Siemens SIMATIC S7 System Manual page 13

10.7 USS library ....................................................................................................................... 595
10.7.1 USS communication overview .......................................................................................... 595
10.7.1.1 USS protocol overview ..................................................................................................... 595
10.7.1.2 Requirements for using the USS protocol .......................................................................... 596
10.7.1.3 Calculating the time required for communicating with the drive ....................................... 597
10.7.2 USS program instructions ................................................................................................. 597
10.7.2.1 Using the USS protocol instructions .................................................................................. 597
10.7.2.2 USS_INIT instruction ........................................................................................................ 598
10.7.2.3 USS_CTRL instruction ....................................................................................................... 600
10.7.2.4 USS_RPM_x instruction .................................................................................................... 603
10.7.2.5 USS_WPM_x instruction ................................................................................................... 606
10.7.2.6 USS protocol execution error codes .................................................................................. 608
10.7.2.7 USS protocol example program ........................................................................................ 609
10.8 SINAMICS Library ............................................................................................................. 611
10.8.1 SINA_POS instruction ....................................................................................................... 612
10.8.1.1 Prerequisite of using the SINA_POS instruction ................................................................. 612
10.8.1.2 Input and output interface of SINA_POS instruction .......................................................... 615
10.8.1.3 Mode selection of SINAMICS with the SINA_POS instruction.............................................. 621
10.8.1.4 Relative positioning ......................................................................................................... 622
10.8.1.5 Absolute positioning ........................................................................................................ 625
10.8.1.6 Setup mode ..................................................................................................................... 630
10.8.1.7 Referencing (active referencing)....................................................................................... 633
10.8.1.8 Referencing (set reference point) ..................................................................................... 636
10.8.1.9 Traversing blocks ............................................................................................................. 639
10.8.1.10 Jog .................................................................................................................................. 642
10.8.1.11 Incremental jog ............................................................................................................... 645
10.8.2 SINA_SPEED instruction.................................................................................................... 649
10.8.2.1 Prerequisite of using the SINA_SPEED instruction.............................................................. 649
10.8.2.2 Input and output interface of SINA_SPEED instruction ...................................................... 652
10.8.2.3 Definition of "ConfigAxis" parameters ............................................................................... 654
10.8.2.4 Example of SINA_SPEED instruction.................................................................................. 654
10.8.3 SINA_PARA_S instruction.................................................................................................. 656
10.8.3.1 Prerequisite of using the SINA_PARA_S instruction ............................................................ 656
10.8.3.2 Input and output interface of SINA_PARA_S instruction..................................................... 658
10.8.3.3 Example of the SINA_PARA_S instruction .......................................................................... 663
10.9 Creating a user-defined library of instructions ................................................................... 665
11 Debugging and troubleshooting ....................................................................................................... 667
11.1 Debugging your program ................................................................................................. 667
11.1.1 Bookmark functions ......................................................................................................... 667
11.1.2 Cross reference table........................................................................................................ 667
11.2 Displaying program status................................................................................................ 669
11.2.1 Displaying status in the program editor ............................................................................ 669
11.2.2 Configuring the STL status options ................................................................................... 672
11.3 Using a status chart to monitor your program................................................................... 672
11.4 Forcing specific values...................................................................................................... 674
11.5 Writing and forcing outputs in STOP mode........................................................................ 675
11.6 How to execute a limited number of scans........................................................................ 676
S7-200 SMART
System Manual, V2.7, 08/2022, A5E03822230-AK
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