Siemens SIMATIC S7-1200 - Page 698

Technology instructions
10.3 Motion control
S7-1200 Programmable controller
698 System Manual, V4.2, 09/2016, A5E02486680-AK
Consistency check
Motion control executes a consistency check during the first startup or restart of the TO axis.
Motion control also displays an ErrorID if the data adaptation of the actor is activated. A
consistency check involves the telegram, motor type, and maximum speed:
● Telegram in "p922" or "p2079": If there is an inconsistency between the TO and drive
configuration, motion control displays an error.
● Motor type in "r108, bit12" of DO-Servo: If there is an inconsistency between the TO and
drive configuration, motion control displays an error.
● The maximum speed is not reachable with the configured axis parameters, and motion
control displays an error. (Note: Motion control does not display this error again after
confirmation if the axis configuration is not changed.)
Special case:
● Maximum speed (p1082) > 2 x reference speed (p2000)
● Motion control reduces the maximum speed to "2x" reference speed internally. The entry
in the axis configuration is not limited. However, motion control adapts the value of
"p1082" and displays an error.
Adapting sensor data
Only data adaptation with an active encoder is supported (p0979).
Amount of adapted data
Motion control adapts the actual value description of "p0979" (including the rotary or linear
encoder configuration) and checks the TIA Portal encoder type parameter, "incremental or
absolute". Motion control does not adapt or evaluate the NIST reference value in Telegram
83.
Correlating the encoder in the telegram to the encoder in the PLC and drive
● Motion control configures the mapping of an encoder in the PLC to the actual value in the
telegram (actual value 1 or actual value 2) in the VREF.RID of two TO-DB parameters:
– <axis>.Sensor[i].Interface.AddressIn
– <axis>.Sensor[i].Interface.AddressOut
● The mapping in the drive occurs with the index setting in "p979" (encoder modeling in
SINAMICS).