Siemens Simatic S7 Series

Table of contents
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
11
9.3.3.4 Modbus slave execution error codes .................................................................................... 448
9.3.4 Modbus master example program ........................................................................................ 448
9.3.5 Modbus advanced user information ...................................................................................... 450
10 Debugging and troubleshooting ............................................................................................................. 453
10.1 Debugging your program ...................................................................................................... 453
10.1.1 Bookmark functions .............................................................................................................. 453
10.1.2 Cross reference table ........................................................................................................... 454
10.2 Displaying program status .................................................................................................... 456
10.2.1 Displaying status in the program editor ................................................................................ 456
10.2.2 Configuring the STL status options ....................................................................................... 459
10.3 Using a status chart to monitor your program ...................................................................... 460
10.4 Forcing specific values ......................................................................................................... 462
10.5 Writing and forcing outputs in STOP mode .......................................................................... 463
10.6 How to execute a limited number of scans ........................................................................... 464
10.7 Hardware troubleshooting guide ........................................................................................... 465
11 PID loops and tuning ............................................................................................................................. 467
11.1 PID loop definition table ........................................................................................................ 468
11.2 Prerequisites ......................................................................................................................... 472
11.3 Auto-hysteresis and auto-deviation ...................................................................................... 472
11.4 Auto-tune sequence .............................................................................................................. 473
11.5 Exception conditions ............................................................................................................. 475
11.6 Notes concerning PV out-of-range (result code 3) ............................................................... 476
11.7 PID Tune control panel ......................................................................................................... 476
12 Open loop motion control ....................................................................................................................... 481
12.1 Using the PWM output .......................................................................................................... 482
12.1.1 Configuring the PWM output ................................................................................................. 482
12.1.2 PWMx_RUN subroutine ........................................................................................................ 483
12.2 Using motion control ............................................................................................................. 485
12.2.1 Maximum and start/stop speeds ........................................................................................... 485
12.2.2 Entering the acceleration and deceleration times ................................................................. 486
12.2.3 Configuring the motion profiles ............................................................................................. 487
12.3 Features of motion control .................................................................................................... 490
12.4 Programming an Axis of Motion ............................................................................................ 492
12.5 Configuring an Axis of Motion ............................................................................................... 493
12.6 Subroutines created by the Motion wizard for the Axis of Motion ........................................ 506
12.6.1 Guidelines for using the Motion subroutines ........................................................................ 507
12.6.2 AXISx_CTRL subroutine ....................................................................................................... 507
12.6.3 AXISx_MAN subroutine ........................................................................................................ 509
12.6.4 AXISx_GOTO subroutine ...................................................................................................... 510
12.6.5 AXISx_RUN subroutine ........................................................................................................ 512
12.6.6 AXISx_RSEEK subroutine .................................................................................................... 513