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  • Writer's pictureDestek Ekibi

SIMATIC S7-1500 T-CPU ‒ Technology objects What is a TO?



Technology objects for motion control

TOs are software objects in the controller

TOs represent the mechanical components

TOs encapsulate technological functions

TOs are configured and parameterized in a standard way

TOs permit motion control to be seen in a simple way





How is a TO integrated in the system?



Technology objects for motion control

TOs for speed, positioning and synchronous axes, cams, output cams, measuring inputs and external encoders/sensors

A TO data block contains all of the configuration data, setpoint/actual values and status information of the TO

TOs communicate with the drive and I/O Drive data are automatically adapted

TOs control (open-loop and closed-loop) a drive or drive group

TOs are programmed via the user program using PLCopen function blocks

Position values with higher resolution (6 decimal places) à Highest accuracy for calculations in the application


Axis types





Control loop ‒ Position control in the controller




Position control in the controller in the servo clock cycle (MC servo)

Speed and current control in the drive

Velocity precontrol (feedforward control) minimizes velocity-dependent following errors of the position control

Balancing (symmetrizing) filters delay the position setpoint with reference to the velocity precontrol




Synchronized axis – Gearing



Gearing with angular synchronism

TO synchronous axis

Leading value is

Setpoint of a leading axis

Setpoint/actual position of a leading axis (T-CPU only)

Actual position of an external encoder (T-CPU only)

A leading value can be switched over

Synchronizing to moving or static leading values

Synchronizing without specifying the synchronous position

Synchronizing with specifying the synchronous position (T-CPU only)

Synchronization according to specified commands

Desynchronizing with specifying the stop position (T-CPU only)

Gear ratio can be changed by a new synchronization command



Synchronous axis – Gearing ‒ Synchronization



Options for synchronisation



Synchronization without specifying a synchronous position “Relative” synchronism

Synchronization using MC_GearIn

At the start of the command, the following axis immediately synchronizes – with the specified dynamic response – to the leading axis à travel with synchronous velocity and acceleration

The synchronous positions result at synchronizing, and cannot be specified in advance

Synchronization with specifying a synchronous position “Absolute” synchronism (S7-1500 T-CPU only)

Synchronization using MC_GearInPos

Leading synchronization using a specified leading value distance or dynamic parameter

Trailing synchronization using a specified leading value distance

The TO independently decides when synchronization begins in order to comply with the specified criteria

Desynchronization with specifying a stop position (S7-1500 T-CPU only)

Desynchronization using a specified leading value distance or dynamic parameter




SIMATIC S7-1500 T-CPU ‒ Technology objects

Synchronous axis – Gearing ‒ Synchronization
















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