Siemens SIMATIC S7-1500 Equipment Manual page 24

Product overview
3.4 Firmware functions
Function
Integrated technology
Motion Control
Extended Motion Control
functions
Integrated closed-loop con­
trol functionality
Integrated safety
24
Description
The CPUs support the S7-1500 Motion Control functions
via the technology objects speed axes, positioning axes,
synchronized axes, external encoders, cams, cam tracks
and measuring probes.
• Speed-controlled axis for controlling a drive with
speed specification
• Positioning axis for position-controlled positioning of
a drive
• Synchronous axis to interconnect with a master
value. The axis is synchronized to the master axis pos­
ition.
• External encoder for detecting the actual position of
an encoder and its use as a master value for syn­
chronous operation
• Cams, cam track for position-dependent generation
of switching signals
• Measuring input for fast, accurate and event-depend­
ent sensing of actual positions
You program the technology objects with Motion Control
instructions according to PLCopen.
The technology CPUs of the SIMATIC S7-1500 also sup­
port extended Motion Control functions with the addi­
tional technology objects cam, leading axis proxy and
kinematics:
• Advanced synchronization functions
– Synchronization with specification of the syn­
chronous position
– Actual value coupling
– Leading value or following value shift in gearing
or camming
– Camming
– Synchronization to specified positions
– Cross-PLC synchronous operation
– Velocity gearing
• Up to 4 encoders or measuring systems as actual pos­
ition for position control
• Controlling of kinematics, such as
– Cartesian portals
– Roller pickers
– Delta pickers
– SCARA
• PID Compact (continuous PID controller)
• PID 3Step (step controller for integrating actuators)
• PID Temp (temperature controller for heating and
cooling with two separate actuators)
Additional information
Motion Control topic page
(https://support.industry.siemens.
com/cs/ww/en/view/109751049)
Motion Control topic page
(https://support.industry.siemens.
com/cs/ww/en/view/109751049)
PID control function manual
(https://support.industry.siemens.
com/cs/ww/en/view/108210036)
CPU 1516T-3 PN/DP (6ES7516-3TN00-0AB0)
Equipment Manual, 11/2022, A5E40898375-AC