Understanding The Rp Seek Modes Of The Axis Of Motion - Siemens SIMATIC S7 System Manual

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Understanding the RP Seek modes of the Axis of Motion

The following figures provide diagrams of the different options for each RP Seek mode:

● RP Seek: Mode 1 shows two of the options for RP Seek mode 1. This mode locates the

RP where the RPS input goes active on the approach from the work zone side.

● RP Seek: Mode 2 shows two of the options for RP Seek mode 2. This mode locates the

RP in the center within the active region of the RPS input.

● RP Seek: Mode 3 shows two of the options for RP Seek mode 3. This mode locates the

RP a specified number of zero pulses (ZP) outside the active region of the RPS input.

● RP Seek: Mode 4 shows two of the options for RP Seek mode 4. This mode locates the

RP a specified number of zero pulses (ZP) within the active region of the RPS input.

For each mode, there are four combinations of RP Seek direction and RP Approach

direction. (Only two of the combinations are shown.) These combinations determine the

pattern for the RP Seek operation. For each of the combinations, there are also four different

starting points:

The work zones for each diagram have been located so that moving from the reference point

to the work zone requires movement in the same direction as the RP Approach Direction. By

selecting the location of the work zone in this way, all the backlash of the mechanical gearing

system is removed for the first move to the work zone after a reference point seek.

The RPS input must be enabled to use the RP Seek functionality. The ZP input must also be

enabled if RP Seek modes 3 or 4 are to be used, unless you configure the number of ZP

pulses to be received after entering the RPS active region to a value of "0".

S7-200 SMART

System Manual, V2.3, 07/2017, A5E03822230-AF

12.11 Understanding the RP Seek modes of the Axis of Motion

Open loop motion control

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