Siemens.Simatic.S71500.MotionControl.Native library - Manual - SIMATIC AX - This package contains the documentation for the libraries simatic-1500-motioncontrol-native-v*. - Siemens.Simatic.S71500.MotionControl.Native,library
Portfolio
SIMATIC AX
Product
SIMATIC AX
Software version
4.0.49
Edition
11/2023
Language
English (original)
Package Name
@ax/simatic-1500-motioncontrol-native-docs
Siemens.Simatic.S71500.MotionControl.Native
Library Variants
Getting Started
Example
Technology Objects (TOs)
Instructions
Auxiliary Functions
Telegrams PD_TEL* and PD_TEL*_opt
Additional Information
Example 'SampleAxisFB'
Prerequisites
Create a Motion Control library in AX
Create a Motion Control project with TIA Portal
Use global library imported from AX in your TIA Portal project
Start monitoring the program in TIA Portal
Start and reset the program in TIA Portal
Additional Notes
Technology Objects
Principle of operation of S7-1500 Motion Control (S7-1500, S7-1500T)
TIA Portal
Technology objects
Technology data block
Motion Control instructions
User program
Drives and encoders
See also
Data Access
Evaluating the technology data block (S7-1500, S7-1500T)
Reading values from the technology data block
Writing values to the technology data block
Isochronous evaluation of data
See also
TO_SpeedAxis
Speed-controlled axis technology object (S7-1500, S7-1500T)
Configuration
See also
TO_PositioningAxis
Positioning axis technology object (S7-1500, S7-1500T)
Configuration
See also
TO_SynchronousAxis
Synchronous axis technology object (S7-1500, S7-1500T)
Configuration
See also
TO_ExternalEncoder
External encoder technology object (S7-1500, S7-1500T)
Configuration
See also
TO_OutputCam
Output cam technology object (S7-1500, S7-1500T)
Output cam types
Assignment
Output cam calculation and output cam output
Position reference
See also
TO_CamTrack
Cam track technology object (S7-1500, S7-1500T)
Definition of cam track
Assignment
Position reference
Mapping of the cam track to the position of the technology object
Processing of a cam track
Output of a cam track
See also
TO_MeasuringInput
Measuring input technology object (S7-1500, S7-1500T)
Measurement types
Assignment
Measured value determination
Correction time
See also
TO_Cam
Cam technology object (S7-1500T)
Term definition
Cam technology object
Configuration
See also
TO_Kinematics
Kinematics technology object with up to 4 interpolating kinematics axes (S7-1500T)
Configuration
(V7) Kinematics technology object with more than 4 interpolating kinematics axes (S7-1500T)
Configuration
Motion Control instructions
Functions in STEP 7
See also
TO_LeadingAxisProxy
Leading axis proxy technology object (S7-1500T)
Configuration
See also
Instructions
Motion control instructions for axis control (S7-1500, S7-1500T)
See also
MC_Power
MC_Power: Enable, disable technology object (S7-1500, S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
Enabling technology objects
Disabling technology objects
Drive connection by means of PROFIdrive
Analog drive connection
More information
MC_Power: Function chart (S7-1500, S7-1500T)
Function chart: Enabling a technology object and example of alarm response
See also
MC_Reset
MC_Reset: Acknowledge alarms, restart technology object (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Acknowledging technology alarms
Restarting a technology object
See also
MC_Home
MC_Home: Home technology object, set home position (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
"Mode" parameter
See also
MC_Halt
MC_Halt: Pause axis (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Braking an axis with "MC_Halt"
Braking an axis with active force/torque limit
More information
MC_Halt: Function chart (S7-1500, S7-1500T)
Function chart: Pausing an axis and the overriding job characteristics
See also
MC_MoveAbsolute
MC_MoveAbsolute: Position axis absolutely (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Moving an axis to an absolute position
MC_MoveAbsolute: Function chart (S7-1500, S7-1500T)
Function chart: Absolute positioning of an axis, and the response to an overriding job
See also
MC_MoveRelative
MC_MoveRelative: Position axis relatively (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Moving an axis relative to the start position
MC_MoveRelative: Function chart (S7-1500, S7-1500T)
Function chart: Relative positioning of an axis, and the overriding job characteristics
See also
MC_MoveVelocity
MC_MoveVelocity: Move axis with velocity/speed setpoint (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Behavior with setpoint velocity/speed zero ("Velocity" = 0.0)
Moving an axis with constant velocity/speed
More information
MC_MoveVelocity: Function chart (S7-1500, S7-1500T)
Function chart: Moving an axis with velocity specification, and the response to an overriding job
See also
MC_MoveJog
MC_MoveJog: Move axis in jog mode (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Behavior with setpoint velocity/speed zero ("Velocity" = 0.0)
Moving an axis in jog mode
More information
MC_MoveJog: Function chart (S7-1500, S7-1500T)
Function chart: Moving an axis in jog mode
See also
MC_MoveSuperimposed
MC_MoveSuperimposed: Position axis overlapping (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MoveSuperimposed: Function chart (S7-1500, S7-1500T)
Function chart: Positioning axes overlapping
See also
MC_HaltSuperimposed (V7)
MC_HaltSuperimposed: Pause superimposed motions on axis (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_HaltSuperimposed: Function chart (S7-1500, S7-1500T)
Function chart: Pause superimposed motions on the axis
See also
MC_SetSensor
MC_SetSensor: Switch alternative encoder to operative encoder (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Changing to absolute encoder
See also
MC_Stop
MC_Stop: Stop axis and prevent new motion jobs (S7-1500, S7-1500T)
Description
Applies to
Requirements
Override response
Override behavior between alarm responses and MC_Stop
Example 1
Example 2
Parameters
Braking an axis with "MC_Stop"
Braking an axis with active force/torque limiting
More information
MC_Stop: Function chart (S7-1500, S7-1500T)
Function chart: Braking an axis and the overriding job characteristics
See also
MC_SetAxisSTW
MC_SetAxisSTW: Control bits of control word 1 and 2 (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_WriteParameter
MC_WriteParameter: Write parameter (S7-1500, S7-1500T)
Description
Applies to
Requirement
Parameters
Modifiable parameters
See also
MC_SaveAbsoluteEncoderData (V7)
MC_SaveAbsoluteEncoderData: Saving absolute adjustment for device replacement (S7-1500, S7-1500T)
Description
Requirement
Parameters
See also
Output Cam Measuring Input Instructions
Functions (S7-1500, S7-1500T)
See also
MC_MeasuringInput
MC_MeasuringInput: Start measuring once (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MeasuringInput: Function chart (S7-1500, S7-1500T)
Function chart: Start measuring job once
See also
MC_MeasuringInputCyclic
MC_MeasuringInputCyclic: Start cyclic measuring (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MeasuringInputCyclic: Function chart (S7-1500, S7-1500T)
Function chart: Start cyclic measuring job
See also
MC_AbortMeasuringInput
MC_AbortMeasuringInput: Cancel active measuring job (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_OutputCam
MC_OutputCam: Activate/deactivate output cam (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_OutputCam: Function chart (S7-1500, S7-1500T)
Function chart: Activate the specified output cam type
See also
MC_CamTrack
MC_CamTrack: Activate/deactivate cam track (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_CamTrack: Function chart (S7-1500, S7-1500T)
Function chart: Activate cam track
See also
Synchronous Motion
Motion Control instructions for synchronous operation (S7-1500, S7-1500T)
Overview of functions (S7-1500, S7-1500T)
Gearing
Gearing (S7-1500T)
Velocity synchronous operation (S7-1500T)
Camming (S7-1500T)
Synchronous operation phases
Cross-PLC synchronous operation (S7-1500T)
See also
MC_GearIn
MC_GearIn: Start gearing (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GearIn: Function chart (S7-1500, S7-1500T)
Function chart: Synchronizing and switching the leading value
See also
MC_GearInVelocity (V7)
MC_GearInVelocity: Start velocity synchronous operation (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GearInVelocity: Function chart (S7-1500, S7-1500T)
Function chart: Synchronization and adjustment of the gear ratio
See also
MC_GearInPos
MC_GearInPos: Start gearing with specified synchronous positions (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GearInPos: Function chart (S7-1500T)
Function chart: Synchronization in advance using dynamic parameters/leading value distance
Function chart: Synchronization in advance/subsequent synchronization via leading value distance
See also
MC_PhasingRelative
MC_PhasingRelative: Relative shift of leading value on the following axis (S7-1500T)
Description
Gearing
Camming
Applies to
Requirement
Override response
Parameters
MC_PhasingRelative: Function chart (S7-1500T)
Function chart: Relative shift of the leading value in gearing
Function chart: Relative shift of the leading value in camming
See also
MC_PhasingAbsolute
MC_PhasingAbsolute: Absolute shift of leading value on the following axis (S7-1500T)
Description
Gearing
Camming
Applies to
Requirement
Override response
Parameters
MC_PhasingAbsolute: Function chart (S7-1500T)
Function chart: Absolute shift of the leading value in gearing
Function chart: Absolute shift of the leading value in camming
See also
MC_OffsetRelative (V6)
MC_OffsetRelative: Relative shift of following value on the following axis (S7-1500T)
Description
Gearing
Camming
Applies to
Requirements
Override response
Parameter
MC_OffsetRelative: Function chart (S7-1500T)
Function chart: Relative shift of the following value in gearing
Function chart: Relative shift of the following value in camming
See also
MC_OffsetAbsolute (V6)
MC_OffsetAbsolute: Absolute shift of following value on the following axis (S7-1500T)
Description
Gearing
Camming
Applies to
Requirements
Override response
Parameter
MC_OffsetAbsolute: Function chart (S7-1500T)
Function chart: Absolute shift of the following value in gearing
Function chart: Absolute shift of the following value in camming
See also
MC_CamIn
MC_CamIn: Start camming (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_CamIn: Function chart (S7-1500T)
Function chart: Synchronization in advance via dynamic parameters/leading value distance and switching of the cam
Function chart: Synchronization in advance/subsequent synchronization via leading value distance and switching the cam
Function chart: Synchronization in advance/subsequent synchronization via leading value distance starting from current leading value position
Section A
Section B
Function chart: Togging and direct synchronous setting at the end of the cam
See also
MC_SynchronizedMotionSimulation
MC_SynchronizedMotionSimulation: Simulate synchronous operation (S7-1500T)
Description
Machine damage
Applies to
Requirement
Override response
Parameters
See also
MC_GearOut (V6)
MC_GearOut: Desynchronize gearing (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GearOut: Function chart (S7-1500T)
Function chart: Desynchronization using dynamic parameters/leading value distance
See also
MC_CamOut (V6)
MC_CamOut: Desynchronize camming (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_CamOut: Function chart (S7-1500T)
Function chart: Desynchronization using leading value distance
See also
MC_LeadingValueAdditive
MC_LeadingValueAdditive: Specify additive leading value (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_LeadingValueAdditive: Function chart (S7-1500T)
Function chart: Specify additive leading value
See also
Cam Instructions
MC_InterpolateCam
MC_InterpolateCam: Interpolate cam disc (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Interpolating a cam
See also
MC_GetCamLeadingValue
MC_GetCamLeadingValue: Read out leading value of a cam (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Reading a leading value
See also
MC_GetCamFollowingValue
MC_GetCamFollowingValue: Read out following value of a cam disc (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
Reading a following value
See also
MC_CopyCamData (V6)
MC_CopyCamData: Copy calculated cam elements (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MotionIn Instructions
MC_MotionInVelocity
MC_MotionInVelocity: Specify motion setpoints (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInVelocity: Function chart (S7-1500T)
Function chart: Specify motion setpoints
See also
MC_MotionInPosition
MC_MotionInPosition: Specify motion setpoints (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInPosition: Function chart (S7-1500T)
Function chart: Specify motion setpoints
See also
MC_MotionInSuperimposed (V7)
MC_MotionInSuperimposed: Specifying superimposed motion setpoints (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInSuperimposed: Function chart (S7-1500T)
Function chart: Specifying superimposed motion setpoints
See also
Torque Instructions
MC_TorqueAdditive
MC_TorqueAdditive: Specify additive torque (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_TorqueAdditive: Function chart (S7-1500, S7-1500T)
Function chart: Activate/deactivate additive setpoint torque
See also
MC_TorqueRange
MC_TorqueRange: Set high and low torque limit (S7-1500, S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_TorqueRange: Function chart (S7-1500, S7-1500T)
Function chart: Set high and low torque limits
See also
MC_TorqueLimiting
MC_TorqueLimiting: Activate/deactivate force/torque limit / fixed stop detection (S7-1500, S7-1500T)
Description
Force/torque limiting applies to
Requirements for force/torque limiting
Fixed stop detection applies to
Requirement for fixed stop detection
Override response
Parameters
MC_TorqueLimiting: Function chart (S7-1500, S7-1500T)
Function chart: Pausing an axis when the torque limit is reached
Function chart: Torque limiting with fixed stop detection (mode = 1)
See also
Kinematics Instructions
Motion control instructions for kinematics control (S7-1500T)
See also
MC_GroupInterrupt
MC_GroupInterrupt: Interrupt motion execution (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_GroupContinue
MC_GroupContinue: Continue motion execution (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GroupContinue: Function chart (S7-1500T)
Function chart: Continue motion execution
See also
MC_GroupStop
MC_GroupStop: Stop motion (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_GroupStop: Function chart (S7-1500T)
Function chart: Stop motion
See also
MC_MoveLinearAbsolute
MC_MoveLinearAbsolute: Position kinematics with linear path motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveLinearAbsolute: Function chart (S7-1500T)
Function chart: Position kinematics with linear path motion
See also
MC_MoveLinearRelative
MC_MoveLinearRelative: Relative positioning of kinematics with linear path motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveLinearRelative: Function chart (S7-1500T)
Function chart: Relative positioning of kinematics with linear path motion
See also
MC_MoveCircularAbsolute
MC_MoveCircularAbsolute: Position kinematics with circular path motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveCircularAbsolute: Function chart (S7-1500T)
Function chart: Position kinematics with circular path motion
See also
MC_MoveCircularRelative
MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveCircularRelative: Function chart (S7-1500T)
Function chart: Relative positioning of kinematics with circular path motion
See also
MC_MoveDirectAbsolute
MC_MoveDirectAbsolute: Absolute movement of kinematics with synchronous "point-to-point" motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveDirectAbsolute: Function diagram (S7-1500T)
Function chart: Absolute movement of kinematics with synchronous "point-to-point" motion
See also
MC_MoveDirectRelative
MC_MoveDirectRelative: Relative movement of kinematics with synchronous "point-to-point" motion (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
MC_MoveDirectRelative: Function chart (S7-1500T)
Function chart: Relative movement of kinematics with synchronous "point-to-point" motion
See also
MC_TrackConveyorBelt
MC_TrackConveyorBelt: Start conveyor tracking (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
MC_TrackConveyorBelt: Function chart (S7-1500T)
Function chart: Start conveyor tracking
See also
MC_KinematicsMotionSimulation (V6)
MC_KinematicsMotionSimulation: Start/end simulation of kinematics (S7-1500T)
Description
Applies to
Requirements
Override response
Parameter
See also
Zones Instructions
MC_DefineWorkspaceZone
MC_DefineWorkspaceZone: Define workspace zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameter
See also
MC_DefineKinematicsZone
MC_DefineKinematicsZone: Define kinematics zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetWorkspaceZoneActive
MC_SetWorkspaceZoneActive: Activate workspace zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetWorkspaceZoneInactive
MC_SetWorkspaceZoneInactive: Deactivate workspace zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetKinematicsZoneActive
MC_SetKinematicsZoneActive: Activate kinematics zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetKinematicsZoneInactive
MC_SetKinematicsZoneInactive: Deactivate kinematics zone (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
Tools Instructions
MC_DefineTool
MC_DefineTool: Redefine tool (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetTool
MC_SetTool: Change active tool (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
See also
Coordinate System Instructions
MC_SetOcsFrame
MC_SetOcsFrame: Redefine object coordinate systems (S7-1500T)
Description
Applies to
Requirement
Override response
Parameters
See also
MC_KinematicsTransformation
MC_KinematicsTransformation: Convert axis coordinates to Cartesian coordinates (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
See also
MC_InverseKinematicsTransformation
MC_InverseKinematicsTransformation: Convert Cartesian coordinates to axis coordinates (S7-1500T)
Description
Applies to
Requirements
Override response
Parameters
See also
Auxiliary Functions
As\<TO>Ref
Option 1
Option 2
Additional convert functions
Get\<TO>Status
Functions
Example
Get\<TO>Errors
Functions
Example
Get\<TO>Warnings
Functions
Example
GetType
Parameters
Example
TO_Type
Etc
Example 'SampleAxisFB' in TIAX direct loading workflow
Create and download a Motion Control project with TIA Portal
Create AX app project
Download the AX application
Start monitoring the application in AX
Start and Reset the motion program in AX
Alternatively
Links
3D visualization (S7-1500T)
Online view
See also
Absolute value adjustment (S7-1500, S7-1500T)
Requirements
Absolute specification of position
Relative specification of position
Restoring the position after switching on the CPU
Movements of the axis while the controller is switched off can skew the actual value
Resetting the absolute value offset of an encoder
Save absolute encoder adjustment for device replacement on SIMATIC Memory Card
See also
Activating zone monitoring (S7-1500T)
Configuring the status offline
Activating and deactivating zone monitoring online
See also
Active homing with homing output cam and zero mark (S7-1500, S7-1500T)
Example of homing in the positive direction
Example of homing in the negative direction
Requirements
Procedure
See also
Actual value coupling and actual value extrapolation (S7-1500T)
Actual value extrapolation of the leading value
Machine damage
Filtering the actual values
Tolerance band
Hysteresis
Configuring actual value extrapolation
See also
Additive setpoint torque/additive setpoint force (S7-1500, S7-1500T)
See also
Applications of the cam diagnostics (S7-1500, S7-1500T)
Calling the diagnostics
Possible offline applications
Possible online applications
Articulated arm 2D with orientation (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 2D (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 3D with orientation (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 3D (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Axis in simulation (S7-1500, S7-1500T)
Characteristics in simulation mode
Backlash compensation (S7-1500, S7-1500T)
What is the backlash?
Backlash compensation
Setpoint operation
Follow-up mode
Requirements
Enable backlash compensation
Backlash compensation settings
Backlash compensation function chart
Homing when backlash compensation is enabled
Incremental encoder
Absolute encoder
Reversal of direction for non-homed axes
What do you need to note in axes with multiple encoders?
How large is the backlash?
Example: Measuring the size of backlashes on a linear axis
See also
Calibrate cuboid zone with corner points (S7-1500T)
Definition
Requirements
Procedure
Calibrate cylindrical zone with circular plane (S7-1500T)
Definition
Requirements
Procedure
Calibrate cylindrical zone with surface line (S7-1500T)
Definition
Requirements
Procedure
Calibrate spherical zone with diameter (S7-1500T)
Definition
Requirements
Procedure
Calibrate spherical zone with radius (S7-1500T)
Definition
Requirements
Procedure
Calibration (S7-1500T)
Requirement
Structure
See also
Camming (S7-1500T)
See also
Cartesian portal 2D (S7-1500T)
Coordinate systems and zero position
Transformation area
Joint position space
See also
Change restart-relevant data (S7-1500, S7-1500T)
Requirement
Procedure
Changing multiple variables with the "WRIT_DBL" instruction
Changing the synchronous operation function of the cam manually (S7-1500T)
Requirement
Procedure
Check the synchronous operation function of the cam
See also
Changing the synchronous operation function of the cam online (S7-1500T)
See also
Commissioning (S7-1500T)
See also
Commissioning guidelines (S7-1500, S7-1500T)
Requirement
Procedure
See also
Configuration - Hardware interface (S7-1500, S7-1500T)
Measuring input type
Measurement using Timer DI
Measurement using SINAMICS (central probe)
Measurement using PROFIdrive telegram (drive or external encoder)
Correction time for the measuring signal
See also
Configuration of profile - General (S7-1500T)
Leading value display range
Following value display range
Configure axis type (S7-1500, S7-1500T)
Configure axis type
See also
Configure the type of an external encoder (S7-1500, S7-1500T)
Configuring a dynamic filter (S7-1500, S7-1500T)
Applies to
Use
Description
Procedure
See also
Configuring a workspace zone offline (S7-1500T)
See also
Configuring and interconnecting kinematics axes (S7-1500T)
Configuring calibration of a workspace zone (S7-1500T)
Requirement
Configuring zone properties
Selecting the suitable calibration method
See also
Configuring calibration of an object coordinate system (S7-1500T)
Requirement
Selecting the object coordinate system
Selecting the calibration method
See also
Configuring drive and encoder direction for positioning axis/synchronous axis (S7-1500, S7-1500T)
Configuring drive and encoder direction on a positioning axis
Invert drive direction
Invert encoder direction
Configuring dynamics for the kinematics and the orientation motion (S7-1500T)
Dynamic limits of the kinematics
Dynamic limits of the kinematics axes
Configuring dynamic defaults for the kinematics motion
Configuring dynamic defaults for the orientation motion
See also
Configuring kinematics zones offline (S7-1500T)
Example of tool zone
Example of flange zone
See also
Configuring position controller for drives with DSC (S7-1500, S7-1500T)
Automatic transfer from drive
See also
Configuring position controller in the PLC (S7-1500, S7-1500T)
Precontrol
Speed control loop substitute time
Gain (Kv factor)
See also
Configuring the leadscrew pitch (S7-1500, S7-1500T)
Procedure
Configuring the load gear (S7-1500, S7-1500T)
Procedure
Configuring the mechanics of the external encoder (S7-1500, S7-1500T)
Linear type, measuring system rotary
Linear type, measuring system linear
Rotary type
Inverting the encoder direction for external encoder
Example: Inverting the encoder direction for an external encoder
See also
Configuring the mechanics of the speed axis (S7-1500, S7-1500T)
Inverting the drive direction of the speed axis
See also
Configuring the provision of leading value and interconnecting axes (S7-1500T)
Requirement
Provide cross-PLC leading value
Interconnect local following axes
Interconnecting leading axis proxies
Interconnecting following axes of the other CPUs
Interconnecting virtual following axis as leading axis for the next cascade
See also
Configuring the tolerance time (S7-1500T)
Procedure
Configuring transitions (S7-1500T)
Configuring interpolation
"Characteristic" configuration window
See also
Configuring zones (S7-1500T)
"Zones" configuration window
Online view
See also
Connecting drives with analog setpoint interface (S7-1500, S7-1500T)
Analog output
Activate enable output
Enable ready input
Reference speed with analog setpoint interface
Reference velocity with analog setpoint interface
Connecting encoders via PROFIdrive (S7-1500, S7-1500T)
Connecting force/torque data via SIEMENS additional telegram 750 (S7-1500, S7-1500T)
Activation of the additional data in the technology object
Data connection of the additional telegram in the technology object
Connect additional telegram via data block
Connecting PROFIdrive drive directly (S7-1500, S7-1500T)
Connecting stepper motors (S7-1500, S7-1500T)
Control panel status (S7-1500T)
Kinematics status
Axis status
Conveyor Tracking (S7-1500T)
Overrun of the dynamics in the vicinity of a singularity
See also
Coordinate systems and frames (S7-1500T)
Coordinate systems
World coordinate system (WCS)
Kinematics coordinate system (KCS)
Object coordinate system (OCS)
Frames
See also
Copy calculated cam elements (S7-1500T)
Cam elements to be copied
Copy mode
Copy operation
See also
Creating the synchronous operation function of the cam with the "LCamHdl" library (S7-1500T)
More information
See also
Cross-PLC synchronous operation (S7-1500T)
More information
See also
Cyclic measuring (S7-1500, S7-1500T)
Measuring job
Measured values and counters
Lost edge counter (LEC)
Display of measurement results when using cyclic measuring
Examples
See also
Cylindrical robot 3D with orientation (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Cylindrical robot 3D (S7-1500T)
Coordinate systems and zero position
Transformation area
Joint position space
See also
Data types (S7-1500, S7-1500T)
Data types for the use of technology
Cascading technology objects
Define circular path via radius and target position (S7-1500T)
Parameter inputs
Main plane of the circular path
Orientation of the circular path
See also
Define joint target positions of the sPTP motion (S7-1500T)
Parameter inputs
Absolute target positions
Relative target positions
See also
Define joint traversing range (S7-1500T)
Define position control of the following axis (S7-1500, S7-1500T)
Parameter inputs
Position-controlled mode
Non-position-controlled mode
See also
Define the dynamic response of the circular motion (S7-1500T)
Parameter inputs
Dynamic adaptation
Use the configured default
Do not limit path dynamics to axis dynamics
Limit path dynamics to axis dynamics with segmentation of the path
Limit path dynamics to axis dynamics without segmentation of the path
See also
Define the transition of circular motion (S7-1500T)
Parameter inputs
Appending motion
Blending motion
Rounding clearance d > 0.0
Rounding clearance d = 0.0
Rounding clearance d < 0.0
See also
Define tool frames (S7-1500T)
Define tool frames offline
Define tool frame with Motion Control instructions
Example
See also
Defining application mode of the cam (S7-1500T)
Parameter inputs
Not cyclic
Cyclical
Cyclic appending
See also
Defining direction of desynchronization with "MC_CamOut" (S7-1500T)
Desynchronizing the following axis in positive traversing direction
Desynchronizing the following axis in negative traversing direction
Desynchronizing the following axis in the current traversing direction
See also
Defining direction of desynchronization with "MC_GearOut" (S7-1500, S7-1500T)
Desynchronizing the following axis in positive traversing direction
Desynchronizing the following axis in negative traversing direction
Desynchronizing the following axis in the current traversing direction
See also
Defining direction of synchronization with "MC_CamIn" (S7-1500T)
Positive direction
Negative direction
Shortest distance
See also
Defining direction of synchronization with "MC_GearInPos" (S7-1500, S7-1500T)
Positive direction
Negative direction
Shortest distance
See also
Defining gear ratio (S7-1500, S7-1500T)
Numerator of the gear ratio
Denominator of the gear ratio
Example 1: Positive gear ratio
Example 2: Negative gear ratio
See also
Defining gear ratio (S7-1500, S7-1500T)
Numerator of the gear ratio
Denominator of the gear ratio
Example 1: Positive gear ratio
Example 2: Negative gear ratio
See also
Defining gear ratio (S7-1500, S7-1500T)
Numerator of the gear ratio
Denominator of the gear ratio
Example 1: Positive gear ratio
Example 2: Negative gear ratio
See also
Defining the axis target position of the sPTP motion (S7-1500T)
Parameter inputs
Absolute target positions
Relative target positions
See also
Defining the Cartesian target coordinates of the sPTP motion (S7-1500T)
Parameter inputs
Absolute Cartesian coordinates
Relative Cartesian coordinates
Joint position range
Example
See also
Defining the circular path via center point and angle (S7-1500T)
Parameter inputs
Main plane of the circular path
Orientation of the circular path
See also
Defining the circular path via intermediate point and target position (S7-1500T)
Parameter inputs
See also
Defining the direction of the leading value distance of a following value offset on the following axis during camming (S7-1500T)
Defining leading value distance in the positive direction of motion of the effective leading value
Defining leading value distance in the negative direction of motion of the effective leading value
Defining leading value distance in the current direction of motion of the effective leading value
See also
Defining the direction of the leading value distance of a following value offset on the following axis during gearing (S7-1500T)
Defining leading value distance in the positive direction of motion of the effective leading value
Defining leading value distance in the negative direction of motion of the effective leading value
Defining leading value distance in the current direction of motion of the effective leading value
See also
Defining the direction of the leading value distance of a leading value offset on the following axis during camming (S7-1500T)
Defining leading value distance in the positive direction of motion of the effective leading value
Defining leading value distance in the negative direction of motion of the effective leading value
Defining leading value distance in the current direction of motion of the effective leading value
See also
Defining the direction of the leading value distance of a leading value offset on the following axis during gearing (S7-1500T)
Defining leading value distance in the positive direction of motion of the effective leading value
Defining leading value distance in the negative direction of motion of the effective leading value
Defining leading value distance in the current direction of motion of the effective leading value
See also
Defining the dynamic response of the linear motion (S7-1500T)
Parameter inputs
Dynamic adaptation
Use the configured default
Do not limit path dynamics to axis dynamics
Limit path dynamics to axis dynamics with segmentation of the path
Limit path dynamics to axis dynamics without segmentation of the path
See also
Defining the dynamics factors of the sPTP motion (S7-1500T)
Parameter inputs
Configure default settings
See also
Defining the offset and rotation in the reference coordinate system (S7-1500T)
Defining the position and rotation in a Motion Control instruction
Defining the target position of the linear motion (S7-1500T)
Parameter inputs
Absolute target position
Relative target position
See also
Defining the transition of linear motion (S7-1500T)
Parameter inputs
Appending motion
Blending motion
Rounding clearance d > 0.0
Rounding clearance d = 0.0
Rounding clearance d < 0.0
See also
Defining the transition of the sPTP motion (S7-1500T)
Parameter inputs
Appending motion
Blending motion
Rounding clearance d > 0.0
Rounding clearance d = 0.0
Rounding clearance d < 0.0
Constantly blending path motions and sPTP motions
See also
Defining the zone geometry (S7-1500T)
Sphere
Cuboid
Cylinder
Delta picker 2D (S7-1500T)
Coordinate systems and zero position
Transformation area
See also
Desynchronizing following axis using dynamic parameters with "MC_CamOut" (S7-1500T)
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using dynamic parameters with "MC_GearOut" (S7-1500T)
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using leading value distance with "MC_CamOut" (S7-1500T)
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using leading value distance with "MC_GearOut" (S7-1500T)
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Diagnostics (S7-1500, S7-1500T)
See also
Direct homing (S7-1500, S7-1500T)
Requirement
Procedure
Direct homing at fixed stop
Too fast manual traversing to the fixed stop
See also
Directly set following axis synchronously at end of the cam with "MC_CamIn" (S7-1500T)
Parameter inputs
Dynamic jumps on the following axis
After the "MC_CamIn" job has started
When reaching the end of the cam
See also
Directly set following axis synchronously with "MC_CamIn" (S7-1500T)
Parameter inputs
After the "MC_CamIn" job has started
Additional information
See also
Disable axis and hand over master control (S7-1500, S7-1500T)
Requirement
Procedure
Distance output cam (S7-1500, S7-1500T)
Switch-on range
Mapping to an axis with modulo function
Switching characteristics
Dynamic adaptation (S7-1500T)
Configuring dynamic adaptation
Dynamic limits of the following axis in camming (S7-1500T)
Pending synchronous operation
Synchronization/synchronous motion/desynchronization
Synchronous operation override
See also
Dynamic limits of the following axis in gearing with "MC_GearIn" (S7-1500, S7-1500T)
Synchronization
Synchronous motion/desynchronization (S7-1500T)
Synchronous operation override
See also
Dynamic limits of the following axis in gearing with "MC_GearInPos" (S7-1500T)
Pending synchronous operation
Synchronization/synchronous motion/desynchronization
Synchronous operation override
See also
Dynamic limits of the following axis in velocity synchronous operation (S7-1500, S7-1500T)
Synchronization
Synchronous motion
Synchronous operation override
See also
Emergency stop deceleration (S7-1500, S7-1500T)
Configuring emergency stop deceleration
Error IDs 16#0000 - 16#800F (S7-1500, S7-1500T)
See also
Error IDs 16#8010 - 16#801F (S7-1500, S7-1500T)
Error IDs 16#8020 - 16#802F (S7-1500, S7-1500T)
Error IDs 16#8030 - 16#803F (S7-1500, S7-1500T)
Error IDs 16#8040 - 16#804F (S7-1500, S7-1500T)
Error IDs 16#8050 - 16#805F (S7-1500, S7-1500T)
Error IDs 16#8060 - 16#806F (S7-1500, S7-1500T)
Error IDs 16#8070 - 16#807F (S7-1500, S7-1500T)
Error IDs 16#8080 - 16#808F (S7-1500, S7-1500T)
Error IDs 16#80A0 - 16#80AF (S7-1500, S7-1500T)
Error IDs 16#80B0 - 16#80BF (S7-1500, S7-1500T)
Error IDs 16#80C0 - 16#80CF (S7-1500, S7-1500T)
Error IDs 16#80D0 - 16#80DF (S7-1500, S7-1500T)
Error IDs 16#80E0 - 16#80EF (S7-1500, S7-1500T)
Error IDs 16#8FF0 - 16#8FFF (S7-1500, S7-1500T)
See also
Error IDs in Motion Control instructions (S7-1500, S7-1500T)
Error display
Acknowledge error
"ErrorWord" tag (kinematics) (S7-1500T)
Tags
See also
Evaluate StatusWord, ErrorWord and WarningWord (S7-1500, S7-1500T)
Requirements
Procedure
Example
Fixed stop detection (S7-1500, S7-1500T)
Detection of the fixed stop using following error
Clamping at the mechanical endstop
Monitoring of the clamping
Retracting
Configuring fixed stop detection
See also
Following error monitoring (S7-1500, S7-1500T)
Calculation of the following error
Warning limit
Violation of the permissible following error
Enabling and configuring following error monitoring
Parameter assignment of the following error calculation with active dynamic filter
Following value offset on the following axis during camming using leading value distance as of current leading value position (S7-1500T)
Parameter inputs
During the following value offset
After the following value offset
See also
Following value offset on the following axis during camming using leading value distance as of specific leading value position (S7-1500T)
Parameter inputs
Until the following value offset
During the following value offset
After the following value offset
See also
Following value offset on the following axis during gearing using leading value distance as of current leading value position (S7-1500, S7-1500T)
Parameter inputs
During the following value offset
After the following value offset
See also
Following value offset on the following axis during gearing using leading value distance as of specific leading value position (S7-1500, S7-1500T)
Parameter inputs
Until the following value offset
During the following value offset
After the following value offset
See also
Force/torque limiting (S7-1500, S7-1500T)
Positioning and following error monitoring with active force/torque limiting
Typical behavior of a positioning or synchronous axis with active force/torque limiting
Stopping an axis with active force/torque limiting
Configuring force/torque limiting
Interconnection in the SINAMICS drive
See also
Gearing with "MC_GearIn" (S7-1500, S7-1500T)
See also
Gearing with "MC_GearInPos" (S7-1500, S7-1500T)
See also
Homing SINAMICS drives with external zero marks (S7-1500, S7-1500T)
Homing when backlash compensation is enabled (S7-1500, S7-1500T)
Active and passive homing "MC_Home" with "Mode" = 2,3,5,8,10
Direct homing "MC_HOME" with "Mode" = 0.1
Absolute encoder adjustment "MC_Home" with "Mode" = 6.7
Incremental encoder adjustment "MC_Home" with "Mode" = 13
See also
Homing with the axis control panel (S7-1500, S7-1500T)
Actively homing the axis
Setting the home position of an axis
See also
Homing (S7-1500, S7-1500T)
Type of homing
Homing mode for active and passive homing
Supported encoders and technology objects
Start homing job
Homing status
See also
Hysteresis (S7-1500, S7-1500T)
Behavior
Hysteresis range
Incremental encoder adjustment (S7-1500, S7-1500T)
Requirements
Procedure
Innovations V6.0
General functions
Axis functions
Synchronous operation functions
Kinematics functions (S7-1500T)
Innovations V7.0
New general functions V7.0 (S7-1500, S7-1500T)
Hardware
New axis functions V7.0 (S7-1500, S7-1500T)
Drive and encoder connection
Motion control and dynamic limits
Traversing range limitation
Homing
Configuring a control loop
Position monitoring
"MC_Power.StopMode" = 3
New synchronous operation functions V7.0 (S7-1500, S7-1500T)
Velocity gearing (S7-1500T)
Camming (S7-1500T)
New kinematics functions V7.0 (S7-1500, S7-1500T)
S7-1500T Motion Control KinPlus
See also
Innovations V8.0
New general functions V8.0
Hardware
Technology objects
Programming
New axis functions V8.0
Axis control panel
Axis control via Interpreter
Measuring gearbox for positioning axis and synchronous axis technology objects
Torque precontrol
Dynamic filter with sliding window demand
Standstill signal on external encoder
Virtual axis
Alarm response
New measuring input and output cam functions V8.0
Cyclic measuring for central measuring input
Monitoring probe
New synchronous operation functions V8.0
Camming (S7-1500T)
New kinematics functions V8.0
S7-1500T Motion Control KinPlus
Interpreter functions V8.0
Technology objects
Programming
MCL
User program
See also
Interpolate cam with "MC_InterpolateCam" (S7-1500T)
See also
Interpolation according to VDI Guideline 2143 (S7-1500T)
Adjust the optimization of a transition
"Default optimization settings" configuration window
See also
Interrupting, continuing and stopping kinematics motions (S7-1500T)
Suspend kinematics motions
Continue kinematics motions
Stop kinematics motions
See also
Job sequence (S7-1500T)
Define maximum number of jobs
Processing of jobs in the job sequence
Status of the job sequence
Interrupting and resuming job execution
See also
Jogging the kinematics (S7-1500T)
Requirement
Joint coordinate system (JCS) (S7-1500T)
Functions
Setpoint calculation at the kinematics
See also
Kinematics trace (S7-1500T)
Kinematics transformation (S7-1500T)
See also
Kinematics types with more than four kinematics axes (S7-1500T)
Flange coordinate system (FCS)
Tool coordinate system (TCS - Tool Coordinate System) and tool center point (TCP - Tool Center Point)
See also
Kinematics types with up to four interpolating kinematics axes. (S7-1500T)
Flange coordinate system (FCS)
Tool coordinate system (TCS - Tool Coordinate System) and tool center point (TCP - Tool Center Point)
See also
Leading value offset on the following axis during camming using leading value distance as of current leading value position (S7-1500T)
Parameter inputs
During the leading value offset
After the leading value offset
See also
Leading value offset on the following axis during camming using leading value distance as of specific leading value position (S7-1500T)
Parameter inputs
Until the leading value offset
During the leading value offset
After the leading value offset
See also
Leading value offset on the following axis during gearing using dynamic parameters (S7-1500T)
Parameter inputs
During the leading value offset
After the leading value offset
See also
Leading value offset on the following axis during gearing using leading value distance as of current leading value position (S7-1500T)
Parameter inputs
During the leading value offset
After the leading value offset
See also
Leading value offset on the following axis during gearing using leading value distance as of specific leading value position (S7-1500T)
Parameter inputs
Until the leading value offset
During the leading value offset
After the leading value offset
See also
Legend (S7-1500T)
Legend (S7-1500, S7-1500T)
Legend (S7-1500, S7-1500T)
Legend (S7-1500, S7-1500T)
Legend (S7-1500T)
Legend for representation of the kinematics (S7-1500T)
Long-term accuracy (S7-1500, S7-1500T)
Example of the maximum traversing time
Measures to maintain long-term accuracy
See also
Measuring with measuring range (S7-1500, S7-1500T)
Activation time for the measuring range
Mechanical axis coupling for kinematics types with more than four interpolating kinematics axes. (S7-1500T)
Configuring the mechanical axis coupling
Determining coupling factors
Mechanical axis coupling for kinematics types with up to four interpolating kinematics axes. (S7-1500T)
See also
Mode of operation of the instructions in synchronous operation (S7-1500, S7-1500T)
Additive leading value
Leading value offset
Synchronous operation function
Following value offset
Superimposed motion
See also
Modulo setting (S7-1500, S7-1500T)
Modulo cycle counter
Enable and configure modulo
See also
Monitoring and comparing position values (S7-1500T)
Operating the "Positions" diagnostics window
Selecting a reference coordinate system for recording in the kinematics trace
Comparing position values
Position values in the graphic display
See also
Motion and tools (S7-1500T)
"Motion and Tools"
See also
Motion control and limits for dynamics (S7-1500, S7-1500T)
Configuring dynamic defaults at the technology object
Parameterizing dynamic values in Motion Control instruction
Limiting the dynamics
Interaction of dynamic defaults and dynamic limits
See also
Motion dynamics (S7-1500T)
Motion specification via "MotionIn" (S7-1500T)
Unexpected axis motions
"MC_MotionInVelocity"
"MC_MotionInPosition"
"MC_MotionInSuperimposed"
Overriding with "MotionIn" instructions
Stopping the "MotionIn" instructions
MotionIn status indicators
See also
Motion status and remaining distance (S7-1500T)
Status of a motion job
Remaining distance of a motion job
Distance of linear and circular motion jobs
Resetting distances
Calculate remaining distance of all jobs of the job sequence
Example: Three linear motion jobs with smoothing
"MotionQueue" tag (kinematics) (S7-1500T)
Tags
See also
Move OCS and rotate around one axis or two axes (S7-1500T)
"Three-point" calibration method
"Move and rotate" calibration method
"Plane" calibration method
Move OCS and rotate around the y axis (S7-1500T)
"Move and rotate around y" calibration method
Move OCS and rotate around the z axis (S7-1500T)
"Move and rotate around z" calibration method
Move OCS with the "One-point" calibration method (S7-1500T)
"One-point" calibration method
Move OCS with the "Two-point" calibration method (S7-1500T)
"Two-point" calibration method
Moving a kinematics in a circular manner (S7-1500T)
See also
Moving a kinematics in a linear manner (S7-1500T)
See also
Moving a kinematics with a synchronous "point-to-point" motion (S7-1500T)
See also
Offset and rotation of the coordinate system (S7-1500T)
Offset
Rotation
One-time measurement (S7-1500, S7-1500T)
Measuring job
Temporal requirements for measuring jobs via "MC_MeasuringInput"
See also
Only cancel a pending camming with "MC_CamOut" (S7-1500T)
See also
Only cancel a pending following value offset in the camming (S7-1500T)
See also
Only cancel a pending following value offset in the gearing (S7-1500, S7-1500T)
See also
Only cancel a pending gearing with "MC_GearOut" (S7-1500, S7-1500T)
See also
Only cancel a pending leading value offset in the camming (S7-1500T)
See also
Only cancel a pending leading value offset in the gearing (S7-1500T)
See also
Opening the interconnection overview (S7-1500T)
Requirement
Procedure
Result
Operating the directional pad (S7-1500T)
Moving the tool center point (TCP)
Specify target position
See also
Operating the zone display (S7-1500T)
Zone display in calibration
Operational Sequence and Timeouts (S7-1500, S7-1500T)
Example
Overflows
Optimize position controller (S7-1500, S7-1500T)
Requirement
Procedure for SINAMICS drives with DSC configured with Startdrive
Procedure for SINAMICS drives with DSC configured without Startdrive
Procedure for other drives
Evaluating trace recordings
Adjust gain (Kv factor)
Adjust speed control loop substitute time
Transferring the optimized parameter values of the position controller to the project
Additional information
See also
Organization blocks for Motion Control (S7-1500, S7-1500T)
Application cycle
Ways to influence the process response
Reduction ratio
Priority
See also
Override response: Homing and motion jobs (S7-1500, S7-1500T)
Override response: Kinematics motion commands (S7-1500T)
Override response: Measuring input jobs (S7-1500, S7-1500T)
Override response: Synchronous operation jobs (S7-1500, S7-1500T)
Overview of the technology alarms (S7-1500, S7-1500T)
Legend
List of the technology alarms
See also
Overview of versions (S7-1500, S7-1500T)
CPU firmware version and technology version
Technology objects of a technology version
S7-1500 motion control instructions
Parameter overview for synchronizing with "MC_CamIn" (S7-1500T)
See also
Parameter overview for synchronizing with "MC_GearInPos" (S7-1500, S7-1500T)
See also
Passive homing with homing output cam and zero mark (S7-1500, S7-1500T)
Example of homing motion
Requirements
Procedure
Permissible joint position for delta picker (S7-1500T)
Permissible torque range/force range (S7-1500, S7-1500T)
See also
Positioning monitoring (S7-1500, S7-1500T)
Violation of positioning monitoring
Configure positioning monitoring
Positions (S7-1500T)
"Positions"
See also
PROFIdrive State Machine (S7-1500, S7-1500T)
Additional information
See also
Reading the following value in camming (S7-1500T)
Parameter inputs
After the "MC_GetCamFollowingValue" job has started
See also
Reading the leading value in camming (S7-1500T)
Parameter inputs
After the "MC_GetCamLeadingValue" job has started
See also
Restart of technology objects (S7-1500, S7-1500T)
Restart required
Restarting a technology object
Roller picker 2D (S7-1500T)
Coordinate systems and zero position
Transformation area
Joint position space
See also
S7-1500 Motion Control Documentation Guide (S7-1500, S7-1500T)
Product information
Documentation
See also
See also
Scaling and shifting cam (S7-1500T)
Parameter inputs
Scaling of the cam
Shifting of the cam
See also
SCARA 2D with orientation (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
SCARA 3D with orientation (S7-1500T)
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Set kinematics to simulation mode (S7-1500T)
Example
See also
Set setpoint position (S7-1500, S7-1500T)
Requirement
Procedure
Setting the delay times (S7-1500T)
Requirement
Calculating delay times
Configuring delay times
See also
Setting up communication via direct data exchange (S7-1500T)
Requirement
Adding communication directions
Configuring transfer areas
Creating tags
Result
More information
See also
Showing routes (S7-1500T)
Procedure
Result
Simulate synchronous operation (S7-1500T)
Starting the simulation
Requirement
Procedure
End simulation
Machine damage
Requirement
Procedure
See also
Singularities (S7-1500T)
Inner singularities
Inner singularity using the articulated arm 3D as an example
Outer singularities
Extended position using the articulated arm 3D as an example
Folded position using the articulated arm 3D as an example
Behavior in the vicinity of a singularity
Overrun of the dynamics in the vicinity of a singularity
Affected kinematics motions
Dynamic adaptation in the vicinity of singularities
Preventive measures to prevent the behavior
Determining the area with overrun of the dynamics for articulated arm 3D
Deliberately traveling into the singularity
Requirements
Determining the distance to the inner singularity
Limiting the working area with zone monitoring
See also
Specify additive leading value (S7-1500T)
Parameter inputs
Start additive leading value specification
During the additive leading value specification
Ending the additive leading value specification
See also
Specify gear ratio once or dynamically (S7-1500, S7-1500T)
Parameter inputs
Specify gear ratio once
Specify gear ratio dynamically
Recommendation
Example
See also
Specify the dynamics in the axis control panel (S7-1500, S7-1500T)
Default setting of the dynamics values
Specifying dynamics in the kinematics control panel (S7-1500T)
Default setting of dynamic values
Specifying dynamic values
Resetting dynamic values to default values
Transferring dynamic values from the kinematics control panel to the technology object
Adjusting the velocity
Standstill signal (S7-1500, S7-1500T)
Configuring stationary state detection
Starting a circular motion job (S7-1500T)
See also
Starting a linear motion job (S7-1500T)
See also
Starting the sPTP motion job (S7-1500T)
See also
Status and error bits (S7-1500T)
"Kinematics status"
"Error"
"Warnings"
"Motion status"
See also
"StatusWord" tag (kinematics) (S7-1500T)
Tags
See also
Structure and operation of the cam editor (S7-1500T)
Toolbar
Graphical editor
Tabular editor
Inspector window
Elements of the curve
Additional information
See also
Structure of the 3D visualization (S7-1500T)
3D display
Structure of the diagnostics (S7-1500T)
Diagnostics window
See also
Subsequent synchronizing of following axis using leading axis value starting from the current leading value position with "MC_CamIn" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Subsequent synchronizing of following axis using leading value distance with "MC_CamIn" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Subsequent synchronizing of following axis using leading value distance with "MC_GearInPos" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Superimposed motions (S7-1500, S7-1500T)
Superimposing a basic motion with a relative positioning motion
Superimposing basic motion with MotionIn motion specification
Stopping superimposed motion independently of the basic motion
Overriding of superimposed motions
Status indicators of superimposed motions
See also
Supported kinematics types (S7-1500T)
See also
Switching the position control off and on (S7-1500, S7-1500T)
MC_Power
MC_MoveVelocity and MC_MoveJog
MC_MotionInVelocity and MC_MotionInPosition
Influence of additional Motion Control instructions
Synchronize the following axis in advance via the leading value path from the current leading value position with "MC_CamIn" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using dynamic parameters with "MC_CamIn" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using dynamic parameters with "MC_GearInPos" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using leading value distance with "MC_CamIn" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using leading value distance with "MC_GearInPos" (S7-1500T)
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis using dynamic parameters with "MC_GearIn" (S7-1500, S7-1500T)
Parameter inputs
During synchronization
After synchronization
See also
Synchronizing following axis using dynamic parameters with "MC_GearInVelocity" (S7-1500, S7-1500T)
Parameter inputs
During synchronization
After synchronization
See also
Synchronous travel in camming with "MC_CamIn" (S7-1500T)
See also
Synchronous travel in gearing with "MC_GearIn" (S7-1500, S7-1500T)
See also
Synchronous travel in gearing with "MC_GearInPos" (S7-1500, S7-1500T)
See also
Synchronous travel in velocity synchronous operation with "MC_GearInVelocity" (S7-1500, S7-1500T)
See also
System interpolation (S7-1500T)
"System interpolation" configuration window
See also
Tags: Kinematics motions (S7-1500T)
Tags: Zone monitoring (S7-1500T)
Take over master control and enable axis (S7-1500, S7-1500T)
Unexpected axis motions
Requirement
Procedure
Setting the sign-of-life monitoring time
Result
Behavior while the axis control panel or optimization has the master control
Technology alarm 101 (S7-1500, S7-1500T)
Technology alarm 102 (S7-1500, S7-1500T)
Technology alarm 103 (S7-1500, S7-1500T)
Technology alarm 104 (S7-1500, S7-1500T)
Technology alarm 105 (S7-1500, S7-1500T)
Technology alarm 106 (S7-1500, S7-1500T)
Technology alarm 107 (S7-1500, S7-1500T)
Technology alarm 108 (S7-1500, S7-1500T)
Technology alarm 109 (S7-1500, S7-1500T)
Technology alarm 110 (S7-1500, S7-1500T)
Technology alarm 111 (S7-1500, S7-1500T)
Technology alarm 112 (S7-1500, S7-1500T)
Technology alarm 113 (S7-1500, S7-1500T)
Technology alarm 114 (S7-1500, S7-1500T)
Technology alarm 201 (S7-1500, S7-1500T)
Technology alarm 202 (S7-1500, S7-1500T)
Technology alarm 203 (S7-1500, S7-1500T)
Technology alarm 204 (S7-1500, S7-1500T)
Technology alarm 304 (S7-1500, S7-1500T)
Technology alarm 305 (S7-1500, S7-1500T)
Technology alarm 306 (S7-1500, S7-1500T)
Technology alarm 307 (S7-1500, S7-1500T)
Technology alarm 308 (S7-1500, S7-1500T)
Technology alarm 321 (S7-1500, S7-1500T)
Technology alarm 322 (S7-1500, S7-1500T)
Technology alarm 323 (S7-1500, S7-1500T)
Technology alarm 341 (S7-1500, S7-1500T)
Technology alarm 342 (S7-1500, S7-1500T)
Technology alarm 343 (S7-1500, S7-1500T)
Technology alarm 401 (S7-1500, S7-1500T)
Technology alarm 411 (S7-1500, S7-1500T)
Technology alarm 412 (S7-1500, S7-1500T)
See also
Technology alarm 421 (S7-1500, S7-1500T)
See also
Technology alarm 431 (S7-1500, S7-1500T)
Technology alarm 501 (S7-1500, S7-1500T)
Technology alarm 502 (S7-1500, S7-1500T)
Technology alarm 503 (S7-1500, S7-1500T)
Technology alarm 504 (S7-1500, S7-1500T)
See also
Technology alarm 511 (S7-1500, S7-1500T)
Technology alarm 521 (S7-1500, S7-1500T)
See also
Technology alarm 522 (S7-1500, S7-1500T)
Technology alarm 531 (S7-1500, S7-1500T)
Technology alarm 533 (S7-1500, S7-1500T)
Technology alarm 534 (S7-1500, S7-1500T)
Technology alarm 541 (S7-1500, S7-1500T)
Technology alarm 542 (S7-1500, S7-1500T)
Technology alarm 550 (S7-1500, S7-1500T)
See also
Technology alarm 551 (S7-1500, S7-1500T)
Technology alarm 552 (S7-1500, S7-1500T)
Technology alarm 561 (S7-1500, S7-1500T)
Technology alarm 562 (S7-1500, S7-1500T)
Technology alarm 563 (S7-1500, S7-1500T)
Technology alarm 601 (S7-1500, S7-1500T)
Technology alarm 603 (S7-1500, S7-1500T)
Technology alarm 608 (S7-1500, S7-1500T)
See also
Technology alarm 612 (S7-1500, S7-1500T)
Technology alarm 700 (S7-1500, S7-1500T)
Technology alarm 701 (S7-1500, S7-1500T)
Technology alarm 702 (S7-1500, S7-1500T)
Technology alarm 703 (S7-1500, S7-1500T)
Technology alarm 704 (S7-1500, S7-1500T)
Technology alarm 750 (S7-1500, S7-1500T)
Technology alarm 752 (S7-1500, S7-1500T)
Technology alarm 753 (S7-1500, S7-1500T)
Technology alarm 754 (S7-1500, S7-1500T)
Technology alarm 755 (S7-1500, S7-1500T)
Technology alarm 758 (S7-1500, S7-1500T)
Technology alarm 801 (S7-1500, S7-1500T)
Technology alarm 802 (S7-1500, S7-1500T)
Technology alarm 803 (S7-1500, S7-1500T)
Technology alarm 804 (S7-1500, S7-1500T)
Technology alarm 805 (S7-1500, S7-1500T)
Technology alarm 806 (S7-1500, S7-1500T)
Technology alarm 807 (S7-1500, S7-1500T)
Technology alarm 808 (S7-1500, S7-1500T)
Technology alarm 809 (S7-1500, S7-1500T)
Technology alarm 810 (S7-1500, S7-1500T)
Technology alarm 811 (S7-1500, S7-1500T)
Technology alarm 812 (S7-1500, S7-1500T)
Technology alarm 820 (S7-1500, S7-1500T)
Technology alarm 900 (S7-1500, S7-1500T)
Technology alarm 901 (S7-1500, S7-1500T)
Technology alarm 902 (S7-1500, S7-1500T)
Technology alarm 903 (S7-1500, S7-1500T)
Technology alarms (S7-1500, S7-1500T)
Alarm classes
Display of technology alarms
Alarm response
Acknowledging technology alarms
Technology data block (S7-1500, S7-1500T)
Time-based output cam (S7-1500, S7-1500T)
Switching characteristics
Time-related boundary conditions (S7-1500, S7-1500T)
Measurement using Timer DI/measurement using SINAMICS (central probe)
Measurement using PROFIdrive telegram (drive or external encoder)
Definition of tags
See also
Transferring drive and encoder parameters automatically (S7-1500, S7-1500T)
Automatic transfer of parameters during runtime (online)
Automatic transfer of parameters during configuration (offline)
Parameters
See also
Traversing range and transformation area (S7-1500T)
See also
Traversing range limitation (S7-1500, S7-1500T)
Types of HW limit switches
Traversing the axis with the axis control panel (S7-1500, S7-1500T)
Requirement
Jogging the axis
Specify the velocity/speed in the axis control panel
Position axis relatively
Position axis absolutely
Tripod 3D (S7-1500T)
Coordinate systems and zero position
Transformation area
Joint position space
See also
Units of measure (S7-1500T)
Units of measure of the axes and the kinematics technology object
Position values with higher resolution
See also
Units of measure (S7-1500, S7-1500T)
Position values with higher resolution
"Units" tag (kinematics) (S7-1500T)
Tags
See also
Upgrading to technology version V7.0 (S7-1500, S7-1500T)
Extend default Motion Control instructions for kinematics movements and transformation information
Upgrading data types with user-defined transformation
Disabling system performance improvement for user-defined kinematics
User-defined kinematics systems (S7-1500T)
See also
User transformation with JCS (S7-1500T)
Programming
User transformation without JCS (S7-1500T)
Programming
Using 3D display for the calibration (S7-1500T)
See also
Velocity profile (S7-1500, S7-1500T)
Velocity profile without jerk limitation
Velocity profile with jerk limitation
Velocity synchronous operation (S7-1500, S7-1500T)
See also
Virtual axis (S7-1500, S7-1500T)
Application
See also
"WarningWord" tag (kinematics) (S7-1500T)
Tags
See also
Working with the 3D display (S7-1500T)
Customizing the appearance of the 3D display
Customizing the display of the kinematics and the coordinate system
Change screen section
See also
Zone monitoring (S7-1500T)
Inappropriate use of zone monitoring
Zones
See also
Zones status (S7-1500T)
"Zones status"
See also
Types
AxisStatus
AxisErrors
AxisWarnings
CamStatus
CamErrors
CamWarnings
CamTrackStatus
CamTrackErrors
CamTrackWarnings
ExternalEncoderStatus
ExternalEncoderErrors
ExternalEncoderWarnings
KinematicsStatus
KinematicsErrors
KinematicsWarnings
LeadingAxisProxyStatus
LeadingAxisProxyErrors
LeadingAxisProxyWarnings
MeasuringInputStatus
MeasuringInputErrors
MeasuringInputWarnings
OutputCamStatus
OutputCamErrors
OutputCamWarnings
Changelog
4.0 (2023-11-29)
Breaking
Fixed
Added
3.1 (2023-10-06)
Fixed
Added
3.0 (2023-08-08)
Fixed
3.0 (2023-05-12)
Changed
Fixed
2.1 (2022-12-21)
Fixed
2.1 (2022-11-22)
Added
2.0 (2022-09-21)
BREAKING
Changed