Siemens Simatic S7 Series System Manual page 12

Table of contents
12.6.7 AXISx_LDOFF subroutine .................................................................................................... 514
12.6.8 AXISx_LDPOS subroutine ................................................................................................... 515
12.6.9 AXISx_SRATE subroutine ................................................................................................... 516
12.6.10 AXISx_DIS subroutine ......................................................................................................... 517
12.6.11 AXISx_CFG subroutine ........................................................................................................ 518
12.6.12 AXISx_CACHE subroutine ................................................................................................... 519
12.6.13 AXISx_RDPOS subroutine ................................................................................................... 520
12.6.14 AXISx_ABSPOS subroutine ................................................................................................. 521
12.7 Using the AXISx_ABSPOS subroutine to read the absolute position from a SINAMICS
servo drive ............................................................................................................................ 523
12.7.1 AXISx_ABSPOS and AXISx_LDPOS subroutines usage examples ................................... 523
12.7.2 Interconnections ................................................................................................................... 524
12.7.3 Commissioning ..................................................................................................................... 525
12.7.3.1 Control mode ........................................................................................................................ 525
12.7.3.2 Setpoint pulse input channel ................................................................................................ 525
12.7.3.3 Setpoint pulse train input format .......................................................................................... 525
12.7.3.4 Common engineering units basis ......................................................................................... 525
12.7.4 Important facts to know ........................................................................................................ 528
12.8 Axis of Motion example programs ........................................................................................ 529
12.8.1 Axis of Motion simple relative move (cut-to-length application) example ............................ 529
12.8.2 Axis of Motion AXISx_CTRL, AXISx_RUN, AXISx_SEEK, and AXISx_MAN example ....... 531
12.9 Monitoring the Axis of Motion ............................................................................................... 535
12.9.1 Displaying and controlling the operation of the Axis of Motion ............................................ 537
12.9.2 Displaying and modifying the configuration of the Axis of Motion ....................................... 542
12.9.3 Displaying the profile configuration for the Axis of Motion ................................................... 542
12.9.4 Error codes for the Axis of Motion (WORD at SMW620, SMW670, or SMW720) ............... 544
12.9.5 Error codes for the Motion instruction (seven LS bits of SMB634, SMB684, or
SMB734) .............................................................................................................................. 545
12.10 Advanced topics ................................................................................................................... 547
12.10.1 Understanding the configuration/profile table for the Axis of Motion ................................... 547
12.10.2 Special memory (SM) locations for the Axis of Motion ........................................................ 556
12.11 Understanding the RP Seek modes of the Axis of Motion ................................................... 559
12.11.1 Selecting the work zone location to eliminate backlash ...................................................... 564
A Technical specifications ......................................................................................................................... 565
A.1 General specifications .......................................................................................................... 565
A.1.1 General technical specifications .......................................................................................... 565
A.2 S7-200 SMART CPUs ......................................................................................................... 570
A.2.1 CPU ST20 and CPU SR20 .................................................................................................. 570
A.2.1.1 General specifications and features..................................................................................... 570
A.2.1.2 Digital inputs and outputs ..................................................................................................... 573
A.2.1.3 CPU ST20 and CPU SR20 wiring diagrams ........................................................................ 575
A.2.2 CPU ST30 and CPU SR30 .................................................................................................. 577
A.2.2.1 General specifications and features..................................................................................... 577
A.2.2.2 Digital inputs and outputs ..................................................................................................... 580
A.2.2.3 CPU ST30 and CPU SR30 wiring diagrams ........................................................................ 582
A.2.3 CPU ST40, CPU SR40, and CPU CR40 ............................................................................. 584
A.2.3.1 General specifications and features..................................................................................... 584
A.2.3.2 Digital inputs and outputs ..................................................................................................... 587
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System Manual, 09/2015, A5E03822230-AC
S7-200 SMART