Edition 11/2022 FUNCTION MANUAL SIMATIC S7-1500 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 support.industry.siemens.com SIMATIC S7-1500 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Introduction (S7-1500, S7-1500T) 1 Safety instructions (S7-1500, S7-1500T) 2 New features V7.0 (S7-1500, S7-1500T) 3 Overview of functions (S7-1500, S7-1500T) 4 Preparing synchronous operation (S7-1500, S7-1500T) 5 Function Manual S7-1500/S7-1500T Motion Control 11/2022 A5E47011129-AC Gearing (S7-1500, S7-1500T) 6 Velocity synchronous operation (S7-1500T) 7 Camming (S7-1500T) 8 Other synchronous operation functions (S7-1500T) 9 Cross-PLC synchronous operation (S7-1500T) 10 Diagnostics (S7-1500, S7-1500T) 11 Instructions (S7-1500, S7-1500T) 12 Tags of the technology object data blocks (S7-1500, S7-1500T) 13 Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken. WARNING indicates that death or severe personal injury may result if proper precautions are not taken. CAUTION indicates that minor personal injury can result if proper precautions are not taken. NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage. Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems. Proper use of Siemens products Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed. Trademarks All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner. Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions. Siemens AG Digital Industries Postfach 48 48 90026 NÜRNBERG GERMANY A5E47011129-AC Ⓟ 10/2022 Subject to change Copyright © Siemens AG 2019 - 2022. All rights reserved Table of contents 1 Introduction (S7-1500, S7-1500T)....................................................................................................... 12 1.1 S7-1500 Motion Control Documentation Guide (S7-1500, S7-1500T)................................ 13 1.2 1.2.1 1.2.2 1.2.3 Function Manuals documentation guide (S7-1500, S7-1500T)........................................... Information classes Function Manuals (S7-1500, S7-1500T).............................................. Basic tools (S7-1500, S7-1500T)........................................................................................ SIMATIC Technical Documentation (S7-1500, S7-1500T)................................................... 14 14 15 17 2 Safety instructions (S7-1500, S7-1500T)............................................................................................. 19 3 New features V7.0 (S7-1500, S7-1500T)............................................................................................. 20 4 Overview of functions (S7-1500, S7-1500T)....................................................................................... 5 6 4.1 Synchronous axis technology object (S7-1500, S7-1500T)................................................. 23 4.2 Cam technology object (S7-1500T)................................................................................... 4.3 Leading axis proxy technology object (S7-1500T).............................................................. 28 4.4 Motion Control instructions for synchronous operation (S7-1500, S7-1500T)..................... 29 4.5 Mode of operation of the instructions in synchronous operation (S7-1500, S7-1500T)....... 31 25 Preparing synchronous operation (S7-1500, S7-1500T)..................................................................... 33 5.1 Creating technology objects (S7-1500, S7-1500T)............................................................. 33 5.2 5.2.1 5.2.2 5.2.3 5.2.4 Defining leading value interconnection (S7-1500, S7-1500T)............................................ Interconnecting the leading value (S7-1500, S7-1500T).................................................... Setpoint coupling (S7-1500, S7-1500T)............................................................................. Actual value coupling and actual value extrapolation (S7-1500T)....................................... Tags: Actual value extrapolation (S7-1500T)...................................................................... 5.3 Position control in synchronous operation (S7-1500, S7-1500T)........................................ 40 33 33 34 35 39 Gearing (S7-1500, S7-1500T).............................................................................................................. 41 6.1 6.1.1 6.1.2 6.1.3 4 21 41 42 43 43 6.1.4 Gearing with "MC_GearIn" (S7-1500, S7-1500T)................................................................ Defining gear ratio (S7-1500, S7-1500T)........................................................................... Dynamic limits of the following axis in gearing with "MC_GearIn" (S7-1500, S7-1500T)..... Synchronizing following axis using dynamic parameters with "MC_GearIn" (S7-1500, .... S7-1500T) Synchronous travel in gearing with "MC_GearIn" (S7-1500, S7-1500T).............................. 6.2 6.2.1 6.2.2 6.2.3 6.2.3.1 Gearing with "MC_GearInPos" (S7-1500T).......................................................................... Defining gear ratio (S7-1500T).......................................................................................... Dynamic limits of the following axis in gearing with "MC_GearInPos" (S7-1500T)............... Synchronizing gearing (S7-1500T).................................................................................... Parameter overview for synchronizing with "MC_GearInPos" (S7-1500T)............................ 45 46 47 48 48 44 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Table of contents 6.2.3.2 6.2.3.3 Defining direction of synchronization with "MC_GearInPos" (S7-1500T)............................. Synchronizing following axis in advance using dynamic parameters with .... "MC_GearInPos" (S7-1500T) Synchronizing following axis in advance using leading value distance with .... "MC_GearInPos" (S7-1500T) Subsequent synchronizing of following axis using leading value distance with .... "MC_GearInPos" (S7-1500T) Synchronous travel in gearing with "MC_GearInPos" (S7-1500T)........................................ Leading value offset during gearing (S7-1500T)................................................................ Leading value offset on the following axis during gearing using dynamic parameters .... (S7-1500T) Leading value offset on the following axis during gearing using leading value distance .... as of current leading value position (S7-1500T) Leading value offset on the following axis during gearing using leading value distance .... as of specific leading value position (S7-1500T) Defining the direction of the leading value distance of a leading value offset on the .... following axis during gearing (S7-1500T) Only cancel a pending leading value offset in the gearing (S7-1500T)................................ Following value offset during gearing (S7-1500T)............................................................. Following value offset on the following axis during gearing using leading value dis­ .... tance as of current leading value position (S7-1500T) Following value offset on the following axis during gearing using leading value dis­ .... tance as of specific leading value position (S7-1500T) Defining the direction of the leading value distance of a following value offset on the .... following axis during gearing (S7-1500T) Only cancel a pending following value offset in the gearing (S7-1500T)............................ 48 51 66 66 6.3.3 6.3.4 Desynchronize gearing (S7-1500T)................................................................................... Desynchronizing following axis using dynamic parameters with "MC_GearOut" .... (S7-1500T) Desynchronizing following axis using leading value distance with "MC_GearOut" .... (S7-1500T) Defining direction of desynchronization with "MC_GearOut" (S7-1500T)............................ Only cancel a pending gearing with "MC_GearOut" (S7-1500T).......................................... 6.4 Tags: Gearing (S7-1500, S7-1500T)................................................................................... 71 6.2.3.4 6.2.3.5 6.2.4 6.2.5 6.2.5.1 6.2.5.2 6.2.5.3 6.2.5.4 6.2.5.5 6.2.6 6.2.6.1 6.2.6.2 6.2.6.3 6.2.6.4 6.3 6.3.1 6.3.2 7 8 53 55 56 57 57 58 59 61 62 62 62 64 65 66 68 69 71 Velocity synchronous operation (S7-1500T)....................................................................................... 74 7.1 Defining gear ratio (S7-1500T).......................................................................................... 74 7.2 Specify gear ratio once or dynamically (S7-1500T)............................................................. 75 7.3 Define position control of the following axis (S7-1500T).................................................... 76 7.4 Dynamic limits of the following axis in velocity synchronous operation (S7-1500T)............ 77 7.5 Synchronizing following axis using dynamic parameters with "MC_GearInVelocity" (S7-1500T) .... 78 7.6 Synchronous travel in velocity synchronous operation with "MC_GearInVelocity" (S7-1500T) .... 79 7.7 Tags: Velocity synchronous operation (S7-1500T)............................................................. 80 Camming (S7-1500T).......................................................................................................................... 82 8.1 8.1.1 8.1.1.1 8.1.1.2 83 83 86 88 Configuring the synchronous operation function of the cam (S7-1500T)............................ Structure and operation of the cam editor (S7-1500T)....................................................... Structure of the graphical editor (S7-1500T)...................................................................... Shortcut menu in the graphical editor (S7-1500T)............................................................. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 5 Table of contents 8.1.1.3 8.1.1.4 8.1.1.5 8.1.2 8.1.2.1 8.1.2.2 8.1.2.3 8.1.2.4 8.1.2.5 8.1.2.6 8.1.2.7 8.1.3 8.1.3.1 8.1.3.2 8.1.3.3 8.1.3.4 8.1.3.5 8.1.3.6 8.1.3.7 8.1.3.8 8.1.3.9 8.1.3.10 8.1.3.11 8.1.4 Structure of the tabular editor (S7-1500T)......................................................................... 89 Shortcut menu in the tabular editor (S7-1500T)................................................................ 90 Operating the cam editor (S7-1500T)................................................................................ 90 Configure the profile and display of the cam (S7-1500T)................................................... 92 Properties and display in the inspector window (S7-1500T)............................................... 92 Configuration of profile - General (S7-1500T).................................................................... 92 Configuration of profile - Effective runtime curves (S7-1500T)........................................... 93 Configuration of profile - Check (S7-1500T)....................................................................... 94 Configuration charts - Charts and curves (S7-1500T)......................................................... 94 Configuration charts - Snap grid (S7-1500T)...................................................................... 95 Configuration - Decimal places (S7-1500T)........................................................................ 96 Inserting and configuring cam elements (S7-1500T).......................................................... 96 Inserting and configuring a point (S7-1500T).................................................................... 96 Inserting and configuring a point group (S7-1500T).......................................................... 97 Inserting and configuring the line (S7-1500T)................................................................... 100 Inserting and configuring a sine (S7-1500T)...................................................................... 101 Inserting and configuring a polynomial (S7-1500T)........................................................... 103 Inserting and configuring an inverse sine (S7-1500T)........................................................ 105 Inserting elements from the clipboard (S7-1500T)............................................................. 107 Move elements (S7-1500T)............................................................................................... 108 Scale elements (S7-1500T)................................................................................................ 108 Deleting elements (S7-1500T)........................................................................................... 108 Show elements used (S7-1500T)....................................................................................... 108 Importing/exporting cam (S7-1500T)................................................................................ 111 8.2 8.2.1 8.2.2 8.2.3 Changing the synchronous operation function of the cam online (S7-1500T)..................... 113 Changing the synchronous operation function of the cam manually (S7-1500T)................ 114 Copy calculated cam elements (S7-1500T)........................................................................ 115 Creating the synchronous operation function of the cam with the "LCamHdl" library .... 116 (S7-1500T) 8.3 8.3.1 8.3.2 8.3.3 8.3.4 Interpolating a cam (S7-1500T)......................................................................................... 116 Configuring transitions (S7-1500T)................................................................................... 116 System interpolation (S7-1500T)....................................................................................... 119 Interpolation according to VDI Guideline 2143 (S7-1500T)................................................ 122 Interpolate cam with "MC_InterpolateCam" (S7-1500T)..................................................... 125 8.4 Scaling and shifting cam (S7-1500T)................................................................................. 125 8.5 Defining application mode of the cam (S7-1500T)............................................................. 127 8.6 Dynamic limits of the following axis in camming (S7-1500T)............................................. 129 8.7 8.7.1 8.7.2 8.7.3 Synchronizing camming (S7-1500T).................................................................................. 130 Parameter overview for synchronizing with "MC_CamIn" (S7-1500T)................................. 130 Defining direction of synchronization with "MC_CamIn" (S7-1500T)................................... 131 Synchronizing following axis in advance using dynamic parameters with "MC_CamIn" .... 133 (S7-1500T) Synchronizing following axis in advance using leading value distance with .... 134 "MC_CamIn" (S7-1500T) Synchronize the following axis in advance via the leading value path from the current .... 137 leading value position with "MC_CamIn" (S7-1500T) Subsequent synchronizing of following axis using leading value distance with .... 139 "MC_CamIn" (S7-1500T) Subsequent synchronizing of following axis using leading axis value starting from the .... 142 current leading value position with "MC_CamIn" (S7-1500T) 8.7.4 8.7.5 8.7.6 8.7.7 6 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Table of contents 8.7.8 8.7.9 Directly set following axis synchronously with "MC_CamIn" (S7-1500T)............................. 144 Directly set following axis synchronously at end of the cam with "MC_CamIn" .... 144 (S7-1500T) 8.8 Synchronous travel in camming with "MC_CamIn" (S7-1500T)........................................... 146 8.9 Reading the leading value in camming (S7-1500T)............................................................ 146 8.10 Reading the following value in camming (S7-1500T)......................................................... 146 8.11 8.11.1 Leading value offset during camming (S7-1500T).............................................................. 147 Leading value offset on the following axis during camming using leading value dis­ .... 147 tance as of current leading value position (S7-1500T) Leading value offset on the following axis during camming using leading value dis­ .... 148 tance as of specific leading value position (S7-1500T) Defining the direction of the leading value distance of a leading value offset on the .... 150 following axis during camming (S7-1500T) Only cancel a pending leading value offset in the camming (S7-1500T)............................. 151 8.11.2 8.11.3 8.11.4 8.12 8.12.1 8.12.2 8.12.3 8.12.4 8.13 8.13.1 8.13.3 8.13.4 Desynchronize camming (S7-1500T)................................................................................. 156 Desynchronizing following axis using dynamic parameters with "MC_CamOut" .... 156 (S7-1500T) Desynchronizing following axis using leading value distance with "MC_CamOut" .... 158 (S7-1500T) Defining direction of desynchronization with "MC_CamOut" (S7-1500T)............................ 160 Only cancel a pending camming with "MC_CamOut" (S7-1500T)....................................... 161 8.14 Tags: Camming (S7-1500T)............................................................................................... 161 8.13.2 9 10 Following value offset during camming (S7-1500T)........................................................... 151 Following value offset on the following axis during camming using leading value dis­ .... 151 tance as of current leading value position (S7-1500T) Following value offset on the following axis during camming using leading value dis­ .... 153 tance as of specific leading value position (S7-1500T) Defining the direction of the leading value distance of a following value offset on the .... 154 following axis during camming (S7-1500T) Only cancel a pending following value offset in the camming (S7-1500T).......................... 156 Other synchronous operation functions (S7-1500T).......................................................................... 164 9.1 9.1.1 Simulate synchronous operation (S7-1500T)..................................................................... 164 Tags: Synchronous operation is being simulated (S7-1500T).............................................. 165 9.2 9.2.1 Specify additive leading value (S7-1500T)......................................................................... 166 Tags: Additive leading value (S7-1500T)............................................................................ 167 Cross-PLC synchronous operation (S7-1500T).................................................................................... 168 10.1 Interconnection possibilities (S7-1500T)............................................................................ 169 10.2 Preparing cross-PLC synchronous operation (S7-1500T)..................................................... 171 10.3 Setting up communication via direct data exchange (S7-1500T)........................................ 172 10.4 Configuring the provision of leading value and interconnecting axes (S7-1500T)............... 174 10.5 Configuring the tolerance time (S7-1500T)....................................................................... 177 10.6 10.6.1 Working with the interconnection overview table (S7-1500T)............................................ 177 Opening the interconnection overview (S7-1500T)............................................................ 177 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 7 Table of contents 11 12 10.6.2 10.6.3 10.6.4 Interconnection overview (S7-1500T)............................................................................... 178 Showing routes (S7-1500T).............................................................................................. 180 Setting the delay times (S7-1500T)................................................................................... 180 10.7 Tags: Cross-PLC synchronous operation (S7-1500T)........................................................... 181 Diagnostics (S7-1500, S7-1500T)........................................................................................................ 183 11.1 11.1.1 11.1.2 11.1.3 Synchronous axis technology object (S7-1500, S7-1500T)................................................. 183 Status and error bits (S7-1500, S7-1500T)......................................................................... 183 Motion status (S7-1500, S7-1500T)................................................................................... 188 PROFIdrive telegram (S7-1500, S7-1500T)......................................................................... 189 11.2 11.2.1 11.2.2 11.2.3 11.2.4 11.2.5 11.2.6 11.2.7 11.2.8 11.2.9 11.2.10 Cam technology object (S7-1500T)................................................................................... 190 Applications of the cam diagnostics (S7-1500T)................................................................ 190 Structure of the diagnostics (S7-1500T)............................................................................ 191 Online view (S7-1500T).................................................................................................... 195 Status and error bits (S7-1500T)........................................................................................ 195 "Definition changed" and "Interpolated" status bits (S7-1500T).......................................... 197 Filter by segments and points (S7-1500T)......................................................................... 198 Comparing elements (S7-1500T)....................................................................................... 199 Managing snapshots (S7-1500T)....................................................................................... 201 Exporting and importing snapshots (S7-1500T)................................................................. 201 Printing curve diagram (S7-1500T).................................................................................... 202 11.3 11.3.1 11.3.2 Leading axis proxy technology object (S7-1500T).............................................................. 203 Status and error bits (S7-1500T)........................................................................................ 203 Motion status (S7-1500T)................................................................................................. 205 Instructions (S7-1500, S7-1500T)........................................................................................................ 206 12.1 12.1.1 12.1.1.1 12.1.1.2 12.1.2 12.1.2.1 12.1.2.2 12.1.3 12.1.3.1 12.1.3.2 12.1.4 12.1.4.1 12.1.4.2 12.1.5 12.1.5.1 12.1.5.2 12.1.6 12.1.6.1 12.1.6.2 12.1.7 12.1.7.1 8 Synchronous motion (S7-1500, S7-1500T)........................................................................ 206 MC_GearIn V7 (S7-1500, S7-1500T).................................................................................. 206 MC_GearIn: Start gearing V7 (S7-1500, S7-1500T)............................................................ 206 MC_GearIn: Function chart V7 (S7-1500, S7-1500T).......................................................... 209 MC_GearInPos V7 (S7-1500T)........................................................................................... 210 MC_GearInPos: Start gearing with specified synchronous positions V7 (S7-1500T)............. 210 MC_GearInPos: Function chart V7 (S7-1500T)................................................................... 214 MC_GearInVelocity V7 (S7-1500T).................................................................................... 217 MC_GearInVelocity: Start velocity synchronous operation V7 (S7-1500T)........................... 217 MC_GearInVelocity: Function chart V7 (S7-1500T)............................................................. 220 MC_PhasingRelative V7 (S7-1500T)................................................................................... 221 MC_PhasingRelative: Relative shift of leading value on the following axis V7 .... 221 (S7-1500T) MC_PhasingRelative: Function chart V7 (S7-1500T)........................................................... 225 MC_PhasingAbsolute V7 (S7-1500T)................................................................................. 228 MC_PhasingAbsolute: Absolute shift of leading value on the following axis V7 .... 228 (S7-1500T) MC_PhasingAbsolute: Function chart V7 (S7-1500T)......................................................... 232 MC_OffsetRelative V7 (S7-1500T)..................................................................................... 235 MC_OffsetRelative: Relative shift of following value on the following axis V7 .... 235 (S7-1500T) MC_OffsetRelative: Function chart V7 (S7-1500T)............................................................. 237 MC_OffsetAbsolute V7 (S7-1500T).................................................................................... 241 MC_OffsetAbsolute: Absolute shift of following value on the following axis V7 .... 241 (S7-1500T) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Table of contents 13 12.1.7.2 12.1.8 12.1.8.1 12.1.8.2 12.1.9 12.1.9.1 12.1.10 12.1.10.1 12.1.10.2 12.1.11 12.1.11.1 12.1.11.2 12.1.12 12.1.12.1 12.1.12.2 MC_OffsetAbsolute: Function chart V7 (S7-1500T)............................................................ 243 MC_CamIn V7 (S7-1500T)................................................................................................. 247 MC_CamIn: Start camming V7 (S7-1500T)......................................................................... 247 MC_CamIn: Function chart V7 (S7-1500T)......................................................................... 253 MC_SynchronizedMotionSimulation V7 (S7-1500T)........................................................... 261 MC_SynchronizedMotionSimulation: Simulate synchronous operation V7 (S7-1500T)........ 261 MC_GearOut V7 (S7-1500T).............................................................................................. 262 MC_GearOut: Desynchronize gearing V7 (S7-1500T)......................................................... 262 MC_GearOut: Function chart V7 (S7-1500T)...................................................................... 265 MC_CamOut V7 (S7-1500T).............................................................................................. 267 MC_CamOut: Desynchronize camming V7 (S7-1500T)....................................................... 267 MC_CamOut: Function chart V7 (S7-1500T)...................................................................... 269 MC_LeadingValueAdditive V7 (S7-1500T).......................................................................... 271 MC_LeadingValueAdditive: Specify additive leading value V7 (S7-1500T)........................... 271 MC_LeadingValueAdditive: Function chart V7 (S7-1500T).................................................. 272 12.2 12.2.1 12.2.1.1 12.2.2 12.2.2.1 12.2.3 12.2.3.1 12.2.4 12.2.4.1 Cam (S7-1500T)............................................................................................................... 274 MC_InterpolateCam V7 (S7-1500T)................................................................................... 274 MC_InterpolateCam: Interpolate cam disc V7 (S7-1500T).................................................. 274 MC_GetCamLeadingValue V7 (S7-1500T).......................................................................... 276 MC_GetCamLeadingValue: Read out leading value of a cam V7 (S7-1500T)....................... 276 MC_GetCamFollowingValue V7 (S7-1500T)....................................................................... 277 MC_GetCamFollowingValue: Read out following value of a cam disc V7 (S7-1500T)........... 277 MC_CopyCamData V7 (S7-1500T)..................................................................................... 279 MC_CopyCamData: Copy calculated cam elements V7 (S7-1500T)..................................... 279 12.3 12.3.1 12.3.2 12.3.3 12.3.4 Override response of Motion Control jobs V7 (S7-1500, S7-1500T).................................... 282 Override response V7: Homing and motion jobs (S7-1500, S7-1500T)............................... 282 Override response V7: Synchronous operation jobs (S7-1500, S7-1500T)........................... 284 Override response V7: Measuring input jobs (S7-1500, S7-1500T)..................................... 286 Override response V7: Kinematics motion commands (S7-1500T)...................................... 286 Tags of the technology object data blocks (S7-1500, S7-1500T)........................................................ 289 13.1 13.1.1 13.1.2 13.1.3 13.1.4 13.1.5 13.1.6 13.1.7 13.1.8 13.1.9 13.1.10 13.1.11 13.1.12 13.1.13 13.1.14 13.1.15 13.1.16 13.1.17 13.1.18 Tags of the synchronous axis technology object (S7-1500, S7-1500T)................................ 289 Legend (S7-1500, S7-1500T)............................................................................................ 289 Actual values and setpoints (synchronous axis) (S7-1500, S7-1500T)................................. 289 "Simulation" tag (synchronous axis) (S7-1500, S7-1500T).................................................. 290 "VirtualAxis" tag (synchronous axis) (S7-1500, S7-1500T).................................................. 290 "Actor" tag (synchronous axis) (S7-1500, S7-1500T).......................................................... 291 "TorqueLimiting" tag (synchronous axis) (S7-1500, S7-1500T)........................................... 292 "Clamping" tag (synchronous axis) (S7-1500, S7-1500T).................................................... 293 "Sensor[1..4]" tags (synchronous axis) (S7-1500, S7-1500T).............................................. 293 "CrossPlcSynchronousOperation" tag (synchronous axis) (S7-1500, S7-1500T)................... 297 "Extrapolation" tag (synchronous axis) (S7-1500, S7-1500T).............................................. 297 "LoadGear" tag (synchronous axis) (S7-1500, S7-1500T).................................................... 298 "Properties" tag (synchronous axis) (S7-1500, S7-1500T)................................................... 299 "Units" tag (synchronous axis) (S7-1500, S7-1500T).......................................................... 299 "Mechanics" tag (synchronous axis) (S7-1500, S7-1500T).................................................. 301 "Modulo" tag (synchronous axis) (S7-1500, S7-1500T)...................................................... 301 "DynamicLimits" tag (synchronous axis) (S7-1500, S7-1500T)............................................ 301 "DynamicDefaults" tag (synchronous axis) (S7-1500, S7-1500T)........................................ 302 "PositionLimits_SW" tag (synchronous axis) (S7-1500, S7-1500T)...................................... 303 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 9 Table of contents 10 13.1.19 13.1.20 13.1.21 13.1.22 13.1.23 13.1.24 13.1.25 13.1.26 13.1.27 13.1.28 13.1.29 13.1.30 13.1.31 13.1.32 13.1.33 13.1.34 13.1.35 13.1.36 13.1.37 13.1.38 13.1.39 13.1.40 13.1.41 13.1.42 13.1.43 13.1.44 "PositionLimits_HW" tag (synchronous axis) (S7-1500, S7-1500T)...................................... 303 "Homing" tag (synchronous axis) (S7-1500, S7-1500T)...................................................... 304 "Override" tag (synchronous axis) (S7-1500, S7-1500T)..................................................... 305 "PositionControl" tag (synchronous axis) (S7-1500, S7-1500T)........................................... 305 "SetpointFilter" tag (synchronous axis) (S7-1500, S7-1500T).............................................. 306 "DynamicAxisModel" tag (synchronous axis) (S7-1500, S7-1500T)..................................... 307 "FollowingError" tag (synchronous axis) (S7-1500, S7-1500T)............................................ 307 "PositioningMonitoring" tag (synchronous axis) (S7-1500, S7-1500T)................................ 308 "StandstillSignal" tag (synchronous axis) (S7-1500, S7-1500T)........................................... 308 "StatusPositioning" tag (synchronous axis) (S7-1500, S7-1500T)........................................ 309 "StatusDrive" tag (synchronous axis) (S7-1500, S7-1500T)................................................. 309 "StatusServo" tag (synchronous axis) (S7-1500, S7-1500T)................................................ 310 "StatusProvidedLeadingValue" tag (synchronous axis) (S7-1500, S7-1500T)....................... 311 "StatusSensor[1..4]" tags (synchronous axis) (S7-1500, S7-1500T).................................... 311 "StatusExtrapolation" tag (synchronous axis) (S7-1500, S7-1500T).................................... 312 "StatusSynchronizedMotion" tag (synchronous axis) (S7-1500, S7-1500T)......................... 313 "StatusKinematicsMotion" tag (synchronous axis) (S7-1500, S7-1500T)............................. 315 "StatusTorqueData" tag (synchronous axis) (S7-1500, S7-1500T)....................................... 316 "StatusMotionIn" tag (synchronous axis) (S7-1500, S7-1500T)........................................... 316 "StatusWord" tag (synchronous axis) (S7-1500, S7-1500T)................................................. 317 "StatusWord2" tag (synchronous axis) (S7-1500, S7-1500T)............................................... 319 "ErrorWord" tag (synchronous axis) (S7-1500, S7-1500T).................................................. 319 "ErrorDetail" tag (synchronous axis) (S7-1500, S7-1500T).................................................. 321 "WarningWord" tag (synchronous axis) (S7-1500, S7-1500T)............................................. 321 "ControlPanel" tag (synchronous axis) (S7-1500, S7-1500T)............................................... 322 "InternalToTrace" tag (synchronous axis) (S7-1500, S7-1500T).......................................... 323 13.2 13.2.1 13.2.2 13.2.3 13.2.4 13.2.5 13.2.6 13.2.7 13.2.8 13.2.9 13.2.10 13.2.11 13.2.12 13.2.13 13.2.14 Tags of the cam technology object (S7-1500T).................................................................. 323 Legend (S7-1500T)........................................................................................................... 323 "Point[1..1000]" tag (cam of type "TO_Cam") (S7-1500T)................................................... 323 "Point[1..10000]" tag (cam of type "TO_Cam_10k") (S7-1500T)......................................... 324 "ValidPoint[1..1000]" tag (cam of the "TO_Cam" type) (S7-1500T)..................................... 324 "ValidPoint[1..10000]" tag (cam of the "TO_Cam_10k" type) (S7-1500T)............................ 324 "Segment[1..50]" tag (cam) (S7-1500T)............................................................................ 325 "ValidSegment[1..50]" tag (cam) (S7-1500T)..................................................................... 325 "InterpolationSettings" tag (cam) (S7-1500T).................................................................... 326 "StatusCam" tag (cam of the "TO_Cam" type) (S7-1500T)................................................... 326 "StatusCam" tag (cam of the "TO_Cam_10k" type) (S7-1500T)........................................... 327 "StatusWord" tag (cam) (S7-1500T)................................................................................... 327 "ErrorWord" tag (cam) (S7-1500T)..................................................................................... 328 "ErrorDetail" tag (cam) (S7-1500T).................................................................................... 329 "WarningWord" tag (cam) (S7-1500T)................................................................................ 329 13.3 13.3.1 13.3.2 13.3.3 13.3.4 13.3.5 13.3.6 Tags of the leading axis proxy technology object (S7-1500T)............................................. 330 Legend (S7-1500T)........................................................................................................... 330 Leading value (leading axis proxy) (S7-1500T)................................................................... 330 "Interface" tag (leading axis proxy) (S7-1500T).................................................................. 330 "Parameter" tag (leading axis proxy) (S7-1500T)................................................................ 331 "StatusExternalLeadingValue" tag (leading axis proxy) (S7-1500T)..................................... 331 "StatusWord" tag (leading axis proxy) (S7-1500T).............................................................. 332 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Table of contents 13.3.7 13.3.8 13.3.9 "'ErrorWord" tag (leading axis proxy) (S7-1500T)............................................................... 332 "ErrorDetail" tag (leading axis proxy) (S7-1500T)............................................................... 333 "WarningWord" tag (leading axis proxy) (S7-1500T)........................................................... 333 Index................................................................................................................................................... 335 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 11 Introduction (S7-1500, S7-1500T) 1 Purpose of the documentation This documentation provides important information that you need to configure and commission the integrated Motion Control functionality of the S7‑1500 Automation systems. Required basic knowledge In order to understand this documentation, the following knowledge is required: • General knowledge in the field of automation • General knowledge in the field of drive engineering and motion control Validity of the documentation This documentation is valid for the S7-1500 product range. Conventions • For the path settings in the project navigation it is presumed that the "Technology objects" object is opened in the CPU subtree. The "Technology object" placeholder represents the name of the technology object. Example: "Technology object > Configuration > Basic parameters". • The <TO> placeholder represents the name set in tags for the respective technology object. Example: <TO>.Actor.Type • This documentation contains pictures of the devices described. The pictures may differ in minor details from the devices supplied. You should also observe the notes that are marked as follows: NOTE A note contains important information about the product described in the documentation, about the handling of the product, and about sections in this documentation demanding your particular attention. Industry Mall The Industry Mall is the catalog and ordering system of Siemens AG for automation and drive solutions on the basis of Totally Integrated Automation (TIA) and Totally Integrated Power (TIP). 12 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Introduction (S7-1500, S7-1500T) 1.1 S7-1500 Motion Control Documentation Guide (S7-1500, S7-1500T) You can find catalogs for all automation and drive products on the Internet (https://mall.industry.siemens.com). 1.1 S7-1500 Motion Control Documentation Guide (S7-1500, S7-1500T) Product information Please also note the supplementary information on the Motion Control documentation: • Product information on the S7-1500/1500T Motion Control documentation https://support.industry.siemens.com/cs/ww/en/view/109794046 (https://support.industry.siemens.com/cs/ww/en/view/109794046) Documentation The documentation of the Motion Control functions is divided into the following documents: • S7-1500/S7-1500T Motion Control Overview https://support.industry.siemens.com/cs/ww/en/view/109812056 (https://support.industry.siemens.com/cs/ww/en/view/109812056) This document describes the innovations in the technology versions, functions that are used for all technology objects, and the process response of Motion Control applications. • S7-1500/S7-1500T Motion Control alarms and error IDs https://support.industry.siemens.com/cs/ww/en/view/109812061 (https://support.industry.siemens.com/cs/ww/en/view/109812061) This document describes the technology alarms of the technology objects and the error identifications of the Motion Control instructions. • S7-1500/S7-1500T Axis functions https://support.industry.siemens.com/cs/ww/en/view/109812057 (https://support.industry.siemens.com/cs/ww/en/view/109812057) This document describes the drive and encoder connection and functions for single-axis movements. • S7-1500/S7-1500T Synchronous operation functions https://support.industry.siemens.com/cs/ww/en/view/109812059 (https://support.industry.siemens.com/cs/ww/en/view/109812059) This document describes gearing, velocity synchronous operation and camming as well as cross-PLC synchronous operation. • S7-1500/S7-1500T Measuring input and cam functions https://support.industry.siemens.com/cs/ww/en/view/109812060 (https://support.industry.siemens.com/cs/ww/en/view/109812060) This document describes the detection of the actual position via a measuring input and the output of switching signals via output cam or cam track. • S7-1500/S7-1500T Kinematics functions https://support.industry.siemens.com/cs/ww/en/view/109812058 (https://support.industry.siemens.com/cs/ww/en/view/109812058) This document describes the control of kinematics with up to 6 interpolating axes. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 13 Introduction (S7-1500, S7-1500T) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) See also Topic page "SIMATIC Technology - Motion Control: Overview and Important Links" https://support.industry.siemens.com/cs/ww/en/view/109751049 (https://support.industry.siemens.com/cs/ww/en/view/109751049) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) 1.2.1 Information classes Function Manuals (S7-1500, S7-1500T) The documentation for the SIMATIC S7‑1500 automation system, for the 1513/1516pro-2 PN, SIMATIC Drive Controller CPUs based on SIMATIC S7‑1500 and the SIMATIC ET 200MP, ET 200SP, ET 200AL and ET 200eco PN distributed I/O systems is arranged into three areas. This arrangement enables you to access the specific content you require. You can download the documentation free of charge from the Internet (https://support.industry.siemens.com/cs/ww/en/view/109742705). Basic information The system manuals and Getting Started describe in detail the configuration, installation, wiring and commissioning of the SIMATIC S7‑1500, SIMATIC Drive Controller, ET 200MP, ET 200SP, ET 200AL and ET 200eco PN systems. Use the corresponding operating instructions for 1513/1516pro-2 PN CPUs. The STEP 7 online help supports you in the configuration and programming. Examples: • Getting Started S7-1500 • System manuals • Operating instructions ET 200pro and 1516pro-2 PN CPU • Online help TIA Portal Device information Equipment manuals contain a compact description of the module-specific information, such as properties, wiring diagrams, characteristics and technical specifications. Examples: • Equipment manuals for CPUs • Equipment manuals for interface modules • Equipment manuals for digital modules • Equipment manuals for analog modules • Equipment manuals for communication modules • Equipment manuals for technology modules • Equipment manuals for power supply modules • Equipment manuals for BaseUnits 14 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Introduction (S7-1500, S7-1500T) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) General information The function manuals contain detailed descriptions on general topics relating to the SIMATIC Drive Controller and the S7-1500 automation system. Examples: • Function Manual Diagnostics • Function Manual Communication • Function Manuals Motion Control • Function Manual Web Server • Function Manual Cycle and Response Times • PROFINET Function Manual • PROFIBUS Function Manual Product Information Changes and supplements to the manuals are documented in a Product Information. The Product Information takes precedence over the device and system manuals. You will find the latest Product Information on the Internet: • S7-1500/ET 200MP (https://support.industry.siemens.com/cs/de/en/view/68052815) • SIMATIC Drive Controller (https://support.industry.siemens.com/cs/de/en/view/109772684/en) • Motion Control (https://support.industry.siemens.com/cs/de/en/view/109794046/en) • ET 200SP (https://support.industry.siemens.com/cs/de/en/view/73021864) • ET 200eco PN (https://support.industry.siemens.com/cs/ww/en/view/109765611) Manual Collections The Manual Collections contain the complete documentation of the systems put together in one file. You will find the Manual Collections on the Internet: • S7-1500/ET 200MP/SIMATIC Drive Controller (https://support.industry.siemens.com/cs/ww/en/view/86140384) • ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942) • ET 200AL (https://support.industry.siemens.com/cs/ww/en/view/95242965) • ET 200eco PN (https://support.industry.siemens.com/cs/ww/en/view/109781058) 1.2.2 Basic tools (S7-1500, S7-1500T) The tools described below support you in all steps: from planning, over commissioning, all the way to analysis of your system. TIA Selection Tool The TIA Selection Tool tool supports you in the selection, configuration, and ordering of devices for Totally Integrated Automation (TIA). As successor of the SIMATIC Selection Tools , it assembles the configuration editors for automation technology already familiar into a single tool. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 15 Introduction (S7-1500, S7-1500T) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) With the TIA Selection Tool , you can generate a complete order list from your product selection or product configuration. You can find the TIA Selection Tool on the Internet. (https://support.industry.siemens.com/cs/ww/en/view/109767888) SIMATIC Automation Tool You can use the SIMATIC Automation Tool to perform commissioning and maintenance activities on various SIMATIC S7 stations as bulk operations independent of TIA Portal. The SIMATIC Automation Tool offers a wide range of functions: • Scanning of a PROFINET/Ethernet system network and identification of all connected CPUs • Assignment of addresses (IP, subnet, Gateway) and device name (PROFINET device) to a CPU • Transfer of the date and the programming device/PC time converted to UTC time to the module • Program download to CPU • RUN/STOP mode switchover • CPU localization through LED flashing • Reading out of CPU error information • Reading the CPU diagnostic buffer • Reset to factory settings • Firmware update of the CPU and connected modules You can find the SIMATIC Automation Tool on the Internet. (https://support.industry.siemens.com/cs/ww/en/view/98161300) PRONETA SIEMENS PRONETA (PROFINET network analysis) is a commissioning and diagnostic tool for PROFINET networks. PRONETA Basic has two core functions: • The "Network analysis" offers a quick overview of the PROFINET topology. It is possible to make simple parameter changes (for example, to the names and IP addresses of the devices). In addition, a quick and convenient comparison of the real configuration with a reference system is also possible. • The "IO test" is a simple and rapid test of the wiring and the module configuration of a plant, including documentation of the test results. You can find SIEMENS PRONETA Basic on the Internet: (https://support.industry.siemens.com/cs/ww/en/view/67460624) SIEMENS PRONETA Professional is a licensed product that offers you additional functions. It offers you simple asset management in PROFINET networks and supports operators of automation systems in automatic data collection/acquisition of the components used through various functions: • The user interface (API) offers an access point to the automation cell to automate the scan functions using MQTT or a command line. • With PROFIenergy diagnostics, you can quickly detect the current pause mode or the readiness for operation of devices that support PROFIenergy and change these as needed. • The data record wizard supports PROFINET developers in reading and writing acyclic PROFINET data records quickly and easily without PLC and engineering. 16 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Introduction (S7-1500, S7-1500T) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) You can find SIEMENS PRONETA Professional on the Internet. (https://www.siemens.com/proneta-professional) SINETPLAN SINETPLAN, the Siemens Network Planner, supports you in planning automation systems and networks based on PROFINET. The tool facilitates professional and predictive dimensioning of your PROFINET installation as early as in the planning stage. In addition, SINETPLAN supports you during network optimization and helps you to exploit network resources optimally and to plan reserves. This helps to prevent problems in commissioning or failures during productive operation even in advance of a planned operation. This increases the availability of the production plant and helps improve operational safety. The advantages at a glance • Network optimization thanks to port-specific calculation of the network load • Increased production availability thanks to online scan and verification of existing systems • Transparency before commissioning through importing and simulation of existing STEP 7 projects • Efficiency through securing existing investments in the long term and the optimal use of resources You can find SINETPLAN on the Internet (https://new.siemens.com/global/en/products/automation/industrialcommunication/profinet/sinetplan.html). 1.2.3 SIMATIC Technical Documentation (S7-1500, S7-1500T) Additional SIMATIC documents will complete your information. You can find these documents and their use at the following links and QR codes. The Industry Online Support gives you the option to get information on all topics. Application examples support you in solving your automation tasks. Overview of the SIMATIC Technical Documentation Here you will find an overview of the SIMATIC documentation available in Siemens Industry Online Support: Industry Online Support International (https://support.industry.siemens.com/cs/ww/en/view/109742705) Watch this short video to find out where you can find the overview directly in Siemens Industry Online Support and how to use Siemens Industry Online Support on your mobile device: Quick introduction to the technical documentation of automation products per video (https://support.industry.siemens.com/cs/us/en/view/109780491) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 17 Introduction (S7-1500, S7-1500T) 1.2 Function Manuals documentation guide (S7-1500, S7-1500T) YouTube video: Siemens Automation Products - Technical Documentation at a Glance (https://youtu.be/TwLSxxRQQsA) mySupport With "mySupport" you can get the most out of your Industry Online Support. Registration You must register once to use the full functionality of "mySupport". After registra­ tion, you can create filters, favorites and tabs in your personal workspace. Support requests Your data is already filled out in support requests, and you can get an overview of your current requests at any time. Documentation In the Documentation area you can build your personal library. Favorites You can use the "Add to mySupport favorites" to flag especially interesting or fre­ quently needed content. Under "Favorites", you will find a list of your flagged entries. Recently viewed articles The most recently viewed pages in mySupport are available under "Recently viewed articles". CAx data The CAx data area gives you access to the latest product data for your CAx or CAe system. You configure your own download package with a few clicks: • Product images, 2D dimension drawings, 3D models, internal circuit diagrams, EPLAN macro files • Manuals, characteristics, operating manuals, certificates • Product master data You can find "mySupport" on the Internet. (https://support.industry.siemens.com/My/ww/en) Application examples The application examples support you with various tools and examples for solving your automation tasks. Solutions are shown in interplay with multiple components in the system separated from the focus on individual products. You can find the application examples on the Internet. (https://support.industry.siemens.com/cs/ww/en/ps/ae) 18 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Safety instructions (S7-1500, S7-1500T) 2 Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Siemens’ products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit (https://www.siemens.com/industrialsecurity). Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customers' exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed visit (https://www.siemens.com/cert). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 19 New features V7.0 (S7-1500, S7-1500T) 3 Technology version V7.0 contains the following new features: Velocity gearing (S7-1500T) • The "MC_GearInVelocity" instruction is available. With an "MC_GearInVelocity" job, you can start velocity gearing between a leading axis and a following axis. • Continuous changing of the gear ratio during operation is possible. While that is happening, the following axis remains in the status "Synchronous". Camming (S7-1500T) • The "MC_CamIn" instruction has been expanded to include the synchronization profile "SyncProfileReference" = 6. With this setting, the following axis synchronizes in advance over a pre-definable leading value path, starting from the current leading value position. The cam is offset accordingly in the master value range. • For interpolating the cam technology object, you can improve the system performance using the properties of MC‑Interpolator [OB92]. This is possible with the modular S7-1500T(F) CPUs and the SIMATIC Drive Controller as of firmware version V3.0. 20 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4 Synchronous operation enables a following axis to be linked to a leading axis and move synchronously with it. The synchronous operation relationship between the leading and following axes is specified by a synchronous operation function. Gearing During gearing (Page 41), the position of the following axis results from the position of the leading axis multiplied by the gear ratio. You specify the gear ratio as a ratio of two integers. The result is a linear synchronous operation function. Gearing (S7-1500T) The following axis can be pre-synchronized or post-synchronized via the leading value path or dynamic parameters. For this purpose, you can specify corresponding reference positions of leading and following axis that define the relation of the axes to each other. As an alternative to the setpoint, the extrapolated actual value can be interconnected as a leading value for synchronous operation. As a result, you can use an external encoder technology object as the leading value. In addition, the following axis can be desynchronized to a presettable stop position via the leading value path or dynamic parameters. Velocity synchronous operation (S7-1500T) During velocity synchronous operation (Page 74), the velocity of the following axis results from the velocity of the leading axis multiplied by the gear ratio, regardless of the position. You specify the gear ratio as a ratio of two integers either once or variably during synchronization. Camming (S7-1500T) During camming (Page 82), the leading axis and following axis are coupled by a synchronous operation function, which you specify using a cam technology object. The cam technology object (TO_Cam, TO_Cam_10k) defines a function f(x) by means of interpolation points and/or segments. Gaps between the defined interpolation points and segments of the cam are closed by interpolation during runtime of the user program. The transmission behavior during camming is expressed by the cam curve. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 21 Overview of functions (S7-1500, S7-1500T) Synchronous operation phases A synchronous operation runs in the following phases: • Pending synchronous operation (S7-1500T) The following axis waits for the starting conditions of the synchronizing motion to be fulfilled. • Synchronization The following axis is synchronized to the leading value. • Synchronous motion The following axis follows the position of the leading axis according to the synchronous operation function. • Synchronous operation override An active synchronous operation is overridden by motion jobs, e.g. "MC_Halt" on the following axis. • Waiting synchronization job (S7-1500T) The following axis waits for the starting conditions of the desynchronization motion to be fulfilled. • Desynchronize synchronous operation (S7‑1500T) The following axis is desynchronized from the leading value. The following axis stops at a defined position and synchronous operation is ended. Cross-PLC synchronous operation (S7-1500T) Cross-PLC synchronous operation (Page 168) enables synchronous operation over multiple controllers. You can configure leading and following axes on different controllers. The synchronous operation function, e.g. a gearing, is executed on the CPU of the following axis. The leading axis proxy technology object (TO_LeadingAxisProxy) represents the leading axis for the local synchronous operation within a CPU. The leading axis proxy evaluates the leading value telegram and provides the external leading value for the local following axes. 22 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4.1 Synchronous axis technology object (S7-1500, S7-1500T) 4.1 Synchronous axis technology object (S7-1500, S7-1500T) The synchronous axis technology object includes all functions of the positioning axis technology object. A synchronous axis can also follow the motions of a leading axis. The synchronous operation relationship between the leading and following axes is specified by a synchronous operation function. You can find an overview of the supported instructions of the synchronous axis technology object in the section "Motion Control instructions for synchronous operation (Page 28)". The figure below shows the basic principle of operation of the synchronous axis technology object: &RQILJXUDWLRQRIWHFKQRORJ\REMHFWV 7HFKQRORJ\REMHFW 6\QFKURQRXVD[LV 7HFKQRORJ\REMHFW ZLWKOHDGLQJYDOXH /HDGLQJYDOXH 6\QFKURQRXVRSHUDWLRQIXQFWLRQ 3RVLWLRQ VHWSRLQW 3RVLWLRQ VHWSRLQW ([WUDSRODWLRQ 3RVLWLRQ FRQWUROOHU ² $FWXDOSRVLWLRQ $FWXDOSRVLWLRQ &RPPXQLFDWLRQ 8VHUSURJUDP 0RWLRQ&RQWURO LQVWUXFWLRQV 6WDWXVHYDOXDWLRQ 6SHHGVHWSRLQW &RPPXQLFDWLRQ 352),1(7 6,1$0,&66 6,1$0,&66 0RWRU S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 0RWRU 23 Overview of functions (S7-1500, S7-1500T) 4.1 Synchronous axis technology object (S7-1500, S7-1500T) Configuration The following non-isochronous specific configurations correspond to the positioning axis technology object: • Basic parameters – Axis or encoder type – Units of measure – Modulo setting – Virtual axis – Axis in simulation • Hardware interface – Connecting PROFIdrive drives – Connecting encoders via PROFIdrive – Transferring drive and encoder parameters automatically – Connecting stepper motors – Connecting drives with analog setpoint interface – Connecting force/torque data via SIEMENS additional telegram 750 • Mechanics – Configuring drive and encoder direction for positioning axis/synchronous axis – Configuring the load gear – Configuring the leadscrew pitch – Configuring backlash compensation • Dynamic default values • Emergency stop • Limits – Position limits – Dynamic limits – Torque limits – Fixed stop detection • Homing – Active homing – Passive homing • Position monitoring functions – Position monitoring – Following error – Standstill signal • Control loop – Configuring position controller in the PLC – Configuring position controller for drives with DSC – Configuring a dynamic filter – Switching the position control off and on You can find a description of the configuration parameters in the "S7-1500/S7-1500T Axis functions" documentation (Page 13). 24 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4.2 Cam technology object (S7-1500T) The following configurations of the synchronous axis technology object are specific to synchronous operation: • Leading value interconnections (Page 33) • Leading value settings – Configuring provision of the leading value (Page 174) – Configuring the delay time (Page 180) • Actual value extrapolation (Page 34) You can find a description of the configuration parameters in the "S7-1500/S7-1500T synchronous operation functions" documentation (Page 13). 4.2 Cam technology object (S7-1500T) Term definition The following section discusses the "Cam technology object" in general. This refers to both the cam technology object of type "TO_Cam" and of type "TO_Cam_10k". If a specific cam technology object is meant, the type is explicitly mentioned. Cam technology object The cam technology object defines a transfer function y = f(x). The dependency of an output value on an input value is described in this transfer function in a unit-neutral manner. A cam technology object can be used multiple times. You can find an overview of the supported instructions of the cam technology object in the section "Motion Control instructions for synchronous operation (Page 28)". You define the function y = f(x) in the configuration of the technology object (Page 83) using interpolation points and/or segments. The cam technology object of the type "TO_Cam" can contain up to 1000 points. The cam technology object of the type "TO_Cam_10k" can contain up to 10 000 points. Both technology objects can contain up to 50 segments. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 25 Overview of functions (S7-1500, S7-1500T) 4.2 Cam technology object (S7-1500T) Ranges between interpolation points and segments are interpolated using the Motion Control instruction "MC_InterpolateCam (Page 274)". During runtime of the user program, the settings can be changed/redefined via the technology data block as described in the section "Changing the synchronous operation function of the cam online (Page 113)". I[ [ An interpolated cam can be applied as a synchronous operation function for camming (Page 82). 26 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4.2 Cam technology object (S7-1500T) The figure below shows the basic operating principle of the cam technology object: 5FDIOPMPHZPCKFDU $BN ZG Y 6TFSQSPHSBN .PUJPO$POUSPM JOTUSVDUJPOT *OUFSQPMBUJPO /P Y Z Z 4UBUVTFWBMVBUJPO *OUFSQPMBUJPO QPJOUT TFHNFOUT Y $POHVSBUJPOPGUFDIOPMPHZPCKFDUT 5FDIOPMPHZPCKFDU 4ZODISPOPVTBYJT 5FDIOPMPHZPCKFDU XJUIQPTJUJPOWBMVF -FBEJOHWBMVF 4ZODISPOPVTPQFSBUJPO GVODUJPO 1PTJUJPO TFUQPJOU &YUSBQPMBUJPO "DUVBM QPTJUJPO $PNNVOJDBUJPO 1PTJUJPO TFUQPJOU ܢ 1PTJUJPO DPOUSPMMFS "DUVBM QPTJUJPO 4QFFE TFUQPJOU 6TFSQSPHSBN .PUJPO$POUSPM JOTUSVDUJPOT 4UBUVTFWBMVBUJPO $PNNVOJDBUJPO 130'*/&5 4*/".*$44 0RWRU 4*/".*$44 0RWRU Configuration The following configurations are available in the cam technology object: • Configuring the synchronous operation function of the cam (Page 83) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 27 Overview of functions (S7-1500, S7-1500T) 4.3 Leading axis proxy technology object (S7-1500T) 4.3 Leading axis proxy technology object (S7-1500T) With cross-PLC synchronous operation, the leading axis proxy technology object represents the leading axis for local synchronous operation within a CPU. The leading axis proxy adjust the time of the leading value so that the following axes on the different CPUs are synchronous, and it provides the leading value for the local following axes. You can find an overview of the supported instructions of the leading axis proxy technology object in the section "Motion Control instructions for synchronous operation (Page 28)". The figure below shows the basic principle of operation of the leading axis proxy technology object: $POHVSBUJPOPGUFDIOPMPHZPCKFDUT 5FDIOPMPHZPCKFDU -FBEJOHBYJTQSPYZ -FBEJOHWBMVF 5FDIOPMPHZPCKFDU 4ZODISPOPVTBYJT 4ZODISPOPVTPQFSBUJPO GVODUJPO 1PTJUJPO TFUQPJOU 6TFSQSPHSBN .PUJPO$POUSPM JOTUSVDUJPOT 4UBUVTFWBMVBUJPO 5FNQPSBM BEBQUBUJPO $PNNVOJDBUJPO ܢ 1PTJUJPO DPOUSPMMFS "DUVBM QPTJUJPO 4QFFE TFUQPJOU $PNNVOJDBUJPO -FBEJOHWBMVF UFMFHSBN 130'*/&5 4*/".*$44 0RWRU Configuration The following configurations are available in the leading axis proxy technology object: • Basic parameters • Leading value settings – Configuring provision of the leading value (Page 174) – Configuring the tolerance time (Page 177) – Configuring the delay time (Page 180) 28 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4.4 Motion Control instructions for synchronous operation (S7-1500, S7-1500T) 4.4 Motion Control instructions for synchronous operation (S7-1500, S7-1500T) You execute the functions of the synchronous axis, cam and leading axis proxy technology objects using Motion Control instructions in your user program or using the TIA Portal (under "Technology object > Commissioning"). The following table shows the additional Motion Control instructions for synchronous operation that are supported by the technology objects in addition to the axis functions: Motion Control instruction Validity S7-1500 Technology object S7-1500T Synchronous axis (Page 22) Cam (Page 25)1) Leading axis proxy (Page 27) "MC_Reset" Acknowledge alarms, restart techno­ logy objects ✓ ✓ ✓ ✓ ✓ "MC_GearIn" Start gearing ✓ ✓ ✓ - ✓ "MC_GearInPos" Start gearing with specified synchron­ ous positions - ✓ ✓ - ✓ "MC_GearInVelocity" Start velocity synchronous operation - ✓ ✓ - ✓ "MC_PhasingRelative" Relative shift of leading value on the following axis - ✓ ✓ - ✓ "MC_PhasingAbsolute" Absolute shift of leading value on the following axis - ✓ ✓ - ✓ "MC_OffsetRelative" Relative shift of following value on the following axis. - ✓ ✓ - - "MC_OffsetAbsolute" Absolute shift of following value on the following axis. - ✓ ✓ - - "MC_CamIn" Start camming - ✓ ✓ ✓ ✓ "MC_SynchronizedMotionSimulation" Simulate synchronous operation - ✓ ✓ - - "MC_LeadingValueAdditive" Specify additive leading value - ✓ ✓ - - "MC_GearOut" Desynchronize gearing - ✓ ✓ - - "MC_CamOut" Desynchronize camming - ✓ ✓ - - "MC_InterpolateCam" Interpolate cam disc - ✓ - ✓ - 1) Applies to both the cam technology object of the type "TO_Cam" and to the type "TO_Cam_10k". S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 29 Overview of functions (S7-1500, S7-1500T) 4.4 Motion Control instructions for synchronous operation (S7-1500, S7-1500T) Motion Control instruction Validity S7-1500 Technology object S7-1500T Synchronous axis (Page 22) Cam (Page 25)1) Leading axis proxy (Page 27) "MC_GetCamLeadingValue" Read out leading value of a cam - ✓ - ✓ - "MC_GetCamFollowingValue" Read out following value of a cam disc - ✓ - ✓ - "MC_CopyCamData" Copy calculated cam elements - ✓ - ✓ - 1) Applies to both the cam technology object of the type "TO_Cam" and to the type "TO_Cam_10k". 30 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Overview of functions (S7-1500, S7-1500T) 4.5 Mode of operation of the instructions in synchronous operation (S7-1500, S7-1500T) 4.5 Mode of operation of the instructions in synchronous operation (S7-1500, S7-1500T) The following graphic shows the general influence of the Motion Control instructions on the following axis in synchronous operation: /HDGLQJD[LV /HDGLQJYDOXH 0&B/HDGLQJ9DOXH$GGLWLYH 0&B3KDVLQJ$EVROXWH 0&B3KDVLQJ5HODWLYH 0&B*HDU,Q0&B*HDU,Q3RV 0&B&DP,Q 0&B*HDU,Q9HORFLW\ 0&B2IIVHW$EVROXWH 0&B2IIVHW5HODWLYH 0&B0RYH6XSHULPSRVHG 0&B0RWLRQ,Q6XSHULPSRVHG )ROORZLQJYDOXH )ROORZLQJD[LV ① Effective leading value (<TO>.StatusSynchronizedMotion.EffectiveLeadingValue) ② Leading value of the synchronous operation function (<TO>.StatusSynchronizedMotion.FunctionLeadingValue) ③ Following value of the synchronous operation function (<TO>.StatusSynchronizedMotion.FunctionFollowingValue) ④ Following value after following value offset (<TO>.StatusSynchronizedMotion.FunctionFollowingValue.Position + <TO>.StatusSynchron­ izedMotion.Offset) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 31 Overview of functions (S7-1500, S7-1500T) 4.5 Mode of operation of the instructions in synchronous operation (S7-1500, S7-1500T) Additive leading value With an "MC_LeadingValueAdditive (Page 271)" job, you specify an additive leading value (Page 165) cyclically in addition to the active leading value of a following axis. Leading value offset With a "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)" job you shift the effective leading value on a following axis in gearing (Page 57) or in camming (Page 147). A simultaneous following value offset is not permitted. You can only start a new job for leading value offset once a previous job for following value offset has been completed. Synchronous operation function With an "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)" job, you start a gearing (Page 41) between a leading axis and a following axis. With an "MC_CamIn (Page 247)" job, you start a camming (Page 82) between a leading axis and a following axis. With an "MC_GearInVelocity (Page 217)" job, you start velocity synchronous operation (Page 74) between a leading axis and a following axis. Following value offset With an "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)" job, you move the following value on a following axis in gearing (Page 62) or in camming (Page 151). A simultaneous leading value offset is not permitted. You can only start a new job for following value offset once a previous job for leading value offset has been completed. Superimposed motion With a "MC_MoveSuperimposed" job, you superimpose the following value with a relative positioning motion independent of the motion of the leading axis. With a "MC_MotionInSuperimposed" job, you superimpose the subsequent value by specifying values for position, velocity and acceleration for each application cycle. The superimposed motion is independent of the motion of the leading axis. In velocity synchronous operation with "MC_GearInVelocity", a superimposed motion is only possible if the following axis is in position-controlled mode. With a "MC_HaltSuperimposed" job, you stop a superimposed motion independently of the base motion. 32 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Preparing synchronous operation (S7-1500, S7-1500T) 5.1 5 Creating technology objects (S7-1500, S7-1500T) For synchronous operation, you need technology objects for the leading and following axes. You can also create multiple following axes for one leading axis. For a camming, you also need a cam technology object (S7-1500T). Requirement • You have created an S7-1500 CPU for gearing with "MC_GearIn (Page 206)". Note that an actual value coupling is only possible with an S7-1500T CPU. • You have created an S7-1500T CPU for one of the following synchronous operation types: – Gearing with specified synchronous position with "MC_GearInPos (Page 210)" – Velocity synchronous operation with "MC_GearInVelocity (Page 217)" – Camming with "MC_CamIn (Page 247)" Procedure To create technology objects for synchronous operation, follow these steps: 1. As leading axis, create one of the technology objects: – Positioning axis – Synchronous axis – External encoder (S7‑1500T) 2. As following axis, create a synchronous axis technology object. 3. Configure the configuration parameters of the leading and following axes that are not specific for synchronous operation. You can find a description of the configuration parameters in the "S7-1500/S7-1500T Axis functions" documentation (Page 13). 4. For a camming, create a cam technology object (S7-1500T). 5.2 Defining leading value interconnection (S7-1500, S7-1500T) 5.2.1 Interconnecting the leading value (S7-1500, S7-1500T) A leading value for a synchronous operation is provided by a leading axis or an external encoder (S7‑1500T). The leading value is specified and coupled in the user program with the call of the corresponding Motion Control instruction for synchronous operation. The leading value is switched when you call the Motion Control instruction again, specifying a different leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 33 Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) The following rules apply to the master value coupling: • A leading axis or an external encoder (S7-1500T) can output the leading value for multiple following axes. • You can interconnect a following axis with multiple leading value-capable technology objects. The following technology objects are leading value-capable: – Positioning axis – Synchronous axis (Page 22) – External encoder (S7-1500T) The Leading axis proxy technology object is only relevant for a cross-PLC synchronous operation (Page 168) (S7-1500T). All interconnections required during operation must be set up during the configuration of the synchronous axis technology object. • You can select only one leading value at a time to be coupled and evaluated during the runtime of your user program. • The leading values and following values are coupled without conversion in the respective configured unit of measure. If, for example, a linear leading axis moves by 10 mm, a rotary following axis moves by 10° with a gear ratio of 1:1. Procedure To interconnect the required leading values of a following axis, follow these steps: 1. Open the "Technology object > Configuration > Leading value interconnections" configuration window of the synchronous axis. 2. In the "Possible leading values" table column, add all leading value-capable technology objects that you need during operation as leading values for the following axis. You can use the technology objects added to the table with the corresponding Motion Control instruction as leading values for the following axis. All configured leading value interconnections for the technology object are displayed in the cross-reference list of the technology object. 3. Select the coupling type of the leading value in the "Type of coupling" table column: – Setpoint coupling (Page 34) – Actual value coupling (Page 34) (S7-1500T) The "Delayed" selection is only relevant for a cross-PLC synchronous operation (Page 168) (S7-1500T). 5.2.2 Setpoint coupling (S7-1500, S7-1500T) With a setpoint coupling, the setpoints of the leading axis are used as the leading value for the synchronous operation. The setpoints of the following technology objects can be connected as leading value for the synchronous operation: • Positioning axis • Synchronous axis • Leading axis proxy (S7-1500T) 34 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) 5.2.3 Actual value coupling and actual value extrapolation (S7-1500T) For applications in which setpoint coupling is not possible, e.g. when using an external encoder, or does not make sense from a technical perspective, the S7-1500T CPU also offers actual value coupling for synchronous operation. In actual value coupling, the extrapolated actual values of a technology object are used as the leading value. The actual values of the following technology objects can be used as a leading value for the synchronous operation: • Positioning axis • Synchronous axis • External encoder Actual value extrapolation of the leading value With an actual value coupling, delay times result from the processing of the actual values. To compensate for these delay times, the actual value is extrapolated on the leading value side. This means that the leading value is extrapolated based on previously known values. Delay times at constant velocity or at constant acceleration or deceleration can be compensated for with the extrapolation. For technical reasons, changes of acceleration or deceleration (jerk) during extrapolation always cause a displacement of the following axis relative to the leading value. The effective extrapolation time consists of a leading axis-dependent part, a configured following axis-dependent part and, optionally, the time from the cross-PLC synchronous operation: • Leading axis-dependent part The leading axis-dependent part is calculated automatically and displayed at the leading axis in the "<TO>.Extrapolation.LeadingAxisDependentTime" tag of the technology object. You can disable the leading axis-dependent part using the tag "<TO>.Extrapolation.Settings.SystemDefinedExtrapolation" = 0. • Following axis-caused part The part caused by the leading axis is calculated automatically and displayed at the following axis in the "<TO>.StatusPositioning.SetpointExecutionTime" tag of the technology object. You configure the value under "Technology object > Configuration > Extended parameters > Actual value extrapolation" (<TO>.Extrapolation.FollowingAxisDependentTime). • Time from the cross-PLC synchronous operation For cross-PLC synchronous operation, the output delay of the leading value at the locally coupled following axes is automatically taken into account. The displayed value is equal to the leading value delay and corresponds to the delay time entered at the leading axis or at the external encoder. You configure the delay time under "Technology object > Configuration > Leading value settings" (<TO>.CrossPlcSynchronousOperation.LocalLeadingValueDelayTime). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 35 Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) The extrapolated actual value is evaluated with a configurable hysteresis before it is output as the leading value. The hysteresis evaluation prevents an inversion of the leading value, which may result from extrapolation of a noisy value. NOTICE Machine damage If you change the extrapolation time during user program runtime in increments that are too large, damage to the machine may occur. Change the extrapolation time only by a small amount. The following diagram shows the sequence of the actual value extrapolation. 37ILOWHU ([WUDSRODWLRQZLWKK\VWHUHVLV [DFWXDOYDOXH /HDGLQJD[LV )ROORZLQJD[LV [OHDGLQJYDOXH 37ILOWHU 7ROHUDQFHEDQG YDFWXDOYDOXH &URVV 3/& YOHDGLQJYDOXH ① Actual position value ② Actual velocity value ③ Position filter T1 (<TO>.Extrapolation.PositionFilter.T1) and T2 (<TO>.Extrapolation.PositionFilter.T2) ④ Velocity filters T1 (<TO>.Extrapolation.VelocityFilter.T1) and T2 (<TO>.Extrapolation.VelocityFilter.T2) ⑤ Tolerance band width for velocity (<TO>.Extrapolation.VelocityTolerance.Range) ⑥ Hysteresis value in the configured unit of length (<TO>.Extrapolation.Hysteresis.Value) ⑦ Extrapolation time component caused by the leading axis (<TO>.Extrapolation.LeadingAxisDependentTime) ⑧ Extrapolation time component caused by the following axis (<TO>.Extrapolation.FollowingAxisDependentTime) ⑨ Portion of the extrapolation time from the cross-PLC synchronous operation (<TO>.CrossPlcSynchronousOpera­ tion.LocalLeadingValueDelayTime) ⑩ Extrapolated leading value position ⑪ Extrapolated leading value velocity, depending on the switch position: • Leading value velocity from the extrapolation with hysteresis ("<TO>.Extrapolation.Settings.ExtrapolatedVelo­ cityMode" = 1) • Leading value velocity from the filtered actual velocity value ("<TO>.Extrapolation.Settings.ExtrapolatedVelo­ cityMode" = 0) Filtering the actual values Noisy encoder signals lead to high velocity step changes, which also affect the extrapolation. These step changes can be reduced or compensated for by using suitable filter settings. The position filter is a PT2 filter. The velocity filter is a PT2 filter with configurable tolerance bandwidth. 36 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) The actual position value is blended by the actual position filter. The actual velocity value is blended by the velocity filter and further "stabilized" by the tolerance band. The filtered position value is then extrapolated taking into account the filtered velocity value. The leading value velocity results from the extrapolated leading value position or from the filtered velocity value without extrapolation ("<TO>.Extrapolation.Settings.ExtrapolatedVelocityMode" = 0). Recommended settings. Set the total of the time constants T1 and T2 of the position filter significantly smaller than the time constants T1 and T2 of the velocity filter. Tolerance band The tolerance band acts on the filtered velocity value in the interpolation cycle. The position of the tolerance band is automatically shifted in the direction of the velocity value as soon as it changes in one direction by more than half of the tolerance band from the last output value. A new output value is simultaneously formed with the shift of the tolerance band. This corresponds to the filtered velocity value minus half the tolerance band. As long as the velocity value remains within the tolerance band, no new output value is formed. W U ① Tolerance band Filtered velocity before tolerance band Filtered velocity according to tolerance band S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 37 Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) Hysteresis The hysteresis acts on the filtered extrapolated position value in the interpolation cycle. A change of direction only takes effect when the position value changes in the direction opposite at least by the hysteresis value. The hysteresis/reversal tolerance prevents undesired reversing of the leading value on a position reversal within the tolerance band. Y U ① Hysteresis/reversal tolerance Extrapolated position before hysteresis/reversal tolerance Extrapolated position after hysteresis/reversal tolerance Configuring actual value extrapolation To configure the actual value extrapolation of the leading value, follow these steps: 1. Open the "Technology object > Configuration > Extended parameters > Actual value extrapolation" configuration window of the leading axis. 2. In the "Position filter T1" and "Position filter T2" input fields, enter the time constants of the PT2 filter for smoothing the position. 3. In the "Hysteresis value" input field, enter a value for applying the hysteresis function to the extrapolated actual value of the position. The specification is made in the configured length unit. 4. In the "Velocity filter T1" and "Velocity filter T2" input fields, enter the time constants of the PT2 filter for smoothing the actual velocity. 5. In the "Tolerance band width" input field, enter the tolerance band width of the smoothed actual velocity. For optimized application of the tolerance band, enter the same bandwidth for the tolerance band as the width of the noise signal. 6. In the "Following axis" input field, specify the following axis proportion for the extrapolation of the leading value. The value (unchanged or offset against user-specific runtimes) from the "<TO>.StatusPositioning.SetpointExecutionTime" tag of the following axis is used as the basis. The leading axis-dependent extrapolation is displayed in the "Leading axis" field. The leading axis-dependent extrapolation time is calculated from the sum of the actual value acquisition time at the leading axis, (Ti), the interpolator time (TIpo) and the sum of position filters T1 and T2: Leading axis-dependent extrapolation time = Ti + TIpo + T1 + T2 38 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Preparing synchronous operation (S7-1500, S7-1500T) 5.2 Defining leading value interconnection (S7-1500, S7-1500T) The time from a cross-PLC synchronous operation is displayed in the "cross-PLC" field. The time from the cross-PLC synchronous operation corresponds to the set delay time in the configuration window "Technology object > Configuration > Leading value settings". 7. To apply the leading value velocity from the differentiation of the extrapolated leading value position, select the "Activate differentiation" check box. Otherwise, the filtered actual value velocity is applied. 8. To take the leading axis-dependent extrapolation into account when calculating the effective extrapolation time, select the "Consider leading axis" check box. Otherwise, the leading axis-dependent extrapolation is not taken into account when calculating the effective extrapolation time. In the "Effective extrapolation time" field, the sum of the leading-axis time, the following axis- dependent time and the delay time of the cross-PLC synchronization is displayed. A guideline to configuring the actual value extrapolation can be found in Siemens Industry Online Support in FAQ entry 109763337 (https://support.industry.siemens.com/cs/ww/en/view/109763337). 5.2.4 Tags: Actual value extrapolation (S7-1500T) The following technology object tags are relevant for the actual value extrapolation: Configuration Tag Description <TO>.CrossPlcSynchronousOperation.LocalLead­ For cross-PLC synchronous operation: ingValueDelayTime The delay time of leading value output to the local following axes <TO>.Extrapolation.LeadingAxisDependentTime On the leading axis: Leading axis-dependent portion of the extrapolation time, which results from Ti, TIpo, and TFilter. <TO>.Extrapolation.FollowingAxisDependent­ Time On the leading axis: Following-axis dependent portion of the extrapolation time Enter the value from the "<TO>.StatusPositioning.SetpointExecutionTime" tag of the following axis (unchanged or compensated with user-specific times). <TO>.Extrapolation.Settings.SystemDefinedExtra­ Effectiveness of the leading axis-dependent portion of the extrapolation polation time (<TO>.Extrapolation.LeadingAxisDependentTime) <TO>.Extrapolation.Settings.ExtrapolatedVelo­ cityMode 0 Not effective 1 Effective 0 "FilteredVelocity" Leading value velocity from filtered actual velocity 1 "VelocityByDifferentiation" Leading value velocity from differentiation of the extrapolated leading value position <TO>.Extrapolation.PositionFilter.T1 Position filter time constant T1 <TO>.Extrapolation.PositionFilter.T2 Position filter time constant T2 <TO>.Extrapolation.VelocityFilter.T1 Velocity filter time constant T1 <TO>.Extrapolation.VelocityFilter.T2 Velocity filter time constant T2 <TO>.Extrapolation.VelocityTolerance.Range Tolerance band width for velocity <TO>.Extrapolation.Hysteresis.Value Hysteresis value (in the configured unit of length) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 39 Preparing synchronous operation (S7-1500, S7-1500T) 5.3 Position control in synchronous operation (S7-1500, S7-1500T) Status indicators Tag Description <TO>.StatusPositioning.SetpointExecutionTime Setpoint execution time of the axis Results from TIpo, Tvtc or 1/kv, TSend and TO of the axis. 5.3 Position control in synchronous operation (S7-1500, S7-1500T) Gearing/camming with setpoint coupling A following axis is set into position-controlled operation with the start of a synchronous operation job. If the leading axis is in non-position-controlled operation at the start of the synchronous operation job, the technology alarm 603 is output and the technology object is disabled (alarm response: remove enable). Synchronization is started only after the position control has been activated and the start position of the synchronization has been reached. NOTE Switching the operating mode of the leading axis If the leading axis is set to non-position-controlled operation during active synchronous operation, the setpoint of the leading axis is set to zero. The coupling gives the setpoint of the following axis a setpoint step-change. The setpoint step-change is compensated according to the constant function. The only limiting factor is the maximum speed of the drive. A following error may occur on the following axis. Gearing/camming with actual value coupling (S7-1500T) A following axis is set into position-controlled operation with the start of a synchronous operation job. If the leading axis is in non-position-controlled operation at the start of the synchronous operation and the actual values are valid, the following axis is synchronized. If the leading axis is set to the non-position-controlled mode during active synchronization, the synchronization remains active. Velocity synchronous operation (S7-1500T) A following axis can be operated in position-controlled or non-position-controlled mode during active synchronous operation (Page 76). You specify the operating mode of the following axis at the "MC_GearInVelocity" job. The operating mode of the leading axis is irrelevant during an active synchronous operation. 40 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.1 6 Gearing with "MC_GearIn" (S7-1500, S7-1500T) With the Motion Control instruction "MC_GearIn (Page 206)", you start gearing between a leading axis and a following axis. During gearing, the position of the following axis results from the position of the leading axis multiplied by the gear ratio. You specify the gear ratio as a ratio of two integers. The result is a linear synchronous operation function. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. Synchronous travel begins after synchronization when the following axis has reached the velocity and acceleration of the leading axis, taking into account the gear ratio. 'PMMPXJOH WBMVF -FBEJOHWBMVF Slope of line/transmission ratio Gear ratio = "MC_GearIn.RatioNumerator"/"MC_GearIn.RatioDenominator" Synchronization ① Synchronous position of leading axis starting at which the leading and following axes move synchronously ② Synchronous position of following axis starting at which the leading and following axes move synchronously You have the following options for gearing with "MC_GearIn": • Defining gear ratio (Page 41) • Synchronizing following axis using dynamic parameters (Page 43) • Synchronous travel in gearing (Page 44) • Specify additive leading value with "MC_LeadingValueAdditive" (Page 165) (S7-1500T) • Set gearing to simulation mode with "MC_SynchronizedMotionSimulation" (Page 164) (S7-1500T) • Desynchronize following axis with "MC_GearOut" (Page 66) (S7‑1500T) Also note the dynamic limits of the following axis in gearing with "MC_GearIn" (Page 42). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 41 Gearing (S7-1500, S7-1500T) 6.1 Gearing with "MC_GearIn" (S7-1500, S7-1500T) 6.1.1 Defining gear ratio (S7-1500, S7-1500T) During gearing, the position of the following axis results from the position of the leading axis multiplied by the gear ratio. You specify the gear ratio at the Motion Control instruction "MC_GearIn (Page 206)" as the relationship between two integers (numerator/denominator). The result is a linear synchronous operation function. Numerator of the gear ratio With the "RatioNumerator" parameter, you define the numerator of the gear ratio. You can define the numerator of the gear ratio as positive or negative. This yields the following behavior: • Positive gear ratio: The leading and following axes move in the same direction. • Negative gear ratio: The following axis moves in the opposite direction of the leading axis. The value "0" is not permitted for the numerator of the gear ratio. Denominator of the gear ratio With the "RatioDenominator" parameter, you define the denominator of the gear ratio. Only positive values are permitted for the denominator of the gear ratio. Example 1: Positive gear ratio Leading axis and following axis are rotary axes and each has a traversing range from 0 ° to 360 ° with enabled "Modulo" setting. Parameter inputs: • "RatioNumerator" = 5 • "RatioDenominator" = 1 When the leading axis moves by 10 °, the following axis moves by 50 ° in the "Synchronous" status of the gearing. Example 2: Negative gear ratio Leading axis and following axis are rotary axes and each has a traversing range from 0 ° to 360 ° with enabled "Modulo" setting. Parameter inputs: • "RatioNumerator" = -3 • "RatioDenominator" = 1 When the leading axis moves by 10 °, the following axis moves by -30 ° in the "Synchronous" status of the gearing. 42 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.1 Gearing with "MC_GearIn" (S7-1500, S7-1500T) 6.1.2 Dynamic limits of the following axis in gearing with "MC_GearIn" (S7-1500, S7-1500T) If a synchronous axis is operated as a following axis in the gearing with the Motion Control instruction "MC_GearIn (Page 206)", the following dynamic limits apply, depending on the phase of the synchronous operation: Synchronization During the synchronizing phase, dynamic limits configured for the technology object apply to the following axis. Synchronous motion/desynchronization (S7-1500T) During synchronous travel and desynchronization (Page 262), the dynamics of the following axis are only limited to the maximum speed of the drive (<TO>.Actor.DriveParameter.MaxSpeed). The dynamics of the following axis results from the synchronous operation function. If the dynamic limits configured for the following axis are exceeded, this is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" tags of the technology object. The SW limit switches continue to be monitored with the configured dynamic limits of the following axis. If the following axis cannot follow the leading value, this results in a following error, which is monitored by the following error monitoring. Synchronous operation override As soon as synchronous operation has been overridden (Page 283), the dynamic limits configured for the technology object apply to the following axis again. With the start of the overriding job, the active dynamics are transitioned (smoothed) to the configured dynamic limits and the specifications for the Motion Control instruction. 6.1.3 Synchronizing following axis using dynamic parameters with "MC_GearIn" (S7-1500, S7-1500T) During gearing (Page 41), synchronization establishes the relationship between the leading axis and following axis. Synchronization begins immediately after the "MC_GearIn" job starts. Parameter inputs You define the dynamic behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_GearIn (Page 206)": • With the "Acceleration" parameter, you specify the acceleration of the following axis. • With the "Deceleration" parameter, you specify the deceleration of the following axis. • With the "Jerk" parameter, you specify the jerk of the following axis. Observe the dynamic limits (Page 42) of the following axis during synchronization. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 43 Gearing (S7-1500, S7-1500T) 6.1 Gearing with "MC_GearIn" (S7-1500, S7-1500T) During synchronization Synchronization begins after the "MC_GearIn" job starts. Active motion jobs are overridden. The synchronization duration and distance are dependent on the following parameters: • Dynamics of the following axis at the start time of the "MC_GearIn" job • Dynamic settings for synchronization • Dynamics of the leading axis The synchronization is indicated in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. -FBEJOH WBMVF U 'PMMPXJOH WBMVF U ① Time when synchronization starts After synchronization If the following axis has reached the velocity and the acceleration of the leading axis, taking into account the gear ratio, the following axis is synchronized. The following axis travels synchronously with the leading axis. 6.1.4 Synchronous travel in gearing with "MC_GearIn" (S7-1500, S7-1500T) As soon as the following axis is synchronized to a leading value, the following axis follows the dynamics of the leading axis according to the gear ratio. The transmission behavior during gearing is expressed by a linear relationship between the leading value and the following value. The following value is calculated as follows: Position of following axis (following value) = Synchronous position of following axis + gear ratio × (Position of leading axis - Synchronous position of leading axis) 44 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) The "Synchronous" status is indicated in the Motion Control instruction "MC_GearIn (Page 206)" with the parameter "InGear" = TRUE and in the "<TO>.StatusWord.X22 (Synchronous)" tag of the technology object. NOTE Avoid homing the leading axis in synchronous operation Avoid homing the leading axis during an active synchronous operation. Homing the leading axis during synchronous operation corresponds to a setpoint step-change on the following axis. The following axis compensates for the jump according to the synchronous operation function and limited only to the maximum speed of the drive. 6.2 Gearing with "MC_GearInPos" (S7-1500T) With the Motion Control instruction "MC_GearInPos (Page 210)", you start gearing between a leading axis and a following axis. During gearing, the position of the following axis results from the position of the leading axis multiplied by the gear ratio depending on the synchronous positions. You specify the gear ratio as a ratio of two integers. The result is a linear synchronous operation function. In contrast to the gearing with "MC_GearIn" (Page 41), for gearing with "MC_GearInPos" you also specify the synchronous positions of the leading and following axes, which define the reference of the axes to one another. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. Synchronous travel begins after synchronization when the following axis has reached the velocity and acceleration of the leading axis, taking into account the gear ratio. 'PMMPXJOHWBMVF 4ZODISPOPVT QPTJUJPO 'PMMPXJOHBYJT -FBEJOHWBMVF 4ZODISPOPVTQPTJUJPOPG MFBEJOHBYJT Slope of line/transmission ratio Gear ratio = "MC_GearInPos.RatioNumerator"/"MC_GearInPos.RatioDenominator" Synchronization in advance Subsequent synchronization ① Leading value distance with synchronization in advance ② Leading value distance with subsequent synchronization S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 45 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) You have the following options for gearing with "MC_GearInPos": • Defining gear ratio (Page 46) • Defining direction of synchronization (Page 48) • Defining synchronous positions and type of synchronization: – Synchronizing following axis in advance using dynamic parameters (Page 51) – Synchronizing following axis in advance using leading value distance (Page 53) – Subsequent synchronizing of following axis using leading value distance (Page 55) • Synchronous travel in gearing (Page 56) • Specify additive leading value with "MC_LeadingValueAdditive" (Page 165) • Offset leading value absolute or relative with "MC_PhasingAbsolute" or "MC_PhasingRelative" (Page 57) • Absolute or relative following value offset with "MC_OffsetAbsolute" or "MC_OffsetRelative" (Page 62) • Set gearing to simulation mode with "MC_SynchronizedMotionSimulation" (Page 164) • Desynchronize following axis with "MC_GearOut" (Page 66) • Cancel a pending gearing with "MC_GearOut" (Page 71) Also note the dynamic limits of the following axis in gearing with "MC_GearInPos" (Page 47). 6.2.1 Defining gear ratio (S7-1500T) During gearing, the position of the following axis results from the position of the leading axis multiplied by the gear ratio depending on the synchronous positions. You specify the gear ratio at the Motion Control instruction "MC_GearInPos (Page 210)" as the relationship between two integers (numerator/denominator). The result is a linear synchronous operation function. Numerator of the gear ratio With the "RatioNumerator" parameter, you define the numerator of the gear ratio. You can define the numerator of the gear ratio as positive or negative. This yields the following behavior: • Positive gear ratio: The leading and following axes move in the same direction. • Negative gear ratio: The following axis moves in the opposite direction of the leading axis. The value "0" is not permitted for the numerator of the gear ratio. Denominator of the gear ratio With the "RatioDenominator" parameter, you define the denominator of the gear ratio. Only positive values are permitted for the denominator of the gear ratio. Example 1: Positive gear ratio Leading axis and following axis are rotary axes and each has a traversing range from 0 ° to 360 ° with enabled "Modulo" setting. 46 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Parameter inputs: • "RatioNumerator" = 5 • "RatioDenominator" = 1 When the leading axis moves by 10 °, the following axis moves by 50 ° in the "Synchronous" status of the gearing. Example 2: Negative gear ratio Leading axis and following axis are rotary axes and each has a traversing range from 0 ° to 360 ° with enabled "Modulo" setting. Parameter inputs: • "RatioNumerator" = -3 • "RatioDenominator" = 1 When the leading axis moves by 10 °, the following axis moves by -30 ° in the "Synchronous" status of the gearing. 6.2.2 Dynamic limits of the following axis in gearing with "MC_GearInPos" (S7-1500T) If a synchronous axis is operated as a following axis in the gearing with the Motion Control instruction "MC_GearInPos (Page 210)", the following dynamic limits apply, depending on the phase of the synchronous operation: Pending synchronous operation If synchronous operation is not active, the configured dynamic limits of the following axis apply. If synchronous operation is already active, the description in section "Synchronization/synchronous motion/desynchronization" applies. Synchronization/synchronous motion/desynchronization During synchronization, synchronous travel and desynchronization (Page 262), the dynamics of the following axis are only limited to the maximum speed of the drive (<TO>.Actor.DriveParameter.MaxSpeed). The dynamics of the following axis results from the synchronous operation function. If the dynamic limits configured for the following axis are exceeded, this is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" tags of the technology object. The SW limit switches continue to be monitored with the configured dynamic limits of the following axis. If the following axis cannot follow the leading value, this results in a following error, which is monitored by the following error monitoring. Synchronous operation override As soon as synchronous operation has been overridden (Page 283), the dynamic limits configured for the technology object apply to the following axis again. With the start of the S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 47 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) overriding job, the active dynamics are transitioned (smoothed) to the configured dynamic limits and the specifications for the Motion Control instruction. 6.2.3 Synchronizing gearing (S7-1500T) 6.2.3.1 Parameter overview for synchronizing with "MC_GearInPos" (S7-1500T) During gearing (Page 45), synchronization establishes the relationship between the leading axis and following axis. With the parameter "SyncProfileReference" you define the type of synchronization: SyncProfileReference Synchronization profile 0 Synchronization in advance using dynamic parameters (Page 51) 1 Synchronization in advance using leading value distance (Page 53) 3 Subsequent synchronization using leading value distance (Page 55) Depending on the synchronization profile, different parameters of the Motion Control instruction "MC_GearInPos (Page 210)" are relevant: Parameters 6.2.3.2 SyncProfileReference 0 1 3 RatioNumerator ✓ ✓ ✓ RatioDenominator ✓ ✓ ✓ MasterSyncPosition ✓ ✓ ✓ SlaveSyncPosition ✓ ✓ ✓ MasterStartDistance - ✓ ✓ Velocity ✓ - - Acceleration ✓ - - Deceleration ✓ - - Jerk ✓ - - SyncDirection ✓ ✓ ✓ Defining direction of synchronization with "MC_GearInPos" (S7-1500T) During gearing (Page 45), synchronization establishes the relationship between the leading axis and following axis. If you have activated the "Modulo" setting for the following axis, you can define the direction of the synchronization with the "SyncDirection" parameter of the Motion Control instruction "MC_GearInPos (Page 210)". In the examples below, the transformation ratio is 1:1. 48 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Positive direction With "SyncDirection" = 1, the following axis may only travel in positive direction during synchronization. In this example, the synchronous position is 360.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC U U 49 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Negative direction With "SyncDirection" = 2, the following axis may only travel in negative direction during synchronization. In this example, the synchronous position is 0.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 50 U U U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Shortest distance With "SyncDirection" = 3, changes in direction of the following axis are permitted during synchronization. In this example, the synchronous position is 0.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 6.2.3.3 U U U U U U Synchronizing following axis in advance using dynamic parameters with "MC_GearInPos" (S7-1500T) During gearing (Page 45), synchronization establishes the relationship between the leading axis and following axis. During synchronization in advance using dynamic parameters, synchronization begins in such a way that the leading and following axis are synchronous when the synchronous positions are reached. Parameter inputs You can define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_GearInPos (Page 210)": • With the parameter "SyncProfileReference" = 0, you define the type of synchronization as synchronization in advance using dynamic parameters. • With the parameters "MasterSyncPosition" and "SlaveSyncPosition", you define the synchronous positions of the leading and following axis which determine the relationship of the axes to each other. For synchronization in advance, the synchronous position is the position starting from which the leading axis and following axis travel synchronously. • With the parameters "Velocity", "Acceleration", "Deceleration" and "Jerk" you define the dynamics for the synchronization of the following axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 51 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Until synchronization After the start of the "MC_GearInPos" job, a motion profile for the following axis is calculated continuously. The motion profile is calculated based on the following parameters: • Specified synchronous positions of the leading and following axis at the Motion Control instruction • Specified dynamics of the Motion Control instruction • Current position and dynamics of the leading and following axes • Synchronous operation function The calculation determines the synchronization length and thus the start position of the leading axis for the synchronization. The start position of the leading axis is derived in the following way: Start position = Synchronous position of leading axis - Synchronization length The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 2). If the leading axis is already in its synchronous position before synchronization, the following axis must also be moved to its synchronous position, for example, with a "MC_MoveAbsolute" job. If the leading and following axes are already at their synchronous positions when the "MC_GearInPos" job is started, synchronous operation immediately has "Synchronous" status. During synchronization The following axis begins to synchronize as soon as the leading value has reached the start position. The synchronization is indicated in the Motion Control instruction "MC_GearInPos" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. -FBEJOHWBMVF 4ZODISPOPVT QPTJUJPO -FBEJOHBYJT U 'PMMPXJOHWBMVF 4ZODISPOPVT QPTJUJPO 'PMMPXJOHBYJT U 52 ① Time when synchronization starts ② Time when synchronization is complete S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The following axis is synchronized as soon as the leading axis has reached the synchronous position. The following axis travels synchronously with the leading axis (Page 56). 6.2.3.4 Synchronizing following axis in advance using leading value distance with "MC_GearInPos" (S7-1500T) During gearing (Page 45), synchronization establishes the relationship between the leading axis and following axis. During synchronization in advance using the leading value distance, synchronization begins in such a way that the leading and following axis are synchronous when the synchronous positions are reached. Parameter inputs You can define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_GearInPos (Page 210)": • With the parameter "SyncProfileReference" = 1, you define the type of synchronization as synchronization in advance using the leading value distance. • With the parameters "MasterSyncPosition" and "SlaveSyncPosition", you define the synchronous positions of the leading and following axis which determine the relationship of the axes to each other. For synchronization in advance, the synchronous position is the position starting from which the leading axis and following axis travel synchronously. • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). Until synchronization After the start of the "MC_GearInPos" job, a motion profile is calculated for the following axis depending on the specified leading value distance. The calculation determines the required dynamic response and thus the start position of the leading axis for the synchronization. The start position of the leading axis is derived in the following way: Start position = Synchronous position of leading axis - Synchronization length S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 53 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) The leading axis must be at least the leading value distance away from the synchronous position. The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 2). NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_GearInPos" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_GearInPos" job is started, synchronous operation immediately has "Synchronous" status. During synchronization The following axis begins to synchronize as soon as the leading value has reached the start position. The synchronization is indicated in the Motion Control instruction "MC_GearInPos" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. -FBEJOH WBMVF 4ZODISPOPVT QPTJUJPO -FBEJOHBYJT -FBEJOHWBMVF EJTUBODF U 'PMMPXJOH WBMVF 4ZODISPOPVT QPTJUJPO 'PMMPXJOHBYJT U ① Time when synchronization starts ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. 54 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) After synchronization The following axis is synchronized as soon as the leading axis has reached the synchronous position. The following axis travels synchronously with the leading axis (Page 56). 6.2.3.5 Subsequent synchronizing of following axis using leading value distance with "MC_GearInPos" (S7-1500T) During gearing (Page 45), synchronization establishes the relationship between the leading axis and following axis. With subsequent synchronization using the leading value distance, synchronization begins as soon as the leading value has reached the synchronous position of the leading axis. Parameter inputs You can define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_GearInPos (Page 210)": • With the parameter "SyncProfileReference" = 3, you define the type of synchronization as subsequent synchronization using the leading value distance. • With the parameters "MasterSyncPosition" and "SlaveSyncPosition", you define the synchronous positions of the leading and following axis which determine the relationship of the axes to each other. For subsequent synchronization, the synchronous position of the leading axis is the start position for synchronization. The synchronous position of the following axis is a theoretical position which is assigned to the synchronous position of the leading axis. • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). Until synchronization After starting the "MC_GearInPos" job, a motion profile for the slave axis is calculated depending on the start position and the synchronous position of the following axis as well as on the specified leading value distance. The calculation determines the required dynamic response and the position of the leading axis as of which the leading axis and the following axis travel synchronously. The status "Waiting" is displayed at the following axis until the leading value has reached the synchronous position of the leading axis (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 2). NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_GearInPos" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_GearInPos" job is started, synchronous operation immediately has "Synchronous" status. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 55 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) During synchronization The following axis begins to synchronize as soon as the leading value has reached the synchronous position. The synchronization is indicated in the Motion Control instruction "MC_GearInPos" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. -FBEJOHWBMVF -FBEJOHWBMVF EJTUBODF 4ZODISPOPVT QPTJUJPO -FBEJOHBYJT U 'PMMPXJOHWBMVF 5IFPSFUJDBM TZODISPOPVT QPTJUJPO 'PMMPXJOHBYJT U ① Time when synchronization starts ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The position of the leading axis from which the leading axis and following axis travel synchronously is derived in the following way: Position axes synchronous = Synchronous position of leading axis + Synchronization length As soon as the leading axis has reached this position, the following axis is synchronized. The following axis travels synchronously with the leading axis (Page 56). 6.2.4 Synchronous travel in gearing with "MC_GearInPos" (S7-1500T) As soon as the following axis is synchronized to a leading value, the following axis follows the position of the leading axis according to the synchronous positions and the gear ratio. The 56 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) transmission behavior during gearing is expressed by a linear relationship between the leading value and the following value. The following value is calculated as follows: Position of following axis (following value) = Synchronous position of following axis + gear ratio × (Position of leading axis - Synchronous position of leading axis) The "Synchronous" status is indicated in the Motion Control instruction "MC_GearInPos (Page 210)" with the parameter "InSync" = TRUE and in the "<TO>.StatusWord.X22 (Synchronous)" tag of the technology object. NOTE Avoid homing the leading axis in synchronous operation Avoid homing the leading axis during an active synchronous operation. Homing the leading axis during synchronous operation corresponds to a setpoint step-change on the following axis. The following axis compensates for the jump according to the synchronous operation function and limited only to the maximum speed of the drive. 6.2.5 Leading value offset during gearing (S7-1500T) 6.2.5.1 Leading value offset on the following axis during gearing using dynamic parameters (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". You can move the effective leading value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the leading value offset. The leading value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during leading value offset with the following parameters of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)": • With the parameter "ProfileReference" = 0, you specify the type of leading value offset as offset using dynamic parameters. • With the "PhaseShift" parameter, you specify the leading value offset on the following axis. • With the "Velocity" parameter, you specify the additive velocity of the following axis during the leading value offset. • With the "Acceleration" parameter, you specify the additive acceleration of the following axis during the leading value offset. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 57 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) • With the "Deceleration" parameter, you specify the additive deceleration of the following axis during the leading value offset. • With the "Jerk" parameter, you specify the additive jerk of the following axis during the leading value offset. During the leading value offset The leading value offset via dynamic parameters is effective immediately, regardless of the leading value position. The leading value is offset on the following axis. The dynamic values are added to the values of the synchronous operation motion. The required travel distance of the following axis to offset the leading value is calculated by the system. The leading value offset is indicated in the Motion Control instruction with the parameter "StartPhasing" = TRUE and in the "<TO>.StatusWort.X24 (PhasingCommand)" tag of the technology object. The "AbsolutePhaseShift" or "CoveredPhaseShift" parameter shows the absolute leading value portion already shifted. After the leading value offset As soon as the following axis has offset the leading value, the leading value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. The leading value offset only has an effect in the "Synchronous" status of the gearing. When the gearing is overridden, the leading value offset is reset to zero. 6.2.5.2 Leading value offset on the following axis during gearing using leading value distance as of current leading value position (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". You can move the effective leading value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the leading value offset. The leading value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during leading value offset with the following parameters of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)": • With the parameter "ProfileReference" = 1, you specify the type of leading value offset as offset using leading value distance as of the current leading value position. • With the "PhaseShift" parameter, you specify the leading value offset on the following axis. 58 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) • With the "PhasingDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the leading value offset. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 60). During the leading value offset After starting the jobs, the following axis begins with the leading value offset starting from the current position. Within the traversing distance of the leading axis, the following axis offsets the leading value at continuous velocity and acceleration. The required dynamics of the following axis to offset the leading value is calculated by the system. The resulting dynamic response of the following axis is not limited. The leading value offset is indicated in the Motion Control instruction with the parameter "StartPhasing" = TRUE and in the "<TO>.StatusWort.X24 (PhasingCommand)" tag of the technology object. The "AbsolutePhaseShift" or "CoveredPhaseShift" parameter shows the absolute leading value portion already shifted. The leading value must not reverse during the leading value offset on the following axis. When the leading value reverses, the "MC_PhasingAbsolute" job or "MC_PhasingRelative" job is canceled with "ErrorID" = 16#808C. After the leading value offset As soon as the following axis has offset the leading value, the leading value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. The leading value offset only has an effect in the "Synchronous" status of the gearing. When the gearing is overridden, the leading value offset is reset to zero. 6.2.5.3 Leading value offset on the following axis during gearing using leading value distance as of specific leading value position (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". You can move the effective leading value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the leading value offset. The leading value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 59 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Parameter inputs You define the behavior of the following axis during leading value offset with the following parameters of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)": • With the parameter "ProfileReference" = 2, you specify the type of leading value offset as offset using leading value distance as of a specific leading value position. • With the "PhaseShift" parameter, you specify the leading value offset on the following axis. • With the "PhasingDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the leading value offset. • With the "StartPosition" parameter, you specify the leading value position from which the leading value offset starts. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 60). Until the leading value offset After starting the job, the status "Waiting" is displayed at the following axis when the leading value is at standstill and until the leading value has reached the leading value position (<TO>.StatusWord2.X3 = TRUE (PhasingCommandWaiting)). During the leading value offset As soon as the leading value has reached the leading value position, the following axis begins to offset the leading value. Within the traversing distance of the leading axis, the following axis offsets the leading value at continuous velocity and acceleration. The required dynamics of the following axis to offset the leading value is calculated by the system. The resulting dynamic response of the following axis is not limited. The leading value offset is indicated in the Motion Control instruction with the parameter "StartPhasing" = TRUE and in the "<TO>.StatusWort.X24 (PhasingCommand)" tag of the technology object. The "AbsolutePhaseShift" or "CoveredPhaseShift" parameter shows the absolute leading value portion already shifted. The leading value must not reverse during the leading value offset on the following axis. When the leading value reverses, the "MC_PhasingAbsolute" job or "MC_PhasingRelative" job is canceled with "ErrorID" = 16#808C. The waiting job is not canceled. After the leading value offset As soon as the following axis has offset the leading value, the leading value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. The leading value offset only has an effect in the "Synchronous" status of the gearing. When the gearing is overridden, the leading value offset is reset to zero. 60 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) 6.2.5.4 Defining the direction of the leading value distance of a leading value offset on the following axis during gearing (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". With the "Direction" parameter of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)", you specify the direction of the leading value distance in relation to the direction of motion of the effective leading value. Defining leading value distance in the positive direction of motion of the effective leading value With "Direction" = 1, the following axis only offsets the leading value when the leading axis travels in the positive direction. &YFDVUF 4UBSU1IBTJOH %POF 50@-FBEJOH"YJT 1PTJUJPO U U U W 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC W W 61 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) Defining leading value distance in the negative direction of motion of the effective leading value With "Direction" = 2, the following axis only offsets the leading value when the leading axis travels in the negative direction. &YFDVUF 4UBSU1IBTJOH %POF 50@-FBEJOH"YJT 1PTJUJPO U U U W 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ W W Defining leading value distance in the current direction of motion of the effective leading value With "Direction" = 3, the following axis offsets the leading value regardless of the direction in which the leading axis is currently traveling. 6.2.5.5 Only cancel a pending leading value offset in the gearing (S7-1500T) With an "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)" job with "ProfileReference" = 5, you cancel a pending "MC_PhasingAbsolute" or "MC_PhasingRelative" job. Canceling a waiting job has no effect on an active leading value offset. 6.2.6 Following value offset during gearing (S7-1500T) 6.2.6.1 Following value offset on the following axis during gearing using leading value distance as of current leading value position (S7-1500T) With a following value offset, you offset the following value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". You can move the 62 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) following value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the following value offset. The following value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during following value offset with the following parameters of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)": • With the parameter "ProfileReference" = 1, you specify the type of following value offset as offset using leading value distance as of the current leading value position. • With the "Offset" parameter, you specify the following value offset on the following axis. • With the "OffsetDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the following value offset. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 65). During the following value offset After starting the job, the following axis begins with the following value offset starting from the current position. Within the traversing distance of the leading axis, the following axis offsets the following value at continuous velocity and acceleration. The required dynamics of the following axis for the following value offset is calculated by the system. The resulting dynamic response of the following axis is not limited. The following value offset is indicated in the Motion Control instruction with the parameter "StartOffset" = TRUE and in the "<TO>.StatusWort2.X4 (OffsetCommand)" tag of the technology object. The "AbsoluteOffset" or "CoveredOffset" parameter shows the absolute following value portion already shifted. The leading value must not reverse during the following value offset on the following axis. When the leading value reverses, the "MC_OffsetAbsolute" job or "MC_OffsetRelative" job is canceled with "ErrorID" = 16#808C. After the following value offset As soon as the following axis has offset the following value, the following value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. The following value offset only has an effect in the "Synchronous" status of the gearing. When the gearing is overridden, the following value offset is reset to zero. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 63 Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) 6.2.6.2 Following value offset on the following axis during gearing using leading value distance as of specific leading value position (S7-1500T) With a following value offset, you offset the following value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". You can move the following value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the following value offset. The following value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during following value offset with the following parameters of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)": • With the parameter "ProfileReference" = 2, you specify the type of following value offset as offset using leading value distance as of a specific leading value position. • With the "Offset" parameter, you specify the following value offset on the following axis. • With the "OffsetDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the following value offset. • With the "StartPosition" parameter, you specify the leading value position from which the following value offset starts. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 65). Until the following value offset After starting the job, the status "Waiting" is displayed at the following axis when the leading value is at standstill and until the leading value has reached the leading value position (<TO>.StatusWord2.X5 = TRUE (OffsetCommandWaiting)). During the following value offset As soon as the leading value has reached the leading value position, the following axis begins to offset the following value. Within the traversing distance of the leading axis, the following axis offsets the following value at continuous velocity and acceleration. The required dynamics of the following axis for the following value offset is calculated by the system. The resulting dynamic response of the following axis is not limited. The following value offset is indicated in the Motion Control instruction with the parameter "StartOffset" = TRUE and in the "<TO>.StatusWort2.X4 (OffsetCommand)" tag of the technology object. The "AbsoluteOffset" or "CoveredOffset" parameter shows the absolute following value portion already shifted. The leading value must not reverse during the following value offset on the following axis. When the leading value reverses, the "MC_OffsetAbsolute" job or "MC_OffsetRelative" job is canceled with "ErrorID" = 16#808C. The waiting job is not canceled. 64 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.2 Gearing with "MC_GearInPos" (S7-1500T) After the following value offset As soon as the following axis has offset the following value, the following value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. The following value offset only has an effect in the "Synchronous" status of the gearing. When the gearing is overridden, the following value offset is reset to zero. 6.2.6.3 Defining the direction of the leading value distance of a following value offset on the following axis during gearing (S7-1500T) With a following value offset, you offset the following value on the following axis during gearing with "MC_GearIn (Page 206)" or "MC_GearInPos (Page 210)". With the "Direction" parameter of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)", you specify the direction of the leading value distance in relation to the direction of motion of the effective leading value. Defining leading value distance in the positive direction of motion of the effective leading value With "Direction" = 1, the following axis only offsets the following value when the leading axis travels in the positive direction. &YFDVUF 4UBSU0TFU %POF 50@-FBEJOH"YJT 1PTJUJPO U U U W 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC W W 65 Gearing (S7-1500, S7-1500T) 6.3 Desynchronize gearing (S7-1500T) Defining leading value distance in the negative direction of motion of the effective leading value With "Direction" = 2, the following axis only offsets the following value when the leading axis travels in the negative direction. &YFDVUF 4UBSU0TFU %POF 50@-FBEJOH"YJT 1PTJUJPO U U U W 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ W W Defining leading value distance in the current direction of motion of the effective leading value With "Direction" = 3, the following axis offsets the following value regardless of the direction in which the leading axis is currently traveling. 6.2.6.4 Only cancel a pending following value offset in the gearing (S7-1500T) With an "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)" job with "ProfileReference" = 5, you cancel a pending "MC_OffsetAbsolute" or "MC_OffsetRelative" job. Canceling a pending job has no effect on an active following value offset. 6.3 Desynchronize gearing (S7-1500T) 6.3.1 Desynchronizing following axis using dynamic parameters with "MC_GearOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and gearing is ended. For desynchronization using dynamic parameters, 66 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.3 Desynchronize gearing (S7-1500T) desynchronization begins in such a way that the following axis comes to a standstill when the stop position is reached. With the Motion Control instruction "MC_GearOut" you can desynchronize a gearing which you have started either with a "MC_GearIn (Page 206)" job or with a "MC_GearInPos (Page 210)" job. Parameter inputs You define the behavior of the following axis for desynchronization with the following parameters of the Motion Control instruction "MC_GearOut (Page 262)": • With the parameter "SyncProfileReference" = 0, you specify the type of desynchronization as desynchronization using dynamic parameters. • With the parameter "SlavePosition", you specify the stop positions of the following axis. The stop position of the following axis is the position at which the following axis comes to a standstill and the desynchronization is completed. • With the "Deceleration" parameter, you specify the deceleration of the following axis. • With the "Jerk" parameter, you specify the jerk of the following axis. • With the "SyncOutDirection" parameter, you specify the direction of the desynchronization (Page 69). Until desynchronization After the start of the "MC_GearOut" job, a motion profile for the following axis is calculated continuously. The motion profile is calculated based on the following parameters: • Specified stop position of the following axis in the Motion Control instruction • Specified dynamics of the Motion Control instruction • Current position and dynamics of the leading and following axes • Synchronous operation function • Superimposed motion of the following axis • Additive leading value of the following axis The distance of the following axis and thus the starting position of the following axis for desynchronization results from the calculation. The start position of the following axis is derived in the following way: Start position = stop position of the following axis - travel distance of the following axis The status "Waiting" is displayed at the following axis until the following value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 4). During desynchronization The following axis begins to desynchronize as soon as the following value has reached the start position. Desynchronization is indicated in the Motion Control instruction "MC_GearOut" with the parameter "StartSyncOut" = TRUE and in the "<TO>.StatusWord2.X1 (DesynchronizingCommand)" tag of the technology object. The synchronous operation is no longer in the "Synchronous" status. Superimposed jobs of the following axis are canceled. The following axis moves to the stop position with the specified dynamics, independent of the leading value. During desynchronization, several modulo revolutions of both axes are generally possible. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 67 Gearing (S7-1500, S7-1500T) 6.3 Desynchronize gearing (S7-1500T) After desynchronization As soon as the following axis reaches the stop position, the following axis is desynchronized. The following axis is at a standstill. The status is indicated in the Motion Control instruction "MC_GearOut" with the parameter "Done" = TRUE and in the "<TO>.StatusWord.X7 (Standstill)" tag of the technology object. 6.3.2 Desynchronizing following axis using leading value distance with "MC_GearOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and gearing is ended. For desynchronization using the leading value distance, desynchronization begins in such a way that the following axis comes to a standstill when the stop position is reached. With the Motion Control instruction "MC_GearOut" you can desynchronize a gearing which you have started either with a "MC_GearIn (Page 206)" job or with a "MC_GearInPos (Page 210)" job. Parameter inputs You define the behavior of the following axis for desynchronization with the following parameters of the Motion Control instruction "MC_GearOut (Page 262)": • With the parameter "SyncProfileReference" = 1, you specify the type of desynchronization as desynchronization using the leading value distance. • With the parameter "SlavePosition", you specify the stop positions of the following axis. The stop position of the following axis is the position at which the following axis comes to a standstill and the desynchronization is completed. • With the "MasterStopDistance" parameter, you define the leading value distance (desynchronization length). • With the "SyncOutDirection" parameter, you specify the direction of the desynchronization (Page 69). Until desynchronization After the start of the "MC_GearOut" job, a motion profile is calculated depending on the specified leading value distance. The calculation determines the required dynamics and thus the start position of the leading axis for the desynchronization. The start position of the leading axis is derived in the following way: Start position = leading value position when the stop position of the following axis is reached - leading value distance The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 4). During desynchronization The following axis begins to desynchronize as soon as the leading value has reached the start position. Desynchronization is indicated in the Motion Control instruction "MC_GearOut" with the parameter "StartSyncOut" = TRUE and in the "<TO>.StatusWord2.X1 68 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.3 Desynchronize gearing (S7-1500T) (DesynchronizingCommand)" tag of the technology object. The synchronous operation is no longer in the "Synchronous" status. Superimposed jobs of the following axis are canceled. The following axis moves to the stop position with the specified dynamics, independent of the leading value. The leading value must not reverse during desynchronization. During desynchronization, several modulo revolutions of both axes are generally possible. /HDGLQJYDOXH /HDGLQJYDOXH GLVWDQFH W )ROORZLQJYDOXH 6WRSSRVLWLRQ )ROORZLQJD[LV W ① Time when desynchronization starts ② Time when desynchronization is complete The dynamics of the following axis during desynchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during desynchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After desynchronization As soon as the following axis reaches the stop position, the following axis is desynchronized. The following axis is at a standstill. The status is indicated in the Motion Control instruction "MC_GearOut" with the parameter "Done" = TRUE and in the "<TO>.StatusWord.X7 (Standstill)" tag of the technology object. 6.3.3 Defining direction of desynchronization with "MC_GearOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and gearing is ended. You can specify the desynchronization direction with the "SyncOutDirection" parameter of the Motion Control instruction "MC_GearOut (Page 262)". S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 69 Gearing (S7-1500, S7-1500T) 6.3 Desynchronize gearing (S7-1500T) Desynchronizing the following axis in positive traversing direction With "SyncOutDirection" = 1, the following axis is only desynchronized when the following axis moves in the positive direction. &YFDVUF 4UBSU4ZOD0VU %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 70 U U U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.4 Tags: Gearing (S7-1500, S7-1500T) Desynchronizing the following axis in negative traversing direction With "SyncOutDirection" = 2, the following axis is only desynchronized when the following axis moves in the negative direction. &YFDVUF 4UBSU4ZOD0VU %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U U U U U Desynchronizing the following axis in the current traversing direction With "SyncOutDirection" = 3, the following axis is desynchronized in the direction in which the following axis is currently moving. 6.3.4 Only cancel a pending gearing with "MC_GearOut" (S7-1500T) With a "MC_GearOut (Page 262)" job with "SyncProfileReference" = 5, you cancel a pending gearing. Canceling a pending gearing has no influence on an active gearing. 6.4 Tags: Gearing (S7-1500, S7-1500T) The following technology object tags are relevant for gearing: Status indicators Tag Description <TO>.StatusSynchronizedMotion.FunctionState Indication of which synchronous operation function is active 0 No synchronous operation active 1 Gearing ("MC_GearIn") 2 Gearing with specified synchronous positions ("MC_GearInPos") S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 71 Gearing (S7-1500, S7-1500T) 6.4 Tags: Gearing (S7-1500, S7-1500T) Status indicators Tag Description <TO>.StatusSynchronizedMotion.FunctionState 3 Camming ("MC_CamIn") 4 Desynchronization of gearing ("MC_GearOut") 5 Desynchronization of camming ("MC_CamOut") 6 Velocity gearing ("MC_GearInVelocity") <TO>.StatusSynchronizedMotion.WaitingFunc­ tionState <TO>.StatusSynchronizedMotion.ActualMaster Indication of which synchronous operation function is waiting 0 No synchronous operation waiting 1 Reserved 2 Gearing with specified synchronous positions waiting ("MC_GearInPos") 3 Camming waiting ("MC_CamIn") 4 Desynchronization of gearing waiting ("MC_GearOut") 5 Desynchronization of camming waiting ("MC_CamOut") When a synchronous operation job is started, the number of the techno­ logy data block of the currently used leading axis is displayed. 0 <TO>.Position Synchronous operation inactive Setpoints of the axis <TO>.Velocity <TO>.Acceleration <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Position Effective leading value including an additive leading value with an "MC_LeadingValueAdditive" job <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Velocity <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Acceleration <TO>.StatusSynchronizedMotion.PhaseShift Current absolute leading value offset with an "MC_PhasingAbsolute" or "MC_PhasingRelative" job <TO>.StatusSynchronizedMotion.FunctionLead­ ingValue.Position Leading value of the synchronous operation function after a leading value offset with an "MC_PhasingAbsolute" job or "MC_PhasingRelative" job including an additive leading value with a "MC_LeadingValueAdditive" job <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Position Following value of the synchronous operation function before a following value offset with an "MC_OffsetAbsolute" job or "MC_OffsetRelative" job <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Velocity <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Acceleration <TO>.StatusSynchronizedMotion.Offset Current absolute following value offset with an "MC_OffsetAbsolute" or "MC_OffsetRelative" job <TO>.StatusSynchronizedMotion.StatusWord.X0 Set to the value "TRUE" when the maximum velocity configured for the fol­ (MaxVelocityExceeded) lowing axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X1 Set to the value "TRUE" when the maximum acceleration configured for (MaxAccelerationExceeded) the following axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X2 Set to the value "TRUE" when the maximum deceleration configured for (MaxDecelerationExceeded) the following axis is exceeded during synchronous operation. 72 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Gearing (S7-1500, S7-1500T) 6.4 Tags: Gearing (S7-1500, S7-1500T) Status indicators Tag Description <TO>.StatusWord.X21 (Synchronizing) Set to the value "TRUE" when the synchronous axis synchronizes to a lead­ ing value. <TO>.StatusWord.X22 (Synchronous) Set to the value "TRUE" when the synchronous axis is synchronized and moves synchronously to the leading axis. <TO>.StatusWord2.X1 (DesynchronizingCom­ mand) Set to the value "TRUE" when the synchronous axis desynchronizes. <TO>.StatusWord.X24 (PhasingCommand) Is set to the value "TRUE" if a job for leading value offset is active ("MC_PhasingAbsolute", "MC_PhasingRelative"). <TO>.StatusWord2.X3 (PhasingCommandWait­ ing) Is set to the value "TRUE" if a job for leading value offset is pending ("MC_PhasingAbsolute", "MC_PhasingRelative"). <TO>.StatusWord2.X4 (OffsetCommand) Is set to the value "TRUE" if a job for following value offset is active ("MC_OffsetAbsolute", "MC_OffsetRelative"). <TO>.StatusWord2.X5 (OffsetCommandWaiting) Is set to the value "TRUE" if a job for following value offset is waiting ("MC_OffsetAbsolute", "MC_OffsetRelative"). <TO>.ErrorWord.X14 (SynchronousError) Error during synchronous operation The leading axis specified in the motion control instruction was not con­ figured as a possible leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 73 Velocity synchronous operation (S7-1500T) 7 With the Motion Control instruction "MC_GearInVelocity (Page 217)" you start a velocity synchronous operation between a leading axis and a following axis. During velocity synchronous operation , the velocity of the following axis results from the velocity of the leading axis multiplied by the gear ratio, regardless of the position. You specify the gear ratio as a ratio of two integers either once or variably during synchronization. This results in a linear transformation ratio. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. Synchronous travel begins after synchronization when the following axis has reached the velocity and acceleration of the leading axis, taking into account the gear ratio. 'PMMPXJOHWBMVFWFMPDJUZ -FBEJOHWBMVFWFMPDJUZ Slope of line/transmission ratio Gear ratio = "MC_GearInVelocity.RatioNumerator"/"MC_GearInVelocity.RatioDenominator" For velocity synchronous operation with "MC_GearInVelocity", you have the following options: • Defining gear ratio (Page 74) • Specify gear ratio once or dynamically (Page 75) • Define position control of the following axis (Page 76) • Synchronize following axis using dynamic parameters (Page 78) • Synchronous travel in velocity synchronous operation (Page 79) • Specify additive leading value with "MC_LeadingValueAdditive" (Page 165) • Set velocity synchronous operation with "MC_SynchronizedMotionSimulation" in simulation (Page 164) Also note the Dynamic limits of the following axis in velocity synchronous operation (Page 77). 7.1 Defining gear ratio (S7-1500T) During velocity synchronous operation , the velocity of the following axis results from the velocity of the leading axis multiplied by the gear ratio, regardless of the position. You specify the gear ratio at the Motion Control instruction "MC_GearInVelocity (Page 217)" as the relationship between two integers (numerator/denominator). 74 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Velocity synchronous operation (S7-1500T) 7.2 Specify gear ratio once or dynamically (S7-1500T) Numerator of the gear ratio With the "RatioNumerator" parameter, you define the numerator of the gear ratio. You can define the numerator of the gear ratio as positive or negative. This yields the following behavior: • Positive gear ratio: The leading and following axes move in the same direction. • Negative gear ratio: The following axis moves in the opposite direction of the leading axis. The value "0" is not permitted for the numerator of the gear ratio. Denominator of the gear ratio With the "RatioDenominator" parameter, you define the denominator of the gear ratio. Only positive values are permitted for the denominator of the gear ratio. Example 1: Positive gear ratio Leading axis and following axis are rotary axes. Parameter inputs: • "RatioNumerator" = 5 • "RatioDenominator" = 1 If the leading axis moves at 100 °/s, the following axis moves at 500 °/s in the "Synchronous" status of the velocity synchronous operation . Example 2: Negative gear ratio The leading axis is a linear axis. The following axis is a rotary axis. Parameter inputs: • "RatioNumerator" = -3 • "RatioDenominator" = 1 If the leading axis moves at 100 mm/s, the following axis moves at -300 °/s in the "Synchronous" status of the velocity synchronous operation . 7.2 Specify gear ratio once or dynamically (S7-1500T) For a velocity synchronous operation , you can either preset the gear ratio once at the start of the job or change it continuously during an active synchronous operation. Parameter inputs You define the behavior with the following parameters of the Motion Control instruction "MC_GearInVelocity (Page 217)": • You define the mode for presetting the gear ratio (Page 74) with the parameter "ContinuousUpdate" . S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 75 Velocity synchronous operation (S7-1500T) 7.3 Define position control of the following axis (S7-1500T) Specify gear ratio once With "ContinuousUpdate" = FALSE, the gear ratio specified at the start time of the "MC_GearInVelocity" job is used as long as the job is active. To change the gear ratio if necessary, you must start the job again with a rising edge of the parameter "Execute" = TRUE. The following axis then synchronizes again. Specify gear ratio dynamically With "ContinuousUpdate" = TRUE you can change the gear ratio dynamically while the "MC_GearInVelocity" job is active. Changes of the parameter values "RatioNumerator" and "RatioDenominator" are effective immediately. NOTE Dynamic limits In "Synchronous" status the dynamics of the following axis is limited only to the maximum speed of the drive. Make sure that the dynamic limits of the following axis are not exceeded by the changed gear ratios. That the mode for dynamic presetting of the gear ratio is active is indicated at the motion control instruction "MC_GearInVelocity" with the parameter "ContinuousUpdateActive" = TRUE. Recommendation You can specify only integer values as numerator ("RatioNumerator") and denominator ("RatioDenominator") of the gear ratio. To achieve as continuous a change as possible in the gear ratio, multiply the numerator and denominator by a high factor. This increases the resolution of the gear ratio and reduces the quantization error. Example The gear ratio should change gradually from 1.0 to 1.1. Parameter assignment 1: "RatioNumerator" = 100 … 110 "RatioDenominator" = 100 … 100 Increasing the counter in steps of 1 increases the gear ratio by 0.01 each time. Parameter assignment 2: "RatioNumerator" = 1 000 000 … 1 100 000 "RatioDenominator" = 1 000 000 … 1 000 000 Increasing the counter in steps of 1 increases the gear ratio by 0.000001 each time. With parameter assignment 2 you get a higher resolution and can change the gear ratio in smaller steps than with parameter assignment 1. 7.3 Define position control of the following axis (S7-1500T) During a velocity synchronous operation , the following axis can be operated in positioncontrolled or non-position-controlled mode. You specify the operating mode of the following axis independently of the operating mode of the leading axis at the motion control instruction "MC_GearInVelocity". 76 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Velocity synchronous operation (S7-1500T) 7.4 Dynamic limits of the following axis in velocity synchronous operation (S7-1500T) Parameter inputs You define the behavior of the following axis with the following parameters of the Motion Control instruction "MC_GearInVelocity (Page 217)": • You define the operating mode of the following axis with the parameter "PositionControlled". Position-controlled mode As soon as the "MC_GearInVelocity" job with "PositionControlled" = TRUE becomes effective, the following axis is switched to position-controlled operation. The configured position monitorings of the following axis are active. Superimposed motion, e.g. with a "MC_MoveSuperimposed" job, and travel to a fixed stop is only possible in position-controlled operation. Non-position-controlled mode As soon as the "MC_GearInVelocity" job with "PositionControlled" = FALSE becomes effective, the following axis is switched to non-position-controlled operation. The configured position monitorings of the following axis are deactivated. The position setpoint of the following axis is irrelevant in non-position-controlled operation. The zero position setpoint is displayed in "<TO>.Position" tag of the technology object. 7.4 Dynamic limits of the following axis in velocity synchronous operation (S7-1500T) If a synchronous axis is operated as a following axis in velocity synchronous operation with the Motion Control instruction "MC_GearInVelocity (Page 217)", the following dynamic limits apply depending on the phase of the synchronous operation: Synchronization During the synchronizing phase, dynamic limits configured for the technology object apply to the following axis. Synchronous motion During synchronous travel, the dynamics of the following axis is limited only to the maximum speed of the drive (<TO>.Actor.DriveParameter.MaxSpeed). The dynamics of the following axis results from the synchronous operation function. If the dynamic limits configured for the following axis are exceeded, this is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" tags of the technology object. The SW limit switches continue to be monitored with the configured dynamic limits of the following axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 77 Velocity synchronous operation (S7-1500T) 7.5 Synchronizing following axis using dynamic parameters with "MC_GearInVelocity" (S7-1500T) Synchronous operation override As soon as synchronous operation has been overridden (Page 283), the dynamic limits configured for the technology object apply to the following axis again. With the start of the overriding job, the active dynamics are transitioned (smoothed) to the configured dynamic limits and the specifications for the Motion Control instruction. 7.5 Synchronizing following axis using dynamic parameters with "MC_GearInVelocity" (S7-1500T) During velocity synchronous operation , the synchronization establishes the relationship between the leading and following axes. Synchronization begins immediately after the "MC_GearInVelocity" job starts. Parameter inputs You define the dynamic behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_GearInVelocity (Page 217)": • With the "Acceleration" parameter, you specify the acceleration of the following axis. • With the "Deceleration" parameter, you specify the deceleration of the following axis. • With the "Jerk" parameter, you specify the jerk of the following axis. Observe the dynamic limits (Page 77) of the following axis during synchronization. During synchronization Synchronization begins after the "MC_GearInVelocity" job starts. Active motion jobs are overridden. The synchronization duration and distance are dependent on the following parameters: • Dynamics of the following axis at the start time of the "MC_GearInVelocity" job • Dynamic settings for synchronization • Preset gear ratio at the start time of the "MC_GearInVelocity" job • Dynamics of the leading axis 78 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Velocity synchronous operation (S7-1500T) 7.6 Synchronous travel in velocity synchronous operation with "MC_GearInVelocity" (S7-1500T) The synchronization is indicated in the Motion Control instruction "MC_GearInVelocity" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. -FBEJOHWBMVFWFMPDJUZ U 'PMMPXJOHWBMVFWFMPDJUZ U ① Time when synchronization starts ② Time when synchronization is complete The specified gear ratio at the start time of the "MC_GearInVelocity" job is used for the synchronization. If you use a variable gear ratio with "ContinuousUpdate" = TRUE, changes to the gear ratio are only taken into account after synchronization. After synchronization The following axis is synchronized when the following axis has reached the velocity of the leading axis, taking into account the gear ratio. The following axis travels synchronously with the leading axis. 7.6 Synchronous travel in velocity synchronous operation with "MC_GearInVelocity" (S7-1500T) As soon as the following axis is synchronized, it follows the velocity of the leading axis depending on the specified gear ratio. The following value velocity is obtained as follows: Following value velocity = leading value velocity × gear ratio The "Synchronous" status is indicated in the Motion Control instruction "MC_GearInVelocity (Page 217)" with the parameter "InSync" = TRUE and in the "<TO>.StatusWord.X22 (Synchronous)" tag of the technology object. If the gear ratio changes when "ContinuousUpdateActive" = TRUE, the "Synchronous" status is retained. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 79 Velocity synchronous operation (S7-1500T) 7.7 Tags: Velocity synchronous operation (S7-1500T) 7.7 Tags: Velocity synchronous operation (S7-1500T) The following tags of the technology object are relevant for the velocity synchronous operation : Status indicators Tag Description <TO>.StatusSynchronizedMotion.FunctionState Indication of which synchronous operation function is active <TO>.StatusSynchronizedMotion.ActualMaster 0 No synchronous operation active 1 Gearing ("MC_GearIn") 2 Gearing with specified synchronous positions ("MC_GearInPos") 3 Camming ("MC_CamIn") 4 Desynchronization of gearing ("MC_GearOut") 5 Desynchronization of camming ("MC_CamOut") 6 Velocity synchronous operation ("MC_GearInVelocity") When a synchronous operation job is started, the number of the techno­ logy data block of the currently used leading axis is displayed. 0 <TO>.Position Synchronous operation inactive Setpoints of the axis <TO>.Velocity <TO>.Acceleration <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Position Effective leading value including an additive leading value with an "MC_LeadingValueAdditive" job <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Velocity <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Acceleration <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Position Following value of the synchronous operation function <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Velocity <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Acceleration <TO>.StatusSynchronizedMotion.StatusWord.X0 Set to the value "TRUE" when the maximum velocity configured for the fol­ (MaxVelocityExceeded) lowing axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X1 Set to the value "TRUE" when the maximum acceleration configured for (MaxAccelerationExceeded) the following axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X2 Set to the value "TRUE" when the maximum deceleration configured for (MaxDecelerationExceeded) the following axis is exceeded during synchronous operation. <TO>.StatusWord.X21 (Synchronizing) Set to the value "TRUE" when the synchronous axis synchronizes to a lead­ ing value. <TO>.StatusWord.X22 (Synchronous) Set to the value "TRUE" when the synchronous axis is synchronized and moves synchronously to the leading axis. 80 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Velocity synchronous operation (S7-1500T) 7.7 Tags: Velocity synchronous operation (S7-1500T) Status indicators Tag Description <TO>.ErrorWord.X14 (SynchronousError) Error during synchronous operation The leading axis specified in the Motion Control instruction was not con­ figured as a possible leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 81 8 Camming (S7-1500T) With the Motion Control instruction "MC_CamIn (Page 247)", you start a camming operation between a leading axis and a following axis. You specify the synchronous operation function with a cam (Page 25). To use a cam for camming, the cam must be interpolated. The utilized cam can be scaled on a job-related basis and applied shifted. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. Synchronous travel begins after synchronization of the following axis. 'PMMPXJOH WBMVF -FBEJOHWBMVF 4ZODISPOPVTQPTJUJPO Transfer function: Following value = f(leading value) Synchronization in advance Subsequent synchronization ① Leading value distance with synchronization in advance ② Leading value distance with subsequent synchronization You have the following options for camming with "MC_CamIn": • Defining the synchronous operation function (Page 83) • Interpolate cam with "MC_InterpolateCam" (Page 116) • Scaling and shifting cam (Page 125) • Defining application mode of the cam (Page 127) • Defining direction of synchronization (Page 130) • Define synchronous position and type of synchronization: – Synchronizing following axis in advance using dynamic parameters (Page 133) – Synchronizing following axis in advance using leading value distance (Page 134) – Synchronize the following axis in advance via the leading value path from the current leading value position (Page 136) – Subsequent synchronizing of following axis using leading value distance (Page 139) – Subsequent synchronizing of following axis using leading axis value starting at current leading value position (Page 142) – Directly set the following axis synchronously (Page 143) – Directly set following axis synchronously at end of the cam (Page 144) • Synchronous travel in camming (Page 146) • Reading a leading value with "MC_GetCamLeadingValue" (Page 146) 82 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) • Reading a following value with "MC_GetCamFollowingValue" (Page 146) • Specify additive leading value with "MC_LeadingValueAdditive" (Page 165) • Offset leading value absolute or relative with "MC_PhasingAbsolute" or "MC_PhasingRelative" (Page 147) • Absolute or relative following value offset with "MC_OffsetAbsolute" or "MC_OffsetRelative" (Page 151) • Changing synchronous operation function during Runtime (Page 113) • Set camming to simulation mode with "MC_SynchronizedMotionSimulation" (Page 164) • Desynchronize following axis with "MC_CamOut" (Page 156) • Cancel a pending camming with "MC_CamOut" (Page 161) Also note the dynamic limits of the following axis in camming with "MC_CamIn" (Page 129). NOTE Using "DB_ANY" data type with the cam technology object In Motion Control instructions with technology version ≥ V6.0, direct assignment of the "DB_ANY" data type at the "Cam" parameter leads to an access error. Due to this access error, the CPU changes to the "STOP" state. Use a data type conversion function for the cam technology object of the type "TO_Cam" or "TO_Cam_10k". A description of the procedure can be found in the section "Parameter transfer for function blocks" of the "S7-1500/S7-1500T Motion Control Overview documentation" (Page 13). 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.1 Structure and operation of the cam editor (S7-1500T) You configure a cam technology object (Page 25) using the cam editor. You create the cam function using a chart a table containing the elements of the curve and the properties of the elements. Transitions are calculated between the individual elements of the curve (e.g. points, lines, polynomials). The curve reflects the path-related dependency between the leading axis (leading values, abscissa in the chart) and following axis (following values, ordinate in the chart). The cam editor offers you the following support when creating a cam: • Optimization of the curve form • Generation of continuous and jerk-free transitions between curve elements • Velocity-optimized design of the cam S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 83 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) The following figure shows the layout of the editor: ① Toolbar ② Curve diagram The leading value range (definition range) is displayed on the abscissa (x axis). The following value range (value range) is displayed on the ordinate (y axis). ①+② Graphical editor ③ Tabular editor ④ Inspector window (properties and display) Toolbar You use the toolbar to operate the graphical editor and to import/export cams. Graphical editor In the graphical editor, you edit the elements of the curve graphically. The elements can be added, edited and deleted. Up to four charts can be created one above the other with synchronized abscissa. The setpoint curve as well as the curves for the effective position, velocity, acceleration and the jerk can be displayed in the charts. The definition of the cam starts with the first defined interpolation point or the first segment and ends with the last interpolation point or the last segment. In contrast, the configurable display range of the leading value and the following value is used in the properties of the cam editor (Inspector window) only for display in the graphical editor. 84 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Tabular editor All elements of the curve are listed in the tabular editor. Existing elements can be edited. New elements can be added. Inspector window In the Inspector window, you configure the properties of the curve and of the selected element in the "Properties" tab. You configure the graphic view in the "Display" tab: • Profile (e.g. leading and following value range, optimization and interpolation of the profile, number of elements used) • Element (e.g. derivatives, polynomial coefficients, optimization of the element) • Graphical view (e.g. line type, line color, scaling of the view) Elements of the curve The following table shows the elements that can be used to define the curve: Element Description Point A point assigns a following value to a leading value. Depending on the inter­ polation type, the curve runs through the point with these coordinates or only uses the point for orientation. The velocity, acceleration and jerk can be defined in this point using the first, second and third derivative. Point group A point group combines two or more points into an commonly interpolated element and allows precise interpolation between these points. Line A line describes a motion with constant velocity from the start point of the line to the end point. The incline of the line specifies the constant velocity. Sine A sine element describes a motion according to the sine function. The sine function can be adjusted with the phase angle in the start point and end point, the period length, the amplitude as well as the oscillation zero point (offset). Polynomial A polynomial describes a motion according to a polynomial function of the 7th degree maximum. Polynomials can be defined by entering the boundary conditions or the polynomial coefficients. Optionally, you can configure a tri­ gonometric polynomial component. Inverse sine (approxim­ ated) An inverse sine describes a motion according to the arcsine function. An inverse sine is approximated using interpolation points of the arcsine func­ tion. Transition Transitions interpolate the range between two elements. The ranges are automatically interpolated by the controller or using a configurable optimiza­ tion according to VDI Guideline 2143. Transitions are added automatically. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 85 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Additional information You can find more information about working with the cam editor in FAQ entry 109749820 (https://support.industry.siemens.com/cs/ww/en/view/109749820) in the Siemens Industry Online Support. 8.1.1.1 Structure of the graphical editor (S7-1500T) The graphical editor is divided into the following areas: • Toolbar • Curve diagram Toolbar The toolbar at the top of the graphical editor provides you with icons for the following functions: Symbol 86 Function Description Importing cam from file See section "Importing/exporting cam (Page 111)" Exporting cam to file See section "Importing/exporting cam (Page 111)" Edit elements/Move view • Selecting and moving of individual elements • Moving the view using the drag-and-drop feature To switch from any tool to the "Edit elements/Move view" tool, press the <Esc> key. Activate zoom selection Zoom into selected area Activate vertical zoom Vertical zoom into selected area without horizontal scaling Alternative: <Ctrl> +drag to ordinate keeping mouse button pressed Activate horizontal zoom Horizontal zoom into selected area without vertical scaling Alternative: <Ctrl> +drag to abscissa keeping mouse button pressed Zoom in Enlargement of the display Alternative: <Ctrl> + mouse wheel up in curve diagram Zoom out Reduction of the display Alternative: <Ctrl> + mouse wheel down in curve diagram Show all Display of entire definition and value range Zoom into curve Zoom to the following value range of the curve that you selected in the legend of the chart Activate snap grid Alignment of inputs and element end points to the configurable snap grid and to other element end points Inserting a point Adding a point to the chart Inserting a line Adding a line to the chart Inserting a sine Adding a sine element to the chart Inserting a polynomial Adding a polynomial to the chart Inserting an inverse sine Adding an inverse sine to the chart Insert point group Add a point group to the chart S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Symbol Function Description View: A chart with positions Display of one chart with the following curves of the cam opened in the edit­ or: • Preset curve • Effective position View: A chart with all curves Display of one chart with the following curves of the cam opened in the edit­ or: • Preset curve • Effective position • Effective velocity • Effective acceleration • Effective jerk View: Four charts with all curves Display of four charts with the following curves of the cam opened in the editor: • Chart with setpoint curve and effective position • Chart with effective velocity • Chart with effective acceleration • Chart with effective jerk Vertical measuring lines Displaying and moving of vertical measuring lines Hold down the left mouse button and drag to draw a measuring range. The vertical position of the measuring lines can be moved. The function values for the measuring line positions are displayed in the chart. The difference of the measuring lines is displayed between the meas­ uring lines. Horizontal measuring lines Displaying and moving of horizontal measuring lines Hold down the left mouse button and drag to draw a measuring range. The horizontal position of the measuring lines can be moved. The function values for the measuring line positions are displayed in the chart. The difference of the measuring lines is displayed between the meas­ uring lines. Show legend Showing or hiding of the legend in the curve diagram. To display values for a specific curve on the ordinate, click on the name of the corresponding curve in the legend. Read out and display online curve one time Display of the position values of the cam read back from the CPU (orange) The cam editor reads out the cam that was already loaded into the CPU. The read out "Online curve" is displayed in the graphical editor. Curve diagram In the curve diagram, you enter the elements of the curve and adjust the curve by selecting and moving elements. Chart areas outside of the leading value/following value range configured in "Profile > General (Page 92)" are grayed out. Elements outside the leading value/following value range are displayed with a warning ("Element is outside the definition range"). You can display various curves (position, velocity, acceleration and jerk) one above the other in up to four charts by configuring the graphical view accordingly. When multiple charts are displayed, you can adapt the graphs to match the separator lines. The view can be zoomed in the manual mode by pressing <Ctrl > + Mouse wheel and <Ctrl > + while pressing the mouse button on the abscissa/ordinate. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 87 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) The editor shows messages for checking the entered curve via warning triangles . The tooltip of the waring triangle shows the message text. Configure the checking of the curve in the "Check (Page 93)" configuration window. Display of the online curve When you click the icon, the cam editor reads the data from the technology object data block and displays the curve in the graphical editor: Cam status Interpolation status Description Data not modified (CamDataChanged = 0) Not interpolated (Interpolated = 0) Only the points and segments of the cam are dis­ played. Interpolated (Interpolated = 1) The interpolated cam is displayed. Not interpolated (Interpolated = 0) Only the points and segments of the cam are dis­ played. Interpolated (Interpolated = 1) The interpolated cam as well as changed points and segments are displayed. Data modified (CamDataChanged = 1) 8.1.1.2 Shortcut menu in the graphical editor (S7-1500T) Use the shortcut menu in the graphical editor to call up the following functions: 88 Function Description Show all Displaying the entire definition range and value range Zoom into curve Displaying the curve selected in the legend of the chart Zoom in Enlargement of the display Zoom out Reduction of the display Open charts and curves Opening of the "Charts and curves (Page 94)" dialog Cut Removing the selected elements and copying them to the clipboard Copy Copying of the selected elements to the clipboard Insert Pasting of the elements from the clipboard to the last element Delete Deletion of the selected elements Transitions to existing elements are also deleted. Insert special Open the "Insert elements (Page 106)" dialog Group points Combine the selected points into a group of points The entry is displayed under the following conditions: • Only points are selected in the graphic/tabular editor. • There are no other elements between the selected points. Dissolve point group Ungrouping the selected point group into individual points Show/hide measuring point labels Showing or hiding the measuring points The entry is displayed under the following conditions: • Measuring lines are displayed. • Measuring points are hidden/shown. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.1.3 Function Description Move Open the "Move elements (Page 107)" dialog Scale Open the "Scale elements (Page 108)" dialog Structure of the tabular editor (S7-1500T) The tabular editor shows all elements of the curve, sorted by their leading values. The elements can be adjusted. New elements can be added. The following properties are displayed in the corresponding column for each element of the curve: Column/Property Description First column Sequential number of the element Second column Display of calculation problems that might occur with warning triangle The alarm text is displayed in the tooltip of the warning triangle. Element type • Display/change of element type • Adding elements Possible element types: • Point • Point group • Line • Sine • Polynomial • Inverse sine • Transition Start Parameter values at start point of the element Leading value Leading values at start point of the element Following value Following values at start point of the element Position1) Calculated effective position at start point of the element Velocity1) Calculated effective velocity at start point of the element Acceleration1) Calculated effective acceleration at start point of the element Jerk1) Calculated effective jerk at start point of the element End Leading value Leading values at end point of the element Following value Following values at end point of the element Position1) Calculated effective position at end point of the element Velocity1) Calculated effective velocity at end point of the element Acceleration1) Calculated effective acceleration at end point of the element Jerk1) Calculated effective jerk at end point of the element Comment 1) Parameter values at end point of the element Optional comment for element. Displayed according to the configuration in "Properties (Inspector window) > Graphical view > Charts and curves". S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 89 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.1.4 Shortcut menu in the tabular editor (S7-1500T) Use the shortcut menu in the tabular editor to call up the following functions: 8.1.1.5 Function Description Insert row above Insert a table row/element before the selected row/element If no transition exists before the element, the selected element and the adjoining elements are changed. Insert row below Insert a table row/element after the selected row/element If no transition exists after the element, the selected element and the adjoin­ ing elements are changed. Cut Removing the selected elements and copying them to the clipboard Copy Copying of the selected elements to the clipboard Insert Pasting of the elements from the clipboard to the last element Delete Deletion of the selected elements Transitions to existing elements are also deleted. Insert special Open the "Insert elements (Page 106)" dialog Group points Combine the selected points into a group of points The entry is displayed under the following conditions: • Only points are selected in the graphic/tabular editor. • There are no other elements between the selected points. Dissolve point group Ungroups the selected point group into individual points Move Open the "Move elements (Page 107)" dialog Scale Open the "Scale elements (Page 108)" dialog Operating the cam editor (S7-1500T) The procedure described here shows the basic operation of the cam editor. This procedure serves as a recommendation. The basic operation can include the follow tasks: • Adapting defaults • Creating and adapting the curve • Interpolation/optimization of the transitions (Page 122) Adapting defaults To adjust the leading and following value range of the cam profile as well as the graphical view, follow these steps: 1. In the properties (Inspector window), open the "Profile > General (Page 92)" configuration window. 2. Configure the leading value range and the following value range of the curve definition. The graphical view is automatically adapted to the inputs. 90 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 3. In the area navigation of the Inspector window, open the "Display (Page 91)" tab. 4. Configure the following configuration windows: – The display of the charts and curves – The grid spacing for aligning inputs in the graphical editor – The decimal places displayed in the cam editor. Creating and adapting the curve To create and adapt the curve, follow these steps: 1. Use the graphical editor and/or the tabular editor to add the elements of the cam: – On the toolbar, click the icon for inserting the corresponding element. Place the element at the required position in the graphical editor. – Use <Add> to insert the corresponding elements in the "Element type" column of the tabular editor. Adjust the position of the elements using the start and end values. Transitions between the elements are added automatically. 2. To edit an element, select it in the graphical or tabular editor. The element is highlighted in the graphical and in the tabular editor. The "Element > Parameter" configuration window is displayed in the properties (Inspector window), or in case of a transition, "Element > Characteristic". 3. The elements can be adjusted as follows: – Move the element or the drag handles of the element in the graphical editor. – Adjust the start and end values in the tabular editor. – Configure additional element-specific parameters in the properties (Inspector window) in the "Element > Parameter" configuration window. – Set the interpolation of the transitions with the properties (Inspector window). The number of elements used is displayed in the properties (Inspector window) in the "Profile > Statistics (Page 108)" properties window. See also System interpolation (Page 119) Configuring transitions (Page 116) Configuration charts - Charts and curves (Page 94) Interpolate cam with "MC_InterpolateCam" (Page 124) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 91 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.2 Configure the profile and display of the cam (S7-1500T) 8.1.2.1 Properties and display in the inspector window (S7-1500T) You configure further element-specific parameters in the inspector window in the following tabs: • The parameters for the profile of the cam as well as for the elements are displayed in the "properties" tab. The corresponding parameters are displayed depending on the selected element: – If no element of the curve is selected, only the settings for the profile of the cam are displayed. – If an element of the curve is selected, the parameters of the element are additionally displayed. • In the "Display" tab you can configure the graphic view of the charts and curves. 8.1.2.2 Configuration of profile - General (S7-1500T) Configure the display range of the graphical editor in the "General" configuration window. The inputs of the leading value range and following value range only effect the display in the graphical editor. The cam is interpolated in the definition range between the following values: • First defined interpolation point/start of the first segment of the cam (<TO>.StatusCam.StartLeadingValue) • Last defined interpolation point/end of the last segment of the cam (<TO>.StatusCam.EndLeadingValue) Leading value display range In this area, configure the leading value display range in the graphical editor: Parameters Description Start In this field you configure the initial value of the display range of the leading value. End In this field you configure the full-scale value of the display range of the lead­ ing value. Following value display range In this area, you can configure the limitation of the following value range in the graphical editor: 92 Parameters Description Minimum In this field you configure the lowest permissible value for the following value display range. Maximum In this field you configure the greatest permissible value for the following value display range. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.2.3 Configuration of profile - Effective runtime curves (S7-1500T) Configure the values for the leading axis and following axis that are applied to the effective curve In the "Effective runtime curves" configuration window. The runtime emulation calculates the effective curve with these applied values and displays the curve in the graphical editor with the applied limits. The inputs are not downloaded into the CPU. This means the cam is interpolated without these inputs. You can use these applied values to test and visualize how the cam behaves during operation, for example, when entering a scaling at an "MC_CamIn" job. Settings of the leading axis Configure the calculation and display of the curve on the leading value end in this area: Parameters Description Copy from axis Using the button and the "Copy leading value settings of axis" dialog, select an axis whose maximum velocity is applied as the velocity for the leading axis. Scaling factor Configure a leading value-side scaling factor in this field. This visualizes a scaled curve. You enter a scaling during runtime with an "MC_CamIn" job. Unit of measure In the selection list, select the unit of measure for the leading value. Unit of measure for the first derivative In the selection list, select the unit of measure for the first derivative of the leading value. Velocity Configure the velocity of the leading axis applied for the runtime emula­ tion of the curve in this field. Settings of the following axis Configure the calculation and display of the curve on the following value side in this area: Parameters Description Copy from axis Using the button and the "Copy following value settings of axis" dialog, select an axis whose maximum dynamic values are applied as the limits to be checked during calculation and display of the curve. Scaling factor Configure a following value-side scaling factor in this field. This visual­ izes a scaled curve. You enter a scaling during runtime with an "MC_CamIn" job. Unit of measure In the selection list, select the unit of measure for the following value. Unit of measure for the first derivative In the selection list, select the unit of measure for the first derivative of the following value. Maximum velocity Configure the maximum velocity for the following axis in this field. Maximum acceleration Configure the maximum acceleration for the following axis in this field. Maximum jerk Configure the maximum jerk for the following axis in this field. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 93 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.2.4 Configuration of profile - Check (S7-1500T) In the "Verification" configuration window, you configure which criteria the cam editor checks when entering the curve. When you activate a check, the graphical and the tabular editor display corresponding messages via a warning triangle on the element. Use the tooltip at the warning triangle to display the message text. NOTE Use the checking options for the final check of the cam and enable all checks before completing the cam. Make any required adjustments to the cam profile. Examination of limit violations Configure the checks for compliance with the configured limits in this area: Check/Element Description Check curve definition of the leading and following value ranges Select this check box to have the cam editor check the curve accordingly. Check adherence to the maximum val­ ues of the derivatives of the effective runtime curve Select this check box to have the cam editor check the curve accordingly. Verification of VDI suitability Select the "Check the suitability of transitions in accordance with VDI" check box to have the cam editor check the VDI suitability of the curve. The cam editor checks the following with this: • Support of the transition classification of the currently selected VDI transition • Boundary value adjustment according to VDI Verification of continuity In the "Required continuity" list, select which parameter the cam editor checks for continuity: • Position • Velocity • Acceleration • Jerk If a function or a derivative is discontinuous, all higher derivatives are also discontinuous. 8.1.2.5 Configuration charts - Charts and curves (S7-1500T) In the "Charts and curves" configuration window, configure the display of the graphical editor. 94 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) "Reset to defaults" button Use this button to reset all settings of the view of charts and curves to the default settings. Configuration table Configure the display of the graphical editor in the table: Column Description Show Displaying/hiding of charts 1 to 4 Visible Displaying/hiding of curves in the chart You can show or hide online curves already offline. The curve becomes visible when you have shown the curve, established an online connection and read out the online curve. Name Name of chart or curve New curves can be added. Existing curves can be removed. Curves of other cams can also be displayed. The name of the other cam is also displayed in the table and in the legend of the chart. A curve can be inserted multiple times in a chart, e.g. in order to display it with different scalings. Color Line color of the curve Line type Line type of the curve Offset of the leading val­ Movement of the curve on the abscissa ues1) Multiplier for leading val­ Scaling of abscissa ues1) Offset of the following values1) Movement of the curve on the ordinate Multiplier for following values1) Scaling of ordinate 1) 8.1.2.6 Only affects the display of the curve in the chart. You specify the scaling and shifting of the cam dur­ ing camming in the Motion Control instruction "MC_CamIn". Configuration charts - Snap grid (S7-1500T) In the "Snap grid" configuration window, you configure the grid spacing for aligning inputs to the grid in the graphical editor. When "Snap" is activated, inputs and element end points are aligned to this grid and to other element end points. Snap grid spacing In this area, configure the grid spacing of the snap grid: Parameter Description Grid spacing leading value Configure the grid spacing on the abscissa (leading values) in this field. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 95 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.2.7 Parameter Description Grid spacing following value Configure the grid spacing on the ordinate (following values) in this field. Configuration - Decimal places (S7-1500T) In the "Decimal places" configuration window, you configure how many decimal places are used to represent the values in the graphical and tabular editor as well as in the configuration windows. The values are rounded in the displays. The settings do not affect the calculation of the curves. The curves are calculated with higher accuracy regardless of the settings. Displayed decimal places In this area, configure the displayed decimal places: Parameter Description Tabular editor and con­ figuration window In this field, configure the number of decimal places for displaying values in the tabular editor and in the configuration windows. Graphical editor In this field, configure the number of decimal places for displaying values in the graphical editor. 8.1.3 Inserting and configuring cam elements (S7-1500T) 8.1.3.1 Inserting and configuring a point (S7-1500T) A point assigns a following value to a leading value. The curve runs through the point with these coordinates. By means of the first, second and third derivatives, the velocity, acceleration and jerk can be defined in this point. The derivative are only taken into consideration during VDI-based optimization of transitions of the point to other elements. Inserting a point To add a point to the curve, follow these steps: 1. On the toolbar, click the "Insert point" icon. 2. In Chart 1, click on the desired position. The point is inserted. The coordinates are displayed for the point. The tabular editor and the view of the properties (Inspector window) are updated. A transition to any element is inserted automatically. 96 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Moving a point To move a point in the graphical editor, follow these steps: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the point in chart 1. 3. Use the drag-and-drop feature to move the point to the desired position. Adapting parameters The parameters of the point can be adjusted in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected point in this area: Parameter/Option Description Leading value of the point Leading value In this field, configure the leading value of the point (value in the definition area). Following values of the point Following value Configure the following value of the point (value in the range of the func­ tion) in this field. Use first derivative By selecting the check box, you can specify the first derivative at the selec­ ted point and include it in the interpolation of the cam. First derivative Configure the value of the first derivative in the selected point in this field. Use second derivative By selecting the check box, you can specify the second derivative at the selected point and include it in the interpolation of the cam. Second derivative Configure the value of the second derivative in the selected point in this field. Use third derivative By selecting the check box, you can specify the third derivative at the selec­ ted point and include it in the interpolation of the cam. Third derivative Configure the value of the third derivative in the selected point in this field. The derivative are only taken into consideration during VDI-based optimization of transitions of the point to other elements. 8.1.3.2 Inserting and configuring a point group (S7-1500T) A point group combines two or more points into a commonly interpolated element and allows precise interpolation between the points. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 97 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Insert point group To add a point group to the curve, proceed as follows: 1. On the toolbar, click the "Insert point group" icon. 2. In Chart 1, click on the desired position at which you want to insert the point group. The point group is inserted. The coordinates of the start point and the end point are displayed at the point group. The tabular editor and the view of the properties (Inspector window) are updated. If a different element already exists, a transition to the existing element is automatically inserted. Adapt point group To adapt a point group in the graphical editor, proceed as follows: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the point group in chart 1. The point group is highlighted graphically with drag handles. The following drag handles are displayed: – Start point of the point group – End point of the point group 3. Use the drag-and-drop feature to move the handles or the whole point group to the desired position. If further interpolation points are configured between the start point and the end point in the point group, the cam editor handles the interpolation points as follows: – Definition type of the leading value "Relative to segment" The interpolation points are shifted relative to the start and end points. – Definition type of the leading value "Absolute in the profile" The interpolation points are not moved. Adapting parameters You can adjust the parameters of the point group in the graphical editor, in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected point group in this area: Parameter/Option Description Leading values of the point group Start In this field, configure the start point of the point group in the leading value range (definition area). End In this field, configure the end point of the point group in the leading value area (definition area). Interpolation points 98 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Parameter/Option Description Definition type of the lead­ In the drop-down list, select how the leading values of the interpolation ing values points are specified: • Relative to segment You specify the leading values of the interpolation points relative to the group of points from 0.0 to 1.0. The value 0.0 corresponds to the beginning of the point group. The value 1.0 corresponds to the end of the point group. • Absolute in the profile You specify the leading values of the interpolation points as absolute values. Definition type of the fol­ lowing values In the drop-down list, select how the following values of the interpola­ tion points are specified: • Relative to segment You specify the following values of the interpolation points relative to the following value range of the point group from 0.0 to 1.0. The value 0.0 corresponds to the configured minimum following value of the point group. The value 1.0 corresponds to the configured maxim­ um following value of the point group. • Absolute in the profile You specify the following values of the interpolation points as abso­ lute values. Minimum following value In this field, configure the minimum following value for the point group in the following value range. Maximum following value In this field, configure the maximum following value of the point group in the following value range (value range). Use this "Insert interpolation point" icon to add an interpolation point to the point group. Interpolation points This table shows the configured interpolation points sorted by increasing leading value. Add interpolation points using the icon. Delete interpolation points by marking a row and pressing the <Delete> key. If you delete all points except one, the element type is changed from "Point group" to "Point". Leading value In this field, configure the leading value of the interpolation point (value in the definition area). Following value In this field, configure the following value of the interpolation point (value in the value range). Interpolation Interpolation type In the drop-down list, select the interpolation type to be used for inter­ polating the point group: • Interpolation with cubic splines • Interpolation with Bézier splines Approximation Mapping method Select the mapping method in the drop-down list: • Point approximation • Segment approximation Number of interpolation points Configure the number of interpolation points for the point approxima­ tion in this field. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 99 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Parameter/Option Description Maximum following value In this field, enter the maximum permissible deviation (absolute) of the tolerance approximation from the interpolation points. If the configured value is exceeded, a warning is displayed in the graphic­ al editor at the point group. 8.1.3.3 Inserting and configuring the line (S7-1500T) A line describes a motion with constant velocity from the start point to the end point of the line. The incline of the line specifies the constant velocity. Inserting a line To add a line to the curve, follow these steps: 1. On the toolbar, click the "Insert line" icon. 2. Use the drag-and-drop feature in chart 1 to draw the line from the start position to the end position. The straight line is inserted. The coordinates of the start point and end point are displayed for the line. The tabular editor and the view of the properties (Inspector window) are updated. A transition to any element is inserted automatically. Moving a line To move a line in the graphical editor, follow these steps: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the line in chart 1. The line is graphically highlighted with drag handles. The following drag handles are displayed: – Start point of the line – End point of the line 3. Use the drag-and-drop feature to move the handles or the entire line to the desired position. Adapting parameters The parameters of the line can be adjusted in the graphical editor, in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected line in this area: Parameters Description Leading values of the line 100 Start Configure the start point of the line in the leading value range (definition range) in this field. End Configure the end point of the line in the leading value range (definition range) in this field. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Parameters Description Following values of the line 8.1.3.4 Definition by In the selection list, select the parameters to be used to define the line: • Following values at start and end • Following value at the start and incline • Incline and following value at end The corresponding parameters are displayed based on the selection. Start Configure the start point of the line in the following value range (value range) in this field. End Configure the end point of the line in the following value range (value range) in this field. Incline Configure the incline of the line in this field. Inserting and configuring a sine (S7-1500T) A sine element describes a motion according to the sine function. The sine function can be adjusted with the phase angle in the start point and end point, the period length, the amplitude as well as the oscillation zero point (offset). Inserting a sine To add a sine to the curve, follow these steps: 1. On the toolbar, click the "Insert sine" icon . 2. In Chart 1, click on the position desired position. The mouse pointer points to the start position of the sine here. The sine is inserted. The coordinates of the start point and end point are displayed for the sine. The tabular editor and the view of the properties (Inspector window) are updated. A transition to any element is inserted automatically. Adjusting a sine To adjust a sine in the graphical editor, follow these steps: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the sine in chart 1. The sine is graphically highlighted with drag handles and guide lines for the zero line and the amplitude. The following drag handles are displayed: – Leading value/shift at left/right boundary These drag handles can also be used to adjust the inclination of an inclined sine. – Leading value at left/right boundary – Phase at left/right boundary – Amplitude 3. Use the drag-and-drop feature to move the handles or the entire sine to the desired position. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 101 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Adapting parameters The parameters of the sine can be adjusted in the graphical editor, in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected sine element in this area: Parameters Description Leading values of the sine Start Configure the start point of the sine element in the leading value range (definition range) in this field. End Configure the end point of the sine element in the leading value range (definition range) in this field. Trigonometric parameters Amplitude Configure the amplitude of the sine element in this field. Definition by In the drop-down list, select how the sine element is defined: • Phase at start and at end • Phase at start and period length • Phase at start and frequency • Period length and phase at end • Frequency and phase at end The corresponding parameters are displayed based on the selection. Phase angle at start Configure the phase angle at the start of the sine element in this field. Phase angle at end Configure the phase angle at the end of the sine element in this field. Period length Configure the period length of the sine element in this field. Frequency Configure the frequency of the sine element in this field. Extended parameters 102 Segment type Select the variant of the sine element in the drop-down list. • Sine • Inclined sine If you have configured an inclined sine, additional orientation lines are displayed in the graphical editor for the amplitude and center position. The corresponding parameters are displayed based on the selection. Offset Configure the oscillation midpoint of the sine element in this field. Definition of inclination as a function of: In the drop-down list, select how the inclined sine element is defined: • Offset at start and end • Offset at start and inclination • Inclination and offset at end The corresponding parameters are displayed based on the selection. Offset at start Configure the center of oscillation at the start of the sine element in this field. Offset at end Configure the center of oscillation at the end of the sine element in this field. Inclination Configure the inclination of the sine element in this field. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.3.5 Inserting and configuring a polynomial (S7-1500T) A polynomial describes a motion according to a polynomial function of the 7th degree maximum. Polynomials can be defined by entering the boundary conditions or the polynomial coefficients. Optionally, you can configure a trigonometric polynomial component. Inserting a polynomial To add a polynomial to the curve, follow these steps: 1. On the toolbar, click the "Insert polynomial" icon. 2. In Chart 1, click on the position desired position. In so doing, the mouse pointer points to the start position of the polynomial. The polynomial is inserted. The coordinates of the start point and end point are displayed for the polynomial. The tabular editor and the view of the properties (Inspector window) are updated. If a different element already exists, a transition to the existing element is automatically inserted. Adjusting a polynomial To adjust a polynomial in the graphical editor, follow these steps: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the polynomial in chart 1. The polynomial is graphically highlighted with drag handles. The following drag handles are displayed: – Leading value/following value at left/right boundary – Position of point of inflection (lambda: relative to the element or absolute in the profile) 3. Use the drag-and-drop feature to moves sizing handles or the entire polynomial to the required position. Adapting parameters You can adjust the parameters of the polynomial in the graphical editor, in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected polynomial in this area: Parameters Description Leading values of the poly­ nomial Start Configure the start point of the polynomial in the leading value range (definition range) in this field. End Configure the end point of the polynomial in the leading value range (definition range) in this field. Polynomial parameters S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 103 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Parameters Description Definition by In the selection list, select how the polynomial is defined: • Coefficients • Boundary values The corresponding parameters are displayed based on the selection. Coefficients Configure the coefficients of the 6th degree polynomial function in these fields: P(x) = a6x6 + a5x5 + a4x4 + a3x3 + a2x2 + a1x + a0 The coefficients are shown in scientific notation, e.g. "9.6450617283e-11". Following value - Left boundary value Configure the following value at the start of the polynomial in this field. Following value - Right boundary value Configure the following value at the end of the polynomial in this field. Use first derivative Select the check box to specify the first derivative (velocity) in the left/right boundary value of the polynomial and to include it in the interpolation of the cam. First derivative - left boundary value Configure the first derivative (velocity) for the following value at the start of the polynomial in this field. First derivative - right boundary value Configure the first derivative (velocity) for the following value at the end of the polynomial in this field. Use second derivative Select the check box to specify the second derivative (acceleration) in the left/right boundary value of the polynomial and to include it in the interpol­ ation of the cam. Second derivative - left boundary value Configure the second derivative (acceleration) for the following value at the start of the polynomial in this field. Second derivative - right Configure the second derivative (acceleration) for the following value at boundary value the end of the polynomial in this field. Use third derivative Select the check box to specify the third derivative (jerk) in the left/right boundary value of the polynomial and to include it in the interpolation of the cam. Third derivative - left boundary value Configure the third derivative (jerk) for the following value at the start of the polynomial in this field. Third derivative - right boundary value Configure the third derivative (jerk) for the following value at the end of the polynomial in this field. Lambda In the selection list, select how the turning point of the polynomial is spe­ cified in the "Lambda position" field: • No lambda Do not enter any value. The position of the point of inflection is calcu­ lated automatically. • Relative to the element You specify the leading value of the turning point relative to the poly­ nomial from 0.0 to 1.0. The value 0.0 corresponds to the beginning of the polynomial. The value 1.0 corresponds to the end of the polynomi­ al. • Absolute in the profile You specify the leading value of the point of inflection as an absolute value. In this field, configure the leading value of the point of inflection for the polynomial according to the selection in the selection list. Extended parameters 104 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Parameters 8.1.3.6 Description Segment type In the selection list, select whether or not the polynomial is to have a trigo­ nometric component. When "Polynomial with trigonometric portion" is selected, the correspond­ ing trigonometric parameters are displayed, as they are with sine. When a sine element is converted to a polynomial, the sine element is configured as a polynomial with trigonometric portion. The shape of the element is retained. You have the option to define the trigonometric portion of the polynomial using the following formula: Y(x) = a6x6 + a5x5 + a4x4 + a3x3 + a2x2 + a1x + a0 + b0sin((b1x) + b2) a0…6: Coefficient of order 0 to 6 of the polynomial b0: Amplitude of the trigonometric portion b1: Period of the trigonometric portion b2: Phase offset of the trigonometric portion Amplitude Configure the amplitude of the trigonometric component in this field. Definition by In the selection list, select how the trigonometric component is defined: • Phase at start and at end • Phase at start and period length • Phase at start and frequency • Period length and phase at end • Frequency and phase at end The corresponding parameters are displayed based on the selection. Phase angle at start Configure the phase angle at the start of the trigonometric component in this field. Phase angle at end Configure the phase angle at the end of the trigonometric component in this field. Period length Configure the period length of the trigonometric component in this field. Frequency Configure the frequency of the trigonometric component in this field. Inserting and configuring an inverse sine (S7-1500T) An inverse sine describes a motion according to the arcsine function. The arcsine function is the inverse function of the sine function. An inverse sine is approximated using interpolation points of the arcsine function. The inverse sine is defined within the definition range [-1, 1]. The inverse sine can be calculated for the entire definition range or a restricted definition range of the arcsine function. Inserting an inverse sine To add an inverse sine to the curve, follow these steps: 1. On the toolbar, click the "Insert inverse sine" icon. 2. In Chart 1, click on the position desired position. In so doing, the mouse pointer points to the start position of the inverse sine. The sine is inserted. The coordinates are displayed for the point. The tabular editor and the view of the properties (Inspector window) are updated. A transition to any element is inserted automatically. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 105 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Adjusting an inverse sine To adjust an inverse sine in the graphical editor, follow these steps: 1. On the toolbar, click the icon "Edit elements/Move view". 2. Select the inverse sine in chart 1. The inverse sine is graphically highlighted with drag handles. The following drag handles are displayed: – Start point of the inverse sine – End point of the inverse sine 3. Use the drag-and-drop feature to move the handles or the entire inverse sine to the desired position. Adapting parameters The parameters of the inverse sine can be adjusted in the graphical editor, in the tabular editor as well as in the inspector window under "Properties > Element > Parameter". Configure the parameters of the selected inverse sine in this area: Parameters Description Leading values of the inverse sine Start Configure the start point of the inverse sine in the leading value range (definition range) in this field. End Configure the end point of the inverse sine in the leading value range (definition range) in this field. Following values of the inverse sine Minimum Configure the minimum value of the inverse sine in the following value range (value range) in this field. Maximum Configure the maximum value of the inverse sine in the following value range (value range) in this field. Definition range Not mirrored/mirrored Select whether or not the inverse sine is to be mirrored about the abscissa. Start Configure the start point in the definition range of the arcsine function that is to be used in this field. End Configure the end point in the definition range of the arcsine function that is to be used in this field. Approximation Number of interpolation Configure the number of interpolation points for the approximation in this points field. Maximum following value tolerance 106 In this field, specify the maximum permitted deviation (absolute) of the approximation from the arcsine function. If the configured value is exceeded, a warning is displayed in the graphical editor for the arcsine element. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.3.7 Inserting elements from the clipboard (S7-1500T) Insert element after the last element To insert an element from the clipboard after the last element, follow these steps: 1. Open the shortcut menu in graphic or tabular editor. 2. Select "Insert" from the shortcut menu entry. The element from the clipboard is inserted after the last element. Insert element using insert mode To insert an element from the clipboard using a selected insert mode, follow these steps: 1. If necessary, select the elements to be overwritten. 2. Open the shortcut menu in graphic or tabular editor. 3. Select the "Insert special" entry from the shortcut menu. The "Insert elements" dialog opens. 4. In the "Insert mode" selection list, select the desired insert mode: Insert mode Description Overwrite from the end You overwrite the selected elements with the elements from the clipboard to the left starting from the end in the direction of smaller leading values. The end of the inserted elements then lies at the end of the selected elements. Elements that are located in the leading value range of the elements in the clipboard are overwritten or truncated. Overwrite from the start You overwrite the selected elements with the elements from the clipboard to the right starting from the start in the direction of bigger leading values. The start of the inserted elements then lies at the start of the selected elements. Elements that are located in the leading value range of the elements in the clipboard are overwritten or truncated. Overwrite from the middle Starting from the center, you overwrite the selected elements with the ele­ ments from the clipboard. The center of the inserted elements then lies at the center of the selected elements. Elements that are located in the leading value range of the elements in the clipboard are overwritten or truncated. Scale selection to the leading value range The elements in the clipboard are scaled to the leading value range of selected elements. The start and end of the inserted elements then lie at the start and end of the selected elements. Apply leading values from the clipboard The elements in the clipboard are inserted with the leading values at the start and end. Elements that are located in the leading value range of the elements in the clipboard are overwritten or truncated. 5. Click "OK". The element from the clipboard is inserted using the selected insert mode. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 107 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) 8.1.3.8 Move elements (S7-1500T) To move an element, follow these steps: 1. In the graphical or tabular editor, open the shortcut menu of the element that is to be moved. 2. Select the "Move" shortcut menu entry. The "Move elements" dialog opens. 3. In the "Horizontal distance" field, enter the shift of the selection on the abscissa (x-axis). 4. In the "Vertical distance" field, enter the shift of the selection on the ordinate (y-axis). 5. Click "OK". The element is moved the entered distance. 8.1.3.9 Scale elements (S7-1500T) To scale an element, follow these steps: 1. In the graphical or tabular editor, open the shortcut menu of the element that is to be scaled. 2. Select the "Scale" shortcut menu entry. The "Scale elements" dialog opens. 3. In the "Leading value range" field, enter the scaling length (leading value side) to which you want to scale the selection. 4. Select the direction of scaling in the "Anchor point" selection list: Direc­ tion Description Links The selection is adjusted by the left boundary point to the scaling length. Center The selection is adjusted by the center point to the scaling length. Right The selection is adjusted by the right boundary point to the scaling length. 5. Click "OK". The element is scaled using the selected parameter values. 8.1.3.10 Deleting elements (S7-1500T) To delete an element in the graphical editor, follow these steps: 1. Select the element that is to be deleted. 2. Press the <Del> key. The element is deleted. The graphical editor and the view of the properties (Inspector window) are updated. A transition to any element present is also deleted. 8.1.3.11 Show elements used (S7-1500T) The "Statistics" properties window shows an overview of the number of elements of the cam, as well as the minimum and maximum values of the effective curves for the slave value and the derivatives. 108 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Used elements In the statistics, a distinction is made between points and segments: • Point A following value/leading value coordinate on the cam through which the curve runs • Segments All elements and transitions that are calculated by a 6th degree polynomial with a trigonometric component The "Elements used" area shows the number of curve elements used: Parameters Description Points This field shows the number of used points of the cam. A cam of the type "TO_Cam" consists of a maximum of 1000 points. A cam of the type "TO_Cam_10k" consists of a maximum of 10 000 points. Segments This field shows the number of used segments of the cam. A cam consists of a maximum of 50 segments. The use of points and segments depends on the compilation and configuration of the elements. If an element or a transition is defined via a point or several interpolation points, the number of specified interpolation points determines the number of points used. The following elements or transitions are calculated using interpolation points: • "Point" element • "Inverse sine" element • "Point group" element with "Point approximation" mapping option • "Double-harmonic transition" motion rule according to VDI Guideline All other elements and transitions according to the VDI guideline are defined using 6th degree polynomials with a trigonometric component and thus count as segments in the statistics. The following table shows the use of points and segments per element: Element Number of used points Number of used segments Point 1 0 Point at a transition with VDI-based optimization 0 0 Point group with point approximation mapping method Number of interpolation points con­ 0 figured. ("Properties (Inspector window) > Element > Parameter > Approxima­ tion > Number of interpolation points") Default setting: 32 Point group with segment approximation map­ ping method 0 Number of interpolation points con­ figured - 1 Line 0 1 Sine 0 1 < of the 7th degree 0 1 of the 7th degree 0 2 Polynomial Lambda = turning point of the curve S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 109 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Element Number of used points Number of used segments Inverse sine Number of interpolation points con­ 0 figured. ("Properties (Inspector window) > Element > Parameter > Approxima­ tion > Number of interpolation points") Default setting: 32 Inverse sine to the right of a transition with VDIbased optimization Number of interpolation points con­ 0 figured - 1 Transition with system interpolation 0 0 Sine 0 1 Sine with relative Lambda ≠ 0.5 0 2 Inclined sine 0 1 Inclined sine with relative Lambda ≠ 0.5 0 2 Polynomial 0 1 Sinus with relative Lambda ≠ 0.5 0 2 Dwell-in-reverse 0 5 Reverse-in-dwell 0 5 Dwell-in-dwell 0 6 Dwell-in-dwell 0 3 Constant velocity-in-constant velo­ city 0 4 Constant-velocity-in-dwell 0 4 Dwell-in-constant velocity 0 4 Sine line combination 0 3 Harmonic combination 0 3 Double-harmonic transition Number of interpolation points con­ 0 figured. ("Properties (Inspector window) > Element > Parameter > Approxima­ tion > Number of interpolation points") Default setting: 32 Quadratic parabola 0 Transition with VDI-based optimization Motion rule Modified acceleration trapezoid Motion task Modified sine Motion task 2 Lambda = turning point of the curve 110 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) Value ranges This area shows the minimum and maximum values of the effective curves for the following value and the derivatives. Boundary conditions The following boundary conditions apply to the input and use of points and segments: • Points With points with the same leading values, the point that you have entered last or which is listed in the tabular editor is active. • Segments – Gaps between segments are filled with a transition segment. – For gaps in the leading value range of less than 1.0E-4, segment end points and segment start points are pulled together. – For gaps in the leading value range greater than 1.0E-4, a new transition segment is inserted. – For overlaps, the new segment is inserted from the start point and used completely. When the previous segment is defined in excess of the new segment, the previous segment continues to be used after the end point of the new segment. • Interpolation points and segments (mixed cams) The segment is used when points are defined in the same range. 8.1.4 Importing/exporting cam (S7-1500T) Use the toolbar to export cams from the cam editor and import cams into the cam editor. In the cam diagnostics you export and import snapshots of cams. You can do the following jobs via export and import: • Archive cams • Generate cam in the cam editor from an exported snapshot of a cam generated during runtime • Exchange cams between TIA Portal and external software tools Importing cam NOTICE Machine damage Importing corrupt files (*.txt, *.csv) can result in unwanted behavior of the axes. Each time you import a cam from a file, check the integrity of the imported data. Import formats S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 111 Camming (S7-1500T) 8.1 Configuring the synchronous operation function of the cam (S7-1500T) The following table shows the supported file formats for importing a cam: File format Comment SIMOTION SCOUT CamTool format1)/MCD *.txt MCD exchange format is automatically detected, imported data: • Interpolated points • Lines • Sine elements • Inverse sine elements • Polynomials • Transitions SIMOTION SCOUT CamTool format1)/MCD *.csv Binary format *.bin 1) The binary format is used for exchanging cams between multiple TIA Portal installations. Export the geometry "as polynomials" in SIMOTION SCOUT. Procedure To import a cam, follow these steps: 1. On the toolbar, click the "Import cam from file" icon. The "Cam import" dialog opens. 2. Select the file type of the file to be imported. 3. From the file directory, select the file to be imported. 4. Click the "Open" button. The cam is imported into the cam editor and opened. All previous entries in the editor are discarded. Exporting cam Export formats The table below shows the supported export formats, their use and special features: 112 Format Comment MCD exchange format Exchange of cams between the TIA Portal and the NX Mechatronics Concept Designer The following elements are exported in a different form, while maintaining the profile of the cam: • Polynomial of the 7th degree The format does not support 7th degree polynomials. You can define polynomials of the 7th degree using boundary values in the cam editor. If you configure all three derivatives at the right and left boundary values, which corresponds to a 7th degree polynomial. A 7th degree polynomial is mapped into two 6th degree polynomials during export. • Point group With the "Point group" element, the export depends on the mapping method. With the "Point approximation" mapping method, the interpola­ tion points are exported and the transitions between the points are inter­ polated with the system interpolation. With the "Segment approximation" mapping method, the point group is exported in segments. • Inverted sine The "Inverted sine" element is exported using interpolation points. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.2 Changing the synchronous operation function of the cam online (S7-1500T) Format Comment SIMOTION SCOUT CamTool format Exchange of cams between the TIA Portal and the SIMOTION SCOUT CamTool The same special features apply to this format as to the MCD Exchange format. Point list Export cams as x and y values for processing in, for example, spreadsheet or word processing programs With the point list, you export points at isochronous distances from the lead­ ing value. In addition to the following values, you also have the option to export velocity, acceleration and jerk. Select as many points as possible in order to export the cam with a high degree of accuracy. Binary format Exchange of cams between multiple TIA Portal projects. With the binary format you export all configuration data of the cam without restrictions. In addition, your settings for the displaying the charts, such as colors of the curves, are exported. Procedure To export a cam, follow these steps: 1. On the toolbar, click the "Cam file exporting" icon. The "Export cam" dialog opens. 2. Select the desired export format from the "Export as" drop-down list. 3. Select the desired delimiter: – When you select the "Comma" delimiter, a CSV file is created. – When you select the "Tabulator" delimiter, a TXT file is created. – This selection is not possible for the binary format. 4. If you export the cam as a point list, enter the number of points and optionally activate the curves to be exported for velocity, acceleration and jerk. The more points you export, the more accurately the point list maps the configured cam. 5. Enter a file name in the "File name" box. 6. Select the directory to which the file is written. 7. Click the "Export" button. 8.2 Changing the synchronous operation function of the cam online (S7-1500T) You can configure the y = f(x) function of the cam using the cam editor in the configuration of the technology object (Page 83). Alternatively, for dynamic cam plate calculations, you can define or change the synchronous operation function of the cam during the runtime of the user program. The cam technology object must already be created for this. To change the synchronous operation function of a cam online, you have the following options: • Changing the synchronous operation function of the cam manually (Page 113) • Copy calculated cam elements (Page 115) • Creating the synchronous operation function of the cam with the "LCamHdl" library (Page 116) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 113 Camming (S7-1500T) 8.2 Changing the synchronous operation function of the cam online (S7-1500T) 8.2.1 Changing the synchronous operation function of the cam manually (S7-1500T) The following tags of the technology object data block (Page 323) of the cam are relevant for defining the synchronous operation function of a cam manually in runtime: • <TO>.Point[i] • <TO>.ValidPoint[i] • <TO>.Segment[i] • <TO>.ValidSegment[i] • <TO>.InterpolationSettings You can adapt the tags in runtime via the user program. You can use the "<TO>.ValidPoint[i]" and "<TO>.ValidSegment[i]" tags to determine which cam elements included for the interpolation. If the value is "TRUE", the element "<TO>.Point[i]" or "<TO>.Segment[i]" with the corresponding index "i" is included in the interpolation. You can determine the interpolation type (Page 124) using the "<TO>.InterpolationSettings" tag. Requirement • The cam technology object has been created. Configuration via the cam editor is not required. • The project is downloaded to the CPU. • The cam elements to be adapted should not be edited by an active copy operation of an "MC_CopyCamData (Page 279)" job. Procedure To manually change the synchronous operation function of a cam in runtime, follow these steps: 1. Calculate the points and segments of the cam depending on your application. 2. Define the calculated points in the technology object data block of the cam. <TO>.Point[i] := Point; // data type TO_Cam_Struct_PointData 3. Set the defined points to valid. <TO>.ValidPoint[i] := TRUE; 4. Set all undefined points to invalid. <TO>.ValidPoint[i] := FALSE; 5. Define the calculated segments in the technology object data block of the cam. <TO>.Segment[i] := Segment; // data type TO_Cam_Struct_SegmentData 6. Set the defined segments to valid. <TO>.ValidSegment[i] := TRUE; 7. Set all undefined segments to invalid. <TO>.ValidSegment[i] := FALSE; 8. Make the interpolation settings of the cam. <TO>.InterpolationSettings.InterpolationMode := 1; <TO>.InterpolationSettings.BoundaryConditions := 0; The values "1" and "0" are only used as examples. Adapt them as needed. 9. Interpolate the cam with a "MC_InterpolateCam (Page 274)" job. 114 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.2 Changing the synchronous operation function of the cam online (S7-1500T) Check the synchronous operation function of the cam Use the cam diagnostics (Page 190) to analyze and check the generated cam. This provides you with a graphical view of the cam, a list of all valid cam elements and the interpolation type. 8.2.2 Copy calculated cam elements (S7-1500T) You use an "MC_CopyCamData (Page 279)" job to copy calculated cam elements to a cam. You can use the same job to copy points and segments to the technology object data block of the cam. Cam elements to be copied Save or calculate the cam elements in a data block. Create an array for points of the "TO_Cam_Struct_PointData" type and an array for segments of the "TO_Cam_Struct_Segment­ Data" type. The size of the arrays depends on the use case and is variable. The consistency of the cam elements in the data block is your responsibility. The cam elements must not change during an active copy operation of an "MC_CopyCamData" job. Specify the arrays for points and segments at the "ArrayOfPoints" and "ArrayOfSegments" parameters of the "MC_CopyCamData" job. Define the number of elements to be copied at the "NumberOfPoints" and "NumberOfSegments" parameters. Use the "StartPointArray" and "StartSegmentArray" parameters to define the index of the first element to be copied in the array, respectively. Use the "StartPointCam" and "StartSegmentCam" parameters to define the respective index in the cam starting at which the elements to be copied are to be inserted. Copy mode Following the copy operation, the inserted cam elements are set as valid ("ValidPoint" = TRUE, "ValidSegment" = TRUE). With copy mode "Mode" = 0, you specify that all defined elements already present in the cam are set as invalid before the copy operation ("ValidPoint" = FALSE, "ValidSegment" = FALSE). This results in only the inserted elements being valid after the copy operation. Use this copy mode to completely regenerate the cam and overwrite its previous synchronous operation function. Use copy mode "Mode" = 1 to specify that all defined elements already present in the cam remain valid ("ValidPoint" = TRUE, "ValidSegment" = TRUE). This results in both the inserted elements and the still existing elements not overwritten being valid after the copy operation. Use this copy mode to append cam elements to the previous synchronous operation function of the cam, or to partially overwrite the synchronous operation function of cam. Copy operation Copying of cam elements is possible during active cam synchronization. An active copy operation is indicated by the "MC_CopyCamData.Busy" = TRUE parameter, in the "<TO>.StatusWord.X7 (CopyCamDataActive)" tag as well as in the status and error bits of the diagnostics of the technology object. Only one active "MC_CopyCamData" job is possible at a given time on a cam. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 115 Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) As soon as the cam elements have been copied and set to valid, the copy operation is complete. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE. The "<TO>.StatusWord.X4 (CamDataChanged)" tag of the technology object is set to "TRUE". Before you can use the cam with the inserted elements, the cam must be interpolated. To do this, start an "MC_InterpolateCam" job. 8.2.3 Creating the synchronous operation function of the cam with the "LCamHdl" library (S7-1500T) The "LCamHdl" library provides function blocks that support you in creating jerkless cams in accordance with VDI guideline 2143. The function blocks perform the required calculations of the segments for different profile types, e.g. the polynomial coefficients. In addition, you can use the optimized "Basic" function block with a simplified user interface to define the synchronous operation function of the cam in terms of points and associated dynamic values. From this, the function block calculates the corresponding segments according to a 5th degree polynomial function. More information You can find additional information about the "LCamHdl" library in the Siemens Industry Online Support under entry ID 105644659 (https://support.industry.siemens.com/cs/ww/en/view/105644659). An application example shows the creation of cams with the "LCamHdl" library and switching of two cams using the example of a press. The application example can be found in the Siemens Industry Online Support under entry ID 109749460 (https://support.industry.siemens.com/cs/ww/en/view/109749460). 8.3 Interpolating a cam (S7-1500T) 8.3.1 Configuring transitions (S7-1500T) To use a cam in the user program, you must interpolate the cam after downloading to the CPU or after adapting the technology object data block. The interpolation closes the gaps between the defined interpolation points and segments of the cam. These missing ranges are called transitions. The interpolation type defines how the transitions are interpolated. 116 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) Configuring interpolation You specify the interpolation type in the configuration of the technology object. You can set the interpolation separately for each transition in the cam. The following methods are possible: • System interpolation (Page 119): The system interpolation is the default for interpolation of the transitions. You configure the system interpolation for all transitions in the properties (Inspector window) in the "Profile > System interpolation" configuration window. • Interpolation according to VDI Guideline 2143 (Page 122): You can adapt each transition separately according to the VDI Guideline 2143. The settings in the properties (Inspector window) in the "Profile > Default optimization settings" configuration window are hereby taken into consideration. "Characteristic" configuration window In the "Characteristic" configuration window, you configure the parameters for optimizing the selected transition in the properties (Inspector window): Parameters Description Interpolation settings of the transition Optimization method Select the optimization method in the drop-down list: • System interpolation (Page 119) The CPU defines the optimization parameters automatically according to the settings of the system interpolation. • VDI-based optimization (Page 122) Adjust the optimization manually. The inputs are applied automatic­ ally according to the VDI Guideline 2143. Motion task The transition type is determined from the properties of the adjacent ele­ ments of the transition and displayed in this field. Continuity at start/end In the drop-down lists, select which parameter is continuous in the boundary points and is to be included for optimization: • Default optimization setting (setting under "Profile > Default optimiz­ ation settings") • Position • Velocity (bumpless) • Acceleration (jerkless) • Jerk (jerk continuity permitted on one side only) Optimization target In the drop-down list, select the optimization target: • Default optimization setting (setting under "Profile > Default optimiz­ ation settings") • Not specified • Velocity (Cv) • Acceleration (Ca) • Jerk (Cj) • Dynamic torque (Cmdyn) Selection of motion rule S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 117 Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) Parameters Description Motion rule In the drop-down list, select the motion rule according to which optimiz­ ation is to occur: • Line • Quadratic parabola • Sine • Polynomial • Inclined sine • Modified acceleration trapezoid • Modified sine • Harmonic combination • Double-harmonic transition • Sine line combination The selection is automatically limited to the motion rules that can be applied according to the motion task and the selected boundary condi­ tions. Additional parameters are displayed depending on the selected motion rule. If you have changed the motion task in such a way that the motion rule can no longer be applied, a notice is displayed. In this case, you need to select a motion rule that can be applied. Parameter used In the drop-down list, select the parameters to be included in the optim­ ization: • Lambda • Maximum acceleration (Ca) • Maximum deceleration (Ca*) The selection is automatically limited to the parameters that can be applied according to the motion rule. Lambda In the drop-down list, select the transition point in the "Lambda position" field: • No lambda Do not enter any value. The position of the point of inflection is calcu­ lated automatically. • Relative to segment Specify the leading value of the point of inflection relative to the transition from 0.0 to 1.0. The value 0.0 corresponds to the begin­ ning of the transition. The value 1.0 corresponds to the end of the transition. • Absolute in the profile You specify the leading value of the point of inflection as an absolute value. Lambda position In this field, configure the leading value of the point of inflection for the transition according to the selection in the "Lambda" drop-down list. Maximum acceleration (Ca) Configure the maximum acceleration (Ca) for the transition in this field. Maximum deceleration (Ca*) Configure the maximum deceleration (Ca*) for the transition in this field. Approximation Number of interpolation In this field, configure the number of interpolation points for the trans­ points ition. Maximum following value tolerance 118 In this field, enter the maximum permitted deviation (absolute) of the approximation from the motion rule. If the configured value is exceeded, a warning is displayed in the graphic­ al editor at the transition. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) 8.3.2 Parameters Description Characteristic values of the transition The characteristic values of the transition that are relevant according to VDI 2143 are displayed in this area. The maximum value and the stand­ ardized value are displayed for the following characteristic values: • Velocity (Cv) • Acceleration (Ca) • Deceleration (Ca*) • Jerk (Cj) • Dynamic torque (Cmdyn) System interpolation (S7-1500T) With system interpolation, the transitions are interpolated according to the interpolation type and the response in the boundary points of the transition segment. The following interpolation methods are possible: • Linear interpolation Gaps in the curve are closed with a straight line. Specified position (point) Interpolated position Resulting velocity (scaled) Resulting acceleration Resulting jerk S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 119 Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) • Interpolation with cubic splines The interpolated curve runs through the interpolation points and the segments of the curve. After interpolation has been completed, the value range of the following value of the cam can be greater than before interpolation. Specified position (point) Interpolated position Resulting velocity (scaled) Resulting acceleration (scaled) Resulting jerk (scaled) 120 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) • Interpolation with Bézier splines The interpolated curve runs along the interpolation points and through the segments of the curve. The range of the cam is not changed by interpolation. Specified position (point) Interpolated position Resulting velocity (scaled) Resulting acceleration (scaled) Resulting jerk (scaled) NOTE Differences in the interpolation types Depending on the definition of the cam, high dynamic responses can result when interpolating with cubic splines, as the interpolated curve always runs through the specified points. The course of the curve for interpolation via cubic splines runs through all specified points, while the course of the curve for interpolation via Bézier splines is only based on the points and thus results in lower dynamic values. If required, select an interpolation using Bézier splines in order to obtain a smooth, slower interpolated curve. "System interpolation" configuration window In the "System interpolation" configuration window, configure the interpolation of transitions according to the system specifications in the properties (Inspector window). These settings are used when the "System interpolation" optimization method is used for a transition (Page 116) (default setting). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 121 Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) Configure the interpolation type and the behavior of the boundary points in this area: Parameter Description Interpolation type In the drop-down list, select the interpolation type by which the transitions in the curve are interpolated: • Linear interpolation In linear interpolation, the transitions (magenta) between the cam ele­ ments (blue) are defined by a straight line. • Interpolation with cubic splines In the interpolation with cubic splines, the transitions (magenta) between the cam elements (blue) are defined so that the interpolated curve runs through all the cam elements. The acceleration (green) in the transition is linear. • Interpolation with Bézier splines In the interpolation with Bézier splines, the transitions (magenta) between the cam elements (blue) are defined so that the interpolated curve is based on specified points and the curve runs through other cam element types. Behavior at boundary In the drop-down list, select which behavior of the interpolation applies to a cyclic use of the cam in the boundary points: • No restrictions The areas between the elements are closed. • First derivative continuous (velocity continuous) The cam is interpolated in such a way that the first derivative (velocity) is equal at the start and end of the cam. See also MC_InterpolateCam: Interpolate cam disc V7 (Page 274) 8.3.3 Interpolation according to VDI Guideline 2143 (S7-1500T) The VDI Guideline 2143 deals with motion rules for cam gears. The aim of these motion rules is to achieve high running quality and to avoid jolts and jerks. The VDI Guideline 2143 distinguishes between areas of usage and motion transitions: • Areas of usage correspond to the sequences in a process, which means the inserted elements of the cam. • Motion transitions are transitions between areas of usage that are not directly relevant to the process but must meet specific boundary conditions, for example, velocity consistency. The following motion tasks are defined based on VDI Guideline 2143: 122 Motion task Designation Properties Dwell R Velocity = 0 Acceleration = 0 Constant velocity G Velocity ≠ 0 Acceleration = 0 Reverse U Velocity = 0 Acceleration ≠ 0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) Motion task Designation Properties Motion B Velocity ≠ 0 Acceleration ≠ 0 The graphic below shows an example of the motion jobs: I[ 8 * 5 ; The following graphic shows the possible combinations of motion jobs: 5 5 * 8 % Y D Y D Y D Y D * Y D Y D Y D Y D 8 Y D Y D Y D Y D Y D Y D Y D Y D Y D Y D Y D S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Y D % Y D Y D Y D Y D Y D Y D Y D Y D Y D Y D Y D Y D 123 Camming (S7-1500T) 8.3 Interpolating a cam (S7-1500T) Adjust the optimization of a transition To adapt the optimization of a transition according to the VDI Guideline 2143, follow these steps: 1. Select the transition in the graphical or tabular editor. 2. In the properties (Inspector window), open the "Element > Characteristic (Page 116)" configuration window. 3. Select the optimization method "VDI-based optimization" in the "Optimization method" drop-down list. 4. If necessary, change the default settings. The selection of the parameters is automatically limited to the settings that can be applied according to VDI Guideline 2143. You interpolate the cam with the Motion Control instruction "MC_InterpolateCam (Page 274)" according to the settings for the VDI optimization. Note that, in contrast to system interpolation, the optimization of transitions according to VDI Guideline 2143 directly occupies segments in the technology object data block. This optimization type is thus not possible via "MC_InterpolateCam" during runtime. "Default optimization settings" configuration window You configure the default values for optimization of transitions according to VDI Guideline 2143 in the "Profile > Default optimization settings" configuration window in the properties (Inspector window). The default values are used when the "VDI-based optimization" optimization method is selected for a transition (Page 116) and when the setting "Default optimization setting" is selected for the continuity or the optimization target. Configure the default settings for continuity requirement and optimization target in this area: 124 Parameter Description Continuity In the drop-down list, select which parameter is continuous in the boundary points and is to be taken into consideration for optimization: • Position • Velocity • Acceleration • Jerk Optimization target In the drop-down list, select the optimization target according to the VDI Guideline: • Not specified • Velocity (Cv) • Acceleration (Ca) • Jerk (Cj) • Dynamic torque (Cmdyn) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.4 Scaling and shifting cam (S7-1500T) 8.3.4 Interpolate cam with "MC_InterpolateCam" (S7-1500T) To use a cam in the user program, you must interpolate the cam after downloading to the CPU or after adapting the technology object data block. The interpolation closes the gaps between the defined interpolation points and segments of the cam. The interpolation type defines how missing ranges are interpolated. NOTE Improving system performance To improve the system performance for interpolating the cam technology object, select the "Improve system performance" check box in the properties of MC‑Interpolator [OB92] under "General > Multi-core processor". After you have configured the interpolation type (Page 116), you interpolate a cam in the user program with the Motion Control instruction "MC_InterpolateCam (Page 274)". After starting the "MC_InterpolateCam" job, the cam is interpolated in the definition range from the minimum to the maximum value in the leading value range: • The minimum value in the leading value range is the first defined interpolation point or start of the first segment of the cam (<TO>.StatusCam.StartLeadingValue). • The maximum value in the leading value range is the last defined interpolation point or end of the last segment of the cam (<TO>.StatusCam.EndLeadingValue). As soon as the cam has been interpolated, this is indicated on Motion Control instruction "MC_InterpolateCam" with parameter "Done" = TRUE and in tag "<TO>.StatusWord.X5 (Interpolated)" = 1 of the technology object. After interpolation, an explicit value in the value range is assigned to each value in the definition range. 8.4 Scaling and shifting cam (S7-1500T) You can scale and shift the utilized cam for camming (Page 82) at the Motion Control instruction "MC_CamIn" in the leading and following value range. The configured cam is not changed by this. In contrast, the specification for leading and following value range in the configuration of the technology object only effect the display in the graphical editor. The following diagram shows the general sequence of scaling and shifting the cam: /HDGLQJYDOXHVKLIW 3RVLWLRQ OHDGLQJD[LV ದ &DP )ROORZLQJYDOXHVKLIW /HDGLQJYDOXHVFDOLQJ )ROORZLQJYDOXHVFDOLQJ 3RVLWLRQ IROORZLQJD[LV Position following axis = f[(Position leading axis - Leading value shift) / Leading value scaling] × Following value scaling + Following value shift S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 125 Camming (S7-1500T) 8.4 Scaling and shifting cam (S7-1500T) Parameter inputs You define the use of the cam with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the "MasterScaling" parameter, you specify the scaling of the cam in the leading value range. • With the "SlaveScaling" parameter, you specify the scaling of the cam in the following value range. • You define the offset of the cam in the leading value range with the parameter "MasterOffset". • You define the offset of the cam in the following value range with the parameter "SlaveOffset". Scaling of the cam The figure below shows the basic effect of scaling the cam with the parameters "MasterScaling" and "SlaveScaling": 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6FDOLQJ 6ODYH6FDOLQJ W W 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6FDOLQJ 6ODYH6FDOLQJ W W Leading value Following value 126 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.5 Defining application mode of the cam (S7-1500T) Shifting of the cam )ROORZLQJYDOXH )ROORZLQJYDOXHRIWKHV\QFKURQRXV RSHUDWLRQIXQFWLRQ IROORZLQJD[LVSRVLWLRQ The following figure shows the basic effect of the leading value and following value offset as well as the position of the cam with the following parameter values: • "MasterOffset" > 0 • "SlaveOffset" > 0 • Start position of the cam > 0 • "MasterSyncPosition" > 0 &DP 6ODYH2IIVHW /HDGLQJYDOXH 0DVWHU2IIVHW 8.5 /HDGLQJYDOXHRIWKHV\QFKURQRXV RSHUDWLRQIXQFWLRQ OHDGLQJD[LVSRVLWLRQ ① Start position of the cam First defined interpolation point/start of the first segment of the cam (<TO>.Status­ Cam.StartLeadingValue) ② Leading value distance with synchronization in advance ("MasterStartDistance") ③ Synchronous position of the leading axis relative to the starting position of the cam ("Master­ SyncPosition") ④ Leading value distance with subsequent synchronization ("MasterStartDistance") ⑤ End position of the cam Last defined interpolation point/end of the last segment of the cam (<TO>.Status­ Cam.EndLeadingValue) Defining application mode of the cam (S7-1500T) For camming (Page 82), you can define the application mode of the cam. The following modes are available: • Not cyclic • Cyclical • Cyclic appending A cam is defined between the start position (<TO>.StatusCam.StartLeadingValue) and end position (<TO>.StatusCam.EndLeadingValue) after the interpolation. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 127 Camming (S7-1500T) 8.5 Defining application mode of the cam (S7-1500T) Parameter inputs You define the use of the cam with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the "ApplicationMode" parameter, you define the application mode of the cam. Not cyclic With the "ApplicationMode" = 0 parameter, you define the application mode of the cam as "Not cyclic". The cam is run exactly once. When the cam is run through in the positive direction, synchronous operation is ended when the end position of the cam is reached. When the cam is run through in the negative direction, synchronous operation is ended when the start position of the cam is reached. To prevent step changes in the dynamic values, the velocity of the following axis must be zero at the start and end position of the cam. )ROORZLQJYDOXH /HDGLQJYDOXH Cyclical With the "ApplicationMode" = 1 parameter, you define the application mode of the cam as "Cyclical". The cam is run cyclically. When the cam is run through in the positive direction, the cam is repeated from the start position when the end position of the cam is reached. When the cam is run through in the negative direction, the cam is repeated from the end position when the start position of the cam is reached. To prevent step changes in the dynamic values, the start and end positions of the cam must be match, and the velocity at the start and end position must be identical. For a velocity continuous transition, use the setting "First derivative continuous (velocity continuous)" under "Properties (Inspector window) > System interpolation > Behavior at boundary" (<TO>.InterpolationSettings.BoundaryConditions = 1) for interpolation of the cam. )ROORZLQJYDOXH /HDGLQJYDOXH Cyclic appending With the "ApplicationMode" = 2 parameter, you define the application mode of the cam as "Cyclic appending". 128 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.6 Dynamic limits of the following axis in camming (S7-1500T) The cam is run cyclically. When the cam is run through in the positive direction, the end position of the cam is used as the start position for the next run. When the cam is run through in the negative direction, the start position of the cam is used as the start position for the next run. The position difference between the start and end position on the following value side is added up. To prevent step changes in the dynamic values, the velocity at the start and end position must be identical. For a velocity continuous transition, use the setting "First derivative continuous (velocity continuous)" under "Properties (Inspector window) > System interpolation > Behavior at boundary" (<TO>.InterpolationSettings.BoundaryConditions = 1) for interpolation of the cam. )ROORZLQJYDOXH /HDGLQJYDOXH 8.6 Dynamic limits of the following axis in camming (S7-1500T) If a synchronous axis is operated as a following axis in camming with the Motion Control instruction "MC_CamIn (Page 247)", the following dynamic limits apply depending on the phase of the synchronous operation: Pending synchronous operation If synchronous operation is not active, the configured dynamic limits of the following axis apply. If synchronous operation is already active, the description in section "Synchronization/synchronous motion/desynchronization" applies. Synchronization/synchronous motion/desynchronization During synchronization, synchronous travel and desynchronization (Page 267), the dynamics of the following axis are only limited to the maximum speed of the drive (<TO>.Actor.DriveParameter.MaxSpeed). The dynamics of the following axis results from the synchronous operation function. If the dynamic limits configured for the following axis are exceeded, this is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" tags of the technology object. The SW limit switches continue to be monitored with the configured dynamic limits of the following axis. If the following axis cannot follow the leading value, this results in a following error, which is monitored by the following error monitoring. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 129 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Synchronous operation override As soon as synchronous operation has been overridden (Page 283), the dynamic limits configured for the technology object apply to the following axis again. With the start of the overriding job, the active dynamics are transitioned (smoothed) to the configured dynamic limits and the specifications for the Motion Control instruction. 8.7 Synchronizing camming (S7-1500T) 8.7.1 Parameter overview for synchronizing with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. With the parameter "SyncProfileReference" you define the type of synchronization: SyncProfileReference Synchronization profile 0 Synchronization in advance using dynamic parameters (Page 133) 1 Synchronization in advance using leading value distance (Page 134) 2 Direct synchronous setting (Page 143) 3 Subsequent synchronization using leading value distance (Page 139) 4 Subsequent synchronization using leading value distance starting from cur­ rent leading value position (Page 142) 5 Direct synchronous setting at the end of the cam (Page 144) 6 Synchronization in advance using leading value distance starting from cur­ rent leading value position (Page 136) Depending on the synchronization profile, different parameters of the Motion Control instruction "MC_CamIn (Page 247)" are relevant: Parameters 130 SyncProfileReference 0 1 2 3 4 5 6 MasterOffset ✓ ✓ - ✓ ✓ - - SlaveOffset ✓ ✓ - ✓ ✓ - ✓ MasterScaling ✓ ✓ ✓ ✓ ✓ ✓ ✓ SlaveScaling ✓ ✓ ✓ ✓ ✓ ✓ ✓ MasterSyncPosition ✓ ✓ ✓ ✓ - ✓ ✓ MasterStartDistance - ✓ - ✓ ✓ - ✓ Velocity ✓ - - - - - - Acceleration ✓ - - - - - - Deceleration ✓ - - - - - - Jerk ✓ - - - - - - ApplicationMode ✓ ✓ ✓ ✓ ✓ ✓ ✓ SyncDirection ✓ ✓ - ✓ ✓ - ✓ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) 8.7.2 Defining direction of synchronization with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. If you have activated the "Modulo" setting for the following axis, you can define the direction of the synchronization with the "SyncDirection" parameter of the Motion Control instruction "MC_CamIn (Page 247)". $BN 'PMMPXJOH WBMVF -FBEJOHWBMVF Positive direction With "SyncDirection" = 1, the following axis may only travel in positive direction during synchronization. In this example, the synchronous position is 0.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC U U 131 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Negative direction With "SyncDirection" = 2, the following axis may only travel in negative direction during synchronization. In this example, the synchronous position is 0.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 132 U U U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Shortest distance With "SyncDirection" = 3, changes in direction of the following axis are permitted during synchronization. In this example, the synchronous position is 90.0. &YFDVUF 4UBSU4ZOD *O4ZOD 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 8.7.3 U U U U U U Synchronizing following axis in advance using dynamic parameters with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. During synchronization in advance using dynamic parameters, synchronization begins in such a way that the leading and following axis are synchronous when the synchronous position is reached. Parameter inputs You define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 0, you define the type of synchronization as synchronization in advance using dynamic parameters. • With the parameter "MasterSyncPosition", you define the synchronous position of the leading axis relative to the start position of the cam. The synchronous position establishes the relationship between leading value and following value. The synchronous position must be within the definition of the cam. With "MasterSyncPosition" ≠ 0.0, you move the synchronous position within the cam without changing the position of the cam. For synchronization in advance, the synchronous position is the position starting from which the leading and following axes are synchronous. • With the parameters "Velocity", "Acceleration", "Deceleration" and "Jerk" you define the dynamics for the synchronization of the following axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 133 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Until synchronization After the start of the "MC_CamIn" job, a motion profile for the following axis is calculated continuously. The motion profile is calculated based on the following parameters: • Specified synchronous position of the Motion Control instruction • Specified dynamics of the Motion Control instruction • Current position and dynamics of the leading and following axes • Synchronous operation specified via cam The calculation determines the synchronization length and thus the start position of the leading axis for the synchronization. The start position of the leading axis is derived in the following way: Start position = Synchronous position of leading axis - Synchronization length The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3). If the leading axis is already in its synchronous position when the "MC_CamIn" job is started, the leading axis must first cross the start position to start synchronization. If the leading and following axes are already at their synchronous positions when the "MC_CamIn" job is started, synchronous operation immediately has "Synchronous" status. During synchronization The following axis begins to synchronize as soon as the leading value has reached the start position. The synchronization is indicated in the Motion Control instruction "MC_CamIn" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" tags. After synchronization The following axis is synchronized as soon as the leading axis has reached the synchronous position. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). 8.7.4 Synchronizing following axis in advance using leading value distance with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. During synchronization in advance using the leading value distance, synchronization begins in such a way that the leading and following axis are synchronous when the synchronous position is reached. 134 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Parameter inputs You can define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 1, you define the type of synchronization as synchronization in advance using the leading value distance. • With the parameter "MasterSyncPosition", you define the synchronous position of the leading axis relative to the start position of the cam. The synchronous position establishes the relationship between leading value and following value. The synchronous position must be within the definition of the cam. With "MasterSyncPosition" ≠ 0.0, you move the synchronous position within the cam without changing the position of the cam. For synchronization in advance, the synchronous position is the position starting from which the leading and following axes are synchronous. • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). Until synchronization After the start of the "MC_CamIn" job, a motion profile is calculated for the following axis depending on the specified leading value distance. The calculation determines the required dynamic response and thus the start position of the leading axis for the synchronization. The start position of the leading axis is derived in the following way: Start position = Synchronous position of leading axis - Synchronization length The leading axis must be at least the leading value distance away from the synchronous position. The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3). NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_CamIn" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_CamIn" job is started, synchronous operation immediately has "Synchronous" status. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 135 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) During synchronization The following axis begins to synchronize as soon as the leading value has reached the start position. The synchronization is indicated in the Motion Control instruction "MC_CamIn" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. 'PMMPXJOHWBMVF $BN -FBEJOHWBMVF -FBEJOHWBMVF 4ZODISPOPVT QPTJUJPO -FBEJOHWBMVF EJTUBODF U 'PMMPXJOHWBMVF U ① Time when synchronization starts ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The following axis is synchronized as soon as the leading axis has reached the synchronous position. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). 136 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) 8.7.5 Synchronize the following axis in advance via the leading value path from the current leading value position with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. For synchronization in advance, the leading value path from the current leading value position begins as soon as the "MC_CamIn" job becomes effective and the leading axis is in motion. Parameter inputs You define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 6, you define the type of synchronization as synchronization in advance via the leading value path from the current leading value position. • With the parameter "MasterSyncPosition", you define the synchronous position of the leading axis relative to the start position of the cam. The synchronous position establishes the relationship between leading value and following value. The synchronous position must be within the definition of the cam. With "MasterSyncPosition" ≠ 0.0, you move the synchronous position within the cam without changing the position of the cam. For synchronization in advance, the synchronous position is the position starting from which the leading and following axes are synchronous. • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). • With the parameter "SlaveOffset" you define the offset of the cam in the following value range (Page 125). The offset of the cam in the leading value range is calculated automatically. Until synchronization After the start of the "MC_CamIn" job, a motion profile is calculated for the following axis depending on the specified leading value distance. The calculation results in the required dynamics and the offset of the cam in the leading value range. If the leading axis is at a standstill when the job starts, the status "Waiting" is displayed on the following axis (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3) until the leading axis starts moving. NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_CamIn" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_CamIn" job is started, synchronous operation immediately has "Synchronous" status. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 137 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) During synchronization The following axis begins to synchronize as soon as the "MC_CamIn" job takes effect and the leading axis is moving. The synchronization is indicated in the Motion Control instruction "MC_CamIn" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. 'PMMPXJOHWBMVF $BN -FBEJOHWBMVF -FBEJOHWBMVF 4ZODISPOPVT QPTJUJPO -FBEJOHWBMVF EJTUBODF U 'PMMPXJOHWBMVF U ① Time at which the job becomes effective and the synchronization begins. ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The cam is offset accordingly in the master value range. The offset results from the current leading value position and the default values of the parameters "MasterSyncPosition", 138 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) "MasterStartDistance" and "SlaveOffset". The offset in the leading value range is displayed in the "<TO>.StatusSynchronizedMotion.MasterOffset" tag of the technology object. .BTUFS4UBSU%JTUBODF $BN 'PMMPXJOHWBMVF $BN 1PTJUJPO 'PMMPXJOHBYJT 4MBWF0TFU -FBEJOHWBMVF $BN .BTUFS0TFU .BTUFS4ZOD1PTJUJPO ① Current leading value position ② Current following value position 1PTJUJPO -FBEJOHBYJT The following axis is synchronized as soon as the leading axis has reached the synchronous position. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). 8.7.6 Subsequent synchronizing of following axis using leading value distance with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. With subsequent synchronization using the leading value distance, synchronization begins as soon as the leading value has reached the synchronous position of the leading axis. Parameter inputs You can define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 3, you define the type of synchronization as subsequent synchronization using the leading value distance. • With the parameter "MasterSyncPosition", you define the synchronous position of the leading axis relative to the start position of the cam. The synchronous position establishes the relationship between leading value and following value. The synchronous position must be within the definition of the cam. With "MasterSyncPosition" ≠ 0.0, you move the synchronous position within the cam without changing the position of the cam. For subsequent synchronization, the synchronous position of the leading axis is the start position from which synchronization starts. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 139 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). Until synchronization After the start of the "MC_CamIn" job, a motion profile is calculated for the following axis depending on the specified leading value distance. The calculation determines the required dynamic response and the position of the leading axis as of which the leading axis and the following axis travel synchronously. The status "Waiting" is displayed at the following axis until the leading value has reached the synchronous position of the leading axis (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3). NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_CamIn" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_CamIn" job is started, synchronous operation immediately has "Synchronous" status. 140 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) During synchronization The following axis begins to synchronize as soon as the leading value has reached the synchronous position. The synchronization is indicated in the Motion Control instruction "MC_CamIn" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. 'PMMPXJOHWBMVF $BN -FBEJOHWBMVF -FBEJOHWBMVF 4ZODISPOPVT QPTJUJPO -FBEJOHWBMVF EJTUBODF U 'PMMPXJOHWBMVF U ① Time when synchronization starts ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The position of the leading axis from which the leading axis and following axis travel synchronously is derived in the following way: Position axes synchronous = Synchronous position of leading axis + Synchronization length S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 141 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) As soon as the leading axis has reached this position, the following axis is synchronized. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). 8.7.7 Subsequent synchronizing of following axis using leading axis value starting from the current leading value position with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. With subsequent synchronization using the leading value distance from the current leading value position, synchronization begins as soon as the "MC_CamIn" job takes effect and the leading axis is set in motion. Parameter inputs You define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 4, you define the type of synchronization as subsequent synchronization using the leading value distance from the current leading value position. The position of the leading axis must be within the definition of the cam, which may be scaled or shifted. • With the "MasterStartDistance" parameter, you specify the leading value distance (synchronization length). Until synchronization After the start of the "MC_CamIn" job, a motion profile is calculated for the following axis depending on the specified leading value distance. The calculation determines the required dynamic response and the position of the leading axis as of which the leading axis and the following axis travel synchronously. If the leading axis is at a standstill when the job starts, the status "Waiting" is displayed on the following axis (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3) until the leading axis is set in motion. NOTE Dynamic jumps If the following axis is in motion and the leading value is at standstill when the "MC_CamIn" job is started, dynamic jumps can occur at the following axis as soon as the leading axis is set in motion and the following axis starts synchronizing. If the leading and following axes are already at their synchronous positions when the "MC_CamIn" job is started, synchronous operation immediately has "Synchronous" status. During synchronization The following axis begins to synchronize as soon as the "MC_CamIn" job takes effect and the leading axis is moving. The synchronization is indicated in the Motion Control instruction "MC_CamIn" with the parameter "StartSync" = TRUE and in the "<TO>.StatusWord.X21 142 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) (Synchronizing)" tag of the following axis. The leading value must not reverse during synchronization. $BN 'PMMPXJOH WBMVF -FBEJOHWBMVF -FBEJOH WBMVF -FBEJOHWBMVF EJTUBODF U 'PMMPXJOH WBMVF U ① Time at which the job becomes effective and the synchronization begins. ② Time when synchronization is complete The dynamics of the following axis during synchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during synchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After synchronization The position of the leading axis from which the leading axis and following axis travel synchronously is derived in the following way: Position axes synchronous = Current leading value position at job start + synchronization length As soon as the leading axis has reached this position, the following axis is synchronized. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 143 Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) 8.7.8 Directly set following axis synchronously with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. With directly set synchronously, the leading and following axes move synchronously immediately without synchronization motion. This type of synchronization is mainly suitable for synchronizing at a standstill. Parameter inputs You define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 2, you specify the type of synchronization as directly set synchronously. • With the parameter "MasterSyncPosition", you define the synchronous position of the leading axis relative to the start position of the cam. The synchronous position must be within the definition of the cam. With directly set synchronously, the synchronous position is the position in the cam via which the relation between leading axis and following axis is established. After the "MC_CamIn" job has started After the "MC_CamIn" job has started, the status "Synchronous" is set directly at the current leading value position and at the current following value position. The synchronous position specified in the cam is assigned to the position setpoint of the leading axis in the leading value range and to the position setpoint of the following axis in the following value range. The cam is offset accordingly. The current offset results from the cam and is displayed at the "<TO>.StatusSynchronizedMotion.MasterOffset" and "<TO>.StatusSynchronizedMotion.SlaveOffset" tags of the technology object. The following axis travels synchronously with the leading axis in accordance with the cam profile (Page 146). Additional information For more information on direct synchronous setting, refer to the FAQ entry 109758886 (https://support.industry.siemens.com/cs/ww/en/view/109758886) in the Siemens Industry Online Support. 8.7.9 Directly set following axis synchronously at end of the cam with "MC_CamIn" (S7-1500T) During camming (Page 82), synchronization establishes the relationship between the leading axis and following axis. With directly set synchronously at the end of the cam, you change another cam or the current cam with a new scaling at the end of the active cam. Camming must already be active for this ("MC_CamIn.InSync" = TRUE). The synchronous operation remains in "synchronous" status without a synchronous operation of the following axis. 144 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.7 Synchronizing camming (S7-1500T) Parameter inputs You define the behavior of the following axis for synchronization with the following parameters of the Motion Control instruction "MC_CamIn (Page 247)": • With the parameter "SyncProfileReference" = 5, you specify the type of synchronization as directly set synchronously. • With the parameter "MasterSyncPosition", you define the synchronous position to the cam to be changed. The synchronous position must be within the definition of the cam. With directly set synchronously at the end of the cam, the specified synchronous position of the cam to be changed is automatically moved to the end position of the active cam. To do this, the cam to be inserted is moved in the leading value range and in the following value range. This means that there is no setpoint jump in the following value. NOTE Dynamic jumps Note that dynamic jumps on the following axis can occur in the transition between the two cams if the velocity and acceleration are discontinuous. Dynamic jumps on the following axis To determine dynamic jumps on the following axis, use the "MC_GetCamFollowingValue (Page 277)" instruction, for example, to check the following values for velocity and acceleration in the following positions: • End position of the active cam (<TO>.StatusCam.EndLeadingValue) • Synchronous position of the ("MasterSyncPosition") cam to be changed If the parameter values "MC_GetCamFollowingValue.FirstDerivative" of both jobs match, the transition between the cams is constant in velocity. If the parameter values "MC_GetCamFollowingValue.SecondDerivative" of both jobs match, the transition between the cams is constant in acceleration. To avoid dynamic jumps on the following axis when changing the active cam with new scaling with the start position as synchronous position, use the setting "<TO>.InterpolationSettings.BoundaryConditions" = 1 for theinterpolation of the cam (Page 116). This gives you a steady velocity transition. After the "MC_CamIn" job has started The status "Waiting" is displayed at the following axis until the leading value has reached the end of the active cam or the active cam cycle ("<TO>.StatusSynchronizedMotion.WaitingFunctionState" = 3). When reaching the end of the cam When the end of the cam is reached ("EndOfProfile" = TRUE), the replaced cam becomes active directly at the current leading value position and at the current following value position starting from the specified synchronous position. The cam is offset accordingly. The offset is displayed in the "<TO>.StatusSynchronizedMotion.MasterOffset" and "<TO>.StatusSynchronizedMotion.SlaveOffset" tags of the technology object. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 145 Camming (S7-1500T) 8.10 Reading the following value in camming (S7-1500T) The synchronous operation remains in "synchronous" status. The following axis travels synchronously with the leading axis in accordance with the cam profile. 8.8 Synchronous travel in camming with "MC_CamIn" (S7-1500T) As soon as the following axis is synchronized to a leading value, the following axis follows the position of the leading axis according to the cam profile. The transmission behavior during camming is expressed by the cam curve. The "Synchronous" status is indicated in the Motion Control instruction "MC_CamIn (Page 247)" with the parameter "InSync" = TRUE and in the "<TO>.StatusWord.X22 (Synchronous)" tag of the technology object. NOTE Avoid homing the leading axis in synchronous operation Avoid homing the leading axis during an active synchronous operation. Homing the leading axis during synchronous operation corresponds to a setpoint step-change on the following axis. The following axis compensates for the jump according to the synchronous operation function and limited only to the maximum speed of the drive. 8.9 Reading the leading value in camming (S7-1500T) With the Motion Control instruction "MC_GetCamLeadingValue", you read the leading value that is defined for a following value from a cam. Parameter inputs You define the settings with the following parameters of the Motion Control instruction "MC_GetCamLeadingValue (Page 275-276)": • With the parameter "FollowingValue", you define the following value for which the leading value is to be read. • Because the same following values can be defined for different leading values, specify an approximation of the searched leading value in the "ApproachLeadingValue" parameter. If the following value is used multiple times in the cam, it can be used to limit the searched leading value. After the "MC_GetCamLeadingValue" job has started The leading value is read after the "MC_GetCamLeadingValue" job has started. As soon as the job is completed with "Done" = TRUE, the parameter "Value" contains the read leading value. 8.10 Reading the following value in camming (S7-1500T) With the Motion Control instruction "MC_GetCamFollowingValue", you read the following value that is defined for a leading value from a cam. 146 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.11 Leading value offset during camming (S7-1500T) Parameter inputs You define the settings with the following parameters of the Motion Control instruction "MC_GetCamFollowingValue (Page 277)": • With the parameter "LeadingValue", you define the leading value for which the following value is to be read. After the "MC_GetCamFollowingValue" job has started The following value is read after the "MC_GetCamFollowingValue" job has started. As soon as the job is completed with "Done" = TRUE, the following parameters contain the read following value: • The "Value" parameter contains the position. • The "FirstDerivative" parameter contains the velocity. • The "SecondDerivative" parameter contains the acceleration. 8.11 Leading value offset during camming (S7-1500T) 8.11.1 Leading value offset on the following axis during camming using leading value distance as of current leading value position (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during camming with "MC_CamIn (Page 247)". You can move the effective leading value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the leading value offset. The leading value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during leading value offset with the following parameters of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)": • With the parameter "ProfileReference" = 1, you specify the type of leading value offset as offset using leading value distance as of the current leading value position. • With the "PhaseShift" parameter, you specify the leading value offset on the following axis. • With the "PhasingDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the leading value offset. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 149). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 147 Camming (S7-1500T) 8.11 Leading value offset during camming (S7-1500T) During the leading value offset After starting the jobs, the following axis begins with the leading value offset starting from the current position. Within the traversing distance of the leading axis, the following axis offsets the leading value at continuous velocity and acceleration. The required dynamics of the following axis to offset the leading value is calculated by the system. The resulting dynamic response of the following axis is not limited. The leading value offset is indicated in the Motion Control instruction with the parameter "StartPhasing" = TRUE and in the "<TO>.StatusWort.X24 (PhasingCommand)" tag of the technology object. The "AbsolutePhaseShift" or "CoveredPhaseShift" parameter shows the absolute leading value portion already shifted. The leading value must not reverse during the leading value offset on the following axis. When the leading value reverses, the "MC_PhasingAbsolute" job or "MC_PhasingRelative" job is canceled with "ErrorID" = 16#808C. After the leading value offset As soon as the following axis has offset the leading value, the leading value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. The leading value offset only has an effect in the "Synchronous" status of the camming. When the camming is overridden, the leading value offset is reset to zero. 8.11.2 Leading value offset on the following axis during camming using leading value distance as of specific leading value position (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during camming with "MC_CamIn (Page 247)". You can move the effective leading value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the leading value offset. The leading value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. Parameter inputs You define the behavior of the following axis during leading value offset with the following parameters of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)": • With the parameter "ProfileReference" = 2, you specify the type of leading value offset as offset using leading value distance as of a specific leading value position. • With the "PhaseShift" parameter, you specify the leading value offset on the following axis. • With the "PhasingDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the leading value offset. 148 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.11 Leading value offset during camming (S7-1500T) • With the "StartPosition" parameter, you specify the leading value position from which the leading value offset starts. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 149). Until the leading value offset After starting the job, the status "Waiting" is displayed at the following axis when the leading value is at standstill and until the leading value has reached the leading value position (<TO>.StatusWord2.X3 = TRUE (PhasingCommandWaiting)). During the leading value offset As soon as the leading value has reached the leading value position, the following axis begins to offset the leading value. Within the traversing distance of the leading axis, the following axis offsets the leading value at continuous velocity and acceleration. The required dynamics of the following axis to offset the leading value is calculated by the system. The resulting dynamic response of the following axis is not limited. The leading value offset is indicated in the Motion Control instruction with the parameter "StartPhasing" = TRUE and in the "<TO>.StatusWort.X24 (PhasingCommand)" tag of the technology object. The "AbsolutePhaseShift" or "CoveredPhaseShift" parameter shows the absolute leading value portion already shifted. The leading value must not reverse during the leading value offset on the following axis. When the leading value reverses, the "MC_PhasingAbsolute" job or "MC_PhasingRelative" job is canceled with "ErrorID" = 16#808C. The waiting job is not canceled. After the leading value offset As soon as the following axis has offset the leading value, the leading value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. The leading value offset only has an effect in the "Synchronous" status of the camming. When the camming is overridden, the leading value offset is reset to zero. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 149 Camming (S7-1500T) 8.11 Leading value offset during camming (S7-1500T) 8.11.3 Defining the direction of the leading value distance of a leading value offset on the following axis during camming (S7-1500T) With a leading value offset, you offset the effective leading value on the following axis during camming with "MC_CamIn (Page 247)". With the "Direction" parameter of the Motion Control instruction "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)", you specify the direction of the leading value distance in relation to the direction of motion of the effective leading value. $BN 'PMMPXJOH WBMVF -FBEJOHWBMVF Defining leading value distance in the positive direction of motion of the effective leading value With "Direction" = 1, the following axis only offsets the leading value when the leading axis travels in the positive direction. &YFDVUF 4UBSU1IBTJOH %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 150 U U U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.12 Following value offset during camming (S7-1500T) Defining leading value distance in the negative direction of motion of the effective leading value With "Direction" = 2, the following axis only offsets the leading value when the leading axis travels in the negative direction. &YFDVUF 4UBSU1IBTJOH %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U U U U U Defining leading value distance in the current direction of motion of the effective leading value With "Direction" = 3, the following axis offsets the leading value regardless of the direction in which the leading axis is currently traveling. 8.11.4 Only cancel a pending leading value offset in the camming (S7-1500T) With an "MC_PhasingAbsolute (Page 228)" or "MC_PhasingRelative (Page 221)" job with "ProfileReference" = 5, you cancel a pending "MC_PhasingAbsolute" or "MC_PhasingRelative" job. Canceling a waiting job has no effect on an active leading value offset. 8.12 Following value offset during camming (S7-1500T) 8.12.1 Following value offset on the following axis during camming using leading value distance as of current leading value position (S7-1500T) With a following value offset, you offset the following value on the following axis during camming with "MC_CamIn (Page 247)". You can move the following value absolutely or S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 151 Camming (S7-1500T) 8.12 Following value offset during camming (S7-1500T) relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the following value offset. The following value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. For camming, the offset of the following value with an "MC_OffsetAbsolute" or "MC_OffsetRelative" job (<TO>.StatusSynchronizedMotion.Offset) starts at the start value "<TO>.StatusSynchronizedMotion.SlaveOffset". Parameter inputs You define the behavior of the following axis during following value offset with the following parameters of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)": • With the parameter "ProfileReference" = 1, you specify the type of following value offset as offset using leading value distance as of the current leading value position. • With the "Offset" parameter, you specify the following value offset on the following axis. • With the "OffsetDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the following value offset. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 154). During the following value offset After starting the job, the following axis begins with the following value offset starting from the current position. Within the traversing distance of the leading axis, the following axis offsets the following value at continuous velocity and acceleration. The required dynamics of the following axis for the following value offset is calculated by the system. The resulting dynamic response of the following axis is not limited. The following value offset is indicated in the Motion Control instruction with the parameter "StartOffset" = TRUE and in the "<TO>.StatusWort2.X4 (OffsetCommand)" tag of the technology object. The "AbsoluteOffset" or "CoveredOffset" parameter shows the absolute following value portion already shifted. The leading value must not reverse during the following value offset on the following axis. When the leading value reverses, the "MC_OffsetAbsolute" job or "MC_OffsetRelative" job is canceled with "ErrorID" = 16#808C. After the following value offset As soon as the following axis has offset the following value, the following value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. The following value offset only has an effect in the "Synchronous" status of the camming. When the camming is overridden, the following value offset is reset to zero. 152 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.12 Following value offset during camming (S7-1500T) 8.12.2 Following value offset on the following axis during camming using leading value distance as of specific leading value position (S7-1500T) With a following value offset, you offset the following value on the following axis during camming with "MC_CamIn (Page 247)". You can move the following value absolutely or relatively. The leading value of the leading value source and the position of the leading axis are not influenced by the following value offset. The following value offset always refers to the effective leading value. The effective leading value is made up of the leading value of the leading value source and the additive leading value. If you do not use an additive leading value via "MC_LeadingValueAdditive (Page 271)", the effective leading value corresponds to the leading value of the leading value source. You can find an overview in the "Mode of operation of the instructions in synchronous operation (Page 30)" section. In the following, "leading value" refers to the effective leading value. For camming, the offset of the following value with an "MC_OffsetAbsolute" or "MC_OffsetRelative" job (<TO>.StatusSynchronizedMotion.Offset) starts at the start value "<TO>.StatusSynchronizedMotion.SlaveOffset". Parameter inputs You define the behavior of the following axis during following value offset with the following parameters of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)": • With the parameter "ProfileReference" = 2, you specify the type of following value offset as offset using leading value distance as of a specific leading value position. • With the "Offset" parameter, you specify the following value offset on the following axis. • With the "OffsetDistance" parameter, you specify the leading value distance (traversing distance of the leading axis) during the following value offset. • With the "StartPosition" parameter, you specify the leading value position from which the following value offset starts. • With the "Direction" parameter, you specify the direction of the leading value distance in relation to the direction of motion of the leading value (Page 154). Until the following value offset After starting the job, the status "Waiting" is displayed at the following axis when the leading value is at standstill and until the leading value has reached the leading value position (<TO>.StatusWord2.X5 = TRUE (OffsetCommandWaiting)). During the following value offset As soon as the leading value has reached the leading value position, the following axis begins to offset the following value. Within the traversing distance of the leading axis, the following axis offsets the following value at continuous velocity and acceleration. The required dynamics of the following axis for the following value offset is calculated by the system. The resulting dynamic response of the following axis is not limited. The following value offset is indicated in the Motion Control instruction with the parameter "StartOffset" = TRUE and in the "<TO>.StatusWort2.X4 (OffsetCommand)" tag of the technology object. The "AbsoluteOffset" or "CoveredOffset" parameter shows the absolute following value portion already shifted. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 153 Camming (S7-1500T) 8.12 Following value offset during camming (S7-1500T) The leading value must not reverse during the following value offset on the following axis. When the leading value reverses, the "MC_OffsetAbsolute" job or "MC_OffsetRelative" job is canceled with "ErrorID" = 16#808C. The waiting job is not canceled. After the following value offset As soon as the following axis has offset the following value, the following value offset is active on the following axis. The status is indicated in the Motion Control instruction with the parameter "Done" = TRUE and in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. The following value offset only has an effect in the "Synchronous" status of the camming. When the camming is overridden, the following value offset is reset to zero. 8.12.3 Defining the direction of the leading value distance of a following value offset on the following axis during camming (S7-1500T) With a following value offset, you offset the following value on the following axis during camming with "MC_CamIn (Page 247)". With the "Direction" parameter of the Motion Control instruction "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)", you specify the direction of the leading value distance in relation to the direction of motion of the effective leading value. $BN 'PMMPXJOH WBMVF -FBEJOHWBMVF 154 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.12 Following value offset during camming (S7-1500T) Defining leading value distance in the positive direction of motion of the effective leading value With "Direction" = 1, the following axis only offsets the following value when the leading axis travels in the positive direction. &YFDVUF 4UBSU0TFU %POF 50@-FBEJOH"YJT 1PTJUJPO U U U U 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC U U 155 Camming (S7-1500T) 8.13 Desynchronize camming (S7-1500T) Defining leading value distance in the negative direction of motion of the effective leading value With "Direction" = 2, the following axis only offsets the following value when the leading axis travels in the negative direction. &YFDVUF 4UBSU0TFU %POF 50@-FBEJOH"YJT 1PTJUJPO U U U U 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U Defining leading value distance in the current direction of motion of the effective leading value With "Direction" = 3, the following axis offsets the following value regardless of the direction in which the leading axis is currently traveling. 8.12.4 Only cancel a pending following value offset in the camming (S7-1500T) With an "MC_OffsetAbsolute (Page 241)" or "MC_OffsetRelative (Page 235)" job with "ProfileReference" = 5, you cancel a pending "MC_OffsetAbsolute" or "MC_OffsetRelative" job. Canceling a pending job has no effect on an active following value offset. 8.13 Desynchronize camming (S7-1500T) 8.13.1 Desynchronizing following axis using dynamic parameters with "MC_CamOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and camming is ended. For desynchronization using dynamic parameters, 156 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.13 Desynchronize camming (S7-1500T) desynchronization begins in such a way that the following axis comes to a standstill when the stop position is reached. With the Motion Control instruction "MC_CamOut" you can desynchronize a camming which you have started either with a "MC_CamIn (Page 247)" job. Parameter inputs You define the behavior of the following axis for desynchronization with the following parameters of the Motion Control instruction "MC_CamOut (Page 267)": • With the parameter "SyncProfileReference" = 0, you specify the type of desynchronization as desynchronization using dynamic parameters. • With the parameter "SlavePosition", you specify the stop positions of the following axis. The stop position of the following axis is the position at which the following axis comes to a standstill and the desynchronization is completed. • With the "Deceleration" parameter, you specify the deceleration of the following axis. • With the "Jerk" parameter, you specify the jerk of the following axis. • With the "SyncOutDirection" parameter, you specify the direction of the desynchronization (Page 160). Until desynchronization After the start of the "MC_CamOut" job, a motion profile for the following axis is calculated continuously. The motion profile is calculated based on the following parameters: • Specified stop position of the following axis in the Motion Control instruction • Specified dynamics of the Motion Control instruction • Current position and dynamics of the leading and following axes • Synchronous operation function • Superimposed motion of the following axis • Additive leading value of the following axis The distance of the following axis and thus the starting position of the following axis for desynchronization results from the calculation. The start position of the following axis is derived in the following way: Start position = stop position of the following axis - travel distance of the following axis The status "Waiting" is displayed at the following axis until the following value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 5). During desynchronization The following axis begins to desynchronize as soon as the following value has reached the start position. Desynchronization is indicated in the Motion Control instruction "MC_CamOut" with the parameter "StartSyncOut" = TRUE and in the "<TO>.StatusWord2.X1 (DesynchronizingCommand)" tag of the technology object. The synchronous operation is no longer in the "Synchronous" status. Superimposed jobs of the following axis are canceled. The following axis moves to the stop position with the specified dynamics, independent of the leading value. During desynchronization, several modulo revolutions of both axes are generally possible. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 157 Camming (S7-1500T) 8.13 Desynchronize camming (S7-1500T) After desynchronization As soon as the following axis reaches the stop position, the following axis is desynchronized. The following axis is at a standstill. The status is indicated in the Motion Control instruction "MC_CamOut" with the parameter "Done" = TRUE and in the "<TO>.StatusWord.X7 (Standstill)" tag of the technology object. 8.13.2 Desynchronizing following axis using leading value distance with "MC_CamOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and camming is ended. For desynchronization using the leading value distance, desynchronization begins in such a way that the following axis comes to a standstill when the stop position is reached. With the Motion Control instruction "MC_CamOut" you can desynchronize a camming which you have started either with a "MC_CamIn (Page 247)" job. Parameter inputs You define the behavior of the following axis for desynchronization with the following parameters of the Motion Control instruction "MC_CamOut (Page 267)": • With the parameter "SyncProfileReference" = 1, you specify the type of desynchronization as desynchronization using the leading value distance. • With the parameter "SlavePosition", you specify the stop positions of the following axis. The stop position of the following axis is the position at which the following axis comes to a standstill and the desynchronization is completed. • With the "MasterStopDistance" parameter, you define the leading value distance (desynchronization length). • With the "SyncOutDirection" parameter, you specify the direction of the desynchronization (Page 160). Until desynchronization After the start of the "MC_CamOut" job, a motion profile is calculated depending on the specified leading value distance. The calculation determines the required dynamics and thus the start position of the leading axis for the desynchronization. The start position of the leading axis is derived in the following way: Start position = leading value position when the stop position of the following axis is reached - leading value distance The status "Waiting" is displayed at the following axis until the leading value has reached the start position (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 5). During desynchronization The following axis begins to desynchronize as soon as the leading value has reached the start position. Desynchronization is indicated in the Motion Control instruction "MC_CamOut" with the parameter "StartSyncOut" = TRUE and in the "<TO>.StatusWord2.X1 158 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.13 Desynchronize camming (S7-1500T) (DesynchronizingCommand)" tag of the technology object. The synchronous operation is no longer in the "Synchronous" status. Superimposed jobs of the following axis are canceled. The following axis moves to the stop position with the specified dynamics, independent of the leading value. The leading value must not reverse during desynchronization. During desynchronization, several modulo revolutions of both axes are generally possible. )ROORZLQJYDOXH &DP /HDGLQJYDOXH /HDGLQJYDOXH /HDGLQJYDOXH GLVWDQFH W )ROORZLQJYDOXH 6WRSSRVLWLRQ )ROORZLQJD[LV W ① Time when desynchronization starts ② Time when desynchronization is complete The dynamics of the following axis during desynchronization is obtained from the calculated motion profile and the current dynamics of the leading axis. Changes in the dynamics of the leading axis during desynchronization are superimposed with the calculated motion profile in accordance with the synchronous operation function. This can have the result that the configured dynamic limits at the following axis are violated. This scenario is indicated in the "<TO>.StatusSynchronizedMotion.StatusWord.X0 … X2" variables of the technology object. After desynchronization As soon as the following axis reaches the stop position, the following axis is desynchronized. The following axis is at a standstill. The status is indicated in the Motion Control instruction S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 159 Camming (S7-1500T) 8.13 Desynchronize camming (S7-1500T) "MC_CamOut" with the parameter "Done" = TRUE and in the "<TO>.StatusWord.X7 (Standstill)" tag of the technology object. 8.13.3 Defining direction of desynchronization with "MC_CamOut" (S7-1500T) Desynchronization ends the synchronous operation relationship between the leading and following axis and camming is ended. You can specify the desynchronization direction with the "SyncOutDirection" parameter of the Motion Control instruction "MC_CamOut (Page 267)". $BN 'PMMPXJOH WBMVF -FBEJOHWBMVF Desynchronizing the following axis in positive traversing direction With "SyncOutDirection" = 1, the following axis is only desynchronized when the following axis moves in the positive direction. &YFDVUF 4UBSU4ZOD0VU %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ 160 U U U U U U S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.14 Tags: Camming (S7-1500T) Desynchronizing the following axis in negative traversing direction With "SyncOutDirection" = 2, the following axis is only desynchronized when the following axis moves in the negative direction. &YFDVUF 4UBSU4ZOD0VU %POF 50@-FBEJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 1PTJUJPO 50@'PMMPXJOH"YJT 7FMPDJUZ U U U U U U Desynchronizing the following axis in the current traversing direction With "SyncOutDirection" = 3, the following axis is desynchronized in the direction in which the following axis is currently moving. 8.13.4 Only cancel a pending camming with "MC_CamOut" (S7-1500T) With a "MC_CamOut (Page 267)" job with "SyncProfileReference" = 5 you cancel a pending camming. Canceling a pending camming has no effect on an active cam camming. 8.14 Tags: Camming (S7-1500T) The following technology object tags are relevant for camming: Status indicators Tag Description <TO>.StatusSynchronizedMotion.FunctionState Indication of which synchronous operation function is active 0 No synchronous operation active 1 Gearing ("MC_GearIn") 2 Gearing with specified synchronous positions ("MC_GearInPos") S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 161 Camming (S7-1500T) 8.14 Tags: Camming (S7-1500T) Status indicators Tag Description <TO>.StatusSynchronizedMotion.FunctionState 3 Camming ("MC_CamIn") 4 Desynchronization of gearing ("MC_GearOut") 5 Desynchronization of camming ("MC_CamOut") 6 Velocity gearing ("MC_GearInVelocity") <TO>.StatusSynchronizedMotion.WaitingFunc­ tionState <TO>.StatusSynchronizedMotion.ActualMaster Indication of which synchronous operation function is waiting 0 No synchronous operation waiting 1 Reserved 2 Gearing with specified synchronous positions waiting ("MC_GearInPos") 3 Camming waiting ("MC_CamIn") 4 Desynchronization of gearing waiting ("MC_GearOut") 5 Desynchronization of camming waiting ("MC_CamOut") When a synchronous operation job is started, the number of the techno­ logy data block of the currently used leading axis is displayed. 0 Synchronous operation inactive <TO>.StatusSynchronizedMotion.ActualCam Currently used for cyclic cam for camming <TO>.StatusSynchronizedMotion.MasterOffset Current offset of the leading value range of the cyclic cam <TO>.StatusSynchronizedMotion.MasterScaling Current scaling of the leading value range of the cyclic cam <TO>.StatusSynchronizedMotion.SlaveOffset Current offset of the following value range of the cyclic cam <TO>.StatusSynchronizedMotion.SlaveScaling Current scaling of the following value range of the cyclic cam <TO>.Position Setpoints of the axis <TO>.Velocity <TO>.Acceleration <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Position Effective leading value including an additive leading value with an "MC_LeadingValueAdditive" job <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Velocity <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Acceleration <TO>.StatusSynchronizedMotion.PhaseShift Current absolute leading value offset with an "MC_PhasingAbsolute" or "MC_PhasingRelative" job <TO>.StatusSynchronizedMotion.FunctionLead­ ingValue.Position Leading value of the synchronous operation function after a leading value offset with an "MC_PhasingAbsolute" job or "MC_PhasingRelative" job including an additive leading value with a "MC_LeadingValueAdditive" job <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Position Following value of the synchronous operation function before a following value offset with an "MC_OffsetAbsolute" job or "MC_OffsetRelative" job <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Velocity <TO>.StatusSynchronizedMotion.FunctionFol­ lowingValue.Acceleration <TO>.StatusSynchronizedMotion.Offset 162 Current absolute following value offset with an "MC_OffsetAbsolute" or "MC_OffsetRelative" job S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Camming (S7-1500T) 8.14 Tags: Camming (S7-1500T) Status indicators Tag Description <TO>.StatusSynchronizedMotion.StatusWord.X0 Set to the value "TRUE" when the maximum velocity configured for the fol­ (MaxVelocityExceeded) lowing axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X1 Set to the value "TRUE" when the maximum acceleration configured for (MaxAccelerationExceeded) the following axis is exceeded during synchronous operation. <TO>.StatusSynchronizedMotion.StatusWord.X2 Set to the value "TRUE" when the maximum deceleration configured for (MaxDecelerationExceeded) the following axis is exceeded during synchronous operation. <TO>.StatusWord.X21 (Synchronizing) Set to the value "TRUE" when the synchronous axis synchronizes to a lead­ ing value. <TO>.StatusWord.X22 (Synchronous) Set to the value "TRUE" when the synchronous axis is synchronized and moves synchronously to the leading axis. <TO>.StatusWord2.X1 (DesynchronizingCom­ mand) Set to the value "TRUE" when the synchronous axis desynchronizes. <TO>.StatusWord.X24 (PhasingCommand) Is set to the value "TRUE" if a job for leading value offset is active ("MC_PhasingAbsolute", "MC_PhasingRelative"). <TO>.StatusWord2.X3 (PhasingCommandWait­ ing) Is set to the value "TRUE" if a job for leading value offset is pending ("MC_PhasingAbsolute", "MC_PhasingRelative"). <TO>.StatusWord2.X4 (OffsetCommand) Is set to the value "TRUE" if a job for following value offset is active ("MC_OffsetAbsolute", "MC_OffsetRelative"). <TO>.StatusWord2.X5 (OffsetCommandWaiting) Is set to the value "TRUE" if a job for following value offset is waiting ("MC_OffsetAbsolute", "MC_OffsetRelative"). <TO>.ErrorWord.X14 (SynchronousError) Error during synchronous operation The leading axis specified in the motion control instruction was not con­ figured as a possible leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 163 Other synchronous operation functions (S7-1500T) 9.1 9 Simulate synchronous operation (S7-1500T) An active synchronous operation connection is triggered when access enables are removed or four motion jobs on a following axis. By simulating synchronous operation, you can keep the synchronous operation active without canceling the synchronous operation relationship. You can set an active synchronous operation with the motion control instruction "MC_SynchronizedMotionSimulation (Page 260-261)" in simulation. The synchronous operation only acts on the following axis. Setpoint changes from the synchronous operation are no longer taken into consideration at the axis and no longer forwarded to the drive. The setpoints output to the drive continue to come from any active superimposed motions of the following axis. This also applies to single-axis jobs on the following axis, while synchronous operation is in simulation mode. NOTE Setting synchronous operation with superimposed motions in simulation If superimposed movements by the motion control instructions "MC_MoveSuperimposed", "MC_MotionInSuperimposed" or "MC_HaltSuperimposed" are or were active on the following axis, do not set a synchronous operation in simulation. This is because after you end the simulation, the following axis follows the leading axis without the position shifted by the superimposed motion. This can cause a setpoint jump of the position on the following axis. If you are using synchronous operation, use the motion control instructions "MC_OffsetAbsolute" or "MC_OffsetRelative" to move the following axis position. Starting the simulation Requirement • The technology object has been configured correctly. • The following axis is a synchronous axis. • Synchronous operation is active on the technology object in status "Synchronous" (<TO>.StatusWord.X22 = TRUE). Procedure To set a synchronous operation on a following axis in simulation mode, follow these steps: 1. At the "Slave" parameter of the "MC_SynchronizedMotionSimulation" job, specify the following axis on which the synchronous operation is active. 2. Bring the leading axis to a standstill, e.g. with an "MC_Halt" job. 3. Start the simulation of the synchronous operation on the following axis with "Enable" = TRUE parameter. The leading axis must be stopped at this time. As soon as the synchronous operation is active, this is indicated in the motion control instruction by the parameter "InSimulation" = TRUE and in the "<TO>.StatusSynchronizedMotion.StatusWord.X3 (InSimulation)" tag of the technology object. 164 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Other synchronous operation functions (S7-1500T) 9.1 Simulate synchronous operation (S7-1500T) The synchronous operation remains active during the simulation, including the motions through single axis jobs or with disabling the leading axis and/or following axis with "MC_Power.Enable" = FALSE or a "MC_Stop" job, for example by opening a protective door. The synchronous operation in "synchronous" status ("MC_GearIn.InGear" = TRUE, "MC_GearInPos.InSync" = TRUE or "MC_CamIn.InSync" = TRUE, but "<TO>.StatusWord.X22" = FALSE). End simulation WARNING Machine damage If the position of the following axis at the end of the simulation differs from the position at the start of the simulation, this triggers a setpoint step-change which can lead to machine damage. Therefore, make sure that the setpoints of the following axis correspond to the setpoints from the synchronous operation relationship when simulation is ended. Requirement • The set position of the following axis coincides with the setpoint from the synchronous relationship. • The technology object has been enabled ("MC_Power.Enable" = TRUE). Procedure To end a synchronous operation on a following axis, follow these steps: 1. End the synchronous operation with the parameter "Enable" = FALSE of the "MC_SynchronizedMotionSimulation" job. The setpoints of the synchronous operation are directly effective on the following axis. The following axis does not have to be synchronized again after the synchronous operation has been completed. 9.1.1 Tags: Synchronous operation is being simulated (S7-1500T) The following tags of the technology object are relevant for simulation: Status indicators Tag Description <TO>.StatusSynchronizedMotion.StatusWord.X3 Simulation of synchronous operation on a following axis with a (InSimulation) "MC_SynchronizedMotionSimulation" job FALSE Not simulated TRUE Simulated S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 165 Other synchronous operation functions (S7-1500T) 9.2 Specify additive leading value (S7-1500T) 9.2 Specify additive leading value (S7-1500T) To superimpose the leading value of a synchronous operation from the application, use the Motion Control instruction "MC_LeadingValueAdditive" in addition to the active leading value to cyclically specify an additive leading value on the following axis. The additive leading value consists of position, velocity and acceleration. You can find an overview in the section "Mode of operation of the instructions in synchronous operation (Page 30)". Parameter inputs With the following parameters of the Motion Control instruction "MC_LeadingValueAdditive (Page 271)" you can determine the additive leading value: • At the "Axis" parameter, specify the following axis on which the additive leading value acts. • With the "Position" parameter, you can define the additive position value. • With the "Velocity" parameter, you can define the additive velocity value. • With the "Acceleration" parameter, you can define the additive acceleration value. Start additive leading value specification With the "Enable" parameter = TRUE of the "MC_LeadingValueAdditive" job, set the additive leading value to effective. The additive leading value becomes effective directly and without dynamic limitation on the following axis. You can start an "MC_LeadingValueAdditive" job independently of the synchronous operation job. Only one "MC_LeadingValueAdditive" job can be active on a following axis at any time. During the additive leading value specification The default values for position, velocity and acceleration are valid as long as the "Busy" parameter = TRUE. Changes in the specified values are directly effective without consideration of the dynamic limits. The active additive leading value specification is displayed in of the "<TO>.StatusSynchronizedMotion.StatusWord.X4 (LeadingValueAdditiveCommand)" tag of the technology object. The effect of a "MC_LeadingValueAdditive" job depends on the status of the synchronous operation: 166 Status of synchronous operation Effect on: Not active or pending • • Start position of synchronization Following axis dynamic response Synchronization • • • Synchronous position Phase position Following axis dynamic response Synchronous motion • • Phase position Following axis dynamic response S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Other synchronous operation functions (S7-1500T) 9.2 Specify additive leading value (S7-1500T) Status of synchronous operation Effect on: Desynchronization • • • Stop position of following axis Phase position Following axis dynamic response With a leading value switchover, the additive leading value still remains effective. Ending the additive leading value specification As soon as you end the leading value specification with the parameter "Enable" = FALSE of the "MC_LeadingValueAdditive" job, the additive leading value directly becomes ineffective. 9.2.1 Tags: Additive leading value (S7-1500T) The following technology object tags are relevant for the additive leading value: Status indicators Tag Description <TO>.StatusSynchronizedMotion.StatusWord.X4 Additive leading value with a "MC_LeadingValueAdditive" job (LeadingValueAdditiveCommand) FALSE Additive leading value not active TRUE Additive leading value active <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Position Effective leading value position of the synchronous operation function <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Velocity Effective leading value velocity of the synchronous operation function <TO>.StatusSynchronizedMotion.EffectiveLead­ ingValue.Acceleration Effective leading value acceleration of the synchronous operation function S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 167 Cross-PLC synchronous operation (S7-1500T) 10 With cross-PLC synchronous operation, you realize synchronous operations (gearing or camming) between axes that are on different CPUs. All following axes of a leading value are hereby synchronous to one another with consideration of the respective synchronous operation function. All following axes receive the same leading value at the same time. You can configure and operate the following axes on different CPUs within a project. You can also configure the leading axis on any CPU of the same project. The figure below shows the operating principle based on an example with two following axes on two CPUs: $16 /HDGLQJD[LV $16 )ROORZLQJD[LV /HDGLQJD[LVSUR[\ )ROORZLQJD[LV /HDGLQJYDOXHWHOHJUDP 130'*/&5 4*/".*$4 4*/".*$4 Leading value The leading axis and a local following axis 1 are located on CPU 1. The leading axis and the following axis 1 are interconnected to a synchronous operation. The leading axis makes the leading value available for cross-PLC synchronous operation. The leading value is transferred to CPU 2 by means of a leading value telegram via PROFINET IO with IRT. On CPU 2, a leading axis proxy reads the leading value. A following axis 2 is interconnected locally with the leading axis proxy as leading axis. The following axes 1 and 2 are synchronous and follow the same leading value. The S7-1500 and S7-1500T CPUs can make the leading value available for a cross-PLC synchronous operation. You need to use an S7-1500T CPU as the CPU that receives the leading value via a leading value proxy. A cross-PLC synchronous operation between technology objects with different technology versions ≥ V5.0 on CPUs with different firmware versions ≥ V2.8 is possible. More information For more information on the setup and diagnostics of a cross-PLC synchronous operation including sample projects, refer to the Siemens Industry Online Support FAQ entry 109770938 (https://support.industry.siemens.com/cs/ww/en/view/109770938). 168 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.1 Interconnection possibilities (S7-1500T) 10.1 Interconnection possibilities (S7-1500T) The figure below shows the schematic structure of synchronous following axes with different synchronous operation functions that are distributed over multiple CPUs: &38 /HDGLQJD[LV )ROORZLQJD[LV /HDGLQJYDOXHWHOHJUDP &DVFDGH &38Q &38 /HDGLQJD[LVSUR[\ 9LUWXDOIROORZLQJD[LV /HDGLQJYDOXHWHOHJUDP /HDGLQJD[LVSUR[\ &38 /HDGLQJD[LVSUR[\ )ROORZLQJD[LV &38 )ROORZLQJD[LV &DVFDGH &38 )ROORZLQJD[LV Leading value delay that can be configured at the leading axis (delay time) Delay time caused by the processing and transfer of the leading value Gearing (example) You can interconnect a positioning axis, external encoder or synchronous axis technology object as the leading axis on CPU 1. Cascaded interconnection With a cascaded interconnection, a following axis makes a cross-PLC leading value available to a leading axis proxy again. Use a virtual axis for this purpose. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 169 Cross-PLC synchronous operation (S7-1500T) 10.1 Interconnection possibilities (S7-1500T) The figure above shows two cascades: The interconnection between the leading axis and the following axes 2 and 4 is the first cascade. The interconnection between the virtual following axis and the following axes 3 is the second cascade. Communication and time response In the processing and transfer of the leading value, a delay time occurs between the generation of the leading value on the leading axis one on CPU and the provision of the leading value for the following axes at the leading axis proxy on the other CPUs. The following axes of the other CPUs receive the leading value with a time delay. In principle, the delay time per cascade is: Delay time = 2 x application cycle of the CPU of the leading axis proxy To achieve synchronicity between the local following axes of the CPU of the leading axis and the following axes of other CPUs without extrapolating the leading value at the leading axis proxy, the leading value can be delayed at the leading axis for the local following axes. The delay time can be compensated for with these configurable delay times. Therefore, in the figure above, a delay time is set at the leading axis on CPU 1, which delays the leading value output to the local following axis 1. In addition, a delay time at the virtual following axis on CPU 2 is set, because CPU 3 is present in a cascade. All following axes thus receive the same leading value at the same time. During configuration of the following axis under "Leading value interconnections", you select the entry "Delayed" as type of coupling so that the leading value is delayed for local synchronous operation. Recommendation: Use a virtual axis as leading axis. Delay time You can calculate and view the delay times in the interconnection overview (Page 178). The application cycles of the leading axis proxy and any cascading present are included in the calculation of the delay times. Alternatively, you can manually configure the delay times on the leading axis and on the virtual following axis. In this way, you can consider additional requirements from your specific application, for example. Depending on the set delay time, the leading value at the leading axis proxy is automatically interpolated or extrapolated. The automatic interpolation and extrapolation guarantees the synchronicity of all following axes. In the interconnection overview, an indication of whether the leading value is interpolated or extrapolated is provided for each route of a leading value (Page 180). NOTE Deviations in the following values With an extrapolation, deviations in the following values can occur in the event of velocity changes. With an interpolation, no deviations of the following values occur in the event of velocity changes. If you increase the delay time of the leading axis in the leading value settings, this leads to a lower extrapolation time at the leading axis proxy or to a higher interpolation time of the leading value at the leading axis proxy. This reduces the deviations in the following values that arise during extrapolation in the acceleration and deceleration phases. 170 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.2 Preparing cross-PLC synchronous operation (S7-1500T) If the delay time at the leading axis proxy is increased, this results in a higher extrapolation time or to a lower interpolation time. Recursive interconnection When all axes are active, the leading axis becomes the following axis of its own leading value with a recursive interconnection. During the configuration, recursive interconnections are displayed in the interconnection overview. No delay times can be calculated for recursive interconnections. Even if different synchronized groups are active at different times, recursive interconnections may still occur during interconnection. Recursive interconnections over multiple CPUs are not detected during runtime. A recursive interconnection that is in effect during runtime is not permitted. 10.2 Preparing cross-PLC synchronous operation (S7-1500T) For a cross-PLC synchronous operation, a leading axis proxy technology object on each additional CPU is required in addition to the technology objects for leading and following axes. When you create a technology object, an "MC‑Servo [OB91]" organization block is automatically created. This is required when you set up communication via direct data exchange on each CPU. Requirement • You have created a CPU S7-1500 or S7-1500T for the leading axis. • You have created one or more CPUs S7-1500T for additional following axes. Procedure To prepare the cross-PLC synchronous operation, follow these steps: 1. On the first CPU, create one of the following technology objects as the leading axis. – Positioning axis – Synchronous axis – External encoder (S7‑1500T) 2. If necessary, create one or more synchronous axis technology objects as local following axes on the first CPU. 3. Create a leading axis proxy technology object on each additional CPU. 4. Create one or more synchronous axis technology objects as following axes on each additional CPU. 5. For each additional cascade, create a synchronous axis technology object as a virtual following axis that will serve as the leading axis for the next cascade. 6. Configure the configuration parameters of the leading and following axes that are not specific for synchronous operation. You can find a description of the configuration parameters in the "S7-1500/S7-1500T Axis functions" documentation (Page 13). 7. Set up the communication via the direct data exchange (Page 172). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 171 Cross-PLC synchronous operation (S7-1500T) 10.3 Setting up communication via direct data exchange (S7-1500T) 8. Configure the provision of leading value. (Page 174) 9. Configure the tolerance time (Page 177). 10. Set the delay times (Page 180). 10.3 Setting up communication via direct data exchange (S7-1500T) In a cross-PLC synchronous operation, the leading value is transferred via PROFINET IO with IRT. Direct data exchange is used for the communication between the CPUs within a project. With communication by means of direct data exchange, the leading value is made available once within a project and can then by received by multiple CPUs on the same bus. Leading axis proxies that are interconnected with the same leading value can be configured on different CPUs. In addition, it is possible to make multiple leading values of different leading axes available on different CPUs via the same bus. The CPUs must be on a bus and belong to the same sync domain. For the required communication directions between the connected CPUs, you must first set up transfer areas. A leading value can be provided over up to eight different transfer areas. You then create input and output tags for the CPUs which reference the relevant transfer areas. You can then select these tags for the transfer area when configuring the leading axis and the leading axis proxy. Hereafter, the sender CPU is the CPU on which a leading axis provides a leading value. The receiver CPU is the CPU on which a leading axis proxy reads the leading value. Requirement • You have set up a network via PROFINET IO with IRT. • You have connected the IRT ports of the CPUs in the network view and in the topology view. • You have assigned the same sync domain to all CPUs. • You have configured a CPU as sync master. • You have configured all other CPUs as sync slaves. • You have created at least one technology object on all CPUs. NOTE "MC-Servo [OB91]" organization block When you create a technology object, an MC-Servo OB is created automatically. • You have configured the property "Synchronous to the bus" with "PROFINET IO-System (100)" as the source of the send clock on all CPUs for the "MC-Servo [OB91]" under "General > Cycle time". Adding communication directions To add the communication directions, proceed as follows: 1. Open the "I/O communication" tab in the network view. 2. To create a communication direction from the sender CPU to the receiver CPU, select the sender CPU. 172 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.3 Setting up communication via direct data exchange (S7-1500T) 3. Drag-and-drop the receiver CPU into the "Drop or select the device here" field of the "Partner 2" table column of the corresponding PROFINET interface. The communication direction from sender CPU to receiver CPU is created. 4. Repeat steps 2 and 3 for all communication directions required between the interconnected CPUs. NOTE Communication direction from the receiver CPU to the sender CPU If necessary, also set up a communication direction from the receiver CPU to the sender CPU, e.g. to transfer application-specific status information. Configuring transfer areas To configure the transfer areas, follow these steps: 1. In the "I/O communication" tab in the network view, select a communication direction of a selected CPU. 2. Add a transfer area in the Inspector window under "Properties > General > Direct data exchange" by entering a name. 3. Repeat steps 1 and 2 for all created configuration directions. 4. Configure the created transfer area in the Inspector window "Properties > General > Direct data exchange > <Name of transfer area>": – In the "Start address" fields, define the start address of the assigned logical address area of the sender and of the receiver. NOTE Multiple receiver CPUs in the same cascade (1:n relationship) If multiple receiver CPUs receive the same leading value of the sender CPU, select in each case for the receiver CPU the same address area for the transfer area between the sender CPU and the receiver CPU n that you defined between the sender CPU and the receiver CPU 1 under "Properties > General > Direct data exchange" in the "Partner address" table column. – In the "Organization block" fields, select the MC-Servo OB of the respective CPU. – Define a data length of 48 bytes in the "Data length [byte]" field. 5. Repeat step 4 for all created transfer areas. 6. If you use a SIMATIC Drive Controller, set the clock system of the SINAMICS Integrated: – Select PROFIdrive Integrated in the network view. – In the Inspector window, select the entry "Send clock of the PROFINET interface [X150]" under "Properties > General > Constant bus cycle time" in the "Cycle time" drop-down list. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 173 Cross-PLC synchronous operation (S7-1500T) 10.4 Configuring the provision of leading value and interconnecting axes (S7-1500T) Creating tags To create the output tag of a sender CPU and the input tag of a receiver CPU, proceed as follows: 1. Open the PLC tags of a CPU via the project tree "<Name of CPU> > PLC tags > Show all tags". The "PLC tags" table opens. 2. Enter the name of the new tag in the "Name" column. 3. In the "Data type" column, manually enter the "DX_TEL_SyncOp" data type. NOTE Data type "DX_TEL_SyncOp" If the data type "DX_TEL_SyncOp" is not available, it was deleted with the last compilation. To restore the "DX_TEL_SyncOp" data type, add a ≥ V5.0 technology object. After you have used the data type in the "PLC tags" table, you can delete the technology object again. 4. Enter the configured start address of the transfer area in the "Address" column with the following prefix: – "%Q" for an output tag on the sender CPU – "%I" for an input tag on the receiver CPU 5. Repeat steps 1 to 4 for the respective sender and receiver CPUs of all configured transfer areas. Result You have set up communication via direct data exchange. During the configuration of the leading axis and the leading axis proxy, you can now select the configured tags for the transfer areas in the table column or in the "Transfer area" drop-down list under "Technology object > Configuration > Leading value settings". If no technology object is created on a CPU, the MC-Servo OB is deleted when the software is compiled. To be able to check the set communication in this case, compile the hardware only. More information For more information on the subject of "Direct data exchange" refer to the "SIMATIC PROFINET with STEP 7" function manual (https://support.industry.siemens.com/cs/ww/en/view/49948856). 10.4 Configuring the provision of leading value and interconnecting axes (S7-1500T) The following describes how to connect the leading value and the axes involved for a crossPLC synchronous operation via one or more cascades. 174 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.4 Configuring the provision of leading value and interconnecting axes (S7-1500T) Requirement • You have set up the direct data exchange between the CPUs. • You have created one of the following technology objects as the leading axis on the first CPU (S7-1500, S7-1500T): – Positioning axis – Synchronous axis – External encoder Recommendation: You have configured the leading axis as virtual axis. • You may have created one or more synchronous axis technology objects as local following axes on the first CPU. • You have created a leading axis proxy technology object on each additional CPU (S7-1500T). • You have created one or more synchronous axis technology objects as following axes on each additional CPU. • For each additional cascade you have created a technology object synchronous axis as a virtual following axis that is used as the leading axis for the next cascade. • The technology objects are configured correctly. Provide cross-PLC leading value To make the leading value of the leading axis available cross-PLC, proceed as follows: 1. Open the configuration window "Technology object > Configuration > Leading value settings" of the leading axis. 2. To show rows 2 to 8 in the table in the "Provision of leading value" area, select the "Show all transfer areas" check box. 3. In the "Provide leading value" table column, select the check box of the corresponding transfer area. 4. In the "Transfer area" table column, select in the drop-down list the CPU output tag created for the direct data exchange. Interconnect local following axes To interconnect the local following axes on the CPU of the leading axis, follow these steps: 1. Open the configuration window "Technology object > Configuration > Leading value interconnections" of a local following axis. 2. In the "Possible leading values" table column, select the leading axis. 3. In the "Type of coupling" table column, select the entry "Delayed". 4. Repeat steps 1 to 3 for all local following axes. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 175 Cross-PLC synchronous operation (S7-1500T) 10.4 Configuring the provision of leading value and interconnecting axes (S7-1500T) Interconnecting leading axis proxies To interconnect the leading axis proxies to other CPUs, follow these steps: 1. Open the configuration window "Technology object > Configuration > Leading value settings" of a leading axis proxy. 2. In the "Provision of leading value" area in the "Transfer area" drop-down list, select the input tag of the CPU created for the direct data exchange. 3. Repeat steps 1 and 2 for all leading axis proxies of the same cascade. Interconnecting following axes of the other CPUs To interconnect the following axes that are not configured on the CPU of the leading axis, proceed as follows: 1. Open the configuration window "Technology object > Configuration > Leading value interconnections" of a following axis. 2. In the "Possible leading values" table column, select the alternate leading axis of the CPU. In the table column "Leading value source", the leading axis is displayed which provides the leading value (<Name of the CPU>.<Name of the technology object>). The "Setpoint" entry is preset in the "Type of coupling" table column. 3. In the table column with the icon , select whether this leading value interconnection should be taken into consideration when calculating the delay time in the interconnection overview (Page 177). 4. Repeat steps 1 to 3 for all following axes of the same cascade. Interconnecting virtual following axis as leading axis for the next cascade To interconnect a virtual following axis that is used as leading axis for the next cascade, proceed as follows: 1. Open the configuration window "Technology object > Configuration > Leading value interconnections" of the virtual following axis. 2. In the "Possible leading values" table column, select the alternate leading axis of the CPU. In the table column "Leading value source", the leading axis is displayed which provides the leading value (<Name of the CPU>.<Name of the technology object>). The "Setpoint" entry is preset in the "Type of coupling" table column. 3. In the table column with the icon , select whether this leading value interconnection should be taken into consideration when calculating the delay time in the interconnection overview. 4. Switch to the configuration window "Technology object > Configuration > Leading value settings" of the virtual following axis. 5. To show rows 2 to 8 in the table in the "Provision of leading value" area, select the "Show all transfer areas" check box. 6. In the "Provide leading value" table column, select the check box of the corresponding transfer area. 7. In the "Transfer area" table column, select in the drop-down list the CPU output tag created for the direct data exchange. 8. Repeat the steps in the section "Interconnecting leading axis proxies" for all leading axis proxy of the next cascade. 176 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.6 Working with the interconnection overview table (S7-1500T) 9. Repeat the steps "Interconnecting following axes of the other CPUs" for all following axes of the next cascade. 10. Repeat steps 1 to 9 for all other cascades. 10.5 Configuring the tolerance time (S7-1500T) If an external leading value becomes invalid during a cross-PLC synchronous operation or a communication error occurs, technology alarm 900 ("Leading values invalid") is output after a tolerance time. You can configure this tolerance time on the leading axis proxy technology object. Procedure To configure the tolerance time, follow these steps: 1. Open the configuration window "Technology object > Configuration > Leading value settings" of a leading axis proxy. 2. In the "Leading value monitoring" area, enter the tolerance time within which a valid leading value is expected in the "Tolerance time invalid leading value" input field. NOTE Extrapolation of the leading value Note that the leading value is still being extrapolated during the tolerance time and that the following axis continues to move. Therefore, set the tolerance time as brief as possible. 3. Repeat steps 1 and 2 for all other leading axis proxies. 10.6 Working with the interconnection overview table (S7-1500T) 10.6.1 Opening the interconnection overview (S7-1500T) The interconnection overview contains an overview of the interconnected leading and following axes and their CPU assignment. In the interconnection overview, you also trigger the system calculation of the delay time. Requirement • You have created technology objects in the project for: – Leading axis – Following axis – Leading axis proxy • You have interconnected the CPUs and technology objects with one another. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 177 Cross-PLC synchronous operation (S7-1500T) 10.6 Working with the interconnection overview table (S7-1500T) Procedure To open the interconnection overview, follow these steps: 1. Select one of the following technology objects in the project navigation: – Positioning axis – Synchronous axis – External encoder – Leading axis proxy 2. Select the "Interconnection overview" command from the shortcut menu. Result The interconnection overview opens. 10.6.2 Interconnection overview (S7-1500T) The interconnection overview contains an overview of the interconnected leading and following axes and their CPU assignment in tabular form. Toolbar The toolbar at the top of the interconnection overview provides the following functions via buttons: Button Description You update the view of the interconnection overview with this icon. Calculate delay times You trigger calculation of delay times with this button. The delay time is only calculated if the check box "Allow system calculation" is selected under "Leading value settings" during configuration of the techno­ logy objects. You can only trigger the calculation of the delay times if the values are not current and the technology objects are not recursively connected. Filtering the view You have the following options above the table to filter the view of the interconnection overview: Field Description Enter text filter In this field, enter a term by which the view should be filtered. Show delay times Select this check box to show the "Delay time" columns which contain the delay times. Show local synchronous Select this check box to display the local leading value interconnections in operations addition to the cross-PLC leading value interconnections. 178 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.6 Working with the interconnection overview table (S7-1500T) Interconnection overview table The interconnection overview table contains the following information and functions: Column Description Leading value source PLC This column displays the CPU of the leading axis. Leading axis This column displays the name of the leading axis. You open the configuration of the technology object via the link. If this icon is displayed in the "Leading axis" column, the intercon­ nection is excluded from the system calculation of the delay time. In the configuration of the leading axis, the check box "Allow sys­ tem calculation" is not selected under "Leading value settings". DT This column displays the delay time in ms. This column is only displayed when the "Show delay times" check box is selected. Leading value output This column displays the type of the leading value output and the number of the transfer area. Recipient PLC This column displays the CPU of the following axis. Following axis This column displays the name of the following axis. You open the configuration of the technology object via the link. Routes When you select a row, the icon "Routes" area with this icon. Leading axis proxy The name of the leading axis proxy is displayed in this column. You open the configuration of the technology object via the link. is displayed in this column. You open the If this icon is displayed in the "Leading axis proxy" column, the interconnection is excluded from the system calculation of the delay time. In the configuration of the leading axis proxy, the check box "Allow system calculation" is not selected under "Leading value settings". DT Interconnection This column displays the delay time in ms. This column is only displayed when the "Show delay times" check box is selected. If this icon is displayed in the "Interconnection" column, the inter­ connection is affected by a recursion. If this icon is displayed in the "Interconnection" column, the inter­ connection is affected by a recursion, but at least one interconnec­ tion is excluded from the calculation of the delay time. If this icon is displayed in the "Interconnection" column, the inter­ connection is excluded from the system calculation of the delay time. With this icon, you open the configuration of the following axis. If the configured delay time corresponds to the calculated delay time, the icon is displayed in this column. In the "Leading value source cannot be clearly determined" area, interconnections are displayed where, for example, several leading axes are connected for a leading axis proxy and the leading value source is therefore not unique. The range is only displayed if there are interconnections without a unique leading value source. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 179 Cross-PLC synchronous operation (S7-1500T) 10.6 Working with the interconnection overview table (S7-1500T) 10.6.3 Showing routes (S7-1500T) The routes of the leading value of a selected following axis are shown in the interconnection overview in the area underneath the table. The leading value is tracked back from the following axis to the leading axis source. If there are multiple routes, they are displayed next to one another. Procedure To display the existing routes of a following axis, follow these steps: 1. Select the row of the corresponding following axis in the table. 2. To show the routes, click the icon in the "Routes" column. Result All routes are displayed in the area below the table for the selected following axis. Routes affected by a recursion are not displayed. It is indicated underneath a route whether the leading value is interpolated or extrapolated: • If all cascades interpolate, "Interpolated" is displayed. • If at least one cascade extrapolates, "Extrapolated" is displayed. 10.6.4 Setting the delay times (S7-1500T) You can calculate and view the delay times in the interconnection overview. Alternatively, you can manually configure the delay times on the leading axis and on the virtual following axes. Depending on the set delay time, the leading value at the leading axis proxy is automatically interpolated or extrapolated. Requirement • You have interconnected the CPUs and technology objects with one another. • Except for the delay time, the technology objects are fully configured. Calculating delay times To calculate the delay times, follow these steps: 1. Open the configuration window "Technology object > Configuration > Leading value settings" of the leading axis. 2. In the "Delay time of local leading value" area, select the "Allow system calculation" check box. 3. Repeat steps 1 and 2 for all leading axis proxies and for all virtual following axes that are used as leading axis for additional cascades. 4. Open the configuration window "Technology object > Configuration > Leading value interconnections" of a non-local following axis. 5. For a leading axis proxy technology object of the table column with the symbol , select whether this leading value interconnection should be taken into account when calculating the delay time. 180 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Cross-PLC synchronous operation (S7-1500T) 10.7 Tags: Cross-PLC synchronous operation (S7-1500T) 6. Repeat steps 4 and 5 for all other non-local following axes. 7. To open the interconnection overview, click on the link "Interconnection overview". 8. To calculate the delay times, click the "Calculate delay times" button in the interconnection overview. 9. Check the calculated delay times in the columns "DT" of the interconnection overview. 10. In the routes, check whether a leading value is interpolated or extrapolated at the leading axis proxy (<TO>.StatusExternalLeadingValue.AdjustmentTime). Configuring delay times To adjust the delay time and, for example, take into account additional requirements from your special application, follow these steps: 1. Open the configuration window "Technology object > Configuration > Leading value settings" of the leading axis. 2. Clear the "Allow system calculation" check box in the "Delay time of local leading value" area. 3. Enter the corresponding value in the "Delay time" input field. The entered delay time determines the output delay of the leading value for the local following axes (<TO>.CrossPlcSynchronousOperation.LocalLeadingValueDelayTime). 4. Repeat steps 1 to 3 for all virtual following axes that are used as the leading axis for additional cascades. 5. Open the configuration window "Technology object > Configuration > Leading value settings" of a leading axis proxy. 6. Clear the "Allow system calculation" check box in the "Delay time of local leading value" area. 7. In the "Delay time" (<TO>.Parameter.LocalLeadingValueDelayTime) input field, enter the same delay time that is set on the local virtual following axis that is used as the leading axis for an additional cascade. The entered delay time determines the output delay of the leading value for the local following axes (<TO>.CrossPlcSynchronousOperation.LocalLeadingValueDelayTime). 8. To open the interconnection overview, click on the link "Interconnection overview". 9. Check the delay times in the "DT" columns of the interconnection overview. 10. In the routes, check whether a leading value is interpolated or extrapolated at the leading axis proxy (<TO>.StatusExternalLeadingValue.AdjustmentTime). 10.7 Tags: Cross-PLC synchronous operation (S7-1500T) Positioning axis/synchronous axis/external encoder The following tags of the positioning axis, synchronous axis and external encoder are relevant for cross-PLC synchronous operation: Tag Description <TO>.CrossPlcSynchronousOperation.Inter­ face[1..8].EnableLeadingValueOutput Provide cross-PLC leading value FALSE S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC No 181 Cross-PLC synchronous operation (S7-1500T) 10.7 Tags: Cross-PLC synchronous operation (S7-1500T) Tag Description <TO>.CrossPlcSynchronousOperation.Inter­ face[1..8].EnableLeadingValueOutput TRUE <TO>.CrossPlcSynchronousOperation.Inter­ face[1..8].AddressOut Output address for the telegram of cross-PLC synchronous operation Yes <TO>.CrossPlcSynchronousOperation.LocalLeadingVal­ Delay time for setpoint coupling with delayed leading value ueDelayTime <TO>.StatusProvidedLeadingValue.DelayedLeading­ Value.Position Position of the provided leading value <TO>.StatusProvidedLeadingValue.DelayedLeading­ Value.Velocity Velocity of the provided leading value <TO>.StatusProvidedLeadingValue.DelayedLeading­ Value.Acceleration Acceleration of the provided leading value Leading axis proxy The following leading axis proxy technology object tags are relevant for cross-PLC synchronous operation: Tag Description <TO>.Position Position of the leading value for local synchronous operation <TO>.Velocity Velocity of the leading value for local synchronous operation <TO>.Acceleration Acceleration of the leading value for local synchronous operation <TO>.Interface.AddressIn Input address for the telegram of the external leading value <TO>.Parameter.LocalLeadingValueDelayTime Delay time of leading value output on the local following axis which, in turn, provides a leading value <TO>.Parameter.ToleranceTimeExternalLeading­ ValueInvalid Tolerance time until a technology alarm is triggered when the external leading value becomes invalid <TO>.StatusExternalLeadingValue.ModuloLength Modulo length of the external leading value <TO>.StatusExternalLeadingValue.ModuloStartValue Modulo start value of the external leading value <TO>.StatusExternalLeadingValue.AdjustmentTime Time by which the external leading value is adjusted <TO>.StatusWord.X4 (LeadingValueValid) <TO>.StatusWord.X5 (LeadingValueModulo) <TO>.StatusWord.X6 (LeadingAxisControl) 182 <0 The external leading value is interpolated by this time. >0 The external leading value is extrapolated by this time. Validity of the external leading value 0 Leading value does not exist or is not valid 1 Leading value exists and is valid Modulo functionality 0 Leading value without modulo functionality 1 Leading value with modulo functionality Follow-up mode 0 Leading axis in follow-up mode 1 Leading axis not in follow-up mode S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11 The description of Motion Control diagnostics is limited to the diagnostics view of the technology objects in TIA Portal, the technology alarms and the error detections on Motion Control instructions. The following descriptions can be found in the "S7-1500/S7-1500T Motion Control alarms and error IDs" documentation (Page 13): • Diagnostics concept • Technology alarms • Error IDs in Motion Control instructions A comprehensive description of the system diagnostics of the S7‑1500 CPU can be found in the "Diagnostics" function manual (https://support.industry.siemens.com/cs/ww/en/view/59192926). 11.1 Synchronous axis technology object (S7-1500, S7-1500T) 11.1.1 Status and error bits (S7-1500, S7-1500T) You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The diagnostics function is available in online operation. The meaning of the status and error messages is described in the following tables. The associated technology object tag is given in parentheses. Axis status The following table shows the possible axis status values: Status Description Simulation active The axis is simulated in the CPU. Setpoints are not output to the drive. (<TO>.StatusWord.X25 (AxisSimulation)) Enabled The technology object has been enabled. You can move the axis with motion jobs. (<TO>.StatusWord.X0 (Enable)) Position-controlled mode The axis is in position-controlled mode. (Inversion of <TO>.StatusWord.X28 (NonPositionControlled)) Homed The technology object is homed. The relationship between the position in the technology object and the mechanical position was successfully created. (<TO>.StatusWord.X5 (HomingDone)) Error An error occurred at the technology object. Detailed information about the error is available in the "Error" area and in the "<TO>.ErrorDetail.Number" and "<TO>.ErrorDetail.Reaction" tags of the technology object. (<TO>.StatusWord.X1 (Error)) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 183 Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Status Description Restart active The technology object is being reinitialized. (<TO>.StatusWord.X2 (RestartActive)) Axis control panel enabled The axis control panel is active. The axis control panel has master control over the technology object. You cannot control the axis from the user pro­ gram. (<TO>.StatusWord.X4 (ControlPanelActive)) Drive ready Drive is ready to execute setpoints. (<TO>.StatusDrive.InOperation) Encoder values valid The actual encoder values are valid. (<TO>.StatusSensor[1].State) Encoder values valid (S7‑1500T) The actual encoder values of encoder 1, encoder 2, encoder 3 or encoder 4 are valid. (<TO>.StatusSensor[1..4].State) Active encoder (S7‑1500T) The encoder in effect operationally is encoder 1, encoder 2, encoder 3 or encoder 4. (<TO>.OperativeSensor) Encoder values homed Encoder is homed with one of the following homing types: • Active homing • Passive homing • Absolute encoder adjustment • Incremental encoder adjustment (<TO>.StatusSensor[1].Adjusted) Encoder homed (S7-1500T) Encoder 1, encoder 2, encoder 3 or encoder 4 is homed with one of the fol­ lowing homing types: • Active homing • Passive homing • Absolute encoder adjustment • Incremental encoder adjustment (<TO>.StatusSensor[1..4].Adjusted) Restart required Data relevant for the restart has been changed. The changes are applied only after a restart of the technology object. (<TO>.StatusWord.X3 (OnlineStartValuesChanged)) Status limit switch The following table shows the possibilities for enabling the software and hardware limit switches: Status Description Negative SW limit switch The negative software limit switch has been approached. approached (<TO>.StatusWord.X15 (SWLimitMinActive)) Positive SW limit switch approached The positive software limit switch has been approached. (<TO>.StatusWord.X16 (SWLimitMaxActive)) Negative HW limit switch The negative hardware limit switch has been approached or overtraveled. approached (<TO>.StatusWord.X17 (HWLimitMinActive)) Positive HW limit switch The positive hardware limit switch has been approached or overtraveled. approached (<TO>.StatusWord.X18 (HWLimitMaxActive)) 184 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Motion status The following table shows the possible axis motion status values: Status Description Done (no job running) No job active at technology object. (<TO>.StatusWord.X6 (Done)) Homing job The technology object executes a homing job of the Motion Control instruc­ tion "MC_Home" or from the axis control panel. (<TO>.StatusWord.X11 (HomingCommand)) Jog The axis is being moved with a job for jog mode of Motion Control instruction "MC_MoveJog". (<TO>.StatusWord.X9 (JogCommand)) Velocity specification The axis is traversed with a job with velocity specification of the Motion Con­ trol instruction "MC_MoveVelocity" or from the axis control panel. (<TO>.StatusWord.X10 (VelocityCommand)) Positioning job The axis is traversed with a positioning job of Motion Control instruction "MC_MoveAbsolute" or "MC_MoveRelative" or from the axis control panel. (<TO>.StatusWord.X8 (PositioningCommand)) Constant velocity The axis is moved with constant velocity or is stationary. (<TO>.StatusWord.X12 (ConstantVelocity)) Standstill The axis is in standstill. (<TO>.StatusWord.X7 (StandStill)) Accelerating Axis is being accelerated. (<TO>.StatusWord.X13 (Accelerating)) Decelerating The axis is being decelerated. (<TO>.StatusWord.X14 (Decelerating)) Torque limit active At least the threshold value (default 90%) of the preset force/torque limita­ tion acts on the axis. (<TO>.StatusWord.X27 (InLimitation)) Stop job active The axis is stopped and disabled by Motion Control instruction "MC_Stop". (<TO>.StatusWord2.X0 (StopCommand)) Superimposed motion The motion of the axis is superimposed by at least one overlapping Motion Control instruction. (OR logic operation) (<TO>.StatusWord.X23 (MoveSuperimposedCommand)) (<TO>.StatusWord2.X6 (MotionInSuperimposedCommand)) (<TO>.StatusWord2.X7 (HaltSuperimposedCommand)) Synchronous operation status Status Description Synchronization The axis is synchronized to the leading value of a leading axis. (<TO>.StatusWord.X21 (Synchronizing)) Synchronous The axis is synchronized and moves synchronously to the leading axis. (<TO>.StatusWord.X22 (Synchronous)) Desynchronization (S7‑1500T) The axis is desynchronized from the leading value of a leading axis. (<TO>.StatusWord2.X1 (DesynchronizingCommand)) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 185 Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Status Description Synchronization pending A synchronous operation is pending until the leading value reaches the start (S7‑1500T) position for synchronization. (<TO>.StatusSynchronizedMotion.WaitingFunctionState.X2 (GearInPosWait­ ing); <TO>.StatusSynchronizedMotion.WaitingFunctionState.X3 (CamInWait­ ing)) Desynchronization pending (S7‑1500T) A desynchronization job is pending until the leading value reaches the start position for desynchronization. (<TO>.StatusSynchronizedMotion.WaitingFunctionState.X4 (GearOutWait­ ing); <TO>.StatusSynchronizedMotion.WaitingFunctionState.X5 (CamOut­ Waiting)) Additive leading value active (S7‑1500T) The axis receives an additive leading value with the Motion Control instruc­ tion "MC_LeadingValueAdditive". (<TO>.StatusSynchronizedMotion.StatusWord.X4 (LeadingValueAdditive­ Command)) Leading value offset (S7-1500T) The leading value is shifted with the Motion Control instruction "MC_PhasingAbsolute" or "MC_PhasingRelative". (<TO>.StatusWord.X24 (PhasingCommand)) Leading value offset pending (S7‑1500T) A job for leading value offset is waiting. (<TO>.StatusWord2.X3 (PhasingCommandWaiting)) Following value offset (S7-1500T) The following value is shifted with the Motion Control instruction "MC_OffsetAbsolute" or "MC_OffsetRelative". (<TO>.StatusWord2.X4 (OffsetCommand)) Following value offset is A job for following value offset is waiting. pending (S7‑1500T) (<TO>.StatusWord2.X5 (OffsetCommandWaiting)) Error The following table shows the possible errors: 186 Error Description System A system-internal error has occurred. (<TO>.ErrorWord.X0 (SystemFault)) Configuration A configuration error has occurred. One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data was incorrectly modified during runtime of the user program. (<TO>.ErrorWord.X1 (ConfigFault)) User program An error occurred in the user program with a Motion Control instruction or its use. (<TO>.ErrorWord.X2 (UserFault)) Drive An error occurred in the drive. (<TO>.ErrorWord.X4 (DriveFault)) Encoder An error occurred in the encoder system. (<TO>.StatusSensor[1].Error) Encoder (S7‑1500T) An error has occurred in the encoder system of encoder 1, encoder 2, encoder 3 or encoder 4. (<TO>.StatusSensor[1..4].Error) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Error Description Data exchange Communication with a connected device is faulty. (<TO>.ErrorWord.X7 (CommunicationFault)) I/O An error occurred accessing a logical address. (<TO>.ErrorWord.X13 (PeripheralError)) Job rejected A job cannot be executed. You cannot execute a Motion Control instruction because necessary require­ ments are not fulfilled (for example, technology object not homed). (<TO>.ErrorWord.X3 (CommandNotAccepted)) Homing An error occurred during a homing process. (<TO>.ErrorWord.X10 (HomingFault)) Positioning The positioning axis was not positioned correctly at the end of a positioning motion. (<TO>.ErrorWord.X12 (PositioningFault)) Dynamic limitation The dynamic values are limited to the dynamic limits. (<TO>.ErrorWord.X6 (DynamicError)) Following error The maximum permitted following error has been exceeded. (<TO>.ErrorWord.X11 (FollowingErrorFault)) SW limit switch A software limit switch has been reached. (<TO>.ErrorWord.X8 (SWLimit)) HW limit switch A hardware limit switch has been reached or overtraveled. (<TO>.ErrorWord.X9 (HWLimit)) Adapt An error occurred during data adaption. (<TO>.ErrorWord.X15 (AdaptionError)) Synchronization An error occurred during synchronization. The leading axis specified for the corresponding Motion Control instruction was not configured as a possible leading axis. (<TO>.ErrorWord.X14 (SynchronousError)) Warnings The following table shows the possible warnings: Warning Description Configuration One or several configuration parameters are adjusted internally at a certain time. (<TO>.WarningWord.X1 (ConfigWarning)) Job rejected Job cannot be executed. You cannot execute a Motion Control instruction because necessary require­ ments are not fulfilled. (<TO>.WarningWord.X3 (CommandNotAccepted)) Dynamic limitation The dynamic values are limited to the dynamic limits. (<TO>.WarningWord.X6 (DynamicWarning)) Synchronization An error occurred during synchronization. The leading axis specified for the corresponding Motion Control instruction was not configured as a possible leading axis. (<TO>.WarningWord.X14 (SynchronousWarning)) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 187 Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Alarm display For more information and to acknowledge the error, go to the Inspector window by clicking on the "Alarm display" link. More information An option for evaluating the individual status bits can be found in the section "Evaluating StatusWord, ErrorWord and WarningWord" of the "S7-1500/S7-1500T Motion Control overview" (Page 13) documentation. 11.1.2 Motion status (S7-1500, S7-1500T) You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA Portal to monitor the motion status of the axis. The diagnostics function is available in online operation. "Setpoints" area The following table shows the meaning of the status data: Status Description Target position Current target position of an active positioning job The target position value is only valid during execution of a positioning job. (<TO>.StatusPositioning.TargetPosition) Position setpoint Setpoint position of the axis (<TO>.Position) Velocity setpoint Velocity setpoint of the axis (<TO>.Velocity) Velocity override Percentage correction of the velocity specification The velocity setpoint specified in Motion Control instructions or set by the axis control panel is superimposed with an override signal and corrected as a percentage. Valid velocity correction values range from 0.0 % to 200.0 %. (<TO>.Override.Velocity) "Current values" area The following table shows the meaning of the status data: 188 Status Description Operative encoder Operative encoder of the axis (<TO>.OperativeSensor) Actual position Actual position of the axis If the technology object is not homed, then the value is displayed relative to the position that existed when the technology object was enabled. (<TO>.ActualPosition) Actual velocity Actual velocity of the axis (<TO>.ActualVelocity) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.1 Synchronous axis technology object (S7-1500, S7-1500T) Status Description Following error Following error of the axis (<TO>.StatusPositioning.FollowingError) "Dynamic limits" area This area displays the limit values for the dynamic parameters. The following table shows the meaning of the status data: 11.1.3 Status Description Velocity Configured maximum velocity (<TO>.DynamicLimits.MaxVelocity) Acceleration Configured maximum acceleration (<TO>.DynamicLimits.MaxAcceleration) Deceleration Configured maximum deceleration (<TO>.DynamicLimits.MaxDeceleration) Jerk Configured maximum jerk (<TO>.DynamicLimits.MaxJerk) PROFIdrive telegram (S7-1500, S7-1500T) The "Technology object > Diagnostics > PROFIdrive telegram" diagnostics function is used in the TIA Portal to monitor the PROFIdrive telegrams returned by the drive and encoder. The display of the Diagnostics function is available in online operation. "Drive" area This area displays the following parameters contained in the PROFIdrive telegram from the drive to the controller: • Status words "ZSW1" and "ZSW2" • The speed setpoint (NSET) that was output to the drive • The actual speed that was signaled from the drive (NACT) "Encoder" area This area displays the following parameters contained in the PROFIdrive telegram from the encoder to the controller: • Status word "Gx_ZSW" • The actual position value "Gx_XIST1" (cyclic actual encoder value) • The actual position value "Gx_XIST2" (absolute encoder value) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 189 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Areas "Encoder 1" to "Encoder 4" (S7-1500T) The "Encoder 1" to "Encoder 4" areas display the following parameters from the PROFIdrive telegram of the corresponding encoder to the controller: • Status word "Gx_ZSW" • The actual position value "Gx_XIST1" (cyclic actual encoder value) • The actual position value "Gx_XIST2" (absolute encoder value) 11.2 Cam technology object (S7-1500T) 11.2.1 Applications of the cam diagnostics (S7-1500T) In the cam diagnostics you can monitor and analyze valid points and segments of a cam from the offline and online technology object data block. The values are shown in tables and graphics and correspond to the interpolated offline or online parameters of the technology object data block. The cam diagnostics in TIA Portal interpolates the current technology object data block parameters independently. In contrast to the cam editor, the diagnostics does not depend on the interpolation in the SIMATIC S7-1500T. The interpolation always refers to the current values in the technology object data block, the so-called snapshot. The following parameters are taken into account during interpolation. • <TO>.Point[i] • <TO>.Segment[i] • <TO>.VaildPoint[i] • <TO>.ValidSegment[i] • <TO>.InterpolationSettings NOTE The term "cam" used in this chapter applies to the technology objects of the "TO_Cam" and "TO_Cam_10k" types. Calling the diagnostics You can call the diagnostics as follows: • Project tree > Project> Technology objects > Cam > Diagnostics Possible offline applications Valid start values of the cam in the project are displayed in a list and represented graphically. NOTE After you have changed values in the cam editor, you must compile the cam. The cam is automatically interpolated, even without a controller or PLCSIM. 190 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Offline, you can: • Check the interpolation of cams • Identify points and segments for the same leading value • Check the calculated velocity, acceleration and jerk • View and compare saved snapshots • Check transitions between cams, such as the continuity when changing cams Possible online applications Valid start values of the cam from the project and the actual values are displayed in a list and graphically represented online. Online you can also: • Check the algorithms for calculating the cams in the user program, e.g. the calculation of the coefficients for segments • Compare a curve generated during runtime with the expected curve • Monitor status bits and error bits • Sort points and segments according to the leading value range, even if they are not defined in ascending order according to index in the technology object data block. • Take, save and compare snapshots. You can use the snapshots later for documentation and additional diagnostics, when you close the TIA Portal project or change the elements of the cam. 11.2.2 Structure of the diagnostics (S7-1500T) The cam diagnostics consists of four areas: ① List of valid points and segments with toolbar ② Curve diagram with toolbar ③ Element comparison ④ Inspector window S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 191 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) List of valid points and segments In the list you can find all valid points and segments from the offline and online DB and the saved snapshots. Since you can display the values of the offline configuration and several snapshots, they are provided with expandable headers. The list consists of the following columns: Table column Description Type In this column, the type of symbol is displayed with a symbol that corresponds to the symbol in the cam editor. The following element types are recognized: • Point • Line • Sine • Polynomial Element points or segments are shown in this column. Start value The x values for points and the x min. values for segments are shown in this column. Value The y values for points are shown in this column. When you expand the segments, the following details are shown: • x min. • x max. • a0 • a1 • a2 • a3 • a4 • a5 • a6 • sineAmplitude • sinePeriod • sinePhase In this column you can select points/segments for comparison (Page 199). Sorting You can sort the points and segments in ascending or descending order using the "Element" and "Start value" columns. Toolbar The toolbar at the top of the list of valid points and segments provides the following functions via buttons: Symbol 192 Function Description Monitoring On/Off Monitoring of the cam is started/com­ pleted. Update online curve The online snapshot is updated. Print The "Print (Page 202)" dialog will open. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Symbol Function Description Link list and graphic display for the selec­ If coupling is enabled and an element is ted objects selected in the curve diagram, this ele­ ment is automatically scrolled to in the list of valid points and segments. Note: This is only relevant if the list has so many entries that they are not all vis­ ible. Select filter You can select a defined filter. Defining filter The "Define filter (Page 197)" dialog opens. Curve diagram Offline, online and saved snapshots are displayed in the curve diagram. All valid data from the technology object data block are graphically displayed as a curve. In the curve diagram you can display curves that reflect the position specification, position, velocity, acceleration and jerk. You set the parameters of the displayed curves in the inspector window. You can show or hide the legend using the icon on the toolbar. NOTE Refresh the curve displayed in the offline view If you change the values in the offline technology object data block, the offline snapshot is automatically reloaded. After you have changed parameters in the cam editor, you must compile the cam. The parameters are then automatically transferred to the technology object data block. Toolbar The toolbar at the top of the curve diagram provides the following functions via buttons: Symbol Function Description Move view Moving the view using the drag-and-drop feature To switch from any tool to the "Move view" tool, press the <Esc> key. Activate zoom selection Zoom into selected area Activate vertical zoom Vertical zoom into selected area without horizontal scaling Alternative: <Ctrl> +drag to ordinate keeping mouse button pressed Activate horizontal zoom Horizontal zoom into selected area without vertical scaling Alternative: <Ctrl> +drag to abscissa keeping mouse button pressed Zoom in Enlargement of the display Alternative: <Ctrl> + mouse wheel up in curve dia­ gram S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 193 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Symbol 194 Function Description Zoom out Reduction of the display Alternative: <Ctrl> + mouse wheel down in curve diagram Show all Display of entire definition and value range Zoom into curve Zoom to the following value range of the curve that you selected in the legend of the chart View: A chart with positions Display of one chart with the following curves of the cam opened in the diagnostics: • Position specification • Effective position View: A chart with all curves Display of one chart with the following curves of the cam opened in the diagnostics: • Position specification • Effective position • Effective velocity • Effective acceleration • Effective jerk View: Four charts with all curves Display of four charts with the following curves of the cam opened in the diagnostics: • Chart with position specification and effective position • Chart with effective velocity • Chart with effective acceleration • Chart with effective jerk Vertical measuring lines Displaying and moving of vertical measuring lines Hold down the left mouse button and drag to draw a measuring range. The vertical position of the measuring lines can be moved. The function values for the positions of the measur­ ing lines are displayed in the chart. The difference is displayed between the measuring lines. Horizontal measuring lines Displaying and moving of horizontal measuring lines Hold down the left mouse button and drag to draw a measuring range. The horizontal position of the measuring lines can be moved. The function values for the positions of the measur­ ing lines are displayed in the chart. The difference is displayed between the measuring lines. Show legend Showing or hiding of the legend in the curve dia­ gram. To display values for a specific curve on the ordin­ ate, click on the name of the corresponding curve in the legend. Show status and error bits Show and hide the diagnostics window "Status and error bits (Page 195)" You monitor the status of the technology object using the "Status and error bits" diagnostics win­ dow. Save window settings Saves of the display settings. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Element comparison The element comparison is located below the curve diagram. You can select individual points and segments and thus Analyze and compare elements (Page 199): Inspector window In the inspector window you can manage the Manage snapshots (Page 200) in the "General" tab. You can set the decimal places separately in the list of valid points and segments and in the curve diagram. 11.2.3 Online view (S7-1500T) Use the "Monitoring on/off" icon online view. on the toolbar of the cam diagnostics to switch to the Online view of the list with valid points and segments In the list with valid points and segments you can find the current online values under "Online snapshot". The start values and values of the elements are highlighted in orange. Online view of the curve diagram In the curve diagram you can monitor changes to the status of the online cam in the "Status and error bits (Page 195)" diagnostics window. You can show and hide the window using the icon. Online view of the Inspector window In the list of the current snapshots you can see the online snapshot, whose display you can manage and save under "Saved snapshots" (Page 200). 11.2.4 Status and error bits (S7-1500T) You monitor the status of the technology object using the "Status and error bits" diagnostics window. The diagnostics function is available in online operation. You can show and hide the diagnostics window using the icon on the toolbar. You can move the window to a desired position within the curve diagram using drag-and-drop. The meaning of the status and error bits is described in the following tables. Cam status The following table shows the possible statuses of the cam: Status Description In use The cam is used. (<TO>.StatusWord.X0 (Control)) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 195 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Status Description Error An error occurred at the technology object. Detailed information about the error is available in the "Error" area and in the "<TO>.ErrorDetail.Number" and "<TO>.ErrorDetail.Reaction" tags of the technology object. (<TO>.StatusWord.X1 (Error)) Restart active The technology object is being reinitialized. (<TO>.StatusWord.X2 (RestartActive)) Copy operation active A copy operation of an "MC_CopyCamData" job is active. (<TO>.StatusWord.X7 (CopyCamDataActive)) Definition changed The definition range of the cam has changed in the technology data block. (<TO>.StatusWord.X4 (CamDataChanged)) Interpolated The cam is interpolated. (<TO>.StatusWord.X5 (Interpolated)) In interpolation The cam is interpolated. (<TO>.StatusWord.X6 (InInterpolation)) Restart required Data relevant for the restart has been changed. The changes are applied only after a restart of the technology object. (<TO>.StatusWord.X3 (OnlineStartValuesChanged)) Error The following table shows the possible errors: Error Description System A system-internal error has occurred. (<TO>.ErrorWord.X0 (SystemFault)) Configuration A configuration error has occurred. One or more configuration parameters are inconsistent or inval­ id. The technology object was incorrectly con­ figured, or editable configuration data was incor­ rectly modified during runtime of the user pro­ gram. (<TO>.ErrorWord.X1 (ConfigFault)) User program An error in a Motion Control instruction or during its use has occurred in the user program. (<TO>.ErrorWord.X2 (UserFault)) Job rejected A job cannot be executed. You cannot execute a Motion Control instruction because necessary requirements are not fulfilled. (<TO>.ErrorWord.X3 (CommandNotAccepted)) You can access the alarm display via the 196 icon. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Warnings The following table shows the possible warnings: Warning Description System A system-internal error has occurred. (<TO>.WarningWord.X0 (SystemWarning)) Configuration One or more configuration parameters will be tem­ porarily adjusted internally. (<TO>.WarningWord.X1 (ConfigWarning)) User program An error in a Motion Control instruction or during its use has occurred in the user program. (<TO>.WarningWord.X2 (UserWarning)) Job rejected Job cannot be executed. You cannot execute a Motion Control instruction because necessary requirements are not fulfilled. (<TO>.WarningWord.X3 (CommandNotAccepted)) You can access the alarm display via the 11.2.5 icon. "Definition changed" and "Interpolated" status bits (S7-1500T) Depending on the change in the online technology object data block, the associated status bits are displayed in green. If you change values in the online technology object data block and they do not match the interpolated values displayed in the curve diagram, the "Definition changed" status bit is displayed in green. The following message is displayed in the upper part of the cam diagnostics: "The online values do not correspond to the active interpolated curve. Interpolate the cam and then reload the curve in the graphic display." Refresh graphic display To display the current values, follow these steps: 1. Interpolate the curve. After the interpolation, the "Definition changed" bit is no longer set. The "Interpolated" bit is set. The note in the banner changes: "The curve shown is not current. Update." 2. Click on the "Refresh" icon on the toolbar or, alternatively, on the "Refresh" link in the message. The online snapshot is updated. You can save the online snapshots under "Saved snapshots (Page 200)". NOTE You can also update the diagnostics without re-interpolating the cam after making changes in the technology object data block. The last interpolated cam then remains active in the controller and during camming. The "Interpolated" bit remains set. Before interpolation, you can then analyze the interpolated cam with the new technology object data block parameters in the controller. The "Definition changed" bit then remains TRUE. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 197 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) 11.2.6 Filter by segments and points (S7-1500T) To analyze the relevant elements in extensive cams, you can filter them according to the following criteria: • Filter segments by index in the technology data block • Filter segments by segment type • Filter points by index in the technology data block • Filter the displayed leading value range Elements that do not meet the filter criteria are hidden in the list of points and segments and displayed in a lighter shade in the curve diagram than elements that meet the criteria. The filter criteria are applied to all displayed snapshots. Defining and saving filters To define and save a filter, follow these steps: 1. Click on the icon in the cam diagnostics toolbar. The "Define filter" dialog opens. 2. Set the desired filter criteria. 3. Name the filter in the drop-down list. 4. Click "OK". The filter is saved and applied. Adding other filters To add additional filters, proceed as follows: 1. Click on the icon in the cam diagnostics toolbar. The "Define filter" dialog opens. 2. Click the symbol . 3. Set the desired filter criteria. 4. Name the filter in the drop-down list. 5. Click "OK". The additional filter is saved, applied and displayed with existing filters in the drop-down list of the toolbar. Adapting existing filters To adjust existing filters, follow these steps: 1. Click on the icon in the cam diagnostics toolbar. The "Define filter" dialog opens. 2. Select the filter to be adjusted from the drop-down list. 3. Adjust the filter criteria. 4. Click "OK". The changes are saved and applied. 198 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Delete filter Proceed as follows to delete filter: 1. Click on the icon in the cam diagnostics toolbar. The "Define filter" dialog opens. 2. In the drop-down list, select the filter to deleted. 3. Click the symbol . 4. Click "OK". The filter is deleted. Cancel filter To cancel a filter, select the "No filter" entry in the drop-down list in the toolbar. The filter settings are terminated. 11.2.7 Comparing elements (S7-1500T) You can select individual points and segments from various snapshots and compare them in detail. Select elements to compare You can select items to compare in the following two ways: • In the " " column, select valid points or segments. • In the curve diagram in the shortcut menu, select the element "Show in element comparison". Parameters in the element comparison For each selected element, the parameters are displayed in a separate window. NOTE You can change the order of the window using the drag-and-drop feature. Each window contains three expandable areas: • Element type with mapping in the upper part You can expand and collapse the image of the element with the arrow next to the element type. • Basic parameters The basic parameters are read out directly from the technology object data block of the cam. For points, the x and y values are displayed. The following values are displayed for segments: – x min. – x max. – a0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 199 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) – – – – – – – – – a1 a2 a3 a4 a5 a6 sineAmplitude sinePeriod sinePhase • Extended parameters The extended parameters are not saved directly in the technology object data block. They are calculated by the diagnostics in the TIA Portal. For points, the values are displayed depending on the interpolation: – With linear interpolation, the velocity in the points is discontinuous. The velocity is displayed to the left (v left) and right (v right) of the point. Acceleration and jerk are not displayed. – With cubic interpolation, the jerk in the points is discontinuous. The jerk is displayed to the left (j left) and right (j right) of the point. – When interpolating with Bézier splines, the values "y", "v", "a" and "j" from the interpolation result are displayed. The following values are displayed for segments: – x start – x end – y min. – y max. – v start – v end – v min. – v max. – a start – a end – a min. – a max. – j start – j end – j min. – j max. NOTE The expanding and collapsing of the individual areas and the scrolling are synchronized for all segments and points. 200 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) 11.2.8 Managing snapshots (S7-1500T) You can manage the displayed curves and snapshots in the inspector window under "Properties > General> Snapshots and curves". In the "Current snapshot" area you can see snapshots that contain valid points and segments from the technology object data block in the following order: 1. Offline configuration 2. Online configuration 3. Saved snapshot Settings of the snapshots You can expand the snapshots and make the following settings: Control element/display element Meaning Show and hide the respective snapshot in the curve diagram and in the list of valid points and segments Save the snapshot under "Saved snapshot" Export the snapshot (Page 201) Delete the saved snapshot Show and hide individual curves in the curve dia­ gram and in the legend You can select the color and line shape for each curve. The date and time of the recording, the number of segments and points and the type of interpolation are displayed for each snapshot. You can change the name of saved snapshots. 11.2.9 Exporting and importing snapshots (S7-1500T) You can export and import snapshots. A list with all snapshots and the "Import snapshot" button can be found in the Inspector window > General tab > Snapshots and curves. The following formats are supported: • MCD exchange format • SIMOTION SCOUT CamTool format • Binary format A description of the individual formats can be found in the "Import/export cam (Page 111)" section. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 201 Diagnostics (S7-1500, S7-1500T) 11.2 Cam technology object (S7-1500T) Export snapshot To export snapshots, follow these steps: 1. For the snapshot you want to export, click the icon. The "Export snapshot" dialog opens. 2. Select the export format and the delimiter. – When you select the "Comma" delimiter, the snapshot is exported as CSV file. – When you select the "Tabulator" delimiter, the snapshot is exported as TXT file. 3. Enter a file name. 4. Select the target directory. 5. Click the "Export" button. NOTE You can import into the cam configuration a snapshot exported in binary format. Import snapshot To import snapshots, follow these steps: 1. Click "Import snapshot". The "Cam import" dialog opens. 2. Select the format. 3. Select the file. 4. Click the "Open" button. The snapshot is displayed in the "Saved snapshots" area. 5. To display the snapshot in the list of valid points and segments and in the curve diagram, select the check box. 6. For the display in the curve diagram, select the color and line shape for the curves. NOTE Exports from the cam configuration can contain elements that are not supported in the cam diagnostics (see "Structure of the diagnostics (Page 191)" section). These elements are then displayed as a group of points. 11.2.10 Printing curve diagram (S7-1500T) You have the possibility to print the displayed curves. 202 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.3 Leading axis proxy technology object (S7-1500T) Procedure To print the curves displayed in the curve diagram, follow these steps: 1. Show all curves to be printed out. 2. On the toolbar, click the icon . 3. Select the printer and the document layout. To preview the resulting document, click the "Preview" button. 4. Click "Press". 11.3 Leading axis proxy technology object (S7-1500T) 11.3.1 Status and error bits (S7-1500T) You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in the TIA Portal to monitor the status and error messages for the technology object. The diagnostics function is available in online operation. The meaning of the status and error messages is described in the following tables. The associated technology object tag is given in parentheses. Leading axis proxy status The following table shows the possible states of the leading axis proxy: Status Description In operation The technology object is in operation. (<TO>.StatusWord.X0 (Control)) Error An error occurred at the technology object. Detailed information about the error is available in the "Error" area and in the "<TO>.ErrorDetail.Number" and "<TO>.ErrorDetail.Reaction" tags of the technology object. (<TO>.StatusWord.X1 (Error)) Restart active The technology object is being reinitialized. (<TO>.StatusWord.X2 (RestartActive)) Restart required Data relevant for the restart has been changed. The changes are applied only after a restart of the technology object. (<TO.>StatusWord.X3 (OnlineStartValuesChanged)) External leading value valid The external leading value exists and is valid. (<TO>.StatusWord.X4 (LeadingValueValid)) External leading value with modulo The external leading value has modulo functionality. (<TO>.StatusWord.X5 (LeadingValueModulo)) Leading axis in setpoint operation The leading axis is in setpoint operation. (<TO>.StatusWord.X6 (LeadingAxisControl)) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 203 Diagnostics (S7-1500, S7-1500T) 11.3 Leading axis proxy technology object (S7-1500T) Warnings The following table shows the possible warnings: Warning Description System A system-internal error has occurred. (<TO>.WarningWord.X0 (SystemWarning)) Configuration One or more configuration parameters are being internally adapted tempor­ arily. (<TO>.WarningWord.X1 (ConfigWarning)) User program An error has occurred in the user program. (<TO>.WarningWord.X2 (UserWarning)) Job rejected Job cannot be executed. You cannot execute a Motion Control instruction because necessary require­ ments are not fulfilled. (<TO>.WarningWord.X3 (CommandNotAccepted)) Data exchange An error in the communication has occurred. (<TO>.WarningWord.X7 (CommunicationWarning)) Error The following table shows the possible errors: Error Description System A system-internal error has occurred. (<TO>.ErrorWord.X0 (SystemFault)) Configuration A configuration error has occurred. One or more configuration parameters are inconsistent or invalid. The technology object was incorrectly configured, or editable configuration data was incorrectly modified during runtime of the user program. (<TO>.ErrorWord.X1 (ConfigFault)) User program An error occurred in the user program at a Motion Control instruction or its use. (<TO>.ErrorWord.X2 (UserFault)) Job rejected A job cannot be executed. You cannot execute a Motion Control instruction because necessary require­ ments are not fulfilled (for example, technology object not homed). (<TO>.ErrorWord.X3 (CommandNotAccepted)) Data exchange Communication with a connected device is faulty. (<TO>.ErrorWord.X7 (CommunicationFault)) Alarm display For additional information and to acknowledge the error, go to the Inspector window by clicking on the "Alarm display" link. 204 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Diagnostics (S7-1500, S7-1500T) 11.3 Leading axis proxy technology object (S7-1500T) 11.3.2 Motion status (S7-1500T) You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA Portal to monitor the leading value of the leading axis proxy. The diagnostics function is available in online operation. Leading value for local synchronous operation The following table shows the meaning of the status data: Status Description Position Adapted leading value for local synchronous operation (<TO>.Position) Velocity Leading value velocity for local synchronous operation (<TO>.Velocity) Acceleration Leading value acceleration for local synchronous operation (<TO>.Acceleration) External leading value The following table shows the meaning of the status data: Status Description Modulo length Modulo length of the external leading value (<TO>.StatusExternalLeadingValue.ModuloLength) Modulo start value Modulo start value of the external leading value (<TO>.StatusExternalLeadingValue.ModuloStartValue) Adjustment time Time by which the external leading value is adapted (<TO>.StatusExternalLeadingValue.AdjustmentTime) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 205 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.1 MC_GearIn V7 (S7-1500, S7-1500T) 12.1.1.1 MC_GearIn: Start gearing V7 (S7-1500, S7-1500T) 12 Description With the Motion Control instruction "MC_GearIn", you start a gearing (Page 41) operation between a leading axis and a following axis. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. The Motion Control instruction offers you the following: • Defining gear ratio (Page 41) • Synchronizing following axis using dynamic parameters (Page 43) • Synchronous travel in gearing (Page 44) Applies to • Synchronous axis Requirement • The technology objects of the leading axis and the following axis have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis under "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. Override response The override response for "MC_GearIn" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". With a "MC_GearOut" job, the following axis is desynchronized, and synchronous operation is terminated (S7‑1500T). 206 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Disabling the following axis with "MC_Power.Enable" = FALSE aborts the synchronous operation in every status. Disabling the leading axis with an "MC_Power" job, in contrast, does not abort synchronous operation. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled and traversing again. Parameters The following table shows the parameters of the Motion Control instruction "MC_GearIn": Parameters Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder (S7‑1500T) TO_LeadingAxisProxy (S7‑1500T) - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE RatioNumerator INPUT DINT 1 Gear ratio numerator (Page 41) Permitted integer values: -2147483648 to 2147483647 (value 0 not permitted) RatioDenominator INPUT DINT 1 Gear ratio denominator (Page 41) Permitted integer values: 1 to 2147483647 Acceleration INPUT LREAL -1.0 Acceleration (Page 43) Deceleration INPUT LREAL -1.0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Start job with a positive edge > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) Deceleration (Page 43) > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) 207 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description Jerk INPUT LREAL -1.0 Jerk (Page 43) > 0.0 Constant acceleration velocity profile The specified value is used. = 0.0 Trapezoid velocity profile < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) InGear OUTPUT BOOL FALSE TRUE Synchronous operation reached The following axis is synchronized and moves synchronously to the leading axis. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). 208 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.1.2 MC_GearIn: Function chart V7 (S7-1500, S7-1500T) Function chart: Synchronizing and switching the leading value $ $ 0&B*HDU,Q 0&B*HDU,Q 72B0DVWHUB 0DVWHU ,Q*HDU ,Q*HDUB 72B0DVWHUB 0DVWHU ,Q*HDU ,Q*HDUB 72B6ODYH 6ODYH %XV\ %XV\B 72B6ODYH 6ODYH %XV\ %XV\B &RPPDQG$ERUWHG $ERUWB ([HB ([HB ([HFXWH ([HFXWH &RPPDQG$ERUWHG 5DWLR1XPHUDWRU (UURU 5DWLR1XPHUDWRU (UURU 5DWLR'HQRPLQDWRU (UURU,' 5DWLR'HQRPLQDWRU (UURU,' $FFHOHUDWLRQ $FFHOHUDWLRQ 'HFHOHUDWLRQ 'HFHOHUDWLRQ ದ -HUN ದ -HUN $ ([HB %XV\B ,Q*HDUB $ERUWB $ ([HB %XV\B ,Q*HDUB W W W W W W W 72B0DVWHUB 9HORFLW\ 72B6ODYH 9HORFLW\ 72B0DVWHUB 9HORFLW\ W Using "Exe_1", an "MC_GearIn" job (A1) is initiated. The following axis (TO_Slave) is synchronized to the leading axis (TO_Master_1). "InGear_1" signals at time ① that the following axis is synchronized and moves synchronously to the leading axis. At time ②, synchronous operation is overridden by another "MC_GearIn" job (A2). The abort is signaled via "Abort_1". The following axis is synchronized to the new leading axis (TO_Master_2). "InGear_2" signals at time ③ that the following axis is synchronized and moves synchronously to the leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 209 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.2 MC_GearInPos V7 (S7-1500T) 12.1.2.1 MC_GearInPos: Start gearing with specified synchronous positions V7 (S7-1500T) Description With the Motion Control instruction "MC_GearInPos", you start a gearing (Page 45) operation between a leading axis and a following axis. The following axis is synchronized depending on the specified synchronous positions for the leading and following axis. You can start synchronous operation when the leading axis is at a standstill or when it is in motion. The Motion Control instruction offers you the following: • Defining gear ratio (Page 46) • Defining direction of synchronization (Page 48) • Define synchronous positions and type of synchronization: – Synchronization in advance using dynamic parameters (Page 51) – Synchronization in advance using leading value distance (Page 53) – Subsequent synchronization using leading value distance (Page 55) • Synchronous travel in gearing (Page 56) Different parameters are relevant depending on the synchronization profile. You can find an overview in the "Parameter overview for synchronizing with "MC_GearInPos" (Page 48)" section. Applies to • Synchronous axis Requirement • The technology objects of the leading axis and the following axis have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis under "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. • The following axis is homed. • With synchronization in advance using leading value distance, the leading axis must be at least the specified distance ("MasterStartDistance") from the synchronization position ("MasterSyncPosition") when starting the job. Override response The override response for "MC_GearInPos" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". 210 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) With a "MC_GearOut" job, the following axis is desynchronized and synchronous operation is terminated. Disabling the following axis with "MC_Power.Enable" = FALSE aborts the synchronous operation in every status. Disabling the leading axis with "MC_Power", in contrast, does not abort synchronous operation. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled again. Parameters The following table shows the parameters of the Motion Control instruction "MC_GearInPos": Parameters Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder TO_LeadingAxisProxy - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE RatioNumerator INPUT DINT 1 Gear ratio numerator (Page 46) Permitted integer values: -2147483648 to 2147483647 (value 0 not permitted) RatioDenominator INPUT DINT 1 Gear ratio denominator (Page 46) Permitted integer values: 1 to 2147483647 MasterSyncPosition INPUT LREAL 0.0 Synchronous position of leading axis Start job with a positive edge When "SyncProfileReference" = 0, 1: Position of the leading axis from which the axes are synchronous and the synchronization is completed. When "SyncProfileReference" = 3: Position of the leading axis from which synchroniz­ ation starts SlaveSyncPosition INPUT LREAL 0.0 Synchronous position of following axis When "SyncProfileReference" = 0, 1: Position of the following axis from which the axes are synchronous and the synchronization is com­ pleted. When "SyncProfileReference" = 3: Position of the following axis, which is assigned to the synchronous position of the leading axis. SyncProfileReference INPUT DINT 1 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Type of synchronization 0 Synchronization in advance using dynam­ ic parameters (Page 51) 1 Synchronization in advance using leading value distance (Page 53) 2 Reserved 211 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description SyncProfileReference INPUT DINT 1 3 Subsequent synchronization using lead­ ing value distance (Page 55) 4 Reserved MasterStartDistance INPUT LREAL 1.0 When "SyncProfileReference" = 1, 3: Leading value distance When "SyncProfileReference" = 0: Not relevant Velocity INPUT LREAL -1.0 When "SyncProfileReference" = 0: Velocity > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The velocity configured in "Technology object > Configuration > Extended para­ meters > Dynamic default values" is used. (<TO>.DynamicDefaults.Velocity) When "SyncProfileReference" = 1, 3: Not relevant Acceleration INPUT LREAL -1.0 When "SyncProfileReference" = 0: Acceleration > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) When "SyncProfileReference" = 1, 3: Not relevant Deceleration INPUT LREAL -1.0 When "SyncProfileReference" = 0: Deceleration > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) When "SyncProfileReference" = 1, 3: Not relevant Jerk 212 INPUT LREAL -1.0 When "SyncProfileReference" = 0: Jerk > 0.0 Constant acceleration velocity profile The specified value is used. = 0.0 Trapezoid velocity profile S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description Jerk INPUT LREAL -1.0 < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) When "SyncProfileReference" = 1, 3: Not relevant SyncDirection INPUT DINT 3 Direction of synchronization (Page 48) (in effect for following axes with activated Modulo setting) 1 Positive direction The following axis may only travel in pos­ itive direction during synchronization. 2 Negative direction The following axis may only travel in neg­ ative direction during synchronization. 3 Shortest distance Changes in direction are permitted for the following axis during synchroniza­ tion. StartSync OUTPUT BOOL FALSE TRUE The following axis is synchronized to the leading axis. InSync OUTPUT BOOL FALSE TRUE Synchronous operation reached The following axis is synchronized and moves synchronously to the leading axis. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 213 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.2.2 MC_GearInPos: Function chart V7 (S7-1500T) Function chart: Synchronization in advance using dynamic parameters/leading value distance $ 0&B*HDU,Q3RV 72B0DVWHU 0DVWHU 6WDUW6\QF 6WDUW6\QF 72B6ODYH 6ODYH ,Q6\QF ,Q6\QF ([HFXWH %XV\ %XV\ ([H 5DWLR1XPHUDWRU &RPPDQG$ERUWHG 5DWLR'HQRPLQDWRU (UURU 0DVWHU6\QF3RVLWLRQ (UURU,' 6ODYH6\QF3RVLWLRQ 635 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH ದ 9HORFLW\ ದ $FFHOHUDWLRQ ದ 'HFHOHUDWLRQ ದ -HUN 6\QF'LUHFWLRQ $ ([H %XV\ 635 6WDUW6\QF ,Q6\QF W W W W W 72B0DVWHU 3RVLWLRQ W 72B6ODYH 3RVLWLRQ W 72B0DVWHU 9HORFLW\ W 72B6ODYH 9HORFLW\ $ % W Section A Using "Exe", an "MC_GearInPos" job (A1) is initiated. The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized in advance to the leading axis (TO_Master) by means of the specified dynamic parameters. The distance 214 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) required for synchronization is calculated by the system. When the specified reference positions "MasterSyncPosition" and "SlaveSyncPosition" are reached, "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. Section B Using "Exe", an "MC_GearInPos" job (A1) is initiated. The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized to the leading axis (TO_Master) by means of the specified leading value distance "MasterStartDistance". The dynamic response required for synchronization is calculated by the system. When the specified reference positions "MasterSyncPosition" and "SlaveSyncPosition" are reached, "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 215 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Function chart: Synchronization in advance/subsequent synchronization via leading value distance $ 0&B*HDU,Q3RV 72B0DVWHU 0DVWHU 6WDUW6\QF 6WDUW6\QF 72B6ODYH 6ODYH ,Q6\QF ,Q6\QF ([HFXWH %XV\ %XV\ ([H 5DWLR1XPHUDWRU &RPPDQG$ERUWHG 5DWLR'HQRPLQDWRU (UURU 0DVWHU6\QF3RVLWLRQ (UURU,' 6ODYH6\QF3RVLWLRQ 635 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH ದ 9HORFLW\ ದ $FFHOHUDWLRQ ದ 'HFHOHUDWLRQ ದ -HUN $ ([H %XV\ 6\QF'LUHFWLRQ W W 635 6WDUW6\QF ,Q6\QF W W W 72B0DVWHU 3RVLWLRQ 72B6ODYH 3RVLWLRQ W W 72B0DVWHU 9HORFLW\ W 72B6ODYH 9HORFLW\ $ % W Section A Using "Exe", an "MC_GearInPos" job (A1) is initiated. The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized to the leading axis (TO_Master) by means of the specified leading value distance "MasterStartDistance". The dynamic response required for synchronization is calculated by the system. When the specified reference positions "MasterSyncPosition" and "SlaveSyncPosition" are reached, 216 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. Section B Using "Exe", an "MC_GearInPos" job (A1) is initiated. When the specified reference position "MasterSyncPosition" is reached, the start of synchronization is indicated via "StartSync". The following axis (TO_Slave) is synchronized subsequently to the leading axis (TO_Master) by means of the specified leading value distance "MasterStartDistance". The dynamic response required for synchronization is calculated by the system. "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. 12.1.3 MC_GearInVelocity V7 (S7-1500T) 12.1.3.1 MC_GearInVelocity: Start velocity synchronous operation V7 (S7-1500T) Description With the Motion Control instruction "MC_GearInVelocity", you can start velocity synchronous operation (Page 74) between a leading axis and a following axis. The following axis is synchronized to the velocity of the leading axis depending on the specified gear ratio. You can start velocity synchronous operation when the leading axis is at a standstill or when it is in motion. The Motion Control instruction offers you the following: • Defining gear ratio (Page 74) • Specify gear ratio once or dynamically (Page 75) • Define position control of the following axis (Page 76) • Synchronize following axis using dynamic parameters (Page 78) • Synchronous travel in velocity gearing (Page 79) Applies to • Synchronous axis Requirement • The technology objects of the leading axis and the following axis have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis under "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. • The leading value is valid. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 217 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Override response The override response for "MC_GearInVelocity" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". Disabling the following axis with "MC_Power.Enable" = FALSE aborts the synchronous operation in every status. Disabling the leading axis with "MC_Power", in contrast, does not abort synchronous operation. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled again. Homing jobs on the following axis are rejected in the non-position-controlled mode of the following axis. Active homing of the following axis with "MC_Home.Mode" = 3 or 5 aborts synchronous operation in every status. Jobs for leading value or following value offset are rejected. Parameters The following table shows the parameters of the Motion Control instruction "MC_GearInVelocity": Parameter Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder TO_LeadingAxisProxy - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE ContinuousUpdate INPUT BOOL FALSE Mode for specifying the gear ratio (Page 75) Start job with a positive edge TRUE Specify gear ratio continuously FALSE Specify gear ratio once at the start of the job with a positive edge RatioNumerator INPUT DINT 1 Gear ratio numerator (Page 74) Permitted integer values: -2147483648 to 2147483647 (value 0 not permitted) RatioDenominator INPUT DINT 1 Gear ratio denominator (Page 74) Permitted integer values: 1 to 2147483647 Acceleration INPUT LREAL -1.0 Acceleration for the synchronization (Page 78) 218 > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Deceleration INPUT LREAL -1.0 Deceleration for the synchronization (Page 78) Jerk PositionControlled INPUT INPUT LREAL BOOL -1.0 FALSE > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) Jerk for the synchronization (Page 78) > 0.0 The specified value is used. = 0.0 No jerk limitation < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) Position control of the following axis (Page 76) TRUE Position-controlled mode FALSE Non-position-controlled operation StartSync OUTPUT BOOL FALSE TRUE The following axis is synchronized to the leading axis. InSync OUTPUT BOOL FALSE TRUE Synchronous operation reached The following axis is synchronized and moves synchronously to the leading axis. ContinuousUpdateAct­ ive OUTPUT BOOL FALSE TRUE The gear ratio is transferred continu­ ously. Changes of the parameter values "Ratio­ Numerator" and "RatioDenominator" are effective immediately. FALSE The gear ratio is transferred once at the start of the job with a positive edge. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 219 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.3.2 MC_GearInVelocity: Function chart V7 (S7-1500T) Function chart: Synchronization and adjustment of the gear ratio " .$@(FBS*O7FMPDJUZ [email protected] .BTUFS 4UBSU4ZOD &YF &YFDVUF $POUJOVPVT6QEBUF"DUJWF 50@4MBWF $PO6QE 3BUJP/VN 3BUJP%FOPN ܢ ܢ ܢ '"-4& " &YF #VTZ 4UBSU4ZOD *O4ZOD $PO6QE $PO6QE"DUJWF 3BUJP/VN *O4ZOD $POUJOVPVT6QEBUF 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS "DDFMFSBUJPO %FDFMFSBUJPO #VTZ $PNNBOE"CPSUFE 4UBSU4ZOD *O4ZOD $PO6QE"DUJWF #VTZ &SSPS &SSPS*% +FSL 1PTJUJPO$POUSPMMFE 3BUJP%FOVN 4MBWF U U U U U U U U [email protected] 7FMPDJUZ 50@4MBWF 7FMPDJUZ U At time ①, an "MC_GearInVelocity" job (A1) with "ContinuousUpdate" = TRUE is initiated via "Exe". The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized to the leading axis (TO_Master) by means of the specified dynamic parameters. When reaching the velocity of the leading axis multiplied by the 220 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) specified gear ratio, "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. The denominator of the gear ratio is changed continuously after that. Because "ContinuousUpdateActive" = TRUE, the velocity of the following axis changes immediately. At time ②, "ContinuousUpdate" is set to FALSE. "ContinuousUpdateActive" = FALSE is displayed. The gear ratio specified last is still valid. The changes of the gear ratio are no longer effective. "ContinuousUpdate" is once again set to TRUE. For this change to become effective, job A1 is once again triggered with "Exe" at time ③. "ContinuousUpdateActive" = TRUE is displayed. The renewed synchronization of the following axis is displayed via "StartSync". "ContinuousUpdate" is reset to FALSE. At time ④, "ContinuousUpdate" is once again set to TRUE. Because job A1 is not triggered again via "Exe", the changes of the gear ratio are not taken into account. 12.1.4 MC_PhasingRelative V7 (S7-1500T) 12.1.4.1 MC_PhasingRelative: Relative shift of leading value on the following axis V7 (S7-1500T) Description With the Motion Control instruction "MC_PhasingRelative", you offset the effective leading value relative on a following axis. A relative leading value offset is added to an already existing leading value offset. A relative leading value offset is possible in gearing with "MC_GearIn" or "MC_GearInPos" or in camming with "MC_CamIn". The position of the leading axis is not affected. A simultaneous following value offset is not permitted. Gearing The Motion Control instruction offers you the following in gearing: • Shift leading value on the following axis – Using dynamic parameters (Page 57) – Leading value offset using leading value distance starting at current leading value position (Page 58) – Using leading value distance starting at specific leading value position (Page 59) • Defining the direction of the leading value distance (Page 60) • Only cancel a pending leading value offset (Page 62) Camming The Motion Control instruction offers you the following in camming: • Shift leading value on the following axis – Leading value offset using leading value distance starting at current leading value position (Page 147) – Using leading value distance starting at specific leading value position (Page 148) • Defining the direction of the leading value distance (Page 149) • Only cancel a pending leading value offset (Page 151) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 221 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Applies to • Synchronous axis Requirement • The technology objects of the leading axis and the following axis have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis in "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. • By means of the Motion Control instruction "MC_GearIn", "MC_GearInPos" or "MC_CamIn", the following axis is synchronized to the leading axis ("MC_GearIn.InGear" = TRUE, "MC_GearInPos.InSync" = TRUE or "MC_CamIn.InSync" = TRUE). • No "MC_OffsetAbsolute" or "MC_OffsetRelative" job is active or waiting. Override response The override response for "MC_PhasingRelative" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". Disabling the leading axis with "MC_Power.Enable" = FALSE does not abort the leading value offset. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled again. Parameters The following table shows the parameters of the Motion Control instruction "MC_PhasingRelative": Parameters Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder TO_LeadingAxisProxy - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE PhaseShift INPUT LREAL 0.0 Relative leading value offset 222 Start job with a positive edge S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description Velocity INPUT LREAL -1.0 Velocity of the following axis during leading value offset (added to synchronous operation motion) Acceleration Deceleration Jerk ProfileReference INPUT INPUT INPUT INPUT LREAL LREAL LREAL DINT -1.0 -1.0 -1.0 0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The velocity configured in "Technology object > Configuration > Extended para­ meters > Dynamic default values" is used. (<TO>.DynamicDefaults.Velocity) Acceleration of the following axis during leading value offset (added to synchronous operation motion) > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) Deceleration of the following axis during leading value offset (added to synchronous operation motion) > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) Jerk of the following axis during leading value off­ set (added to synchronous operation motion) > 0.0 Constant acceleration velocity profile The specified value is used. = 0.0 Trapezoid velocity profile < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) Type of the leading value offset 0 Only with gearing: Leading value offset using dynamic para­ meters 1 Leading value offset using leading value distance as of current leading value posi­ tion 223 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description ProfileReference INPUT DINT 0 2 Leading value offset using leading value distance as of leading value position "StartPosition" 3 ... 4 Reserved 5 Only cancel a pending job for the leading value offset PhasingDistance INPUT LREAL 0.0 When "ProfileReference" = 1, 2: Leading value distance Distance of the leading axis during leading value offset StartPosition INPUT LREAL 0.0 When "ProfileReference" = 2: Leading value position as of which the leading value is offset Direction INPUT DINT 3 When "ProfileReference" = 1, 2: Direction of the leading value distance 1 The leading value distance is in the posit­ ive direction of motion of the leading value. 2 The leading value distance is in the neg­ ative direction of motion of the leading value. 3 The leading value distance is in the cur­ rent direction of motion of the leading value. Done OUTPUT BOOL FALSE TRUE The leading value offset is finished. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs (Page 13)" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documentation. CoveredPhaseShift OUTPUT LREAL 0.0 Display of the absolute leading value share that has already been offset StartPhasing OUTPUT BOOL FALSE TRUE 224 The following axis offsets the effective leading value. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.4.2 MC_PhasingRelative: Function chart V7 (S7-1500T) Function chart: Relative shift of the leading value in gearing $ $ 0&B*HDU,Q3RV 0&B3KDVLQJ5HODWLYH 72B0DVWHU 0DVWHU 6WDUW6\QF 72B6ODYH 6ODYH ,Q6\QF ([HFXWH %XV\ ([H ([HFXWH 5DWLR1XPHUDWRU &RPPDQG$ERUWHG 3KDVH6KLIW 5DWLR'HQRPLQDWRU (UURU ದ 9HORFLW\ (UURU,' ,Q6\QF 72B0DVWHU 0DVWHU 'RQH 'RQH 72B6ODYH 6ODYH %XV\ %XV\ ದ $FFHOHUDWLRQ ದ $FFHOHUDWLRQ ದ 'HFHOHUDWLRQ ದ 'HFHOHUDWLRQ ದ -HUN ದ -HUN &RPPDQG$ERUWHG (UURU (UURU,' &RYHUHG 3KDVH6KLIW 6WDUW3KDVLQJ &RYHUHG 3KDVH6KLIW 6WDUW3KDVLQJ 3URILOH5HIHUHQFH 3KDVLQJ'LVWDQFH 6WDUW3RVLWLRQ $ ,Q6\QF %XV\ 6WDUW3KDVLQJ 'RQH &RYHUHG 3KDVH6KLIW $ ([H 'LUHFWLRQ W W W W W W 72B0DVWHU3RVLWLRQ W 72B6ODYH3RVLWLRQ W 72B6ODYH9HORFLW\ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ3KDVH6KLIW W W At time ①, an "MC_PhasingRelative" job (A2) is initiated with "ProfileReference" = 0 via "Exe" during an active gearing with "MC_GearInPos" (A1) . The "StartPhasing" parameter shows that the following axis traverses the leading value offset with the dynamics specified additively to the synchronous operation motion. The absolute leading value offset traversed via the job is S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 225 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) indicated in "CoveredPhaseShift". "Done" indicates that the leading value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_PhasingRelative" job (A2) is initiated again via "Exe". The leading value offset via dynamic parameters is moved out again with the dynamics specified in addition to the synchronous movement. The absolute leading value offset traversed via the job is indicated in "CoveredPhaseShift". "Done" indicates that the leading value was successfully shifted. The absolute leading value offset is indicated in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. Function chart: Relative shift of the leading value in camming [email protected] " " .$@$BN*O .$@1IBTJOH3FMBUJWF .BTUFS 50@4MBWF $BN $BN@ &YFDVUF &YF@ [email protected] .BTUFS &YF@ &YFDVUF 50@4MBWF 4MBWF .BTUFS0TFU 4MBWF0TFU .BTUFS4ZOD1PTJUJPO 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF ܢ 7FMPDJUZ ܢ "DDFMFSBUJPO ܢ %FDFMFSBUJPO ܢ +FSL 7FMPDJUZ %FDFMFSBUJPO 4MBWF4DBMJOH 1IBTF4IJGU "DDFMFSBUJPO .BTUFS4DBMJOH 4MBWF 1SPMF3FGFSFODF 4UBSU4ZOD *O4ZOD #VTZ *O4ZOD +FSL 1SPMF3FGFSFODF 1IBTJOH%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO %POF #VTZ $PNNBOE"CPSUFE %POF #VTZ &SSPS &SSPS*% $PWFSFE 1IBTF4IJGU 4UBSU1IBTJOH $PWFSFE 1IBTF4IJGU 4UBSU1IBTJOH $PNNBOE"CPSUFE "QQMJDBUJPO.PEF 4ZOD%JSFDUJPO &SSPS &SSPS*% &OE0G1SPMF 226 $BN@ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ,Q6\QF $ ([H 3URILOH5HIHUHQFH %XV\ 6WDUW3KDVLQJ 'RQH &RYHUHG 3KDVH6KLIW W W W W W W 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ (IIHFWLYH/HDGLQJ 9DOXH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ )XQFWLRQ/HDGLQJ 9DOXH3RVLWLRQ W W W 72B6ODYH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ3KDVH6KLIW W W At time ①, an "MC_PhasingRelative" job (A2) is triggered with "ProfileReference" = 1 via "Exe" during an active camming with "MC_CamIn" (A1) . The "StartPhasing" parameter shows that the leading value offset traverses from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute leading value offset traversed via the job is indicated in "CoveredPhaseShift". "Done" indicates that the leading value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_PhasingRelative" job (A2) is initiated again via "Exe" with "ProfileReference" = 2. The status "Waiting" is displayed at the following axis until the leading value reaches the start position (<TO>.StatusWord2.X3 = TRUE (PhasingCommandWaiting)). At time ③ the leading value reaches the specified start position. The "StartPhasing" parameter shows that the following axis traverses the leading value offset via the specified leading value distance. The required dynamic response is calculated by the system. The absolute leading value offset traversed via the job is indicated in "CoveredPhaseShift". "Done" indicates that the leading value was successfully shifted. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 227 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) The absolute leading value offset is indicated in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. 12.1.5 MC_PhasingAbsolute V7 (S7-1500T) 12.1.5.1 MC_PhasingAbsolute: Absolute shift of leading value on the following axis V7 (S7-1500T) Description With the Motion Control instruction "MC_PhasingAbsolute", you perform an absolute shift of the effective leading value on the following axis. An absolute leading value offset is possible in gearing with "MC_GearIn" or "MC_GearInPos" or in camming with "MC_CamIn". The position of the leading axis is not affected by this. A simultaneous following value offset is not permitted. Gearing The Motion Control instruction offers you the following in gearing: • Shift leading value on the following axis – Using dynamic parameters (Page 57) – Leading value offset using leading value distance starting at current leading value position (Page 58) – Using leading value distance starting at specific leading value position (Page 59) • Defining the direction of the leading value distance (Page 60) • Only cancel a pending leading value offset (Page 62) Camming The Motion Control instruction offers you the following in camming: • Shift leading value on the following axis – Leading value offset using leading value distance starting at current leading value position (Page 147) – Using leading value distance starting at specific leading value position (Page 148) • Defining the direction of the leading value distance (Page 149) • Only cancel a pending leading value offset (Page 151) Applies to • Synchronous axis Requirement • The technology objects of the leading axis and the following axis have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. 228 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis in "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. • By means of the Motion Control instruction "MC_GearIn", "MC_GearInPos" or "MC_CamIn", the following axis is synchronized to the leading axis ("MC_GearIn.InGear" = TRUE, "MC_GearInPos.InSync" = TRUE or "MC_CamIn.InSync" = TRUE). • No "MC_OffsetAbsolute" or "MC_OffsetRelative" job is active or waiting. Override response The override response for "MC_PhasingAbsolute" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". Disabling the leading axis with "MC_Power.Enable" = FALSE does not abort the leading value offset. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled again. Parameters The following table shows the parameters of the Motion Control instruction "MC_PhasingAbsolute": Parameters Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder TO_LeadingAxisProxy - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE PhaseShift INPUT LREAL 0.0 Absolute leading value offset Velocity INPUT LREAL -1.0 Velocity of the following axis during leading value offset (added to synchronous operation motion) Acceleration INPUT LREAL -1.0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Start job with a positive edge > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The velocity configured in "Technology object > Configuration > Extended para­ meters > Dynamic default values" is used. (<TO>.DynamicDefaults.Velocity) Acceleration of the following axis during leading value offset (added to synchronous operation motion) > 0.0 The specified value is used. = 0.0 Not permitted 229 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description Acceleration INPUT LREAL -1.0 < 0.0 Deceleration INPUT LREAL -1.0 Deceleration of the following axis during leading value offset (added to synchronous operation motion) Jerk ProfileReference INPUT INPUT LREAL DINT -1.0 0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) Jerk of the following axis during leading value off­ set (added to synchronous operation motion) > 0.0 Constant acceleration velocity profile The specified value is used. = 0.0 Trapezoid velocity profile < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) Type of the leading value offset 0 Only with gearing: Leading value offset using dynamic para­ meters 1 Leading value offset using leading value distance as of current leading value posi­ tion 2 Leading value offset using leading value distance as of leading value position "StartPosition" 3 ... 4 Not permitted 5 Only cancel a pending job for the leading value offset PhasingDistance INPUT LREAL 0.0 When "ProfileReference" = 1, 2: Leading value distance Distance of the leading axis during leading value offset StartPosition INPUT LREAL 0.0 When "ProfileReference" = 2: Leading value position as of which the leading value is offset 230 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters Declara­ tion Data type Default value Description Direction INPUT DINT 3 When "ProfileReference" = 1, 2: Direction of the leading value distance 1 The leading value distance is in the posit­ ive direction of motion of the leading value. 2 The leading value distance is in the neg­ ative direction of motion of the leading value. 3 The leading value distance is in the cur­ rent direction of motion of the leading value. Done OUTPUT BOOL FALSE TRUE The leading value offset is finished. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). AbsolutePhaseShift OUTPUT LREAL 0.0 Display of the absolute leading value share that has already been offset StartPhasing OUTPUT BOOL FALSE TRUE S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC The following axis offsets the effective leading value. 231 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.5.2 MC_PhasingAbsolute: Function chart V7 (S7-1500T) Function chart: Absolute shift of the leading value in gearing [email protected] 50@4MBWF ܢ ܢ ܢ " " .$@(FBS*O1PT .$@1IBTJOH"CTPMVUF .BTUFS 4UBSU4ZOD &YFDVUF #VTZ 4MBWF *O4ZOD 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS %POF &YF &YFDVUF $PNNBOE"CPSUFE 7FMPDJUZ &SSPS*% &SSPS ܢ &SSPS*% %FDFMFSBUJPO .BTUFS $PNNBOE"CPSUFE "DDFMFSBUJPO [email protected] *O4ZOD 50@4MBWF ܢ ܢ +FSL " *O4ZOD " &YF #VTZ 4UBSU1IBTJOH %POF "CTPMVUF 1IBTF4IJGU [email protected] 50@4MBWF1PTJUJPO 4MBWF 1IBTF4IJGU #VTZ +FSL #VTZ &SSPS "DDFMFSBUJPO "CTPMVUF1IBTF4IJGU %FDFMFSBUJPO %POF 4UBSU1IBTJOH "CTPMVUF1IBTF4IJGU 4UBSU1IBTJOH 1SPMF3FGFSFODF 1IBTJOH%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO U U U U U U U U 50@4MBWF7FMPDJUZ 50@4MBWF4UBUVT 4ZODISPOJ[FE .PUJPO1IBTF4IJGU U U At time ①, an "MC_PhasingAbsolute" job (A2) is initiated with "ProfileReference" = 0 via "Exe" during an active gearing with "MC_GearInPos" (A1). The "StartPhasing" parameter shows that the following axis traverses the leading value offset with the dynamics specified additively to the synchronous operation motion. The absolute leading value offset traversed via the job is 232 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) indicated in "AbsolutePhaseShift". "Done" indicates that the leading value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_PhasingAbsolute" job (A2) is initiated again via "Exe". Because the absolute leading value offset (<TO>.StatusSynchronizedMotion.PhaseShift) is already 50.0, the leading value is not shifted. The absolute leading value offset is indicated in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. Function chart: Absolute shift of the leading value in camming [email protected] " " .$@$BN*O .$@1IBTJOH"CTPMVUF .BTUFS 50@4MBWF $BN $BN@ &YFDVUF &YF@ [email protected] .BTUFS &YF@ &YFDVUF 50@4MBWF 4MBWF 1IBTF4IJGU .BTUFS0TFU 4MBWF0TFU .BTUFS4ZOD1PTJUJPO 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF ܢ 7FMPDJUZ ܢ "DDFMFSBUJPO ܢ %FDFMFSBUJPO ܢ +FSL 7FMPDJUZ %FDFMFSBUJPO 4MBWF4DBMJOH 1IBTF4IJGU "DDFMFSBUJPO .BTUFS4DBMJOH 4MBWF 1SPMF3FGFSFODF 4UBSU4ZOD *O4ZOD #VTZ *O4ZOD +FSL 1SPMF3FGFSFODF 1IBTJOH%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO %POF #VTZ $PNNBOE"CPSUFE %POF #VTZ &SSPS &SSPS*% "CTPMVUF 1IBTF4IJGU 4UBSU1IBTJOH "CTPMVUF 1IBTF4IJGU 4UBSU1IBTJOH $PNNBOE"CPSUFE "QQMJDBUJPO.PEF 4ZOD%JSFDUJPO &SSPS &SSPS*% &OE0G1SPMF $BN@ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 233 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ,Q6\QF $ ([H 3URILOH5HIHUHQFH %XV\ 6WDUW3KDVLQJ 'RQH 3KDVH6KLIW W W W W W W $EVROXWH 3KDVH6KLIW W 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ (IIHFWLYH/HDGLQJ 9DOXH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ )XQFWLRQ/HDGLQJ 9DOXH3RVLWLRQ W W W 72B6ODYH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ3KDVH6KLIW W W At time ①, an "MC_PhasingAbsolute" job (A2) is triggered with "ProfileReference" = 1 via "Exe" during an active camming with "MC_CamIn" (A1) . The "StartPhasing" parameter shows that the leading value offset traverses from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute leading value offset traversed via the job is indicated in "AbsolutePhaseShift". "Done" indicates that the leading value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_PhasingAbsolute" job (A2) is initiated again via "Exe" with "ProfileReference" = 2. The status "Waiting" is displayed at the following axis until the leading value reaches the start position (<TO>.StatusWord2.X3 = TRUE (PhasingCommandWaiting)). At time ③ the leading value reaches the specified start position. The "StartPhasing" parameter shows that the following axis traverses the leading value offset via the specified 234 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) leading value distance. The required dynamic response is calculated by the system. The absolute leading value offset traversed via the job is indicated in "AbsolutePhaseShift". "Done" indicates that the leading value was successfully shifted. The absolute leading value offset is indicated in the "<TO>.StatusSynchronizedMotion.PhaseShift" tag of the technology object. 12.1.6 MC_OffsetRelative V7 (S7-1500T) 12.1.6.1 MC_OffsetRelative: Relative shift of following value on the following axis V7 (S7-1500T) Description With the Motion Control instruction "MC_OffsetRelative", you shift the following value on a following axis relative to the existing following value offset. A relative following value offset is possible in gearing with "MC_GearIn" or "MC_GearInPos" or in camming with "MC_CamIn". The position of the leading axis is not affected by this. A simultaneous leading value offset is not permitted. Gearing The Motion Control instruction offers you the following in gearing: • Shift following value on the following axis: – Leading value offset using leading value distance starting at current leading value position (Page 62) – Using leading value distance starting at specific leading value position (Page 63) • Defining the direction of the leading value distance (Page 65) • Only cancel a pending following value offset (Page 66) Camming The Motion Control instruction offers you the following in camming: • Shift following value on the following axis: – Leading value offset using leading value distance starting at current leading value position (Page 151) – Using leading value distance starting at specific leading value position (Page 152) • Defining the direction of the leading value distance (Page 154) • Only cancel a pending following value offset (Page 156) Applies to • Synchronous axis S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 235 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Requirements • • • • The technology object of following axis has been configured correctly. The following axis is a synchronous axis. The following axis is enabled. By means of the Motion Control instruction "MC_GearIn", "MC_GearInPos" or "MC_CamIn", the following axis is synchronized to the leading axis ("MC_GearIn.InGear" = TRUE, "MC_GearInPos.InSync" = TRUE or "MC_CamIn.InSync" = TRUE). • No "MC_PhasingAbsolute" or "MC_PhasingRelative" job is active or waiting. Override response The override response for "MC_OffsetRelative" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". Parameter The following table shows the parameters of the Motion Control instruction "MC_OffsetRelative": Parameter Declara­ tion Data type Default value Description Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE Offset INPUT LREAL 0.0 Relative following value offset ProfileReference INPUT DINT 1 Type of the following value offset Start job with a positive edge 0 Reserved 1 Following value offset using leading value distance as of current effective leading value position 2 Following value offset using leading value distance as of effective leading value position "StartPosition" 3 ... 4 Reserved 5 Only cancel a pending job for the follow­ ing value offset OffsetDistance INPUT LREAL 0.0 When "ProfileReference" = 1, 2: Leading value distance Effective leading value distance during following value offset StartPosition INPUT LREAL 0.0 When "ProfileReference" = 2: Effective leading value position as of which the fol­ lowing value is offset 236 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Direction INPUT DINT 3 When "ProfileReference" = 1, 2: Direction of the leading value distance 1 The leading value distance is in the posit­ ive direction of motion of the effective leading value. 2 The leading value distance is in the neg­ ative direction of motion of the effective leading value. 3 The leading value distance is in the cur­ rent direction of motion of the effective leading value. Done OUTPUT BOOL FALSE TRUE The leading value offset is finished. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for the parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). CoveredOffset OUTPUT LREAL 0.0 Display of the absolute following value share that has already been offset StartOffset OUTPUT BOOL FALSE TRUE 12.1.6.2 The following axis offsets the following value. MC_OffsetRelative: Function chart V7 (S7-1500T) Function chart: Relative shift of the following value in gearing [email protected] 50@4MBWF ܢ ܢ ܢ " " .$@(FBS*O1PT .$@0TFU3FMBUJWF .BTUFS 4UBSU4ZOD &YFDVUF #VTZ 4MBWF 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS "DDFMFSBUJPO %FDFMFSBUJPO *O4ZOD *O4ZOD $PNNBOE"CPSUFE &SSPS &SSPS*% +FSL S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 50@4MBWF 4MBWF %POF 0TFU $PNNBOE"CPSUFE &YF &YFDVUF 1SPMF3FGFSFODF 0TFU%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO #VTZ %POF #VTZ &SSPS &SSPS*% $PWFSFE0TFU 4UBSU0TFU $PWFSFE0TFU 4UBSU0TFU 237 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ,Q6\QF $ ([H %XV\ 6WDUW2IIVHW 'RQH W &RYHUHG2IIVHW W W W W W 72B0DVWHU3RVLWLRQ W 72B6ODYH3RVLWLRQ W 72B6ODYH9HORFLW\ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ2IIVHW W W At time ①, an "MC_OffsetRelative" job (A2) is initiated with "ProfileReference" = 1 via "Exe" during an active gearing with "MC_GearInPos" (A1). The "StartOffset" parameter shows that the following axis traverses the following value offset from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated In "CoveredOffset". "Done" indicates that the following value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_OffsetRelative" job (A2) is initiated again via "Exe". The "StartOffset" parameter shows that the following axis traverses the following value offset via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated In "CoveredOffset". "Done" indicates that the following value was successfully shifted. The absolute following value offset is indicated in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. 238 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Function chart: Relative shift of the following value in camming [email protected] " " .$@$BN*O .$@0TFU3FMBUJWF .BTUFS 50@4MBWF $BN $BN@ &YFDVUF &YF@ 4MBWF %POF 0TFU $PNNBOE"CPSUFE 0TFU%JTUBODF 1SPMF3FGFSFODF .BTUFS0TFU 4MBWF0TFU .BTUFS4DBMJOH 4MBWF4DBMJOH 50@4MBWF &YF@ 4MBWF &YFDVUF 1SPMF3FGFSFODF 4UBSU1PTJUJPO %JSFDUJPO #VTZ %POF #VTZ &SSPS &SSPS*% $PWFSFE0TFU 4UBSU0TFU $PWFSFE0TFU 4UBSU0TFU .BTUFS4ZOD1PTJUJPO 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF ܢ 7FMPDJUZ ܢ "DDFMFSBUJPO ܢ %FDFMFSBUJPO ܢ +FSL 4UBSU4ZOD *O4ZOD #VTZ *O4ZOD $PNNBOE"CPSUFE "QQMJDBUJPO.PEF 4ZOD%JSFDUJPO &SSPS &SSPS*% &OE0G1SPMF $BN@ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 239 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ,Q6\QF $ ([H 3URILOH5HIHUHQFH %XV\ 6WDUW2IIVHW 'RQH &RYHUHG2IIVHW 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ (IIHFWLYH/HDGLQJ 9DOXH3RVLWLRQ W W W W W W W W 72B6ODYH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ2IIVHW W W At time ①, an "MC_OffsetRelative" job (A2) is triggered with "ProfileReference" = 1 via "Exe" during an active camming with "MC_CamIn" (A1) . The "StartOffset" parameter shows that the following axis traverses the following value offset from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated In "CoveredOffset". "Done" indicates that the following value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_OffsetRelative" job (A2) is initiated again via "Exe" with "ProfileReference" = 2. The status "Waiting" is displayed at the following axis until the leading value reaches the start position (<TO>.StatusWord2.X5 = TRUE (OffsetCommandWaiting)). At time ③ the leading value reaches the specified start position. The "StartOffset" parameter shows that the following axis traverses the following value offset via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated In "CoveredOffset". "Done" indicates that the leading value was successfully shifted. 240 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) The absolute following value offset is indicated in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. 12.1.7 MC_OffsetAbsolute V7 (S7-1500T) 12.1.7.1 MC_OffsetAbsolute: Absolute shift of following value on the following axis V7 (S7-1500T) Description With the Motion Control instruction "MC_OffsetAbsolute", you shift the following value on a following axis with an absolute offset. An absolute following value offset is possible in gearing with "MC_GearIn" or "MC_GearInPos" or in camming with "MC_CamIn". The position of the leading axis is not affected by this. A simultaneous leading value offset is not permitted. Gearing The Motion Control instruction offers you the following in gearing: • Shift following value on the following axis: – Leading value offset using leading value distance starting at current leading value position (Page 62) – Using leading value distance starting at specific leading value position (Page 63) • Defining the direction of the leading value distance (Page 65) • Only cancel a pending following value offset (Page 66) Camming The Motion Control instruction offers you the following in camming: • Shift following value on the following axis: – Leading value offset using leading value distance starting at current leading value position (Page 151) – Using leading value distance starting at specific leading value position (Page 152) • Defining the direction of the leading value distance (Page 154) • Only cancel a pending following value offset (Page 156) Applies to • Synchronous axis S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 241 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Requirements • • • • The technology object of following axis has been configured correctly. The following axis is a synchronous axis. The following axis is enabled. By means of the Motion Control instruction "MC_GearIn", "MC_GearInPos" or "MC_CamIn", the following axis is synchronized to the leading axis ("MC_GearIn.InGear" = TRUE, "MC_GearInPos.InSync" = TRUE or "MC_CamIn.InSync" = TRUE). • No "MC_PhasingAbsolute" or "MC_PhasingRelative" job is active or waiting. Override response The override response for "MC_OffsetAbsolute" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". Parameter The following table shows the parameters of the Motion Control instruction "MC_OffsetAbsolute": Parameter Declara­ tion Data type Default value Description Slave INPUT TO_SynchronousAxis - Following axis technology object Execute INPUT BOOL FALSE TRUE Offset INPUT LREAL 0.0 Absolute following value offset ProfileReference INPUT DINT 1 Type of the following value offset Start job with a positive edge 0 Reserved 1 Following value offset using leading value distance as of current effective leading value position 2 Following value offset using leading value distance as of effective leading value position "StartPosition" 3 ... 4 Reserved 5 Only cancel a pending job for the follow­ ing value offset OffsetDistance INPUT LREAL 0.0 When "ProfileReference" = 1, 2: Leading value distance Effective leading value distance during following value offset StartPosition INPUT LREAL 0.0 When "ProfileReference" = 2: Effective leading value position as of which the fol­ lowing value is offset 242 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Direction INPUT DINT 3 When "ProfileReference" = 1, 2: Direction of the leading value distance 1 The leading value distance is in the posit­ ive direction of motion of the effective leading value. 2 The leading value distance is in the neg­ ative direction of motion of the effective leading value. 3 The leading value distance is in the cur­ rent direction of motion of the effective leading value. Done OUTPUT BOOL FALSE TRUE The leading value offset is finished. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for the parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). AbsoluteOffset OUTPUT LREAL 0.0 Display of the absolute following value share that has already been offset StartOffset OUTPUT BOOL FALSE TRUE 12.1.7.2 The following axis offsets the following value. MC_OffsetAbsolute: Function chart V7 (S7-1500T) Function chart: Absolute shift of the following value in gearing [email protected] 50@4MBWF ܢ ܢ ܢ " " .$@(FBS*O1PT .$@0TFU"CTPMVUF .BTUFS 4UBSU4ZOD &YFDVUF #VTZ 4MBWF 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS "DDFMFSBUJPO %FDFMFSBUJPO *O4ZOD *O4ZOD $PNNBOE"CPSUFE &SSPS &SSPS*% +FSL S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 50@4MBWF 4MBWF %POF 0TFU $PNNBOE"CPSUFE &YF &YFDVUF 1SPMF3FGFSFODF 0TFU%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO #VTZ %POF #VTZ &SSPS &SSPS*% "CTPMVUF0TFU 4UBSU0TFU "CTPMVUF0TFU 4UBSU0TFU 243 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " *O4ZOD " &YF #VTZ 4UBSU0TFU %POF "CTPMVUF0TFU 50@4MBWF1PTJUJPO U [email protected] U U U U U U U 50@4MBWF7FMPDJUZ 50@4MBWF4UBUVT 4ZODISPOJ[FE .PUJPO0TFU U U At time ①, an "MC_OffsetAbsolute" job (A2) is initiated with "ProfileReference" = 1 via "Exe" during an active gearing with "MC_GearInPos" (A1). The "StartOffset" parameter shows that the following axis traverses the following value offset from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated in "AbsoluteOffset". "Done" indicates that the following value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_OffsetAbsolute" job (A2) is initiated again via "Exe". Because the absolute following value offset (<TO>.StatusSynchronizedMotion.Offset) is already 90.0, the following value is not shifted. The absolute following value offset is indicated in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. 244 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Function chart: Absolute shift of the following value in camming [email protected] " " .$@$BN*O .$@0TFU"CTPMVUF .BTUFS 50@4MBWF $BN $BN@ &YFDVUF &YF@ 4MBWF %POF 0TFU 0TFU $PNNBOE"CPSUFE 1SPMF3FGFSFODF .BTUFS0TFU 4MBWF0TFU .BTUFS4DBMJOH 4MBWF4DBMJOH 50@4MBWF &YF@ 4MBWF &YFDVUF 1SPMF3FGFSFODF 0TFU%JTUBODF 4UBSU1PTJUJPO %JSFDUJPO #VTZ %POF #VTZ &SSPS &SSPS*% "CTPMVUF0TFU 4UBSU0TFU "CTPMVUF0TFU 4UBSU0TFU .BTUFS4ZOD1PTJUJPO 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF ܢ 7FMPDJUZ ܢ "DDFMFSBUJPO ܢ %FDFMFSBUJPO ܢ +FSL 4UBSU4ZOD *O4ZOD #VTZ *O4ZOD $PNNBOE"CPSUFE "QQMJDBUJPO.PEF 4ZOD%JSFDUJPO &SSPS &SSPS*% &OE0G1SPMF $BN@ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 245 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ,Q6\QF $ ([H 3URILOH5HIHUHQFH %XV\ 6WDUW2IIVHW 'RQH 2IIVHW W W W W W 72B6ODYH6WDWXV 6\QFKURQL]HG0RWLRQ (IIHFWLYH/HDGLQJ 9DOXH3RVLWLRQ W $EVROXWH2IIVHW W W W 72B6ODYH3RVLWLRQ 72B6ODYH6WDWXV 6\QFKURQL]HG 0RWLRQ2IIVHW W W At time ①, an "MC_OffsetAbsolute" job (A2) is triggered with "ProfileReference" = 1 via "Exe" during an active camming with "MC_CamIn" (A1) . The "StartOffset" parameter shows that the following axis traverses the following value offset from the current position via the specified leading value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated in "AbsoluteOffset". "Done" indicates that the following value was successfully shifted. The motion of the leading axis is not affected. At time ② the "MC_OffsetAbsolute" job (A2) is initiated again via "Exe" with "ProfileReference" = 2. The status "Waiting" is displayed at the following axis until the leading value reaches the start position (<TO>.StatusWord2.X5 = TRUE (OffsetCommandWaiting)). At time ③ the leading value reaches the specified start position. The "StartOffset" parameter shows that the following axis traverses the following value offset via the specified leading 246 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) value distance. The required dynamic response is calculated by the system. The absolute following value offset traversed via the job is indicated in "AbsoluteOffset". "Done" indicates that the following value was successfully shifted. The absolute following value offset is indicated in the "<TO>.StatusSynchronizedMotion.Offset" tag of the technology object. 12.1.8 MC_CamIn V7 (S7-1500T) 12.1.8.1 MC_CamIn: Start camming V7 (S7-1500T) Description With the Motion Control instruction "MC_CamIn", you start a camming (Page 82) operation between a leading axis and a following axis. The following axis is synchronized depending on the specified synchronous position of the leading axis. The synchronous position of the leading axis and the corresponding position of the following axis from the cam represent the relationship of the two axes to one another. The synchronous position of the leading axis is determined by the following parameters: • Start position of the cam (<TO_Cam>.StatusCam.StartLeadingValue) • Scaling the leading values of the cam ("MasterScaling") • Offset/position of the cam ("MasterOffset") • Start point within the cam ("MasterSyncPosition") The synchronous position is calculated as follows: Synchronous position = (Start position of the cam "MasterScaling") + "MasterOffset" + "MasterSyncPosition" The start of movement of the following axis is defined depending on the selected synchronization mode. The Motion Control instruction offers you the following: • Scaling and shifting cam (Page 125) • Defining application mode of the cam (Page 127) • Defining direction of synchronization (Page 130) • Define synchronous position and type of synchronization: – Synchronization in advance using dynamic parameters (Page 133) – Synchronization in advance using leading value distance (Page 134) – Synchronization in advance using leading value distance starting from current leading value position (Page 136) – Subsequent synchronization using leading value distance (Page 139) – Subsequent synchronization using leading value distance starting from current leading value position (Page 142) – Directly set the following axis synchronously (Page 143) – Directly set following axis synchronously at end of the cam (Page 144) • Synchronous travel in camming (Page 146) Different parameters are relevant depending on the synchronization profile. You can find an overview in the "Parameter overview for synchronizing with "MC_CamIn" (Page 130)" section. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 247 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Applies to • Cam • Synchronous axis Requirement • The technology objects of the leading axis, following axis, and cam have been configured correctly. • The leading axis is a positioning axis, a synchronous axis, an external encoder or a leading axis proxy. • The following axis is a synchronous axis. • The leading axis is specified as possible leading axis in the configuration of the following axis under "Technology object > Configuration > Leading value interconnections". • The following axis is enabled. • The following axis is homed. • The cam is interpolated with "MC_InterpolateCam". • With synchronization in advance using leading value distance, the leading axis must be at least the specified distance ("MasterStartDistance") from the synchronization position ("MasterSyncPosition") when starting the job. • With direct synchronous setting at the end of the cam, camming must already be active ("InSync" = TRUE). Override response The override response for "MC_CamIn" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". With a "MC_CamOut" job, the following axis is desynchronized and synchronous operation is terminated. Disabling the following axis with "MC_Power.Enable" = FALSE aborts the synchronous operation in every status. Disabling the leading axis with "MC_Power", in contrast, does not abort synchronous operation. The following axis follows the leading axis even during the braking ramp and after the leading axis is enabled again. Parameters The following table shows the parameters of the Motion Control instruction "MC_CamIn": Parameter Declara­ tion Data type Default value Description Master INPUT TO_PositioningAxis TO_SynchronousAxis TO_ExternalEncoder TO_LeadingAxisProxy - Leading axis technology object Slave INPUT TO_SynchronousAxis - Following axis technology object 248 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Cam INPUT TO_Cam TO_Cam_10k - Cam technology object Execute INPUT BOOL FALSE TRUE MasterOffset INPUT LREAL 0.0 When "SyncProfileReference" = 0, 1, 3, 4: Offset of the leading values of the cam (Page 125) The cam technology object is not changed. Start job with a positive edge When "SyncProfileReference" = 2, 5, 6: Not relevant SlaveOffset INPUT LREAL 0.0 When "SyncProfileReference" = 0, 1, 3, 4, 6: Offset of the following values of the cam (Page 125) The cam technology object is not changed. When "SyncProfileReference" = 2, 5: Not relevant MasterScaling INPUT LREAL 1.0 Scaling the leading values of the cam (Page 125) The cam technology object is not changed. SlaveScaling INPUT LREAL 1.0 Scaling the following values of the cam (Page 125) The cam technology object is not changed. MasterSyncPosition INPUT LREAL 0.0 Synchronous position of leading axis When "SyncProfileReference" = 0, 1, 6: Position of the leading axis (relative to the start position of the cam), from which the axes are syn­ chronous and synchronization is complete. The value must be within the definition of the cam. When "SyncProfileReference" = 3: Position of the leading axis (relative to the start position of the cam) from which the synchroniza­ tion begins The value must be within the definition of the cam. When "SyncProfileReference" = 4: Not relevant When "SyncProfileReference" = 2, 5: Position of the leading axis (relative to the start position of the cam to be changed), from which the axes are synchronous. The value must be within the definition of the cam to be changed. SyncProfileReference INPUT DINT 1 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Synchronization profile 0 Synchronization in advance using dynam­ ic parameters (Page 133) 1 Synchronization in advance using leading value distance (Page 134) 2 Direct synchronous setting (Page 143) 3 Subsequent synchronization using lead­ ing value distance (Page 139) 249 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description SyncProfileReference INPUT DINT 1 4 Subsequent synchronization using lead­ ing value distance starting from current leading value position (Page 142) 5 Direct synchronous setting at the end of the cam (Page 144) 6 Synchronization in advance using leading value distance starting from current lead­ ing value position (Page 136) MasterStartDistance INPUT LREAL 0.0 When "SyncProfileReference" = 1, 3, 4, 6: Leading value distance Distance of the leading axis during the synchroniza­ tion > 0.0 The specified value is used. ≤ 0.0 Not permitted When "SyncProfileReference" = 0, 2, 5: Not relevant Velocity INPUT LREAL -1.0 When "SyncProfileReference" = 0: Velocity > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The velocity configured in "Technology object > Configuration > Extended para­ meters > Dynamic default values" is used. (<TO>.DynamicDefaults.Velocity) When "SyncProfileReference" = 1, 2, 3, 4, 5, 6: Not relevant Acceleration INPUT LREAL -1.0 When "SyncProfileReference" = 0: Acceleration > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The acceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Acceleration) When "SyncProfileReference" = 1, 2, 3, 4, 5, 6: Not relevant Deceleration 250 INPUT LREAL -1.0 When "SyncProfileReference" = 0: Deceleration > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Deceleration INPUT LREAL -1.0 When "SyncProfileReference" = 1, 2, 3, 4, 5, 6: Not relevant Jerk INPUT LREAL -1.0 When "SyncProfileReference" = 0: Jerk > 0.0 Constant acceleration velocity profile The specified value is used. = 0.0 Trapezoid velocity profile < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) When "SyncProfileReference" = 1, 2, 3, 4, 5, 6: Not relevant ApplicationMode SyncDirection INPUT INPUT DINT DINT 0 3 Application of the cam (Page 127) 0 Once/not cyclic 1 Cyclic (absolute application on the fol­ lowing value side) 2 Cyclic appending (continuously append­ ing on the following value side) When "SyncProfileReference" = 0, 1, 3, 4, 6: Direction of synchronization (Page 130) In effect for following axes with activated Modulo setting. 1 Positive direction The following axis may only travel in pos­ itive direction during synchronization. 2 Negative direction The following axis may only travel in neg­ ative direction during synchronization. 3 Shortest distance Changes in direction are permitted for the following axis during synchroniza­ tion. When "SyncProfileReference" = 2, 5: Not relevant StartSync OUTPUT BOOL FALSE TRUE The following axis is synchronized to the leading axis. InSync OUTPUT BOOL FALSE TRUE Synchronous operation reached The following axis is synchronized and moves synchronously to the leading axis. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 251 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Error OUTPUT BOOL FALSE TRUE ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). EndOfProfile OUTPUT BOOL FALSE TRUE 252 An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. The end of the cam has been reached. Displayed for at least one call of "MC_CamIn" in the user program when the cam is used cyclically. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.8.2 MC_CamIn: Function chart V7 (S7-1500T) Function chart: Synchronization in advance via dynamic parameters/leading value distance and switching of the cam $ $ 0&B&DP,Q 0&B&DP,Q 72B0DVWHU 0DVWHU 72B0DVWHU 0DVWHU 72B6ODYH 6ODYH 72B6ODYH 6ODYH &DPB &DP &DPB &DP ([HB ([HFXWH ([HB ([HFXWH 0DVWHU2IIVHW 0DVWHU2IIVHW 6ODYH2IIVHW 6ODYH2IIVHW 0DVWHU6FDOLQJ 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6\QF3RVLWLRQ 0DVWHU6\QF3RVLWLRQ 6\QF3URILOH5HIHUHQFH 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH 0DVWHU6WDUW'LVWDQFH ,Q6\QFB $FFHOHUDWLRQ %XV\ %XV\B 'HFHOHUDWLRQ &RPPDQG$ERUWHG ,Q6\QF ,Q6\QFB 9HORFLW\ 9HORFLW\ ದ $FFHOHUDWLRQ %XV\ %XV\B ದ 'HFHOHUDWLRQ &RPPDQG$ERUWHG $ERUWB ದ -HUN -HUN (UURU $SSOLFDWLRQ0RGH 6\QF'LUHFWLRQ 6WDUW6\QFB ,Q6\QF 6WDUW6\QFB ದ 6WDUW6\QF 6WDUW6\QF (UURU,' 6\QF'LUHFWLRQ (QG2I3URILOH (UURU (UURU,' $SSOLFDWLRQ0RGH (QG2I3URILOH (RSB &DPB S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC &DPB 253 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ([HB %XV\B W 6WDUW6\QFB W W ,Q6\QFB W $ERUWB W $ ([HB %XV\B W 6WDUW6\QFB W W ,Q6\QFB W (RSB W 72B0DVWHU 3RVLWLRQ W ದ 72B6ODYH 3RVLWLRQ W 72B0DVWHU 9HORFLW\ W 72B6ODYH 9HORFLW\ ದ W 6\QFB 6\QFB Using "Exe_1", an "MC_CamIn" job (A1) is initiated. The start of the synchronization is displayed with "StartSync_1". The following axis (TO_Slave) is synchronized in advance to the cam (Cam_1) within the range "Sync_1" by means of the specified dynamic parameters. The distance required for synchronization is calculated by the system. When the specified reference position "MasterSyncPosition" relative to the start of the cam is reached, "InSync_1" signals that the following axis is synchronized and moves synchronously to the leading axis. The synchronous operation is overridden by another "MC_CamIn" job (A2). The abort is signaled via "Abort_1". The start of the synchronization is displayed with "StartSync_2". The following axis is synchronized in advance to the new cam (Cam_2) within the range "Sync_2" 254 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) by means of the specified leading value distance "MasterStartDistance". Within the range "Sync_2", the axis does not follow the cam "Cam_1" The dynamic response required for synchronization is calculated by the system. When the specified reference position "MasterSyncPosition" relative to the start of the cam is reached, "InSync_2" signals that the following axis is synchronized and moves synchronously to the leading axis. Function chart: Synchronization in advance/subsequent synchronization via leading value distance and switching the cam $ $ 0&B&DP,Q 0&B&DP,Q 72B0DVWHU 0DVWHU 72B0DVWHU 0DVWHU 72B6ODYH 6ODYH 72B6ODYH 6ODYH &DPB &DP &DPB &DP ([HB ([HFXWH ([HB ([HFXWH 0DVWHU2IIVHW 0DVWHU2IIVHW 6ODYH2IIVHW 6ODYH2IIVHW 0DVWHU6FDOLQJ 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6\QF3RVLWLRQ 0DVWHU6\QF3RVLWLRQ 6\QF3URILOH5HIHUHQFH 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH 0DVWHU6WDUW'LVWDQFH 6WDUW6\QFB ,Q6\QF ,Q6\QFB $FFHOHUDWLRQ %XV\ %XV\B 'HFHOHUDWLRQ &RPPDQG$ERUWHG 6WDUW6\QFB ,Q6\QF ,Q6\QFB 9HORFLW\ $FFHOHUDWLRQ %XV\ %XV\B 'HFHOHUDWLRQ &RPPDQG$ERUWHG $ERUWB 9HORFLW\ -HUN 6WDUW6\QF 6WDUW6\QF 6\QF'LUHFWLRQ -HUN (UURU $SSOLFDWLRQ0RGH (UURU,' 6\QF'LUHFWLRQ (QG2I3URILOH (UURU (UURU,' $SSOLFDWLRQ0RGH (QG2I3URILOH (RSB &DPB S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC &DPB 255 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) $ ([HB %XV\B W 6WDUW6\QFB W W ,Q6\QFB W $ERUWB W $ ([HB %XV\B W 6WDUW6\QFB ,Q6\QFB W W W (RSB W 72B0DVWHU 3RVLWLRQ W ದ 72B6ODYH 3RVLWLRQ W 72B0DVWHU 9HORFLW\ W 72B6ODYH 9HORFLW\ ದ W 6\QFB 6\QFB Using "Exe_1", an "MC_CamIn" job (A1) is initiated. The start of the synchronization is displayed with "StartSync_1". The following axis (TO_Slave) is synchronized in advance to the cam (Cam_1) within the range "Sync_1" by means of the specified leading value distance "MasterStartDistance". The dynamic response required for synchronization is calculated by the system. When the specified reference position "MasterSyncPosition" relative to the start of the cam is reached, "InSync_1" signals that the following axis is synchronized and moves synchronously to the leading axis. The synchronous operation is overridden by another "MC_CamIn" job (A2). The abort is signaled via "Abort_1". When the specified reference position "MasterSyncPosition" in relation 256 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) to the start of the cam disk is reached, the start of synchronization is indicated via "StartSync_2". The following axis is synchronized subsequently to the new cam (Cam_2) within the range "Sync_2" by means of the specified leading value distance "MasterStartDistance". Within the range "Sync_2", the axis does not follow the cam "Cam_1" The dynamic response required for synchronization is calculated by the system. "InSync_2" signals that the following axis is synchronized and moving synchronously to the leading axis. Function chart: Synchronization in advance/subsequent synchronization via leading value distance starting from current leading value position " .$@$BN*O .BTUFS [email protected] 50@4MBWF 4MBWF $BN@ $BN &YF &YFDVUF .BTUFS0TFU 4MBWF0TFU .BTUFS4DBMJOH 4MBWF4DBMJOH .BTUFS4ZOD1PTJUJPO 413 4ZOD1SPMF3FGFSFODF 4UBSU4ZOD .BTUFS4UBSU%JTUBODF *O4ZOD 7FMPDJUZ "DDFMFSBUJPO %FDFMFSBUJPO +FSL "QQMJDBUJPO.PEF 4ZOD%JSFDUJPO #VTZ $PNNBOE"CPSUFE 4UBSU4ZOD *O4ZOD #VTZ &SSPS &SSPS*% &OE0G1SPMF $BN@ S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 257 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " &YF #VTZ 4UBSU4ZOD *O4ZOD 413 [email protected] U U U U U U [email protected] 50@4MBWF1PTJUJPO U 50@4MBWF7FMPDJUZ U U " # Section A At time ①, an "MC_CamIn" job (A1) with "SyncProfileReference" = 4 is initiated via "Exe". The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized subsequently as of the current leading value position 270° to the cam (Cam_1) by means of the specified leading value distance "MasterStartDistance" = 180°. The dynamic response required for synchronization is calculated by the system. At time ②, "InSync" signals at the leading value position 90° that the following axis is synchronized and moves synchronously to the leading axis. Section B At time ③, the "MC_CamIn" job (A1) with "SyncProfileReference" = 6 is initiated via "Exe". The start of the synchronization is displayed with "StartSync". The following axis (TO_Slave) is synchronized in advance as of the current leading value position 270° to the cam (Cam_1) by means of the specified leading value distance "MasterStartDistance" = 180°. The dynamic response required for synchronization is calculated by the system. At time ④, the following axis reaches the following value of the specified reference position "MasterSyncPosition" = 180° at the leading value position 90° in relation to the start of the 258 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) cam. The cam disc is automatically offset by -90° in the leading value area (<TO>.StatusSynchronizedMotion.MasterOffset). "InSync" signals that the following axis is synchronized and moving synchronously to the leading axis. Function chart: Togging and direct synchronous setting at the end of the cam $ $ 0&B&DP,Q 0&B&DP,Q 72B0DVWHU 0DVWHU 72B0DVWHU 0DVWHU 72B6ODYH 6ODYH 72B6ODYH 6ODYH &DPB &DP &DPB &DP ([HFXWH ([HB ([HFXWH 0DVWHU2IIVHW 0DVWHU2IIVHW 6ODYH2IIVHW 6ODYH2IIVHW 0DVWHU6FDOLQJ 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6\QF3RVLWLRQ 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH 6WDUW6\QF ,Q6\QF 9HORFLW\ $FFHOHUDWLRQ %XV\ 'HFHOHUDWLRQ &RPPDQG$ERUWHG -HUN 6\QF'LUHFWLRQ 6WDUW6\QF 6WDUW6\QFB ,Q6\QF ,Q6\QFB $FFHOHUDWLRQ %XV\ %XV\B 'HFHOHUDWLRQ &RPPDQG$ERUWHG 9HORFLW\ $ERUWB -HUN (UURU,' (QG2I3URILOH 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH ,Q6\QFB (UURU $SSOLFDWLRQ0RGH 0DVWHU6\QF3RVLWLRQ (RSB (UURU $SSOLFDWLRQ0RGH 6\QF'LUHFWLRQ (UURU,' (QG2I3URILOH &DPB S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC &DPB 259 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " *O4ZOD@ "CPSU@ &PQ@ " &YF@ #VTZ@ *O4ZOD@ U U U U U U 50@4MBWF1PTJUJPO U 4UBSU4ZOD@ [email protected] U U An "MC_CamIn" job (A1) is active. At time ① another "MC_CamIn" job (A2) is initiated via "Exe_2". The status "Waiting" is displayed at the following axis until the end of the active cam "Cam_1" has been reached (<TO>.StatusSynchronizedMotion.WaitingFunctionState = 3). At time ② the end of the cam is reached ("Eop_1"). The cam is switched over. Since no synchronization takes place, the "Synchronous" status is retained. 260 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.9 MC_SynchronizedMotionSimulation V7 (S7-1500T) 12.1.9.1 MC_SynchronizedMotionSimulation: Simulate synchronous operation V7 (S7-1500T) Description With the Motion Control instruction "MC_SynchronizedMotionSimulation", you can simulate an active synchronous operation on a following axis. This means that a synchronous operation remains active e.g. when the following axis is disabled. The following axis does not have to be synchronized again after being enabled again. WARNING Machine damage If the position of the following axis at the end of the simulation differs from the position at the start of the simulation, this leads to a setpoint jump which can result in damage to the machine. Therefore, make sure that the setpoints of the following axis correspond to the setpoints from the synchronous operation relationship when simulation is ended. The Motion Control instruction offers you the following: • Simulate synchronous operation (Page 164) Applies to • Synchronous axis Requirement • The technology object has been configured correctly. • The following axis is a synchronous axis. • Synchronous operation is active on the technology object in status "Synchronous" (<TO>.StatusWord.X22 = TRUE). Override response An "MC_SynchronizedMotionSimulation" job is not aborted by any other Motion Control job. The simulated synchronous operation remains active even when the following axis is disabled with an "MC_Power" or "MC_Stop job. A restart of the technology object stops the simulation and aborts the synchronous operation. A new "MC_SynchronizedMotionSimulation" job does not abort any other Motion Control jobs. With "MC_SynchronizedMotionSimulation.Enable" = TRUE, synchronous operation jobs are rejected. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 261 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters The following table shows the parameters of the Motion Control instruction "MC_SynchronizedMotionSimulation": Parameter Declara­ tion Data type Default value Description Slave INPUT TO_SynchronousAxis - Following axis technology object Enable INPUT BOOL FALSE TRUE Simulation of synchronous operation is started. FALSE Simulation of the synchronous operation is stopped. InSimulation OUTPUT BOOL FALSE TRUE The synchronous operation is in simula­ tion. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 0 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). 12.1.10 MC_GearOut V7 (S7-1500T) 12.1.10.1 MC_GearOut: Desynchronize gearing V7 (S7-1500T) Description With the Motion Control instruction "MC_GearOut" end gearing (Page 41) operation between a leading axis and a following axis. With an active gearing, the following axis is desynchronized and comes to a standstill at the specified stop position. A pending gearing is canceled. The Motion Control instruction offers you the following: • Defining direction of desynchronization (Page 69) • Define the stop position of the following axis and the type of desynchronization: – Desynchronizing following axis using dynamic parameters (Page 66) – Desynchronizing following axis using leading value distance (Page 68) • Only cancel a pending gearing (Page 71) Applies to • Synchronous axis 262 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Requirement • The following axis is enabled. • Gearing with "MC_GearIn" or "MC_GearInPos" is active or pending on the following axis. • No "MC_Stop" job is active on the following axis. Override response The override response for "MC_GearOut" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". An "MC_GearOut" job with "SyncProfileReference" = 5 only aborts a pending "MC_GearInPos" or a pending "MC_GearOut" job. Parameters The following table shows the parameters of the Motion Control instruction "MC_GearOut": Parameter Declara­ tion Data type Default value Description Slave INPUT TO_SynchronousAxis - Technology object Execute INPUT BOOL FALSE TRUE SlavePosition INPUT LREAL 0.0 Stop position of following axis SyncProfileReference INPUT DINT 1 Type of desynchronization Start job with a positive edge 0 Desynchronize using dynamic parameters (Page 66) 1 Desynchronize using leading value dis­ tance (Page 68) 2…4 Reserved 5 Only cancel a pending gearing (Page 71) MasterStopDistance INPUT LREAL 0.0 When "SyncProfileReference" = 1: Leading value distance (Page 68) Deceleration INPUT LREAL -1.0 When "SyncProfileReference" = 0: Deceleration (Page 66) Jerk INPUT LREAL -1.0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) When "SyncProfileReference" = 0: Jerk (Page 66) > 0.0 The specified value is used. = 0.0 No jerk limitation 263 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Jerk INPUT LREAL -1.0 < 0.0 SyncOutDirection INPUT DINT 3 Desynchronization direction (Page 69) The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) 1 Positive direction The following axis may only travel in pos­ itive direction during desynchronization. 2 Negative direction The following axis may only travel in neg­ ative direction during desynchronization. 3 Current direction The following axis is desynchronized in the direction in which the following axis is currently traveling. StartSyncOut OUTPUT BOOL FALSE TRUE The following axis is desynchronized. Done OUTPUT BOOL FALSE TRUE Job is completed. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). 264 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.10.2 MC_GearOut: Function chart V7 (S7-1500T) Function chart: Desynchronization using dynamic parameters/leading value distance " " .$@(FBS0VU .$@(FBS*O1PT [email protected] .BTUFS 4UBSU4ZOD &YF@ &YFDVUF #VTZ 50@4MBWF *O4ZOD *O4ZOD@ $PNNBOE"CPSUFE "CPSU@ 4MBWF 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS .BTUFS4ZOD1PTJUJPO 4MBWF4ZOD1PTJUJPO &SSPS #VTZ@ &SSPS*% 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF 50@4MBWF &YF@ 413 4MBWF &YFDVUF 4MBWF1PTJUJPO 4ZOD1SPMF3FGFSFODF .BTUFS4UPQ%JTUBODF %FDFMFSBUJPO +FSL 4UBSU4ZOD0VU %POF #VTZ $PNNBOE"CPSUFE 4ZOD0VU%JSFDUJPO 4ZOD0VU@ %POF@ #VTZ@ &SSPS &SSPS*% 7FMPDJUZ "DDFMFSBUJPO %FDFMFSBUJPO +FSL 4ZOD%JSFDUJPO S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 265 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " &YF@ #VTZ@ *O4ZOD@ "CPSU@ " &YF@ #VTZ@ 413 4ZOD0VU@ %POF@ U U U U U U U U U [email protected] 1PTJUJPO U 50@4MBWF 1PTJUJPO [email protected] 7FMPDJUZ 50@4MBWF 7FMPDJUZ U U " # U Section A With an "MC_GearInPos" job (A1) the following axis (TO_Slave) travels synchronously to the leading axis (TO_Master). "Synchronous" status is displayed via "InSync_1". At time ① an "MC_GearOut" job (A2) is initiated via "Exe_2". The start of the desynchronization is displayed with "SyncOut_2" ②. The following axis is desynchronized using the specified dynamic parameters. The distance required for desynchronization is calculated by the system. When the specified stop position "SlavePosition" is reached, "Done_2" signals that the following axis is desynchronized and at standstill ③. Section B With an "MC_GearInPos" job (A1) the following axis (TO_Slave) travels synchronously to the leading axis (TO_Master). "Synchronous" status is displayed via "InSync_1". 266 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) At time ④ an "MC_GearOut" job (A2) is initiated via "Exe_2". The start of the desynchronization is displayed with "SyncOut_2" ⑤. The following axis is desynchronized using the specified leading value distance "MasterStopDistance". The dynamics required for desynchronization is calculated by the system. When the specified stop position "SlavePosition" is reached, "Done_2" signals that the following axis is desynchronized and at standstill ⑥. 12.1.11 MC_CamOut V7 (S7-1500T) 12.1.11.1 MC_CamOut: Desynchronize camming V7 (S7-1500T) Description With the Motion Control instruction "MC_CamOut" end a Camming (Page 82) operation between a leading axis and a following axis. With an active camming, the following axis is desynchronized and comes to a standstill at the specified stop position. A pending camming is canceled. The Motion Control instruction offers you the following: • Defining direction of desynchronization (Page 160) • Define the stop position of the following axis and the type of desynchronization: – Desynchronizing following axis using dynamic parameters (Page 156) – Desynchronizing following axis using leading value distance (Page 158) • Only cancel a pending camming (Page 161) Applies to • Synchronous axis Requirement • The following axis is enabled. • A camming with "MC_CamIn" is active or pending on the following axis. • No "MC_Stop" job is active on the following axis. Override response The override response for "MC_CamOut" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". An "MC_CamOut" job with "SyncProfileReference" = 5 only aborts a pending "MC_CamIn" or a pending "MC_CamOut" job. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 267 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameters The following table shows the parameters of the Motion Control instruction "MC_CamOut": Parameter Declara­ tion Data type Default value Description Slave INPUT TO_SynchronousAxis - Technology object Execute INPUT BOOL FALSE TRUE SlavePosition INPUT LREAL 0.0 Stop position of following axis SyncProfileReference INPUT DINT 1 Type of desynchronization Start job with a positive edge 0 Desynchronize using dynamic behavior (Page 156) 1 Desynchronize using leading value dis­ tance (Page 158) 2…4 Reserved 5 Only cancel a pending camming (Page 161) MasterStopDistance INPUT LREAL 0.0 When "SyncProfileReference" = 1: Leading value distance (Page 158) Deceleration INPUT LREAL -1.0 When "SyncProfileReference" = 0: Deceleration (Page 156) Jerk SyncOutDirection StartSyncOut 268 INPUT INPUT OUTPUT LREAL DINT BOOL -1.0 3 FALSE > 0.0 The specified value is used. = 0.0 Not permitted < 0.0 The deceleration configured in "Techno­ logy object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Deceleration) When "SyncProfileReference" = 0: Jerk (Page 156) > 0.0 The specified value is used. = 0.0 No jerk limitation < 0.0 The jerk configured in "Technology object > Configuration > Extended parameters > Dynamic default values" is used. (<TO>.DynamicDefaults.Jerk) Desynchronization direction (Page 160) 1 Positive direction The following axis may only travel in pos­ itive direction during desynchronization. 2 Negative direction The following axis may only travel in neg­ ative direction during desynchronization. 3 Current direction The following axis is desynchronized in the direction in which the following axis is currently traveling. TRUE The following axis is desynchronized. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Done OUTPUT BOOL FALSE TRUE Job is completed. Busy OUTPUT BOOL FALSE TRUE The job is being processed. CommandAborted OUTPUT BOOL FALSE TRUE The job was aborted by another job dur­ ing execution. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). 12.1.11.2 MC_CamOut: Function chart V7 (S7-1500T) Function chart: Desynchronization using leading value distance $ $ 0&B&DP,Q 0&B&DP2XW 72B0DVWHU 0DVWHU 72B6ODYH 72B6ODYH 6ODYH ([HB &DPB &DP ([HB ([HFXWH 0DVWHU2IIVHW ([HFXWH 6ODYH3RVLWLRQ 6WDUW6\QF2XW 6\QF3URILOH5HIHUHQFH 'RQH 'RQHB 0DVWHU6WRS'LVWDQFH %XV\ %XV\B 'HFHOHUDWLRQ &RPPDQG$ERUWHG -HUN 0DVWHU6FDOLQJ 6ODYH6FDOLQJ 0DVWHU6\QF3RVLWLRQ 6\QF3URILOH5HIHUHQFH 0DVWHU6WDUW'LVWDQFH 6\QF2XWB 6ODYH2IIVHW 6\QF2XW'LUHFWLRQ (UURU (UURU,' 6WDUW6\QF ,Q6\QF ದ 9HORFLW\ ದ $FFHOHUDWLRQ %XV\ %XV\B ದ 'HFHOHUDWLRQ &RPPDQG$ERUWHG $ERUWB ದ -HUN ,Q6\QFB (UURU $SSOLFDWLRQ0RGH 6ODYH 6\QF'LUHFWLRQ (UURU,' (QG2I3URILOH &DPB S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 269 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " &YF@ #VTZ@ U U *O4ZOD@ U "CPSU@ " U &YF@ #VTZ@ U 4ZOD0VU@ U U %POF@ U [email protected] 1PTJUJPO U ܢ 50@4MBWF 1PTJUJPO [email protected] 7FMPDJUZ 50@4MBWF 7FMPDJUZ U U U With am "MC_CamIn" job (A1) the following axis (TO_Slave) moves over a continuous cyclic cam (Cam_1) synchronous to the leading axis (TO_Master). "Synchronous" status is displayed via "InSync_1". At time ① an "MC_CamOut" job (A2) is initiated via "Exe_2". The following axis should only be desynchronized in negative direction ("SyncOutDirection" = 2). The start of the desynchronization is displayed with "SyncOut_2" ②. The following axis is desynchronized using the specified leading value distance "MasterStopDistance". The dynamics required for desynchronization is calculated by the system. When the specified stop position "SlavePosition" or the configured position window is reached, "Done_2" signals following setpoint interpolation that the following axis is desynchronized and at standstill ③. 270 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) 12.1.12 MC_LeadingValueAdditive V7 (S7-1500T) 12.1.12.1 MC_LeadingValueAdditive: Specify additive leading value V7 (S7-1500T) Description With the Motion Control instruction "MC_LeadingValueAdditive", you specify an additive leading value cyclically in addition to the active leading value of a following axis. The additive leading value consists of position, velocity and acceleration. Changes to the specified values are effective immediately without consideration of the dynamic limits. The Motion Control instruction offers you the following: • Specify additive leading value (Page 165) Applies to • Synchronous axis Requirement • The technology object has been configured correctly. • The technology object is enabled or is in simulation with an "MC_SynchronizedMotionSimulation" job. Override response The override response for "MC_LeadingValueAdditive" jobs is described in section "Override response V7: Synchronous operation jobs (Page 283)". If a synchronous operation is overridden by another synchronous operation, the additive leading value remains valid. If a synchronous operation is desynchronized, the additive leading value remains valid. Desynchronization refers to the effective leading value. An "MC_LeadingValueAdditive" job is aborted by an "MC_Reset" job with "Restart" = TRUE. Parameters The following table shows the parameters of the Motion Control instruction "MC_LeadingValueAdditive": Parameter Declara­ tion Data type Default value Description Axis INPUT TO_SynchronousAxis - Technology object on which the additive values act. Enable INPUT BOOL FALSE TRUE The leading value is adapted. FALSE The leading value is not adapted. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 271 Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) Parameter Declara­ tion Data type Default value Description Position INPUT LREAL 0.0 Additive position value Recommendation: To avoid setpoint jumps, only change the additive position value during an active job in small steps. Velocity INPUT LREAL 0.0 Additive velocity value Observe the dynamic limits. Acceleration INPUT LREAL 0.0 Additive acceleration value Observe the dynamic limits. Busy OUTPUT BOOL FALSE TRUE The additive values are valid. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). 12.1.12.2 MC_LeadingValueAdditive: Function chart V7 (S7-1500T) Function chart: Specify additive leading value [email protected] .BTUFS &YF &YFDVUF 50@4MBWF 413 ܢ ܢ ܢ ܢ 272 " " .$@(FBS*O1PT .$@-FBEJOH7BMVF"EEJUJWF 4UBSU4ZOD 4MBWF 3BUJP/VNFSBUPS 3BUJP%FOPNJOBUPS *O4ZOD #VTZ $PNNBOE"CPSUFE .BTUFS4ZOD1PTJUJPO 4MBWF4ZOD1PTJUJPO &SSPS &SSPS*% 4UBSU4ZOD 50@4MBWF "YJT #VTZ "EE7BMVF 1PTJUJPO *O4ZOD &O &OBCMF 7FMPDJUZ "DDFMFSBUJPO #VTZ &SSPS #VTZ &SSPSME 4ZOD1SPMF3FGFSFODF .BTUFS4UBSU%JTUBODF 7FMPDJUZ "DDFMFSBUJPO %FDFMFSBUJPO +FSL 4ZOD%JSFDUJPO S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.1 Synchronous motion (S7-1500, S7-1500T) " &YF #VTZ 413 4UBSU4ZOD *O4ZOD U U U U U " &O #VTZ [email protected] 1PTJUJPO U U "EE7BMVF U &FDUJWF -FBEJOH 7BMVF1PTJUJPO U 50@4MBWF 1PTJUJPO U " # U Section A Via "Exe" = TRUE, a "MC_GearInPos" job (A1) is started with synchronization in advance via dynamic parameters. At the same time, a "MC_LeadingValueAdditive" job (A2) is started via "En" = TRUE. The leading axis (TO_Master) calculates the effective leading value (EffectiveLeadingValue.Position) and the time for starting the synchronization. When the A1 job displays "StartSync" = TRUE, the following axis (TO_Slave) synchronizes with the given specified dynamic parameters. The additive leading value is continuously increased in the user program, added to the effective leading value and has the effect of increased dynamic response of the following S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 273 Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) axis. When the additive leading value is reduced, the dynamic response of the following axis is also reduced. If the additive leading value is 0.0, the effective leading value follows the leading value of the leading axis. The following axis synchronizes to the original synchronous position and the job A1 shows "InSync" = TRUE. The job A2 is terminated with "En" = FALSE. Section B Via "En" = TRUE, a "MC_LeadingValueAdditive" job (A2) is started before a synchronous operation job. The user program continuously increases the additive leading value to the value "100.0". With "Exe" = TRUE a "MC_GearInPos" job (A1) is started with synchronization in advance via leading value distance. The leading axis calculates the effective leading value (EffectiveLeadingValue.Position). When the effective leading value reaches "200.0", synchronization starts and the A1 job shows "StartSync" = TRUE. At this point the leading axis has reached the value "100.0". The following axis is synchronized. The synchronous position is moved by the additive leading value. As soon as "InSync" = TRUE, the additive leading value is continuously reduced. While the leading value (TO_Master.Position) increases from 200.0 to 300.0, the additive leading value (AddValue) decreases from 100.0 to 0.0. The effective leading value remains at 200.0 and the following axis does not move. If the additive leading value is 0.0, the effective leading value follows the leading value of the leading axis. The shift is canceled and the motion of the following axis is continued. The job A2 is terminated with "En" = FALSE. 12.2 Cam (S7-1500T) 12.2.1 MC_InterpolateCam V7 (S7-1500T) 12.2.1.1 MC_InterpolateCam: Interpolate cam disc V7 (S7-1500T) Description With the Motion Control instruction "MC_InterpolateCam", you interpolate a cam. The interpolation closes the gaps between the defined interpolation points and segments of the cam. The Motion Control instruction offers you the following: • Interpolating a cam (Page 124) The cam is interpolated based on the configured settings of the technology object: • Configuring transitions (Page 116) • System interpolation (Page 119) • Interpolation according to VDI Guideline 2143 (Page 122) Applies to • Cam 274 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Requirement • The technology object has been configured correctly. • The cam is not currently being used, e.g. for camming. Override response • An "MC_InterpolateCam" job is not aborted by any other Motion Control job. • A new "MC_InterpolateCam" job does not abort any active Motion Control jobs. Parameters The following table shows the parameters of the Motion Control instruction "MC_InterpolateCam": Parameters Declara­ tion Data type Default value Description Cam INPUT TO_Cam TO_Cam_10k - Cam technology object Execute INPUT BOOL FALSE TRUE Start job with a positive edge Done OUTPUT BOOL FALSE TRUE The cam is interpolated. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). Interpolating a cam To interpolate a cam with the "MC_InterpolateCam" Motion Control instruction, follow these steps: 1. Check the requirements indicated above. 2. Specify the cam to be interpolated in the "Cam" parameter. 3. Start the "MC_InterpolateCam" job with a positive edge at parameter "Execute". The cam is interpolated. When the "Done" parameter shows the value "TRUE", the interpolation is finished. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 275 Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) 12.2.2 MC_GetCamLeadingValue V7 (S7-1500T) 12.2.2.1 MC_GetCamLeadingValue: Read out leading value of a cam V7 (S7-1500T) Description With the Motion Control instruction "MC_GetCamLeadingValue", you read the leading value that is defined for a following value from a cam. The Motion Control instruction offers you the following: • Reading a leading value (Page 146) Applies to • Cam Requirement • The technology object has been configured correctly. • The cam is interpolated. Override response • An "MC_GetCamLeadingValue" job is not aborted by any other Motion Control job. • A new "MC_GetCamLeadingValue" job does not abort any active Motion Control jobs. Parameters The following table shows the parameters of the Motion Control instruction "MC_GetCamLeadingValue": Parameter Declara­ tion Data type Default value Description Cam INPUT TO_Cam TO_Cam_10k - Cam technology object Execute INPUT BOOL FALSE TRUE FollowingValue INPUT LREAL 0.0 Following value for which the leading value is read ApproachLeadingValue INPUT LREAL 0.0 Approximation value for the searched for leading value If the following value is used multiple times in the cam, it can be used to limit the searched leading value. Done OUTPUT BOOL FALSE TRUE The leading value was read. Busy OUTPUT BOOL FALSE TRUE The job is being processed. 276 Start job with a positive edge S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Parameter Declara­ tion Data type Default value Description Error OUTPUT BOOL FALSE TRUE ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). Value OUTPUT LREAL - Read leading value (position) (valid when "Done" = TRUE) An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. Reading a leading value To read a leading value from a cam with the "MC_GetCamLeadingValue" Motion Control instruction, follow these steps: 1. Check the requirements indicated above. 2. Specify the cam, the following value, and the approximation value for the searched-for leading value in the corresponding parameters. 3. Start the "MC_GetCamLeadingValue" job with a positive edge at parameter "Execute". When the "Done" parameter shows the value "TRUE", the leading value has been determined. The calculation of the leading value can take several cycles. The leading value is output in the "Value" parameter. 12.2.3 MC_GetCamFollowingValue V7 (S7-1500T) 12.2.3.1 MC_GetCamFollowingValue: Read out following value of a cam disc V7 (S7-1500T) Description With the Motion Control instruction "MC_GetCamFollowingValue", you read the following value and the first and second derivative of the following value for a leading value from a cam. The Motion Control instruction offers you the following: • Reading a following value (Page 146) Applies to • Cam S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 277 Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Requirement • The technology object has been configured correctly. • The cam is interpolated. Override response • An "MC_GetCamFollowingValue" job is not aborted by any other Motion Control job. • A new "MC_GetCamFollowingValue" job does not abort any active Motion Control jobs. Parameters The following table shows the parameters of the Motion Control instruction "MC_GetCamFollowingValue": Parameters Declara­ tion Data type Default value Description Cam INPUT TO_Cam TO_Cam_10k - Cam technology object Execute INPUT BOOL FALSE TRUE LeadingValue INPUT LREAL 0.0 Leading value for which the following value is read Done OUTPUT BOOL FALSE TRUE The following value was read. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documenta­ tion (Page 13). Value OUTPUT LREAL - Read following value (position) (valid when "Done" = TRUE) FirstDerivative OUTPUT LREAL - First derivative of read following value (valid when "Done" = TRUE) SecondDerivative OUTPUT LREAL - Second derivative of read following value (valid when "Done" = TRUE) 278 Start job with a positive edge S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Reading a following value To read a following value from a cam with the "MC_GetCamFollowingValue" Motion Control instruction, follow these steps: 1. Check the requirements indicated above. 2. Specify the cam and the leading value in the corresponding parameters. 3. Start the "MC_GetCamFollowingValue" job with a positive edge at parameter "Execute". When the "Done" parameter shows the value "TRUE", the following value has been read. The following value and the derivatives are output in the "Value", "FirstDerivative" and "SecondDerivative" parameters. 12.2.4 MC_CopyCamData V7 (S7-1500T) 12.2.4.1 MC_CopyCamData: Copy calculated cam elements V7 (S7-1500T) Description You use the instruction "MC_CopyCamData" to copy calculated cam elements from one array each for points and segments to the data block technology object of the cam. You use the copy mode to specify whether the existing defined cam elements remain valid or are set as invalid. The Motion Control instruction offers you the following: • Changing the synchronous operation function of the cam online (Page 113) • Copy calculated cam elements (Page 115) Applies to • Cam Requirement • The technology object has been configured correctly. • The data to be copied is available in a data block with one array each for points and segments: – For points: ARRAY[*] OF TO_Cam_Struct_PointData – For segments: ARRAY[*] OF TO_Cam_Struct_SegmentData • The "Optimized block access" option is activated in the properties of the data block under "General > Attributes". Override response • An "MC_CopyCamData" job is not aborted by any other motion control job. • A new "MC_CopyCamData" job does not abort any active motion control job. Cam elements can also be copied during active camming. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 279 Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Parameters The following table shows the parameters of motion control instruction "MC_CopyCamData": Parameter Declara­ tion Data type Default value Description Cam INPUT TO_Cam TO_Cam_10k - Cam technology object Execute INPUT BOOL FALSE TRUE Mode INPUT DINT 0 Copy mode StartPointCam INPUT DINT 1 Start job with a positive edge 0 All existing defined cam elements are set as invalid before the copying procedure. ("ValidPoint" = FALSE, "ValidSeg­ ment" = FALSE) 1 All existing defined cam elements remain valid. ("ValidPoint" = TRUE, "ValidSeg­ ment" = TRUE) Index of the start point of the points to be copied in the cam Permitted values for "TO_Cam": 1 ≤ "StartPointCam" ≤ 1 000 Permitted values for "TO_Cam_10k": 1 ≤ "StartPointCam" ≤ 10 000 StartSegmentCam INPUT DINT 1 Index of the start segment of the segments to be copied in the cam Permitted values: 1 ≤ "StartSegmentCam" ≤ 50 StartPointArray INPUT DINT 1 Index of the start point of the points to be copied from "ArrayOfPoints" Permitted values: Low limit of "ArrayOfPoints" ≤ "StartPointArray" ≤ high limit of "ArrayOfPoints" StartSegmentArray INPUT DINT 1 Index of the start segment of the segments to be copied from "ArrayOfSegments" Permitted values: Low limit of "ArrayOfSegments" ≤ "StartSegmentAr­ ray" ≤ high limit of "ArrayOfSegments" NumberOfPoints INPUT DINT 0 Number of points to be copied Permitted values for "TO_Cam": "NumberOfPoints" ≤ number of points from "Array­ OfPoints" and 0 ≤ "NumberOfPoints" ≤ 1 001 - "StartPointCam" Permitted values for "TO_Cam_10k": "NumberOfPoints" ≤ number of points from "Array­ OfPoints" and 0 ≤ "NumberOfPoints" ≤ 10 001 - "StartPointCam" 1) The size of the array depends on your application. 280 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.2 Cam (S7-1500T) Parameter Declara­ tion Data type Default value Description NumberOfSegments INPUT DINT 0 Number of segments to be copied Permitted values: "NumberOfSegments" ≤ number of segments in the "ArrayOfSegments" and 0 ≤ "NumberOfSegments" ≤ 51 - "StartSegment­ Cam" ArrayOfPoints INOUT ARRAY[*] OF TO_Cam­ _Struct_PointData1) Array that contains the points to be copied ArrayOfSegments INOUT ARRAY[*] OF TO_Cam­ _Struct_SegmentData1) Array that contains the segments to be copied Done OUTPUT BOOL FALSE TRUE Job is completed. Busy OUTPUT BOOL FALSE TRUE The job is being processed. Error OUTPUT BOOL FALSE TRUE An error occurred while processing the job. The job is rejected. The cause of the error can be found in the "ErrorID" para­ meter. ErrorID OUTPUT WORD 16#0000 Error ID for parameter "ErrorID" You can find more detailed information in the "Error IDs" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs (Page 13)" doc­ umentation. 1) The size of the array depends on your application. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 281 Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) 12.3.1 Override response V7: Homing and motion jobs (S7-1500, S7-1500T) The following table shows how a new motion control job affects active homing and motion jobs: ⇒ Active job MC_Home "Mode" = 2, 8, 10 MC_Home "Mode" = 3, 5 MC_Halt MC_Move­ Absolute MC_MoveRel­ ative MC_MoveVelo­ city MC_MoveJog MC_Stop MC_Home "Mode" = 3, 5 A A A - A A MC_Home "Mode" = 9 A - - - - - MC_Halt MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_MoveJog MC_MotionInVelocity MC_MotionInPosition - A A - A A MC_MoveSuper­ imposed MC_MotionInSuper­ imposed MC_HaltSuper­ Imposed - - - - A - MC_Stop A A A B A A MC_GearIn MC_GearInVelocity - A A - A - MC_GearInPos MC_CamIn waiting1) - - - - - - MC_GearInPos MC_CamIn active2) - A A - A - MC_LeadingValue­ Additive - - - - - - MC_GearOut MC_CamOut waiting3) - - - - - - ⇓ New job 282 MC_Move­ MC_MotionIn­ Superimposed Velocity MC_MotionIn­ MC_MotionIn­ Superimposed Position MC_HaltSuper­ Imposed S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) ⇒ Active job ⇓ New job MC_GearOut MC_CamOut active4) MC_Home "Mode" = 2, 8, 10 MC_Home "Mode" = 3, 5 MC_Halt MC_Move­ Absolute MC_MoveRel­ ative MC_MoveVelo­ city MC_MoveJog MC_Stop - - - - MC_Move­ MC_MotionIn­ Superimposed Velocity MC_MotionIn­ MC_MotionIn­ Superimposed Position MC_HaltSuper­ Imposed A - A The running job is aborted with "CommandAborted" = TRUE. B An "MC_Stop" job is aborted by another "MC_Stop" job with a stop response that is the same or higher. - No effect. Running job continues to be executed. 1) The status "Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE corresponds to a waiting synchronous operation. 2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to an active synchronous operation. 3) The status "Busy" = TRUE, "StartSyncOut" = FALSE corresponds to a pending desynchronization job. 4) The status "Busy" = TRUE, "StartSyncOut" = TRUE corresponds to an active desynchronization job. NOTE Override response with active fixed stop With an active force and torque limiting with "MC_TorqueLimiting", running jobs are aborted if the drive is held at the fixed stop with "InClamping" = TRUE. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 283 Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) 12.3.2 Override response V7: Synchronous operation jobs (S7-1500, S7-1500T) The following table shows how a new motion control job affects the motion of the axis on active synchronous operation jobs: ⇒ Active job MC_Ge­ MC_Gear­ MC_Gear­ MC_Gear­ MC_Phasi­ MC_Offset­ MC_Leadi­ MC_Gear­ MC_Gear­ arIn InVelocity InPos InPos ngAbso­ Absolute ngValue­ Out Out ⇓ New job MC_CamIn MC_CamIn lute MC_Offset­ Additive MC_Cam­ MC_Cam­ waiting1) active2) MC_Phasi­ Relative Out Out ngRelative waiting3) active4) MC_Home "Mode" = 3, 5 A A - - - - - - - MC_Halt A A - A A A - A A MC_Move­ Absolute MC_Move­ Relative MC_Move­ Velocity MC_MoveJog A A - A A A - A A MC_MotionIn Velocity MC_MotionIn Position A A A A A A - A A MC_MoveSu­ perimposed MC_MotionIn Super­ imposed MC_Halt­ Super­ Imposed - -/N5) - - - - - - - MC_Stop A A A A A A - A A MC_GearIn MC_GearIn­ Velocity A A A A A A - A A A The running job is aborted with "CommandAborted" = TRUE. N Not permitted. Running job continues to be executed. The new job is rejected. - No effect. Running job continues to be executed. 1) A waiting synchronous operation job ("Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE) does not abort any active jobs. Abort with an "MC_Power" job is possible. 2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to an active synchronous operation. 3) A pending desynchronization job ("Busy" = TRUE, "StartSyncOut" = FALSE) does not abort any active jobs. Abort with an "MC_Power" job is possible. 4) The status "Busy" = TRUE, "StartSyncOut" = TRUE corresponds to an active desynchronization job. 5) When the following axis is in position-controlled mode, execution of the running job is continued. When the following axis is not in position-controlled mode, the new job is rejected. 6) An "MC_GearOut" job only terminates an "MC_Gear[...]" job. Correspondingly, an "MC_CamOut" job only cancels a "MC_Cam[...]" job. 7) A job with "SyncProfileReference" = 5 aborts a pending synchronous operation. Canceling a pending synchronous opera­ tion has no influence on an active synchronous operation. 284 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) ⇒ Active job MC_Ge­ MC_Gear­ MC_Gear­ MC_Gear­ MC_Phasi­ MC_Offset­ MC_Leadi­ MC_Gear­ MC_Gear­ arIn InVelocity InPos InPos ngAbso­ Absolute ngValue­ Out Out ⇓ New job MC_CamIn MC_CamIn lute MC_Offset­ Additive MC_Cam­ MC_Cam­ waiting1) active2) MC_Phasi­ Relative Out Out ngRelative waiting3) active4) MC_GearIn­ Pos MC_CamIn waiting1) - - A - - - - A - MC_GearIn­ Pos MC_CamIn active2) A A5) A A A A - A A MC_Phasing­ Absolute MC_Phasing­ Relative - N - - A N - - - MC_Offset­ Absolute MC_Offset­ Relative - N - - N A - - - MC_Leading­ Value­ Additive - - - - - - A - - MC_GearOut MC_CamOut waiting3) - N A6) 7) - - - - A6) - MC_GearOut MC_CamOut active4) A6) N A6) 7) A6) A A - A6) - A The running job is aborted with "CommandAborted" = TRUE. N Not permitted. Running job continues to be executed. The new job is rejected. - No effect. Running job continues to be executed. 1) A waiting synchronous operation job ("Busy" = TRUE, "StartSync" = FALSE, "InSync" = FALSE) does not abort any active jobs. Abort with an "MC_Power" job is possible. 2) The status "Busy" = TRUE, "StartSync" or "InSync" = TRUE corresponds to an active synchronous operation. 3) A pending desynchronization job ("Busy" = TRUE, "StartSyncOut" = FALSE) does not abort any active jobs. Abort with an "MC_Power" job is possible. 4) The status "Busy" = TRUE, "StartSyncOut" = TRUE corresponds to an active desynchronization job. 5) When the following axis is in position-controlled mode, execution of the running job is continued. When the following axis is not in position-controlled mode, the new job is rejected. 6) An "MC_GearOut" job only terminates an "MC_Gear[...]" job. Correspondingly, an "MC_CamOut" job only cancels a "MC_Cam[...]" job. 7) A job with "SyncProfileReference" = 5 aborts a pending synchronous operation. Canceling a pending synchronous opera­ tion has no influence on an active synchronous operation. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 285 Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) NOTE Override response with active fixed stop With an active force and torque limiting with "MC_TorqueLimiting", running jobs are aborted if the drive is held at the fixed stop with "InClamping" = TRUE. 12.3.3 Override response V7: Measuring input jobs (S7-1500, S7-1500T) The following table shows which new Motion Control jobs will override active measuring input jobs: ⇒ Active job MC_MeasuringInput MC_MeasuringInputCyclic MC_Home "Mode" = 2, 3, 5, 8, 9, 10 A A MC_Home "Mode" = 0, 1, 6, 7, 11, 12 - - MC_MeasuringInput MC_MeasuringInputCyclic MC_AbortMeasuringInput A A ⇓ New job A The running job is aborted with "CommandAborted" = TRUE. - No effect. Running job continues to be executed. 12.3.4 Override response V7: Kinematics motion commands (S7-1500T) Single axis jobs are not overridden by kinematics jobs. 286 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) The following table shows how a new Motion Control job affects active kinematics motion jobs: ⇒ Active job MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircularAbsolute MC_MoveCircularRelative MC_MoveDirectAbsolute MC_MoveDirectRelative MC_TrackConveyorBelt MC_DefineWorkspaceZone MC_DefineKinematicsZone MC_SetWorkspaceZoneActive MC_SetWorkspaceZoneInactive MC_SetKinematicsZoneActive MC_SetKinematicsZoneInactive MC_SetOcsFrame MC_GroupInterrupt MC_GroupStop MC_Home MC_MoveSuperimposed MC_GearOut MC_CamOut N N N MC_Halt MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_MoveJog MC_Stop MC_GearIn MC_GearInPos MC_GearInVelocity MC_CamIn MC_MotionInVelocity MC_MotionInPosition A A A MC_GroupStop A A N MC_GroupInterrupt MC_GroupContinue B A N MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircularAbsolute MC_MoveCircularRelative MC_MoveDirectAbsolute MC_MoveDirectRelative MC_TrackConveyorBelt MC_DefineWorkspaceZone MC_DefineKinematicsZone MC_SetWorkspaceZoneActive MC_SetWorkspaceZoneInactive MC_SetKinematicsZoneActive MC_SetKinematicsZoneInactive - - N ⇓ New job A The running job is aborted with "CommandAborted" = TRUE. B Running job is interrupted or resumed. C Synchronization of the OCS with the conveyor belt is aborted with "MC_SetOcsFrame" = TRUE. N Not permitted. Running job continues to be executed. The new job is rejected. - No effect. Running job continues to be executed. A new kinematics job is added to the job sequence. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 287 Instructions (S7-1500, S7-1500T) 12.3 Override response of Motion Control jobs V7 (S7-1500, S7-1500T) ⇒ Active job ⇓ New job MC_SetOcsFrame MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircularAbsolute MC_MoveCircularRelative MC_MoveDirectAbsolute MC_MoveDirectRelative MC_TrackConveyorBelt MC_DefineWorkspaceZone MC_DefineKinematicsZone MC_SetWorkspaceZoneActive MC_SetWorkspaceZoneInactive MC_SetKinematicsZoneActive MC_SetKinematicsZoneInactive MC_SetOcsFrame MC_GroupInterrupt MC_GroupStop C, - - N A The running job is aborted with "CommandAborted" = TRUE. B Running job is interrupted or resumed. C Synchronization of the OCS with the conveyor belt is aborted with "MC_SetOcsFrame" = TRUE. N Not permitted. Running job continues to be executed. The new job is rejected. - No effect. Running job continues to be executed. A new kinematics job is added to the job sequence. 288 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) 13.1.1 Legend (S7-1500, S7-1500T) 13 Tag Name of the tag Data type Data type of the tag Values Value range of the tag - minimum value to maximum value (L - linear specification R - rotary specification) If no specific value is shown, the value range limits of the relevant data type apply or the information under "Description". W Effectiveness of changes in the technology data block Description DIR Direct: Values are changed directly and take effect at the start of the next MC‑Servo [OB91]. CAL At call of Motion Control instruction: Values are changed directly and take effect at the start of the next MC‑Servo [OB91] after the call of the corresponding Motion Control instruction in the user program. RES Restart: Changes to the start value in the load memory are made using the extended instruction "WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of the technology object. RON Read only: The tag cannot and must not be changed during runtime of the user program. Description of the tag Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name of the technology object. 13.1.2 Actual values and setpoints (synchronous axis) (S7-1500, S7-1500T) The following tags indicate the setpoint and actual values of the technology object. Tags Legend (Page 289) Tag Data type Values W Description Position LREAL - RON Position setpoint Velocity LREAL - RON Velocity setpoint/speed setpoint ActualPosition LREAL - RON Actual position ActualVelocity LREAL - RON Actual velocity S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 289 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description ActualSpeed LREAL - RON For PROFIdrive drives Actual speed of the motor For drives with analog setpoint interface 0.0 For drives with linear motor 0.0 Acceleration LREAL - RON Setpoint acceleration ActualAcceleration LREAL - RON Actual acceleration OperativeSensor UDINT 1…4 RON Operative encoder ModuloCycle DINT -2147483648 … RON 2147483647 Number of modulo cycles of the setpoint ActualModuloCycle DINT -2147483648 … RON 2147483647 Number of modulo cycles of the actual value VelocitySetpoint LREAL -1.0E12 … 1.0E12 Output velocity setpoint/speed setpoint 13.1.3 RON "Simulation" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Simulation.<tag name>" contains the configuration of the simulation mode. In simulation mode, you can simulate axes without a real drive in the CPU. Tags Legend (Page 289) Tag Data type Simulation. TO_Struct_AxisSimulation Mode 1) UDINT Values 0, 1 W Description RES1) Simulation mode 0 No simulation, normal operation 1 Simulation mode Technology version V2.0: RON 13.1.4 "VirtualAxis" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.VirtualAxis.<tag name>" contains the configuration of the simulation mode. In simulation mode, you can simulate axes without a real drive in the CPU. Tags Legend (Page 289) Tag Data type VirtualAxis. TO_Struct_VirtualAxis Mode UDINT Values 0, 1 W Description RON Virtual axis 0 290 No virtual axis S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Mode 13.1.5 Data type Values W Description UDINT 0, 1 RON 1 Axis is always and exclusively operated as virtual axis "Actor" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Actor.<tag name>" contains the controller-side configuration of the drive. Tags Legend (Page 289) Tag Data type Actor. TO_Struct_Actor Type InverseDirection DataAdaption DINT BOOL DINT Values 0, 1 - 0, 1 W Description RON Drive connection RES RES 0 Analog output 1 PROFIdrive telegram Inversion of the setpoint FALSE No TRUE Yes Automatic transfer of the drive values reference speed, maximum speed and reference torque 0 No automatic transfer, manual configuration of values 1 Automatic transfer of values configured in the drive to the configuration of the technology object Efficiency LREAL 0.0 … 1.0 RES Efficiency of mechanics (gear and leadscrew) MotorType DINT 0.1 DL Motor type Interface. 0 Round-frame motor (standard motor) 1 Linear motor TO_Struct_ActorInterface AddressIn VREF 0 … 65535 RON Input address for the PROFIdrive telegram AddressOut VREF 0 … 65535 RON Output address for the PROFIdrive telegram or the analog setpoint EnableDriveOutput BOOL - RES "Enable output" for analog drives FALSE Disabled TRUE Enabled EnableDriveOutputAd­ VREF dress 0 … 65535 RON Address for the "Enable output" for analog setpoint DriveReadyInput - RES "Ready input" for analog drives The analog drive signals its readiness to receive speed set­ points. BOOL S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 291 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag DriveReadyInput Data type Values W Description BOOL - RES FALSE Disabled TRUE Enabled DriveReadyInputAd­ dress VREF 0 … 65535 RON Address for the "Enable input" for analog setpoint EnableTorqueData BOOL - RES Torque data FALSE Disabled TRUE Enabled TorqueDataAddressIn VREF 0 … 65535 RON Input address of the supplemental telegram TorqueDataAddress­ Out 0 … 65535 RON Output address of additional telegram DriveParameter. VREF TO_Struct_ActorDriveParameter Valid when "<TO>.Actor.MotorType" = 0 ReferenceSpeed LREAL 0.0 … 1.0E12 RES Reference value (100%) for the speed setpoint (N-set) of the drive The speed setpoint is transferred in the PROFIdrive tele­ gram as a normalized value from -200% to 200% of the "ReferenceSpeed". For setpoint specification via an analog output, the analog output can be operated in the range from -117% to 117%, provided the drive permits this. MaxSpeed LREAL 0.0 … 1.0E12 RES Maximum value for the speed setpoint of the drive (N-set) (PROFIdrive: MaxSpeed ≤ 2 × ReferenceSpeed Analog setpoint: MaxSpeed ≤ 1.17 × ReferenceSpeed) ReferenceTorque LREAL 0.0 … 1.0E12 RES Reference value (100%) for the drive torque LinearMotorDrivePara­ meter. TO_Struct_LinearMotorActorDrivePa­ Valid when "<TO>.Actor.MotorType" = 1 rameter ReferenceVelocity LREAL 0.0 … 1.0E12 RES Reference value (100%) for the velocity setpoint (N-set) of the drive The speed setpoint is transferred in the PROFIdrive tele­ gram as a normalized value from -200% to 200% of the "ReferenceVelocity". For setpoint specification via an analog value, the analog output can be operated in the range from -117% to 117%, provided the drive permits this. MaxVelocity LREAL 0.0 … 1.0E12 RES Maximum value for the velocity setpoint of the drive (Nset) (PROFIdrive: MaxVelocity ≤ 2 × ReferenceVelocity Analog setpoint: MaxVelocity ≤ 1.17 × ReferenceVelocity) ReferenceForce LREAL 0.0 … 1.0E12 RES Reference value (100%) for the force of the drive 13.1.6 "TorqueLimiting" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.TorqueLimiting.<tag name>" contains the configuration of the torque limiting. 292 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type TorqueLimiting. TO_Struct_TorqueLimiting LimitBase DINT PositionBasedMonitor­ ings LimitDefaults. DINT Values 0, 1 0, 1 W Description RES Torque limiting RES 0 Motor side 1 Load side Positioning and following error monitoring 0 Monitoring deactivated 1 Monitoring activated TO_Struct_TorqueLimitingLimitDefa­ ults Torque LREAL 0.0 … 1.0E12 CAL Limiting torque Force LREAL 0.0 … 1.0E12 CAL Limiting force 13.1.7 "Clamping" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Clamping.<tag name>" contains the configuration of the fixed stop detection. Tags Legend (Page 289) Tag Data type Values Clamping. TO_Struct_Clamping W Description FollowingErrorDeviation LREAL 0.001 … 1.0E12 DIR Value of the following error starting from which the fixed stop is detected. PositionTolerance 0.001 … 1.0E12 DIR Position tolerance for the clamping monitoring 13.1.8 LREAL "Sensor[1..4]" tags (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Sensor[1..4].<tag name>" contains the controller-end configuration of the encoder and the configuration of active and passive homing. Tags Legend (Page 289) Tag Data type Sensor[1..4]. ARRAY [1..4] OF TO_Struct_Sensor Values W Description Existent BOOL - RON Displaying created encoders Type DINT 0…2 RON Encoder type S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 293 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Type InverseDirection System MountingMode DataAdaption ActualVelocityMode Interface. Values W Description DINT 0…2 RON 0 "INCREMENTAL" Incremental 1 "ABSOLUTE" Absolute 2 "CYCLIC_ABSOLUTE" Cyclic absolute BOOL DINT DINT DINT DINT - 0, 1 0…2 0, 1 0, 1 RES RES RES RES RES Inversion of the actual value FALSE No TRUE Yes Encoder system 0 "LINEAR" Linear encoder 1 "ROTATORY" Rotary encoder Mounting type of encoder 0 On motor shaft 1 On load side 2 External measuring system Automatic transfer of the drive values reference speed, maximum speed and reference torque in the device 0 No automatic transfer, manual configuration of values 1 Automatic transfer of values configured in the drive to the configuration of the technology object Type of calculation for actual speed value or actual velocity value 0 Actual value calculation from differentiation of the position change 1 Actual value calculation with NACT value from the telegram TO_Struct_SensorInterface AddressIn VREF 0 … 65535 RON Input address for the PROFIdrive telegram AddressOut VREF 0 … 65535 RON Output address for the PROFIdrive telegram Number UDINT 1…2 RON Number of the encoder in the telegram Parameter. 294 Data type TO_Struct_SensorParameter Resolution LREAL 1.0E-12 … 1.0E12 RES Resolution of a linear encoder (offset between two encoder pulses) StepsPerRevolution UDINT 1 … 8388608 RES Increments per rotary encoder revolution FineResolutionXist1 UDINT 0 … 31 RES Number of bits for fine resolution "Gx_XIST1" (cyclic actual encoder value) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description UDINT 0 … 31 RES Number of bits for fine resolution "Gx_XIST2" (absolute value of the encoder) DeterminableRevolu­ UDINT tions 0 … 8388608 RES Number of differentiable encoder revolutions for a multiturn absolute encoder (For a single-turn absolute encoder = 1; for an incremental encoder = 0) DistancePerRevolution LREAL 0.0 … 1.0E12 RES Load distance per revolution of an externally mounted encoder BehaviorGx_XIST1 - RES Evaluation of "Gx_XIST1" bits. FineResolutionXist2 DINT 0 Based on the bits of the encoder resolution. The incremental actual value "Gx_XIST1" is trans­ mitted with less than 32 bits in the PROFIdrive telegram. For example: At 16 bits, the value ranges from 0 to 65,535. 1 32-bit value of the encoder value The "Gx_XIST1" incremental actual value is trans­ ferred with 32 bits of 0 to 4,294,967,295 in the PROFIdrive telegram. ReferenceSpeed LREAL 0.0 … 1.0E12 RES Reference speed for NACT in PROFIdrive telegram with rotary encoder Only relevant for "ActualVelocityMode" = 1 ReferenceVelocity LREAL 0.0 … 1.0E12 RES Reference velocity for NACT in the PROFIdrive telegram with linear encoder Only relevant for "ActualVelocityMode" = 1 Backlash. Enable TO_Struct_Backlash BOOL - u DIR Enable backlash compensation FALSE Disabled TRUE Enabled If you enable/disable backlash compensation during runtime, then you have to home the axis again. Size LREAL 0.0 … 1.0E12 DIR Size of backlashes If you change the size of backlashes during runtime, you have to home the axis again. Velocity DirectionAbsolute­ Homing ActiveHoming. Mode LREAL DINT 0.0 … 1.0E12 0, 1 DIR DIR Velocity for traversing of backlashes 0.0 Motor traverses backlashes within one servo cycle. > 0.0 Motor traverses backlash with the specified velo­ city. Direction of movement during or before absolute encoder adjustment 0 Positive 1 Negative TO_Struct_SensorActiveHoming DINT 0…2 RES Homing mode 0 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Use zero mark via PROFIdrive telegram 295 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Mode SideInput Direction Values W Description DINT 0…2 RES 1 Zero mark via PROFIdrive telegram and reference cam 2 Use homing mark via digital input BOOL DINT - 0, 1 CAL CAL Side of the digital input for active homing FALSE Negative side TRUE Positive side Homing direction/approach direction to homing mark 0 Positive homing direction 1 Negative homing direction DigitalInputAddress VREF 0 … 65535 RON Address of digital input HomePositionOffset LREAL -1.0E12 … 1.0E12 CAL Home position offset SwitchLevel BOOL - RES Signal level that is present at the digital input when hom­ ing mark is approached PassiveHoming. Mode SideInput Direction 296 Data type FALSE Low level TRUE High level TO_Struct_SensorPassiveHoming DINT BOOL DINT 0…2 - 0…2 RES CAL CAL Homing mode 0 Use zero mark via PROFIdrive telegram 1 Zero mark via PROFIdrive telegram and reference cam 2 Use homing mark via digital input Side of the digital input for passive homing FALSE Negative side TRUE Positive side Homing direction/approach direction to homing mark 0 Positive homing direction 1 Negative homing direction 2 Current homing direction DigitalInputAddress VREF 0 to 65535 RON Address of digital input SwitchLevel BOOL - RES Signal level that is present at the digital input when hom­ ing mark is approached FALSE Low level TRUE High level S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) 13.1.9 "CrossPlcSynchronousOperation" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.CrossPlcSynchronousOperation.<tag name>" contains the configuration of the cross-PLC synchronous operation. Tags Legend (Page 289) Tag Data type Values W Description CrossPlcSynchronousOper­ TO_Struct_CrossPlcSynchronousOpe­ ation. ration Interface[1..8]. ARRAY [1..8] of TO_Struct_CrossPlcLeadingValueInt­ erface EnableLeading­ ValueOutput BOOL AddressOut VREF LocalLeadingValueDelay­ LREAL Time 13.1.10 - RON Provide cross-PLC leading value FALSE No TRUE Yes - RON Output address for the leading value telegram 0.0 … 1.0E9 RES Delay time of leading value output at the local following axes "Extrapolation" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Extrapolation.<tag name>" contains the configuration of the actual value extrapolation. Tags Legend (Page 289) Tag Data type Values Extrapolation. TO_Struct_Extrapolation W Description LeadingAxisDependent­ LREAL Time - RON Extrapolation time component (caused by leading axis) Results from the following times: • Time of actual value acquisition for the leading axis • Interpolator cycle clock • Time of position filter of actual value extrapolation (T1 + T2) FollowingAxisDepend­ entTime 0.0 … 1.0E12 DIR Extrapolation time component (caused by following axis) LREAL S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 297 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description Results from the following times: • For a following axis with set velocity precontrol: – Communication cycle – Interpolator cycle clock – Speed control loop substitute time for the following axis – Output delay time of the setpoint at the following axis • For a following axis without velocity precontrol: – Communication cycle – Interpolator cycle clock – Position control loop equivalent time (1/Kv from "<TO>.PositionControl.Kv") – Output delay time of the setpoint at the following axis Settings. TO_Struct_ExtrapolationSettings SystemDefinedExtra­ polation DINT ExtrapolatedVelocity­ DINT Mode PositionFilter. 0, 1 0, 1 RES RES Leading axis dependent time 0 Not effective 1 Effective Effective velocity value for the synchronization function 0 "FilteredVelocity" Leading value velocity from filtered actual velo­ city 1 "VelocityByDifferentiation" The leading value velocity results from the differ­ entiation of the extrapolated leading value posi­ tion TO_Struct_ExtrapolationPositionFilt­ er T1 LREAL 0.0 … 1.0E12 DIR Position filter time constant T1 T2 LREAL 0.0 … 1.0E12 DIR Position filter time constant T2 VelocityFilter. TO_Struct_ExtrapolationVelocityFilt­ er T1 LREAL 0.0 … 1.0E12 DIR Velocity filter time constant T1 T2 LREAL 0.0 … 1.0E12 DIR Velocity filter time constant T2 VelocityTolerance. Range Hysteresis. Value 13.1.11 TO_Struct_ExtrapolationVelocityTol­ erance LREAL 0.0 … 1.0E12 DIR Tolerance band width for velocity TO_Struct_ExtrapolationHysteresis LREAL 0.0 … 1.0E12 DIR Hysteresis of the extrapolated actual position value "LoadGear" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.LoadGear.<tag name>" contains the configuration of the load gear. 298 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type Value range LoadGear. TO_Struct_LoadGear W Description Numerator UDINT 1… 4294967295 RES Load gear counter Denominator UDINT 1… 4294967295 RES Load gear denominator 13.1.12 "Properties" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Properties.<tag name>" contains the configuration of the type of axis or motion. Tags Legend (Page 289) Tag Data type Properties. TO_Struct_Properties MotionType 13.1.13 DINT Value range 0, 1 W Description RON Indication of axis type or motion type 0 Linear axis or motion 1 Rotary axis or motion "Units" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Units.<tag name>" shows the set technological units. Tags Legend (Page 289) Tag Data type Units. TO_Struct_Units/TO_Struct_External­ Encoder_Units LengthUnit 1) UDINT Values - W RON Description Unit for position 1010 m 1013 mm 1536 mm1) 1011 km 1014 µm 1015 nm 1019 in Position values with higher resolution or six decimal places S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 299 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag LengthUnit VelocityUnit TimeUnit Data type Values W Description UDINT - RON 1018 ft 1021 mi 1004 rad 1005 ° 1537 °1) UDINT UDINT - - RON RON Unit for velocity 1521 °/s 1539 °/s1) 1522 °/min 1086 rad/s 1523 rad/min 1062 mm/s 1538 mm/s1) 1061 m/s 1524 mm/min 1525 m/min 1526 mm/h 1063 m/h 1527 km/min 1064 km/h 1066 in/s 1069 in/min 1067 ft/s 1070 ft/min 1075 mi/h Unit for time 1054 TorqueUnit ForceUnit UDINT UDINT - - RON RON Unit for torque 1126 Nm 1128 kNm 1529 lbf in (pound-force-inch) 1530 lbf ft 1531 ozf in (ounce-force-inch) 1532 ozf ft 1533 pdl in (poundal-inch) 1534 pdl ft Unit for force 1120 1) s N Position values with higher resolution or six decimal places 300 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag ForceUnit UnitFactor 1) Data type Values W Description UDINT - RON 1122 kN 1094 lbf (pound-force) 1093 ozf (ounce-force) 1535 pdl (poundals) UDINT - RON Factor for internal conversion in the high-resolution units. Position values with higher resolution or six decimal places 13.1.14 "Mechanics" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Mechanics.<tag name>" contains the configuration of the mechanics. Tags Legend (Page 289) Tag Data type Mechanics. TO_Struct_Mechanics LeadScrew 13.1.15 LREAL Value range 1.0E-12 … 1.0E12 W Description RES Leadscrew pitch "Modulo" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Modulo.<tag name>" contains the configuration of the modulo function. Tags Legend (Page 289) Tag Data type Modulo. TO_Struct_Modulo Enable BOOL Values - W Description RES FALSE Modulo conversion disabled TRUE Modulo conversion enabled When modulo conversion is enabled, a check is made for modulo length > 0.0 Length LREAL 0.001 … 1.0E12 RES Modulo length StartValue LREAL -1.0E12 … 1.0E12 Modulo start value 13.1.16 RES "DynamicLimits" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.DynamicLimits.<tag name>" contains the configuration of the dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 301 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) permitted. If you specify greater values in a Motion Control instruction, then motion is performed using the dynamic limits, and a warning is indicated (alarms 501 to 503 - dynamic values are limited). Tags Legend (Page 289) Tag Data type Values DynamicLimits. TO_Struct_DynamicLimits W Description MaxVelocity LREAL 0.0 … 1.0E12 RES Maximum permissible velocity of the axis Velocity LREAL 0.0 … 1.0E12 DIR Current maximum velocity of the axis The minimum from "MaxVelocity" and "Velocity" is effect­ ive for motion control. MaxAcceleration LREAL 0.0 ... DIR 2.7777777777­ 7778E8 Maximum permissible acceleration of the axis MaxDeceleration LREAL 0.0 ... DIR 2.7777777777­ 7778E8 Maximum permissible deceleration of the axis MaxJerk LREAL 0.0 … 4629629.629 Maximum permissible jerk on the axis 13.1.17 DIR "DynamicDefaults" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.DynamicDefaults.<tag name>" contains the configuration of the dynamic defaults. These settings will be used when you specify a dynamic value less than 0.0 in a Motion Control instruction (exceptions: "MC_MoveJog.Velocity", "MC_MoveVelocity.Velocity"). Changes to the default dynamic values will be applied at the next positive edge at the "Execute" parameter of a Motion Control instruction. Tags Legend (Page 289) Tag Data type Values DynamicDefaults. TO_Struct_DynamicDefaults W Description CAL Default velocity Velocity LREAL 0.0 … 1.0E12 Acceleration LREAL 0.0 ... CAL 2.7777777777­ 7778E8 Default acceleration Deceleration LREAL 0.0 ... CAL 2.7777777777­ 7778E8 Default deceleration Jerk LREAL 0.0 … 4629629.629 Default jerk EmergencyDeceleration LREAL 302 CAL 0.0 ... DIR 2.7777777777­ 7778E8 Emergency stop deceleration S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) 13.1.18 "PositionLimits_SW" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.PositionLimits_SW.<tag name>" contains the configuration of position monitoring with software limit switches. Software limit switches are used to limit the operating range of a synchronous axis. Tags Legend (Page 289) Tag Data type PositionLimits_SW. TO_Struct_PositionLimitsSW Active BOOL Values - W Description DIR FALSE Monitoring deactivated TRUE Monitoring activated MinPosition LREAL -1.0E12 … 1.0E12 DIR Position of negative software limit switches MaxPosition LREAL -1.0E12 … 1.0E12 DIR Position of positive software limit switches ("MaxPosition" > "MinPosition") LimitReachedBehavior DINT 0…1 RES Alarm response when a software limit switch is approached with a single axis job LimitExceededBehavior 13.1.19 DINT 0…1 RES 0 Stop with maximum dynamic values 1 Stop with current dynamic values Alarm response when overrunning a software limit switch 0 Lock axis 1 Keep emergency stop and axis enable "PositionLimits_HW" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.PositionLimits_HW.<tag name>" contains the configuration of position monitoring with hardware limit switches. Hardware limit switches are used to limit the traversing range of a synchronous axis. Tags Legend (Page 289) Tag Data type PositionLimits_HW. TO_Struct_PositionLimitsHW Active BOOL Values - W Description RES FALSE Monitoring deactivated TRUE Monitoring activated With "Active", both (negative and positive) hardware limit switches are activated or deactivated. MinSwitchLevel BOOL - RES Level selection for activation of the negative hardware lim­ it switch FALSE Low level (Low active) TRUE High level (High active) S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 303 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description MinSwitchAddress VREF 0 … 65535 RES Address for the negative hardware limit switch MaxSwitchLevel BOOL - RES Level selection for activation of the positive hardware limit switch FALSE Low level (Low active) TRUE High level (High active) MaxSwitchAddress VREF 0 … 65535 RES Address for the positive hardware limit switch Mode DINT 0…1 RES Type of HW limit switch AppoachBehavior 13.1.20 DINT 0…1 RES 0 Switch non-traversable 1 Switch traversable Alarm response when approaching a HW limit switch 0 Disable axis 1 Keep emergency stop and axis enable "Homing" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Homing.<tag name>" contains the configuration for homing the TO. Tags Legend (Page 289) Tag Data type Homing. TO_Struct_Homing / TO_Struct_ExternalEncoder_Homing AutoReversal ApproachDirection ApproachVelocity BOOL BOOL LREAL Values - - Linear: 0.0 … 10000.0 mm/s W RES CAL Description Reversal at the hardware limit switches FALSE No TRUE Yes Direction of approach to the homing position switch FALSE Positive direction TRUE Negative direction CAL Approach velocity Velocity during active homing at which the reference cam and home position are approached. CAL Homing velocity Velocity during active homing at which the home position is approached. CAL Home position Rotary: 0.0 ... 360000.0 °/s ReferencingVelocity LREAL Linear: 0.0 … 1000.0 mm/s Rotary: 0.0 ... 36000.0 °/s HomePosition 304 LREAL -1.0E12 … 1.0E12 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) 13.1.21 "Override" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.Override.<tag name>" contains the configuration of override parameters. The override parameters are used to apply a correction percentage to default values. An override change takes effect immediately, and is performed with the dynamic settings in effect in the Motion Control instruction. Tags Legend (Page 289) Tag Data type Override. TO_Struct_Override Velocity 13.1.22 LREAL Values 0.0 … 200.0% W Description DIR Velocity or speed override Percentage correction of the velocity/speed "PositionControl" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.PositionControl.<tag name>" contains the settings of position control. Tags Legend (Page 289) Tag Data type PositionControl. TO_Struct_PositionControl Values W Description Kv LREAL 0.0 … 2147480.0 DIR Proportional gain of the closed loop position control ("Kv" > 0.0) Kpc LREAL 0.0 … 150.0% DIR Velocity precontrol of the position control Recommended setting: • Isochronous drive connection via PROFIdrive: 100.0% • Non-isochronous drive connection via PROFIdrive: 0.0 to 100.0% • Analog drive connection: 0.0 to 100.0% EnableDSC BOOL - RES Dynamic Servo Control (DSC) FALSE DSC disabled TRUE DSC activated DSC is only possible with one of the following PROFIdrive telegrams: • Standard telegram 5 or 6 • SIEMENS telegram 105 or 106 SmoothingTimeByChan­ LREAL geDifference 0.0 … 1.0E12 s DIR Smoothing time for the manipulated variable for switching operations, for example: • Encoder switchover • Change in P-gain ("Kv") • Switchover to emergency stop ramp S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 305 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag InitialOperativeSensor Data type Values W Description UDINT 1…4 RES Active sensor after initialization of the axis (sensor number 1 to 4) This encoder is used after startup of the CPU and after a restart of the technology object. At an operating mode transition from STOP → RUN of the CPU (without restart of the technology object), the encoder that was also active before the STOP is still being used. ControlDifferenceQuant­ TO_Struct_PositionDifferenceQuanti­ ization. fication Mode DINT - RES Type of quantification Configuration of a quantization when a drive with stepper motor interface is connected 0 No quantification 1 Quantization corresponding to encoder resolu­ tion 2 Quantization to a direct value (configuration is performed using the parameter view (data structure)) Value VelocityModePowerOn 13.1.23 LREAL 0.001 … 1.0E12 RES Value of quantification Configuration of a value for quantization to a direct value ("<TO>.PositionControl.ControlDifferenceQuantiza­ tion.Mode" = 2) (configuration is performed using the parameter view (data structure)) DINT 0 ... 1 Behavior of the velocity setpoint when the axis is enabled RES 0 Velocity is set to "0" with maximum dynamic val­ ues of the axis (ramp). 1 Velocity is immediately set to "0" without ramp. "SetpointFilter" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.SetpointFilter.<tag name>" contains the settings of the setpoint filter. Tags Legend (Page 289) Tag Data type SetpointFilter. TO_Struct_SetpointFilter DynamicFilter. Mode 1) Values W Description RES Dynamic filter mode TO_Struct_DynamicFilter DINT - 0 Dynamic filter not effective 1 PT1/PT2 filter + dead time The dead time T 306 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description T1 LREAL 0.0 … 1.0E12 DIR First time constant of the PT2 filter [s] T2 LREAL 0.0 … 1.0E12 DIR Second time constant of the PT2 filter [s] LREAL 0.0 … 1.0E121) DIR Additional dead time of the dynamic filter [s] Tt 1) The dead time T 13.1.24 "DynamicAxisModel" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.DynamicAxisModel.<tag name>" contains the balancing filter settings. Tags Legend (Page 289) Tag Data type DynamicAxisModel. TO_Struct_DynamicAxisModel VelocityTimeConstant Values W Description Time constants for braking ramp generation with alarm response "Brake with emergency stop ramp" LREAL 0.0 … 1.0E12 DIR Speed control loop substitute time [s] AdditionalPositionTime­ LREAL Constant 0.0 … 1.0E12 DIR Additive position control loop substitute time [s] 13.1.25 "FollowingError" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.FollowingError.<tag name>" contains the configuration of the dynamic following error monitoring. If the permissible following error is exceeded, then technology alarm 521 is output, and the technology object is disabled (alarm reaction: remove enable). When the warning level is reached, a warning is output (technology alarm 522). Tags Legend (Page 289) Tag Data type FollowingError. TO_Struct_FollowingError EnableMonitoring MinValue BOOL LREAL Values - Linear: 0.0 … 1.0E12 W Description RES FALSE Following error monitoring deactivated TRUE Following error monitoring enabled DIR Permissible following error at velocities below the value of "MinVelocity" DIR Maximum permissible following error, which may be reached at the maximum velocity. Rotary: 0.001 … 1.0E12 MaxValue LREAL Linear: 0.0 … 1.0E12 Rotary: 0.002 ... 1.0E12 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 307 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description MinVelocity LREAL 0.0 … 1.0E12 DIR "MinValue" is permissible below this velocity and is held constant. WarningLevel LREAL 0.0 … 100.0 DIR Warning level Percentage value relative to the valid maximum following error AdditionalSetpointDelay­ LREAL Time 0.0 … 1.0E12 DIR Time constant for additional deceleration of position set­ point to calculate the following error [s] 13.1.26 "PositioningMonitoring" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.PositioningMonitoring.<tag name>" contains the configuration of position monitoring at the end of a positioning motion. If the actual position value at the end of a positioning motion is reached within the tolerance time and remains in the positioning window for the minimum dwell time, then "<TO>.StatusWord.X5 (Done)" is set in the technology data block. This completes a Motion Control job. If the tolerance time is exceeded, then technology alarm 541 "Positioning monitoring" with supplemental value 1: "Target range not reached" is displayed. If the minimum dwell time is not met, then technology alarm 541 "Positioning monitoring" with supplemental value 2: "Exit target range again" is displayed. Tags Legend (Page 289) Tag Data type Values PositioningMonitoring. TO_Struct_PositionMonitoring W Description ToleranceTime LREAL 0.0 … 1.0E12 DIR Tolerance time Maximum permitted duration from reaching of velocity setpoint zero until entrance into the positioning window MinDwellTime LREAL 0.0 … 1.0E12 DIR Minimum dwell time in positioning window Window LREAL 0.0 … 1.0E12 DIR Positioning window 13.1.27 "StandstillSignal" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StandstillSignal.<tag name>" contains the configuration of the standstill signal. If the actual velocity value is below the velocity threshold, and does not exceed it during the minimum dwell time, then the standstill signal "<TO>.StatusWord.X7 (Standstill)" is set. 308 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type Values StandstillSignal. TO_Struct_StandstillSignal W Description Configuration for the standstill signal VelocityThreshold LREAL 0.0 … 1.0E12 DIR Velocity threshold If velocity is below this threshold, the minimum dwell time begins. MinDwellTime LREAL 0.0 … 1.0E12 DIR Minimum dwell time 13.1.28 "StatusPositioning" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusPositioning.<tag name>" indicates the status of a positioning motion. Tags Legend (Page 289) Tag Data type Values StatusPositioning. TO_Struct_StatusPositioning W Description Distance LREAL -1.0E12 … 1.0E12 RON Distance to the target position TargetPosition LREAL -1.0E12 … 1.0E12 RON Target position TargetPositionModulo­ Cycle DINT -2147483648 … RON 2147483647 Number of modulo cycles to target position with position­ ing motions FollowingError LREAL -1.0E12 … 1.0E12 RON Current following error SetpointExecutionTime LREAL 0 to 1.0E12 RON Setpoint execution time of the axis (Results from TIpo, Tvtc or 1/kv, TSend and TO of the axis) SuperimposedDistance LREAL 0 to 1.0E12 RON With the instructions "MC_MoveSuperimposed", "MC_MotionInSuperimposed" and "MC_HaltSuperimposed" distance traveled. The value is reset when the base motion and the superim­ posed motion are completed. 13.1.29 "StatusDrive" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusDrive.<tag name>" indicates the status of the drive. Tags Legend (Page 289) Tag Data type Values StatusDrive. TO_Struct_StatusDrive W Description S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 309 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Disabled InOperation AdaptionState 13.1.30 Values W Description BOOL - RON FALSE Drive not switched off TRUE Drive switched off BOOL CommunicationOK Error Data type BOOL BOOL DINT - - - 0…4 RON RON RON RON Operation status of the drive FALSE Drive not ready Setpoints will not be executed. TRUE Drive ready Setpoints can be executed. Cyclic BUS communication between controller and drive FALSE Cyclic communication not established. Fault ZSW1.X3 (FaultPresent) is present. Possible causes: • The CPU is in STOP. • The drive has failed. • The "ControlRequested" bit in the status word of the drive has the value "FALSE". • The drive signals an error using the status word. • For isochronous configuration, the dynamic sign of life in the telegram has failed or is not supplied by the drive. TRUE Cyclic communication OK and no fault effective FALSE No drive error TRUE Drive error Status of automatic data transfer of drive parameters 0 "NOT_ADAPTED" Data not transferred 1 "IN_ADAPTION" Data transfer in progress 2 "ADAPTED" Data transfer complete 3 "NOT_APPLICABLE" Data transfer not selected, not possible 4 "ADAPTION_ERROR" Error during data transfer "StatusServo" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusServo.<tag name>" indicates the status for the balancing filter. 310 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type Values StatusServo. TO_Struct_StatusServo W Description BalancedPosition LREAL - RON Position setpoint after the balancing filter ControlDifference LREAL - RON Control deviation PositionAfterDynamicFil­ LREAL ter - RON Position setpoint after the dynamic filter 13.1.31 "StatusProvidedLeadingValue" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusProvidedLeadingValue.<tag name>" contains the provided leading value with leading value delay of the cross-PLC synchronous operation. Tags Legend (Page 289) Tag Data type StatusProvidedLeading­ Value. TO_Struct_StatusProvidedLeadingVa­ Provided leading value lue DelayedLeadingValue Values W Description TO_Struct_ProvidedLeadingValue Leading value with leading value delay Position LREAL -1.0E12 … 1.0E12 RON Position Velocity LREAL -1.0E12 … 1.0E12 RON Velocity Acceleration LREAL -1.0E12 … 1.0E12 RON Acceleration 13.1.32 "StatusSensor[1..4]" tags (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusSensor[1..4].<tag name>" indicates the status of the measuring system. Tags Legend (Page 289) Tag Data type StatusSensor[1..4]. Array [1..4] OF TO_Struct_StatusSensor State DINT Values 0…2 W Description RON Status of the actual encoder value 0 "NOT_VALID" Invalid 1 "WAITING_FOR_VALID" Waiting for "Valid" status S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 311 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description State DINT 0…2 RON 2 CommunicationOK BOOL - RON Cyclic BUS communication between controller and encoder Error BOOL - RON "VALID" Valid FALSE Not established TRUE Established FALSE No error in the measuring system TRUE Error in the measuring system. AbsEncoderOffset LREAL - RON Home point offset to the value of an absolute value encoder. The value will be retentively stored in the CPU. Control BOOL - RON FALSE Encoder is not active TRUE Encoder is active Position LREAL - RON Encoder position Velocity LREAL - RON Encoder velocity AdaptionState DINT 0…4 RON Status of automatic data transfer of encoder parameters 0 "NOT_ADAPTED" Data not transferred 1 "IN_ADAPTION" Data transfer in progress 2 "ADAPTED" Data transfer complete 3 "NOT_APPLICABLE" Data transfer not selected, not possible 4 "ADAPTION_ERROR" Error during data transfer ModuloCycle DINT -2147483648 … RON 2147483647 Number of modulo cycles Adjusted DINT 0 ... 1 Status of the encoder adjustment 13.1.33 RON 0 Encoder not homed 1 Encoder adjusted with one of the following hom­ ing types: • Active homing • Passive homing • Absolute encoder adjustment • Incremental encoder adjustment "StatusExtrapolation" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusExtrapolation.<tag name>" indicates the actual value extrapolation status. 312 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type Values W StatusExtrapolation. TO_Struct_StatusExtrapolation Description FilteredPosition LREAL -1.0E12 … 1.0E12 RON Position after position filter FilteredVelocity LREAL -1.0E12 … 1.0E12 RON Velocity after velocity filter and tolerance band ExtrapolatedPosition LREAL -1.0E12 … 1.0E12 RON Extrapolated position ExtrapolatedVelocity LREAL -1.0E12 … 1.0E12 RON Extrapolated velocity 13.1.34 "StatusSynchronizedMotion" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusSynchronizedMotion.<tag name>" indicates the status of synchronous operation. Tags Legend (Page 289) Tag Data type StatusSynchronizedMotion. TO_Struct_StatusSynchronizedMoti­ on FunctionState WaitingFunctionState DINT DINT Value range 0…6 0…5 W RON RON S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Description Indication of which synchronous operation function is active 0 No synchronous operation active 1 Gearing ("MC_GearIn") 2 Gearing with specified synchronous positions ("MC_GearInPos") 3 Camming ("MC_CamIn") 4 Desynchronization of gearing ("MC_GearOut") 5 Desynchronization of camming ("MC_CamOut") 6 Velocity gearing ("MC_GearInVelocity") Indication of which synchronous operation function is waiting 0 No synchronous operation waiting 1 Reserved 2 Gearing with specified synchronous positions waiting ("MC_GearInPos") 3 Camming waiting ("MC_CamIn") 4 Desynchronization of gearing waiting ("MC_GearOut") 313 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Value range W Description WaitingFunctionState DINT 0…5 RON 5 PhaseShift LREAL -1.0E12 … 1.0E12 RON Current absolute leading value offset with an "MC_PhasingAbsolute" or "MC_PhasingRelative" job. ActualMaster DB_ANY 0 … 65535 RON When a synchronous operation job is started, the num­ ber of the technology data block of the currently used leading axis is displayed. 0 Desynchronization of camming waiting ("MC_CamOut") Synchronous operation inactive ActualCam DB_ANY 0 … 65535 RON Cyclic cam currently used for camming MasterOffset LREAL -1.0E12 … 1.0E12 RON Current offset of the leading value range of the cam with an "MC_CamIn" job MasterScaling LREAL -1.0E12 … 1.0E12 RON Current scaling of the leading value range of the cam with an "MC_CamIn" job SlaveOffset LREAL -1.0E12 … 1.0E12 RON Current offset of the following value range of the cam with an "MC_CamIn" job SlaveScaling LREAL -1.0E12 … 1.0E12 RON Current scaling of the following value range of the cam with an "MC_CamIn" job Offset LREAL -1.0E12 … 1.0E12 RON Current absolute following value offset with an "MC_OffsetAbsolute" or "MC_OffsetRelative" job, includ­ ing the following value offset of an "MC_CamIn" job (<TO>.StatusSynchronizedMotion.SlaveOffset) EffectiveLeadingValue. TO_Struct_EffectiveLeadingValue Effective leading value of the synchronous operation function Position LREAL -1.0E12 … 1.0E12 RON Position Velocity LREAL -1.0E12 … 1.0E12 RON Velocity Acceleration LREAL -1.0E12 … 1.0E12 RON Acceleration FunctionLeadingValue. Position FunctionFollowingValue. TO_Struct_FunctionLeadingValue Leading value of the synchronous operation function after a leading value offset with a "MC_PhasingAbsolute" or "MC_PhasingRelative" job LREAL Position -1.0E12 … 1.0E12 RON TO_Struct_FunctionFollowingValue Following value of the synchronous operation function before a following value offset with an "MC_OffsetAbsolute" job or "MC_OffsetRelative" job Position LREAL -1.0E12 … 1.0E12 RON Position Velocity LREAL -1.0E12 … 1.0E12 RON Velocity Acceleration LREAL -1.0E12 … 1.0E12 RON Acceleration StatusWord. DWORD - RON Status information of synchronous operation Bit 0 BOOL - RON "MaxVelocityExceeded" Configured maximum velocity is exceeded during syn­ chronous operation. 314 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Value range W Description Bit 1 BOOL - RON "MaxAccelerationExceeded" Configured maximum acceleration is exceeded during synchronous operation. Bit 2 BOOL - RON "MaxDecelerationExceeded" Configured maximum deceleration is exceeded during synchronous operation. Bit 3 BOOL - RON "InSimulation" Simulation of synchronous operation Bit 4 BOOL Bit 5 … Bit 31 13.1.35 - BOOL RON - FALSE Not simulated TRUE Simulated "LeadingValueAdditiveCommand" Additive leading value via "MC_LeadingValueAdditive" RON FALSE No additive leading value active TRUE Additive leading value active Reserved "StatusKinematicsMotion" tag (synchronous axis) (S7-1500, S7-1500T) The "<TO>.StatusKinematicsMotion" tag contains the status information of the technology object. Information on the evaluation of the individual bits (e.g. bit 2 "MaxDecelerationExceeded") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 289) Tag Data type Values W Description StatusKinematicsMotion DWORD - RON Status information of the technology object - - - "MaxVelocityExceeded" Bit 0 Bit 1 - - - 0 The kinematics technology object calculated a lower velocity setpoint than the maximum velo­ city on the axis. 1 The kinematics technology object calculated a higher velocity setpoint than the maximum velo­ city on the axis. "MaxAccelerationExceeded" 0 The kinematics technology object calculated a lower setpoint acceleration calculated than the maximum acceleration of the axis. 1 The kinematics technology object calculated a higher setpoint acceleration than the maximum acceleration of the axis. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 315 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Bit 2 13.1.36 Data type Values W Description - - - "MaxDecelerationExceeded" 0 The kinematics technology object calculated a lower setpoint deceleration than the maximum deceleration of the axis. 1 The kinematics technology object calculated a lower setpoint deceleration than the maximum deceleration of the axis. "StatusTorqueData" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusTorqueData.<tag name>" indicates the status of the torque data. Tags Legend (Page 289) Tag Data type StatusTorqueData. TO_Struct_StatusTorqueData CommandAdditiveT­ orqueActive DINT CommandTorqueRange­ DINT Active ActualTorque 13.1.37 LREAL Value range 0, 1 0, 1 -1.0E12 … 1.0E12 W Description RON Additive setpoint torque RON RON 0 Inactive 1 Active Torque limits B +, B0 Inactive 1 Active Actual torque of the axis "StatusMotionIn" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.StatusMotionIn.<tag name>" indicates the status of the "MotionIn" function. Tags Legend (Page 289) Tag Data type StatusMotionIn. TO_Struct_StatusMotionIn FunctionState 316 DINT Value range 0…2 W Description RON 0 No "MotionIn" function active 1 "MC_MotionInVelocity" active 2 "MC_MotionInPosition" active S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Value range W Description DWORD - RON - Bit 0 Bool - RON "MaxVelocityExceeded" The configured maximum velocity is exceeded during a MotionIn movement. Bit 1 … Bit 31 Bool - RON Reserved StatusWord. 13.1.38 "StatusWord" tag (synchronous axis) (S7-1500, S7-1500T) The "<TO>.StatusWord" tag contains the status information of the technology object. Information on the evaluation of the individual bits (e.g. bit 5 "HomingDone") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 289) Tag Data type Values W Description StatusWord DWORD - RON Status information of the technology object Bit 0 - - - "Enable" Enable status The technology object has been enabled. Bit 1 - - - "Error" An error is present. Bit 2 - - - "RestartActive" A restart is active. The technology object is being reinitial­ ized. Bit 3 - - - "OnlineStartValuesChanged" The restart tags have been changed. For the changes to be applied, the technology object must be reinitialized. Bit 4 - - - "ControlPanelActive" The axis control panel is active. Bit 5 - - - "HomingDone" Homing status The technology object is homed. Bit 6 - - - "Done" No motion job is in progress and the axis control panel is deactivated. Bit 7 - - - "Standstill" Standstill signal The axis is at a standstill. Bit 8 - - - "PositioningCommand" A positioning command is active ("MC_MoveRelative","MC_MoveAbsolute"). Bit 9 - - - "JogCommand" An "MC_MoveJog" job is running. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 317 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description Bit 10 - - - "VelocityCommand" An "MC_MoveVelocity" job is running. Bit 11 - - - "HomingCommand" An "MC_Home" job is being processed. Bit 12 - - - "ConstantVelocity" The velocity setpoint is reached. A constant velocity set­ point is output. Bit 13 - - - "Accelerating" An acceleration operation is active. Bit 14 - - - "Decelerating" A deceleration operation is active. Bit 15 - - - "SWLimitMinActive" A negative software limit switch has been approached or exceeded. Bit 16 - - - "SWLimitMaxActive" A positive software limit switch has been approached or exceeded. Bit 17 - - - "HWLimitMinActive" A negative hardware limit switch has been approached or exceeded. Bit 18 - - - "HWLimitMaxActive" A positive hardware limit switch has been approached or exceeded. Bit 19 - - - Reserved Bit 20 - - - Reserved Bit 21 - - - "Synchronizing" The axis synchronizes to a leading value. Bit 22 - - - "Synchronous" The axis moves synchronously to a leading value. Bit 23 - - - "MoveSuperimposedCommand" An "MC_MoveSuperimposed" job is running. Bit 24 - - - "PhasingCommand" An "MC_PhasingAbsolute" or "MC_PhasingRelative" job for the leading value offset is active. Bit 25 - - - "AxisSimulation" The technology object is in simulation. Bit 26 - - - "TorqueLimitingCommand" An "MC_TorqueLimiting" job is running. Bit 27 - - - "InLimitation" The drive operates at least at the threshold value (default 90%) of the torque limit/force limitation. Bit 28 - - - "NonPositionControlled" The axis is not in position-controlled mode. Bit 29 - - - "KinematicsMotionCommand" The axis is used for a kinematics job. Bit 30 - - - "InClamping" The axis is clamped at a fixed stop. 318 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Bit 31 13.1.39 Data type Values W Description - - - "MotionInCommand" An "MotionIn" job is running. "StatusWord2" tag (synchronous axis) (S7-1500, S7-1500T) The "<TO>.StatusWord2" tag contains the status information of the technology object. Information on the evaluation of the individual bits (e.g. bit 0 "StopCommand") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 289) Tag Data type Value range W Description StatusWord2 DWORD - RON Status information of the technology object Bit 0 BOOL - RON "StopCommand" An "MC_Stop" job is running. The technology object is dis­ abled. Bit 1 BOOL - RON "DesynchronizingCommand" An "MC_GearOut" job or "MC_CamOut" job is active. The following axis is desynchronized. Bit 2 BOOL - RON "PassingBacklash" The backlash is traversed. "<TO>.ActualPosition" does not hereby change. Bit 3 BOOL - RON "PhasingCommandWaiting" An "MC_PhasingAbsolute" or "MC_PhasingRelative" job for leading value offset is waiting. Bit 4 BOOL - RON "OffsetCommand" An "MC_OffsetAbsolute" or "MC_OffsetRelative" job for fol­ lowing value offset is active. Bit 5 BOOL - RON "OffsetCommandWaiting" An "MC_OffsetAbsolute" or "MC_OffsetRelative" job for fol­ lowing value offset is waiting. Bit 6 BOOL - RON "MotionInSuperimposedCommand" An "MC_MotionInSuperimposed" job is running. Bit 7 BOOL - RON "HaltSuperimposedCommand" An "MC_HaltSuperimposed" job is running. Bit 8 ... Bit 31 BOOL - RON Reserved 13.1.40 "ErrorWord" tag (synchronous axis) (S7-1500, S7-1500T) The "<TO>.ErrorWord" tag indicates technology object errors (technology alarms). Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 319 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tags Legend (Page 289) Tag Data type Values W ErrorWord DWORD - RON Bit 0 - - - "SystemFault" A system-internal error has occurred. Bit 1 - - - "ConfigFault" Configuration error One or more configuration parameters are inconsistent or invalid. Bit 2 - - - "UserFault" Error in user program at a Motion Control instruction or its use Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 - - - "DriveFault" Error in drive Bit 5 - - - "SensorFault" Error in encoder system Bit 6 - - - "DynamicError" Specified dynamic values are limited to permissible values. Bit 7 - - - "CommunicationFault" Communication error Missing or faulty communication. Bit 8 - - - "SWLimit" Software limit switch reached or overtraveled. Bit 9 - - - "HWLimit" Hardware limit switch reached or overtraveled. Bit 10 - - - "HomingError" Error during homing operation The homing cannot be completed. Bit 11 - - - "FollowingErrorFault" Following error limits exceeded Bit 12 - - - "PositioningFault" Positioning error Bit 13 - - - "PeripheralError" Error accessing a logical address Bit 14 - - - "SynchronousError" Error during synchronous operation The leading axis specified in the Motion Control instruction was not configured as a possible leading axis. Bit 15 - - - "AdaptionError" Error in automatic data transfer Bit 16 ... Bit 31 - - - Reserved 320 Description S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) 13.1.41 "ErrorDetail" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.ErrorDetail.<tag name>" contains the alarm number and the effective local alarm response for the technology alarm that is currently pending on the technology object. You can find a list of the technology alarms and alarm responses in the "Overview of the technology alarms" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documentation (Page 13). Tags Legend (Page 289) Tag Data type Values ErrorDetail. TO_Struct_ErrorDetail W Description Number UDINT - RON Alarm number Reaction DINT 0…5 RON Effective alarm response 13.1.42 0 No reaction 1 Stop with current dynamic values 2 Stop with maximum dynamic values 3 Stop with emergency stop ramp 4 Remove enable 5 Track setpoints "WarningWord" tag (synchronous axis) (S7-1500, S7-1500T) The "<TO>.WarningWord" tag indicates pending warnings at the technology object. Information on the evaluation of the individual bits (e.g. bit 13 "PeripheralWarning") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 289) Tag Data type Values W Description WarningWord DWORD - RON Bit 0 - - - "SystemWarning" A system-internal error has occurred. Bit 1 - - - "ConfigWarning" Configuration error One or several configuration parameters are adjusted internally. Bit 2 - - - "UserWarning" Error in user program at a Motion Control instruction or its use S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 321 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.1 Tags of the synchronous axis technology object (S7-1500, S7-1500T) Tag Data type Values W Description Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 - - - "DriveWarning" Warning of the drive When a warning message is pending at the drive that does not result in a TO alarm, this bit is not set. Evaluate the drive warnings directly using the status word of the drive. Bit 5 - - - "SensorWarning" Error in encoder system Bit 6 - - - "DynamicWarning" Specified dynamic values are limited to permissible values. Bit 7 - - - "CommunicationWarning" Communication error Missing or faulty communication. Bit 8 - - - "SWLimitMin" The negative software limit switch has been approached. Bit 9 - - - "SWLimitMax" The positive software limit switch has been approached. Bit 10 - - - "HomingWarning" Error during homing operation The homing cannot be completed. Bit 11 - - - "FollowingErrorWarning" Warning limit of following error monitoring reached/exceeded Bit 12 - - - "PositioningWarning" Positioning error Bit 13 - - - "PeripheralWarning" Error accessing a logical address Bit 14 - - - "SynchronousWarning" Error during synchronous operation The leading axis specified in the Motion Control instruction was not configured as a possible leading axis. Bit 15 - - - "AdaptionWarning" Error in automatic data transfer Bit 16... Bit 31 - - - Reserved 13.1.43 "ControlPanel" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.ControlPanel.<tag name>" contains no relevant data for you. This tag structure is internally used. 322 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) 13.1.44 "InternalToTrace" tag (synchronous axis) (S7-1500, S7-1500T) The tag structure "<TO>.InternalToTrace.<tag name>" contains no relevant data for you. This tag structure is internally used. 13.2 Tags of the cam technology object (S7-1500T) 13.2.1 Legend (S7-1500T) Tag Name of the tag Data type Data type of the tag Values Value range of the tag - minimum value to maximum value If no specific value is shown, the value range limits of the relevant data type apply or the information under "Description". W Effectiveness of changes in the technology data block Description DIR Direct: Values are changed directly and take effect at the start of the next MC‑Servo [OB91]. CAL At call of Motion Control instruction: Values are changed directly and take effect at the start of the next MC‑Servo [OB91] after the call of the corresponding Motion Control instruction in the user program. RES Restart: Changes to the start value in the load memory are made using the extended instruction "WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of the technology object. RON Read only: The tag cannot and must not be changed during runtime of the user program. Description of the tag Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name of the technology object. 13.2.2 "Point[1..1000]" tag (cam of type "TO_Cam") (S7-1500T) The tag structure "<TO>.Point[1..1000].<tag name>" contains the defined points of the cam of type "TO_Cam". Tags Legend (Page 323) Tag Data type Values Point[1..1000]. ARRAY [1..1000] OF TO_Cam_Struct_PointData W Description x LREAL -1.0E12 … 1.0E12 CAL Value of the point in the definition range y LREAL -1.0E12 … 1.0E12 CAL Value of the point in the range of the function S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 323 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) 13.2.3 "Point[1..10000]" tag (cam of type "TO_Cam_10k") (S7-1500T) The tag structure "<TO>.Point[1..10000].<tag name>" contains the defined points of the cam of type "TO_Cam_10k". Tags Legend (Page 323) Tag Data type Values Point[1..10000]. ARRAY [1..10000] OF TO_Cam_Struct_PointData W Description x LREAL -1.0E12 … 1.0E12 CAL Value of the point in the definition range y LREAL -1.0E12 … 1.0E12 CAL Value of the point in the range of the function 13.2.4 "ValidPoint[1..1000]" tag (cam of the "TO_Cam" type) (S7-1500T) The tag structure "<TO>.ValidPoint[1..1000]" shows the validity of the defined points of the cam of type "TO_Cam". Tags Legend (Page 323) Tag Data type Values W Description ValidPoint[1..1000] ARRAY [1..1000] OF BOOL - CAL Indicates whether the defined point is valid. 13.2.5 FALSE Invalid TRUE Valid "ValidPoint[1..10000]" tag (cam of the "TO_Cam_10k" type) (S7-1500T) The tag structure "<TO>.ValidPoint[1..10000]" shows the validity of the defined points of the cam of type "TO_Cam_10k". Tags Legend (Page 323) Tag Data type ValidPoint[1..10000] ARRAY [1..10000] OF BOOL 324 Values W Description CAL Indicates whether the defined point is valid. FALSE Invalid TRUE Valid S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) 13.2.6 "Segment[1..50]" tag (cam) (S7-1500T) The tag structure "<TO>.Segment[1..50].<tag name>" contains the defined segments of the cam. Tags Legend (Page 323) Tag Data type Values W Segment[1..50]. ARRAY [1..50] OF TO_Cam_Struct_SegmentData Description xmin LREAL -1.0E12 … 1.0E12 CAL Start coordinates of the segment xmax LREAL -1.0E12 … 1.0E12 CAL End coordinates of the segment a0 LREAL -1.0E12 … 1.0E12 CAL Coefficient A0 for x0 of the polynomial for the segment a1 LREAL -1.0E12 … 1.0E12 CAL Coefficient A1 for x1 of the polynomial for the segment a2 LREAL -1.0E12 … 1.0E12 CAL Coefficient A2 for x2 of the polynomial for the segment a3 LREAL -1.0E12 … 1.0E12 CAL Coefficient A3 for x3 of the polynomial for the segment a4 LREAL -1.0E12 … 1.0E12 CAL Coefficient A4 for x4 of the polynomial for the segment a5 LREAL -1.0E12 … 1.0E12 CAL Coefficient A5 for x5 of the polynomial for the segment a6 LREAL -1.0E12 … 1.0E12 CAL Coefficient A6 for x6 of the polynomial for the segment sineAmplitude LREAL -1.0E12 … 1.0E12 CAL Amplitude of the sine element sinePeriod LREAL -1.0E12 … 1.0E12 CAL Period length of the sine element [rad] sinePhase LREAL -1.0E12 … 1.0E12 CAL Phase offset of the sine element [rad] 13.2.7 "ValidSegment[1..50]" tag (cam) (S7-1500T) The "<TO>.ValidSegment[1..50]" variable structure indicates the validity of the defined segments of the cam. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 325 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) Tags Legend (Page 323) Tag Data type Values W Description ValidSegment[1..50] ARRAY [1..50] OF BOOL - CAL Indicates whether the defined segment is valid. 13.2.8 FALSE Invalid TRUE Valid "InterpolationSettings" tag (cam) (S7-1500T) The tag structure "<TO>.InterpolationSettings.<tag name>" contains the configuration for the interpolation of the cam. Tags Legend (Page 323) Tag Data type InterpolationSettings. TO_Cam_Struct_InterpolationSettin­ gs InterpolationMode DINT BoundaryConditions 13.2.9 DINT Values 0…2 0, 1 W CAL CAL Description Interpolation type 0 Linear 1 C splines 2 B splines Characteristics of the boundary points 0 No profile start or profile end conditions 1 First derivative equal at profile start and end "StatusCam" tag (cam of the "TO_Cam" type) (S7-1500T) The tag structure "<TO>.StatusCam.<tag name>" indicates the status of the cam. Tags Legend (Page 323) Tag Data type Values StatusCam. TO_Cam_Struct_StatusCam W Description StartLeadingValue LREAL -1.0E12 … 1.0E12 RON First defined interpolation point/start of the first segment of the cam (Start value of the definition range of the cam) EndLeadingValue LREAL -1.0E12 … 1.0E12 RON Last defined interpolation point/end of the last segment of the cam (End value of the definition range of the cam) NumberOfValidPoints DINT 0 … 1 000 RON Number of valid points ("ValidPoint" = TRUE) 326 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) Tag NumberOfValidSeg­ ments 13.2.10 Data type Values W Description DINT 0 … 50 RON Number of valid segments ("ValidSegment" = TRUE) "StatusCam" tag (cam of the "TO_Cam_10k" type) (S7-1500T) The tag structure "<TO>.StatusCam.<tag name>" indicates the status of the cam. Tags Legend (Page 323) Tag Data type Values StatusCam. TO_Cam_Struct_StatusCam W Description StartLeadingValue LREAL -1.0E12 … 1.0E12 RON First defined interpolation point/start of the first segment of the cam (Start value of the definition range of the cam) EndLeadingValue LREAL -1.0E12 … 1.0E12 RON Last defined interpolation point/end of the last segment of the cam (End value of the definition range of the cam) NumberOfValidPoints DINT 0 … 10 000 RON Number of valid points ("ValidPoint" = TRUE) NumberOfValidSeg­ ments DINT 0 … 50 RON Number of valid segments ("ValidSegment" = TRUE) 13.2.11 "StatusWord" tag (cam) (S7-1500T) The "<TO>.StatusWord" tag contains the status information of the technology object. Information on the evaluation of the individual bits (e.g. bit 4 "CamDataChanged") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 323) Tag Data type Values W Description StatusWord DWORD - RON Status information of the technology object Bit 0 - - - "Control" Use status The cam is in use. Bit 1 - - - "Error" An error is present. Bit 2 - - - "RestartActive" A restart is active. The technology object is being reinitial­ ized. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 327 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) Tag Data type Values W Description Bit 3 - - - "OnlineStartValuesChanged" The restart tags have been changed. For the changes to be applied, the technology object must be reinitialized. Bit 4 - - - "CamDataChanged" The definition range of the cam has changed in the tech­ nology data block. Bit 5 - - - "Interpolated" The cam is interpolated. Bit 6 - - - "InInterpolation" The cam is in interpolation. Bit 7 - - - "CopyCamDataActive" A copy operation of an "MC_CopyCamData" job is active. Bit 8 … Bit 31 - - - Reserved 13.2.12 "ErrorWord" tag (cam) (S7-1500T) The "<TO>.ErrorWord" tag indicates technology object errors (technology alarms). Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 323) Tag Data type Values W ErrorWord DWORD - RON Bit 0 - - - "SystemFault" A system-internal error has occurred. Bit 1 - - - "ConfigFault" Configuration error One or more configuration parameters are inconsistent or invalid. Bit 2 - - - "UserFault" Error in user program at a Motion Control instruction or its use Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 … Bit 31 - - - Reserved 328 Description S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.2 Tags of the cam technology object (S7-1500T) 13.2.13 "ErrorDetail" tag (cam) (S7-1500T) The tag structure "<TO>.ErrorDetail.<tag name>" contains the alarm number and the effective local alarm response for the technology alarm that is currently pending on the technology object. You can find a list of the technology alarms and alarm responses in the "Overview of the technology alarms" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documentation (Page 13). Tags Legend (Page 323) Tag Data type Values ErrorDetail. TO_Struct_ErrorDetail W Description Number UDINT - RON Alarm number Reaction DINT 0, 9 RON Effective alarm response 13.2.14 0 No reaction 9 Terminate processing of the technology object "WarningWord" tag (cam) (S7-1500T) The "<TO>.WarningWord" tag indicates pending warnings at the technology object. Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 323) Tag Data type Values W Description WarningWord DWORD - RON Bit 0 - - - "SystemWarning" A system-internal error has occurred. Bit 1 - - - "ConfigWarning" Configuration error One or more configuration parameters are inconsistent or invalid. Bit 2 - - - "UserWarning" Error in user program at a Motion Control instruction or its use Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 … Bit 31 - - - Reserved S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 329 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) 13.3.1 Legend (S7-1500T) Tag Name of the tag Data type Data type of the tag Values Value range of the tag - minimum value to maximum value If no specific value is shown, the value range limits of the relevant data type apply or the information under "Description". W Effectiveness of changes in the technology data block Description DIR Direct: Values are changed directly and take effect at the start of the next MC‑Servo [OB91]. CAL At call of Motion Control instruction: Values are changed directly and take effect at the start of the next MC‑Servo [OB91] after the call of the corresponding Motion Control instruction in the user program. RES Restart: Changes to the start value in the load memory are made using the extended instruction "WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of the technology object. RON Read only: The tag cannot and must not be changed during runtime of the user program. Description of the tag Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name of the technology object. 13.3.2 Leading value (leading axis proxy) (S7-1500T) The following tags indicate the leading value parameters of the technology object for local synchronous operation. Tags Legend (Page 330) Tag Data type Values W Description Position LREAL - RON Adapted leading value for local synchronous operation Velocity LREAL - RON Leading value velocity for local synchronous operation Acceleration LREAL - RON Leading value velocity for local synchronous operation 13.3.3 "Interface" tag (leading axis proxy) (S7-1500T) The tag structure "<TO>.Interface.<Tag name>" contains the input address of the telegram. 330 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) Tags Legend (Page 330) Tag Data type Interface. TO_Struct_LeadingAxisProxy_Interfa­ ce AddressIn 13.3.4 VRef Values - W RON Description Input address for the telegram of the external leading value "Parameter" tag (leading axis proxy) (S7-1500T) The tag structure "<TO>.Parameter.<tag name>" contains parameters for leading value adaptation. Tags Legend (Page 330) Tag Data type Values W Parameter. TO_Struct_LeadingAxisProxy_Param­ eter Description LocalLeadingValueDelay­ LREAL Time 0.0 … 1.0E9 DIR Delay time of virtual local following axis which, in turn, provides a cross-PLC leading value with a cascade (<TO>.CrossPlcSynchronousOperation.LocalLeadingVal­ ueDelayTime) ToleranceTimeExtern­ alLeadingValueInvalid 0.0 … 1.0E12 DIR Tolerance time until a technology alarm is triggered when the external leading value becomes invalid 13.3.5 LREAL "StatusExternalLeadingValue" tag (leading axis proxy) (S7-1500T) The tag structure "<TO>.StatusExternalLeadingValue.<Tag name>" contains the parameter values of the external leading value. Tags Legend (Page 330) Tag Data type StatusExternalLeading­ Value. TO_Struct_LeadingAxisProxy_Status­ Data Values W Description ModuloLength LREAL 0.0 … 1.0E12 RON Modulo length of the external leading value ModuloStartValue LREAL -1.0E12 … 1.0E12 RON Modulo start value of the external leading value AdjustmentTime LREAL -1.0E12 … 1.0E12 RON Time by which the external leading value is adjusted <0 The external leading value is interpolated by this time. >0 The external leading value is extrapolated by this time. S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 331 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) 13.3.6 "StatusWord" tag (leading axis proxy) (S7-1500T) The "<TO>.StatusWord" tag contains the status information of the technology object. Information on the evaluation of the individual bits (e.g. bit 4 "LeadingValueValid") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 330) Tag Data type Values W Description StatusWord DWORD - RON Status information of the technology object Bit 0 - - - "Control" Use status The leading axis proxy is in operation. Bit 1 - - - "Error" An error is present. Bit 2 - - - "RestartActive" A restart is active. The technology object is being reinitial­ ized. Bit 3 - - - "OnlineStartValuesChanged" The restart tags have been changed. For the changes to be applied, the technology object must be reinitialized. Bit 4 - - - "LeadingValueValid" The leading value exists and is valid. Bit 5 - - - "LeadingValueModulo" The leading value is with modulo functionality. Bit 6 - - - "LeadingAxisControl" The leading axis is in setpoint operation. Bit 7 … Bit 31 - - - Reserved 13.3.7 "'ErrorWord" tag (leading axis proxy) (S7-1500T) The "<TO>.ErrorWord" tag indicates technology object errors (technology alarms). Information on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). Tags Legend (Page 330) Tag Data type Values W ErrorWord DWORD - RON - - - Bit 0 332 Description "SystemFault" System error S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Tags of the technology object data blocks (S7-1500, S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) Tag Data type Values W Description Bit 1 - - - "ConfigFault" Configuration error One or more configuration parameters are inconsistent or invalid. Bit 2 - - - "UserFault" Error in user program at a Motion Control instruction or its use Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 … Bit 7 - - - Reserved Bit 7 - - - "CommunicationFault" Communication error Missing or faulty communication. Bit 8 … Bit 31 - - - Reserved 13.3.8 "ErrorDetail" tag (leading axis proxy) (S7-1500T) The tag structure "<TO>.ErrorDetail.<tag name>" contains the alarm number and the effective local alarm response for the technology alarm that is currently pending on the technology object. You can find a list of the technology alarms and alarm responses in the "Overview of the technology alarms" section of the "S7-1500/S7-1500T Motion Control alarms and error IDs" documentation (Page 13). Tags Legend (Page 330) Tag Data type Values ErrorDetail. TO_Struct_ErrorDetail W Description Number UDINT - RON Alarm number Reaction DINT 0, 13 RON Effective alarm response 13.3.9 0 No reaction 13 Invalid leading value "WarningWord" tag (leading axis proxy) (S7-1500T) The "<TO>.WarningWord" tag indicates pending warnings at the technology object. Information on the evaluation of the individual bits (e.g. bit 1 "ConfigWarning") can be found in the "Evaluating StatusWord, ErrorWord and WarningWord" section of the "S7-1500/S7-1500T Motion Control Overview" documentation (Page 13). S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 333 Tags of the technology object data blocks (S7-1500, S7-1500T) 13.3 Tags of the leading axis proxy technology object (S7-1500T) Tags Legend (Page 330) Tag Data type Values W WarningWord DWORD - RON Bit 0 - - - "SystemWarning" A system-internal error has occurred. Bit 1 - - - "ConfigWarning" Configuration error One or several configuration parameters are adjusted internally. Bit 2 - - - "UserWarning" Error in user program at a Motion Control instruction or its use Bit 3 - - - "CommandNotAccepted" Job cannot be executed A Motion Control instruction cannot be executed because the necessary conditions have not been met. Bit 4 … Bit 6 - - - Reserved Bit 7 - - - "CommunicationWarning" Communication error Missing or faulty communication. Bit 8 … Bit 31 - - - Reserved 334 Description S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Index A E Additive leading value, 166 Tags, 167 External encoder Delay time, 170 C G Cam, 25 Basics, 25 Functions, 29 Configuration, 83 Configuration, 90 Configuration, 111 Import/export, 111 Interpolation, 125 Tags, 323 Gearing, 41 Gear ratio, 42 Gear ratio, 46 Tags, 71 I Interconnection overview, 177 Configuration, 178 Cam editor, 83, 90, 111 Camming, 82 Tags, 161 Cross-PLC synchronous operation, 168 Interconnection possibilities, 169 Cascading, 169 Time response, 170 Delay time, 170 Recursive interconnection, 171 Communication, 172 Tolerance time, 177 Interconnection overview, 177 Interconnection overview, 178 Routes, 180 Delay time, 180 Tags, 181 D Direct data exchange Setting up, 172 Setting up, 172 L Leading axis proxy Basics, 28 Functions, 29 Delay time, 170 Diagnostics, 203 Diagnostics, 205 Tags, 330 Leading value Routes, 180 M Master value coupling, 33 MC_CamIn, 247, 253 MC_CamOut, 267, 269 MC_CopyCamData, 279 MC_GearIn, 206, 209 MC_GearInPos, 210, 214 MC_GearInVelocity, 217, 220 MC_GearOut, 262, 265 MC_GetCamFollowingValue, 277 MC_GetCamLeadingValue, 276 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 335 Index MC_InterpolateCam, 274 MC_LeadingValueAdditive, 271, 272 MC_OffsetAbsolute, 241, 243 MC_OffsetRelative, 235, 237 MC_PhasingAbsolute, 228, 232 MC_PhasingRelative, 221, 225 MC_SynchronizedMotionSimulation, 261 P Positioning axis Delay time, 170 R Routes Show, 180 S S7-1500 Motion Control, 23 Technology object, 23 Technology object, 25 Technology object, 28 Motion Control instruction, 29 Technology object, 29 Synchronous operation, 33 Synchronous operation, 41 Synchronous operation, 45 Synchronous operation, 74 Synchronous operation, 82 Technology object, 83 Configuration, 83 S7-1500 Motion Control instruction Overview, 29 S7-1500T Motion Control Motion Control instruction, 29 Synchronous axis Basics, 23 Functions, 29 Delay time, 170 Diagnostics, 183 Diagnostics, 188 Diagnostics, 189 Tags, 289 336 Synchronous operation, 22 Phases, 22 Synchronous operation is being simulated, 164 Tags, 165 T Tags Gearing, 71 Velocity synchronous operation, 80 Camming, 161 Synchronous operation is being simulated, 165 Additive leading value, 167 Cross-PLC synchronous operation, 181 Synchronous axis technology object, 289 Cam technology object, 323 Leading axis proxy technology object, 330 Technology data block Tags of the synchronous axis technology object, 289 Tags of the cam technology object, 323 Tags of the leading axis proxy technology object, 330 Technology object Synchronous axis, 23 Cam, 25 Leading axis proxy, 28 Cam, 29 Leading axis proxy, 29 Synchronous axis, 29 Cam, 83 Cam, 111 Cam, 125 Synchronous axis, 183 Synchronous axis, 188 Synchronous axis, 189 Leading axis proxy, 203 Leading axis proxy, 205 Tolerance time, 177 Transfer area Setting up, 172 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC Index V Velocity synchronous operation, 74 Gear ratio, 74 Tags, 80 S7-1500/S7-1500T Synchronous operation functions V7.0 as of STEP 7 V18 Function Manual, 11/2022, A5E47011129-AC 337
