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9.3.3.4
Modbus slave execution error codes .................................................................................... 448
9.3.4
Modbus master example program ........................................................................................ 448
9.3.5
Modbus advanced user information ...................................................................................... 450
10
Debugging and troubleshooting ............................................................................................................. 453
10.1
Debugging your program ...................................................................................................... 453
10.1.1
Bookmark functions .............................................................................................................. 453
10.1.2
Cross reference table ........................................................................................................... 454
10.2
Displaying program status .................................................................................................... 456
10.2.1
Displaying status in the program editor ................................................................................ 456
10.2.2
Configuring the STL status options ....................................................................................... 459
10.3
Using a status chart to monitor your program ...................................................................... 460
10.4
Forcing specific values ......................................................................................................... 462
10.5
Writing and forcing outputs in STOP mode .......................................................................... 463
10.6
How to execute a limited number of scans ........................................................................... 464
10.7
Hardware troubleshooting guide ........................................................................................... 465
11
PID loops and tuning ............................................................................................................................. 467
11.1
PID loop definition table ........................................................................................................ 468
11.2
Prerequisites ......................................................................................................................... 472
11.3
Auto-hysteresis and auto-deviation ...................................................................................... 472
11.4
Auto-tune sequence .............................................................................................................. 473
11.5
Exception conditions ............................................................................................................. 475
11.6
Notes concerning PV out-of-range (result code 3) ............................................................... 476
11.7
PID Tune control panel ......................................................................................................... 476
12
Open loop motion control ....................................................................................................................... 481
12.1
Using the PWM output .......................................................................................................... 482
12.1.1
Configuring the PWM output ................................................................................................. 482
12.1.2
PWMx_RUN subroutine ........................................................................................................ 483
12.2
Using motion control ............................................................................................................. 485
12.2.1
Maximum and start/stop speeds ........................................................................................... 485
12.2.2
Entering the acceleration and deceleration times ................................................................. 486
12.2.3
Configuring the motion profiles ............................................................................................. 487
12.3
Features of motion control .................................................................................................... 490
12.4
Programming an Axis of Motion ............................................................................................ 492
12.5
Configuring an Axis of Motion ............................................................................................... 493
12.6
Subroutines created by the Motion wizard for the Axis of Motion ........................................ 506
12.6.1
Guidelines for using the Motion subroutines ........................................................................ 507
12.6.2
AXISx_CTRL subroutine ....................................................................................................... 507
12.6.3
AXISx_MAN subroutine ........................................................................................................ 509
12.6.4
AXISx_GOTO subroutine ...................................................................................................... 510
12.6.5
AXISx_RUN subroutine ........................................................................................................ 512
12.6.6
AXISx_RSEEK subroutine .................................................................................................... 513
S7-200 SMART
System Manual, 09/2015, A5E03822230-AC
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