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
6.1.3
Edition
11/2024
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
Compatibility
Examples
MC example for TIAX library workflow
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
MC example for 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
Technology Objects
Principle of operation of S7-1500 Motion Control
Technology objects
Technology object data block
Motion Control instructions
User program
Description of technology objects
HW Configuration
Drives and encoders
See also
Data Access
Evaluating the technology data block
Reading values from the technology data block
Writing values to the technology data block
Isochronous evaluation of data
See also
TO_SpeedAxis
Speed axis technology object
Configuration
See also
TO_PositioningAxis
Positioning axis technology object
Configuration
See also
TO_SynchronousAxis
Synchronous axis technology object
Configuration
See also
TO_ExternalEncoder
External encoder technology object
Configuration
See also
TO_OutputCam
Output cam technology object
Output cam types
Assignment
Output cam calculation and output cam output
Position reference
See also
TO_CamTrack
Cam track technology object
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
Measurement types
Assignment
Measured value determination
Correction time
See also
TO_Cam
Cam technology object
Term definition
Cam technology object
Configuration
See also
TO_Kinematics
Kinematics technology object with up to 4 interpolating kinematics axes
Configuration
Kinematics technology object with more than 4 interpolating kinematics axes
Configuration
Motion Control instructions
Functions in STEP 7
See also
TO_LeadingAxisProxy
Leading axis proxy technology object
Configuration
See also
TO_Interpreter (V8)
Interpreter technology object
Data exchange with the user program
Configuration
See also
TO_InterpreterMapping (V8)
Interpreter mapping technology object
Configuration
See also
TO_InterpreterProgram (V8)
Interpreter program technology object
Instructions
Motion control instructions for axis control
See also
MC_Power
MC_Power: Enable, disable technology object
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
Function chart: Enabling a technology object and example of alarm response
See also
MC_Reset
MC_Reset: Acknowledge alarms, restart technology object
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
Description
Applies to
Requirements
Override response
Parameters
"Mode" parameter
See also
MC_Halt
MC_Halt: Stop axis
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
Function chart: Pausing an axis and the overriding job characteristics
See also
MC_MoveAbsolute
MC_MoveAbsolute: Position axis absolutely
Description
Applies to
Requirement
Override response
Parameters
Moving an axis to an absolute position
MC_MoveAbsolute: Function chart
Function chart: Absolute positioning of an axis, and the response to an overriding job
See also
MC_MoveRelative
MC_MoveRelative: Position axis relatively
Description
Applies to
Requirement
Override response
Parameters
Moving an axis relative to the start position
MC_MoveRelative: Function chart
Function chart: Relative positioning of an axis, and the overriding job characteristics
See also
MC_MoveVelocity
MC_MoveVelocity: Move axis with velocity/speed setpoint
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
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
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
Function chart: Moving an axis in jog mode
See also
MC_MoveSuperimposed
MC_MoveSuperimposed: Position axis overlapping
Description
Applies to
Requirement
Override response
Parameters
MC_MoveSuperimposed: Function chart
Function chart: Positioning axes overlapping
See also
MC_HaltSuperimposed (V7)
MC_HaltSuperimposed: Pause superimposed motions on axis
Description
Applies to
Requirement
Override response
Parameters
MC_HaltSuperimposed: Function chart
Function chart: Pause superimposed motions on the axis
See also
MC_SetSensor
MC_SetSensor: Switch alternative encoder to operative encoder
Description
Applies to
Requirement
Override response
Parameters
Changing to absolute encoder
See also
MC_Stop
MC_Stop: Stop axis and prevent new motion jobs
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
Function chart: Braking an axis and the overriding job characteristics
See also
MC_SetAxisSTW
MC_SetAxisSTW: Control bits of control word 1 and 2
Description
Applies to
Requirement
Override response
Parameters
See also
MC_WriteParameter
MC_WriteParameter: Write parameter
Description
Applies to
Requirement
Parameters
Modifiable parameters
See also
MC_SaveAbsoluteEncoderData (V7)
MC_SaveAbsoluteEncoderData: Save absolute encoder adjustment for device replacement
Description
Requirement
Parameters
See also
Output Cam Measuring Input Instructions
Functions
See also
MC_MeasuringInput
MC_MeasuringInput: Start measuring once
Description
Applies to
Requirement
Override response
Parameters
MC_MeasuringInput: Function chart
Function chart: Start measuring job once
See also
MC_MeasuringInputCyclic
MC_MeasuringInputCyclic: Start cyclic measuring
Description
Applies to
Requirement
Override response
Parameters
MC_MeasuringInputCyclic: Function chart
Function chart: Start cyclic measuring job
See also
MC_AbortMeasuringInput
MC_AbortMeasuringInput: Cancel active measuring job
Description
Applies to
Requirement
Override response
Parameters
See also
MC_OutputCam
MC_OutputCam: Activate/deactivate output cam
Description
Applies to
Requirement
Override response
Parameters
MC_OutputCam: Function chart
Function chart: Activate the specified output cam type
See also
MC_CamTrack
MC_CamTrack: Activate/deactivate cam track
Description
Applies to
Requirement
Override response
Parameters
MC_CamTrack: Function chart
Function chart: Activate cam track
See also
Synchronous Motion
Motion Control instructions for synchronous operation
Overview of functions
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
Description
Applies to
Requirement
Override response
Parameters
MC_GearIn: Function chart
Function chart: Synchronizing and switching the leading value
See also
MC_GearInVelocity (V7)
MC_GearInVelocity: Start velocity synchronous operation
Description
Applies to
Requirement
Override response
Parameters
MC_GearInVelocity: Function chart
Function chart: Synchronization and adjustment of the gear ratio
See also
MC_GearInPos
MC_GearInPos: Start gearing with specified synchronous positions
Description
Applies to
Requirement
Override response
Parameters
MC_GearInPos: Function chart
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
Description
Gearing
Camming
Applies to
Requirement
Override response
Parameters
MC_PhasingRelative: Function chart
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
Description
Gearing
Camming
Applies to
Requirement
Override response
Parameters
MC_PhasingAbsolute: Function chart
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
Description
Gearing
Camming
Applies to
Requirements
Override response
Parameter
MC_OffsetRelative: Function chart
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
Description
Gearing
Camming
Applies to
Requirements
Override response
Parameter
MC_OffsetAbsolute: Function chart
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
Description
Applies to
Requirement
Override response
Parameters
MC_CamIn: Function chart
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
Description
Machine damage
Applies to
Requirement
Override response
Parameters
See also
MC_GearOut (V6)
MC_GearOut: Desynchronize gearing
Description
Applies to
Requirement
Override response
Parameters
MC_GearOut: Function chart
Function chart: Desynchronization using dynamic parameters/leading value distance
See also
MC_CamOut (V6)
MC_CamOut: Desynchronize camming
Description
Applies to
Requirement
Override response
Parameters
MC_CamOut: Function chart
Function chart: Desynchronization using leading value distance
See also
MC_LeadingValueAdditive
MC_LeadingValueAdditive: Specify additive leading value
Description
Applies to
Requirement
Override response
Parameters
MC_LeadingValueAdditive: Function chart
Function chart: Specify additive leading value
See also
Cam Instructions
MC_InterpolateCam
MC_InterpolateCam: Interpolate cam
Description
Applies to
Requirement
Override response
Parameters
Interpolating a cam
See also
MC_GetCamLeadingValue
MC_GetCamLeadingValue: Read out leading value of a cam
Description
Applies to
Requirement
Override response
Parameters
See also
MC_GetCamFollowingValue
MC_GetCamFollowingValue: Read out following value of a cam
Description
Applies to
Requirement
Override response
Parameters
See also
MC_GetCamFollowingValueCyclic (V8)
MC_GetCamFollowingValueCyclic: Cyclically read the following value of a cam
Description
Applies to
Requirement
Override response
Parameters
See also
MC_CopyCamData (V6)
MC_CopyCamData: Copy calculated cam elements
Description
Applies to
Requirement
Override response
Parameters
See also
MotionIn Instructions
MC_MotionInVelocity
MC_MotionInVelocity: Specify motion setpoints
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInVelocity: Function chart
Function chart: Specify motion setpoints
See also
MC_MotionInPosition
MC_MotionInPosition: Specify motion setpoints
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInPosition: Function chart
Function chart: Specify motion setpoints
See also
MC_MotionInSuperimposed (V7)
MC_MotionInSuperimposed: Specify superimposed motion setpoints
Description
Applies to
Requirement
Override response
Parameters
MC_MotionInSuperimposed: Function chart
Function chart: Specifying superimposed motion setpoints
See also
Torque Instructions
MC_TorqueAdditive
MC_TorqueAdditive: Specify additive torque
Description
Applies to
Requirement
Override response
Parameters
MC_TorqueAdditive: Function chart
Function chart: Activate/deactivate additive setpoint torque
See also
MC_TorqueRange
MC_TorqueRange: Set high and low torque limit
Description
Applies to
Requirement
Override response
Parameters
MC_TorqueRange: Function chart
Function chart: Set high and low torque limits
See also
MC_TorqueLimiting
MC_TorqueLimiting: Activate/deactivate force/torque limit / fixed stop detection
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
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
See also
MC_GroupInterrupt
MC_GroupInterrupt: Interrupt motion execution
Description
Applies to
Requirement
Override response
Parameters
See also
MC_GroupContinue
MC_GroupContinue: Continue motion execution
Description
Applies to
Requirement
Override response
Parameters
MC_GroupContinue: Function chart
Function chart: Continue motion execution
See also
MC_GroupStop
MC_GroupStop: Stop motion
Description
Applies to
Requirement
Override response
Parameters
MC_GroupStop: Function chart
Function chart: Stop motion
See also
MC_MoveLinearAbsolute
MC_MoveLinearAbsolute: Position kinematics with linear path motion
Description
Applies to
Requirements
Override response
Parameters
MC_MoveLinearAbsolute: Function chart
Function chart: Position kinematics with linear path motion
See also
MC_MoveLinearRelative
MC_MoveLinearRelative: Relative positioning of kinematics with linear path motion
Description
Applies to
Requirements
Override response
Parameters
MC_MoveLinearRelative: Function chart
Function chart: Relative positioning of kinematics with linear path motion
See also
MC_MoveCircularAbsolute
MC_MoveCircularAbsolute: Position kinematics with circular path motion
Description
Applies to
Requirements
Override response
Parameters
MC_MoveCircularAbsolute: Function chart
Function chart: Position kinematics with circular path motion
See also
MC_MoveCircularRelative
MC_MoveCircularRelative: Relative positioning of kinematics with circular path motion
Description
Applies to
Requirements
Override response
Parameters
MC_MoveCircularRelative: Function chart
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
Description
Applies to
Requirements
Override response
Parameters
MC_MoveDirectAbsolute: Function chart
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
Description
Applies to
Requirements
Override response
Parameters
MC_MoveDirectRelative: Function chart
Function chart: Relative movement of kinematics with synchronous "point-to-point" motion
See also
MC_TrackConveyorBelt
MC_TrackConveyorBelt: Start conveyor tracking
Description
Applies to
Requirement
Override response
Parameters
MC_TrackConveyorBelt: Function chart
Function chart: Start conveyor tracking
See also
MC_KinematicsMotionSimulation (V6)
MC_KinematicsMotionSimulation: Start/end simulation of kinematics
Description
Applies to
Requirements
Override response
Parameter
See also
Zones Instructions
MC_DefineWorkspaceZone
MC_DefineWorkspaceZone: Define workspace zone
Description
Applies to
Requirement
Override response
Parameter
See also
MC_DefineKinematicsZone
MC_DefineKinematicsZone: Define kinematics zone
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetWorkspaceZoneActive
MC_SetWorkspaceZoneActive: Activate workspace zone
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetWorkspaceZoneInactive
MC_SetWorkspaceZoneInactive: Deactivate workspace zone
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetKinematicsZoneActive
MC_SetKinematicsZoneActive: Activate kinematics zone
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetKinematicsZoneInactive
MC_SetKinematicsZoneInactive: Deactivate kinematics zone
Description
Applies to
Requirement
Override response
Parameters
See also
Tools Instructions
MC_DefineTool
MC_DefineTool: Redefine tool
Description
Applies to
Requirement
Override response
Parameters
See also
MC_SetTool
MC_SetTool: Change active tool
Description
Applies to
Requirements
Override response
Parameters
See also
Coordinate System Instructions
MC_SetOcsFrame
MC_SetOcsFrame: Redefine object coordinate systems
Description
Applies to
Requirement
Override response
Parameters
See also
MC_KinematicsTransformation
MC_KinematicsTransformation: Convert axis coordinates to Cartesian coordinates
Description
Applies to
Requirements
Override response
Parameters
See also
MC_InverseKinematicsTransformation
MC_InverseKinematicsTransformation: Convert Cartesian coordinates to axis coordinates
Description
Applies to
Requirements
Override response
Parameters
See also
Interpreter Program Instructions
Motion Control instructions for interpreter control
See also
MC_LoadProgram (V8)
MC_LoadProgram: Load/unload Interpreter program
Description
Applies to
Requirements
Override response
Parameters
See also
MC_RunProgram (V8)
MC_RunProgram: Start running the Interpreter program
Description
Applies to
Requirement
Override response
Parameters
See also
MC_StopProgram (V8)
MC_StopProgram: Stop execution of Interpreter program
Description
Applies to
Requirement
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
Hidden links
3D visualization
Online view
See also
Absolute value adjustment
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
See also
Activating zone monitoring
Configuring the status offline
Activating and deactivating zone monitoring online
See also
Active homing with reference cam and zero mark
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
Actual value extrapolation of the leading value
Machine damage
Filtering the actual values
Tolerance band
Hysteresis
Configuring actual value extrapolation
See also
Adding and configuring a PROFIBUS DP drive
Requirements
Adding a drive and telegram in the device configuration
Activating isochronous mode of the drive in the device configuration
Setting isochronous mode
Select drive in the configuration of the technology object
Result
Checking/configuring the properties of the MC_Servo
Result
Checking isochronous mode on the drive
See also
Adding and configuring a PROFINET IO drive
Requirements
Adding a drive and telegram in the device configuration
Interconnect the port of the CPU with the port of the drive
Activating isochronous mode of the drive in the device configuration
Configure the CPU as the sync master and set isochronous mode
Configure drive as sync device
Select drive in the configuration of the technology object
Checking/configuring the properties of the MC_Servo
Result
Check the clock synchronization at the drive
See also
Adding and configuring drives
Using Startdrive
Using the GSD file
Using SINAMICS V90 PN
Using SIMATIC MICRO-DRIVE PDC
Using ET 200SP F ‑ TM ServoDrive
Drives compatibility list
See also
Additive setpoint torque/additive setpoint force
See also
Applications of the cam diagnostics
Calling the diagnostics
Possible offline applications
Possible online applications
Articulated arm 2D with orientation
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 2D
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 3D with orientation
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Articulated arm 3D
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Axis in simulation
Characteristics in simulation mode
Possible applications
Backlash compensation
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
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
Definition
Requirements
Procedure
Calibrate cylindrical zone with circular plane
Definition
Requirements
Procedure
Calibrate cylindrical zone with surface line
Definition
Requirements
Procedure
Calibrate spherical zone with diameter
Definition
Requirements
Procedure
Calibrate spherical zone with radius
Definition
Requirements
Procedure
Calibration
Requirement
Structure
See also
Camming
See also
Cartesian portal 2D
Coordinate systems and zero position
Transformation area
Joint position space
See also
Changing the synchronous operation function of the cam manually
Requirement
Procedure
Check the synchronous operation function of the cam
See also
Changing the synchronous operation function of the cam online
See also
Commissioning
See also
Comparing elements
Select elements to compare
Parameters in the element comparison
Configuration - Hardware interface
Measuring input type
Measurement using Timer DI
Measurement using SINAMICS (central probe)
Measurement using PROFIdrive telegram (drive or external encoder)
Measuring via monitoring
Correction time for the measuring signal
See also
Configuration limits
General configuration
Structure of Interpreter programs
Number of variables
Parallel execution of jobs and motions
Configuration of profile - General
Leading value display range
Following value display range
Configure axis type
Configure axis type
See also
Configure inertia values
Automatically adopt Inertia values from drive
Moment of inertia or weight of the load
Moment of inertia motor
Mass of motor
See also
Configure the type of an external encoder
Configuring a workspace zone offline
See also
Configuring and interconnecting kinematics axes
Configuring calibration of a workspace zone
Requirement
Configuring zone properties
Selecting the suitable calibration method
See also
Configuring calibration of an object coordinate system
Requirement
Selecting the object coordinate system
Selecting the calibration method
See also
Configuring drive and encoder direction for positioning axis/synchronous axis
Configuring drive and encoder direction on a positioning axis
Invert drive direction
Invert encoder direction
Configuring drive parameters manually
Standard motor
Linear motor
See also
Configuring dynamics for the kinematics and the orientation motion
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 encoder parameters manually
Encoder parameters for a rotary measuring system
Encoder parameters for linear measuring system
Evaluation of incremental actual value Gx_XIST1 with absolute encoders
See also
Configuring kinematics zones offline
Example of tool zone
Example of flange zone
See also
Configuring position controller for drives with DSC
Automatic transfer from drive
See also
Configuring position controller in the PLC
Velocity precontrol
Speed control loop substitute time
Gain (Kv factor)
See also
Configuring PROFIdrive telegrams
PROFIdrive
PROFIdrive telegrams
Telegram types
See also
Configuring "Remove enable" alarm responses
Overview of stop modes
Configure stop mode for alarm response "Remove enable"
Procedure for enabling the axis
More information
See also
Configuring start values for clipboard tags
Procedure
Configuring the encoder gear
Configuring the encoder type
Configuration of the encoder type
Configuring the leadscrew pitch
Procedure
Configuring the load gear
Procedure
Configuring the mechanics of the external encoder
"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
Inverting the drive direction of the speed axis
See also
Configuring the provision of leading value and interconnecting axes
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
Procedure
Configuring the torque precontrol
Torque precontrol
Requirements
Constraints
Torque precontrol mode
Current control loop substitute time
Weighting factor
Settings in the drive
See also
Configuring transitions
Configuring interpolation
"Characteristic" configuration window
See also
Configuring zones
"Zones" configuration window
Online view
See also
Connect encoder via data block
See also
Connecting a PROFIdrive drive via data block
Principle of data connection via data block
Connecting drives with analog setpoint interface
Analog output
Activate enable output
Enable ready input
Reference speed with analog setpoint interface
Reference velocity with analog setpoint interface
Connecting encoders via PROFIdrive
Connecting force/torque data via SIEMENS additional telegram 750
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 Interpreter to a kinematics
Requirements
Procedure
Result
Removing the connection
Connecting PROFIdrive drive directly
Connecting stepper motors
Connecting the encoder directly
Connection to the drive (not with analog drive connection)
Encoder on technology module (TM)
PROFIdrive encoder on PROFINET/PROFIBUS (PROFIdrive)
Control panel status
Kinematics status
Axis status
Conveyor Tracking
Overrun of the dynamics in the vicinity of a singularity
See also
Coordinate systems and frames
Coordinate systems
World coordinate system (WCS)
Kinematics coordinate system (KCS)
Object coordinate system (OCS)
Frames
See also
Copy calculated cam elements
Cam elements to be copied
Copy mode
Copy operation
See also
Creating the synchronous operation function of the cam with the "LCamHdl" library
More information
See also
Cross-PLC synchronous operation
More information
See also
Cyclic measuring
Measuring job
Measured values and counters
Lost edge counter (LEC) for Timer DI
Lost Edge Counter for central measuring input
Display of measurement results when using cyclic measuring
Examples
See also
Cylindrical robot 3D with orientation
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Cylindrical robot 3D
Coordinate systems and zero position
Transformation area
Joint position space
See also
Define circular path via radius and target position
Parameter inputs
Main plane of the circular path
Orientation of the circular path
See also
Define joint target positions of the sPTP motion
Parameter inputs
Absolute target positions
Relative target positions
See also
Define joint traversing range
Define the dynamic response of the circular motion
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
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
Define tool frames offline
Define tool frame with Motion Control instructions
Example
See also
Defining application mode of the cam
Parameter inputs
Not cyclic
Cyclical
Cyclic appending
See also
Defining direction of desynchronization with "MC_CamOut"
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"
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"
Positive direction
Negative direction
Shortest distance
See also
Defining direction of synchronization with "MC_GearInPos"
Positive direction
Negative direction
Shortest distance
See also
Defining gear ratio
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
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
Numerator of the gear ratio
Denominator of the gear ratio
Example 1: Positive gear ratio
Example 2: Negative gear ratio
See also
Defining position control of the following axis
Parameter inputs
Position-controlled mode
Non-position-controlled mode
See also
Defining the axis target position of the sPTP motion
Parameter inputs
Absolute target positions
Relative target positions
See also
Defining the Cartesian target coordinates of the sPTP motion
Parameter inputs
Absolute Cartesian coordinates
Relative Cartesian coordinates
Joint position range
Example
See also
Defining the circular path via center point and angle
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
Parameter inputs
See also
Defining the direction of the leading value distance of a following value offset on the following axis during camming
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
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
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
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
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
Parameter inputs
Configure default settings
See also
Defining the offset and rotation in the reference coordinate system
Defining the position and rotation in a Motion Control instruction
Defining the target position of the linear motion
Parameter inputs
Absolute target position
Relative target position
See also
Defining the transition of linear motion
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
Parameter inputs
Append motion
Blending motion
Blending two sPTP motions
Blending path motions and sPTP motions
Define blending distance
Rounding clearance d > 0.0
Rounding clearance d = 0.0
Rounding clearance d < 0.0
See also
Defining the zone geometry
Sphere
Cuboid
Cylinder
Delta picker 2D
Coordinate systems and zero position
Transformation area
See also
Desynchronizing following axis using dynamic parameters with "MC_CamOut"
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using dynamic parameters with "MC_GearOut"
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using leading value distance with "MC_CamOut"
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Desynchronizing following axis using leading value distance with "MC_GearOut"
Parameter inputs
Until desynchronization
During desynchronization
After desynchronization
See also
Diagnostics concept
See also
Diagnostics
See also
Direct homing
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"
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"
Parameter inputs
After the "MC_CamIn" job has started
Additional information
See also
Distance output cam
Switch-on range
Mapping to an axis with modulo function
Switching characteristics
Drive and encoder connection
Number of drives and encoders per technology object
Supported drive types
Encoder connection options
Drive configuration process
Encoder configuration process
See also
Dynamic adaptation
Configuring dynamic adaptation
Dynamic filter as PT1 or PT2 filter
Procedure
See also
Dynamic filter
Configure the following error calculation with active dynamic filter
Dynamic filter - mode
See also
Dynamic limits of the following axis during desynchronization with "MC_GearOut"
Desynchronization via dynamic parameters
Desynchronization using leading value distance
See also
Dynamic limits of the following axis in camming
Pending synchronous operation
Synchronization/desynchronization using dynamic parameters
Synchronization/desynchronization using leading value distance/synchronous travel
Synchronous operation override
More information
See also
Dynamic limits of the following axis in gearing with "MC_GearIn"
Synchronization
Synchronous travel
Synchronous operation override
Desynchronization (S7-1500T)
More information
See also
Dynamic limits of the following axis in gearing with "MC_GearInPos"
Pending synchronous operation
Synchronization using dynamic parameters
Synchronization using leading value distance/synchronous travel
Synchronous operation override
Desynchronization
More information
See also
Dynamic limits of the following axis in velocity synchronous operation
Synchronization
Synchronous travel
Synchronous operation override
More information
See also
Dynamic response as sliding window demand filter
Dynamics of two coupled axes with different dynamic response
Reduce mechanical oscillations on an axis
Reduce mechanical oscillations on an axis and adjust dynamic response to a coupled axis
Emergency stop deceleration
Configuring emergency stop deceleration
Error IDs 16#0000 - 16#800F
See also
Error IDs 16#8010 - 16#801F
Error IDs 16#8020 - 16#802F
Error IDs 16#8030 - 16#803F
Error IDs 16#8040 - 16#804F
Error IDs 16#8050 - 16#805F
Error IDs 16#8060 - 16#806F
Error IDs 16#8070 - 16#807F
Error IDs 16#8080 - 16#808F
Error IDs 16#80A0 - 16#80AF
Error IDs 16#80B0 - 16#80BF
Error IDs 16#80C0 - 16#80CF
Error IDs 16#80D0 - 16#80DF
Error IDs 16#80E0 - 16#80EF
Error IDs 16#80F0 - 16#80FE
See also
Error IDs 16#8110 - 16#8111
Error IDs 16#8FF0 - 16#8FFF
See also
Error IDs in Motion Control instructions
Error display
Acknowledge error
"ErrorWord" tag (kinematics)
Tags
See also
Evaluate StatusWord, ErrorWord and WarningWord
Requirements
Procedure
Example
Exporting and importing snapshots
Export snapshot
Import snapshot
See also
Filter by segments and points
Defining and saving filters
Adding other filters
Adapting existing filters
Delete filter
Cancel filter
Fixed stop detection
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
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
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
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
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
Parameter inputs
Until the following value offset
During the following value offset
After the following value offset
See also
Force/torque limiting
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"
See also
Gearing with "MC_GearInPos"
See also
Homing SINAMICS drives with external zero marks
Homing when backlash compensation is enabled
Active and passive homing "MC_Home" with "Mode" = 2, 3, 5, 8 or 10
Direct homing "MC_Home" with "Mode" = 0 or 1
Absolute encoder adjustment "MC_Home" with "Mode" = 6 or 7
Incremental encoder adjustment "MC_Home" with "Mode" = 13
See also
Homing
Type of homing
Supported encoders and technology objects
Start homing job
Homing status
See also
Importing/exporting cam
Importing cam
Machine damage
Exporting cam
See also
Incremental encoder adjustment
Requirements
Procedure
Innovations V6.0
General functions
Axis functions
Synchronous operation functions
Kinematics functions (S7-1500T)
Innovations V7.0
New general functions V7.0
Hardware
Programming
New axis functions V7.0
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
Velocity gearing (S7-1500T)
Camming (S7-1500T)
New kinematics functions V7.0
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
Interconnecting the leading value
Procedure
See also
Interpolate cam with "MC_InterpolateCam"
See also
Interpolation according to VDI Guideline 2143
Adjust the optimization of a transition
"Default optimization settings" configuration window
See also
Interpreter job sequence
Configuring the Interpreter job sequence
Interrupting, continuing and stopping kinematics motions
Suspend kinematics motions
Continue kinematics motions
Stop kinematics motions
See also
Job sequence
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
Requirement
Joint coordinate system (JCS)
Functions
Setpoint calculation at the kinematics
See also
Kinematics trace
Kinematics transformation
See also
Kinematics types with more than four kinematics axes
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
Flange coordinate system (FCS)
Tool coordinate system (TCS) and tool center point (TCP)
See also
Leading value offset on the following axis during camming using leading value distance as of current leading value position
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
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
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
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
Parameter inputs
Until the leading value offset
During the leading value offset
After the leading value offset
See also
Legend
Legend
Legend
Legend
Legend for representation of the kinematics
Legend
Loading/unloading the Interpreter program
Parameter inputs
Source of the Interpreter program
Loading the Interpreter program into the Interpreter technology object
Unloading the Interpreter program from the Interpreter technology object
See also
Long-term accuracy
Example of the maximum traversing time
Measures to maintain long-term accuracy
See also
Managing snapshots
Settings of the snapshots
See also
Mapping a technology object
Requirements
Procedure
Result
Mapping variables of a global data block
Requirement
Procedure
Result
Maximum wait time
Example without a fully populated interpreter job sequence
Configuring the maximum wait time
Measuring with measuring range
Activation time for the measuring range
Mechanical axis coupling for kinematics types with more than four interpolating kinematics axes
Configuring the mechanical axis coupling
Determining coupling factors
Mechanical axis coupling for kinematics types with up to four interpolating kinematics axes
See also
Mode of operation of the instructions in synchronous operation
Additive leading value
Leading value offset
Synchronous operation function
Following value offset
Superimposed motion
See also
Modulo setting
Modulo cycle counter
Enable and configure modulo
See also
Monitoring and comparing position values
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
"Motion and Tools"
See also
Motion control and limits for dynamics
Configuring dynamic defaults at the technology object
Parameterizing dynamic values in Motion Control instruction
Parameterizing individual dynamic values for a motion job
Limiting the dynamics
Interaction of dynamic defaults and dynamic limits
Examples
See also
Motion dynamics
Motion specification via "MotionIn"
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
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)
Tags
See also
Move OCS and rotate around one axis or two axes
"Three-point" calibration method
"Move and rotate" calibration method
"Plane" calibration method
Move OCS and rotate around the y axis
"Move and rotate around y" calibration method
Move OCS and rotate around the z axis
"Move and rotate around z" calibration method
Move OCS with the "One-point" calibration method
"One-point" calibration method
Move OCS with the "Two-point" calibration method
"Two-point" calibration method
Moving a kinematics in a circular manner
See also
Moving a kinematics in a linear manner
See also
Moving a kinematics with a synchronous "point-to-point" motion
See also
Offset and rotation of the coordinate system
Offset
Rotation
One-time measurement
Measuring job
Temporal requirements for measuring jobs via "MC_MeasuringInput"
See also
Only cancel a pending camming with "MC_CamOut"
See also
Only cancel a pending following value offset in the camming
See also
Only cancel a pending following value offset in the gearing
See also
Only cancel a pending gearing with "MC_GearOut"
See also
Only cancel a pending leading value offset in the camming
See also
Only cancel a pending leading value offset in the gearing
See also
Opening the interconnection overview
Requirement
Procedure
Result
Operating the directional pad
Moving the tool center point (TCP)
Specify target position
See also
Operating the zone display
Zone display in calibration
Operational Sequence and Timeouts
Example
Overflows
Optimize position controller
Requirements
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
More information
See also
Organization blocks for Motion Control
Application cycle
Ways to influence the process response
Reduction ratio
Priority
See also
Override response: Homing and motion jobs
Override response: Interpreter jobs
Override response for technology objects controlled by the Interpreter
See also
Override response: Kinematics motion commands
Override response: Measuring input jobs
Override response: Synchronous operation jobs
Overview of the technology alarms
Legend
List of the technology alarms
See also
Overview of versions
CPU firmware version and technology version
Technology objects of a technology version
S7-1500 motion control instructions
Parameter overview for synchronizing with "MC_CamIn"
See also
Parameter overview for synchronizing with "MC_GearInPos"
See also
Passive homing with reference cam and zero mark
Example of homing motion
Requirements
Procedure
See also
Permissible joint position for delta picker
Permissible torque range/force range
See also
Positioning monitoring
Violation of positioning monitoring
Configure positioning monitoring
Positions
"Positions"
See also
powerOn() Enable axis
Description
Applies to
Requirements
Override response
Syntax
Parameters
Comparable Motion Control instructions
Example
See also
Printing curve diagram
Procedure
PROFIdrive State Machine
Additional information
See also
Program override
Configuring the start value of the program override
See also
Reading out the following value cyclically during camming
Parameter inputs
During the active "MC_GetCamFollowingValueCyclic" job
See also
Reading the following value in camming
Parameter inputs
After the "MC_GetCamFollowingValue" job has started
See also
Reading the leading value in camming
Parameter inputs
Approach value and approach direction
Example
After the "MC_GetCamLeadingValue" job has started
See also
Restart of technology objects
Restart required
Restarting a technology object
Roller picker 2D
Coordinate systems and zero position
Transformation area
Joint position space
See also
S7-1500 Motion Control Documentation Guide
Product information
Documentation
See also
See also
Safety functions in the drive
Interaction between the technology object and the SINAMICS "Safety Integrated Functions"
Safety Info Channel
PROFIsafe telegram
See also
Save data on the SIMATIC Memory Card
Requirements
Transferring data to a new CPU
Result
Checking the restore and backing up data again
Scaling and shifting cam
Parameter inputs
Scaling of the cam
Shifting of the cam
See also
SCARA 2D with orientation
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
SCARA 3D with orientation
Coordinate systems and zero position
Compensation of mechanical axis couplings
Transformation area
Joint position space
See also
Set kinematics to simulation mode
Example
See also
Set setpoint position
Requirement
Procedure
setControlledByInterpreter() Set "ControlledByInterpreter" bit for a technology object
Description
Applies to
Syntax
Rules
Example
setOvr() Set program override
Description
Applies to
Influence on other MCL instructions
Syntax
Parameters
Example
Setpoint coupling
See also
Setting the delay times
Requirement
Calculating delay times
Configuring delay times
See also
Setting up communication via direct data exchange
Requirement
Adding communication directions
Configuring transfer areas
Creating tags
Result
More information
See also
Showing routes
Procedure
Result
Simulate synchronous operation
Starting the simulation
Requirement
Procedure
End simulation
Machine damage
Requirement
Procedure
See also
Singularities
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
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
Parameter inputs
Specify gear ratio once
Specify gear ratio dynamically
Recommendation
Example
See also
Specifying dynamics in the kinematics control panel
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
Configuring stationary state detection
Starting a circular motion job
See also
Starting a linear motion job
See also
Starting execution of the interpreter program
Start program execution
During program execution
After program execution
See also
Starting the sPTP motion job
See also
Status and error bits
Cam status
Error
Warnings
Status and error bits
"Kinematics status"
"Error"
"Warnings"
"Motion status"
See also
"StatusWord" tag (kinematics)
Tags
See also
Stopping execution of the interpreter program
Parameter inputs
Mode for dynamic behavior
Stop program execution
After stopping program execution
See also
Structure and operation of the cam editor
Toolbar
Graphical editor
Tabular editor
Inspector window
Elements of the curve
Additional information
See also
Structure of the 3D visualization
3D display
Structure of the diagnostics
List of valid points and segments
Curve diagram
Element comparison
Inspector window
See also
Structure of the diagnostics
Diagnostics window
See also
Subsequent synchronizing of following axis using leading axis value starting from the current leading value position with "MC_CamIn"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Subsequent synchronizing of following axis using leading value distance with "MC_CamIn"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Subsequent synchronizing of following axis using leading value distance with "MC_GearInPos"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Superimposed motions
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
See also
Switching the position control off and on
MC_Power
MC_MoveVelocity and MC_MoveJog
MC_MotionInVelocity and MC_MotionInPosition
Influence of additional Motion Control instructions
Synchronizing following axis in advance using dynamic parameters with "MC_CamIn"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using dynamic parameters with "MC_GearInPos"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using leading value distance with "MC_CamIn"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance using leading value distance with "MC_GearInPos"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis in advance via the leading value path from the current leading value position with "MC_CamIn"
Parameter inputs
Until synchronization
During synchronization
After synchronization
See also
Synchronizing following axis using dynamic parameters with "MC_GearIn"
Parameter inputs
During synchronization
After synchronization
See also
Synchronizing following axis using dynamic parameters with "MC_GearInVelocity"
Parameter inputs
During synchronization
After synchronization
See also
Synchronous travel in camming with "MC_CamIn"
See also
Synchronous travel in gearing with "MC_GearIn"
See also
Synchronous travel in gearing with "MC_GearInPos"
See also
Synchronous travel in velocity synchronous operation with "MC_GearInVelocity"
See also
System interpolation
"System interpolation" configuration window
See also
Tags: Kinematics motions
Tags: Zone monitoring
Technology alarm 1001
More information
See also
Technology alarm 1002
More information
See also
Technology alarm 1003
Technology alarm 1004
Technology alarm 1005
Technology alarm 1006
Technology alarm 1007
Technology alarm 1008
Technology alarm 1009
Technology alarm 101
Technology alarm 1010
Technology alarm 1011
Technology alarm 1012
Technology alarm 102
Technology alarm 103
Technology alarm 104
Technology alarm 105
Technology alarm 106
Technology alarm 107
Technology alarm 108
Technology alarm 109
Technology alarm 110
Technology alarm 111
Technology alarm 112
Technology alarm 113
Technology alarm 114
Technology alarm 201
Technology alarm 202
Technology alarm 203
Technology alarm 204
Technology alarm 304
Technology alarm 305
Technology alarm 306
Technology alarm 307
Technology alarm 308
Technology alarm 321
Technology alarm 322
Technology alarm 323
Technology alarm 341
Technology alarm 342
Technology alarm 343
Technology alarm 401
Technology alarm 411
Technology alarm 412
See also
Technology alarm 421
See also
Technology alarm 431
Technology alarm 501
Technology alarm 502
Technology alarm 503
Technology alarm 504
See also
Technology alarm 511
Technology alarm 521
See also
Technology alarm 522
Technology alarm 531
Technology alarm 533
Technology alarm 534
Technology alarm 541
Technology alarm 542
Technology alarm 550
See also
Technology alarm 551
Technology alarm 552
Technology alarm 561
Technology alarm 562
Technology alarm 563
Technology alarm 601
Technology alarm 603
Technology alarm 608
See also
Technology alarm 612
Technology alarm 700
Technology alarm 701
Technology alarm 702
Technology alarm 703
Technology alarm 704
Technology alarm 750
Technology alarm 752
Technology alarm 753
Technology alarm 754
Technology alarm 755
Technology alarm 758
Technology alarm 801
Technology alarm 802
Technology alarm 803
Technology alarm 804
Technology alarm 805
Technology alarm 806
Technology alarm 807
Technology alarm 808
Technology alarm 809
Technology alarm 810
Technology alarm 811
Technology alarm 812
Technology alarm 820
Technology alarm 900
Technology alarm 901
Technology alarm 902
Technology alarm 903
Technology alarms
Alarm classes
Display of technology alarms
Alarm response
Acknowledging technology alarms
Technology data block
Time-based output cam
Switching characteristics
Time-related boundary conditions
Measurement using Timer DI
Measuring via SINAMICS (central probe)
Measurement using PROFIdrive telegram (drive or external encoder)
Definition of tags
See also
Transferring drive and encoder parameters automatically
Automatic transfer of parameters during runtime (online)
Automatic transfer of parameters during configuration (offline)
Parameters
See also
Transferring the synchronous operation function of the cam defined online to the offline project
Requirement
Procedure
Result
See also
Transferring the synchronous operation function of the cam to the technology object data block
Requirement
Procedure
Result
Traversing range and transformation area
See also
Traversing range limitation
Types of HW limit switches
Tripod 3D
Coordinate systems and zero position
Transformation area
Joint position space
See also
Units of measure
Units of measure of the axes and the kinematics technology object
Position values with higher resolution
See also
Units of measure
Speed
Position and velocity
Force and torque
Time
Mass and moment of inertia
Position values with higher resolution
"Units" tag (kinematics)
Tags
See also
Upgrading to technology version V7.0
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
Use a measurement input for several axes
Description
Programming
See also
User-defined kinematics systems
See also
User transformation with JCS
Programming
User transformation without JCS
Programming
Using 3D display for the calibration
See also
Velocity profile
Velocity profile without jerk limitation
Velocity profile with jerk limitation
Velocity synchronous operation
See also
Virtual axis
Virtual axis technology version ≥ V7.0
Virtual axis technology version ≥ V8.0
Behavior during operation of the virtual axis
Possible applications
See also
"WarningWord" tag (kinematics)
Tags
See also
Working with the 3D display
Customizing the appearance of the 3D display
Customizing the display of the kinematics and the coordinate system
Change screen section
See also
Zone monitoring
Inappropriate use of zone monitoring
Zones
See also
Zones status
"Zones status"
See also
Types
Axis Status and Diagnostics
AxisStatus
AxisErrors
AxisWarnings
Cam Status and Diagnostics
CamStatus
CamErrors
CamWarnings
CamTrack Status and Diagnostics
CamTrackStatus
CamTrackErrors
CamTrackWarnings
External Encoder Status and Diagnostics
ExternalEncoderStatus
ExternalEncoderErrors
ExternalEncoderWarnings
Kinematics Status and Diagnostics
KinematicsStatus
KinematicsErrors
KinematicsWarnings
Leading Axis Proxy Status and Diagnostics
LeadingAxisProxyStatus
LeadingAxisProxyErrors
LeadingAxisProxyWarnings
Measuring Input Status and Diagnostics
MeasuringInputStatus
MeasuringInputErrors
MeasuringInputWarnings
Output Cam Status and Diagnostics
OutputCamStatus
OutputCamErrors
OutputCamWarnings
Changelog
[6.1.0] - 2024-11-22
Changed
[6.0.0] - 2024-05-30
Changed (breaking)
Changed
Fixed
[5.0.0] - 2024-04-04
Changed (breaking)
Added
[4.0.0] - 2023-11-29
Changed (breaking)
Fixed
Added
[3.1.0] - 2023-10-06
Fixed
Added
[3.0.0] - 2023-08-08
Fixed
[3.0.0] - 2023-05-12
Changed
Fixed
[2.1.0] - 2022-12-21
Fixed
[2.1.0] - 2022-11-22
Added
[2.0.0] - 2022-09-21
Changed
Changed