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TIA Portal for this device arrangement.
ET 200MP with IM 155-5 PN ST - Channel diagnostics, MSI/MSO
Manual IM 155-5 PN ST interface module, edition 11/2017
Channel diagnostics
In contrast to the order specified in the manual, the User Structure Identifiers (USI) are structured as follows:
● USI data block
● Reserved bytes
● Manufacturer-specific diagnosticsWhen using the motion control instructions "MC_DefineWorkspaceZone" and "MC_DefineKinematicsZone" to define zones
for 2D kinematics and 2D kinematics with orientation, only the value 0.0 is permitted at the "Frame.y", "Frame.a", and
"Frame.c" parameters. The ErrorID 16#80C4 (invalid frame) is displayed for values other than 0.0.
If you require a setting other than 0.0 at parameters "Frame.y", "Frame.a", or "Frame.c" for these types of kinematics zones,
configure the 3D variant of the kinematics with interconnection to an additional virtual axis.
An additional option is to completely define the zones in the configuration of the technology object kinematics in TIA Portal.
Rotation of coordinate systems and tools (T)
Contrary to the documented behavior, you can define the rotation of the kinematics coordinate system (KCS), of the object
coordinate system (OCS) and the tool only within the following value ranges.
The following table shows the value ranges for the rotations of KCS, OCS and tool frames depending on the kinematics e following table shows the corrected descrtions of the tags from the section "Using technology functions > Motion
Control > Motion Control (S7-1200, , T) > Using T kinematics functions (T) > Basics (S7-
1500T) > Coordinate systems and frames (T) > Tags of coordinate systems and frames (T)":Contrary to the documented behavior, you can only interrupt the execution of the motion at the kinematics technology object
during an active kinematics motion with an "MC_GroupInterrupt" job. If the kinematics is already at a standstill, the execution
of the motion is not interrupted for subsequent motion jobs. The kinematics is not in "Interrupted" state (StatusWord.X17
(Interrupted)).
By entering the value "0.0" for the velocity override, you can suspend the motion until all requested jobs have been entered

in the job chain. Then you can continue the motion with a velocity override "100.0".
"Jog to target position" operating mode of the Kinematics control panel (T)
With the "Forward" button, you move the kinematics or an axis by jogging to the position specified under "Target position".
The motion direction of the Cartesian orientation is not limited to the positive direction here. The orientation axis is moved
with the "Shortest distance" mode.
Jogging or positioning the orientation axis A with the Kinematics control panel (S71500T)
Contrary to the behavior described in the documentation, you can only position orientation axis A in the world coordinate
system (WCS) with the operating mode "Jog to target position" on the Kinematics control panel.
Moving a rotary kinematics axis using the Kinematics control panel (T)
Contrary to the behavior described in the documentation, you cannot move a rotary kinematics axis in the machine
coordinate system (MCS) using the Kinematics control panel with the operating mode "Jog" if the "Modulo" setting is
activated for this axis. Moving the axis with the Axis control panelRadius when "CircMode" = 2 less than half the path distance. Adjust the radius.
Starting point, intermediate point or end point are identical