Siemens Simatic S7 Series System Manual page 503

5. The Axis of Motion provides a reference point switch (RPS) input that is used when
seeking the RP. The RP is identified by a method of locating an exact position with
respect to the RPS. The RP can be centered in the RPS Active zone, the RP can be
located on the edge of the RPS Active zone, or the RP can be located a specified number
of zero pulse (ZP) input transitions from the edge of the RPS Active zone.
6. You can configure the sequence that the Axis of Motion uses to search for the reference
point. The following figure shows a simplified diagram of the default RP search sequence.
Select one of the following options for the RP search sequence:
– RP Seek mode 0: Does not perform a RP seek sequence
– RP Seek mode 1: The RP is where the RPS input goes active on the approach from
– RP Seek mode 2: The RP is centered within the active region of the RPS input.
– RP Seek mode 3: The RP is located outside the active region of the RPS input.
– RP Seek mode 4: The RP is generally within the active region of the RPS input.
RP seek mode 1
Figure 12-1
Note
The RPS Active region (which is the distance that the RPS input remains active) must be
greater than the distance required to decelerate from the RP_FAST speed to the RP_SLOW
speed. If the distance is too short, the Axis of Motion generates an error.
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
the work zone side. (Default)
RP_Z_CNT specifies how many ZP (Zero Pulse) input counts should be received after
the RPS becomes inactive.
RP_Z_CNT specifies how many ZP (Zero Pulse) input counts should be received after
the RPS becomes active.
①
: RP seek direction
②
: RP approach direction
Open loop motion control
12.5 Configuring an Axis of Motion
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