MC-servo OB

時間：2021-07-27作者：上海騰希電氣技術(shù)有限公司瀏覽：330

MC-servo OB



Description

When you create a technology object for S7-1500 Motion Control, the organization block MC?Servo [OB91] for processing the technology objects is created automatically. The Motion Control functionality of the technology objects creates its own execution level and is called in the SIMATIC S7?1500 execution system according to the application cycle.

The MC?Servo [OB91] is write-protected. The contents cannot be changed.

The position control algorithms of all technology objects configured for Motion Control on the CPU are calculated within the MC?Servo [OB91].

You can set the application cycle and the priority of the organization block in accordance with your requirements for control quality and system load.

Application cycle

You can set the application cycle in which the MC?Servo [OB91] is called in the properties of the organization block:

Synchronous to the BUS

The MC?Servo [OB91] is called synchronously with a bus system. You set the send clock in the properties of the selected bus system. You can select the following bus systems:

- PROFIBUS DP

- PROFINET IO

- Local bus system (as of V4.0 or FW version ≥ 2.6)

- X142 interface (only SIMATIC Drive Controller)

You cannot call the MC?Servo [OB91] synchronously with a bus system that is connected to the CPU via a communications processor / communications module (CP / CM).

Cyclical

The MC?Servo [OB91] is called cyclically with the specified application cycle.

The selected application cycle must be long enough to allow all the technology objects for motion control to be processed in one cycle. If the application cycle is not observed, overflows occur. The CPU switches to STOP mode in the case of an overflow of the MC?Servo [OB91].

Clock reduction (CPU V1.5 and higher)

You can reduce the application cycle of the MC?Servo [OB91] relative to the send clock of an isochronous PROFINET IO system. You can set an integer multiple of the send clock as the factor. Values up to 14 times the send clock (maximum 32 ms) are possible for the application cycle.

If you call an isochronous mode interrupt OB and the MC?Servo [OB91] synchronously with the same PROFINET IO system, you must set the same application cycle for both organization blocks.


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