Overview Easy Motion Control allows you to control the positioning of drives. Movement is controlled solely by software (function blocks) in the CPU. No special hardware is required for connection to the drives, although corresponding I/Os must of course be available in order to record actual positions and output speed setpoint values. Easy Motion Control function blocks were developed according to the "Technical Specification V1.0" of PLCopen. They assign parameters using a configuration software which also supports commissioning using test functions. All parameters of one axis are entered in one data block which from now on is referred to as axis DB You can connect the drives to central I/Os or, via a DP master integrated into the CPU, to distributed I/Os. Perform the motion by interconnecting the corresponding function blocks and letting these run in the STEP 7 program. Supported hardware Easy Motion Control can be executed on the following CPUs: · S7-300 ab CPU 314 or higher · S7-400 · C7 ab C7-633 · WinAC Supported modules for actual value acquisition: · CPU 314C (from FW-Version 2.0 of CPU) · ET 200S 1 Count 5V/500 kHz, · ET 200S 1 Count 24V/100kHz · ET 200S 1SSI · SM 338 · FM 350-1, FM450-1 · SIMODRIVE Sensor with PROFIBUS DP · Other modules for actual value acquisition (using free driver) Supported modules for setpoint output: · ET 200S 2AO U · SM 332 · SM 432 · Other modules for setpoint output (using free driver) Supported Drives via PROFIBUS DP: · MM4 Memory requirements Required RAM in Bytes Module | RAM required per module | Additional RAM required per instance | MC_Init | 1086 | - | MC_MoveAbsolute | 3924 | 112 | MC_MoveRelative | 2982 | 110 | MC_MoveJog | 3110 | 110 | MC_Home | 2886 | 104 | MC_StopMotion | 1114 | 70 | MC_Control | 1756 | 58 | MC_Simulation | 410 | 64 | MC_GearIn | 3476 | 128 | Input driver | 1416 - 2654 | 76 - 128 | Output driver | 384 - 1242 | 52 - 68 | Axle data block | - | 294 | Execution Time Load Typical module execution times in µs Module | CPU 416-2 DP 6ES7 4162XK02-AB0 | CPU 314C 6ES7 314-6CF00-0AB0 | CPU 315-2 DP 6ES7 315-2AF030AB0 | WinLC RTX 3.1 on AMD, 1333 MHz | MC_Init | 53 | 967 | 2203 | 21 | MC_MoveAbsolute* | 67 | 908 | 2138 | 18 | MC_MoveRelative * | 67 | 911 | 2143 | 18 | MC_MoveJog * | 48 | 605 | 1387 | 15 | MC_Home * | 49 | 592 | 1332 | 15 | MC_StopMotion * | 23 | 309 | 696 | 8 | MC_Control | 27 | 343 | 819 | 11 | MC_Simulation | 23 | 259 | 584 | 6 | MC_GearIn | 66 | 931 | 2130 | 21 | Input driver | 50 | 662 | 1323 | 44 | Output driver | 20 | 223 | 413 | 31 | * The marked travel blocks require a longer execution time when a travel motion is started. You will find further information on this subject in the manual. |