TO Positioning with G120C and HSC in S7-1200 (closed loop)

Hi to all,

I have a positioning task to solve with Asynchronous motor and incremental encoder mounted on the load side ("after" gearbox, not on the motor shaft). The drive is SINAMICS G120C DP. Motor also has a brake controlled from the drive.

CPU is 1214C w CM Profibus card.

I was going to solve this by using HSC and setting multispeeds in drive through Profibus - classic changeover from fast speed to creep speed as approaching the target position. Optimal speeds/accelerations/decelerations would be defined empirically.

But then I asked myself could I use TO Positioning in S7-1200 for this.

Started setting this up in HW configuration and preparing TO parameters... for now the compiler has no problem with the idea :D Controling position through Profidrive is option as well as classic Analog reference, encoder can be set-up on PLC's HSC... but I have concerns. Although there is no high dynamic here I'm still worried as there is no feedback to drive as in servo systems.

Is there someone here who tried something similar? Maybe with encoder on HSC and Analog reference?

This closed loop feature in S7-1200 is interesting to me for some time now ever since they introduced it with MC library V5.0 I think. Never had a chance to use it though. With older libraries it was only possible to use PTO and there was no connection of TO motion object to HSC.

Would really like to discuss about this.

Before I lose too much time in possibly a dead end street any thoughts or experiences shared on this matter would be highly appreciated :)

Thanks in advance

Found these materials actually - https://support.industry.siemens.com/cs/ww/en/view/81666970

It' about S7-1500 but probably very similar.

Still would like to hear some thoughts.