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LAxisCtrl_AxisBasedFunctionalities_SIMATIC_V1_0_en_12_2017.pdf
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LAxisCtrl_AxisBasedFunctionalities_SIMATIC_V1_0_en_12_2017
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https://support.industry.siemens.com/cs/ww/en/view/109749348
Library description 12/2017
Axis Control Blocks
for S7-1500 / S7-1500T
LAxisCtrl for SIMATIC
Legal information
Library LAxisCtrl for SIMATIC
Entry-ID: 109749348, V1.0, 12/2017
2
Siemens AG 2017 All rights reserved
Legal information
Use of application examples
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Table of contents
Library LAxisCtrl for SIMATIC
Entry-ID: 109749348, V1.0, 12/2017
3
Siemens AG 2017 All rights reserved
Table of contents
Legal information ..................................................................................................... 2
1 Library Overview ............................................................................................ 4
1.1 Different user scenarios ..................................................................... 5
1.2 Hardware and software requirements................................................. 7
1.3 Library resources ............................................................................... 8
2 Blocks of the Library ...................................................................................... 9
2.1 List of the blocks ................................................................................ 9
2.2 Explanation of the blocks ................................................................. 10
2.2.1 General axis functions ..................................................................... 11
2.2.2 Functions of basic motion coordinate system ................................... 12
2.2.3 Functions of superimposed motion coordinate system ..................... 15
2.2.4 Additional features of axis function blocks ........................................ 15
2.2.5 FB LAxisCtrl_SyncAxisCamming (FB 30600) ................................... 18
2.2.6 FB LAxisCtrl_SyncAxisRelGearing (FB 30601) ................................ 26
2.2.7 FB LAxisCtrl_PosAxis (FB 30602).................................................... 32
2.2.8 FB LAxisCtrl_SpeedAxis (FB 30603) ............................................... 38
2.2.9 FB LAxisCtrl_ExtEncoder (FB 30604) .............................................. 42
2.2.10 FB LAxisCtrl_BrakeControl (FB 30608) ............................................ 45
2.2.11 FB LAxisCtrl_GetAxisStatusWord (FB 30605) .................................. 47
2.2.12 FB LAxisCtrl_GetAxisWarningWord (FB 30606) ............................... 50
2.2.13 FB LAxisCtrl_GetAxisErrorWord (FB 30607) .................................... 52
2.2.14 FB LAxisCtrl_GetExtEncoderStatusWord (FB 30609) ...................... 54
2.2.15 FB LAxisCtrl_GetExtEncoderWarningWord (FB 30610) ................... 55
2.2.16 FB LAxisCtrl_GetExtEncoderErrorWord (FB 30611)......................... 56
2.2.17 PLC data types ................................................................................ 57
3 Working with the Library .............................................................................. 68
3.1 Integrating the library into STEP 7.................................................... 68
3.2 Integrating the library blocks into STEP 7 ......................................... 69
4 Notes and Support ....................................................................................... 70
4.1 Read actual values of TOs ............................................................... 70
5 Related literature .......................................................................................... 71
6 Contact.......................................................................................................... 71
7 History .......................................................................................................... 71
1 Library Overview
1.1 Different user scenarios
Library LAxisCtrl for SIMATIC
Entry-ID: 109749348, V1.0, 12/2017
4
Siemens AG 2017 All rights reserved
1 Library Overview
What you get
This document describes the LAxisCtrl block library. The block library provides you
with the tested code with clearly defined interfaces. They can be used as a basis
for your task to be implemented.
A key concern of the document is to describe
all blocks of the block library
the functionality implemented through these blocks.
Furthermore, this documentation shows possible fields of application and helps you
integrate the library into your STEP 7 project using step-by-step instructions.
Scope of application
• STEP 7 Professional V15
• S7-1500 CPU as of firmware 2.5
• S7-1500T CPU as of firmware 2.5
1 Library Overview
1.1 Different user scenarios
Library LAxisCtrl for SIMATIC
Entry-ID: 109749348, V1.0, 12/2017
5
Siemens AG 2017 All rights reserved
1.1 Different user scenarios
Possible application(s) for the LAxisCtrl library
The following section shows a scenario for a possible application of the LAxisCtrl
library:
Scenario
The library can be used for any type of motion control applications. The included
axis function blocks control the basic functionality of a single axis. The axis function
blocks simplifiy the programming as well as the quick commissioning and testing.
Also additional functionality is included to control the motor holding brake and gives
feedback about the status of an axis.
The blocks according to their axis type can offer the following functionalities:
Enable / disable axis
Reset of an axis (acknowledgement of the errors at the technology object /
restart of the technology object)
Jogging (incremental / continuous)
Move axis at velocity / speed setpoint (position-controlled / non position-
controlled)
Stop / fast stop
Moving / stopping an axis with force / torque limiting with and without fixed
stop detection
Homing (active / passive / setting of a position value / absolute encoder
adjustment / homing on fixed stop)
Positioning (absolute / relative)
Superimposed relative positioning
Gearing (absolute / relative)
Camming (offset and scaling for master and slave, cyclic and non-cyclic
cam disk, different synchronization modes)
Phasing (setting of an offset for an existing synchronous operation)
Stop and disable a slave axis without desynchronizing
(synchronizedMotionSimulation)
Changing the velocity, position, gear ratio and phase shift on-the-fly
Providing status information of the axis (statusWord, errorWord,
warningWord)
Unconditionally opening and closing of the holding brake
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