Siemens SIMATIC S7-1200 Manual page 11

10 Motion control is easy ......................................................................................................................... 263
10.1 Phasing ................................................................................................................................. 268
10.2 Configuring a pulse generator .............................................................................................. 270
10.3 Open loop motion control ...................................................................................................... 271
10.3.1 Configuring the axis .............................................................................................................. 271
10.3.2 Commissioning ..................................................................................................................... 275
10.4 Closed loop motion control ................................................................................................... 280
10.4.1 Configuring the axis .............................................................................................................. 280
10.4.2 Commissioning ..................................................................................................................... 287
10.5 Configuring the TO_CommandTable_PTO ........................................................................... 293
10.6 Operation of motion control for S7-1200............................................................................... 296
10.6.1 CPU outputs used for motion control .................................................................................... 296
10.6.2 Hardware and software limit switches for motion control ..................................................... 298
10.6.3 Homing .................................................................................................................................. 302
10.6.3.1 Homing the axis .................................................................................................................... 302
10.6.3.2 Configuration of homing parameters .................................................................................... 303
10.6.3.3 Sequence for active homing ................................................................................................. 306
10.7 Motion control instructions .................................................................................................... 307
10.7.1 MC instruction overview ........................................................................................................ 307
10.7.2 MC_Power (Release/block axis) instruction ......................................................................... 308
10.7.3 MC_Reset (Confirm error) instruction ................................................................................... 311
10.7.4 MC_Home (Home axis) instruction ....................................................................................... 312
10.7.5 MC_Halt (Pause axis) instruction .......................................................................................... 315
10.7.6 MC_MoveAbsolute (Position axis absolutely) instruction ..................................................... 317
10.7.7 MC_MoveRelative (Position axis relatively) instruction ........................................................ 319
10.7.8 MC_MoveVelocity (Move axis at predefined velocity) instruction ......................................... 321
10.7.9 MC_MoveJog (Move axis in jog mode) instruction ............................................................... 324
10.7.10 MC_CommandTable (Run axis commans as movement sequence) instruction .................. 326
10.7.11 MC_ChangeDynamic (Change dynamc settings for the axis) instruction ............................ 328
10.7.12 MC_WriteParam (write parameters of a technology object) instruction ............................... 330
10.7.13 MC_ReadParam instruction (read parameters of a technology object) instruction .............. 332
11 Easy to use the online tools................................................................................................................. 335
11.1 Going online and connecting to a CPU................................................................................. 335
11.2 Interacting with the online CPU ............................................................................................ 336
11.3 Going online to monitor the values in the CPU ..................................................................... 337
11.4 Displaying status of the user program is easy ...................................................................... 338
11.5 Using a watch table for monitoring the CPU ......................................................................... 338
11.6 Using the force table ............................................................................................................. 340
11.7 Capturing the online values of a DB to reset the start values............................................... 343
11.8 Uploading elements of the project ........................................................................................ 344
11.9 Comparing offline and online CPUs ...................................................................................... 345
11.10 Displaying the diagnostic events .......................................................................................... 346
11.11 Setting the IP address and time of day ................................................................................. 346
Easy Book
Manual, 01/2015, A5E02486774-AG
Table of contents
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