TO Basics

Vesa Kovalainen & Pyry-Pekka Lehto

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Technology objects for Motion Control

- Motion control function in 1200/1500-CPU

- Easy to configure w/o deep knowledge of
drives
- Can be configured as Real or Virtual 1) axis
- Visual user interface
- Each TO has it’s own:
• Configuration
• Control panel 2)
• Diagnostics 3)
• Datablock
• Simulation 2)

- PLC-open commands
- Similar programming apart which drive is used
- No additional installations nor licenses are
needed

1) Not 1200
2) Not MeasuringInput, OutputCam, Camtrack, Cam
3) Not Cam
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 Technology objects for Motion Control

1) Application
2) Technology object
3) CPU
4) Programming

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Technology objects for Motion Control
Correct controller to each application

2nd PROFINET IRT interface

High-performance Motion Control 4)

Cross-PLC synchronous operation 3)

Kinematic functions
with conveyor tracking 5)
Camming & Gearing 2)

Gearing 1)

Output cams
Measuring input

Positioning Basic Advanced Advanced SIMOTION

Controller Controller T Controller Motion
Speed control Standard CPU Standard CPU T-CPU Controller

Basic Midrange High-End

1) Synchronization without specification of the synchronous position 2) Synchronization with specification of the synchronous position
3) In one project 4) Cross-projectsynchronization; cams with dynamic size;
2 servo for axis groups
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5) planned for FW-Update V2.8.x (V16)
Technology objects for Motion Control
Motion Control resources

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Technology objects for Motion Control
Amount of axes and performance

Identical basic motion control functions in each CPU

Scalable according to amount of axes and

performance
1511T/TF 1515T/TF 1516T/TF 1517T/TF

40-80 Axes 1)
Max. 5-10 Axes 1) 7-30 Axes 1) 64-128 Axes 1)
30-60 Axes 1)

1510SP
1515SP PC
1512SP 1511 1513 1515 1516 1507S*
ET 200SP
Open Controller S7-1500
Software Controller 1517
1) Positioning axes
1518
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System Portfolio – SIMATIC S7-1500 Motion Control
Amount of axes and features

Distributed Drive
Performance SIMATIC S7-1500 Controller
Controller Controller
(TIA Portal V16) CPU 1511 CPU 1513 CPU 1515 CPU 1516 CPU 1516T CPU 1517 CPU 1518 CPU 1515SP PC2 1504D TF 1507D TF
Number Typical 3) 5 7 55 70 128 30 10 55
Positioning
axes Maximum 10 30 80 128 128 30 30 160
Cross-PLC New
synchronous operation
Technology
Kinematics functions
Motion Control functionality

Camming

abs
.
Gearing1 (with
synchronous position)

rel. Gearing2 (without

synchronous position)
Standard

Output cam /
Measuring input
Positioning

Open-loop speed control

1) Synchronization with specification of the synchronous position
2) Synchronization without specification of the synchronous position
3) In 4 ms at 35% CPU load

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Technology objects for Motion Control
When to use Technology objects
-”If motion control is something else than speed control -> TO”

-Readymade FBs w/o TO for speed controlled axis:

TIA15.1
SINA_SPEED, SINA_SPEED_20, SINA_SPEED_352 (G120_PZD352)

https://support.industry.siemens.com/cs/document/109747655/sinamics-s-g-v%3A-simple-cyclic-funktions-blocks-for-
controlling-a-sinamics-in-tia-portal-?dti=0&lc=en-US

https://support.industry.siemens.com/cs/document/109738702/libraries-in-the-tia-portal?dti=0&lc=en-WW

. TIA13..15

Reference variables: Drive param. p2000→

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LdrvSafe: SIMATIC-safety library for SINAMICS G/S
Readymade FBs for PROFIsafe-control

SIMATIC - Failsafe library LDrvSafe to control the Safety Integrated functions of the SINAMICS drive family
https://support.industry.siemens.com/cs/ww/en/view/109485794

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Technology objects for Motion Control
Organization blocks
- When TO is created, simultaneously OB91 and OB92 are created where
motion control tasks are executed
• Highest priority (1500: 26, 1200: 25)
• Shall not to be interrupted

- OB91 Cycle time

- Shorter cycle loads CPU
• Cyclic: RT, cyclic but not synchronous: G120
• Synchronous to the bus: IRT, synchronous execution tied to CPU’s
send clock. HW support required: V90/S210/S120
• With IRT and DSC: longer Cycle time do not affect positioning
accuracy because position control at Servo CU.

RT = Real time
IRT= Isochronous real time
DSC = Dynamic servo control
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Teknologiaobjektit liikkeenohjaukseen
Control loop

-Drive speed controller must be tuned before tuning TO SERVO

position controller

-DSC “positiong controller at servo CU; TO gives only

setpoint”

-PreControl ja Gain improves motion dynamics and

reduce following error
• Too large gains cause position overshoot
especially with frequency converters

FREQUENCY CONVERTER
-Substitute time delays setpoint to position controller in
relation to PreControl. Can be used to compensate
position overshoot with large gains. In typical cases no
need to adjust from 0.

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Technology objects for Motion Control
Manuals

Motion control manual for TIA Portal - 1200

https://support.industry.siemens.com/cs/document/109754206/simatic-step-7-s7-1200-motion-control-v6-0-in-tia-portal-v15?lc=en-US

Motion control manual for TIA Portal - 1500

https://support.industry.siemens.com/cs/document/109749262/simatic-s7-1500-s7%E2%80%911500-motion-control-v4-0-in-tia-portal-v15?lc=en-US

Motion control manual for TIA Portal – 1500T

https://support.industry.siemens.com/cs/document/109749263/simatic-s7-1500-s7-1500t-motion-control-v4-0-in-tia-portal-v15?lc=en-US

Motion control manual for TIA Portal - Kinematics

https://support.industry.siemens.com/cs/document/109749264/simatic-s7-1500-s7-1500t-kinematics-functions-v4-0-in-tia-portal-v15?lc=en-US

Application examples for motion control

https://www.automation.siemens.com/mc-app/sinamics-application-examples/Home/Index?language=en

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Technology objects for Motion Control
Tips

1) Frequency converters OFF1-ramps has to set 0s! All addional ramps at frequency converter cause additional delay
to position controller and worsen the quality of positioning.
2) The datatype of Technology object is not automatically recognized (i.g TO_PositioningAxis). They have to manually
typed completly.
3) Enable: level 0-1-0, Execute: rising edge
4) Motion tasks can be intrerrupted with another task
5) For same axis (TO) can have multiple similar or different motion tasks
6) Commands’ ”Done” stays True as long as ”Execute” stays True. If only pulse (1 cycle) given to ”Execute”; Done
stays True only one program cycle.
7) Motion task commands are ”normally” called in OB1. If faster reaction due to very rapid sequencies is needed,
commands can be called in other OBs as well, i.g in Pre/PostServo-OB:ssa. Command is effective when OB-servo
is executed next time .
8) MC_MoveVelocity and MC_MoveJog are positioning controlled as default. Set ”PositionControlled”-input False if
this not preferable.

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Live Demo
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 Upcoming industry
webinars
Interested to hear about the upcoming
webinars?
Next webinar:
Advanced Technology Objects for efficient motion control
Friday 3.4.2020 at 14:00-14:45

You will find all the upcoming webinars from here:

www.siemens.fi/webinaarit

If you want to be the first one to hear about our webinars –

register to our distribution list!

Also feel free to register straight away to any of the

interesting webinars.

www.siemens.fi/webinaarit
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Thank you for your attention!

Vesa Kovalainen
Application Engineer
vesa.kovalainen@siemens.com

Pyry-Pekka Lehto
Sales Specialist Motion Control
pyry-pekka.lehto@siemens.com

Subject to changes and errors. The information given in this document only contains general descriptions and/or performance features which may
not always specifically reflect those described, or which may undergo modification in the course of further development of the products. The requested
performance features are binding only when they are expressly agreed upon in the concluded contract.
All product designations, product names, etc. may contain trademarks or other rights of Siemens AG, its affiliated companies or third parties.
Their unauthorized use may infringe the rights of the respective owner.

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