Application Note

„Relative synchronism“
Synchronous Motion with using the
technology objects in TIA V16 &
CMMT-AS-PN

This application note describes how to use the technology CMMT-AS-PN

objects to activate a Synchronous Motion (relative synchro-
nism) with 2 CMMT-AS-PN.
Called Leading-Axis (master) - Following-Axis (slave).

100296
Title ........................................ Synchronous Motion with using the technology objects in TIA V16 & CMMT-AS-PN
Version ............................................................................................................................................................. 1.10
Document no. .............................................................................................................................................. 100296
Original .................................................................................................................................................................en
Author ............................................................................................................................................................. Festo

Last saved ............................................................................................................................................ 01.02.2023

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© (Festo SE & CO. KG, D-73726 Esslingen, 2023)

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Table of content

1 Components/Software used ............................................................................................ 4

1.1 Topology of the tested/used system ...................................................................................................... 5
1.2 Application description ........................................................................................................................... 5
2 Synchronization .............................................................................................................. 6
3 Configuration of parameters in Automation Suite ........................................................... 6
3.1 Automation Suite related parameters ..................................................................................................... 6
3.2 AC4 parameters in Festo Automation Suite ............................................................................................. 7
3.3 Telegram selection .................................................................................................................................. 7
4 Configuration TIA Portal .................................................................................................. 9
4.1 Creating the hardware configuration in TIA Portal .................................................................................. 9
4.1.1 Create new project .......................................................................................................................... 9
4.1.2 Setting the IP-address Setting the right IP address for the CPU: .................................................. 10
4.1.3 Select CMMT ................................................................................................................................. 10
4.1.4 Connect Profinet ............................................................................................................................ 11
4.1.5 Assign Motion telegram................................................................................................................. 11
4.1.6 Rename CMMT .............................................................................................................................. 12
4.1.7 Assign the Topology ...................................................................................................................... 13
4.2 Configuring the technological object .................................................................................................... 13
4.2.1 Adding the technological object .................................................................................................... 13
4.2.2 Starting the configuration of the technology object parameters: .................................................. 14
4.2.3 Selecting the right axis and the Units of measure: ........................................................................ 14
4.2.4 Define the drive for the data exchange. ......................................................................................... 15
4.2.5 Take over the appropriate AC4 data from the Automation Suite: .................................................. 16
4.2.6 The encoder data transfer ............................................................................................................. 18
4.2.7 Set the correct mechanics and the related settings to the axis: .................................................... 19
4.3 Creating the S7 program ....................................................................................................................... 21
4.4 Compile and download the program: .................................................................................................... 25
4.5 Use the blocks with a “Watch Table” .................................................................................................... 27
5 Procedure to start the Synchronous Motion .................................................................. 29
6 Trace in TIA of the Synchronous Motion ........................................................................ 29

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 3 of 30
Components/Software used

1 Components/Software used
Type/Name Version Software/Firmware Date of manufacture
CMMT-AS-C4-3A-PN-S1 17.0.8.48 05.02.2020
CMMT-AS-C2-3A-PN-S1 17.0.8.48 05.02.2020
Automation Suite 1.3.2.4 13.01.2020
CMMT-AS Plug-in 1.3.1.9 28.02.2020
TIA Portal V16 02.12.2019
Technology objects V5 04.01.2019
Table 1.1: 1 Components/Software used

Information
This AppNote describes the procedure with the CMMT-AS motor controller. The CMMT-AS servo
drive controller and CMMT-ST servo drive controller for extra-low voltage are based on the same
software platform. Therefore, the described settings can also be used as a reference for its parame-
terization. It is hereby expressly pointed out, that this has not been explicitly tested and therefore
the function cannot be guaranteed!

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Components/Software used

1.1 Topology of the tested/used system

Figure 1.1 : overview of tested system

Please refer to the picture above and make sure all wires are correctly placed and connected
To confiture and run the system for commissioning, it is necessary to install named software in the table 1.1
above on your laptop or other PC system which you will do commissioning with.

1.2 Application description

The Application Note describes the connectivity and configuration of the servo drives CMMT-AS-..-PN within a
PROFINET network controlled via S7-1500 PLC. The used bus protocol within this Application Note is an Applica-
tion Class 4 (Motion Control) and Telegram 106 (there is no special reason to use the Telegram 106 for the Syn-
chronous Motion, it has to be one which supports Application Class 4 & IRT).
In this Application Note we use the terms “Leading-Axis” as the Master-Axis and “Following-Axis” as the Slave-
Axis”.
This is a relative synchronism application without specifying a synchronous position and can be realised with a
non-technology CPU.
It is targeted at people who are already familiar with this protocol, Festo Automation Suite and Siemens TIA Por-
tal software.

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 5 of 30
Synchronization

2 Synchronization
Synchronization establishes the relationship between the leading axis and following axis. Synchronization be-
gins with the start of an *”MC_GearIn" job.
*See for the details of the function block MC_Gear in chapter 4.3.2 Gearing with "MC_GearIn"

Principle representation of Synchronous Motion:

(Master axis = Leading axis) (Slave axis = Following axis)

3 Configuration of parameters in Automation Suite

3.1 Automation Suite related parameters

Start with the related parameters for the application and do not cover the general settings for the configuration
of the drive.
The parameters that are related to the communication with the host system is under the Fieldbus tab.

• Reference Values

Shown values of the configuration must match to the configuration settings within the tech-
nology objects.

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Configuration of parameters in Automation Suite

3.2 AC4 parameters in Festo Automation Suite

3.3 Telegram selection

Select Telegram 106 under the PZD (process data) telegram selection in tab Fieldbus

Details of the used Standard Telegram 106 – cut out from the CMMT-AS documentation

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 7 of 30
Configuration of parameters in Automation Suite

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4 Configuration TIA Portal
4.1 Creating the hardware configuration in TIA Portal

4.1.1 Create new project

Create a new project and add your PLC with the right firmware version:

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 9 of 30
Configuration TIA Portal

4.1.2 Setting the IP-address

Setting the right IP address for the CPU:

4.1.3 Select CMMT

Go to the ‘Device Configuration’ tab, select ‘Network View’ and search for the CMMT in the Hardware Catalog.
Place the CMMT-AS into the “Network” by drag and drop. Two times for Leading & Following-Axis:

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Configuration TIA Portal

4.1.4 Connect Profinet

To connect the CMMT´s with the PLC, click on ‘Not Assigned’ and select the PROFINET interface.
After this, a green line will show the connection between the PLC and CMMT:

4.1.5 Assign Motion telegram

Double click on the CMMT to get into the ‘Device View’ tab. Available telegrams based on the GSDML file will
be offered. To use the CMMT in Motion Control select the Telegram 106 and place it via drag and drop.
Do this step for both CMMT-AS

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 11 of 30
Configuration TIA Portal

4.1.6 Rename CMMT

To rename the CMMT-AS click into the name field and type the desired name:

• Master axis was named as Leading-Axis

• Slave axis was named as Following-Axis

Right click on the CMMT and select ‘Assign Device Name’. To do this, access via the PROFINET network
connected on port -X19 on the CMMT must be present. This step must done for both CMMT-AS:

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Configuration TIA Portal

4.1.7 Assign the Topology

Note: Check that the PROFINET wiring present corresponds to the structure of this wiring. If the PROFINET wiring
deviates from this, this must also be considered in the topology view.

To be able to get the PLC run in IRT (isochronous real time) for motion control application it is a must to define
the topology of the system. Therefore select the ‘Topology View’ in ‘Device Configuration’ and configure the to-
pology according to the real connection of the hardware structure by drag-and-drop

4.2 Configuring the technological object

4.2.1 Adding the technological object

Adding the technological object PositioningAxis for the Leading-Axis (Master-Axis). Go Select the folder
“Technology Objects” in the project tree and click on “Add new object”. Then select the
technology object “TO:PositioningAxis” under motion control list and confirm via OK:

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 13 of 30
Configuration TIA Portal

4.2.2 Starting the configuration of the technology object parameters:

Hint regarding the symbols behind parameters:

- Blue: the parameters are in default settings
- Red: the parameters must be adjusted/customized according to the application
- Green: the adjustment of the parameters were done and are OK

4.2.3 Selecting the right axis and the Units of measure:

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Configuration TIA Portal

4.2.4 Define the drive for the data exchange.

In this step, it will be defined which drive is going to be assigned to the technology object that is now
being configured. Select ‘Drive’ under Hardware interface and start with the Leading-Axis:

Select the appropriate Encoder Type:

- Incremental for Motor with Incremental Encoder
- Absolute for Motor with Absolute Single Turn Encoder
- Cyclic Absolute for Motor with Absolute Multi Turn Encoder

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 15 of 30
Configuration TIA Portal

4.2.5 Take over the appropriate AC4 data from the Automation Suite:

Festo Automation Suite reference parameters which must be transferred to the technology object configuration:
Festo Automation Suite parameters:

TIA – technology object parameters:

TIA – technology object parameters:

Do not use the two options which are offered by TIA. Because the options are not supported by the
CMMT-AS-..-PN firmware yet.

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Configuration TIA Portal

Thus the parameters must be taken from the Festo Automation Suite

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Configuration TIA Portal

4.2.6 The encoder data transfer

The encoder data are automatically transferred to the technology object after connecting with the drive. Flag on
“Automatic data exchange for encoder values (online)”. On this step the parameters will be applied automati-
cally. This option is supported by the firmware of the CMMT-AS-..-PN:

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Configuration TIA Portal

4.2.7 Set the correct mechanics and the related settings to the axis:

Creating the technological object TO_SynchronousAxis for the ‘Following-Axis’ (Slave-Axis).

Select the folder ‘Technology Objects’ and click into ‘Add new object’ again. Select the
technology object “TO_SynchronousAxis” under Motion Control list and confirm OK:

Proceed similarly as for the Leading-Axis to configure the Following-Axis.

Additional important setting for the Following_Axis:
Select the Leading_Axis for the “Leading value interconnection” within the settings for
the ‘TO_SynchronousAxis’.

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 19 of 30
Configuration TIA Portal

Available options for the ‘Type of connection’:

Setpoint:
With setpoint coupling, the position setpoint of the leading axis is used as the leading value
for synchronous operation.
The position setpoint of the following technology objects can be interconnected as the
leading value for synchronous operation:
● Positioning axis
● Synchronous axis
● Leading axis proxy (only S7-1500T)

➔ There is only the selection “Setpoint” possible with the non-technology CPU (S7-1500).

Actual value:
For applications in which setpoint coupling is not possible (e.g. when using an external encoder) or does not make
sense from a technical perspective, the S7-1500T CPU additionally offers actual value coupling for synchronous oper-
ation. With actual value coupling, the extrapolated actual position of a technology object is used as the leading value.

The actual position of the following technology objects can used as the leading value:

• Positioning axis
• Synchronous axis
• External encoder
•

Leading value delay:

In a cross-PLC synchronous operation, you define with the "Delayed" setting whether the leading value should be de-
layed for a local synchronous operation.

The leading value of the following technology objects can be delayed:

• Positioning axis
• Synchronous axis
• External encoder

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Configuration TIA Portal

4.3 Creating the S7 program

In this application note the calling of the PLC_Open function blocks will be placed in the Main [OB1] directly:

Following function blocks will be used in “Synchronous Motion” application:

- MC_Power
- MC_Reset
- MC_Halt
- MC_Home
- MC_MoveRelative
- MC_GearIn

Insert the above listed function blocks into the Main OB via drag and drop for each axis (do not copy the
FB´s because of the instance DB. Then connect the technology objects to the input of the blocks:

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Configuration TIA Portal

Used program blocks as follows:

- MC_Power

- MC_Reset

- MC_Halt

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Configuration TIA Portal

- MC_Home

- MC_MoveRelative

- MC_GearIn

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 23 of 30
Configuration TIA Portal

Gearing with "MC_GearIn"

During gearing, the position of the following axis results from the position of the leading axis multiplied by the gear ra-
tio. You specify the gear ratio as a ratio of two integers. The result is a linear synchronous operation function.

Synchronous travel with the Motion Control instruction "MC_GearIn" begins after synchronization when the following
axis has reached the velocity and acceleration of the leading axis, taking into account the gear ratio.

Synchronous motion
When a synchronous axis is synchronized to a leading value, the "Synchronous" status is indicated by parameter
"MC_GearIn.InGear" = TRUE as well as in the "<TO>.StatusWord.X22 (Synchronous)" tag of the technology object.
The following axis follows the dynamics of the leading axis according to the gear ratio.

The transmission behavior during gearing is expressed by a linear relationship between the leading value and the fol-
lowing value.

① Position starting from which the leading and following axes move synchronously

The following value is calculated according to the following function:

Position of following axis (following value) = Position ① of following axis + gear ratio × (Position of leading axis - Posi-
tion ① of leading axis)

Direction
The numerator of the gear ratio is specified as positive or negative. This yields the following behavior:

• Positive gear ratio:

The leading and following axes move in the same direction.
• Negative gear ratio:
The following axis moves in the opposite direction to the leading axis.

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Configuration TIA Portal

Explanation regarding the default value [-1.0] on the function block inputs:
When using the default value on the dynamic parameters, then the parameter values from the configuration of
the technology object are present.

4.4 Compile and download the program:

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 25 of 30
Configuration TIA Portal

Make sure the PROFINET Network is up and running by checking if all is green and with checkmarks:

Page 26 of 30 Application Note – Synchronous Motion with using the technology objects in TIA V16 – 1.10
Configuration TIA Portal

4.5 Use the blocks with a “Watch Table”

Add and fill Watch Table

Go to the folder “Watch and force tables” under the “Project tree” and double click on ‘Add new watch table’:

New Watchlist renamed to Synchronous Motion

Select the symbol within the empty row and the available function blocks will be listed:

Application Note – Synchronous Motion with using the technology objects in TIA V16 V1.10 Page 27 of 30
Configuration TIA Portal

Start with the first function block within the created sequence program in Main OB and start to type the first in-
put (for the MC_Power it is the Enable bit) select the bit and press “Enter” key:

Take your mouse over the little square within the row on the right bottom side and drag it for the amount of the
variables within the function block (7 variables for the MC_Power):

And the result will be as following:

Do the same for all the other function blocks

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Procedure to start the Synchronous Motion

5 Procedure to start the Synchronous Motion

1. Power-on the drives via the MC_Power

2. Perform a homing via the MC_Home (then the TO´s will be homed thus the position will be reset and the
homed position will be saved permanently within the TO).
When as user the position should be reset on the CMMT-AS side also then do a homing via the FAS to
get the same start condition regarding the actual position.

3. When the Following-Axis should be synchronised directly with the Leading-Axis then activate the Fol-
lowing-Axis via the Execute input on the FB “MC_GearIn” before starting the Leading-Axis.

Otherwise the Following-Axis can be started at any time to synchronise on the Leading-Axis.
➔ Following-Axis is ready to start to synchronise to the Leading-Axis.

4. Start the Leading-Axis via the MC_MoveRelative.

6 Trace in TIA of the Synchronous Motion

Following-Axis started after the Leading-Axis was in motion already

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Trace in TIA of the Synchronous Motion

6.2 Following-Axis was started before the Leading-Axis was in motion. Thus a synchronised start of both
drives was visible:

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