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S7-1200 Motion Control V6.0 to V7.0 in TIA Portal V16PrefaceSIMATICSTEP 7S7-1200 Motion ControlV6.0 to V7.0 in TIA Portal V16Function Manual12/2019A5E03790551-AGIntroduction1Basics for workingwith S7-1200 Motion Control2Guidelines on use of motioncontrol3Using versions4Positioning axis technologyobject5Technology object commandtable6Download to CPU7Commissioning8Programming9Axis - Diagnostics10Instructions11Appendix12

Legal informationWarning notice systemThis manual contains notices you have to observe in order to ensure your personal safety, as well as to preventdamage to property. The notices referring to your personal safety are highlighted in the manual by a safety alertsymbol, notices referring only to property damage have no safety alert symbol. These notices shown below aregraded according to the degree of danger.DANGERindicates that death or severe personal injury will result if proper precautions are not taken.WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.CAUTIONindicates that minor personal injury can result if proper precautions are not taken.NOTICEindicates 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 willbe used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating toproperty damage.Qualified PersonnelThe product/system described in this documentation may be operated only by personnel qualified for the specifictask 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 andavoiding potential hazards when working with these products/systems.Proper use of Siemens productsNote the following:WARNINGSiemens products may only be used for the applications described in the catalog and in the relevant technicaldocumentation. If products and components from other manufacturers are used, these must be recommendedor approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation andmaintenance are required to ensure that the products operate safely and without any problems. The permissibleambient conditions must be complied with. The information in the relevant documentation must be observed.TrademarksAll names identified by are registered trademarks of Siemens AG. The remaining trademarks in this publicationmay be trademarks whose use by third parties for their own purposes could violate the rights of the owner.Disclaimer of LiabilityWe have reviewed the contents of this publication to ensure consistency with the hardware and softwaredescribed. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, theinformation in this publication is reviewed regularly and any necessary corrections are included in subsequenteditions.Siemens AGDigital IndustriesPostfach 48 4890026 NÜRNBERGGERMANYA5E03790551-AG 10/2019 Subject to changeCopyright Siemens AG 2011 - 2019.All rights reserved

PrefacePurpose of this manualThis document provides you with detailed information on S7-1200 Motion Control. Thecontents of this document correspond to the STEP 7 V16 online help with respect tocontents and structure. Interaction with STEP 7 is required to understand many parts of thisdocument.This document is aimed at programmers of STEP 7 programs and at people who work in theareas of configuring, commissioning and servicing automation systems with motion controlapplications.Required basic knowledgeGeneral knowledge in the fields of automation engineering and motion control is required tounderstand this document.It is also essential to be familiar with the use of computers or programming devices under theWindows operating system.Because S7-1200 Motion Control is based on STEP 7, you need knowledge of working withSTEP 7.Scope of this manualThis manual is valid for STEP 7 V16.ConventionsThis documentation contains pictures of the devices described. The pictures may differ inminor details from the devices supplied.Please also observe notes labeled as follows:NoteA note contains important information on the product described in the documentation, on thehandling of the product or on the section of the documentation to which particular attentionshould be paid.S7-1200 Motion Control V6.0 to V7.0 in TIA Portal V16Function Manual, 12/2019, A5E03790551-AG3

PrefaceFurther supportIf you have any questions relating to the products described in this manual, and do not findthe answers in this documentation, please contact your Siemens partner at our local offices.You will find your contact person on the A guide to the technical documentation for the various SIMATIC products and systems canbe found on the Internet The online catalog and online ordering system are available on the ng centerWe offer a range of courses to help get you started with the S7 automation system. Pleasecontact your regional training center or the central Training ew/en/24486113).Security informationSiemens provides products and solutions with industrial security functions that support thesecure operation of plants, systems, machines and networks.In order to protect plants, systems, machines and networks against cyber threats, it isnecessary to implement – and continuously maintain – a holistic, state-of-the-art industrialsecurity 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 beconnected to an enterprise network or the internet if and to the extent such a connection isnecessary and only when appropriate security measures (e.g. firewalls and/or networksegmentation) are in place.For additional information on industrial security measures that may be implemented, pleasevisit ns' products and solutions undergo continuous development to make them moresecure. Siemens strongly recommends that product updates are applied as soon as they areavailable and that the latest product versions are used. Use of product versions that are nolonger supported, and failure to apply the latest updates may increase customers' exposureto cyber threats.To stay informed about product updates, subscribe to the Siemens Industrial Security RSSFeed visit 00 Motion Control V6.0 to V7.0 in TIA Portal V164Function Manual, 12/2019, A5E03790551-AG

Table of contentsPreface . 312Introduction . 111.1Motion functionality of the CPU S7-1200 .111.2Hardware components for motion control .12Basics for working with S7-1200 Motion Control . 152.12.1.12.1.22.1.3Stepper motor on the PTO .15CPU outputs relevant for motion control .15How the pulse interface works .19Relationship between the signal type and the direction of travel 2.7.22.2.7.32.2.7.4PROFIdrive drive /analog drive connection .24Drive and encoder connection .24Automatic transfer of drive and encoder parameters in the device .25PROFIdrive .28Closed loop control .29Data connection PROFIdrive drive/PROFIdrive encoder .30Data connection drive with analog drive connection .36Process response .38Organization Blocks for Motion Control .38Process image partition "PIP OB Servo" .40Operational Sequence and Timeouts .40Operating modes .412.3Hardware and software limit switches .432.4Jerk limit .442.5Homing .453Guidelines on use of motion control. 474Using versions . 484.1Overview of versions.484.2Changing a technology version .534.3Compatibility list of variables V1.3 - V4.5 .544.4Compatibility list of variables V4.5 - V6 .574.5Compatibility telegrams V6 - V7 .584.6Status of limit switch .62S7-1200 Motion Control V6.0 to V7.0 in TIA Portal V16Function Manual, 12/2019, A5E03790551-AG5

Table of contents56Positioning axis technology object . 635.1Integration of the positioning axis technology object . 635.2Tools of the positioning axis technology object . 665.3Adding a positioning axis technology object . .6.25.4.6.3Configuring the positioning axis technology object . 69Working with the configuration dialog . 69Monitor values . 70Basic parameters . 71Configuration - General . 71Configuration - Drive . 73Configuration - Encoder . 79Extended parameters . 84Mechanics . 84Configuration - Modulo (PROFIdrive/analog drive connection only) . 86Position limits . 87Dynamics . 92Homing (positioning axis technology object as of V2) . 99Positioning monitoring . 108Configuration - Control loop (PROFIdrive and analog drive connection only) . 110Parameter view . 111Introduction to the parameter view. 111Structure of the parameter view . 114Opening the parameter view . 118Default setting of the parameter view . 119Working with the parameter view . 122Configuring technology modules for Motion Control . 135Overview . 135TM PosInput 1 / TM PosInput 2 . 136TM Count 1x24V / TM Count 2x24V . 138Technology object command table .1406.1Use of the Job Table technology object . 1406.2Command table technology object tools . 1406.3Adding the technological object command table . iguring the command table technology object . 142Working with the configuration dialog . 142Monitor values . 143Basic parameters . 144Configuration - General . 144Command table configuration . 144Shortcut menu commands - Command table . 148Working with the trend diagram . 150Shortcut menu commands - Curve chart . 154Transition from "Complete command" to "Blend motion" . 156Changing the command table configuration in the user program . 158Extended parameters . 159Configuration - Extended parameters . 159Configuration - Dynamics . 160Configuration - Limit values . 161S7-1200 Motion Control V6.0 to V7.0 in TIA Portal V166Function Manual, 12/2019, A5E03790551-AG

Table of contents7Download to CPU . 1628Commissioning . 164910118.1Axis control panel.1648.2Tuning .168Programming . 1729.1Overview of the Motion Control statements .1729.2Creating a user program .1739.3Programming notes.1779.4Behavior of the Motion Control commands after POWER OFF and restart .1799.59.5.19.5.29.5.39.5.4Monitoring active commands .180Monitoring active commands .180Motion control instructions with "Done" output parameter .180Motion control instruction MC MoveVelocity .184Motion control instruction MC MoveJog .1879.6Error displays of the Motion Control statements .1919.7Restart of technology objects .1939.8Parameter transfer for function blocks .194Axis - Diagnostics . 19610.1Status and error bits (technology objects as of V4) .19610.2Motion status .19910.3Dynamics settings .20010.4PROFIdrive frame .201Instructions . 00 Motion Control as of V6.202MC Power .202MC Power: Enable, disable axis as of V6 .202MC Power: Function chart as of V6 .206MC Reset .208MC Reset: Acknowledge fault, restart technology object as of V6 .208MC Home .210MC Home: Home axes, set reference point as of V6 .210MC Halt .215MC Halt: Stop axis as of V6 .215MC Halt: Function chart as of V6 .217MC MoveAbsolute .219MC MoveAbsolute: Absolute positioning of axis as of V6.219MC MoveAbsolute: Function chart as of V6 .222MC MoveRelative .224MC MoveRelative: Relative positioning of axis as of V6.224MC MoveRelative: Function chart as of V6 .226MC MoveVelocity .228MC MoveVelocity: Move axis at set velocity as of V6 .228MC MoveVelocity: Function chart as of V6 .231S7-1200 Motion Control V6.0 to V7.0 in TIA Portal V16Function Manual, 12/2019, A5E03790551-AG7