Siemens SIMATIC S7 System Manual page 15

13.4.6 Monitoring the Axis of Motion.......................................................................................... 745
13.4.6.1 Displaying and controlling the operation of the Axis of Motion ......................................... 747
13.4.6.2 Displaying and modifying the configuration of the Axis of Motion ..................................... 752
13.4.6.3 Displaying the profile configuration for the Axis of Motion ................................................ 752
13.4.6.4 Error codes for the Axis of Motion (WORD at SMW620, SMW670, or SMW720).................. 753
13.4.6.5 Error codes for the Axis of Motion instruction (seven LS bits of SMB634, SMB684, or
SMB734) ......................................................................................................................... 754
13.4.7 Advanced topics............................................................................................................... 756
13.4.7.1 Understanding the configuration/profile table for the Axis of Motion ................................. 756
13.4.7.2 Special memory (SM) locations for the Axis of Motion ...................................................... 763
13.4.8 Understanding the RP Seek modes of the Axis of Motion................................................... 765
13.4.8.1 Selecting the work zone location to eliminate backlash..................................................... 769
13.5 Using Axes group of Motion ............................................................................................. 770
13.5.1 Programming an Axes group of Motion ............................................................................ 770
13.5.2 Configuring an Axes group of Motion ............................................................................... 770
13.5.3 Subroutines created by the Motion wizard for the Axes group of Motion ........................... 776
13.5.3.1 Guidelines for using the Motion subroutines..................................................................... 777
13.5.3.2 GRP0_2/3D_MOVELINEAR subroutine ............................................................................... 777
13.5.3.3 GRP0_MOVEPATH subroutine ........................................................................................... 779
13.5.3.4 GRP0_RESET subroutine ................................................................................................... 780
13.5.4 Axes group of Motion example programs.......................................................................... 782
13.5.5 Stopping the Axes group movement................................................................................. 788
13.5.6 Error codes for the Axes group of Motion (WORD at SMW820) .......................................... 789
13.5.7 Error codes for the Axes group of Motion instruction (seven LS bits of SMB823) ................ 789
13.5.8 Configuration/Path table for the Axes group of Motion...................................................... 790
13.6 Interactions between Axis and Axis group......................................................................... 793
A Technical specifications ..................................................................................................................... 795
A.1 General specifications ...................................................................................................... 795
A.1.1 General technical specifications........................................................................................ 795
A.2 S7-200 SMART CPUs......................................................................................................... 800
A.2.1 CPU ST20, CPU SR20, and CPU CR20s ............................................................................... 800
A.2.1.1 General specifications and features .................................................................................. 800
A.2.1.2 Digital inputs and outputs ................................................................................................ 805
A.2.1.3 Wiring diagrams............................................................................................................... 808
A.2.2 CPU ST30, CPU SR30, and CPU CR30s ............................................................................... 811
A.2.2.1 General specifications and features .................................................................................. 811
A.2.2.2 Digital inputs and outputs ................................................................................................ 816
A.2.2.3 Wiring diagrams............................................................................................................... 819
A.2.3 CPU ST40, CPU SR40, CPU CR40s, and CPU CR40............................................................... 822
A.2.3.1 General specifications and features .................................................................................. 822
A.2.3.2 Digital inputs and outputs ................................................................................................ 828
A.2.3.3 Wiring diagrams............................................................................................................... 830
A.2.4 CPU ST60, CPU SR60, CPU CR60s, and CPU CR60............................................................... 833
A.2.4.1 General specifications and features .................................................................................. 833
A.2.4.2 Digital inputs and outputs ................................................................................................ 839
A.2.4.3 Wiring diagrams............................................................................................................... 841
A.2.5 Wiring diagrams for sink and source input, and relay output ............................................. 844
A.3 Digital inputs and outputs expansion modules (EMs) ........................................................ 845
A.3.1 EM DE08 and EM DE16 digital input specifications ............................................................ 845
S7-200 SMART
System Manual, V2.7, 08/2022, A5E03822230-AK
Table of contents
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