Table of contents
S7-1200 Programmable controller
System Manual, 03/2014, A5E02486680-AG
13
8.9.1 LOG2GEO (Determine the slot from the hardware identifier) instruction .................................. 404
8.9.2 RD_ADDR (Determine the IO addresses from the hardware identifier) instruction ................... 406
8.10 Common error codes for the "Extended" instructions ................................................................ 407
9 Technology instructions....................................................................................................................... 409
9.1 High-speed counter .................................................................................................................... 409
9.1.1 Operation of the high-speed counter ......................................................................................... 411
9.1.2 Configuration of the HSC ........................................................................................................... 417
9.2 PID control ................................................................................................................................. 418
9.2.1 Inserting the PID instruction and technology object ................................................................... 420
9.2.2 PID_Compact instruction ........................................................................................................... 422
9.2.3 PID_Compact instruction ErrorBit parameters ........................................................................... 426
9.2.4 PID_3Step instruction ................................................................................................................ 428
9.2.5 PID_3Step instruction ErrorBit parameters ................................................................................ 435
9.2.6 Configuring the PID controller .................................................................................................... 437
9.2.7 Commissioning the PID controller.............................................................................................. 439
9.3 Motion control ............................................................................................................................. 441
9.3.1 Phasing ...................................................................................................................................... 446
9.3.2 Configuring a pulse generator .................................................................................................... 448
9.3.3 Configuring the axis ................................................................................................................... 449
9.3.4 Configuring the TO_CommandTable_PTO ................................................................................ 452
9.3.5 Motion control instructions ......................................................................................................... 455
9.3.5.1 MC instruction overview ............................................................................................................. 455
9.3.5.2 MC_Power (Release/block axis) instruction .............................................................................. 456
9.3.5.3 MC_Reset (Confirm error) instruction ........................................................................................ 459
9.3.5.4 MC_Home (Home axis) instruction ............................................................................................ 460
9.3.5.5 MC_Halt (Pause axis) instruction ............................................................................................... 462
9.3.5.6 MC_MoveAbsolute (Position axis absolutely) instruction .......................................................... 464
9.3.5.7 MC_MoveRelative (Position axis relatively) instruction ............................................................. 466
9.3.5.8 MC_MoveVelocity (Move axis at predefined velocity) instruction .............................................. 468
9.3.5.9 MC_MoveJog (Move axis in jog mode) instruction .................................................................... 471
9.3.5.10 MC_CommandTable (Run axis commans as movement sequence) instruction ....................... 473
9.3.5.11 MC_ChangeDynamic (Change dynamc settings for the axis) instruction .................................. 476
9.3.5.12 MC_WriteParam (write parameters of a technology object) instruction ..................................... 478
9.3.5.13 MC_ReadParam instruction (read parameters of a technology object) instruction ................... 480
9.3.6 Operation of motion control for S7-1200 .................................................................................... 481
9.3.6.1 CPU outputs used for motion control ......................................................................................... 481
9.3.6.2 Hardware and software limit switches for motion control .......................................................... 483
9.3.6.3 Homing ....................................................................................................................................... 486
9.3.6.4 Jerk limit ..................................................................................................................................... 491
9.3.7 Commissioning........................................................................................................................... 492
9.3.8 Monitoring active commands ..................................................................................................... 497
9.3.8.1 Monitoring MC instructions with a "Done" output parameter ..................................................... 497
9.3.8.2
Monitoring the MC_Velocity instruction ...................................................................................... 501
9.3.8.3 Monitoring the MC_MoveJog instruction .................................................................................... 505
10 Communication ................................................................................................................................... 509
10.1 Number of asynchronous communication connections supported ............................................ 511
10.2 PROFINET ................................................................................................................................. 512
10.2.1 Local/Partner connection ........................................................................................................... 512
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