.3 AXISx_MAN subroutine ....................................................................................................... 623
12.6.4 AXISx_GOTO subroutine ..................................................................................................... 625
12.6.5 AXISx_RUN subroutine ........................................................................................................ 626
12.6.6 AXISx_RSEEK subroutine ................................................................................................... 627
12.6.7 AXISx_LDOFF subroutine .................................................................................................... 628
12.6.8 AXISx_LDPOS subroutine ................................................................................................... 629
12.6.9 AXISx_SRATE subroutine ................................................................................................... 630
12.6.10 AXISx_DIS subroutine ......................................................................................................... 631
12.6.11 AXISx_CFG subroutine ........................................................................................................ 632
12.6.12 AXISx_CACHE subroutine ................................................................................................... 633
12.6.13 AXISx_RDPOS subroutine ................................................................................................... 634
12.6.14 AXISx_ABSPOS subroutine ................................................................................................. 635
12.7 Using the AXISx_ABSPOS subroutine to read the absolute position from a SINAMICS
servo drive ............................................................................................................................ 637
12.7.1 AXISx_ABSPOS and AXISx_LDPOS subroutines usage examples ................................... 637
12.7.2 Interconnections ................................................................................................................... 638
12.7.3 Commissioning..................................................................................................................... 639
12.7.3.1 Control mode ........................................................................................................................ 639
12.7.3.2 Setpoint pulse input channel ................................................................................................ 639
12.7.3.3 Setpoint pulse train input format .......................................................................................... 639
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System Manual, V2.3, 07/2017, A5E03822230-AF
S7-200 SMART