Page 1 Preface, Contents User Information Product Overview Basics of Positioning SIMATIC Installing and Removing the FM 351 Wiring the FM 351 FM 351 Positioning Module Installing the Configuration Package Programming the FM 351 Manual Putting the FM 351 into Operation This manual is part of the documentation package with the order number: Reference Information 6ES7351-1AH00-8BG0...
Page 2: Edition
Trademarks SIMATIC , SIMATIC HMI and SIMATIC NET are registered trademarks of SIEMENS AG. Third parties using for their own purposes any other names in this document which refer to trademarks might infringe upon the rights of the trademark owners.
Page 3 Preface Validity of the Manual This manual contains the description of the FM 351 positioning module valid at the time of publication. We reserve the right to describe modifications in the functionality of the FM 351 in a product information bulletin. The manual with the ...
Page 4 If you have questions about using the products described in the manual and you cannot find the answers here, please contact your local Siemens representative. You will find the addresses, for example, in the appendix ”SIEMENS Worldwide” in the manual: S7-300 Programmable Controller, Installation.
Page 5 +49 (911) 895-7002 Fax: +1 423 461-2231 Fax: +65 740-7001 E-mail: simatic.support@ E-mail: simatic.hotline@ E-mail: simatic@ nbgm.siemens.de sea.siemens.com sae.siemens.com.sg SIMATIC Premium Hotline (Calls charged, only with SIMATIC Card) Time: Mo.-Fr. 0:00 to 24:00 Phone: +49 (911) 895-7777 Fax: +49 (911) 895-7001 The languages spoken on the hotlines are generally German and English.
Page 6 Preface FM 351 Positioning Module C79000-G7076-C351-02...
Page 7: Table Of Contents
Contents Product Overview ............What is the FM 351? .
Page 8 Contents Putting the FM 351 into Operation ........Machine Data and Incremental Dimensions .
Page 9 ........... Connection Diagram for Incremental Encoder Siemens 6FX 2001-2 (Up=5V;...
Page 10 Contents FM 351 Positioning Module C79000-G7076-C351-02...
Page 11: Product Overview
Product Overview Chapter Overview Section Topic Page What is the FM 351? Areas of Application of the FM 351 Setup for Controlled Positioning with an FM 351 FM 351 Positioning Module C79000-G7076-C351-02...
Page 12: What Is The Fm
Product Overview What is the FM 351? The FM 351 positioning module is used in the S7-300 programmable logic controller (PLC) for controlled positioning with rapid/creep feed speeds. The module has two independent channels each of which can control a rotary or linear axis.
Page 13: Areas Of Application Of The Fm
Product Overview Areas of Application of the FM 351 Packing machines Lifting and transport equipment Woodworking machines Example: Control of feed operations Various wooden parts are processed with a profile machine. Various operations and cutters are required to process the wood. The various cutters are changed by controlled positioning operations.
Page 14: Setup For Controlled Positioning With An Fm 351
Product Overview Setup for Controlled Positioning with an FM 351 Control Circuit Figure 1-2 illustrates the components of a controlled positioning setup with rapid/creep speed drives. Power supply EMERGENCY FM 351 STOP switch Positioning Module Power unit Safety device PC/PG Processing stations Motion...
Page 15 Product Overview Encoders The encoder supplies information both about position and direction. The following encoders can be connected: Incremental encoders with 5 V differential signals, symmetrical Incremental encoders with 24 V signals, asymmetrical SSI absolute encoders FM 351 Positioning Module The FM 351 can position up to two axes automatically using rapid/creep feed.
Page 16 Product Overview Overview of the Positioning Module Two axes, axis types: – linear axis – rotary axis Four digital outputs per axis Four digital inputs per axis Typical drives/motors: – Standard motor, contactor controlled – Standard motor with frequency converter (example Micromaster) –...
Page 17: Basics Of Positioning
Basics of Positioning Chapter Overview Section Topic Page Controlled Positioning Ranges and Switching Points of the FM 351 FM 351 Positioning Module C79000-G7076-C351-02...
Page 18: Controlled Positioning
Basics of Positioning Controlled Positioning Each positioning operation is characterized by the following: a start position a target to which the tool will move, and parameters determining how the positioning operation is executed. The target position is first approached at high speed (rapid speed). At a specified distance from the target position the speed is reduced to a lower speed (creep speed).
Page 19 Basics of Positioning Figure 2-1 shows a possible arrangement of the switching points and differences for a positioning operation. To simplify the illustration, it is assumed that the change in actual speed is linear over the distance traveled. The ramps that result, are due to mechanical inertia or due to the parameter settings for the power unit.
Page 20 Basics of Positioning FM 351 Positioning Module C79000-G7076-C351-02...
Page 21: Installing And Removing The Fm 351
Installing and Removing the FM 351 Important Safety Rules When integrating an S7-300 with an FM 351 in a plant or system, there are important rules and regulations that are described in the installation manual S7-300 Programmable Controller, Hardware and Installation . Installation of the Rail Horizontal installation of the rail is preferable.
Page 22 Installing and Removing the FM 351 Installing the FM 351 Positioning Module 1. The FM 351 is supplied with a bus interconnector. Plug this onto the bus connector of the module to the left of the FM 351. (The bus connector is on the back of the module and you may need to loosen the module again first).
Page 23: Wiring The Fm 351
Wiring the FM 351 Chapter Overview Section Topic Page Description of the Encoder Interface Connecting the Encoders Description of the Front Connector Wiring the Power Unit Wiring the Front Connector Important Safety Rules It is essential for the safety of the system to install the elements listed below and to adapt them to your system.
Page 24: Description Of The Encoder Interface
Wiring the FM 351 Description of the Encoder Interface Location of the Sub-D Connectors Figure 4-1 shows the location and labeling of the female connectors on the module. You can connect incremental or absolute encoders (SSI) to the two sub-D female connectors (see Section 10).
Page 25: Connecting The Encoders
Wiring the FM 351 Connecting the Encoders Shield Contact Element Using the shield contact element, you can connect all shielded cables with ground simply and easily making use of the direct connection between the shield contact element and the rail. For more detailed information, refer to the manual S7-300 Programmable Controller, Hardware and Installation .
Page 26: Description Of The Front Connector
Wiring the FM 351 Description of the Front Connector Front Connector You connect the power supplies of the encoder and the digital outputs at the 20-pin front connector (see Figure 4-2). The digital outputs and inputs assigned to the channels are also connected. Pinout of the Front Connector (X1) Terminal Name Meaning...
Page 27 Wiring the FM 351 Auxiliary Power Supply for the Encoders (1L+, 1M) Here, you connect the 24 V DC auxiliary power for the encoders. The reference potential of this power supply (1M) is not connected with the chassis of the load current supply (2M) in the FM 351.
Page 28 Wiring the FM 351 Load Current Supplies The DC power supply for the load current must meet the following requirements: Only low voltage 60 V DC safety isolated from the power supply network must be used for the load current supply. Safe isolation can be implemented, for example, by adhering to the specifications in VDE 0100 Part 410 / HD 384-4-41 / IEC 364-4-41 (as functional low voltage with safe isolation) or...
Page 29: Wiring The Power Unit
Wiring the FM 351 Wiring the Power Unit Power Unit The power unit (for example a simple contactor combination) is connected to the digital outputs of the FM 351 and controls the motor. Contactor Circuit Figure 4-3 shows the control and load current circuits of a power unit. The functions of the digital outputs correspond to control mode 1 (see Section 8.3, page 8-6).
Page 30 Wiring the FM 351 Caution Interlock the power network contactors. Interlocking of the contactors is shown in Figure 4-3. If you do not keep to this rule, a short circuit can occur in the main power network. Note Direct connection of inductive components (for example relays and contactors) is possible without external wiring.
Page 31: Wiring The Front Connector
Wiring the FM 351 Wiring the Front Connector Connecting Cords The cords for digital inputs and digital outputs must be shielded if they exceed a length of 100 m. The shields of the cords must be grounded at both ends. Flexible cord, cross section 0.25 to 1.5 mm Wire-end ferrules are not required.
Page 32 Wiring the FM 351 To wire up the front connector, follow the steps outlined below: 1. Strip 6 mm of insulation from the cords. If required, fit wire-end ferrules. 2. Open the front panel and position the front connector for wiring. 3.
Page 33: Installing The Configuration Package
Installing the Configuration Package Requirement STEP 7, Version V4.02 or higher is correctly installed on your programming device/PC. Content of the Configuration Package Configuration package Configuration Blocks Documentation software Product information Parameter dialogs Manual Samples Block library Getting Started Templates for data Functions (FCs) blocks (UDTs) Figure 5-1...
Page 34 – SIEMENS\STEP7\S7LIBS\FMx51LIB: FCs, UDTs – SIEMENS\STEP7\S7FABS: Configuration software, readme, online help – SIEMENS\STEP7\EXAMPLES: Examples – SIEMENS\STEP7\S7MANUAL\S7FABS: Getting Started, manuals Note If you installed STEP 7 in a folder other than SIEMENS\STEP7, this folder is entered. FM 351 Positioning Module C79000-G7076-C351-02...
Page 35: Programming The Fm 351
Programming the FM 351 Chapter Overview Section Topic Page Basics of Programming an FM 351 FC ABS_INIT (FC0) FC ABS_CTRL (FC1) FC ABS_DIAG (FC2) 6-11 Data Blocks 6-13 Technical Data of the FCs and DBs for the FM 351 6-15 Fast Access to Module Data 6-17 Parameter Transfer Routes...
Page 36: Basics Of Programming An Fm 351
Programming the FM 351 Basics of Programming an FM 351 Task You can assign parameters, control, and commission each channel of the FM 351 module per user program. The following chapters will help you to design a user program suitable for your application. Preparations Open the block library FMx51LIB in the SIMATIC Manager and copy the required functions (FCs) and block templates (UDTs) to the block folder of your...
Page 37 Programming the FM 351 If your programming device/PC is connected to a CPU, you can now download the FCs and DBs to the CPU. The following schematic shows how the FM 351, FCs, DBs and OBs communicate. Cyclic operation, parameter Startup FM 351 assignment and control...
Page 38: Fc Abs_Init (Fc0)
Programming the FM 351 FC ABS_INIT (FC0) Task FC ABS_INIT deletes the following data in the channel DB: The control signals The return signals The trigger, done, and error bits of the jobs The function switches and their done and error bits Job management for FC ABS_CTRL Call The function must be run through for each channel following a startup (power...
Page 39: Fc Abs_Ctrl (Fc1)
Programming the FM 351 FC ABS_CTRL (FC1) Tasks Using FC ABS_CTRL, you can read the operating data of each channel of the module, assign parameters for the channels, and control the channel during operation using the control signals, return signals, function switches, and write/read jobs.
Page 40 Programming the FM 351 Return Values The function provides the following return values: RET_VAL Description At least one job active No job active, no error –1 Error: Data error (DATA_ERR) or communications error (JOB_ERR) occurred Jobs Data exchange with the module other than the control and return signals is handled using jobs.
Page 41 Programming the FM 351 Order of Job Execution You can send several jobs at the same time. If no jobs are active, the job management of FC ABS_CTRL searches through the jobs starting at MDWR_EN to check whether trigger bits are set or whether modifications have been made to function switches.
Page 42 Programming the FM 351 Control Signals If there is a STOP signal or operator error or if the drive enable is not set, the block resets the control signals START, DIR_M and DIR_P. You can start a positioning operation again after acknowledging the operator error (OT_ERR_A=1).
Page 43 Programming the FM 351 Job Status You can check the status of job execution using the return value RET_VAL and the JOBBUSY activity bit in the channel DB. You can evaluate the status of a single job based on the trigger, done, and error bits of the job. RET_VAL JOBBUSY Trigger bit...
Page 44 Programming the FM 351 Program Structure Figure 6-2 shows the structure of a user program for controlling a channel of the module cyclically after a single startup initialization. The return value (RET_VAL) of FC ABS_CTRL is used in the user program for general error evaluation. An independent and simultaneous startup is possible for each further channel as shown in Figure 6-2.
Page 45: Fc Abs_Diag (Fc2)
Programming the FM 351 FC ABS_DIAG (FC2) Tasks Using FC ABS_DIAG, you read out the diagnostic buffer of the module and can make it available for display in an operator control and monitoring system or for programmed evaluation. Call The function must be called cyclically (for example OB 1). An additional call in an interrupt OB is not permitted.
Page 46 Programming the FM 351 Return Values The function provides the following return values: RET_VAL Description job active No job active, no error –1 Error Jobs You can read the diagnostic buffer whether or not there is a new entry by setting the DIAGRD_EN trigger bit in the diagnostic DB.
Page 47: Templates For Data Blocks
Programming the FM 351 Data Blocks 6.5.1 Templates for Data Blocks The supplied library (FMx51LIB) contains a block template (UDT) for each data block. Based on these UDTs, you can create data blocks with any number and name you wish. 6.5.2 Channel DB Task...
Page 48: Diagnostic Db
Programming the FM 351 6.5.3 Diagnostic DB Task The diagnostic DB (see Appendix C.3, page C-11) contains the data for FC ABS_DIAG and also contains the diagnostic buffer of the module created by this function. Structure Diagnostic DB Module address Internal data Job status Trigger bit...
Page 49: Technical Specifications Of The Fcs And Dbs For The Fm
Programming the FM 351 Technical Specifications of the FCs and DBs for the FM 351 The table below provides you with an overview of the technical data of the functions and data blocks. Table 6-1 Technical Specifications of the Functions and Data Blocks for the FM 351 Block Name Versi Space...
Page 50 Programming the FM 351 Execution Times The following table provides you with an overview of the execution times of the functions for the FM 351. The run time from the first function call to the done message (trigger bit reset) is shown. The cycle is extended by between 1 and 2 ms when a function is called.
Page 51: Fast Access To Module Data
Programming the FM 351 Fast Access to Module Data Application In special applications or in an interrupt level, particularly fast access to return and control signals may be necessary. You can obtain this data directly via the input and output areas of the module. To coordinate startup following each module startup (for example after inserting the module, CPU STOP RUN), FC ABS_CTRL must be called continuously until the...
Page 52 Programming the FM 351 Example: Actual position (ACT_POS) Explanation Example The base address of the module is 512 L PID 516 Read actual position value (ACT_POS) of channel 1 using direct access: Base address of the channel + 4 Direct Access for Writing Control Signals The byte addresses are specified relative to the base address of the inputs of the particular channel.
Page 53: Parameter Transfer Routes
Programming the FM 351 Parameter Transfer Routes The term parameter includes the following machine data and incremental dimensions. FM 351 PG/PC online offline Para- User Para. assg. Configuration meter program software ABS_CTRL HW Config Parameters System data System data (SDB) (SDB) Figure 6-3 Parameter Transfer Routes...
Page 54 Programming the FM 351 Typical Situations for the Transfer of Parameters: You edit the parameters with the configuration software. You then want the channels of the module to have parameters assigned automatically during startup. Action required: steps 1, 2 and 2a. You modify the parameters during commissioning in the test mode in the configuration software: Action required: steps 4 and 5.
Page 55: Putting The Fm 351 Into Operation
Putting the FM 351 into Operation Important Note Please read the points in the following warning carefully. Warning Injury to persons and damage to equipment can occur. To prevent personal injury and material damage, please note the following points: Install an EMERGENCY STOP switch in the vicinity of the computer. This is the only means of ensuring that the system can be switched off safely in the event of a computer or software failure.
Page 56 Putting the FM 351 into Operation Hardware Installation and Wiring In this first section you install the FM 351 in your S7-300 and wire the external peripheral components. Step What needs to be done? Install the FM 351 (see Chapter 3) Insert the module in one of the slots 4 to 11.
Page 57 Putting the FM 351 into Operation Preparations for Programming Create the blocks you require in your project if you want to access the module from the user program. Step What needs to be done? Select the library FMX51LIB in the SIMATIC Manager (File > Open > Libraries). From the library, copy the functions FC0, FC1, and the channel DB template UDT 1 to the blocks folder.
Page 58 Putting the FM 351 into Operation Test and Commissioning You can test the entries and modifications you have made in the parameter dialogs of the configuration software. Step What needs to be done? Check your data with the dialogs Test > Commission, Test > Service and Test > Error Evaluation.
Page 59 Putting the FM 351 into Operation Note If you use the FM 351 via PROFIBUS-DP; the CPU must be set to RUN or RUN-P during testing and commissioning. Otherwise, you cannot control the FM 351. Note If you set the drive enable in the commissioning dialog with the CPU in the STOP mode and then exit all the parameter dialogs, the drive enable is canceled.
Page 60 Putting the FM 351 into Operation FM 351 Positioning Module C79000-G7076-C351-02...
Page 61: Machine Data And Incremental Dimensions
Machine Data and Incremental Dimensions Chapter Overview Section Topic Page Writing and Reading Machine Data and Incremental Dimension Tables System of Units Machine Data for the Drive Machine Data for the Axis 8-12 Machine Data for the Encoder 8-15 Absolute Encoder Adjustment 8-19 Resolution 8-22...
Page 62: Writing And Reading Machine Data And Incremental Dimension Tables
Machine Data and Incremental Dimensions Writing and Reading Machine Data and Incremental Dimension Tables This chapter describes how to modify and read out parameters during operation using your application. All the parameters are stored in the parameter DB. The machine data are in the parameter DB at addresses 4.0 to 116.0. Incremental dimension tables are located in the parameter DB from addresses 120.0 to 516.0.
Page 63 Machine Data and Incremental Dimensions Reading machine data To read the current machine data from a channel, follow the steps outlined below: Set the following trigger bit in the channel DB: – Read machine data (MDRD_EN) Call the FC ABS_CTRL function in the cyclic user program. This enters the current machine data in the parameter DB on the CPU.
Page 64 Machine Data and Incremental Dimensions Reading incremental dimension tables To read the incremental dimension tables from a channel, follow the steps outlined below: Set the trigger bits in the channel DB for the following jobs: – Read incremental dimension table 1 (TRGL1RD_EN) and / or read incremental dimension table 2 (TRGL2RD_EN) Call the FC ABS_CTRL function in the cyclic user program.
Page 65: System Of Units
Machine Data and Incremental Dimensions System of Units Selecting a Unit In the configuration software of the FM 351, you can select one of the following systems of units for entering and outputting data: mm (default) inches degrees Note If you change the unit in the parameter dialogs, the values are calculated in the new system.
Page 66: Machine Data For The Drive
Machine Data and Incremental Dimensions Machine Data for the Drive Drive Data Address Name Data Initial Value Description Type 92.0 CTRL_TYPE DINT Control Mode: The control mode describes how the four digital outputs per channel operate a connected motor via the power controller. x stands for channel 1 and 2 Control mode 1 rapid...
Page 67 Machine Data and Incremental Dimensions Control mode 3 rapid Return signal PEH=1 creep Rapid speed Creep speed Travel plus Travel minus Control mode 4 rapid Return signal PEH=1 creep Rapid traverse plus Creep speed plus Rapid traverse minus Creep speed minus Table 8-1 Table with the States of the 4 Outputs for each Control Mode (x stands for channel 1 and 2) Control Mode 1...
Page 68 Machine Data and Incremental Dimensions Table 8-1 Table with the States of the 4 Outputs for each Control Mode (x stands for channel 1 and 2) Control Mode 3 rapid speed creep speed Position reached hold reached hold Direction + Direction –...
Page 69 Machine Data and Incremental Dimensions Address Name Data Initial Value Description Type 100.0 CHGDIF_P DINT L#5000 Switchover difference plus 104.0 CHGDIF_M DINT L#5000 Switchover difference minus 108.0 CUTDIF_P DINT L#2000 Switch-off difference plus 112.0 CUTDIF_M DINT L#2000 Switch-off difference minus Range: 1 m to 1 000 000 000 m at a resolution of...
Page 70 Machine Data and Incremental Dimensions Address Name Data Initial Value Description Type 76.0 TRG_RANGE DINT L#1000 Target range 0 = No monitoring Range: 1 m to 1 000 000 000 m at a resolution of 1 m/pulse 1 m to 100 000 000 m at a resolution of <...
Page 71 Machine Data and Incremental Dimensions Address Name Data Initial Value Description Type 80.0 MON_TIME DINT L#2000 Monitoring time 0 = No monitoring 1 to 100 000 ms Based on the monitoring time, the module monitors the following: The movement of the axis up to the switch-off point. The monitoring time starts at the beginning of a positioning operation and is restarted at each change in the actual value in the direction of travel.
Page 72: Machine Data For The Axis
Machine Data and Incremental Dimensions Machine Data for the Axis Axis Data Address Name Data Initial Value Description Type 12.0 AXIS_TYPE DINT Axis type: 0 = Linear axis 1 = Rotary axis A linear axis is an axis with a limited physical travel range. Physical start Physical end A rotary axis is an axis whose travel range is not restricted by mechanical limit stops.
Page 73 Machine Data and Incremental Dimensions Address Name Data Initial Value Description Type 44.0 REFPT DINT Reference point coordinate: Range: –1 000 000 000 m to 1 000 000 000 m at a resolution of 1 m/pulse –100 000 000 m to 100 000 000 m at a resolution of <...
Page 74 Machine Data and Incremental Dimensions Address Name Data Initial Value Description Type 64.0 SSW_STRT DINT L#–100000000 Software limit switch start 68.0 SSW_END DINT L#100000000 Software limit switch end Range: –1 000 000 000 m to 1 000 000 000 m at a resolution of 1 m/pulse –100 000 000 m to 100 000 000 m...
Page 75: Machine Data For The Encoder
Machine Data and Incremental Dimensions Machine Data for the Encoder Definition The encoder supplies position information (see Chapter 10, page 10-1) to the module that evaluates the information and calculates an actual value based on the resolution. You can only be sure that the calculated actual value of the axis position matches the actual axis position when the information in the machine data of the encoder is correct.
Page 76 Machine Data and Incremental Dimensions Address Name Type Initial Value Comment 32.0 INC_REV DINT L#500 Increments per encoder revolution: Range of values: 1 to 2 The “increments per encoder revolution” machine data specifies the number of increments output by an encoder per revolution.
Page 77 Machine Data and Incremental Dimensions Address Name Type Initial Value Comment 40.0 BAUDRATE DINT Baud rate: Range of values: 0 = 188 kHz 1 = 375 kHz 2 = 750 kHz 3 = 1500 kHz With the baud rate machine data, you define the speed of the data transfer from SSI encoders to the FM 351.
Page 78 Machine Data and Incremental Dimensions Address Name Type Initial Value Comment Monitoring functions: 1 = wire break 63.0 MON_WIRE BOOL TRUE 1 = frame error (must always be 1) 63.1 MON_FRAME BOOL TRUE 63.2 MON_PULSE BOOL TRUE 1 = missing pulses Wire break When the monitoring is activated, the FM 351 monitors all cables with a 5 V incremental encoder and an absolute encoder.
Page 79: Absolute Encoder Adjustment
Machine Data and Incremental Dimensions Absolute Encoder Adjustment Definition With absolute encoder adjustment and the reference point coordinate, there is a defined correlation between the range of values of the encoder and the coordinate system of the axis. Finding the Correct Absolute Encoder Adjustment After the initial parameter assignment, further steps are necessary to establish the correct relationship between the encoder and the coordinate system.
Page 80 Machine Data and Incremental Dimensions Example of Absolute Encoder Adjustment In the example, the following is assumed: Reference point coordinate = –125 mm Working range of SSW_STRT = – 1000 mm to SSW_END = 1000 mm Absolute encoder adjustment = 0 Encoder range = 2048 increments with a resolution of 1 mm/pulse The absolute encoder used cannot be exactly adjusted mechanically and also does not have the option of setting the encoder value.
Page 81 Machine Data and Incremental Dimensions Encoder range covered by this encoder –1000 –125 1000 –1023 1024 2047 1798 Value found for the 1123 Absolute encoder adjustment The encoder supplies 2048 defined values. The working range is defined by the software limit switches. Due to the selected resolution of 1 mm per pulse, the encoder can, however, cover a larger working range than intended with the software limit switches.
Page 82: Resolution
Machine Data and Incremental Dimensions Resolution Definition The resolution specifies the distance corresponding to one pulse. It is a measure of the accuracy of the positioning and also determines the maximum possible travel range of the FM 351. The resolution (RES) is calculated as illustrated in the following table: Incremental Encoders Absolute Encoders Input...
Page 83 Machine Data and Incremental Dimensions Example An incremental encoder has the following data: – Increments per encoder revolution: 5000 – Distance per encoder revolution: 1000 mm – 1 increment = 4 pulses This results in the following resolution (4x decoding): 1000 mm Resolution = 0.2000...
Page 84: Incremental Dimensions
Machine Data and Incremental Dimensions Incremental dimensions Definition Incremental dimensions are targets that can be approached by the FM 351 in the absolute/relative incremental approach modes. Requirements for Incremental Dimensions The positioning target must be at a location corresponding to at least half the target range before the software limit switch.
Page 85: Incremental Dimension Number 254
Machine Data and Incremental Dimensions Data Used in the Channel DB Address Name Type Initial Value Comment 35.4 TRGL1WR_EN BOOL FALSE 1 = write incremental dimension table 1 (incremental dimensions 1 ... 50) 35.5 TRGL2WR_EN BOOL FALSE 1 = write incremental dimension table 2 (incremental dimensions 51 ...
Page 86 Machine Data and Incremental Dimensions Data Used in the Parameter DB Address Name Type Initial Value Comment 100.0 CHGDIF_P DINT L#5000 Switchover difference plus 104.0 CHGDIF_M DINT L#5000 Switchover difference minus: 108.0 CUTDIF_P DINT L#2000 Switch-off difference plus 112.0 CUTDIF_M DINT L#2000 Switch-off difference minus...
Page 87: Modes And Jobs
Modes and Jobs Chapter Overview Section Topic Page End of Positioning Jogging Mode Reference Point Approach Mode 9-11 Incremental Approach Mode 9-17 Set Actual Value / Cancel Set Actual Value 9-23 Set Reference Point 9-25 Loop Traverse Mode 9-27 Enable Input 9-30 Read Position Data 9-31...
Page 88: End Of Positioning
Modes and Jobs End of Positioning Definition The end of a positioning operation is indicated by the return signal WORKING = 0. This can be achieved in three different ways: Final target approach Terminating Aborting Monitoring Functions In the last phase of a positioning operation, the following monitoring functions are active: Monitoring time The monitoring time is retriggered for the last time at the switch-off point and...
Page 89 Modes and Jobs – after the FM 351 has returned the “PEH” signal, – when the monitoring time is exceeded, – when the speed falls below the stationary speed. If the drive leaves the stationary range without a valid travel job, the FM 351 indicates the operating error “stationary range exited”...
Page 90 Modes and Jobs 2. You have set the following parameters: – Target range (TRG_RANGE) > 0 – Stationary speed (ZSPEED_L) = 0 – Monitoring time (MON_TIME) > 0 PEH is generated when the target range is reached. PEH is not generated if the actual value does not reach the target range within the monitoring time.
Page 91 Modes and Jobs Target –1000 mm 1000 mm creep stationary speed = monitoring time Switchover difference plus Stationary speed reached Switch-off difference plus Target reached: PEH is set Stationary range Figure 9-3 Final Target Approach of an Incremental Approach 4. You have set the following parameters: –...
Page 92 Modes and Jobs 5. You have set the following parameters: – Target range (TRG_RANGE) – Stationary speed (ZSPEED_L) – Monitoring time (MON_TIME) = 0 In this situation, if the axis becomes stationary during positioning before the target range is reached, the end of positioning is not detected. PEH is not generated and the WORKING return signal remains set.
Page 93 Modes and Jobs Aborting Aborting means that the positioning operation is stopped immediately changing from rapid or creep speed to stationary ignoring the switchover and switch-off differences. All the relevant outputs of the control mode are deactivated immediately and the following settings made: Incremental dimension = actual value Remaining distance = zero Positioning is aborted in the following situations:...
Page 94: Jogging Operating Mode
Modes and Jobs Jogging Operating Mode Definition In the “jogging” mode, you move the drive in a specific direction by pressing a button. You must install one button for each direction (plus and minus). You can use the “jogging” mode both for a synchronized and for an unsynchronized axis. Requirement You have set the parameters for the axis.
Page 95 Modes and Jobs Data Used in the Channel DB Address Name Type Initial Value Comment 15.2 DIR_M BOOL FALSE 1 = direction minus 15.3 DIR_P BOOL FALSE 1 = direction plus 15.7 DRV_EN BOOL FALSE 1 = activate drive enable 16.0 MODE_IN BYTE...
Page 96 Modes and Jobs Working Range Limits of a Linear Axis The limits for the “jogging” mode differ depending upon whether an axis is synchronized or not. Table 9-1 Jogging with a Synchronized and Non-Synchronized Axis Axis is not synchronized Axis is synchronized. If the travel range limit is passed during jogging: Jogging means positioning on targets located at a distance from the software limit switches...
Page 97: Reference Point Approach Mode
Modes and Jobs Reference Point Approach Mode Definition With the “reference point approach” mode, you can synchronize the axis based on a repeated external event. Requirements An incremental encoder with zero marker. You have set the parameters for the axis. Connection Channel 1 Channel 2...
Page 98 Modes and Jobs 3. Enter the start speed. – Rapid (REFPT_SPD=0) – Creep (REFPT_SPD=1) 4. Write and activate the machine data. 5. Set the control signal for the “reference point approach” mode (MODE_IN=3). 6. Set the control signal for drive enable (DRV_EN=1). 7.
Page 99 Modes and Jobs MODE_IN=3 Ref. point approach DRV_EN Drive enable Enable input WAIT_EI START; DIR_M; DIR_P WORKING SYNC rapid creep Reference Zero point switch marker * The start signals are reset by FC ABS_CTRL. Figure 9-8 Example of the “Reference Point Approach” Mode Data Used in the Channel DB Address Name...
Page 100 Modes and Jobs Address Name Type Initial Value Comment 25.0 SYNC BOOL FALSE 1 = axis is synchronized 34.2 EI_OFF BOOL FALSE 1 = do not evaluate enable input Data Used in the Parameter DB Address Name Type Initial Value Comment 44.0 REFPT...
Page 101 Modes and Jobs Reference Point Approach Depending on the Start Position The actual situation in a reference point approach depends on the following: the position of the drive at the start of a reference point approach the selected start direction the set position of the zero marker for the reference point switch.
Page 102 Modes and Jobs Table 9-3 Options for a Reference Point Approach, continued Conditions for a Reference Point Approach Sequence of a Reference Point Approach Example of a reference point approach (REFPT_TYPE=1): Start direction is plus. SYNC Position of the zero marker from the reference point switch is set in the minus direction.
Page 103: Incremental Operating Mode
Modes and Jobs Incremental Operating Mode Definition With the “incremental approach”, the FM 351 can do the following: Move the drive to absolute targets, Move the drive relatively by a distance in a specified direction. The target or the relative distances are specified for the FM 351 as incremental dimensions.
Page 104 Modes and Jobs Sequence of the “Incremental Approach” Mode with Incr. Dim. Number 1 – 100 Absolute Incremental Approach Relative Incremental Approach Incremental dimension number 1 – 100 1. Set the control signal for the “absolute 1. Set the control signal for the “relative incremental approach”...
Page 105 Modes and Jobs Absolute Incremental Approach Relative Incremental Approach 7. Set the control signal: 7. Set the control signal: Linear axis: Linear axis: – START: The only possible direction – DIR_P; Start in plus direction is determined by the target and the –...
Page 106 Modes and Jobs MODE_IN=4/5 Incremental approach DRV_EN Drive enable Enable input WAIT_EI START; DIR_M; DIR_P WORKING POS_RCD (PEH) rapid creep * The start signals are reset by FC ABS_CTRL. Figure 9-9 Example of the “Incremental Approach” Mode Data Used in the Channel DB Address Name Type...
Page 107 Modes and Jobs Address Name Type Initial Value Comment 36.2 TRG252_254_EN BOOL FALSE 1 = write incremental dimension for incremental dimension number 254 36.3 TRG255_EN BOOL FALSE 1 = write incremental dimension for incremental dimension number 255 35.4 TRGL1WR_EN BOOL FALSE 1 = write incremental dimension table 1 (incremental dimension number 1 ...
Page 108 Modes and Jobs Remaining Distance The remaining distance is the signed difference between the target (incremental dimension) and actual value. On a rotary axis, the displayed remaining distance cannot be used. Terminating an Incremental Approach The “incremental approach” mode is terminated when the FM 351 receives a STOP signal (STOP=1).
Page 109: Set Actual Value / Cancel Set Actual Value
Modes and Jobs Set Actual Value / Cancel Set Actual Value Definition With the “set actual value” job, you assign a new coordinate to the current encoder reading. The working range is projected to a different physical range on the axis. You can calculate the offset of the working range as follows: ACT –ACT current...
Page 110 Modes and Jobs Data Used in the Channel DB Address Name Type Initial Value Comment 35.7 AVAL_EN BOOL FALSE 1 = set actual value 84.0 AVAL DINT Coordinate for “set actual value” Effects of the Job Based on the example “set actual value” to 300 mm, you can see how the job projects the working range to a particular position of the axis.
Page 111: Set Reference Point
Modes and Jobs Set Reference Point Definition With the “set reference point” job, you can synchronize the axis. The job shifts the working range. All offsets resulting from set actual value are retained. Requirement Positioning must be completed. You have set the parameters for the axis. Sequence of the Job 1.
Page 112 Modes and Jobs Effects of the Job Based on the example of “set reference point” to 400 mm, you can see how this job projects the working range to a specific physical position on the axis. It produces the following effects: The actual position is set to the value of the reference-point coordinate.
Page 113: Loop Traverse
Modes and Jobs Loop Traverse Definition With “loop traverse”, you specify the direction in which a target will be approached with force contact. You can use the loop traverse when force contact between the motor and the axis can only be ensured in one direction. A target which is approached against the specified direction is first overshot.
Page 114 Modes and Jobs Data Used in the Channel DB Address Name Type Initial Value Comment 15.0 START BOOL FALSE 1 = start positioning 15.2 DIR_M BOOL FALSE 1 = direction minus 15.3 DIR_P BOOL FALSE 1 = direction plus 15.7 DRV_EN BOOL FALSE...
Page 115 Modes and Jobs Example Based on a positioning operation with a loop traverse minus to a maximum destination, we can illustrate the location of the fictitious target. Software limit switch Fictitious target rapid creep Change Target direction creep Switchover diff. minus Switch-off diff.
Page 116: Enable Input
Modes and Jobs Enable input Definition The enable input is an external input with which a positioning operation can be enabled as a result of an external event. Evaluating the Enable Input (EI_OFF=0) The relevant enable input (xI2) must be wired for the channel. This allows you to prepare the start of a positioning operation.
Page 117: Read Position Data
Modes and Jobs Read Position Data Definition With the “read position data” job, you can read the incremental dimension, remaining distance, and speed at the current time. Sequence of the Job 1. Set the trigger bit in the channel DB (ACTSPD_EN=1). 2.
Page 118: Read Encoder Data
Modes and Jobs 9.10 Read Encoder Data Definition With the “read encoder data” job, you read the current data of the encoder and the value of the absolute encoder adjustment. Requirements You can read out the value for the absolute encoder adjustment after executing the “set reference point”...
Page 119: Return Signals For Positioning
Modes and Jobs 9.11 Return Signals for Positioning Definition With the “return signals for positioning”, you are informed of the current status of the positioning operation. Sequence The data are stored in the channel DB whenever FC ABS_CTRL is called. Data Used in the Channel DB Address Name...
Page 120: Return Signals For Diagnostics
Modes and Jobs 9.12 Return Signals for Diagnostics Definition The “return signals for diagnostics” job informs you of diagnostic events that have occurred. Sequence 1. When the module enters a new event in the diagnostic buffer, it sets the DIAG bit in all channels.
Page 121: Encoders
Encoders Chapter Overview Section Topic Page 10.1 Incremental Encoders 10-2 10.2 Absolute Encoders 10-4 FM 351 Positioning Module 10-1 C79000-G7076-C351-02...
Page 122: Incremental Encoders
Encoders 10.1 Incremental Encoders Connectable Incremental Encoders Incremental encoders with two pulses electrically offset by 90 with or without zero markers are supported: Encoders with asymmetric output signals with 24 V level – Cut-off frequency = 50 kHz: – max. 100 m line length. Geber mit symmetrischen Ausgangssignalen mit 5V-Differenzschnittstelle nach RS 422 –...
Page 123 Encoders Signal Evaluation Increments An increment identifies a signal period of the two encoder signals A and B. This value is listed in the specifications of an encoder and/or on its type label. Signal period= Increment Pulses 4x decoding Figure 10-2 Increments and Pulses Pulses The FM 351 evaluates all 4 edges of the signals A and B (see figure) in each...
Page 124: Absolute Encoders
Encoders 10.2 Absolute Encoders Single-turn and Multiturn Encoders Absolute encoders are grouped as follows: Single-Turn Encoders Single-turn encoders cover the total measuring range in one encoder revolution. Multiturn Encoders Multiturn encoders cover the measuring range in a number of encoder revolutions.
Page 125 Encoders Reaction Times With absolute encoders, the FM 351 has the following reaction times: Minimum reaction time = frame run time + switching time of the connected switching elements Maximum reaction time = 2 frame run time + monoflop time + switching time of the connected switching elements With programmable absolute encoders: Maximum reaction time = frame run time + monoflop time + switching time of the connected switching elements +1/max.
Page 126 Encoders Unsharpness Unsharpness is the difference between the maximum and minimum reaction time. With an Absolute encoder it is as follows: Unsharpness = frame transfer time + monoflop time With programmable absolute encoders: Unsharpness = frame run time + monoflop time + 1/max. step train frequency FM 351 Positioning Module 10-6 C79000-G7076-C351-02...
Page 127: Diagnostics
Diagnostics Chapter Overview Section Topic Page 11.1 Options for Displaying and Evaluating Errors 11-2 11.2 Types of Error 11-2 11.3 Meaning of the Error LEDs 11-3 11.4 Displaying Errors on an OP 11-4 11.5 Error Evaluation in the User Program 11-5 11.6 Diagnostic Buffer of the Module...
Page 128: Options For Displaying And Evaluating Errors
Diagnostics 11.1 Options for Displaying and Evaluating Errors You can obtain information on errors in the following ways: Observing the error LEDs on the module. The meaning of the error LEDs is explained in Section 11.3 (page 11-3). Connect your programming device with the CPU and open the error evaluation dialog of the configuration software.
Page 129: Meaning Of The Error Leds
Diagnostics 11.3 Meaning of the Error LEDs The status and error LEDs indicate various error states. CH 1 CH 2 Figure 11-1 Status and Error Indicators of the FM 351 Meaning Explanation SF (red) Group error This LED indicates an error on the FM 351. LED –...
Page 130: Displaying Errors On An Op
Diagnostics 11.4 Displaying Errors on an OP Figure 11-2 shows the structure of a user program as illustrated in Figure 6-2 with extra functions for reading out the diagnostic buffer for display on an OP. FC DIAG stores the diagnostic buffer in a DB that can be displayed by the OP. Initialization: Call FC ABS_INIT Are jobs still...
Page 131: Error Evaluation In The User Program
Diagnostics 11.5 Error Evaluation in the User Program In your user program, you can plan specific reactions to errors. The following data are available for this purpose: The return values (RET_VAL) of the linked standard FCs: This value is refreshed each time the block is called. RET_VAL = –1 is a group indicator for a synchronous error in a job or in the communication of the module.
Page 132 Diagnostics Call FC ABS_CTRL Operating errors. OT_ERR = 1 ? Reaction to operator error Evaluate return value (RET_VAL) of FC ABS_CTRL < 0 > 0 For all the jobs sent for a chain: Evaluate error and done bits _ERR = 1 and _ERR = 1 and _ERR = 0 and _D = 1...
Page 133 Diagnostics Figure 11-4 shows a possible program structure with which you can evaluate all errors based on the entries in the diagnostic DB. This allows you to react in the program when one or more new errors are entered in the diagnostic buffer of the module.
Page 134 Diagnostics data error DATA_ERR = 1 ? Search in diagnostic DB for error class 4, 5, 6 Start specific reaction to error based on the error number Figure 11-5 Possible Evaluation of a Data Error Operating errors. OT_ERR = 1 ? Search for error class 2 in the diagnostic DB Start specific reaction to error based on the error number acknowledge operator error...
Page 135 Diagnostics Identifier from diagnostic interrupt set ? Search for error class 1, 128 in diagnostic DB Start specific reaction to error based on the error number Figure 11-7 Possible Evaluation of a Diagnostic Interrupt Error class, error number, Channel, ... = specified values ? Start specific reaction to error based on the error number Figure 11-8...
Page 136: Diagnostic Buffer Of The Module
Diagnostics 11.6 Diagnostic Buffer of the Module The diagnostic buffer of the module contains a maximum of 9 diagnostic entries and is organized as a ring buffer. A diagnostic event is written to the buffer when a message (error) “entering state” is detected.
Page 137 Diagnostics 11.7 Interrupt Handling The FM 351 can trigger diagnostic interrupts. You service these interrupts in an interrupt OB. If an interrupt is triggered and the corresponding OB is not loaded, the CPU changes to STOP (refer to the manual Programming with STEP 7). You enable the servicing of diagnostic interrupts as follows: 1.
Page 138: Diagnostic Interrupts
Diagnostics The FM 351 detects an error ( entering state”) “ A diagnostic interrupt is “entering state” if at least one error is pending. If only some of the errors are eliminated, the remaining pending errors are signaled again as “entering state”. Sequence: 1.
Page 139 Diagnostics Evaluation of a Diagnostic Interrupt in the User Program The FM 351 sets the following entries in the local data of the diagnostic interrupt OB (OB82). The errors are also entered in the diagnostic buffer (error class 128, for the meaning and possible remedies, refer to Appendix C.5): Address Name Type...
Page 140 Diagnostics Address of the reporting module (OB82_MDL_ADDR) = Module address from channel DB (MOD_ADDR) ? Note module address and error codes from OB82 bytes 8–11 Exit OB82 or check next module Note “diagnostic interrupt occurred” ID (see also Figure 11–7) ”diagnostic interrupt occurred”...
Page 141: Samples
Samples Chapter Overview Section Topic Page 12.1 Introduction 12-2 12.2 Requirements 12-2 12.3 Preparing the Samples 12-3 12.4 Code of the Samples 12-3 12.5 Testing a Sample 12-4 12.6 Adapting a Sample 12-4 12.7 Sample Program 1 “GettingStarted” 12-5 12.8 Sample Program 2 “Commission”...
Page 142: Introduction
Samples 12.1 Introduction When you install the FM 351/FM 451 configuration package, a sample project is also installed that illustrates several typical applications based on a number of selected functions. The English sample project is in the following folder: ...\STEP7\EXAMPLES\zEn18_01 This contains several S7 programs of varying complexity and with different aims.
Page 143: Preparing The Samples
Samples 12.3 Preparing the Samples To be able work through the samples online, make the following preparations: 1. Open the sample project zEn18_01_FMx51___Prog in the folder ...\STEP7\EXAMPLES using the SIMATIC Manager (use the detailed display so that you can see the symbolic names) and copy it to your project folder assigning a suitable name (File >...
Page 144: Testing A Sample
Samples 12.5 Testing a Sample When you have made all the necessary entries for the sample, download the complete block folder to the CPU. The sample programs include variable tables (VATs) with which you can view and modify the data blocks online (in other words in the RUN-P mode on the CPU). In the variable table, select the views “Symbol”...
Page 145: Sample Program 1 "Gettingstarted
Samples 12.7 Sample Program 1 “GettingStarted” Aim: With this sample, you start up your positioning module which has parameter settings based on “Getting Started”. The sample extends the program shown in the “Linking in the User Program” chapter of “Getting Started” by adding error evaluation. Requirements: You have set the parameters for your positioning module as described in “Getting Started”.
Page 146 Samples Error Evaluation: Create a data error by setting the reference point coordinate “CHAN_1”.REFPT in VAT_CTRL_1 outside the working range or the end of the rotary axis. Then activate the “set reference point” job with “CHAN_1”.REFPT_EN=1. The CPU changes to STOP. (In a sample, this is the simplest method of indicating an error. You can, of course, program a different error evaluation.) Open HW Config and double-click on the FM 351 or FM 451.
Page 147: Sample Program 2 "Commission
Samples 12.8 Sample Program 2 “Commission” Aim: In this sample, you put the positioning module into operation without the parameter assignment dialogs. You control and monitor using variable tables (VATs). Requirements: You have set the parameters for your positioning module as described in “Getting Started”.
Page 148 Samples Error Evaluation: Attempt to create further errors: Specify a reference point coordinate that is higher than the working range or end of the rotary axis. Turn off the external power supply. Delete PARADB_1 on the online CPU and attempt to write machine data. (In the sample, the error evaluation is programmed so that the CPU changes to STOP.
Page 149: Sample Program 3 "Allfunctions
Samples 12.9 Sample Program 3 “AllFunctions” Aim: In this sample you will find all the functions of the FM 351/451: Modes Function switches Write jobs Read jobs You can use the sample program as a template to form the basis of your user program, which you tailor to your needs by modifying and deleting functions.
Page 150 Samples Operation: The CPU is in the STOP mode. Open the variable table USER_VAT and enter the job number required for your user program in the control values. The job numbers are explained in the code of the sample. The correct combination of the user data “USER_DB”.CTRL_SIG, “USER_DB”.FUNC_SW, “USER_DB”.WR_JOBS, “USER_DB”.RD_JOBS and “USER_DB”.RETVAL_CTRL is necessary.
Page 151: Sample Program 4 "Onechannel
Samples 12.10 Sample Program 4 “OneChannel” Aim: In this sample, you control a drive with the user program. The user program starts up the module following a CPU warm restart. Afterwards, it executes a series of steps that reacts to events. Using the variable tables, you set the events, monitor the reactions of the module and evaluate the diagnostic buffer.
Page 152 Samples Operation: The CPU is in the STOP mode. Open the variable table USER_VAT, adapt the incremental dimensions (”USER_DB”.TRG_INC_1, “USER_DB”.TRG_INC_2), the switch over difference (“USER_DB”.CHGDIF) and the switch-off difference (“USER_DB”.CUTDIF) to your system and transferee the control values. Start the CPU (STOP > RUN-P). Watch the step number of the sequence (“USER_DB”.STEPNO), the return signals, and the actual values.
Page 153 Samples User program FB1 (USER_PROG): The user program accesses the data in the module-specific data blocks (USER_DB) with the form <blockname>.<symbolic name>. This means that the user program can operate exactly one channel. The DB number specified in the user program call is simply passed on so that FC_ ABS_CTRL is supplied with values.
Page 154: Sample Program 5 "Diagnosticandinterrupt
Samples 12.11 Sample Program 5 “DiagnosticAndInterrupt” Aim: This sample contains a user program with the same task as in Sample Program 4 “OneChannel”. In this sample, we will show you how to evaluate a diagnostic interrupt for certain modules and how to process this in the user program to produce a general module error.
Page 155 Samples Error Evaluation: If an error occurs during execution, the sequence of steps is stopped. The value –1 is entered as the step number. You will find the latest entry of the diagnostic buffer in USER_VAT. You can find out the cause of the error using the error class and error number (appendix C.5, page C-15).
Page 156: Sample Program 6 "Multichannels
Samples 12.12 Sample Program 6 “MultiChannels” Aim: This example contains the same user program as sample program 4 “OneChannel”, however, it controls 2 channels of the module. The same copy of the user program is used for both channels. Naturally, each channel has its own set of data blocks.
Page 157 Samples User Program (FB PROG): The aim and sequence of the user program are as in Sample Program 5 “DiagnosticAndInterrupt” and Sample Program 4 “OneChannel”. The user program is designed for the operation of more than one channel since it accesses the module-specific data blocks indirectly (channel DBs, diagnostic DB, and parameter DBs).
Page 158 Samples FM 351 Positioning Module 12-18 C79000-G7076-C351-02...
Page 159: A Technical Specifications
Technical Specifications General Technical Specifications The following Technical Specifications are described in the reference manual S7-300/M7-300 Programmable Controllers, Module Data . Electromagnetic compatibility Transport and storage conditions Mechanical and climatic ambient conditions Details on insulation tests, class and level of protection. Approvals and Standards Warning Injury to persons and damage to property may occur.
Page 160 Technical Specifications Siemens Aktiengesellschaft Bereich Automatisierungstechnik A&D AS E4 Postfach 1963 D-92209 Amberg, Germany Area of Application SIMATIC products are designed for use in an industrial environment. Area of Application Requirements Emitted interference Immunity Industry EN 50081-2 : 1993 EN 50082-2 : 1995...
Page 161 Technical Specifications Technical Specifications Dimensions and weight Dimensions W D (mm) Weight Approx. 535 g Current, voltage and power Current consumption (from the backplane bus) max. 200 mA Power dissipation Typ. 7.9 W Auxiliary power supply for the encoders Auxiliary supply: 24 V DC (X1, terminal 1) (permitted range: 20.4 to 28.8V) Encoder supply Horizontal installation S7-300, 20 C:...
Page 162 Technical Specifications Encoder inputs Distance measurement Incremental Absolute Signal voltages Symmetrical inputs: 5 V to RS 422 Asymmetrical inputs: 24 V/ typ. 4 mA Input frequency and cord length for asymmetrical Max. 400 KHz for 32 m shielded cord length incremental encoder with 5 V supply Input frequency and cord length for asymmetrical Max.
Page 163 Technical Specifications Digital outputs Number of outputs Electrical isolation yes, optocoupler Status indication yes, green LED per digital output Output current 0 signal: 0.5 mA 1 signal: 0.5 A (Permissible range: 5...600 mA) Lamp load: 5 W 1 signal: max. 300 µs Output delay for output current 0.5 A 0 signal: max.
Page 164 Technical Specifications FM 351 Positioning Module C79000-G7076-C351-02...
Page 165: Connection Diagrams
Connecting Cable Remark Page Diagram for Incremental 0.25 + 2 1 mm Incremental encoder: encoder =5V, RS–422 =5V, RS 422 Siemens 6FX 2001-2 Incremental 0.5 mm Incremental encoder: encoder =24 V, RS–422 =24 V, RS 422 Siemens 6FX 2001-2 Incremental 0.5 mm...
Page 166: Connection Diagram For Incremental Encoder Siemens 6Fx 2001-2 (Up=24V
Connection Diagrams Connection Diagram for Incremental Encoder Siemens 6FX 2001-2 (U =5V; RS 422) Connection Diagram The following illustration shows the connecting diagram for the incremental encoder Siemens 6FX 2001-2 =5 V: RS422): FM 351 Encoder Round 12-pin socket Siemens 6FX 2003-0CE12...
Page 167: B.2 Connection Diagram For Incremental Encoder Siemens 6Fx
Connection Diagrams Connection Diagram for Incremental Encoder Siemens 6FX 2001-2 (Up=24V; RS 422) Connection Diagram The following illustration shows the connecting diagram for the incremental encoder Siemens 6FX 2001-2 =24 V; RS 422): FM 351 Encoder Round 12-pin socket Siemens 6FX 2003-0CE12...
Page 168: Connection Diagram For Incremental Encoder Siemens 6Fx 2001-4
Connection Diagrams Connection Diagram for Incremental Encoder Siemens 6FX 2001-4 (Up=24V; HTL) Connection Diagram The following illustration shows the connecting diagram for the incremental encoder Siemens 6FX 2001-4 (Up=24 V; HTL): FM 351 Encoder Ground Round 12-pin socket +24 V...
Page 169: Connection Diagram For Absolute Encoder Siemens 6Fx 2001-5
Connection Diagrams Connection Diagram for Absolute Encoder Siemens 6FX 2001-5 (Up=24V; SSI) Connection Diagram The following illustration shows the connecting diagram for the absolute encoder Siemens 6FX 2001-5 (Up=24 V; SSI): FM 351 Encoder Ground Round 12-pin socket +24 V...
Page 170 Connection Diagrams FM 351 Positioning Module C79000-G7076-C351-02...
Page 171: Data Blocks/Error Lists
Data Blocks/Error Lists Chapter Overview Section Topic Page Content of the Channel DB Content of the Parameter DB Data and Structure of the Diagnostic DB C-11 List of JOB_ERR Messages C-13 Error Classes C-15 FM 351 Positioning Module C79000-G7076-C351-02...
Page 172: C.1 Content Of The Channel Db
Data Blocks/Error Lists Content of the Channel DB Note Do not modify data that are not listed in this table. Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Addresses MOD_ADDR Module address CH_NO Channel number 10.0 PARADBNO –1...
Page 173 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Return Signals 22.2 DIAG BOOL FALSE 1 = diagnostic buffer changed 22.3 OT_ERR BOOL FALSE 1 = operator error occurred 22.4 DATA_ERR BOOL FALSE 1 = data error 22.7...
Page 174 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Trigger Bits for Write Jobs 35.0 MDWR_EN BOOL FALSE 1 = write machine data 35.1 MD_EN BOOL FALSE 1 = activate machine data 35.2 DELDIST_EN BOOL...
Page 175 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Done Bits for Write Jobs 39.0 MDWR_D BOOL FALSE 1 = “write machine data” job completed 39.1 MD_D BOOL FALSE 1 = “activate machine data” job completed 39.2 DELDIST_D...
Page 176 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Error Bits for Function Switches 42.0 PLOOP_ERR BOOL FALSE 1 = error in “loop traverse in direction plus” job 42.1 MLOOP_ERR BOOL FALSE 1 = error in “loop traverse in direction minus”...
Page 177 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Error Bits for Read Jobs 44.5 MDRD_ERR BOOL FALSE 1 = error in “read machine data” job 44.6 TRGL1RD_ERR BOOL FALSE 1 = error in “read incremental dimension table 1” 44.7 TRGL2RD_ERR BOOL...
Page 178 Data Blocks/Error Lists Table C-1 Content of the Channel DB Address Name Data Initial Description Type Value Data for the “Read Encoder Data” Job 128.0 ZEROVAL DINT Last zero marker value (internal representation) 132.0 ENC_ADJ DINT Absolute encoder adjustment Data for “length measurement/edge detection” job (FM 451) 136.0 BEG_VAL DINT...
Page 179: C.2 Content Of The Parameter Db
Data Blocks/Error Lists Content of the Parameter DB Note Do not modify data that are not listed in this table. Table C-2 Content of the Parameter DB Address Name Data Initial Value Description Type Machine data EDGEDIST DINT Not used UNITS DINT System of Units...
Page 180 Data Blocks/Error Lists Table C-2 Content of the Parameter DB Address Name Data Initial Value Description Type Machine data 100.0 CHGDIF_P DINT L#5000 Switchover difference plus 104.0 CHGDIF_M DINT L#5000 Switchover difference minus: 108.0 CUTDIF_P DINT L#2000 Switch-off difference plus 112.0 CUTDIF_M DINT...
Page 181: C.3 Data And Structure Of The Diagnostic Db
Data Blocks/Error Lists Data and Structure of the Diagnostic DB Note Do not modify data that are not listed in this table. Table C-3 Structure of the Diagnostic DB Address Name Data Initial Value Description Type MOD_ADDR Module address 256.0 JOB_ERR Error number of the communication error 258.0...
Page 182 Data Blocks/Error Lists The diagnostic entry DIAG[n] is structured as follows: Table C-4 Structure of the Diagnostic Entry Address Name Data Initial Value Description Type +0.0 STATE BOOL FALSE 0 = event leaving state 1 = event entering state +0.1 INTF BOOL FALSE...
Page 183: C.4 List Of Job_Err Messages
Data Blocks/Error Lists List of JOB_ERR Messages JOB_ERR JOB_ER JOB_ER Meaning (hex) R (dec) R (int) 80A0 32928 –32608 Negative acknowledgment when reading from module. Module removed during read operation or module defective. 80A1 32929 –32607 Negative acknowledgment when writing to module. Module removed during write operation or module defective.
Page 184 Data Blocks/Error Lists 8745 34629 –30907 Error in nth (n > 1) write access to a DB after error occurred. (read job) The errors 80A2 to 80A4 and 80Cx are temporary; in other words, they can be cleared after a waiting time without you taking any action.
Page 185: C.5 Error Classes
Data Blocks/Error Lists Error Classes Class 1: Operating Errors Operating errors are detected asynchronous to operator input/commands. The operating errors lead to the positioning being aborted, except for error number 9. This leads to the positioning being terminated. Meaning Diagnostic Interrupt Software limit switch start passed Cause...
Page 186 Data Blocks/Error Lists Meaning Diagnostic Interrupt Change greater than the half rotary axis range Cause The speed/frequency is too high or there are incorrect sudden changes in the actual value. Change greater than rotary axis range Cause The speed/frequency is too high or there are incorrect sudden changes in the actual value.
Page 187 Data Blocks/Error Lists Meaning Diagnostic Interrupt Axis not synchronized Cause The “incremental approach” is only possible with an axis that is already synchronized. Target/distance cannot be positioned Cause The distance between the current actual position and the specified target is less than the switch-off difference Reference point approach not possible Cause...
Page 188 Data Blocks/Error Lists Meaning Diagnostic Interrupt Incorrect actual value specified Cause Linear axis: the coordinate is outside the current (possibly shifted) software limit switch. Rotary axis: The coordinate is < 0 or higher than the end of the rotary axis. Incorrect reference point Cause Linear axis: the coordinate is outside the current...
Page 189 Data Blocks/Error Lists Class 5: Machine Data Errors The diagnostic interrupt is triggered only when there is an error in the system data block (SDB). Data machine data do not lead to an error reaction. Meaning Diagnostic Interrupt Error in hardware interrupt setting You have attempted to select a hardware interrupt Cause that the module does not support.
Page 190 Data Blocks/Error Lists Meaning Diagnostic Interrupt Incorrect absolute encoder adjustment SSI encoder: The value of the absolute encoder Cause adjustment is not in the encoder range (increments per encoder revolution × number of revolutions – 1). Incorrect reference point approach type You have specified a value other than 0, 1, 2 and 3.
Page 191 Data Blocks/Error Lists Meaning Diagnostic Interrupt Incorrect stationary speed The value for the stationary speed is outside the Cause permitted range of 0 to 100 000µm/min. Incorrect control mode You have specified a control mode outside the Cause permitted range of 1 to 4. Incorrect start speed for reference point approach You have specified neither 0 nor 1 as the start Cause...
Page 192 Data Blocks/Error Lists Class 6: Incremental Dimension Table Errors The incremental dimension table errors do not lead to an error reaction. Meaning Diagnostic Interrupt Incremental dimension specified in the incremental dimension table too high The value is outside $100 m or $1000 m. The Cause distance/ target must be greater than the travel range...
Page 193 Data Blocks/Error Lists Class 128: Diagnostic Errors Meaning Diagnostic Interrupt External auxiliary voltage missing • External 24 V auxiliary supply is not connected or Cause failed. • Fuse on module defective • Undervoltage • Ground wire break • Positioning is aborted on all channels Effect •...
Page 194 Data Blocks/Error Lists Meaning Diagnostic Interrupt Encoder wire breakage • Encoder cable cut or not plugged in. Cause • Encoder has no quadrature signals. • Incorrect pin assignment. • Cable length too long. • Encoder signals short circuited. • Encoder signal edge error •...
Page 195 Data Blocks/Error Lists Meaning Diagnostic Interrupt Incremental encoder missing pulses • Encoder monitoring has detected missing pulses. Cause • Number of increments per encoder revolution is incorrectly entered. • Encoder defective: Does not supply the specified number of pulses. • Incorrect or missing zero marker.
Page 196 Data Blocks/Error Lists FM 351 Positioning Module C-26 C79000-G7076-C351-02...
Page 197: Index
Index Channel DB, 6-13 preparing, 7-5 Aborting, 9-7 structure, 6-13 Aborting a reference point approach, 9-14 task, 6-13 Aborting an incremental approach, 9-22 CNT_DIR, 8-17 Aborting jogging, 9-9 Configuration software, 7-3 Absolute encoder Connecting cords, 4-9 data transfer, 10-4 Connecting encoders, 4-3 frame run time, 10-5 Connection diagrams, B-1 increments per encoder revolution, 8-16...
Page 198 Index Digital outputs, 4-6 FC ABS_DIAG, 6-11 Direct access to return signals, 6-17 call, 6-11 Direction reversal, 9-28 call parameters, 6-11 DISP_REV, 8-15 data block used, 6-11 Distance per encoder revolution, 8-15 response to errors, 6-12 Do not evaluate enable input, 9-30 return values, 6-12 Done bits for function switches, C-4 tasks, 6-11...
Page 199 Index Incremental approach mode sequence with incremental dimension Machine data, 8-1 number 1–100, 9-18 activating, 8-2 sequence with incremental dimension axis, 8-12 number 254, 9-18 baud rate, 8-17 sequence with incremental dimension count direction, 8-17 number 255, 9-19 distance per encoder revolution, 8-15 Incremental dimension number 1–100, 9-18 encoder, 8-15 Incremental dimension number 254, 8-25, 9-18...
Page 200 Index Parameter assignment, 7-3 Safety concept, 4-1 Parameter DB, C-9 Safety-relevant switches, 7-2 areas, 6-14 Samples, using, 12-3 structure, 6-14 Set actual value, 9-23 task, 6-14 sequence, 9-23 Parameters relevant for synchronization, 8-4 Set reference point, 9-25 Pinout of the front connector, 4-4 sequence, 9-25 Polarity of the auxiliary power for encoder, 4-5 Shield contact element, 4-3...
Page 201 Index Types of error, 11-2 Wiring, 4-1, 7-2 front connector, 4-9 Wiring procedure, 4-9 WORKING, 9-2 Working range, 2-2, 8-14 Units, selecting, 8-5 Unsharpness, 10-3, 10-6 X1, 4-4 X2, 4-2 Wire break, 8-18 X3, 4-2 FM 351 Positioning Module Index-5 C79000-G7076-C351-02...
Page 202 Index FM 351 Positioning Module Index-6 C79000-G7076-C351-02...
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Siemens SIMATIC FM 351 Manual

1 Product Overview

2 Basics of Positioning

3 Installing and Removing the FM 351

4 Wiring the FM 351

5 Installing the Configuration Package

6 Programming the FM 351

7 Putting the FM 351 into Operation

8 Machine Data and Incremental Dimensions

9 Modes and Jobs

10 Encoders

11 Diagnostics

12 Samples

A Technical Specifications

Connection Diagrams

Data Blocks/Error Lists

Index

Quick Links

Related Manuals for Siemens SIMATIC FM 351

Summary of Contents for Siemens SIMATIC FM 351

Table of Contents