Technology instructions
10.3 Motion control
S7-1200 Programmable controller
702 System Manual, V4.2, 09/2016, A5E02486680-AK
Axis control using the TM Pulse module
The TM Pulse Module is an ET 200SP two-channel pulse output module for use with valves
and motors. The module can support either two 24 V DC channels at 2 A or one 24 V DC
channel at 4 A.
Using the "DC motor" operating mode of the TM Pulse 2x24V output module, you can drive a
motor in both directions with a bipolar PWM output. You can assign a digital input as an
"External stop" signal for the motor.
The TM Pulse module can perform the following functions to support motion control:
● Programmable output response to CPU/master STOP condition
● Error detection and diagnostics:
– Missing or under voltage L+ supply voltage
– Short-circuit/overload of a digital output
– Short-circuit/under voltage of a sensor power supply
– Over temperature error
– Parameterization fault
– Module/firmware error
Some applications require the ability to move easily to a specific location, but do not require
the absolute accuracy and adherence to a specific profile. The use of a common DC motor in
conjunction with the Closed Loop Servo control is possible using the ET 200SP TM Pulse
module to control the motor. This application example covers one mode of the ET 200SP TM
Pulse module: "PWM with DC Motor". Refer to the
ET 200SP Technology module TM Pulse
2x24V Manual
for further information on the other ET 200SP TM Pulse modes.
In order to use true closed loop control, you require a method of position feedback. You must
connect an encoder to the motor to provide feedback to the control system. This example
shows three methods of achieving this:
● High Speed Counter (HSC) that is built into the S7-1200
● ET 200SP TM Count Module
● ET 200SP TM Position module
In some cases, where moving at various velocities is a requirement, the Closed Loop control
can operate in Speed Control mode. If you use this mode, you do not require position
feedback.
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