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