Siemens SIMATIC S7-1500 Motion Control V13 - Tags

Basics
3.16 Position-related monitoring
S7-1500 Motion Control V13 Update 3
64 Function Manual, 07/2014, A5E03879256-AC
3.16.4
Tags
The following technology object tags are relevant for positioning monitoring:
Status indicators
<TO>.StatusWord.X7 (Standstill) Is set to the value TRUE , when the actual velocity
value goes below the velocity threshold, and does not
exit it within the minimum dwell time.
The standstill signal is only present at the positioning
axis/synchronous axis.
<TO>.StatusWord.X6 (Done)
Positioning axis/synchronous axis
Is set to the value TRUE, when the actual velocity val-
ue reaches the positioning window within the tolerance
time, and remains for the minimum dwell time in the
window.
Speed axis
Is set to TRUE, when the motion is completed and thus
the speed setpoint is equal to zero.
<TO>.ErrorWord.X12 (PositioningFault)
A positioning error has occurred.
Positions and times
<TO>.PositioningMonitoring.ToleranceTime
Maximum permissible time until positioning window is
reached
The time is started with the end of the setpoint interpo-
lation.
<TO>.PositioningMonitoring.MinDwellTime
Minimum dwell time in the positioning window
<TO>.PositioningMonitoring.Window
Positioning window
Standstill signal
<TO>.StandstillSignal.VelocityThreshold
Velocity threshold for the standstill signal
<TO>.StandstillSignal.MinDwellTime
Minimum dwell time below the velocity threshold
The following technology object tags are relevant for following error monitoring:
Status indicators
<TO>.StatusPositioning.FollowingError
Current following error
<TO>.ErrorWord.X11 (FollowingErrorFault)
Status indication, that the following error is too large
<TO>.WarningWord.X11 (FollowingError-
Warning)
Status indication, that the following error warning limit
has been reached
Control bits
<TO>.FollowingError.EnableMonitoring
Enabling / disabling following error monitoring
Limit values
<TO>.FollowingError.MinVelocity Lower setpoint velocity for the characteristic curve of
the maximum following error
<TO>.FollowingError.MinValue Permissible following error below the
<TO>.FollowingError.MinVelocity
<TO>.FollowingError.MaxValue Maximum permissible following error at maximum axis
velocity
<TO>.FollowingError.WarningLevel Warning limit as a percentage value relative to the
maximum permissible following error (velocity-
dependent in accordance with the characteristic curve)