User Guide

PLC Controlled
Motion for Siemens
- Position AMC
Application software for Control Techniques drives and
Siemens PLCs

Issue: 3
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Safety Information
Persons supervising and performing the electrical installation or maintenance of a Drive and/or an
external Option Unit must be suitably qualified and competent in these duties. They should be given
the opportunity to study, and if necessary, to discuss this User Guide before work is started.
The voltages present in the Drive and external Option Units are capable of inflicting a severe electric
shock and may be lethal. The Stop function of the Drive does not remove dangerous voltages from
the terminals of the Drive and external Option Unit. Mains supplies should be removed before any
servicing work is performed.
The installation instructions should be adhered to. Any questions or doubt should be referred to the
supplier of the equipment. It is the responsibility of the owner or user to ensure that the installation of
the Drive and external Option Unit, and the way in which they are operated and maintained complies
with the requirements of the Health and Safety at Work Act in the United Kingdom and applicable
legislation and regulations and codes of practice in the UK or elsewhere.
The Drive software may incorporate an optional Auto-start facility. In order to prevent the risk of injury
to personnel working on or near the motor or its driven equipment and to prevent potential damage to
equipment, users and operators, all necessary precautions must be taken if operating the Drive in this
mode.
The Stop and Start inputs of the Drive should not be relied upon to ensure safety of personnel. If a
safety hazard could exist from unexpected starting of the Drive, an interlock should be installed to
prevent the motor being inadvertently started.
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or
incorrect installation or adjustment of the optional operating parameters of the equipment or from
mismatching the variable speed drive (Drive) with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a
commitment to a policy of continuous development and improvement, the manufacturer reserves the
right to change the specification of the product or its performance, or the contents of this guide,
without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any
means, electrical or mechanical including photocopying, recording or by an information storage or
retrieval system, without permission in writing from the publisher.

Copyright © February 2021 Nidec Control Techniques Ltd.

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Table of Contents

1 INTRODUCTION ..................................................................................................................................... 5
1.1 TERMINOLOGY........................................................................................................................................ 7
1.2 AOI / FB NAMING CONVENTION ................................................................................................................ 7
1.3 PLC SPECIFICATION ............................................................................................................................... 7
2 POSITION AMC OVERVIEW .................................................................................................................. 8
3 COMMISSIONING THE DRIVE ............................................................................................................. 10
3.1 BEST PRACTICE FOR INSTALLATION ........................................................................................................ 10
3.2 INSTALL CONNECT ................................................................................................................................ 10
3.3 CREATE A CONNECT PROJECT FOR THE APPLICATION .............................................................................. 10
3.4 ASSIGN AN IP ADDRESS ........................................................................................................................ 12
3.5 DEFAULT THE DRIVE AND CONFIGURE THE OPERATING MODE ................................................................... 15
3.6 VERIFY THE DRIVE FIRMWARE VERSION .................................................................................................. 15
3.7 USE THE PLC CONTROLLED MOTION SETUP TOOL TO CONFIGURE THE AXIS ............................................. 17
3.8 APPLY THE SETUP................................................................................................................................. 33
4 PLC SETUP ........................................................................................................................................... 34
4.1 OVERVIEW ........................................................................................................................................... 34
4.2 MINIMUM REQUIREMENTS ...................................................................................................................... 35
4.3 PREREQUISITE PLC SETUP ................................................................................................................... 35
4.4 IMPORT THE GLOBAL LIBRARY ARCHIVE ................................................................................................. 35
4.5 ADD A PLC AND A DRIVE AXIS TO THE PROJECT ...................................................................................... 37
4.6 COPY THE GLOBAL LIBRARY COMPONENTS TO THE PROJECT LIBRARY ...................................................... 43
4.7 CALL THE AXIS EXAMPLE FROM “MAIN” ................................................................................................... 46
4.8 COMPILE, DOWNLOAD AND VERIFY THE AXIS ........................................................................................... 47
4.9 MOVING AN AXIS FOR THE FIRST TIME ..................................................................................................... 51
4.10 DUPLICATING A FB EXAMPLE AXIS ..................................................................................................... 52
4.11 ADDING A DIFFERENT FB EXAMPLE AXIS ............................................................................................ 59
4.12 UPDATING PROJECT FUNCTION BLOCKS ............................................................................................. 68
4.13 UPDATING PROJECT GSD FILES ....................................................................................................... 68
4.14 MAPPING ADDITIONAL DATA .............................................................................................................. 71
5 CT_A_POSITIONAMC FB DESCRIPTION ........................................................................................... 74
5.1 FB DIAGRAM ........................................................................................................................................ 74
5.2 FB PROJECT DOCUMENTATION LANGUAGE ............................................................................................ 75
5.3 MOTION FB TARGETS ........................................................................................................................... 75
5.4 FB FUNCTIONALITY ............................................................................................................................... 75
5.4.1 General ........................................................................................................................... 75
5.4.2 Limit................................................................................................................................. 76
5.4.3 Common motion .............................................................................................................. 77

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 5.4.4 Motion Stop ..................................................................................................................... 78
5.4.5 Jog .................................................................................................................................. 79
5.4.6 Home............................................................................................................................... 80
5.4.7 Position ........................................................................................................................... 81
5.5 FB INPUT / OUTPUTS ............................................................................................................................ 82
5.6 FB INPUTS ........................................................................................................................................... 83
5.7 FB OUTPUTS...................................................................................................................................... 118
5.8 TIMING DIAGRAMS .............................................................................................................................. 140
5.8.1 STS_DriveOn ................................................................................................................ 140
5.8.2 CMD_Home................................................................................................................... 140
5.8.3 CMD_JogForwards and CMD_JogReverse .................................................................. 141
5.8.4 CMD_Position ............................................................................................................... 141
5.8.5 CMD_JogForwards and any other motion CMD bit ....................................................... 142
6 SUPPORTING FUNCTIONALITY ....................................................................................................... 143
6.1 CT_B_M7XXM6XXDRIVESTATUSWORD .............................................................................................. 143
6.1.1 Function Block Diagram ................................................................................................ 143
6.1.2 Library Location ............................................................................................................. 143
6.1.3 Adding the function block to a program ......................................................................... 144
6.1.4 Function Block Input / Outputs ...................................................................................... 146
6.1.5 Function Block Outputs ................................................................................................. 146
6.2 CT_B_M6XXM7XXDIGITALIOREADWORD ........................................................................................... 151
6.2.1 Function Block Diagram ................................................................................................ 151
6.2.2 Library Location ............................................................................................................. 151
6.2.3 Adding the function block to a program ......................................................................... 152
6.2.4 Function Block Input / Outputs ...................................................................................... 154
6.2.5 Function Block Outputs ................................................................................................. 154
6.3 CT_B_M7XXM6XXADDITIONALSTATUSBITS ........................................................................................ 159
6.3.1 Function Block Diagram ................................................................................................ 159
6.3.2 Library location .............................................................................................................. 159
6.3.3 Adding the function block to a program ......................................................................... 160
6.3.4 Function Block Input / Outputs ...................................................................................... 162
6.3.5 Function Block Outputs ................................................................................................. 162
6.4 CT_B_M7XXAMC_STATUS................................................................................................................ 166
6.4.1 Function Block Diagram ................................................................................................ 166
6.4.2 Library Location ............................................................................................................. 166
6.4.3 Adding the function block to a program ......................................................................... 167
6.4.4 Function Block Input / Outputs ...................................................................................... 169
6.4.5 Function Block Outputs ................................................................................................. 169
7 DIAGNOSTICS .................................................................................................................................... 174
7.1 FB ACTIVE ERRORS ........................................................................................................................... 174

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1 Introduction
PLC Controlled Motion from Control Techniques is a standardised motion control interface from a
PLC to a Control Techniques drive. All of the drives within the Commander, Unidrive M and Digitax
HD range can be controlled by at least 1 of the supplied motion interfaces.

Ethernet
There are two sub categories of PLC Controlled Motion interfaces:
• AMC (Advanced Motion Controller) based
o Speed control in user defined units (closed speed and position loop)
▪ For M7xx and HS70
o Position control in user defined units (closed speed and position loop)
▪ For M7xx and HS70
o Electronic Gearbox in user defined units (closed speed and position loop)
▪ For M7xx HS70
• Non-AMC based
o Speed in rpm units (closed speed loop only)
▪ M600 to M7xx and HS70
o Frequency in Hz (open loop)
▪ For M200 to M7xx, C200, C300, HS30 and HS70
This functionality is implemented in the form of AOIs (Add On Instruction) or FBs (Function Blocks)
that can be imported into the given PLC programming environment, and then controlled using cyclic
communications data to the target drive axis. See section 5 CT_A_PositionAMC FB Description for
more information.

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The drive side of the setup is made using a dedicated setup tool for Control Techniques Connect
called “PLC Controlled Motion”. Connect version 2.15.4 must be installed on the user PC incudes the
PLC Controlled setup tool. The setup tool is a guided setup that provides an intuitive way to
configure:
• The control selection
o Hz, rpm, Speed AMC, Position AMC or EGB
• The machine selection
o Gearbox, belt and pulley, ball screw, linear slide, worm drive or user defined
• Motor map
• Option modules
• Encoder setup
• Machine units setup
• Hard limits setup
• Brake control
o Mechanical and electrical
• Network inputs and outputs
• Units optimisation
• Homing

(Example screen shot from the PLC Controlled Motion Connect Setup tool)
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1.1 Terminology
AOI = Add-On Instruction
AMC = Advanced Motion Controller
Forward = A positive speed or an increasing position.
Reverse = A negative speed or a decreasing position.
rpm = Revolutions per minute
CMD = Command
CFG = Configure
STS = Status
PLC = Programmable Logic Controller
RTMoE = Real Time Motion over Ethernet
OB = Organisation Block
FB = Function Block
GSD = General Station Description

1.2 AOI / FB naming convention

There are three prefixes used for the AOIs / FBs:
CT_A_xxx = These are the main motion software blocks to be used by the customer to control a drive;
they are fully editable.
CT_B_xxx = These are software blocks to be used by the customer to read and write data and
information between the drive and PLC, they are not editable.
CT_C_xxx = These software blocks are used in the construction of the main software blocks and are
not intended to be used by the customer, they are not editable.

1.3 PLC Specification

• The PLC must have a minimum of 100KB work memory.
• The amount of memory available limits the maximum number of axes possible.
• The PLC must support PROFINET communications.
• The PLC must support programming via TIA Portal.

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2 Position AMC Overview
IN CT_A_PositionAMC OUT
CyclicDataIn CyclicDataOut

CMD_DriveOn STS_CyclicCommsOK
CMD_DriveReset STS_RTMoE_CommsOK
CMD_MotionStop STS_DriveOn
CMD_JogForward STS_DriveOK
CMD_JogReverse STS_DriveEnabled
CMD_Home STS_CurrentLimitActive
CMD_Position STS_DriveAtZeroSpeed
CMD_SoftwareTravelLimitEnable STS_DriveAtSpeed
CMD_FreezeFlagReset STS_DriveAtPosition
CMD_SpeedFeedForwardOnly STS_ProfileAtZeroSpeed
CMD_ManualBrakeForce
STS_ProfileAtSpeed
CFG_FixedRateEnable STS_ProfileAtPosition
CFG_FixedRateMaxSpeed STS_ProfileAtHomePosition
CFG_RPI_Time
CFG_InvertMotorDirection STS_MotionStopActive
STS_JogActive
CFG_MotionStopDecelTime STS_HomeActive
CFG_MotionStopDecelJerkPercent STS_HomeComplete
CFG_JogSpeed STS_PositionActive
CFG_JogAccelTime STS_PositionComplete
CFG_JogDecelTime STS_EGB_Active
CFG_JogAccelJerkPercent STS_EGB_Locked
CFG_JogDecelJerkPercent STS_SoftwareTravelLimitNegativeOK
CFG_HomeMode STS_SoftwareTravelLimitPositiveOK
CFG_HomeDirection STS_HardwareTravelLimitNegativeOK
CFG_HomeSearchPosition STS_HardwareTravelLimitPositiveOK
CFG_HomeSearchSpeed STS_PositionFollowingErrorLimitOK
CFG_HomeSearchBackOffSpeed STS_SpeedFollowingErrorLimitOK
CFG_HomeOffsetDistance STS_PositionLoopEncoderOK
CFG_HomeOffsetMaxSpeed
CFG_HomeAccelTime STS_FreezeFlag
CFG_HomeDecelTime STS_FB_ActiveError
CFG_HomeAccelJerkPercent STS_DriveActiveAlarm
CFG_HomeDecelJerkPercent STS_DriveLastTrip
CFG_HomeRequiredOnPowerUp STS_DriveLastSubTrip
CFG_PositionSelect STS_DriveLoadPercent
CFG_PositionMotionType STS_DriveActualPosition
CFG_PositionRotaryMode STS_DriveActualSpeed
CFG_Position1Target
CFG_Position1MaxSpeed STS_ProfileInputPosition
CFG_Position1Accel Time STS_ProfileInputSpeed
CFG_Position1Decel Time STS_ProfileOutputPosition
CFG_Position1AccelJerkPercent STS_ProfileOutputSpeed
CFG_Position1DecelJerkPercent STS_PositionRemainingDistance
. .. . .. . . STS_PositionFollowingError
CFG_Position10Target STS_SpeedFollowingError
CFG_Position10MaxSpeed
CFG_Position10AccelTime STS_FreezePosition
CFG_Position10DecelTime STS_PositionCompleteWord
CFG_Position10AccelJerkPercent
CFG_Position10DecelJerkPercent
CFG_SoftwareTravelLimitNegative
CFG_SoftwareTravelLimitPositive
CFG_CurrentLimit
CFG_ProfileAtSpeedWindow
CFG_ProfileAtPositionWindow
CFG_PositionFollowingErrorLimit
CFG_SpeedFollowingErrorLimit
CFG_BypassDebounceDelay
CFG_BypassOvershootProtection

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The Position AMC AOI has the following properties:
• Compatible with Unidrive M7xx
• Enable motion and the drive via CMD_DriveOn.
• Drive resetting via CMD_DriveReset.
• Dedicated stopping reference via CMD_MotionStop with configurable stopping motion profile.
• Jog forward / jog reverse via CMD_JogForwards / CMD_JogReverse with configurable motion
profile for manual control operations.
• 10 independent position references via CMD_Position with individually configurable motion
profile for automated control operations.
• A Homing reference via CMD_Home, with configurable motion profile and 11 different homing
modes.
• Motor direction inversion so motors can be fitted on any side of an application with common
code.
• Speed profile only mode to cancel positional following error when driving into a stalled load.
• Manual brake control forcing to allow maintenance of equipment.
• Configurable limits:
o Torque producing current
o Position error
o Speed error
• Status indications:
o Motion block status (STS_AOI_ActiveError)
o Cyclic communications
o Drive general
o Profile flags and data
o Hardware limits
o Reference active

See section 5 CT_A_PositionAMC FB Description for more information.

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3 Commissioning the drive
This section describes how to commission the drive. It is assumed that before reading this section the
user has wired up the drive in accordance with the relevant user guide, for the drive selected and the
control required by the application including electrical, control and communications connections. It is
further assumed that the drive has been powered up, in accordance with the relevant electrical and
machine safety regulations, and that it functions correctly.

3.1 Best practice for installation

When installing any software including installers from Control Techniques, it is best practice to avoid
installing the software directly from a USB memory device and instead copy the files to the target PC
and install from that copy.
This is because most virus scanning software installed on a target PC have strict rules inhibiting the
functionality of executable files from a USB memory device to prevent virus infection, that will also
prevent a genuine installer file from operating correctly.
Uninstall any previous version of PLC Controlled Motion before installing Connect 2.15.4 which
includes PLC Controlled Motion as part of the installation.

3.2 Install Connect

To use PLC Controlled Motion, the user must first install a minimum of version 2.15.4 Connect. The
software may be downloaded from http://acim.nidec.com/drives/control-techniques or Control
Techniques Support Suite.
Note that from V2.15.4 Connect, PLC Controlled Motion was included in the installation. A separate
installation is no longer required.
The user help and PLC software files are installed in the following directory:
• C:\Users\Public\Public Documents\Control Techniques\PLC Controlled Motion\Siemens

3.3 Create a Connect project for the application

Create a new Connect project to match the requirement of the application:
1. Open the Connect PC software by double clicking the “Connect” icon.

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 2. Ensure the version of Connect is V2.15.4. If an earlier version is installed please upgrade to
V2.15.4; the software file may be obtained from your local Control Techniques Drive Centre /
Distributor or Control Techniques Support Suite.

3. Select Create or Open a “new project” > “New project”

4. Fill in the project name, then select “Empty Project” and click OK:

A new Connect project will be created with the name provided.

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3.4 Assign an IP address
This section shows how to assign an Ethernet digital communications IP address to one or more
target drives.
1. Before starting, connect a Cat 5 or 6 Ethernet cable from the PC Ethernet port to the drives
Ethernet port. The connection may go via a suitable Ethernet switch.
2. In the new Connect project, click “Add drive > Scan for new drives…”:

3. The system will scan for any new drives connected to the PC, including any drives that have
not had an IP address configured yet e.g. a brand new drive does not have an IP address
configured “out of box”.

Where a drive does not have an IP address is will look similar to the screen shot below. Note
that the IP address is 0.0.0.0.

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 Where multiple drives on the network don’t have an IP address assigned, an individual drive
may be identified by using the button, which flashes both of the Ethernet interface
port lights on the target drive at the same time with a pattern of flashes. The pattern is 4
flashes and then a 1 second gap, repeated 4 times.

The IP address can be configured in the drive by clicking . The IP address

editor will start, where the IP address can be specified e.g. 192.168.0.100. Click

when the IP address has been configured.

Once all of the drives on the network have had their IP addresses assigned, click
to add any drives with a check mark, , to the project:

In the example above the drive with IP address 192.168.0.100 would be added to the project

when is clicked.

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 4. Upload the drives IP address configuration to the offline project by clicking

The upload from drives dialog will start. By default, the drives parameters in the Connect
project will be updated for each drive. Click to complete the process.

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3.5 Default the drive and configure the operating mode
If the drive is brand new and has not been previously configured this step is not necessary.
It is important that the drive is defaulted before following the setup instructions to make sure any
previous setup has been removed from the drive. To do this:
• From the “Dashboard” tab click “Online” to connect to the target drive.

• Next click “Default parameters”.

• When the “Default Parameters” pop-up appears configure the operating mode and frequency
if the ones suggested by Connect are not correct using the “Change…” option and then click
“Apply” to make the changes.

3.6 Verify the drive firmware version

A minimum of drive firmware version V01.19.00.00 must be loaded into the drive when working with
an M7xx and PLC Controlled Motion. To verify the software version, navigate to drive parameter
Pr11.029. If the version is V01.18.00.00 or earlier you must upgrade the software; the software file
may be obtained from your local Control Techniques Drive Centre / Distributor or Control Techniques
Support Suite.
To ensure the best performance, the latest versions of firmware available for the drive and
communications interface module should be used.
To update the firmware:
1. Highlight the drive to upgrade in the project tree and then click “Online”.

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 2. Click in the project tree and then from the dashboard click

3. The “Firmware Transfer” tool will open. Select the drive firmware, and then use the
“Browse…” button to locate the V01.19.00.00 drive firmware file.

Make sure that the drive is disabled and that any application software modules e.g. MCi210 or
SI-Applications Plus have their programs stopped.

Click to continue.
4. Click “Start Download” to begin the transfer of the firmware. Please ensure that the drive
remains powered up and the communications stay intact until the process has completed.

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3.7 Use the PLC Controlled Motion setup tool to configure the axis
1. Naviage to the “Dashboard” tab and then select “Setup & Diagnostics > Setup” and click on
“PLC Controlled Motion”.

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 2. Note that the help documents and software resources are available at any time while running
the PLC Controlled Motion setup dialog by clicking on “Libraries and Documentation” button
as shown below.

Videos showing step by step setup of an axis are available on the Control Techniques
YouTube® channel under PLC Controlled Motion.

Context based help is available when the mouse pointer is hovered over items in the PLC
Controlled Motion project to help with configration. If the help panel is not docked under the
project tree it can be invoked by clicking “View” > “Help”:

3. Note that for a complete configuration of the underlying parameters in the drive, the user must
view all of the tabs at least once, either by clicking the tabs to the left or by clicking “Next”.

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 4. Use the “Axis Configuration” tab to select the “PLC Type”, “Control type” and “Machine Type”.
For this example use “Siemens PROFINET”, “Position Control” and “Conveyor”.

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 5. Use the “Motor Setup” tab to select the motor type and then set the “Motor Nameplate” data.
If the machine motor is Leroy Somer or CT Dynamics it may be selected from the motor
database.

Note that the initial setting of the motor type is set depending on the drive mode selected
when the PLC Controlled Motion setup tool is started e.g. if RFC-S is selected then the motor
type is set to Servo.

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 6. Use the “Option Modules” tab to select which port the communications to the PLC will be
serviced with:

This tab may be used to add extra communications or feedback options as required.

Slot 1
Menu 15

Slot 2
Menu 16

Slot 3
Menu 17

Slot locations for Digitax HD (Left) and Unidrive M (Right)

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 7. Use the “Encoder Setup” tab to configure Single Encoder or Dual Loop operation and then
configure the encoder setup:

o Single Encoder operation is the most common configuration where the motor speed
feedback encoder is used to close both the speed loop and the position loop.
o Dual-loop operation is a configuration that has a separate speed loop and position
loop feedback devices.
o Note that regardless of the configuration the P1 Drive encoder interface is always
used as the position feedback input.
The thermistor settings allow the user to configure different types of motor thermistor that
could be connected to the drive feedback interface. The default setup is suitable for most
motors.

Note that for the Control Techniques demo cases for Unidrive M700 and Digitax HD M750, or
where the single motor cable solution is used, the thermistor type must be set to “Encoder” to
get the thermistor data over the EnDat encoder communications.
The Advanced Encoder Settings allow the user to configure whether an absolute encoder is
fitted to the system such that homing is only required once to datum the system when
commissioning.

For systems that require a fast and high precision freeze position capture, (<1us) as part of
the machine configuration or for Homing the position feedback from Drive P1, the freeze
setup controls may be configured:

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 the default configuration will use 24V rising edge signal applied to drive digital input 4 to
trigger the freeze postion capture.

8. Use the machine type tab, e.g. “Conveyor”, to setup the measurement unit properties of the
machine:

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 9. Use the “Hard Limits” tab to configure the drives digital input selection used for hardware axis
limits.

10. Use the “Brake Control” tab to configure the both the dynamic braking resistor and
mechanical brake properties.

o Where a braking resistor is fitted to the drive to dump regenerative energy from the
motor and load, the user must setup the properties of the braking resistor.
o Where a mechanical brake is fitted to the application, the user must select the digital
output that has been connected to the brake circuitry. The user may select from the
available outputs via the “Select the digital output for the brake selection” drop down
menu.

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 o Note that it is possible for maintenance purposes to force the mechanical brake to
apply or release from the CMD_MechanicalBrakeForce FB input. The user must
configure whether to apply or release the brake when manually forcing via the
“Manual Brake Forcing selection” drop down menu.

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 11. The “Units” tab may be used to configure or review:
1. The units and their resolution
2. The AMC position feedback resolution
(normally this is configured the resolution of the feedback device)
3. The maximum motor speed in rpm
(normally the motor rated speed)
4. The maximum speed use to correct any positional following error
(normally 10% of the absolute max axis speed)
5. The maximum and minimum axis positions
6. Maximum axis speed that may be entered into the FB.
7. The final AMC user unit ratios configured by the setup tool
8. Additional ratio calculation information for advanced users

6
2

3
7
4

The motion controller in the target axis drive operates in engineering units as configured by the
Machine Selection tab and the units selected on the Units tab, referred to as UU or User Units
e.g. millimetres is a user unit. In order for the motion controller to operate in these measurement
units the position feedback from the P1 Drive encoder interface and the final speed output from
the motion controller must be converted to and from encoder counts. There is a ratio to convert
the feedback encoder counts to UU, and another one to convert the speed output from the motion
controller from User Units/ms to encoder counts/ms. See the following diagram:

Single-loop simplified scaling

Position and speed
feedback
Motion controller
Position Feedback embedded in the target Output Speed Scaling
Encoder Counts Scaling User Units axis drive. User Units/ms Encoder Counts/ms
Counts Per Revolution Speed reference
Units Per Revolution
Units per revolution for the drive
Counts per revolution

In the previous diagram it can be seen that the scaling conversion, both in and out of the motion
controller, require the number of units in one revolution, (at the load), and the number of encoder
counts per revolution to convert to and from user units and encoder counts. The position feedback
scaling is handled in the motion controller by AMC Slave User Units Ratio Numerator and AMC
Slave User Units Ratio Denominator, and the output speed scaling is handled by AMC Output
User Units Ratio Numerator and AMC Output User Units Ratio Denominator.

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 The number of counts per revolution for a single loop system is set using the position feedback
resolution dropdown:

For a linear system, one that uses linear rather than angular position units e.g. millimetres, the
number of units per revolution is configured on the machine configuration tab e.g. for a Ballscrew
the number of units per revolution is configured by the control below:

For a rotary system the number of units per revolution is selected from a standard list of angular
constants using the Measurement Units dropdown:

For linear and rotary machine selections, the final resolution of the units per revolution and the
units used when operating the motion control PLC code, is set using the minimum user unit
resolution drop down:

For rotary applications that use position control, (Position Control and Electronic Gear box), it is
also possible to operate with rotary rollover, where the range of positions are limited to the
number of rotary units per revolution e.g. for a carousel application, it might be an advantage to
operate in position mode in degree units where the range of available positions is from 0 to 359.
To enable this functionality select “Yes” using the control below on the Units tab:

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 Note that the output speed scaling counts per revolution in single loop operation is the same as
the position feedback, but in dual-loop operation we have a separate encoder to close the speed
loop, so the counts per revolution in this case is related to that encoder and a new control will
appear in the Units tab to allow this to be configured:

For dual-loop operation the simplified diagram of the system is shown in the following diagram:

Dual-loop simplified scaling

Motion controller
Position feedback Position Feedback embedded in the target Output Speed Scaling
Encoder Counts Scaling User Units axis drive. User Units/ms Encoder Counts/ms
Counts Per Revolution Speed reference
Units Per Revolution
Units per revolution for the drive
Counts per revolution

Speed feedback

For a dual-loop system that uses a linear feedback device, the position feedback scaling is made
using the linear encoder setup rather than the position feedback resolution control, since this
feedback device has a direct relationship between an encoder count for comms based encoders,
or a pulse for standard encoders. To select this mode of operation a linear machine type must be
selected e.g. Ballscrew / Linear slide, and the control shown below from the P1 Drive encoder
setup must be selected:

When linear feedback is selected, the following controls setup the linear feedback and also
configure the feedback units per revolution:
Non-comms based linear encoder unit configuration

Comms based linear encoder unit configuration

• The units that the feedback is scaled into is selected using P1 Linear Comms And Line Pitch
Units.
• The distance per pulse or line for non-comms based encoders is configured using P1 Linear
Line Pitch. Note that because this type of encoder has 4 encoder counts per pulse or line, the
units will be automatically divided by 4 to convert to a distance per count.
• The distance per count for comms based encoders is configured using P1 Linear Comms
Pitch.
• The pole pair pitch must be set to 65536 * the comms or line pitch whichever is applicable.

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Dual-loop with linear position feedback simplified scaling

Linear position Motion controller

feedback Position Feedback embedded in the target Output Speed Scaling
Encoder Counts Scaling User Units axis drive. User Units/ms Encoder Counts/ms
Counts Per Revolution Speed reference
Units Per Count
Units per revolution for the drive
1 Count

Speed feedback

The optimal way to configure the ratios, in general, is to ensure that when the user unit has been
selected that the number of units per revolution divided by counts per revolution is in the range of
0.1 to 2.
• When the number of units per revolution is much smaller than the number of encoder counts
per revolution, the maximum axis length will be reduced and the speed profiling will be more
granular.
• When the number of units per revolution is much larger than the number of encoder counts
per revolution, the positional following error will increase proportional to the over scaling of the
units compared to the encoder feedback resolution.
The AMC slave position feedback resolution used by the AMC is a minimum of 65536 counts per
revolution, and may be increased up to the full resolution of the encoder to improve the
performance of the position loop.
The final scaling values used by the AMC are passed through a rationalisor calculation which
converts any decimal values from the scaling calulations into an integer numerator and
denominator for use by the AMC. In the example above the conveyor had a diameter of 100mm
results in 314.159 units per revolution, so to remove the decimal places and give the best
possible resulting resolution the rationalisor has resolved the user unit scaling to 479369 /
100000000 which gives the original drive ratio accurate to 7dp.
The user unit ratio calculations offer the user the ability to see the underpinning values used in the
calculation for the AMC slave feedback and AMC outputs user unit conversion ratios:

The data is divided into slave feedback data and output ratio data where:
• The caluclated (x) numerator and denominator show the pre-rationalisor ratio. This
helps the user see the source values used in the ratio before the rationalisor process
converts the ratio to integer format with a lowest common denominator type caluclation.

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 • The decimal feedback ratio shows the pre-rationalisor decimal ratio i.e. calculated
numerator divided by the calculated denominator. Values closer to 1 give the best
overall resolution and range.
• The margin of error is the difference between the the pre-rationalisor decimal ratio and
the the decimal ratio for the final AMC integer ratio values. This is a measure of how
accurate the final ratios used are where lower values represent a more accurate ratio.
For automated scaling purposes, drive parameter Pr18.001 holds a value that represents the
number of decimal places the user has selected in the tool e.g. a value of 3 represents 3
decimal places where the factor used for the purposes of HMI scaling will be 103 or 1000.

12. The “RTMoE Setup” tab may be used to configure an outgoing master encoder reference to
be consumed by an EGB AMC FB on another drive axis. The user must select a unique link
number for the reference transmitted; this number is then used by the receiving EGB AMC FB
as a reference to this axis. For more information on EGB master references please see the
PLC Controlled Motion for Siemens – EGB AMC user guide.

For convenience, the link number is set to the last 3 digits of the IP address for the Ethernet
interface. The link number can be set manually if required.

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 13. The “Homing” allows the user to configure the digital inputs used to service the homing
routine, this includes the homing switch, homing limit switches, or hard stop homing by
current limit detection. The user can configure whether the homing routine includes a search
for a high precision freeze event. See CFG_HomeMode for more information on homing.

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 14. The “Apply Setup” tab gives the user controls required to complete the setup of the axis, in
the order they are required.

Note that for Open-loop applications running with voltage modes Fixed, Fixed Tapered and
Square the Auto-tune step is not required.

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3.8 Apply the setup
The final steps required to setup the axis are:
1. Download the parameters to the drive, save them and reset any trip by clicking on the
“Download to drive” button.

2. At this point the drive has all of the data needed to tune the drive the connected motor. Before
performing the Autotune pleas ensure you have read the safety information in the drive user
guide. Autotuning may cause the motor shaft to rotate and deliver considerable torque into
any mechanism coupled to the motor. You should be sure before proceeding that you have
taken precautions to prevent injury or danger to life. You should satisfy yourself that if a load
is connected to the motor then the coupling and other mechanical arrangements are capable
of withstanding the full continuous and overload torque of the motor.
3. Note that when using open-loop voltage mode Fixed, Square and Fixed Tapered with a
default setup that an autotune is not required. The only exception is where catch a spinning
motor is enabled.
4. Where a PLC has been used to configure the drives PROFINET connection, disable
PROFINET comms by setting Prx.24.001 to “Off” e.g. for the multi-protocol factory fitted
Ethernet module set Pr4.24.001 to “Off”. For SI-PROFINET V2 disconnect the PLC from the
Ethernet network. The PROFINET comms may be reintroduced after the autotune has been
completed successfully.
5. Autotune the motor by clicking on the “Start Autotune” button. This takes the drive on-line and
starts the autotune wizard. Follow the on-screen instructions to complete the autotune, and
when completed, close the autotune tab.

6. Note that when the Autotune has completed the user must disable the drive via the STO input
at least once before motion will be permitted.
7. When the Autotune has been completed successfully the drive setup must be saved by
clicking on the “Save and start PLC comms” button. This button also reset the
communications to start the PLC communications.

8. Save copy of the drive parameters in the offline project. Click on the “Upload from drive”
button to keep a local copy of the final setup.

9. The next step is to set up the PLC. Note that the PLC code is available in the
C:\Users\Public\Public Documents\Control Techniques\PLC Controlled
Motion\Siemens\Global Library Archive by clicking the “Open PLC code and documentation
button.”

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4 PLC Setup
This section covers how to set up the PLC side configuration. It is assumed that the drive(s) have
been configured using the information in section 3.

4.1 Overview
From the TIA Portal and PLC perspective, all the software files required to get PLC Controlled Motion
working are provided in the following location:
• C:\Users\Public\Public Documents\Control Techniques\PLC Controlled
Motion\Siemens\Global Library Archive
o Once the Global Library Archive has been imported using “Options > Global Libraries
> Retrieve Library” following library structure will be seen:

o Axis Examples gives complete working code for each axis type i.e. Frequency Hz,
Speed RPM, Speed AMC, Position AMC and EGB AMC. All of the examples can be
freely modified.

o Motion System contains all of the underpinning Functions and function blocks that
make up PLC Controlled Motion.

o PROFINET Drive Modules contains configured communications interfaces for Control

Techniques Drives.

▪ For Commander C200 and C300, Unidrive M200, M300, M400 and M600 use
“SI- PROFINET V2”.
▪ For Unidrive M70x, Digitax HD M75x use
“Multi Protocol Factory Fit Ethernet”.

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4.2 Minimum requirements
The minimum requirements for the PLC and programming environment are:
• Minimum of V14 TIA Portal
o Later versions of the operating system are backwardly compatible with this version.
• The PLC must be either a S7-1200 or an S7-1500. Older PLCs like the S7-200/300/400 are
not supported.
• The PLC must have a minimum of 100KB work memory.
• The PLC must support PROFINET communications.
• A suitable Ethernet connection between the drive, PC and PLC.
• At least 1 drive axis that has been configured using the setup described in section 3.

4.3 Prerequisite PLC setup

The following prerequisite setup must be performed before continuing further:
• The PLC hardware must be assembled and connected to a suitable power supply in
accordance with local electrical regulations.
• The PLC PROFINET communications port or optional PROFINET card installed according the
manufacturer’s instructions.
• The PLC PROFINET communications are setup with suitable IP address, e.g. 192.168.0.1
sub net 255.255.255.0 using “TIA Portal > Project View > Online access”
• A minimum of V14 TIA Portal is installed on the user PC.

4.4 Import the Global Library Archive

This section describes how to take the Global Library Archive for PLC Controlled Motion and add it to
the user Global Library in TIA Portal.
1. Open TIA Portal and create a new project.
2. Open the project view.

3. Click “Options > Global libraries > Retrieve library”

4. Navigate using the browser to C:\Users\Public\Public Documents\Control Techniques\PLC
Controlled Motion\Siemens\Global Library Archive\Siemens PLC Controlled Motion Library-
[DATE].zal14 and click open when finished.

5. Choose the target location for the retrieved library, then click OK.

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 6. The new library will be added to “Libraries > Global Libraries”

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4.5 Add a PLC and a drive axis to the project
This section describes how to add a PLC to the project and how to add a single drive axis.
1. Add a PLC to the project by double clicking on “Devices > Add new device”

2. Select the application PLC using the Add new device window. Click “OK” when the correct
PLC has been selected.

3. Check that the PLC can be seen in the project. Click “Online access > Comms Interface >
Update accessible devices”. After 30s or so the application PLC will appear below the comms
adapter name indicating that TIA portal can see the PLC. If the PLC does not appear please
follow the Siemens instructions on how to configure the IP address of a PLC.

It can be seen in the example above that PLC IP adress 192.168.0.30 can be seen by TIA
portal.

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 4. Assign the physical PLC IP address to the project PLC by clicking on
and then click on the tab. Double click on the PLC slice to reveal the PLC
properties box.

On the “General” tab select “PROFINET Interface” and then set the project PLC IP address to
the same one as the physical PLC.

5. Next the drive must be added to the network. To do this click the Library tab and navigate
“Siemens PLC Controlled Motion Library > Master copies > PLC Controlled Motion >
PROFINET Drive Modules”.

For Digitax HD M750 select the interfaces in the “Multi Protocol Factory Fit Ethernet” folder,
and for Commander C200 and C300, Unidrive M200 to M600 and Digitax HD M751 select the
interface in the “SI- PROFINET V2” folder. Unidrive M70x is may be used with either SI-
PROFIBUS V2 or Multi Protocol Factory Fit Ethernet.

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 6. The following example is for an M700 that will run the Position function block which is a part
of the AMC family of motion interfaces so the A1_AMC_Motion interface must be dragged
and dropped into the “Network view” next to the PLC. Note that A1 is short form for Axis1.

The table below indicates which drives, motion FBs, motion examples and PROFINET
interfaces work together:
Drive Motion FB Motion Example PROFINET Interface
Commander CT_A_FrequencyHz Frequency Hz M200 To M400 Axis A1_FrequencyHz_SI_M200_
C200 C300 Example To_M400
Unidrive CT_A_FrequencyHz Frequency Hz C200 C300 Axis
A1_FrequencyHz_SI_C200_
M20x M30x Example
C300
M40x
CT_A_SpeedAMC Speed AMC M750 Axis Example
CT_A_PositionAMC Position AMC M750 Axis Example
A1_AMC_Motion_M750
Digitax HD CT_A_ElectronicGearBox_ EGB AMC M750 Axis Example
M750 AMC
CT_A_SpeedRPM Speed RPM M750 Axis Example A1_SpeedRPM_ M750
CT_A_FrequencyHz Frequency Hz M750 Axis Example A1_FrequencyHz_M750
CT_A_SpeedRPM Speed RPM SI M751 Axis
A1_SpeedRPM_SI_M751
Example
CT_A_FrequencyHz Frequency Hz SI M751 Axis
A1_FrequencyHz_SI_M751
Digitax HD Example
M751 CT_A_SpeedAMC Speed AMC SI M751 Axis
Example
A1_AMC_Motion_SI_M751
CT_A_PositionAMC Position AMC SI M751 Axis
Example

Unidrive CT_A_SpeedRPM Speed RPM M60x Axis Example A1_SpeedRPM_SI_M60x

M60x CT_A_FrequencyHz Frequency Hz M60x Axis Example A1_FrequencyHz_SI_M60x
CT_A_SpeedAMC Speed AMC M70x Axis Example
CT_A_PositionAMC Position AMC M70x Axis Example A1_AMC_Motion_M70x or

CT_A_ElectronicGearBox_ EGB AMC M70x Axis Example A1_AMC_Motion_SI_M70x

AMC
Unidrive
M70x CT_A_SpeedRPM Speed RPM M70x Axis Example A1_SpeedRPM_M70x or
A1_SpeedRPM_SI_M70x
CT_A_FrequencyHz Frequency Hz M70x Axis Example A1_FrequencyHz_M70x or
A1_FrequencyHz_SI_M70x

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 7. Connect the project PLC to the drive comms interface. To do this click on and drag the green
square on the PLC to the green square on the drive comms interface.

Note that the drive axis PROFINET interface interface has changed from Not assigned to
PLC_1 indicating the link has been made.
8. Next the IP address for the target drive must be configured to match the one that was
configured using the PLC Controlled Motion setup tool. Double click on the dark grey box
within the PROFINET interface.

Select the “General” tab and then “PROFINET Interface” and then configure the project IP
address as assigned using the PLC Controlled Motion setup tool.

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 9. The device name and IP address must be assigned to the drive axis. To do this right click on
the rectangular box in the middle of the green link line between the PLC and the PROFINET
interface for the drive, then select “Assign device name”.

The tab will appear.Change the “Online access > Type of

the PG/PC Interface:” to “PN/IE”, and the “PG/PC interface” to match the PC Ethernet interface.

Click to make sure the PLC has its name and IP address assigned. It will
look similar to the example below if it is OK.

Change the “Configured PROFINET device > PROFINET device name” to

“a1_amc_motion_m70x”.

Click to to show the list of available target drive axes. Click on the drive
axis that is going to be a part of the system.

Click to assign the name and project IP address to the target drive axis.

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 When this has been done its entry in the list will change to show that it is OK.

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4.6 Copy the Global Library components to the project library
Note that this section shows calling the CT_A_PositionAMC example routine but the
procedure is similar for all of the examples.
This section describes how to add the PLC Controlled Motion library components to the project
“Program blocks”.
1. Expand the PLC properties in “Project Tree > Devices”. Expand the Siemens PLC Controlled
Motion library in “Libraries > Global libraries”

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 2. Click and drag the “Motion system” folder from the global library to the PLCs “Program blocks”
folder.

When complete, the “System” folder will be visible in the PLC properties under “Program
blocks”.

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 3. Click and drag the axis example for the application from the global library to the PLCs
“Program blocks” folder. The target axis will use the “Position AMC M70x Axis Example”.

When complete the axis example folder will be visible in the PLC properties under “Program
blocks”.

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4.7 Call the axis example from “Main”
Note that this section shows calling the CT_A_PositionAMC example routine but the
procedure is similar for all of the examples.
This section describes how to service the axis example in the PLC code.
1. Double click on “Main” in the project tree to reveal the Main OB ladder programming area.

2. Open the “Position AMC Axis Example” folder under “Devices > PLC > Program blocks”, and
the drag the “PositionAMC_M70x_A1” function block and drop it onto the top rung of the
“Main” OB.

The “Call options” dialog will appear. Change the data block assigned to the one in the
example folder. For the position example the data block is called “PositionAMC_A1_DB”.

Click “OK” when the example data base has been selected. The completed code change will
be similar to the example below:

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4.8 Compile, download and verify the axis
Note that this example shows the CT_A_PositionAMC example routine but the procedure is
similar for all of the examples.
This section shows how to compile and downloads the program to the PLC, and to verify that the
target axis is operating properly.
1. Ensure the PC Ethernet adapter is in the same IP address range as the application drives and
PLC e.g.192.168.0.xxx.
2. Right click on the PLC in “Project Tree > Devices” and select “Compile > Hardware and
software (only changes)” and wait for the code to compile.

3. Download the project to the drive using the “Download to device” button .

The “Extended download to device” dialog will appear if this is the first time the PLC has been
programmed. Configure the connection settings. An example is given below.

When this has been completed click to find the physical PLC on the Ethernet
network, and add it to the “Select target device” list. When the search completes select the
application PLC from the “Select target device” list and then click “Load”

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 If the PLC has been loaded before the “Load Preview dialog will appear where the user
should select “Load”.

4. Check if the cyclic communications are working after the download. Check “Project tree >
Devices > PLC” where “Local modules” and “Distributed I/O” must have a to the right.

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 5. Check if the CT_A_PositionAMC function block is operating correctly. Double click on the
OB under “Project tree > Devices > PLC > Program blocks” to reveal the Main
OB programming area.

Double click on “PositionAMC_M70x_A1” to open the function block instance programming

area, and then scroll down to Network 2, and then click to monitor the code on-line.

STS_CyclicCommsOK will be “TRUE” if the communications are working properly.

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 If it is practical and safe to do so, toggle the 24V signal to the STO / Enable input for the
target axis where STS_DriveEnabled will toggle TRUE/FALSE as the input is changed.

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4.9 Moving an axis for the first time
This section gives a simple guide to setting up and testing the axis:
1. At this stage, provided it is safe to do so, we can test jogging motion on the axis. To run the
axis Set CMD_DriveOn to 1, apply 24V to the enable / STO input(s). The axis motor should
remain stationary.

Note that to access CMD_DriveOn, unlike the Rockwell RSLogix environment, values can’t be
changed directly from the Ladder logic view. Access can be made by directly accessing the
data block e.g. PositionAMC_M70x_A1_DB, or by creating a watch table. A watch table can
be created by navigating to “Project Tree > Devices > PLC > Watch and force tables > Add
new watch table”.

(An example showing a watch window with the CT_A_PositionAMC interface)

2. If the axis motor is noisy when it becomes energised e.g. due to a low resolution feedback
device please increase the current loop filter in drive parameter Pr4.012. In most cases
setting this filter value to 1.0ms will help get rid of the motor noise created by a low resolution
feedback device.
3. If the axis motor has no load connected then the default speed loop gains for the axis drive
will be sufficient to turn the motor. However, if there is a load connected to the motor then the
speed loop gains must be increased to allow smooth control of the motor. The simplest way to
do this is to increase the speed loop P Gain in drive parameter Pr3.010 in steps of 0.01 until
the motor starts to become noisy, (high pitched noise), and then reduce the value till the noise
is acceptable. Next set the Speed loop I gain to 4.00 in drive parameter Pr3.011. This setup
method will give reasonable initial performance in most cases.
4. Set the jogging speed to nominal low value e.g. 10% of the motor rated speed in user units.
The maximum speed in user units is given by the PLC Controlled Motion setup tool on the
units tab by Max operating axis speed in user units/ms – find 10% of this value and put the
value in CFG_JogSpeed.
5. To run the jog reference set CMD_JogForward or CMD_JogReverse to 1, whichever is
appropriate for the applications mechanical arrangement. The axis should now begin to move.
6. Please consult section 5 for further information on the motion FB.
7. Note that further tuning may be required for the best performance, where the relevant drive
parameters are Pr3.010, Pr3.011, Pr39.007 and Pr39.009. In general, the drive speed loop
gains, (Pr3.010 and Pr3.011), must be tuned first followed by the position loop gain Pr39.007.
It is recommended to use Control Techniques CT Scope to view the drives response, where
parameters Pr3.001, Pr3.002, Pr3.003 and Pr39.008 should be monitored.

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4.10 Duplicating a FB example axis
Note that this section shows duplicating a CT_A_PositionAMC example routine but the
procedure is similar for all of the examples.
The following steps show how to duplicate an axis to build up a more complex system with 2 or more
drive axes.
1. Copy and paste an existing axis PROFINET interface.

2. Rename the axis PROFINET interface, e.g. A2_AMC_Motion.

3. Connect the new comms interface to the PLC by clicking and dragging the green square on
the PLC to the green square on the new axis PROFINET interface.

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 4. Verify that the IP address of the new axis PROFINET interface matches the one assigned
when setting up that axis with the PLC Controlled Motion setup tool. To do this click on the
dark grey box with a picture of a drive and motor in it, then Select “General > PROFINET
interface” and scroll down to the axis IP address, and set it as appropriate.

5. Push the name and IP Address to the new axis. Right click on the rectangular box in the
middle of the network connection line, and select “Assign device name”

When the “Assign PROFINET device name” dialog appears, set “Configured PROFINET
device > PROFINET device name” to the name given to the new axis e.g. a2_amc_motion.

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 Click and then highlight the device with the IP Address that matches
the one assigned in step 4, and then click .

When the name and IP address are assigned the entry in the “Accessible devices in the
network table” will change as shown below.

6. Copy and paste the axis function blocks by clicking on “Project tree > Devices > PLC >
Program blocks > Position AMC Axis Example” and copy the folder, then paste when “Project
tree > Devices > PLC > Program blocks” is selected so that the new axis sits at the same
level as the existing one.

Rename the folders and sub items to match the PROFINET interface name.

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 7. Update the PROFINET axis interface name used by the cyclic data function blocks.

Open up the “ReadInputData xxx” function block e.g. ReadInputDataPositionAMC_A2, and

then use find and replace to change “A1_AMC_Motion_M70x” to “A2_AMC_Motion_M70x”.

Repeat this process for the “WriteOutputData xxx” function block e.g.
WriteOutputDataPositionAMC_M70x_A2. When this has been completed the communications
and motion function block are now linked.

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 8. The new axis must be called from the Main OB to service the code. Double click on “Main” in
the project tree to reveal the Main OB ladder programming area.
.

Open the “Position AMC Axis 2 Example” folder under “Devices > PLC > Program blocks”,
and the drag the “PositionAMC_A2” function block and drop it onto the top rung of the “Main”
OB next to the original axis function block.

The “Call options” dialog will appear. Change the data block assigned to the one in the
example folder. For the position example the data block is called “PositionAMC_A2_DB”.

Click “OK” when the example data base has been selected. The completed code change will
be similar to the example below:

9. Please follow steps 4.8

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 Compile, download and verify the axis and 4.9

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 Moving an axis for the first time for details on how to commission the axis.

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4.11 Adding a different FB example axis
Note that this example shows adding a CT_A_EGB_AMC interface but the procedure is similar
for all of the motion interfaces.
The following steps show how to add a different axis type to the project to build up a more complex
system with 2 or more drive axes. This example shows how to add an EGB axis.
1. Add a PROFINET interface for the new axis. Navigate to “Libraries > Global libraries >
Siemens PLC Controlled Motion Library > Master copies > PLC Controlled Motion >
PROFINET Drive Modules”. Select the interface type required by the new axis.

For Digitax HD M750 select the interfaces in the “Multi Protocol Factory Fit Ethernet” folder,
and for Commander C200 and C300, Unidrive M200 to M600 and Digitax HD M751 select the
interface in the “SI- PROFINET V2” folder. Unidrive M70x is may be used with either SI-
PROFIBUS V2 or Multi Protocol Factory Fit Ethernet.

The following example is for an M700 that will run the Electronic Gear Box function block
which is a part of the AMC family of motion interfaces so the A1_AMC_Motion interface must
be dragged and dropped into the “Network view” next to the PLC. Note that A1 is short form
for Axis1.

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 The table below indicates which drives, motion FBs, motion examples and PROFINET interfaces work
together:

Drive Motion FB Motion Example PROFINET Interface

Commander CT_A_FrequencyHz Frequency Hz M200 To M400 Axis A1_FrequencyHz_SI_M200_
C200 C300 Example To_M400
Unidrive CT_A_FrequencyHz Frequency Hz C200 C300 Axis
A1_FrequencyHz_SI_C200_
M20x M30x Example
C300
M40x
CT_A_SpeedAMC Speed AMC M750 Axis Example
CT_A_PositionAMC Position AMC M750 Axis Example
A1_AMC_Motion_M750
Digitax HD CT_A_ElectronicGearBox_ EGB AMC M750 Axis Example
M750 AMC
CT_A_SpeedRPM Speed RPM M750 Axis Example A1_SpeedRPM_ M750
CT_A_FrequencyHz Frequency Hz M750 Axis Example A1_FrequencyHz_M750
CT_A_SpeedRPM Speed RPM SI M751 Axis
A1_SpeedRPM_SI_M751
Example
CT_A_FrequencyHz Frequency Hz SI M751 Axis
A1_FrequencyHz_SI_M751
Digitax HD Example
M751 CT_A_SpeedAMC Speed AMC SI M751 Axis
Example
A1_AMC_Motion_SI_M751
CT_A_PositionAMC Position AMC SI M751 Axis
Example

Unidrive CT_A_SpeedRPM Speed RPM M60x Axis Example A1_SpeedRPM_SI_M60x

M60x CT_A_FrequencyHz Frequency Hz M60x Axis Example A1_FrequencyHz_SI_M60x
CT_A_SpeedAMC Speed AMC M70x Axis Example
CT_A_PositionAMC Position AMC M70x Axis Example A1_AMC_Motion_M70x or

CT_A_ElectronicGearBox_ EGB AMC M70x Axis Example A1_AMC_Motion_SI_M70x

AMC
Unidrive
M70x CT_A_SpeedRPM Speed RPM M70x Axis Example A1_SpeedRPM_M70x or
A1_SpeedRPM_SI_M70x
CT_A_FrequencyHz Frequency Hz M70x Axis Example A1_FrequencyHz_M70x or
A1_FrequencyHz_SI_M70x

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 2. Rename the axis PROFINET interface, e.g. A2_AMC_Motion_M70x.

3. Connect the new comms interface to the PLC by clicking and dragging the green square on
the PLC to the green square on the new axis PROFINET interface.

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 4. Verify that the IP address of the new axis PROFINET interface matches the one assigned
when setting up that axis with the PLC Controlled Motion setup tool. To do this double click on
the dark grey box with a picture of a drive and motor in it, then Select “General > PROFINET
interface” and scroll down to the axis IP address, and set it as appropriate.

5. Push the name and IP Address to the new axis. Right click on the rectangular box in the
middle of the network connection line, and select “Assign device name”

When the “Assign PROFINET device name” dialog appears, set “Configured PROFINET
device > PROFINET device name” to the name given to the new axis e.g.
a2_amc_motion_m70x.

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 Click and then highlight the device with the IP Address that matches
the one assigned in step 4, and then click .

When the name and IP address are assigned the entry in the “Accessible devices in the
network table” will change as shown below.

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 6. Drag and drop the new motion example into the project. Expand the PLC properties in
“Project Tree > Devices”. Expand the Siemens PLC Controlled Motion library in “Libraries >
Global libraries”

Click and drag the axis example for the application from the global library to the PLCs
“Program blocks” folder. The target axis will use the “EGB AMC M70x Axis Example”.

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 7. When complete the axis example folder will be visible in the PLC properties under “Program
blocks”.

Rename the axis to match the comms interface name e.g. EGB AMC Axis 2 Example.

Open up the “ReadInputData xxx” function block e.g. ReadInputData_EGB_AMC_A2, and

then use find and replace to change “A1_AMC_Motion_M70x” to “A2_AMC_Motion_M70x”.

Repeat this process for the “WriteOutputData xxx” function block e.g.
WriteOutputData_EGB_AMC_M70x_A2. When this has been completed the communications
and motion function block are now linked.

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 8. The new axis must be called from the Main OB to service the code. Double click on “Main” in
the project tree to reveal the Main OB ladder programming area.
.

Open the “EGB AMC M70x Axis 2 Example” folder under “Devices > PLC > Program blocks”,
and the drag the “EGB_AMC_M70x_A2” function block and drop it onto the top rung of the
“Main” OB next to the original axis function block.

The “Call options” dialog will appear. Change the data block assigned to the one in the
example folder. For the position example the data block is called
“PositionAMC_M70x_A2_DB”.

Click “OK” when the example data base has been selected. The completed code change will
be similar to the example below:

9. Please follow steps 4.8

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 Compile, download and verify the axis and 4.9

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 Moving an axis for the first time for details on how to commission the axis.

4.12 Updating project function blocks

Updated versions of the Siemens PLC Controlled Motion Library are available in for location below:
C:\Users\Public\Public Documents\Control Techniques\PLC Controlled Motion\Siemens
Follow the steps in section 4.4 Import the Global Library Archive to import the library. Once imported
the complete set of function blocks which provide the under-pinning logic for PLC Controlled Motion
may be updated by simply deleting the System folder under “Project tree > Devices > PLC > Program
Blocks”, and then replace with the new one from the imported global library.

4.13 Updating project GSD files

This section covers how to update Siemens GSD files for Control Techniques PROFINET interfaces.
An updated GSD file may be downloaded from Control Techniques Support Suite or by request from
a Control Techniques drives centre.
1. Place the new GSD .xml file into the current projects “AdditionalFilesGSD” folder.
2. From the top tool bar click “Options > Manage general station descriptions files”.

3. When the “Manage general station description files” dialog appears tick the GSD file that is
“Not yet installed”. Click “Install” to install the GSD to TIA portal.

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 4. When the installation is complete the following installation result will be seen. Click “Close” to
update the hardware catalog.

5. Click and then click on a Control Techniques PROFINET inteface.

The interface will be highlighted with a blue square. This will reveal the properties tab for the
interface.

6. On the “General” tab for the PROFINET interface and scroll down to “Catalog information”
and click “Change revision”.

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 7. When the “GSD file – change revision” dialog appears, highlight the GSD file to change to,
and select “All matching I/O devices of the I/O system” to update all of the GSD files
referenced. Click “OK” to make the update.

8. The new GSD file will be referenced in the “Catalog information” for all I/O devices using the
original GSD file.

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4.14 Mapping additional data
The PROFINET link assignments to the target axis drive allows for 4 user defined inputs, and 4 user
defined outputs. These must be mapped in TIA portal. Use the following steps to map additional drive
parameters:
1. Double click on the “Devices & networks”.

2. When the “Devices & networks” tab opens, double click on the drive and motor icon.

3. When the “Device overview“ tab opens, scroll down past the PLC Controlled Motion
parameter mappings to an empty cell.

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 4. Select a parameter to add to the PROFINET mapping from the “Catalog”. Drag and drop the
required parameter to the empty cell if it is directly listed or a flexible module if it is not.

5. Make a note of the start memory location where the data will be placed, in this example 23:

6. Create a PLC tag and map the memory location from the previous step to it. Double click on
“PLC tags” > “Show all tags”. Create a new Tag, set an appropriate data type, and set the
address for the tag to the %I register start byte address.

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 In the example below the address is %ID23 where %I represents inputs registers, D
represents data type DINT, and 23 is the starting byte for the input PROFINET register.

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5 CT_A_PositionAMC FB Description
5.1 FB Diagram
IN CT_A_PositionAMC OUT
CyclicDataIn CyclicDataOut

CMD_DriveOn STS_CyclicCommsOK
CMD_DriveReset STS_RTMoE_CommsOK
CMD_MotionStop STS_DriveOn
CMD_JogForward STS_DriveOK
CMD_JogReverse STS_DriveEnabled
CMD_Home STS_CurrentLimitActive
CMD_Position STS_DriveAtZeroSpeed
CMD_SoftwareTravelLimitEnable STS_DriveAtSpeed
CMD_FreezeFlagReset STS_DriveAtPosition
CMD_SpeedFeedForwardOnly STS_ProfileAtZeroSpeed
CMD_ManualBrakeForce
STS_ProfileAtSpeed
CFG_FixedRateEnable STS_ProfileAtPosition
CFG_FixedRateMaxSpeed STS_ProfileAtHomePosition
CFG_RPI_Time
CFG_InvertMotorDirection STS_MotionStopActive
STS_JogActive
CFG_MotionStopDecelTime STS_HomeActive
CFG_MotionStopDecelJerkPercent STS_HomeComplete
CFG_JogSpeed STS_PositionActive
CFG_JogAccelTime STS_PositionComplete
CFG_JogDecelTime STS_EGB_Active
CFG_JogAccelJerkPercent STS_EGB_Locked
CFG_JogDecelJerkPercent STS_SoftwareTravelLimitNegativeOK
CFG_HomeMode STS_SoftwareTravelLimitPositiveOK
CFG_HomeDirection STS_HardwareTravelLimitNegativeOK
CFG_HomeSearchPosition STS_HardwareTravelLimitPositiveOK
CFG_HomeSearchSpeed STS_PositionFollowingErrorLimitOK
CFG_HomeSearchBackOffSpeed STS_SpeedFollowingErrorLimitOK
CFG_HomeOffsetDistance STS_PositionLoopEncoderOK
CFG_HomeOffsetMaxSpeed
CFG_HomeAccelTime STS_FreezeFlag
CFG_HomeDecelTime STS_FB_ActiveError
CFG_HomeAccelJerkPercent STS_DriveActiveAlarm
CFG_HomeDecelJerkPercent STS_DriveLastTrip
CFG_HomeRequiredOnPowerUp STS_DriveLastSubTrip
CFG_PositionSelect STS_DriveLoadPercent
CFG_PositionMotionType STS_DriveActualPosition
CFG_PositionRotaryMode STS_DriveActualSpeed
CFG_Position1Target
CFG_Position1MaxSpeed STS_ProfileInputPosition
CFG_Position1Accel Time STS_ProfileInputSpeed
CFG_Position1Decel Time STS_ProfileOutputPosition
CFG_Position1AccelJerkPercent STS_ProfileOutputSpeed
CFG_Position1DecelJerkPercent STS_PositionRemainingDistance
. .. . .. . . STS_PositionFollowingError
CFG_Position10Target STS_SpeedFollowingError
CFG_Position10MaxSpeed
CFG_Position10AccelTime STS_FreezePosition
CFG_Position10DecelTime STS_PositionCompleteWord
CFG_Position10AccelJerkPercent
CFG_Position10DecelJerkPercent
CFG_SoftwareTravelLimitNegative
CFG_SoftwareTravelLimitPositive
CFG_CurrentLimit
CFG_ProfileAtSpeedWindow
CFG_ProfileAtPositionWindow
CFG_PositionFollowingErrorLimit
CFG_SpeedFollowingErrorLimit
CFG_BypassDebounceDelay
CFG_BypassOvershootProtection

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5.2 FB Project Documentation Language
The rung comments, tag comments, help text and version information have been implemented in US
English. It must be noted that if any other language is selected the text-based information will not be
visible if a language other than US English is selected.

5.3 Motion FB targets

This motion function block may be used to control the current range of Control Techniques closed
loop drives including Unidrive M and Digitax HD. The only exception is Digitax HD M753 with
EtherCAT.

5.4 FB Functionality
This section shows the groups of functionality for the CT_A_PositionAMC FB. This provides an
overview of the features and helps the user to identify which type functionality a given input or output
is related to.

5.4.1 General

IN General Functionality OUT

CMD_DriveOn STS_CyclicCommsOK
CMD_DriveReset STS_RTMoE_CommsOK
CMD_ManualBrakeForce STS_DriveOn
CFG_InvertMotorDirection STS_DriveOK
STS_DriveEnabled
STS_FB_ActiveError
STS_DriveActiveAlarm
STS_DriveLastTrip
STS_DriveLastSubTrip
STS_DriveLoadPercent

The general functionality offers the user:

• The ability to enable / disable the target drive and motion controller via CMD_DriveOn, with
status information via STS_DriveOn and STS_DriveEnabled.
• Target drive alarm and trip information via STS_DriveOK, STS_DriveActiveAlarm,
STS_DriveLastTrip and STS_DriveLastSubTrip.
• The ability to reset the target drive in the event of a trip via CMD_DriveReset
• The ability to control the state of the mechanical brake via CMD_ManualBrakeForce, when it
has been configured by the PLC Controlled Motion setup tool.
• The ability to invert the direction of rotation of the target axis motor via
CFG_InvertMotorDirection.
• Status information on the PLC cyclic data, (STS_CyclicCommsOK), and the synchronous
cyclic data used to distribute master position references, (STS_RTMoE_CommsOK).
• Target drive load information via STS_DriveLoadPercent.
• Information on motion function block errors via STS_FB_ActiveError.

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5.4.2 Limit

IN Limit Functionality OUT

CMD_SoftwareTravelLimitEnable STS_CurrentLimitActive
CFG_SoftwareTravelLimitNegative STS_SoftwareTravelLimitNegativeOK
CFG_SoftwareTravelLimitPositive STS_SoftwareTravelLimitPositiveOK
CFG_CurrentLimit STS_HardwareTravelLimitNegativeOK
CFG_PositionFollowingErrorLimit STS_HardwareTravelLimitPositiveOK
CFG_SpeedFollowingErrorLimit STS_PositionFollowingErrorLimitOK
STS_SpeedFollowingErrorLimitOK
STS_PositionLoopEncoderOK
STS_PositionFollowingError
STS_SpeedFollowingError

The operating limits available for the target axis are:

• Hardware axis travel limits configured using the PLC Controlled Motion setup tool and
monitored via STS_HardwareTravelLimitPositiveOK and
STS_HardwareTravelLimitNegativeOK.
• Software axis travel limits configured by CFG_SoftwareTravelLimitPositive and
CFG_SoftwareTravelLimitNegative, monitored by STS_SoftwareTravelLimitPositiveOK and
STS_SoftwareTravelLimitNegativeOK and enabled by CMD_SoftwareTravelLimitEnable.
• Symmetrical current limit control via CFG_CurrentLimit. This may be used to give control over
the torque applied to the motor.
• Speed and position following error limits and monitoring.

CFG_PositionFollowingErrorLimit and CFG_SpeedFollowingErrorLimit,

STS_PositionFollowingErrorLimitOK, STS_SpeedFollowingErrorLimitOK,
STS_PositionFollowingError and STS_SpeedFollowingError are used with this functionality.

The intention is that the user connect the Boolean STS_PositionFollowingErrorLimitOK and
STS_SpeedFollowingErrorLimitOK outputs to some PLC logic that will handle the limit breach
in a way that is sympathetic to the machine design e.g. bring the axis to a stop.
• For dual-loop operation STS_PositionLoopEncoderOK informs the user if the position loop
encoder has failed to stop e.g. if the there is a mechanical or electrical connection issue with
the position feedback encoder.

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5.4.3 Common motion

IN Common Motion Functionality OUT

CMD_SpeedFeedForwardOnly STS_DriveAtZeroSpeed
CMD_FreezeFlagReset STS_DriveAtSpeed
CFG_FixedRateEnable STS_DriveAtPosition
CFG_FixedRateMaxSpeed STS_ProfileAtZeroSpeed
CFG_ProfileAtSpeedWindow STS_ProfileAtSpeed
CFG_ProfileAtPositionWindow STS_ProfileAtPosition
STS_ProfileAtHomePosition
STS_FreezeFlag
STS_DriveActualPosition
STS_DriveActualSpeed
STS_ProfileInputPosition
STS_ProfileInputSpeed
STS_ProfileOutputPosition
STS_ProfileOutputSpeed
STS_FreezePosition

The common motion functions are:

• Ability to hold the positional following error at 0, disabling the position loop for applications
where the load may be stalled as part of the machine operation via
CMD_SpeedFeedForwardOnly.
• The ability to capture the slave position feedback as high-speed edge triggered capture,
(<1us), via the freeze functionality.

CMD_FreezeFlagReset, STS_FreezeFlag and STS_FreezePosition are used with this

functionality.
• The acceleration, deceleration and jerk rates may be calculated based upon the reference
speed, or a fixed maximum speed like the Frequency Hz and Speed RPM motion interfaces
using CFG_FixedRateEnable and CFG_FixedRateMaxSpeed.
• Profile and Drive speed and position monitoring. Profile monitoring is an indication of the
motion profile generator, and Drive monitoring is related to the slave position feedback
encoder.

CFG_ProfileAtSpeedWindow, CFG_ProfileAtPositionWindow, STS_DriveAtZeroSpeed,

STS_DriveAtSpeed, STS_DriveAtPosition, STS_ProfileAtSpeed, STS_ProfileAtPosition,
STS_ProfileAtHomePosition, STS_DriveActualPosition, STS_DriveActualSpeed,
STS_ProfileInputPosition, STS_ProfileInputSpeed, STS_ProfileOutputPosition and
STS_ProfileOutputSpeed are used with this functionality.

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5.4.4 Motion Stop

IN Motion Stop Functionality OUT

CMD_MotionStop STS_MotionStopActive
CFG_MotionStopDecelTime
CFG_MotionStopDecelJerkPercent

Motion stop gives the user the ability to ramp the motion profile to a stop. This reference has
individual deceleration time and jerk percentage so the deceleration may be customised to the
machine requirement.
Motion Stop is intended to be used to rapidly stop the axis where the user would normally set the jerk
percentage to 0, (giving linear speed ramps), and a small deceleration time.
When CMD_MotionStop is activated it has priority over all other motion references e.g. if the system
is jogging using CMD_JogForward and later motion stop is activated by setting CMD_MotionStop to 1
then the motion stop profile will be activated bringing the profile stop overriding the jog command.
Note that Motion Stop does not remove positional following error. To do this consider using
CMD_SpeedFeedForwardOnly in conjunction with the jog reference.

CFG_MotionStopDecelJerkPercent

Axis Speed
CFG_MotionStopDecelTime
CMD_MotionStop
STS_MotionStopActive
Motion CMD
Motion Active STS

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5.4.5 Jog

IN Jog Functionality OUT

CMD_JogForward STS_JogActive
CMD_JogReverse
CFG_JogSpeed
CFG_JogAccelTime
CFG_JogDecelTime
CFG_JogAccelJerkPercent
CFG_JogDecelJerkPercent

The jog function gives the user a standard interface to implement a standard manual jogging control.
The jogging reference has independent control inputs for jogging forward and jogging in reverse that
may be routed to a manual user control.
The jogging reference has its own motion profile where the jogging speed, accel/decel time and
accel/decel jerk percentage can be configured.
Note that the Jog reference does not remove positional following error. To do this consider using
CMD_SpeedFeedForwardOnly in conjunction with the jog reference.
Status information is available to allow the used to detect when the jog reference is active, indicated
by STS_JogActive.

CFG_JogSpeed
CFG_JogAccelJerkPercent CFG_JogDecelJerkPercent

CFG_JogDecelTime
CFG_JogAccelTime
CMD_JogForward
STS_JogActive
CMD_JogReverse

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5.4.6 Home

IN Home Functionality OUT

CMD_Home STS_HomeActive
CFG_HomeMode STS_HomeComplete
CFG_HomeDirection
CFG_HomeSearchPosition
CFG_HomeSearchSpeed
CFG_HomeSearchBackOffSpeed
CFG_HomeOffsetDistance
CFG_HomeOffsetMaxSpeed
CFG_HomeAccelTime
CFG_HomeDecelTime
CFG_HomeAccelJerkPercent
CFG_HomeDecelJerkPercent
CFG_HomeRequiredOnPowerUp

The homing functionality is very flexible and comes with 11 different homing routines that allow it to be
applied to many different mechanical arrangements. See CFG_HomeMode for more information on
the different homing routines available.
The hardware configuration for the home is configured using the PLC Controlled Motion setup tool,
and allows the user to select a variety of homing sensor inputs including:
• Homing to a hard stop (current threshold detection).
• Homing to a 24V switched input.
• Homing to a high precision position capture (freeze).
• Homing to a marker pulse.
Homing is started using CMD_Home, where the motion profile used to find the homing sensor (home
search phase) and to reach the final resting position (home offset phase) is fully configurable. Status
information is given to indicate when the homing reference has been activated and when the homing
routine has been completed.

CFG_HomeSearchPosition

CFG_HomeOffsetMaxSpeed
CFG_HomeAccelJerkPercent CFG_HomeDecelJerkPercent
CFG_HomeSearchSpeed CFG_HomeOffsetDistance

CFG_HomeSearchBackOffSpeed CFG_HomeDecelTime
CFG_HomeAccelTime
CMD_Home
STS_HomeActive
STS_HomeComplete

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5.4.7 Position

IN Position Functionality OUT

CMD_Position STS_PositionActive
CFG_PositionSelect STS_PositionComplete
CFG_PositionMotionType STS_PositionCompleteWord
CFG_PositionRotaryMode STS_PositionRemainingDistance
CFG_Position1Target
CFG_Position1MaxSpeed
CFG_Position1Accel Time
CFG_Position1Decel Time
CFG_Position1AccelJerkPercent
CFG_Position1DecelJerkPercent
........
CFG_Position10Target
CFG_Position10MaxSpeed
CFG_Position10AccelTime
CFG_Position10DecelTime
CFG_Position10AccelJerkPercent
CFG_Position10DecelJerkPercent

The position reference allows the user to make the target axis move to a specific position on the axis,
(absolute positioning), or repeat a set distance (relative indexing), configured using
CFG_PositionMotionType.
The Position FB has 10 individual position targets, selected by CFG_PositionSelect, where each
target has its own motion profile e.g. maximum speed, accel time / jerk percent and decel time / jerk
percent.
In addition, rotary positioning is available which when configured using the PLC Controlled Motion
setup tool, allows the user to make movements within a rotary range e.g. the range of positions
available could be within 1 revolution at the load. The profile handling in rotary mode is selected using
CFG_PositionRotaryMode e.g. shortest route, always forward and always reverse.
Status information is available to allow the used to detect when the position reference is active, when
the target has been reached, and if the position has not been reached e.g. if the machine is stopped
part way through a move, the remaining distance to the intended target using
STS_PositionRemainingDistance.

CFG_Position(n)MaxSpeed
CFG_Position(n)AccelJerkPercent CFG_Position(n)DecelJerkPercent
CFG_Position(n)Target

CFG_Position(n)DecelTime
CFG_Position(n)AccelTime
CMD_Position
STS_PositionActive
STS_PositionComplete

(n) = CFG_PositionSelect

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5.5 FB Input / Outputs

FB Parameter CyclicDataIn

Description The function block interface to the PROFINET cyclic input mapping data. Each
DINT element in the array represents a value received from the target drive by
the PLC.
This must be linked to the #CyclicDataIn tag connected to the instance of the
ReadInputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive Parameter N/A
Minimum N/A Maximum N/A
Visible Yes Required Yes

FB Parameter CyclicDataOut

Description The function block interface to the PROFINET cyclic output mapping data. Each
DINT element in the array represents a value sent by the PLC to the drive.
This must be linked to the #CyclicDataOut tag connected to the instance of the
WriteOutputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive N/A
Parameter
Minimum N/A Maximum N/A
Visible Yes Required Yes

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5.6 FB Inputs

FB Parameter CMD_DriveOn

Description When set to 0, the drive will become inhibited by removing the software
enable, the run signal will be removed and the AMC will be disabled.
When set to 1, the drive will be software enabled, a run signal will be
applied and the AMC will be enabled. Provide the hardware enable is
applied to the drive by applying 24V to T31 on M700 or T11 and T13 on
M702, the drive will transition to the run state where the axis will be held in
position by the AMC position loop until a motion reference is selected.
In the event that a homing routine has been completed and the axis is
disabled via CMD_DriveOn = 0, the position count in
STS_DriveActualPosition, STS_ProfileInputPosition and will be retained. If
a home has not been completed and the axis is disabled via CMD_DriveOn
= 0, the position count in STS_DriveActualPosition,
STS_ProfileInputPosition will be reset.
In the event that CMD_MotionStop = 1 at the same time as CMD_DriveOn
changes from 1 to 0 (motion was in progress), CMD_MotionStop has
priority and will bring the axis to a controlled stop before disabling the target
drive.
If the drive powers down for any reason whilst the PLC is still running, the
under voltage bit (10.016) is used to detect this event.
In the event that CMD_DriveOn = 0 and a motion CMD bit = 1 and
STS_CyclicCommsOK = 0 or Drive Under voltage = 1, when the drive
recovers the CMD_DriveOn off status will be retained and the drive will go
into Inhibit when comms recovers.
In the event that CMD_DriveOn = 1 and a motion CMD bit = 1 and
STS_CyclicCommsOK = 0 or Drive Under voltage = 1, when the drive
recovers the CMD_DriveOn on status will be retained and the drive will go
into Run mode but CMD_MotionStop will be implicitly selected to prevent
motion, as indicated by STS_MotionStopActive. To begin motion after an
implicit CMD_MotionStop all motion CMD_ bits must be set to 0 and then
reinstated as required.
In the event that STS_PositionLoopEncoderOK = 0, the axis will be stopped
implicitly by disabling the target axis and STS_PositionFollowingError will
be held at the last value before the axis was stopped. To reset the implicit
stop, STS_PositionLoopEncoderOK and STS_PositionFollowingError the
user must set CMD_DriveOn to.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr6.042 Bit 0 & 5,
PR41.019 Bit 0
Minimum 0 Maximum 1
Visible Yes Required Yes

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 FB Parameter CMD_DriveReset

Description On a rising edge transition, from 0 to 1, the drive will be reset. This is the
equivalent of pressing the red reset button on the keypad of the target drive
axis. Internally the reset will be actioned for 150ms to allow the command to
propagate to the target drive axis via PROFINET cyclic communications.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr6.042 Bit13
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter CMD_MotionStop

Description When set to 1, all other motion references will be superseded by motion
stop regardless of the state of their CMD bit. The target drive axis will be
stopped using the profile defined by CFG_MotionStopDecelTime and
CFG_MotionStopDecelJerkPercent.
Once motion stop has been requested, the target drive axis will be
commanded to reach zero speed even if CMD_MotionStop is set to 0. Once
the target drive axis has stopped i.e. STS_ProfileAtZeroSpeed = 1, new
motion can only be started provided CMD_MotionStop = 0 and the other
motion reference are not selected for at least one PLC task scan i.e.
CMD_JogForward = 0, CMD_JogReverse = 0, CMD_Home = 0,
CMD_Position = 0 for a minimum of one PLC task scan. This prevents the
target drive axis from inadvertently moving following completion of a motion
stop.
In the event that CMD_MotionStop = 1 at the same time as CMD_DriveOn
changes from 1 to 0 (motion was in progress), CMD_MotionStop has
priority and will bring the axis to a controlled stop before disabling the target
drive.
This motion reference can only be activated when STS_DriveOn = 1.
Motion stop deceleration and Jerk profile are calculated against the
previous scans sampled speed from STS_ProfileOutputSpeed, where this
speed is sampled and held when motion stop becomes active.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter CMD_JogForward

Description When set to 1, the target drive axis will jog forwards using the profile
configuration defined by CFG_JogSpeed, CFG_JogAccelTime,
CFG_JogAccelJerkPercent, CFG_JogDecelTime and
CFG_JogDecelJerkPercent.
CMD_JogForward and CMD_JogReverse are XORed with each other
where:
• CMD_JogForward = 0 and CMD_JogReverse = 0 → No selection
• CMD_JogForward = 1 and CMD_JogReverse = 1 → No selection
• CMD_JogForward = 1 and CMD_JogReverse = 0 → Jog Forward
• CMD_JogForward = 0 and CMD_JogReverse = 1 → Jog Reverse
When the axis has been jogging and CMD_JogForward and
CMD_JogReverse = 0, then the axis will decelerate to a stop using the
profile defined by CFG_JogDecelTime and CFG_JogDecelJerkPercent.
This motion reference is superseded by CMD_MotionStop.
This motion reference can only be activated when STS_DriveOn = 1 and
when no other motion reference is selected.
Note that the Jog reference does not remove positional following error. To
do this consider using CMD_SpeedFeedForwardOnly in conjunction with
the jog reference.
All motion CMD bit inputs are implemented on a first come first served basis
with the first received CMD locking out all others except CMD_MotionStop
which has overriding priority.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter CMD_JogReverse

Description When set to 1, the target drive axis will jog reverse using the profile
configuration defined by -CFG_JogSpeed, CFG_JogAccelTime,
CFG_JogAccelJerkPercent, CFG_JogDecelTime and
CFG_JogDecelJerkPercent.
CMD_JogForward and CMD_JogReverse are XORed with each other
where:
• CMD_JogForward = 0 and CMD_JogReverse = 0 → No selection
• CMD_JogForward = 1 and CMD_JogReverse = 1 → No selection
• CMD_JogForward = 1 and CMD_JogReverse = 0 → Jog Forward
• CMD_JogForward = 0 and CMD_JogReverse = 1 → Jog Reverse
When the axis has been jogging and CMD_JogForward and
CMD_JogReverse = 0, then the axis will decelerate to a stop using the
profile defined by CFG_JogDecelTime and CFG_JogDecelJerkPercent.
This motion reference is superseded by CMD_MotionStop.
This motion reference can only be activated when STS_DriveOn = 1 and
when no other motion reference is selected.
Note that the Jog reference does not remove positional following error. To
do this consider using CMD_SpeedFeedForwardOnly in conjunction with
the jog reference.
All motion CMD bit inputs are implemented on a first come first served basis
with the first received CMD locking out all others except CMD_MotionStop
which has overriding priority.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CMD_Home

Description When set to 1, the target drive axis will action the homing routine selected
using CFG_HomeMode and will move in the direction specified by
CFG_HomeDirection using the profile (CFG_HomeDirection is only
applicable to modes 1 and -2) configuration defined by
CFG_HomeSearchPosition, CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent and CFG_HomeDecelJerkPercent until the
search phase of the homing routine is completed.
The home offset phase starts when the search phase completes where the
final resting position of the target drive axis specified by
CFG_HomeOffsetPosition will be achieved using the profile defined by
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime,
CFG_HomeDecelTime, CFG_HomeAccelJerkPercent and
CFG_HomeDecelJerkPercent.
When homing completes, (STS_HomeComplete = 1), the homed position
will be retained even if the target axis drive is disabled via the STO input or
a drive trip by setting AMC parameter 31.003 to 1. Prior to the first home
being completed, AMC parameter 31.003 = 0, and therefore the axis
position will be reset when the axis is disabled via the STO input or a drive
trip.
This motion reference is superseded by CMD_MotionStop.
This motion reference can only be activated when STS_DriveOn = 1 and
when no other motion reference is selected.
All motion CMD bit inputs are implemented on a first come first served basis
with the first received CMD locking out all others except CMD_MotionStop
which has overriding priority.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CMD_Position

Description When set to 1, the target drive axis will move to the axis position specified
by CFG_PositionSelect(n) and CFG_PositionMotionType using the profile
configuration defined by CFG_Position(n)MaxSpeed,
CFG_Position(n)AccelTime, CFG_Position(n)DecelTime,
CFG_Position(n)AccelJerkPercent and CFG_Position(n)DecelJerkPercent.
This motion reference is superseded by CMD_MotionStop.
While CMD_Position = 1, CFG_Position(n), CFG_Position(n)MaxSpeed,
CFG_Position(n)AccelTime, CFG_Position(n)DecelTime,
CFG_Position(n)AccelJerkPercent and CFG_Position(n)DecelJerkPercent
may be changed to a different target while the movement is in progress.
If CMD_Position is set to 0 while a movement is in progress the axis will
decelerate to a stop using the profile defined by CFG_Position(n)DecelTime
and CFG_Position(n)DecelJerkPercent, the position target will be
disregarded.
This motion reference can only be activated when STS_DriveOn = 1 and
when no other motion reference is selected.
All motion CMD bit inputs are implemented on a first come first served basis
with the first received CMD locking out all others except CMD_MotionStop
which has overriding priority.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CMD_SoftwareTravelLimitEnable

Description When set to 0 the software travel limits defined by

CFG_SoftwareTravelLimitNegative and CFG_SoftwareTravelLimitPositive
are disabled.
When set to 1, the software travel limits defined by
CFG_SoftwareTravelLimitNegative and CFG_SoftwareTravelLimitPositive
are active.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr41.019 Bit11
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter CMD_FreezeFlagReset

Description On a rising edge, a 0 to 1 transition, the slave axis freeze flag, STS_ will be
reset to 0 allowing a new AMC slave axis feedback freeze position to be
captured in STS_FreezePosition. The reset of this flag takes 150ms to
complete.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr33.010
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter CMD_SpeedFeedForwardOnly

Description When set to 0, the AMC closes the position loop and speed feed forward is
provided.
When set to 1, the speed feed forward is provided, and the position loop is
disabled by resetting the following error when the CMD_JogForward,
CMD_JogReverse and CMD_MotionStop references are used and when
implicitly stopping when a motion related CMD bit is set from 1 to 0. For all
other motion related CMD functions the position loop is active.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr41.019 Bit10
Minimum 0 Maximum 1
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CMD_ManualBrakeForce

Description When set to 0, the mechanical brake controller in the target axis drive is in
charge of the operation of the brake control output.
When set to 1, the mechanical brake controller in the target axis drive is
bypassed and the output is forced to apply or release brake control output
as requested. The PLC Controlled Motion Connect setup tool sets whether
the brake is applied or released when forced.
Note that the manual brake force feature completely overrides the brake
controller such that even if the drive is tripped the brake will remain forced
to the user selected state (applied or released).
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr12.010
Minimum 0 Maximum 1
Visible Yes Required No

AOI Parameter CFG_FixedRateEnable

Description When CFG_FixedRateEnable = 0 the acceleration time, deceleration time,

acceleration jerk percentage, and deceleration jerk percentage are based
on going from the current speed to the target speed for the given motion
reference. This is suitable for applications where the target speed does not
change while the reference target is being reached.
When CFG_FixedRateEnable = 1 the acceleration time, deceleration time,
acceleration jerk percentage, and deceleration jerk percentage are based
on going from 0 to CFG_FixedRateMaxSpeed. This gives a similar
operation to the Frequency Hz and Speed RPM AOI/Function blocks. This
allows the target speed to be changed for a given motion reference where
the acceleration rates and jerks will be fixed, provided
CFG_FixedRateMaxSpeed remains constant. This is suitable for
applications where the target speed changes while the reference target is
being reached.
Changes to this input are only accepted while there are no active motion
commands.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 AOI Parameter CFG_FixedRateMaxSpeed

Description When CFG_FixedRateEnable = 0, this input is ignored.

When CFG_FixedRateEnable = 1 the acceleration time, deceleration time,
acceleration jerk percentage, and deceleration jerk percentage are based
on going from 0 to CFG_FixedRateMaxSpeed. Changes to this value are
accepted during motion and will affect all motion references while
CFG_FixedRateEnable = 1, so ideally this value should only be updated
while there are no active motion commands.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 1.00 Maximum 21474836.47
Visible Yes Required No

FB Parameter CFG_RPI_Time

Description CFG_RPI_Time allows the user to optimise the reference timing from the
PLC to the target axis. CFG_RPI_Time must be set to the Ethernet cyclic
link update time in millisecond units. The PLC cyclic communication time
must not be set greater than 100ms. The default of 100ms will work in all
cases but offers the least optimised reference timing to the target axis.
Usage Input Data Type DINT
Unit ms Drive Parameter N/A
Minimum 1 Maximum 100
Visible Yes Required No

FB Parameter CFG_InvertMotorDirection

Description When CFG_InvertMotorDirection = 0, the default motor direction is active,

when set to 1, the invert of the default motor direction is active.
CFG_InvertMotorDirection can only be changed when all CMD bits = 0 and
STS_ProfileAtZeroSpeed = 1.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr41.019 Bit7 & Bit8
Minimum 0 Maximum 1
Visible No Required No

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PLC Controlled Motion for Siemens – Position AMC

FB Parameter CFG_MotionStopDecelTime

Description Defines the deceleration time in milliseconds, used when CMD_MotionStop

= 1.
While CMD_MotionStop = 1, CFG_MotionStopDecelTime and
CFG_MotionStopDecelJerkPercent and may be changed to a different
target while STS_MotionStopActive = 1.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit ms Drive Parameter Pr38.002
Minimum 0.0 Maximum 2147483647.0
Visible Yes Required No

FB Parameter CFG_MotionStopDecelJerkPercent

Description Defines the deceleration jerk rate in % percentage when CMD_MotionStop

= 1. The acceleration time will not change as the jerk percentage is
modified. When set to 0%, linear speed ramps will be used, when set to
100%, maximum S Ramp will be applied.
While CMD_MotionStop = 1, CFG_MotionStopDecelTime and
CFG_MotionStopDecelJerkPercent and may be changed to a different
target while STS_MotionStopActive = 1.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CFG_JogSpeed

Description Defines the maximum speed in units/ms used when CMD_JogForward or

CMD_JogReverse = 1. Fixed precision of 2 decimal places.
While CMD_JogForward or CMD_JogReverse = 1, CFG_JogSpeed may be
changed to a different target while the movement is in progress.
Values < 0 will be internally limited to 0.
Usage Input Data Type REAL
Unit Units/ms Drive Parameter Pr34.006
Minimum 0.0 Maximum 21474834.00
Visible Yes Required No

FB Parameter CFG_JogAccelTime

Description Defines the acceleration time in milliseconds, used when CMD_JogForward

or CMD_JogReverse = 1.
While CMD_JogForward or CMD_JogReverse = 1, CFG_JogAccelTime
may be changed to a different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type DINT
Unit ms Drive Parameter Pr38.001
Minimum 0.0 Maximum 2147483647.0
Visible Yes Required No

FB Parameter CFG_JogDecelTime

Description Defines the deceleration time in milliseconds, used when CMD_JogForward

or CMD_JogReverse = 0.
While CMD_JogForward or CMD_JogReverse = 0, CFG_JogDecelTime
may be changed to a different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type DINT
Unit ms Drive Parameter Pr38.002
Minimum 0.0 Maximum 2147483647.0
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CFG_JogAccelJerkPercent

Description Defines the acceleration jerk in percent units, used when CMD_JogForward
or CMD_JogReverse = 1. The acceleration time will not change as the jerk
percentage is modified. When set to 0, linear speed ramps will be used.
When set to 100, the maximum S Ramp will be applied.
While CMD_JogForward or CMD_JogReverse = 1,
CFG_JogAccelJerkPercent may be changed to a different target while the
movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Yes Required No

FB Parameter CFG_JogDecelJerkPercent

Description Defines the deceleration jerk percent units, used when CMD_JogForward
or CMD_JogReverse = 1 or STS_JogActive = 1. The acceleration time will
not change as the jerk percentage is modified. When set to 0, linear speed
ramps will be used. When set to 100, the maximum S Ramp will be applied.
While STS_JogActive = 1, CFG_JogDecelJerkPercent may be changed to
a different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.013
Minimum 0.0 Maximum 100.0
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter CFG_HomeMode

Description Defines homing mode used during the home search phase when
CMD_Home =1. There are 11 homing modes:
• -2 = Home to home switch with back-off
• -1 = Home at current position
• 0 = Manual
• 1 = Home on freeze flag
• 2 = Home on positive limit
• 3 = Home on negative limit
• 4 = Home on home switch
• 5 = Home on home switch and positive limit forward approach
• 6 = Home on home switch and positive limit reverse approach
• 7 = Home on home switch and negative limit forward approach
• 8 = Home on home switch and negative limit reverse approach
Please see Uni M 70x parameter reference guide for more details on
homing 0 to 8 modes.
Usage Input Data Type DINT
Unit Mode Drive Parameter Pr40.002
Minimum -2 Maximum 8
Visible Yes Required No

Homing diagram key

Slave position at the beginning of the home sequence

Slave moving in a positive direction

Slave moving in a negative direction

Home to AMC Home Switch (Pr40.012), AMC Home Positive Limit (Pr40.013) or
AMC Home Negative Limit (Pr40.014) is complete when a positive transition is detected and
the slave is moving in a positive direction or a negative transition is detected and the slave is
moving in a negative direction
Home to AMC Home Switch (Pr40.012), AMC Home Positive Limit (Pr40.013) or
AMC Home Negative Limit (PR40.014) is complete when a negative transition is detected
and the slave is moving in a positive direction or a positive transition is detected and the
slave is moving in a negative direction
Positive freeze flag transition

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode -2
Parameter
Description Home to home switch with back-off:
Homing search phase user inputs
CFG_HomeSearchSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent, CFG_HomeDirection.
This phase runs the drive until a rising edge (0 to 1 transition) of the AMC home
switch is detected in Pr40.012 in the target drive.
Homing back-off phase user inputs
CFG_HomeSearchBackoffSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent.
This phase runs the drive in the opposite direction of the search phase until a falling
edge (1 to 0 transition) of the AMC home switch is detected in Pr40.012.
When the back-off phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Home Search Home Back-off

AMC Home
Forward Reverse
Switch (40.012)

CFG_HomeDirection = 0

Home Back-off Home Search

AMC Home
Forward Reverse
Switch (40.012)

CFG_HomeDirection = 1

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode -1
Parameter
Description Home at current position:
When CFG_HomeMode = -1 and CMD_Home = 1, the drive will set the slave position
as indicated by STS_ProfileInputPosition, STS_ProfileOutputPosition and
STS_DriveActualPosition to the value of CFG_HomeSearchPosition, and
STS_HomeComplete is set to 1. All other homing CFG are not used in this mode and
have no effect. No motion takes place.

FB CFG_HomeMode for mode 0

Parameter
Description Manual:
When CFG_HomeMode = 0 and CMD_Home = 1, the drive will move the axis only
when the AMC Homing Positive Limit or AMC Home Negative limit are activated where
the forward limit causes reverse motion (to move away from the forward limit), and the
reverse limit causes forward motion, (to move away from the reverse limit). When the
axis has been positioned using the limits inputs, (as configured by the PLC Controlled
Motion Connect setup tool), the axis position will be reset to
CFG_HomeSearchPosition. The offset phase will be actioned after the Search phase
is completed.
Homing manual search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent and CFG_HomeSearchPosition.
This phase runs the drive until a rising edge (0 to 1 transition) of the AMC home switch
is detected in Pr40.012 in the target drive, where the slave feedback position will be
reset to CFG_HomeSearchPosition. The digital input that sets the AMC Home Switch
input is configured by the PLC Controlled Motion Connect setup tool.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

AMC Home Positive

Limit (Pr40.013)

AMC Home Negative

Limit (Pr40.014)

AMC Home
Switch
(Pr40.012)

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PLC Controlled Motion for Siemens – Position AMC

FB Parameter CFG_HomeMode for mode 1

Description Home on freeze flag:

When CFG_HomeMode = 1 and CMD_Home = 1, the drive will move in the direction
selected by CFG_HomeDirection until a freeze event happens. Note that the 24V F1
freeze input function is linked to drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and
CFG_HomeSearchPosition.
When freeze event is received by the drive, the axis position will be reset to
CFG_HomeSearchPosition completing the search phase. The offset phase will be
actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

STS_FreezeFlag

Freeze input for

slave position
feedback device

CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode 2
Parameter
Description Home on positive limit:
When CFG_HomeMode = 2 and CMD_Home = 1, the drive will move in the forwards
direction until the AMC Home Positive Limit is reached event happens. Optionally the
user may subsequently move in the reverse direction and search for a freeze event,
(this is requested in the PLC Controlled Motion Setup tool). Note that the 24V F1
freeze input function is linked to drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the positive limit is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

AMC Home Positive

Limit (Pr40.013)

STS_FreezeFlag

Freeze input for

slave position
feedback device

CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode 3
Parameter
Description Home on negative limit:
When CFG_HomeMode = 3 and CMD_Home = 1, the drive will move in the forwards
direction until the AMC Home Negative Limit is reached event happens. Optionally the
user may subsequently move in the forward direction and search for a freeze event,
(this is requested in the PLC Controlled Motion Setup tool). Note that the 24V F1
freeze input function is linked to drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the negative limit is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

AMC Home Negative

Limit (Pr40.014)

STS_FreezeFlag

Freeze input for

slave position
feedback device

CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode 4
Parameter
Description Home on home switch:
When CFG_HomeMode = 4 and CMD_Home = 1, the drive will move until the AMC
Home Switch is reached. The initial direction of travel depends on the state of the
home switch input, (Pr40.012), where if the home switch = 0 the axis travels forwards,
and if the home switch input =1 the axis travels in the reverse direction. Optionally the
user may subsequently move in the direction selected by CFG_HomeDirection and
search for a freeze event, (this is requested in the PLC Controlled Motion Setup tool).
Note that the 24V F1 freeze input function is linked to drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the homing switch is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

AMC Home
Switch
(Pr40.012)
STS_FreezeFlag

Freeze input for

slave position
feedback device

CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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 FB CFG_HomeMode for mode 5
Parameter
Description Home on home switch and positive limit forward approach:
When CFG_HomeMode = 5 and CMD_Home = 1, the drive will move until the AMC
Home Switch is reached. The initial direction of travel depends on the state of the
home switch input, (Pr40.012), where if the home switch = 0 the axis travels forwards,
and if the home switch input =1 the axis travels in the reverse direction. This homing
mode is intended to approach the home switch in the forwards direction.
In the event that the positive limit switch is reached during the homing sequence, the
axis will automatically travel in reverse.
Optionally the user may subsequently move in the direction selected by
CFG_HomeDirection and search for a freeze event, (this is requested in the PLC
Controlled Motion Setup tool). Note that the 24V F1 freeze input function is linked to
drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the homing switch is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

Forward
AMC Home approach
Switch
(Pr40.012)
AMC Home Positive
Limit (Pr40.013)

STS_FreezeFlag

Freeze input for

slave position
feedback device
CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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PLC Controlled Motion for Siemens – Position AMC

 FB CFG_HomeMode for mode 6
Parameter
Description Home on home switch and positive limit reverse approach:
When CFG_HomeMode = 6 and CMD_Home = 1, the drive will move until the AMC
Home Switch is reached. The initial direction of travel depends on the state of the
home switch input, (Pr40.012), where if the home switch = 0 the axis travels forwards,
and if the home switch input =1 the axis travels in the reverse direction. This homing
mode is intended to approach the home switch in the reverse direction.
In the event that the positive limit switch is reached during the homing sequence, the
axis will automatically travel in reverse.
Optionally the user may subsequently move in the direction selected by
CFG_HomeDirection and search for a freeze event, (this is requested in the PLC
Controlled Motion Setup tool). Note that the 24V F1 freeze input function is linked to
drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the homing switch is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

Reverse
AMC Home approach
Switch
(Pr40.012)
AMC Home Positive
Limit (Pr40.013)

STS_FreezeFlag

Freeze input for

slave position
feedback device
CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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 FB CFG_HomeMode for mode 7
Parameter
Description Home on home switch and negative limit forward approach:
When CFG_HomeMode = 7 and CMD_Home = 1, the drive will move until the AMC
Home Switch is reached. The initial direction of travel depends on the state of the
home switch input, (Pr40.012), where if the home switch = 0 the axis travels forwards,
and if the home switch input =1 the axis travels in the reverse direction. This homing
mode is intended to approach the home switch in the forwards direction.
In the event that the negative limit switch is reached during the homing sequence, the
axis will automatically travel in the forwards direction.
Optionally the user may subsequently move in the direction selected by
CFG_HomeDirection and search for a freeze event, (this is requested in the PLC
Controlled Motion Setup tool). Note that the 24V F1 freeze input function is linked to
drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the homing switch is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

Forward
AMC Home approach
Switch
(Pr40.012)
AMC Home Negative
Limit (Pr40.014)

STS_FreezeFlag

Freeze input for

slave position
feedback device
CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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 FB CFG_HomeMode for mode 8
Parameter
Description Home on home switch and positive limit reverse approach:
When CFG_HomeMode = 8 and CMD_Home = 1, the drive will move until the AMC
Home Switch is reached. The initial direction of travel depends on the state of the
home switch input, (Pr40.012), where if the home switch = 0 the axis travels forwards,
and if the home switch input =1 the axis travels in the reverse direction. This homing
mode is intended to approach the home switch in the reverse direction.
In the event that the negative limit switch is reached during the homing sequence, the
axis will automatically travel in the forwards direction.
Optionally the user may subsequently move in the direction selected by
CFG_HomeDirection and search for a freeze event, (this is requested in the PLC
Controlled Motion Setup tool). Note that the 24V F1 freeze input function is linked to
drive digital input 4 by default.
Homing search phase:
The inputs used by the search phase are CFG_HomeSearchSpeed,
CFG_HomeAccelTime, CFG_HomeDecelTime, CFG_HomeAccelJerkPercent,
CFG_HomeDecelJerkPercent, CFG_HomeDirection and CFG_HomeSearchPosition.
If optional freezing isn’t selected, when the homing switch is reached the axis position
will be reset to CFG_HomeSearchPosition completing the search phase.
If optional freezing is selected, when freeze event is received by the drive, the axis
position will be reset to CFG_HomeSearchPosition completing the search phase.
The offset phase will be actioned after the Search phase is completed.
Homing offset phase:
When the search phase has completed, the distance offset is applied where the
CFG_HomeOffsetMaxSpeed, CFG_HomeAccelTime, CFG_HomeDecelTime,
CFG_HomeAccelJerkPercent, CFG_HomeDecelJerkPercent is used to reach
CFG_HomeSearchPosition + CFG_HomeOffsetDistance.

Negative side Positive side

Reverse
AMC Home approach
Switch
(Pr40.012)
AMC Home Negative
Limit (Pr40.014)

STS_FreezeFlag

Freeze input for

slave position
feedback device
CFG_HomeDirection = 1 CFG_HomeDirection = 0
(move reverse to freeze) (move forward to freeze)

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 FB Parameter CFG_HomeDirection

Description When CFG_HomeMode >= 1, defines the direction of movement when

searching for the slave axis freeze flag.
When CFG_HomeMode = -2, defines the direction of movement when
searching for the AMC home switch, Pr40.012.
When set to 0, move in the forwards direction.
When set to 1, move in the backwards direction.
While CMD_Home = 1, CFG_HomeDirection may be changed to a different
target value while the movement is in progress.
Usage Input Data Type BOOL
Unit Direction Drive Parameter Pr40.001
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter CFG_HomeSearchPosition

Description Defines the position in units that the AMC slave axis feedback position,
indicated by STS_DriveActualPosition, will show when CMD_Home = 1 and
the search phase of the homing routine completes.
CFG_HomeSearchPosition may be changed to a different target while the
movement is in progress.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr40.004
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter CFG_HomeSearchSpeed

Description Defines the maximum speed in units/ms used when CMD_Home = 1 during
the search phase of the homing routine. Fixed precision of 2 decimal
places.
While CMD_Home = 1, CFG_HomeSearchSpeed may be changed to a
different target while the movement is in progress, however the target
speed will not change during execution as the previous speed target will be
locked in until the current Homing task is complete.
Values < 0 will be internally limited to 0.
Usage Input Data Type REAL
Unit Units/ms Drive Parameter Pr40.003
Minimum 0.00 Maximum 21474834.00
Visible Yes Required No

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 FB Parameter CFG_HomeSearchBackoffSpeed

Description When CFG_HomeMode = -2 the CFG_HomeSearchBackoffSpeed

determines the back-off speed to find the negative edge (1 to 0 transition) of
the AMC home switch (Pr40.012) after the initial search to find the home
switch.
Usage Input Data Type REAL
Unit Units\ms Drive Parameter NA
Minimum 0.00 Maximum 21474834.00
Visible Yes Required No

FB Parameter CFG_HomeOffsetDistance

Description Defines the relative distance in units to move by after the homing search
phase completes and the target drive axis AMC slave feedback, indicated
by STS_DriveActualPosition, has been reset to CFG_HomeSearchPosition.
Used when CMD_Home = 1.
CFG_HomeOffsetDistance may be changed to a different target while the
movement is in progress, however the offset distance will not change during
execution as the previous offset distance will be locked in until the current
Homing task is complete.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr40.007
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter CFG_HomeOffsetMaxSpeed

Description Defines the maximum speed in units/ms used when CMD_Home = 1 during
the search phase of the homing routine. Fixed precision of 2 decimal
places.
While CMD_Home = 1, CFG_HomeOffsetMaxSpeed may be changed to a
different target while the movement is in progress.
Values < 0 will be internally limited to 0.
Usage Input Data Type REAL
Unit Units/ms Drive Parameter Pr40.006
Minimum 0.00 Maximum 21474834.00
Visible Yes Required No

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 FB Parameter CFG_HomeAccelTime

Description Defines the acceleration time in milliseconds, used when CMD_Home = 1.

While CMD_Home = 1, CFG_HomeAccelTime may be changed to a
different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit ms Drive Parameter Pr38.001
Minimum 0.0 Maximum 2147483647.0
Visible Yes Required No

FB Parameter CFG_HomeDecelTime

Description Defines the maximum deceleration time in milliseconds, used when

CMD_Home = 1.
While CMD_Home = 0, CFG_HomeDecelTime may be changed to a
different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type DINT
Unit ms Drive Parameter Pr38.002
Minimum 0.0 Maximum 2147483647.0
Visible Yes Required No

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 FB Parameter CFG_HomeAccelJerkPercent

Description Defines the acceleration jerk in percent units, used when CMD_Home = 1.
The acceleration time will not change as the jerk percentage is modified.
When set to 0, linear speed ramps will be used. When set to 100, the
maximum S Ramp will be applied.
While CMD_Home = 1, CFG_HomeAccelJerkPercent may be changed to a
different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Yes Required No

FB Parameter CFG_HomeDecelJerkPercent

Description Defines the deceleration jerk in percent units, used when CMD_Home = 0.
The acceleration time will not change as the jerk percentage is modified.
When set to 0, linear speed ramps will be used, when set to 100 the
maximum S Ramp will be applied.
While CMD_Home = 0, CFG_HomeDecelJerkPercent may be changed to a
different target while the movement is in progress.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Yes Required No

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 FB Parameter CFG_HomeRequiredOnPowerUp

Description When set to 0, the user is not required to home the axis. Any of the motion
related CMD input bits may be used to cause the axis to move. If the axis is
successfully homed using CMD_Home, no data from the homing sequence
will be retained in the event that the target axis is powered off and back on
again.
When set to 1, on power up the only motion references available to the user
are CMD_JogForwards, CMD_JogReverse or CMD_Home, all other motion
related CMD input bits may not be used until the axis has been homed
successfully using CMD_Home. If the axis is successfully homed using
CMD_Home, the slave offset position (Pr33.003) and the home slave
source (Pr40.021) are saved in the target axis. If the user has selected
Absolute mode in the PC tool setup (Pr31.002 = 1), the data from the
homing sequence will be retained in the event that the target axis is
powered off and back on again and the axis will indicate that is homed via
STS_HomeComplete without the need to perform a new homing sequence.
It must be noted that for applications that perform a homing sequence
regularly rather than once when a machine is commissioned that
CFG_HomeRequiredOnPowerUp = 1 would not be suitable since as
explained above, every time a home is performed data is saved to the
drives memory, where the maximum number of saves is 1000000, after
which the drives memory may stop working.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr40.020 via
Pr41.019 Bit 13
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter CFG_PositionMotionType

Description Defines the motion type to be used during motion when CMD_Position = 1.
If set to 1 the motion will be Relative to the axis current position, if set to 0
the motion will be Absolute and move to the target position.
While CMD_Position = 1, CFG_PositionMotionType may be changed to a
different target value while the movement is in progress.
If CFG_PositionMotionType changes state while CMD_Position = 1, the
current position reference will be actioned accordingly e.g. if you are at
absolute position 6000 and you change to position relative mode the drive
will move by 6000 from its current position, if the drive is then changed back
to absolute mode the drive will move to position 6000.
This motion reference is superseded by CMD_MotionStop.
Usage Input Data Type BOOL
Unit N/A Drive Parameter Pr34.003
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter CFG_PositionSelect

Description Defines which of the 10 possible positions (1 to 10) and associated profile
data to use when CMD_Position =1. In the event that CFG_PositionSelect
is changed during motion the new target will be applied accordingly
depending on how CFG_PositionMotionType is set e.g. it will apply the new
absolute position target, or it will apply the target relatively from where the
axis was at the time of the change of CFG_PositionSelect.
The motion type is defined by CFG_PositionMotionType. If set to 1 the
motion will be relative to the axis current position, if set to 0 the motion will
be absolute and move to the target position.
While CMD_Position = 1, CFG_PositionMotionType may be changed to a
different target while the movement is in progress.
If CFG_PositionMotionType changes state while CMD_Position = 1, the
current position reference will be actioned accordingly e.g. if you are at
absolute position 6000 and you change to position relative mode the drive
will move by 6000 from its current position, if the drive is then changed back
to absolute mode the drive will move to position 6000.
This motion reference is superseded by CMD_MotionStop.
Usage Input Data Type DINT
Unit N/A Drive Parameter N/A
Minimum 1 Maximum 10
Visible Yes Required No

FB Parameter CFG_PositionRotaryMode

Description Defines the rotary position motion:

0 = Shortest (min position = 0, max position = rotary rollover-1)
1 = Forward (min position = 0, max position = rotary rollover-1)
2 = Reverse (min position = 0, max position = rotary rollover -1)
3 = No Rollover (min position = 0, max position = rotary rollover -1)
4 = Multiple Turns Forward (min position = 0, max position = AMC
maximum)
5 = Multiple Turns Reverse (min position = AMC minimum, max position =
0)
6 = Multiple Turns Delta (min position = AMC minimum, max position =
AMC maximum)
While CMD_Position = 1, CFG_PositionRotaryMode may be changed to a
different target while the movement is in progress.
Note that the rotary rollover is defined by the PLC Controlled Motion setup
tool on the Units tab and may also be observed at the axis drive in
Pr31.010.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr34.005
Minimum 0 Maximum 6

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PLC Controlled Motion for Siemens – Position AMC

 Visible Yes Required No

FB Parameter CFG_Position(n)Target

Description Defines the position data to be used during motion when CMD_Position =
1.
(n) = a value from 1 to 10 as specified by CFG_PositionSelect.
CFG_Position(n)Target can be changed during motion whilst CMD_Position
= 1. Updated CFG_Position(n)Target data will only become active when
CFG_PositionSelect = (n).
While CMD_Position = 1, and if CFG_PositionSelect remains constant, if
the associated CFG_Position(n)Target is changed to 0 the axis will not
move, if after that a new non zero value is entered the axis will move to that
new target.
This motion reference is superseded by CMD_MotionStop.
Note that in Rotary Mode the range changes to one of those specified in
CFG_PositionRotaryMode.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr34.003
Minimum -2147483648 Maximum 2147483647
Visible Only 1 and 10 Required No

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 FB Parameter CFG_Position(n)MaxSpeed

Description Defines the maximum profile speed in units/ms used when CMD_Position =
1. Fixed precision of 2 decimal places.
(n) = a value from 1 to 10 as specified by CFG_PositionSelect.
CFG_Position(n)MaxSpeed can be changed during motion whilst
CMD_Position = 1. Updated CFG_Position(n)MaxSpeed data will only
become active when CFG_PositionSelect = (n).
Values < 1 will be internally limited to 1.
Usage Input Data Type REAL
Unit units/ms Drive Parameter Pr38.003
Minimum 0.00 Maximum 21474834.00
Visible Only 1 and 10 Required No

FB Parameter CFG_Position(n)AccelTime

Description Defines the acceleration time milliseconds, used when CMD_Position = 1.

(n) = a value from 1 to 10 as specified by CFG_PositionSelect.
CFG_Position(n)AccelTime can be changed during motion whilst
CMD_Position = 1. Updated CFG_Position(n)AccelTime data will only
become active when CFG_PositionSelect = (n).
Values < 1 will be internally limited to 1.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type DINT
Unit ms Drive Parameter Pr38.001
Minimum 0.0 Maximum 2147483647.0
Visible Only 1 and 10 Required No

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 FB Parameter CFG_Position(n)DecelTime

Description Defines the deceleration time in milliseconds, used when CMD_Position =

1. Fixed precision of 3 decimal places.
CFG_Position(n)DecelTime can be changed during motion whilst
CMD_Position = 1. Updated CFG_Position(n)DecelTime data will only
become active when CFG_PositionSelect = (n).
(n) = a value from 0 to 9 as specified by CFG_PositionSelect.
Values < 1 will be internally limited to 1.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type DINT
Unit ms Drive Parameter Pr38.002
Minimum 0.0 Maximum 2147483647.0
Visible Only 1 and 10 Required No

FB Parameter CFG_ Position(n)AccelJerkPercent

Description Defines the acceleration jerk in percent units, used when CMD_Position =
1. The acceleration time will not change as the jerk percentage is modified.
When set to 0, linear speed ramps will be used, when set to 100 the
maximum S Ramp will be applied.
CFG_Position(n)AccelJerkPercent can be changed during motion whilst
CMD_Position = 1. Updated CFG_Position(n)AccelJerkPercent data will
only become active when CFG_PositionSelect = (n).
(n) = a value from 1 to 10 as specified by CFG_PositionSelect.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Only 1 and 10 Required No

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 FB Parameter CFG_ Position(n)DecelJerkPercent

Description Defines the deceleration jerk in percent units, used when CMD_Position =
1. The acceleration time will not change as the jerk percentage is modified.
When set to 0, linear speed ramps will be used, when set to 100 the
maximum S Ramp will be applied.
CFG_Position(n)DecelJerkPercent can be changed during motion whilst
CMD_Position = 1. Updated CFG_Position(n)DecelJerkPercent data will
only become active when CFG_PositionSelect = (n).
(n) = a value from 1 to 10 as specified by CFG_PositionSelect.
Values < 0 will be internally limited to 0.
NOTE: An increase of this value while the speed is changing will be ignored
until the motion has completed. A decrease of this value while the speed is
changing will be accepted at any point in the motion profile.
Usage Input Data Type REAL
Unit S Ramp % Drive Parameter Pr38.011
Minimum 0.0 Maximum 100.0
Visible Only 1 and 10 Required No

FB Parameter CFG_SoftwareTravelLimitNegative

Description Defines the absolute position in units used to define the target drive axis
negative software travel limit. The limit is only active when
CMD_SoftwareTravelLimitEnable = 1.
CFG_SoftwareTravelLimitNegative value can be changed at any time.
The negative limit must be less than the positive limit.
Usage Input Data Type DINT
Unit units Drive Parameter Pr41.027
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter CFG_SoftwareTravelLimitPositive

Description Defines the absolute position in units used to define the target drive axis
positive software travel limit. The limit is only active when
CMD_SoftwareTravelLimitEnable = 1.
CFG_SoftwareTravelLimitPositive value can be changed at any time.
The positive limit must be greater than the negative limit.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr41.026
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

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 FB Parameter CFG_CurrentLimit

Description Defines the symmetrical producing current limit in percent of motor rated
current units.
CFG_CurrentLimit value can be changed at any time.
Fixed precision of 1 decimal place.
Usage Input Data Type REAL
Unit % rated current Drive Parameter Pr4.007
Minimum 0.0 Maximum Rating dependant
Visible Yes Required No

FB Parameter CFG_ProfileAtSpeedWindow

Description Defines the size of the speed window used to evaluate

STS_ProfileAtSpeed.
Fixed precision of 2 decimal places.
Usage Input Data Type REAL
Unit Units/ms Drive Parameter N/A
Minimum 0.00 Maximum 21474834.00
Visible Yes Required No

FB Parameter CFG_ProfileAtPositionWindow

Description Defines the size of the position window used to evaluate

STS_ProfileAtPosition and STS_PositionComplete.
Usage Input Data Type DINT
Unit Units Drive Parameter N/A
Minimum 0 Maximum 2147483647
Visible Yes Required No

FB Parameter CFG_PositionFollowingErrorLimit

Description Defines the symmetrical following error limit used to detect when the
following error is within acceptable limits. This limit is then used to derive
STS_PositionFollowingErrorLimitOK. It also defines the acceptable
following error for STS_DriveAtZeroSpeed, STS_DriveAtSpeed and
STS_DriveAtPosition.
CFG_PositionFollowingErrorLimit value can be changed at any time.
This is an FB internal calculation.
Usage Input Data Type DINT
Unit Units Drive Parameter Pr39.008
Minimum 1 Maximum 2147483647
Visible Yes Required No

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 FB Parameter CFG_SpeedFollowingErrorLimit

Description Defines the symmetrical following error limit used to detect when the speed
following error is within acceptable limits. This limit is then used to derive
STS_SpeedFollowingErrorLimitOK. It also defines the acceptable following
error for STS_DriveAtZeroSpeed and STS_DriveAtSpeed.
Changes to CFG_SpeedFollowingErrorLimit take effect immediately.
This is an FB internal calculation.
Usage Input Data Type REAL
Unit Units/s Drive Parameter Pr38.009, Pr33.005
Minimum 0.00 Maximum 21474836.47
Visible Yes Required No

AOI Parameter CFG_BypassDebounceDelay

Description When set to 0, the motion CMD inputs have a 20ms debounce delay. When
set to 1, the debounce delay is bypassed.
This is useful in applications where the CMD inputs are controlled by
software rather than switch or relay contacts to reduce operating delays.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible No Required No

AOI Parameter CFG_BypassOverhootProtection

Description When set to 0, the profile is protected from speed overshoot. When set to 1,
the profile may be updated at any time, but there is a possibility of profile
overshoot, particularly when changing from short acceleration / deceleration
times and low jerk percentages, to long acceleration / deceleration times
and high jerk percentages while the axis speed is changing.
It is recommended to leave this set to 0 where possible, and only change to
1 when the overshoot protection must be bypassed. It is not recommended
to leave this input set to 1 permanently.
Usage Input Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible No Required No

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PLC Controlled Motion for Siemens – Position AMC

5.7 FB Outputs

FB Parameter STS_CyclicCommsOK

Description When set to 0, indicates that the cyclic communications used to control the
target drive axis are not working.
When set to 1, indicates that the cyclic communications used to control the
target drive axis are working correctly.
Usage Output Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_RTMoE_CommsOK

Description When set to 0, indicates that RTMoE comms used to pass references
between target CT drives are either not configured or not running.
When set to 1, indicates that RTMoE communications have been
configured correctly and are running on the target drive axis.
This is provided so that if the target drive axis is also part of a synchronous
real time position reference configuration, that the status of the RTMoE
comms used to transmit / receive reference is known.
The drive connected to the PLC should have Prx.02.025 set to “gateway”
and the PLC plugged into port 1, other drives on the network should be
connected to port 2 with Prx.02.025 set to “switch”. x refers to the slot
number that the Ethernet interface is fitted in.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Prx.10.006
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_DriveOn

Description When set to 0, indicates that the drive is not on i.e. inhibited, and the FB
motion references cannot be used.
When set to 1, indicates that the drive is on and ready for motion i.e.
enabled, a run signal is applied, there are no trips and the AMC is enabled,
where the FB motion references may be used to move the target drive axis.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.001 & Pr10.002 &
not Pr10.005
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_DriveOK

Description When set to 0, indicates that the drive is unhealthy i.e. tripped. The specific
trip may be read from STS_DriveLastTrip and STS_DriveLastSubTrip.
When set to 1, indicates that the drive is healthy i.e. not tripped.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 Bit0
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_DriveEnabled

Description When set to 0, indicates that the target drive axis safe toque off feature is
active i.e. 0V is applied to target axis drive terminal T31 on M700 or T11 or
T13 on M702.
When set to 1, indicates that the drive is hardware enabled i.e. 24V is
applied to target axis drive terminal T31 on M700 or T11 and T13 on M702.
When CMD_DriveOn = 0, STS_DriveEnabled = 0.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr8.072
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_CurrentLimitActive

Description When set to 0, indicates that the current is less than the limit.
When set to 1, indicates that the current limit has been reached or exceed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit8
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_DriveAtZeroSpeed

Description When set to 0, indicates that the target drive AMC slave feedback encoder
speed is not zero.
When set to 1, indicates that the target drive AMC slave feedback encoder
(Pr38.009) is at zero i.e. STS_ProfileAtZeroSpeed = 1 and
STS_SpeedFollowingErrorLimitOK = 1. The speed following error is
configured by CFG_SpeedFollowingErrorLimit.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.009 Pr33.005
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_DriveAtSpeed

Description When set to 0, indicates that the target drive AMC slave feedback encoder
speed is not at the demanded speed.
When set to 1, indicates that the target drive AMC slave feedback encoder
is at the demanded speed i.e. STS_ProfileAtSpeed = 1 and
STS_SpeedFollowingErrorLimitOK = 1. The speed following error is
configured by CFG_SpeedFollowingErrorLimit.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.007, Pr38.009,
Pr39.008.
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_DriveAtPosition

Description When set to 0, indicates that the target drive AMC slave feedback encoder
is not at the demanded position.
When set to 1, indicates that the target drive AMC slave feedback encoder
is at the demanded position i.e. STS_ProfileAtPosition = 1 and
STS_PositionFollowingErrorLimitOK = 1. The position following error is
configured by CFG_PositionFollowingErrorLimit.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.006, Pr38.008,
Pr39.008
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_ProfileAtZeroSpeed

Description When set to 0, indicates that the target drive AMC profile generator output
speed is not at 0 speed.
When set to 1, indicates STS_ProfileInputSpeed is less than or equal to
CFG_ProfileAtSpeedWindow and STS_ProfileAtSpeed = 1.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.009
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_ProfileAtSpeed

Description When set to 0, indicates that the absolute result of STS_ProfileInputSpeed -

STS_ProfileOutputSpeed is greater than CFG_ProfileAtSpeedWindow
When set to 1, indicates that the absolute result of STS_ProfileInputSpeed -
STS_ProfileOutputSpeed is within the range of 0 to
CFG_ProfileAtSpeedWindow.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.007, Pr38.009
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_ProfileAtPosition

Description When set to 0, indicates that the result of STS_ProfileInputPosition -

STS_ProfileOutputPosition is greater than CFG_ProfileAtPositionWindow
When set to 1, indicates that the absolute result of STS_ProfileInputPosition
- STS_ProfileOutputPosition is within the range of 0 to
CFG_ProfileAtPositionWindow.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.006, Pr38.008
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_ProfileAtHomePosition

Description When set to 0, indicates that the target drive AMC profile generator output
position is not at the final homed position.
When set to 1, indicates that the AMC profile generator is at the final homed
position i.e. STS_ProfileAtPosition = 1 and the absolute difference between
the STS_ProfileOutputPosition and (CFG_HomeSearchPosition +
CFG_HomeOffsetPosition) is within the position window defined by
CFG_ProfileAtPositionWindow.
When set to 1 and either CFG_HomeSearchPosition or
CFG_HomeOffsetPosition values are changed, the parameter will be set to
0.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.006, pr38.008,
Pr40.004, Pr40.007
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_MotionStopActive

Description When set to 0, indicates that the motion stop reference is not active.
When set to 1, indicates that the motion stop reference is active where all
other motion references are superseded and the target drive axis will slow
down and stop.
This bit remains set while decelerating to a stop even if CMD_MotionStop is
reset to 0.
In the event that CMD_JogForwards, CMD_JogReverse, CMD_Home, or
CMD_Position = 1 during a motion stop and remain 1 after
CMD_MotionStop = 0 then this bit will remain 1 to indicate that motion stop
is still activated to prevent an unexpected movement after 0 speed is
reached. To begin new movement after a motion stop all motion reference
CMD bits must = 0 for 1 PLC scan.
Usage Output Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_JogActive

Description When set to 0, indicates that jog is not the active motion reference.
When set to 1, indicates that jog is the active motion reference.
Usage Output Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_HomeActive

Description When set to 0, indicates that homing is not the active motion reference.
When set to 1, indicates that homing is the active motion reference.
Usage Output Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_HomeComplete

Description When set to 0, indicates that the homing routine has completed or is in
progress.
When set to 1, indicates that homing routine has completed OK.
When homing completes, (STS_HomeComplete = 1), the homed position
will be retained even if the target axis drive is disabled via the STO input or
a drive trip by setting AMC parameter 31.003 to 1. Prior to the first home
being completed, AMC parameter 31.003 = 0, and therefore the axis
position will be reset when the axis is disabled via the STO input or a drive
trip.
Note that all sections of the homing routine must be completed for this flag
to be set to 1 i.e. Search and Offset.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr40.005, Pr40.008
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_PositionActive

Description When set to 0, indicates that positioning is not the active.

When set to 1, indicates that positioning is the activated.
Usage Output Data Type BOOL
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_PositionComplete

Description When set to 0, indicates that the current position target has not been
reached.
When set to 1, indicates that the current position target has been reached.
This differs from STS_ProfileAtPosition and STS_DriveAtPosition because
the STS_PositionComplete is only set to 1 when STS_ProfileOutputPosition
= absolute position target or relative position target.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.008, Pr34.003,
Pr38.009
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_SoftwareTravelLimitNegativeOK

Description When set to 1, indicates that the negative software travel limit is not active.
When set to 0, indicates that the negative software travel limit is active
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 bit13
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_SoftwareTravelLimitPositiveOK

Description When set to 1, indicates that the positive software travel limit is not active.
When set to 0, indicates that the positive software travel limit is active
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 bit12
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_HardwareTravelLimitNegativeOK

Description When set to 1, indicates that the negative hardware travel limit is not active.
When set to 0, indicates that the negative hardware travel limit is active
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 bit11
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_HardwareTravelLimitPositiveOK

Description When set to 1, indicates that the positive hardware travel limit is not active.
When set to 0, indicates that the positive hardware travel limit is active
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 bit10
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_PositionFollowingErrorLimitOK

Description When set to 1, indicates that the positional following error is within the
tolerance specified by CFG_PositionFollowingErrorLimit.
When set to 0, indicates that the positional following error is outside the
tolerance specified by CFG_PositionFollowingErrorLimit.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr39.008
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_SpeedFollowingErrorLimitOK

Description When set to 1, indicates that the speed following error is within the
tolerance specified by CFG_SpeedFollowingErrorLimit.
When set to 0, indicates that the speed following error is outside the
tolerance specified by CFG_SpeedFollowingErrorLimit.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr38.009, Pr33.005
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter STS_PositionLoopEncoderOK

Description When set to 1, indicates that the position loop encoder is working correctly.
When set to 0, indicates that the position loop encoder is not working.
CFG_PositionFollowingErrorLimit is used as part of the detection system to
determine if the encoder is faulty where the limit must be reached as
indicated by STS_PositionFollowingError.
This bit is intended to be used when the target axis is running in dual loop
mode where the motor speed feedback encoder and the position feedback
encoder used to close the position loop are separate devices.
STS_PositionLoopEncoderOK is only set to 0 when the profile has reached
zero speed.
In the event that STS_PositionLoopEncoderOK = 0, the axis will be stopped
implicitly by disabling the target axis and STS_PositionFollowingError will
be held at the last value before the axis was stopped. To reset the implicit
stop, STS_PositionLoopEncoderOK and STS_PositionFollowingError the
user must set CMD_DriveOn to.
Note that the mechanisms used to detect a position loop encoder fault will
not operate in the event that a dual loop system is configured and
CMD_SpeedFeedForwardOnly = 1.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr39.008, Pr33.005,
Pr10.003, Pr38.008
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_FreezeFlag

Description When set to 0, the freeze system is armed and waiting for a freeze event to
happen via target drive axis F1 freeze.
When set to 1, the target drive AMC slave axis current freeze position has
been updated and is available in STS_FreezePosition.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr3.104
Minimum 0 Maximum 1
Visible Yes Required No

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 AOI Parameter STS_AOI_ActiveError

Description Indicates the active error for the AOI. The errors are assessed in the order
shown where the lower the error number the greater the priority. The list
details all of the possible errors for the range of AMC related AOIs, where
some may not be relevant for this particular AOI the user may need to enter
a correct value into a CFG input to clear persistent errors.
STS_AOI_ActiveError cannot be reset, the user must clear the current error
by rectifying the indicated conditions until the STS_AOI_ActiveError = 0.
The following list details the error values:
1 – 99 = Drive status, 100 - 999 = CT_C_UniM7xxAMC input range errors,
1000+ User input range errors.
• 0 = No error.
• 1 = Motion requested but STS_DriveOn = 0 or
STS_CyclicCommsOK = 0 or CFG_CurrentLimit = 0.
• 2 = STS_CyclicCommsOK = 0
• 3 = STS_RTMoE_CommsOK = 0
• 4 = STS_DriveOK = 0
• 5 = STS_SoftwareTravelLimitNegativeOK = 0
• 6 = STS_SoftwareTravelLimitPositiveOK = 0
• 7 = STS_HardwareTravelLimitNegativeOK = 0
• 8 = STS_HardwareTravelLimitPositiveOK = 0
• 9 = STS_PositionFollowingErrorLimitOK = 0
• 10 = STS_SpeedFollowingErrorLimitOK = 0
• 11 = Invalid motion has been requested and
CFG_HomeRequiredOnPowerUp = 1 and a home has not been
completed. In this condition only CMD_Home, CMD_JogForward
and CMD_JogReverse are valid.
• 12 = STS_PositionLoopEncoderOK = FALSE
• 13 = Motion Stop is activated. To reset motion stop set the selected
motion CMD bits to 0 when STS_CyclicCommsOK = 1.
• 14 = AMC not active and the AMC Auto resolution scaling
Pr0.31.016 = 0, this can be caused by Pr0.12.049 being set TRUE
and Pr0.13.004 and/or Pr0.13.010 not set to their default values.
(Standard motion controller enabled)
• 100 = CFG_MotionStopDecel has been limited to the range of 1.0
to AMC decel maximum.
• 101 = CFG_MotionStopDecelJerk has been limited to the range of
0.0 to AMC jerk maximum.
• 102 = CMD_JogForwards and CMD_JogReverse = 1.
• 103 = CFG_JogSpeed has been limited to the range of 0 to max
speed.
• 104 = CFG_JogAccel has been limited to the range of 0.001 to
AMC accel maximum.

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 • 105 = CFG_JogDecel has been limited to the range of 0.001 to
AMC decel maximum.
• 106 = CFG_JogAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 107 = CFG_JogDecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 108 = CFG_HomeSearchSpeed has been limited to the range of 0
to AMC speed maximum.
• 109 = CFG_HomeOffsetMaxSpeed has been limited to the range of
0 to AMC speed maximum.
• 110 = CFG_HomeAccel has been limited to the range of 0.001 to
AMC accel maximum...
• 111 = CFG_HomeDecel has been limited to the range of 0.001 to
AMC decel maximum.
• 112 = CFG_HomeAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 113 = CFG_HomeDecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 114 = CFG_HomeMode has been limited to the range -8 to 8.
• 115 = CFG_Position1MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 116 = CFG_Position2MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 117 = CFG_Position3MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 118 = CFG_Position4MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 119 = CFG_Position5MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 120 = CFG_Position6MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 121 = CFG_Position7MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 122 = CFG_Position8MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 123 = CFG_Position9MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 124 = CFG_Position10MaxSpeed has been limited to the range of
0 to AMC speed maximum.
• 125 = CFG_SpeedAccel has been limited to the range of 0.001 to
AMC accel maximum.
• 126 = CFG_SpeedDecel has been limited to the range of 0.001 to
AMC decel maximum.
• 127 = CFG_SpeedAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 128 = CFG_SpeedDecelJerk has been limited to the range of 0.0 to

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 AMC jerk maximum.
• 129 = CFG_EGB_RatioNumerator has been limited to a minimum
of 1.
• 130 = CFG_EGB_RatioDenominator has been limited to a
minimum of 1.
• 131 = CFG_EGB_MaxSpeed has been limited to the range of 0 to
max speed.
• 132 = CFG_EGB_Accel has been limited to the range of 0.001 to
AMC accel maximum.
• 133 = CFG_EGB_Decel has been limited to the range of 0.001 to
AMC decel maximum.
• 134 = CFG_EGB_AccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 135 = CFG_EGB_DecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 136 = CFG_PositionSelect has been limited to a minimum of 1 and
maximum of 10.
• 137 = Internal CFG_Position1AccelJerk has been limited to be in
the range of 0 to jerk maximum.
• 138 = CFG_Position1DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 139 = CFG_Position2AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 140 = CFG_Position2DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 141 = CFG_Position3AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 142 = CFG_Position3DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 143 = CFG_Position4AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 144 = CFG_Position4DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 145 = CFG_Position5AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 146 = CFG_Position5DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 147 = CFG_Position6AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 148 = CFG_Position6DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 149 = CFG_Position7AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 150 = CFG_Position7DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 151 = CFG_Position8AccelJerk has been limited to the range of 0
to AMC jerk maximum.

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 • 152 = CFG_Position8DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 153 = CFG_Position9AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 154 = CFG_Position9DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 155 = CFG_Position10AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 156 = CFG_Position10DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 157 = CFG_Position1Accel has been limited to be in the range of
0.001 to AMC decel maximum.
• 160 = CFG_Position2Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 161 = CFG_Position2Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 162 = CFG_Position3Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 163 = CFG_Position3Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 164 = CFG_Position4Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 165 = CFG_Position4Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 166 = CFG_Position5Accel has been limited t to be in the range of
0.001 to AMC accel maximum.
• 167 = CFG_Position5Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 168 = CFG_Position6Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 169 = CFG_Position6Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 170 = CFG_Position7Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 171 = CFG_Position7Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 172 = CFG_Position8Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 173 = CFG_Position8Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 174 = CFG_Position9Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 175 = CFG_Position9Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 176 = CFG_Position10Accel has been limited to be in the range of
0.001 to AMC accel maximum.

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 • 177 = CFG_Position10Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 178 = CFG_Position1Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 179 = CFG_Position2Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 180 = CFG_Position3Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 181 = CFG_Position4Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 182 = CFG_Position5Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 183 = CFG_Position6Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode. When rotary mode is used the position
range changes as specified in the description for
CFG_PositionRotaryMode.
• 184 = CFG_Position7Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 185 = CFG_Position8Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 186 = CFG_Position9Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 187 = CFG_Position10Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 188 = CFG_SoftwareTravelLimitNegative = 0 and
CFG_SoftwareTravelLimitPositive = 0.
• 189 = CFG_SpeedTarget has been limited to the range within AMC
maximum / minimum Speed range.
• 190 = CFG_HomeSearchBackoffSpeed has been limited to be
within the range of AMC maximum / minimum Speed range.
• 191 = CFG_HomeSearchPosition has been limited to the AMC

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 maximum / minimum Position range
• 192 = CFG_PositionRotaryMode has been limited to be within the
range of 0 and 6
• 193 = CFG_HomeOffsetDistance has been limited to be within the
AMC maximum / minimum Position range.
• 194 = CFG_RPI_Time has been limited to within the range of 1 to
100.
• 195 = CFG_ProfileAtSpeedWindow has been limited to be within
the range of 0 to AMC Max Speed
• 196 = CFG_ProfileAtPositionWindow has been limited to be within
the range of 0 to AMC Max Positive Position
• 1000 = CFG_MotionStopDecelTime has been limited to the range
of 1.0 to 2147483647.0
• 1001 = CFG_MotionStopDecelJerkPercent has been limited to the
range of 0.0 to 100.0.
• 1002 = CFG_JogAccelTime has been limited to the range of 0.0 to
2147483647.0
• 1003 = CFG_JogDecelTime has been limited to the range of 0.0 to
2147483647.0
• 1004 = CFG_JogAccelJerkPercent has been limited to the range of
0.0 to 100.0.
• 1005 = CFG_JogDecelJerkPercent has been limited to the range of
0.0 to 100.0.
• 1006 = CFG_HomeAccelTime has been limited to the range of 0.0
to 2147483647.0
• 1007 = CFG_HomeDecelTime has been limited to the range of 0.0
to 2147483647.0
• 1008 = CFG_HomeAccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1009 = CFG_HomeDecelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1010 = CFG_SpeedAccelTime has been limited to the range of 0.0
to 2147483647.0
• 1011 = CFG_SpeedDecelTime has been limited to the range of 0.0
to 2147483647.0
• 1012 = CFG_SpeedAccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1013 = CFG_SpeedDecelJerkPercent has been limited to the
range of 0.0 to 100.0.
• 1014 = CFG_EGB_AccelTime has been limited to the range of 0.0
to 2147483647.0
• 1015 = CFG_EGB_DecelTime has been limited to the range of 0.0
to 2147483647.0
• 1016 = CFG_EGB_AccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1017 = CFG_EGB_DecelJerkPercent has been limited to the range
of 0.0 to 100.0.

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 • 1018 = CFG_Position1AccelJerkPercent has been limited to the
range of 0 to 100.
• 1019 = CFG_Position1DecelJerkPercent has been limited to the
range of 0 to 100.
• 1020 = CFG_Position2AccelJerkPercent has been limited to the
range of 0 to 100.
• 1021 = CFG_Position2DecelJerkPercent has been limited to the
range of 0 to 100.
• 1022 = CFG_Position3AccelJerkPercent has been limited to the
range of 0 to 100.
• 1023 = CFG_Position3DecelJerkPercent has been limited to the
range of 0 to 100.
• 1024 = CFG_Position4AccelJerkPercent has been limited to the
range of 0 to 100.
• 1025 = CFG_Position4DecelJerkPercent has been limited to the
range of 0 to 100.
• 1026 = CFG_Position5AccelJerkPercent has been limited to the
range of 0 to 100.
• 1027 = CFG_Position5DecelJerkPercent has been limited to the
range of 0 to 100.
• 1028 = CFG_Position6AccelJerkPercent has been limited to the
range of 0 to 100.
• 1029 = CFG_Position6DecelJerkPercent has been limited to the
range of 0 to 100.
• 1030 = CFG_Position7AccelJerkPercent has been limited to the
range of 0 to 100.
• 1031 = CFG_Position7DecelJerkPercent has been limited to the
range of 0 to 100.
• 1032 = CFG_Position8AccelJerkPercent has been limited to the
range of 0 to 100.
• 1033 = CFG_Position8DecelJerkPercent has been limited to the
range of 0 to 100.
• 1034 = CFG_Position9AccelJerkPercent has been limited to the
range of 0 to 100.
• 1035 = CFG_Position9DecelJerkPercent has been limited to the
range of 0 to 100.
• 1036 = CFG_Position10AccelJerkPercent has been limited to the
range of 0 to 100.
• 1037 = CFG_Position10DecelJerkPercent has been limited to the
range of 0 to 100.
• 1038 = CFG_Position1AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1039 = CFG_Position1DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1040 = CFG_Position2AccelTime has been limited to the range of
0.0 to 2147483647.0

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 • 1041 = CFG_Position2DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1042 = CFG_Position3AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1043 = CFG_Position3DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1044 = CFG_Position4AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1045 = CFG_Position4DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1046 = CFG_Position5AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1047 = CFG_Position5DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1048 = CFG_Position6AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1049 = CFG_Position6DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1050 = CFG_Position7AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1051 = CFG_Position7DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1052 = CFG_Position8AccelTime has been limited to the range of
1.0 to 2147483647.0
• 1053 = CFG_Position8DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1054 = CFG_Position9AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1055 = CFG_Position9DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1056 = CFG_Position10AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1057 = CFG_Position10DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1058 = CFG_FixedRateMaxSpeed has been limited to a range of 1
to AMC Max Speed
• 1059 = CFG_EGB_RTMoE_MasterReference has been limited to a
range of 0 to 255
Usage Output Data Type DINT
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1059
Visible Yes Required No

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PLC Controlled Motion for Siemens – Position AMC

 FB Parameter STS_DriveActiveAlarm

Description Indicates the target drive axis active alarm where:

• 0 = None
• 1 = Brake resistor
• 2 = Motor overload
• 3 = Ind overload
• 4 = Drive overload
• 5 = Autotune
• 6 = Limit switch
• 7 = Fire mode
• 8 = Low load
• 9 = Option slot 1
• 10 = Option slot 2
• 11 = Option slot 3
• 12 = Option slot 4.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.104
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STS_DriveLastTrip

Description Indicates the most recent target drive axis trip. Please refer to the UniM70x
user guide for more details.
Usage Output Data Type DINT
Unit N/A Drive Parameter Pr10.020
Minimum 0 Maximum 255
Visible Yes Required No

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 FB Parameter STS_DriveLastSubTrip

Description Indicates the most recent target drive axis sub trip. Please refer to the
UniM70x user guide for more details.
Usage Output Data Type DINT
Unit N/A Drive Parameter Pr10.070
Minimum 0 Maximum 65536
Visible Yes Required No

FB Parameter STS_DriveLoadPercent

Description Indicates the target drive load as a percentage of motor rated current. Fixed
precision of 1 decimal place.
Usage Output Data Type REAL
Unit N/A Drive Parameter Pr4.020
Minimum -Rating dependant Maximum Rating dependant
Visible Yes Required No

FB Parameter STS_DriveActualPosition

Description Indicates the target drive AMC slave axis position in units.

Usage Output Data Type DINT

Unit Units Drive Parameter Pr33.004
Minimum -2147483648 Maximum 2147483647
Visible No Required No

FB Parameter STS_DriveActualSpeed

Description Indicates the target drive AMC slave axis speed in units. Fixed precision of
2 decimal places.
Usage Output Data Type REAL
Unit Units/ms Drive Parameter Pr33.005
Minimum -21474836.48 Maximum 21474836.47
Visible No Required No

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 FB Parameter STS_ProfileInputPosition

Description Indicates the target drive AMC profile generator input position in units.

Usage Output Data Type DINT

Unit Units Drive Parameter Pr38.006
Minimum -2147483648 Maximum 2147483647
Visible No Required No

FB Parameter STS_ProfileInputSpeed

Description Indicates the target drive AMC profile generator input speed in units. Fixed
precision of 2 decimal places.
Usage Output Data Type REAL
Unit Units/ms Drive Parameter Pr38.007
Minimum -21474836.48 Maximum 21474836.47
Visible No Required No

FB Parameter STS_ProfileOutputPosition

Description Indicates the target drive AMC profile generator output position in units.

Usage Output Data Type DINT

Unit Units Drive Parameter Pr38.008
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter STS_ProfileOutputSpeed

Description Indicates the target drive AMC profile generator output speed in units. Fixed
precision of 2 decimal places.
Usage Output Data Type REAL
Unit Units/ms Drive Parameter Pr38.009
Minimum -21474836.48 Maximum 21474836.47
Visible Yes Required No

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 FB Parameter STS_PositionRemainingDistance

Description Indicates the relative remaining distance between the present

CFG_PositionTarget and STS_ProfileOutputPosition position in units. It is
intended to allow the user to continue to their previous relative position
target in the event that CMD_MotionStop has been called during a relative
position movement commanded by CMD_Position.
In rotary mode, this indicates the rotary remaining distance only – i.e. a
value between 0 and the rotary rollover point -1.
Usage Output Data Type DINT
Unit Units Drive Parameter Pr38.008
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter STS_PositionFollowingError

Description Indicates the target drive AMC positional following error.

In the event that STS_PositionLoopEncoderOK = 0, the axis will be stopped
implicitly by disabling the target axis and STS_PositionFollowingError will
be held at the last value before the axis was stopped. To reset the implicit
stop, STS_PositionLoopEncoderOK and STS_PositionFollowingError the
user must set CMD_DriveOn and any motion CMD bits to 0.
Usage Output Data Type DINT
Unit Units Drive Parameter Pr39.008
Minimum -2147483648 Maximum 2147483647
Visible Yes Required No

FB Parameter STS_SpeedFollowingError

Description Indicates the target drive speed following error in units/ms.

Usage Output Data Type REAL

Unit Units/ms Drive Parameter Pr38.009, Pr33.005
Minimum -21474836.47 Maximum 21474836.47
Visible Yes Required No

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 FB Parameter STS_FreezePosition

Description Indicates the target drive AMC slave axis current freeze position. This value
is updated on a 0 to 1 transition of STS_FreezeFlag.
Usage Output Data Type DINT
Unit Units Drive Parameter Pr33.006
Minimum -2147483648 Maximum 2147483647
Visible No Required No

FB Parameter STS_PositionCompleteWord

Description Indicates the current completed position reference number in a binary form.
This is updated when a CMD_Position = 1 and (STS_ProfileInputPosition =
STS_ProfileOutputPosition) and STS_ProfileAtZeroSpeed i.e. when a move
has completed.
0 = STS_PositionActive = 0 or STS_PositionComplete = 0, CMD_Position = 0
Rockwell displayed as binary bit.
STS_PositionCompleteWord = 0 = 2#0000_0000_0000_0000 = No target
STS_PositionCompleteWord.1 = 1 = 2#0000_0000_0000_0010 = At target 1
STS_PositionCompleteWord.4 = 1 = 2#0000_0000_0001_0000 = At target 4
STS_PositionCompleteWord.7 = 1 = 2#0000_0000_1000_0000 = At target 7
STS_PositionCompleteWord.10 = 1 = 2#0000_0100_0000_0000 = At target 10

Siemens displayed as Integer.

STS_PositionCompleteWord = 0 = No target
STS_PositionCompleteWord = 1 = At target 1
STS_PositionCompleteWord = 4 = At target 4
STS_PositionCompleteWord = 7 = At target 7
STS_PositionCompleteWord = 10 = At target 10

Usage Output Data Type INT

Unit Units Drive Parameter Pr38.006, Pr38.008,
Pr38.009
Minimum 0 Maximum 10
Visible Yes Required No

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5.8 Timing Diagrams
The following section shows the timing diagrams for the FB.

5.8.1 STS_DriveOn

CMD_DriveOn

STS_DriveOK

STS_DriveEnabled

STS_DriveOn
Time

5.8.2 CMD_Home

STS_ProfileOutputSpeed

CMD_Home

CMD_MotionStop

STS_HomeActive

STS_MotionStopActive

STS_ProfileAtZeroSpeed
Time

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5.8.3 CMD_JogForwards and CMD_JogReverse

STS_ProfileOutputSpeed

CMD_JogForwards

CMD_JogReverse

CMD_MotionStop

STS_JogActive

STS_MotionStopActive

STS_ProfileAtZeroSpeed
Time

5.8.4 CMD_Position

STS_ProfileOutputSpeed

CMD_Position

CMD_MotionStop

STS_PositionActive

STS_MotionStopActive

STS_ProfileAtZeroSpeed

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5.8.5 CMD_JogForwards and any other motion CMD bit

CMD_JogForwards

CMD_(x)

STS_JogActive

STS_(x)Active
(x) = CMD_Home, CMD_AbsolutePosition,
CMD_RelativeDistance, CMD_Index or
CMD_Speed as appropriate.

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6 Supporting Functionality
The following section details the FBs which support the use of the motion FBs.
These FBs can be imported into a PLC program and used as a source of additional information from
of the target drive which has been assigned to them.

6.1 CT_B_M7xxM6xxDriveStatusWord
The CT_B_M7xxM6xxDriveStatus FB decodes cyclic data originated from the target drive status
word, (Pr10.040). This source data is available as part of the open and closed loop PROFINET cyclic
data input mappings via #CyclicDataIn. The status word is decoded to produce 15 individual Boolean
values as listed in the parameter guide for (Pr10.040).

6.1.1 Function Block Diagram

6.1.2 Library Location

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6.1.3 Adding the function block to a program
This section describes how to add the function block to a motion example.
1. Open the motion example function block e.g. “PositionAMC_A1”. To do this navigate to
“Project tree > Devices > PLC > Program blocks > Position AMC Axis 1 Example >
PositionAMC_A1”.

2. Navigate to the CT_B_M7xxM6xxDriveStatusWord function block by selecting “Project tree >

Devices > PLC > Program blocks > System > System Function Blocks > Status >
CT_B_M7xxM6xxDriveStatusWord”. Click and drag CT_B_M7xxM6xxDriveStatusWord to the
right of the ReadInputData xxx function block e.g. "ReadInputDataPositionAMC_A1".

3. The “Call options” dialog will open. Rename the Data block so that the axis name is
referenced e.g. DriveStatusWord_A1_DB. Click “OK” when this has been done.

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 The data block instance for CT_B_M7xxM6xxDriveStatusWord will appear in the project tree.

4. Link the instance of CT_B_M7xxM6xxDriveStatusWord to the input data from the axis. Double
click the next to “#CyclicDataIn” on the new instance of
CT_B_M7xxM6xxDriveStatusWord, and then click and select ““#CyclicDataIn”.

The instance of CT_B_M7xxM6xxDriveStatusWord is now connected to the axis PROFINET

data.

5. Access the data by dot syntax via the data block name e.g.
“DriveStatusWord_A1_DB”.AtSpeed.

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6.1.4 Function Block Input / Outputs

FB Parameter CyclicDataIn

Description The function block interface to the PROFINET cyclic input mapping data.
Each DINT element in the array represents a value received from the target
drive by the PLC.
This must be linked to the #CyclicDataIn tag connected to the instance of
the ReadInputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive Parameter N/A
Minimum N/A Maximum N/A
Visible Yes Required Yes

6.1.5 Function Block Outputs

FB Parameter Drive Healthy

Description This bit represents target drive parameter Pr10.001, which indicates that
the drive is healthy, or the under voltage state if it is set to one. If Auto-
reset Hold Drive Healthy, (Pr10.036) = 1 and auto-reset is being used,
Drive Healthy, (Pr10.001), is not cleared until all auto-resets have been
attempted and the next trip occurs.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 0
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter Drive Active
Description This bit represents target drive parameter Pr10.002, which indicates that
the drive is Active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 1
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Zero Speed

Description This bit represents target drive parameter Pr10.003, which indicates that
the speed is below the zero speed threshold.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 2
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Running at or below Minimum Speed

Description This bit represents target drive parameter Pr10.004, which indicates that
the drive is running at or below the minimum speed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 3
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Below Set Speed

Description This bit represents target drive parameter Pr10.005, which indicates that
the drive is running below the set speed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 4
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter At Speed
Description This bit represents target drive parameter Pr10.006, which indicates that
the drive is running at the set speed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 5
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Above Set Speed

Description This bit represents target drive parameter (Pr10.007), which indicates that
the drive is running above the set speed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 6
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Rated Load reached

Description This bit represents target drive parameter Pr10.008, which indicates that
rated load has been reached.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 7
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Current Limit Active

Description This bit represents target drive parameter Pr10.009, which indicates that
the current limit is active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 8
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter Regeneration
Description This bit represents target drive parameter Pr10.010 Indicates that power is
being transferred from the motor to the drive.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 9
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Braking IGBT Active

Description This bit represents target drive parameter Pr10.011, which indicates that
the braking IGBT is active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 10
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Braking Resistor Alarm

Description This bit represents target drive parameter Pr10.012, which indicates that
the braking IGBT is active and the braking resistor thermal accumulator is
greater than 75%.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 11
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Reverse Direction Command

Description This bit represents target drive parameter Pr10.013, which indicates that
the reverse direction has been commanded.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 12
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter Reverse Direction Running
Description This bit represents target drive parameter Pr10.014, which indicates that
the drive is running in the reverse direction.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 13
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Supply Loss

Description This bit represents target drive parameter Pr10.015, which indicates that
the drive is in the supply loss state.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.040 bit 14
Minimum 0 Maximum 1
Visible Yes Required No

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6.2 CT_B_M6xxM7xxDigitalIoReadWord
This function block decodes cyclic data originated from the target drive axis digital I/O read word,
(Pr08.072) for M600 and M700 drives. This source data is available as part of the open and closed
loop PROFINET cyclic mappings, input via CyclicDataIn. The digital I/O read word is decoded to
produce individual Boolean values as listed in the parameter guide for (Pr08.072). The Reserved I/O
bits are not viewable as they have no function.
Note that the outputs from this FB contain all of the features possible for an M70x, however, for an
M60x and M75x not all of the features are applicable. Please consult the user documentation for the
list of available features for the target drive.

6.2.1 Function Block Diagram

6.2.2 Library Location

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6.2.3 Adding the function block to a program
This section describes how to add the function block to a motion example.
6. Open the motion example function block e.g. “PositionAMC_A1”. To do this navigate to
“Project tree > Devices > PLC > Program blocks > Position AMC Axis 1 Example >
PositionAMC_A1”.

7. Navigate to the CT_B_M7xxM6xxDigitalIoReadWord function block by selecting “Project tree

> Devices > PLC > Program blocks > System > System Function Blocks > Status >
CT_B_M7xxM6xxDigitalIoReadWord”. Click and drag CT_B_M7xxM6xxDigitalIoReadWord to
the right of the ReadInputData xxx function block e.g. "ReadInputDataPositionAMC_A1".

8. The “Call options” dialog will open. Rename the Data block so that the axis name is
referenced e.g. DriveDigitalIoWord_A1_DB. Click “OK” when this has been done.

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 The data block instance for CT_B_M7xxM6xxDigitalIoReadWord will appear in the project
tree.

9. Link the instance of CT_B_M7xxM6xxDigitalIoReadWord to the input data from the axis.
Double click the next to “#CyclicDataIn” on the new instance of
CT_B_M7xxM6xxDigitalIoReadWord, and then click and select ““#CyclicDataIn”.

The instance of CT_B_ M7xxM6xxDigitalIoReadWord is now connected to the axis

PROFINET data.

10. Access the data by dot syntax via the data block name e.g.
"DriveDigitalIoWord_A1_DB".DigitalInput4.

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6.2.4 Function Block Input / Outputs

FB Parameter CyclicDataIn

Description The function block interface to the PROFINET cyclic input mapping data. Each
DINT element in the array represents a value received from the target drive by
the PLC.
This must be linked to the #CyclicDataIn tag connected to the instance of the
ReadInputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive Parameter N/A
Minimum N/A Maximum N/A
Visible Yes Required Yes

6.2.5 Function Block Outputs

FB Parameter Digital I/O 1

Description This bit represents target drive parameter Pr08.001, which indicates the
state of Digital input/output 1.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 0
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Digital I/O 2

Description This bit represents target drive parameter Pr08.002, which indicates the
state of Digital input/output 2.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 1
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Digital I/O 3

Description This bit represents target drive parameter Pr08.003, which indicates the
state of Digital input/output 3.

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 Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 2
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Digital Input 4

Description This bit represents target drive parameter Pr08.004, which indicates the
state of Digital input 4.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 3
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Digital Input 5

Description This bit represents target drive parameter Pr08.005, which indicates the
state of Digital input 5.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 4
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Digital Input 6

Description This bit represents target drive parameter Pr08.006, which indicates the
state of Digital input 6.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 5
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter Relay Output
Description This bit represents target drive parameter Pr08.007, which indicates the
state of Relay Output 1.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 6
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter 24V Supply Output

Description This bit represents target drive parameter Pr08.008. which indicates the
state.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 7
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STO Input 1

Description This bit represents target drive parameter Pr08.009, which indicates the
state of Safe Torque Off 1.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 8
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter STO Input 2

Description This bit represents target drive parameter Pr08.040, which indicates the
state of Safe Torque Off 2.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 9
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Keypad Run Button

Description This bit represents target drive parameter Pr08.041, which indicates the
state of the Keypad run button.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 10
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter Keypad Auxiliary Button
Description This bit represents target drive parameter Pr08.042, which indicates the
state of the Keypad auxiliary button.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 11
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter 24V Supply Input

Description This bit represents target drive parameter Pr08.043, which indicates the
state of the 24V supply input.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 12
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Keypad Stop Button

Description This bit represents target drive parameter Pr08.044, which indicates the
state of the keypad stop button.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 13
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Relay Output 2

Description This bit represents target drive parameter Pr08.045, which indicates the
state of the state of Relay Output 2
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 14
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter Drive Reset Button

Description This bit represents target drive parameter Pr08.072 bit 15, which indicates
the state of the Drive reset button.
Usage Output Data Type Bool
Unit N/A Drive Parameter 08.072 bit 15
Minimum 0 Maximum 1
Visible Yes Required No

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6.3 CT_B_M7xxM6xxAdditionalStatusBits
The M7xxM6xxAdditionalStatusBits function block decodes cyclic data originated from the target drive
axis additional status bits, (Pr10.069). This source data is available as part of the input PROFINET
cyclic data mappings, input via CyclicDataIn. The additional status bits are decoded to produce
individual Boolean values as listed in the parameter guide for (Pr10.069).
Note that the outputs from this function block contains all of the features possible for an M70x,
however, for an M60x and M75x not all of the features are applicable. Please consult the user
documentation for the list of available features for the target drive.

6.3.1 Function Block Diagram

6.3.2 Library location

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6.3.3 Adding the function block to a program
This section describes how to add the function block to a motion example.
11. Open the motion example function block e.g. “PositionAMC_A1”. To do this navigate to
“Project tree > Devices > PLC > Program blocks > Position AMC Axis 1 Example >
PositionAMC_A1”.

12. Navigate to the CT_B_M7xxM6xxAdditionalStatusBits function block by selecting “Project tree

> Devices > PLC > Program blocks > System > System Function Blocks > Status >
CT_B_M7xxM6xxAdditionalStatusBits”. Click and drag CT_B_M7xxM6xxAdditionalStatusBits
to the right of the ReadInputData xxx function block e.g. "ReadInputDataPositionAMC_A1".

13. The “Call options” dialog will open. Rename the Data block so that the axis name is
referenced e.g. DriveAdditionalStatusBits_A1_DB. Click “OK” when this has been done.

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 The data block instance for CT_B_M7xxM6xxAdditionalStatusBits will appear in the project
tree.

14. Link the instance of CT_B_M7xxM6xxAdditionalStatusBits to the input data from the axis.
Double click the next to “#CyclicDataIn” on the new instance of
CT_B_M7xxM6xxAdditionalStatusBits, and then click and select ““#CyclicDataIn”.

The instance of CT_B_M7xxM6xxAdditionalStatusBits is now connected to the axis

PROFINET data.

15. Access the data by dot syntax via the data block name e.g.
"DriveAdditionalStatusBits_A1_DB".MotorOverloadAlarm.

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6.3.4 Function Block Input / Outputs

FB Parameter CyclicDataIn

Description The function block interface to the PROFINET cyclic input mapping data. Each
DINT element in the array represents a value received from the target drive by
the PLC.
This must be linked to the #CyclicDataIn tag connected to the instance of the
ReadInputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive Parameter N/A
Minimum N/A Maximum N/A
Visible Yes Required Yes

6.3.5 Function Block Outputs

FB Parameter UnderVoltageActive

Description This bit represents target drive parameter Pr10.016, which indicates that
the drive is in a under voltage state.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 0
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter MotorOverloadAlarm

Description This bit represents target drive parameter Pr10.017, which indicates that
the motor overload accumulator is above 75% and the output current is
high.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 1
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter DriveOverTemperatureAlarm

Description This bit represents target drive parameter (Pr10.018), which indicates that
the drive over-temperature alarm is active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 2
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter DriveWarning

Description This bit represents target drive parameter Pr10.019, which indicates that
one or more of the drive warning alarms are active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter 10.069 bit 3
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter LowLoadDetectedAlarm

Description This bit represents target drive parameter Pr10.062, which indicates that
the low load alarm is active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 4
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter LocalKeypadBatteryLow

Description This bit represents target drive parameter Pr10.063, which indicates that
the real time clock battery in the local keypad is low.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 5
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter RemoteKeypadBatteryLow

Description This bit represents target drive parameter Pr10.064, which indicates that
the real time clock battery in the local keypad is low.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 6
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AutotuneActive

Description This bit represents target drive parameter Pr10.065, which indicates that an
auto-tune sequence is active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 7
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter LimitSwitchActive

Description This bit represents target drive parameter Pr10.066, which indicates that a
limit switch is enabled and active.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 8
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter FireModeActive

Description This bit represents target drive parameter Pr10.067, which indicates that
fire mode is enabled and active
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr10.069 bit 9
Minimum 0 Maximum 1
Visible Yes Required No

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6.4 CT_B_M7xxAMC_Status
The AMC_Status FB decodes cyclic data originated from the target M7xx drive axis AMC status word,
(Pr41.002). This source data is available as part of the closed loop AMC FB Ethernet mappings, input
via CyclicDataIn. The additional status bits are decoded to produce 16 individual Boolean values as
listed in the parameter reference guide for (Pr41.002).

6.4.1 Function Block Diagram

6.4.2 Library Location

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6.4.3 Adding the function block to a program
This section describes how to add the function block to a motion example.
16. Open the motion example function block e.g. “PositionAMC_A1”. To do this navigate to
“Project tree > Devices > PLC > Program blocks > Position AMC Axis 1 Example >
PositionAMC_A1”.

17. Navigate to the CT_B_M7xxAMC_Status function block by selecting “Project tree > Devices >
PLC > Program blocks > System > System Function Blocks > Status >
CT_B_M7xxAMC_Status”. Click and drag CT_B_M7xxAMC_Statusto the right of the
ReadInputData xxx function block e.g. "ReadInputDataPositionAMC_A1".

18. The “Call options” dialog will open. Rename the Data block so that the axis name is
referenced e.g. AMC_Status_A1_DB. Click “OK” when this has been done.

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 The data block instance for CT_B_M7xxAMC_Status will appear in the project tree.

19. Link the instance of CT_B_M7xxAMC_Status to the input data from the axis. Double click the
next to “#CyclicDataIn” on the new instance of CT_B_M7xxAMC_Status, and then click
and select ““#CyclicDataIn”.

The instance of CT_B_M7xxM6xxAdditionalStatusBits is now connected to the axis

PROFINET data.

20. Access the data by dot syntax via the data block name e.g.
"DriveAdditionalStatusBits_A1_DB".MotorOverloadAlarm.

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6.4.4 Function Block Input / Outputs

FB Parameter CyclicDataIn

Description The function block interface to the PROFINET cyclic input mapping data.
Each DINT element in the array represents a value received from the target
drive by the PLC.
This must be linked to the #CyclicDataIn tag connected to the instance of
the ReadInputData xxx function block for the axis.

The recommended communications update rate is <=100ms

Usage InOut Data Type DINT[32]
Unit N/A Drive Parameter N/A
Minimum N/A Maximum N/A
Visible Yes Required Yes

6.4.5 Function Block Outputs

FB Parameter AMC EGB Locked

Description This bit represents target drive parameter Pr37.006, which indicates
when the electronic gearbox is locked.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 0
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Cam Complete

Description This bit represents target drive parameter Pr35.010, which indicates
when the cam controller reaches the end of the cam table.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 1
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter AMC Movement Complete Flag

Description This bit represents target drive parameter Pr41.004, which indicates the
AMC has completed its position profile and the drive is at zero speed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 2
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Profile Complete Flag

Description This bit represents target drive parameter Pr41.006, which indicates the
AMC Profile has Completed.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 3
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Following Error Flag

Description This bit represents target drive parameter Pr41.008, which indicates the
AMC reference position and actual position difference is great than the
given parameter.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 4
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC at Speed Flag

Description This bit represents target drive parameter Pr41.010, which indicates the
AMC profile output speed is on target.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 5
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter AMC Master Speed Too High Flag

Description This bit represents target drive parameter Pr41.011, which indicates the
AMC master speed is greater than the AMC profile max speed value.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 6
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Following Error Stop Flag

Description This bit represents target drive parameter Pr41.012, which indicates the
AMC Reference position has exceeded the AMC following window value.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 7
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Home Complete

Description This bit represents target drive parameter Pr40.005, which indicates the
AMC Homing task has completed all phases.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 8
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Home Offset Complete

Description This bit represents target drive parameter Pr40.008, which indicates the
AMC Homing position and Home offset position are within range of AMC
Home complete window.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 9
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter AMC Positive Hardware Limit Flag

Description This bit represents target drive parameter Pr41.013, which indicates the
state of the Forward limit switch (Pr06.035)
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 10
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Negative Hardware Limit Flag

Description This bit represents target drive parameter Pr41.014, which indicates the
state of the Reverse limit switch (Pr06.036)
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 11
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Positive Software Limit Flag

Description This bit represents target drive parameter Pr41.015, which indicates the
state of the AMC positive position limit compared to the AMC slave
position.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 12
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Negative Software Limit Flag

Description This bit represents target drive parameter Pr41.016, which indicates the
state of the AMC negative position limit compared to the AMC slave
position.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 13
Minimum 0 Maximum 1
Visible Yes Required No

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 FB Parameter AMC Home Required Flag

Description This bit represents target drive parameter Pr41.017, which indicates the
AMC Home Required Flag is set to 1 if AMC Home Required (Pr40.020)
is enabled and AMC Home Slave Source (Pr40.021) is not the same as
AMC Slave Source Select (Pr33.001).
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 14
Minimum 0 Maximum 1
Visible Yes Required No

FB Parameter AMC Position Feedback Initialised Flag

Description This bit represents target drive parameter Pr41.018, which indicates
when the AMC master and slave position accumulators have been
initialised.
Usage Output Data Type BOOL
Unit N/A Drive Parameter Pr41.002 Bit 15
Minimum 0 Maximum 1
Visible Yes Required No

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7 Diagnostics
7.1 FB Active Errors
AOI Parameter STS_AOI_ActiveError

Description Indicates the active error for the AOI. The errors are assessed in the order
shown where the lower the error number the greater the priority. The list
details all of the possible errors for the range of AMC related AOIs, where
some may not be relevant for this particular AOI the user may need to enter
a correct value into a CFG input to clear persistent errors.
STS_AOI_ActiveError cannot be reset, the user must clear the current error
by rectifying the indicated conditions until the STS_AOI_ActiveError = 0.
The following list details the error values:
1 – 99 = Drive status, 100 - 999 = CT_C_UniM7xxAMC input range errors,
1000+ User input range errors.
• 0 = No error.
• 1 = Motion requested but STS_DriveOn = 0 or
STS_CyclicCommsOK = 0 or CFG_CurrentLimit = 0.
• 2 = STS_CyclicCommsOK = 0
• 3 = STS_RTMoE_CommsOK = 0
• 4 = STS_DriveOK = 0
• 5 = STS_SoftwareTravelLimitNegativeOK = 0
• 6 = STS_SoftwareTravelLimitPositiveOK = 0
• 7 = STS_HardwareTravelLimitNegativeOK = 0
• 8 = STS_HardwareTravelLimitPositiveOK = 0
• 9 = STS_PositionFollowingErrorLimitOK = 0
• 10 = STS_SpeedFollowingErrorLimitOK = 0
• 11 = Invalid motion has been requested and
CFG_HomeRequiredOnPowerUp = 1 and a home has not been
completed. In this condition only CMD_Home, CMD_JogForward
and CMD_JogReverse are valid.
• 12 = STS_PositionLoopEncoderOK = FALSE
• 13 = Motion Stop is activated. To reset motion stop set the selected
motion CMD bits to 0 when STS_CyclicCommsOK = 1.
• 14 = AMC not active and the AMC Auto resolution scaling
Pr0.31.016 = 0, this can be caused by Pr0.12.049 being set TRUE
and Pr0.13.004 and/or Pr0.13.010 not set to their default values.
(Standard motion controller enabled)
• 100 = CFG_MotionStopDecel has been limited to the range of 1.0
to AMC decel maximum.
• 101 = CFG_MotionStopDecelJerk has been limited to the range of
0.0 to AMC jerk maximum.
• 102 = CMD_JogForwards and CMD_JogReverse = 1.
• 103 = CFG_JogSpeed has been limited to the range of 0 to max

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 speed.
• 104 = CFG_JogAccel has been limited to the range of 0.001 to
AMC accel maximum.
• 105 = CFG_JogDecel has been limited to the range of 0.001 to
AMC decel maximum.
• 106 = CFG_JogAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 107 = CFG_JogDecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 108 = CFG_HomeSearchSpeed has been limited to the range of 0
to AMC speed maximum.
• 109 = CFG_HomeOffsetMaxSpeed has been limited to the range of
0 to AMC speed maximum.
• 110 = CFG_HomeAccel has been limited to the range of 0.001 to
AMC accel maximum...
• 111 = CFG_HomeDecel has been limited to the range of 0.001 to
AMC decel maximum.
• 112 = CFG_HomeAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 113 = CFG_HomeDecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 114 = CFG_HomeMode has been limited to the range -8 to 8.
• 115 = CFG_Position1MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 116 = CFG_Position2MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 117 = CFG_Position3MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 118 = CFG_Position4MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 119 = CFG_Position5MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 120 = CFG_Position6MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 121 = CFG_Position7MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 122 = CFG_Position8MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 123 = CFG_Position9MaxSpeed has been limited to the range of 0
to AMC speed maximum.
• 124 = CFG_Position10MaxSpeed has been limited to the range of
0 to AMC speed maximum.
• 125 = CFG_SpeedAccel has been limited to the range of 0.001 to
AMC accel maximum.
• 126 = CFG_SpeedDecel has been limited to the range of 0.001 to
AMC decel maximum.

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 • 127 = CFG_SpeedAccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 128 = CFG_SpeedDecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 129 = CFG_EGB_RatioNumerator has been limited to a minimum
of 1.
• 130 = CFG_EGB_RatioDenominator has been limited to a
minimum of 1.
• 131 = CFG_EGB_MaxSpeed has been limited to the range of 0 to
max speed.
• 132 = CFG_EGB_Accel has been limited to the range of 0.001 to
AMC accel maximum.
• 133 = CFG_EGB_Decel has been limited to the range of 0.001 to
AMC decel maximum.
• 134 = CFG_EGB_AccelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 135 = CFG_EGB_DecelJerk has been limited to the range of 0.0 to
AMC jerk maximum.
• 136 = CFG_PositionSelect has been limited to a minimum of 1 and
maximum of 10.
• 137 = Internal CFG_Position1AccelJerk has been limited to be in
the range of 0 to jerk maximum.
• 138 = CFG_Position1DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 139 = CFG_Position2AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 140 = CFG_Position2DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 141 = CFG_Position3AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 142 = CFG_Position3DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 143 = CFG_Position4AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 144 = CFG_Position4DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 145 = CFG_Position5AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 146 = CFG_Position5DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 147 = CFG_Position6AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 148 = CFG_Position6DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 149 = CFG_Position7AccelJerk has been limited to the range of 0
to AMC jerk maximum.

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 • 150 = CFG_Position7DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 151 = CFG_Position8AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 152 = CFG_Position8DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 153 = CFG_Position9AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 154 = CFG_Position9DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 155 = CFG_Position10AccelJerk has been limited to the range of 0
to AMC jerk maximum.
• 156 = CFG_Position10DecelJerk has been limited to the range of 0
to AMC jerk maximum.
• 157 = CFG_Position1Accel has been limited to be in the range of
0.001 to AMC decel maximum.
• 160 = CFG_Position2Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 161 = CFG_Position2Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 162 = CFG_Position3Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 163 = CFG_Position3Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 164 = CFG_Position4Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 165 = CFG_Position4Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 166 = CFG_Position5Accel has been limited t to be in the range of
0.001 to AMC accel maximum.
• 167 = CFG_Position5Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 168 = CFG_Position6Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 169 = CFG_Position6Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 170 = CFG_Position7Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 171 = CFG_Position7Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 172 = CFG_Position8Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 173 = CFG_Position8Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 174 = CFG_Position9Accel has been limited to be in the range of
0.001 to AMC accel maximum.

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 • 175 = CFG_Position9Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 176 = CFG_Position10Accel has been limited to be in the range of
0.001 to AMC accel maximum.
• 177 = CFG_Position10Decel has been limited to be in the range of
0.001 to AMC decel maximum.
• 178 = CFG_Position1Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 179 = CFG_Position2Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 180 = CFG_Position3Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 181 = CFG_Position4Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 182 = CFG_Position5Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 183 = CFG_Position6Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode. When rotary mode is used the position
range changes as specified in the description for
CFG_PositionRotaryMode.
• 184 = CFG_Position7Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 185 = CFG_Position8Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 186 = CFG_Position9Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 187 = CFG_Position10Target has been limited to be within the
AMC maximum / minimum Position range. When rotary mode is
used the position range changes as specified in the description for
CFG_PositionRotaryMode.
• 188 = CFG_SoftwareTravelLimitNegative = 0 and
CFG_SoftwareTravelLimitPositive = 0.
• 189 = CFG_SpeedTarget has been limited to the range within AMC

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 maximum / minimum Speed range.
• 190 = CFG_HomeSearchBackoffSpeed has been limited to be
within the range of AMC maximum / minimum Speed range.
• 191 = CFG_HomeSearchPosition has been limited to the AMC
maximum / minimum Position range
• 192 = CFG_PositionRotaryMode has been limited to be within the
range of 0 and 6
• 193 = CFG_HomeOffsetDistance has been limited to be within the
AMC maximum / minimum Position range.
• 194 = CFG_RPI_Time has been limited to within the range of 1 to
100.
• 195 = CFG_ProfileAtSpeedWindow has been limited to be within
the range of 0 to AMC Max Speed
• 196 = CFG_ProfileAtPositionWindow has been limited to be within
the range of 0 to AMC Max Positive Position
• 1000 = CFG_MotionStopDecelTime has been limited to the range
of 1.0 to 2147483647.0
• 1001 = CFG_MotionStopDecelJerkPercent has been limited to the
range of 0.0 to 100.0.
• 1002 = CFG_JogAccelTime has been limited to the range of 0.0 to
2147483647.0
• 1003 = CFG_JogDecelTime has been limited to the range of 0.0 to
2147483647.0
• 1004 = CFG_JogAccelJerkPercent has been limited to the range of
0.0 to 100.0.
• 1005 = CFG_JogDecelJerkPercent has been limited to the range of
0.0 to 100.0.
• 1006 = CFG_HomeAccelTime has been limited to the range of 0.0
to 2147483647.0
• 1007 = CFG_HomeDecelTime has been limited to the range of 0.0
to 2147483647.0
• 1008 = CFG_HomeAccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1009 = CFG_HomeDecelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1010 = CFG_SpeedAccelTime has been limited to the range of 0.0
to 2147483647.0
• 1011 = CFG_SpeedDecelTime has been limited to the range of 0.0
to 2147483647.0
• 1012 = CFG_SpeedAccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1013 = CFG_SpeedDecelJerkPercent has been limited to the
range of 0.0 to 100.0.
• 1014 = CFG_EGB_AccelTime has been limited to the range of 0.0
to 2147483647.0
• 1015 = CFG_EGB_DecelTime has been limited to the range of 0.0
to 2147483647.0

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 • 1016 = CFG_EGB_AccelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1017 = CFG_EGB_DecelJerkPercent has been limited to the range
of 0.0 to 100.0.
• 1018 = CFG_Position1AccelJerkPercent has been limited to the
range of 0 to 100.
• 1019 = CFG_Position1DecelJerkPercent has been limited to the
range of 0 to 100.
• 1020 = CFG_Position2AccelJerkPercent has been limited to the
range of 0 to 100.
• 1021 = CFG_Position2DecelJerkPercent has been limited to the
range of 0 to 100.
• 1022 = CFG_Position3AccelJerkPercent has been limited to the
range of 0 to 100.
• 1023 = CFG_Position3DecelJerkPercent has been limited to the
range of 0 to 100.
• 1024 = CFG_Position4AccelJerkPercent has been limited to the
range of 0 to 100.
• 1025 = CFG_Position4DecelJerkPercent has been limited to the
range of 0 to 100.
• 1026 = CFG_Position5AccelJerkPercent has been limited to the
range of 0 to 100.
• 1027 = CFG_Position5DecelJerkPercent has been limited to the
range of 0 to 100.
• 1028 = CFG_Position6AccelJerkPercent has been limited to the
range of 0 to 100.
• 1029 = CFG_Position6DecelJerkPercent has been limited to the
range of 0 to 100.
• 1030 = CFG_Position7AccelJerkPercent has been limited to the
range of 0 to 100.
• 1031 = CFG_Position7DecelJerkPercent has been limited to the
range of 0 to 100.
• 1032 = CFG_Position8AccelJerkPercent has been limited to the
range of 0 to 100.
• 1033 = CFG_Position8DecelJerkPercent has been limited to the
range of 0 to 100.
• 1034 = CFG_Position9AccelJerkPercent has been limited to the
range of 0 to 100.
• 1035 = CFG_Position9DecelJerkPercent has been limited to the
range of 0 to 100.
• 1036 = CFG_Position10AccelJerkPercent has been limited to the
range of 0 to 100.
• 1037 = CFG_Position10DecelJerkPercent has been limited to the
range of 0 to 100.
• 1038 = CFG_Position1AccelTime has been limited to the range of
0.0 to 2147483647.0

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 • 1039 = CFG_Position1DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1040 = CFG_Position2AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1041 = CFG_Position2DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1042 = CFG_Position3AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1043 = CFG_Position3DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1044 = CFG_Position4AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1045 = CFG_Position4DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1046 = CFG_Position5AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1047 = CFG_Position5DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1048 = CFG_Position6AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1049 = CFG_Position6DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1050 = CFG_Position7AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1051 = CFG_Position7DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1052 = CFG_Position8AccelTime has been limited to the range of
1.0 to 2147483647.0
• 1053 = CFG_Position8DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1054 = CFG_Position9AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1055 = CFG_Position9DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1056 = CFG_Position10AccelTime has been limited to the range of
0.0 to 2147483647.0
• 1057 = CFG_Position10DecelTime has been limited to the range of
0.0 to 2147483647.0
• 1058 = CFG_FixedRateMaxSpeed has been limited to a range of 1
to AMC Max Speed
• 1059 = CFG_EGB_RTMoE_MasterReference has been limited to a
range of 0 to 255
Usage Output Data Type DINT
Unit N/A Drive Parameter N/A
Minimum 0 Maximum 1059
Visible Yes Required No
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