Siemens SIMATIC FM 351 Manuale utente

Preface, Contents

User Information

Product Overview 1

Principles of Positioning 2

Installing and Removing

the FM 351 3

Wiring the FM 351 4

FM 351 Parameterization 5

Programming the FM 351 6

Setting up the FM 351 7

Reference Information

Machine Data and Increments 8

Operating Modes and Settings 9

Encoders 10

Error Handling 11

Structure of the Channel DB 12

Appendices

Technical Specifications A

Connecting Cables B

Glossary, Index

EWA 4NEB 720 6001-02

FM 351 Positioning Function

Module

Installation and Parameter

Assignment

Manual

SIMATIC

Edition 1

FM 351 Positioning Function Module

EWA 4NEB 720 6001 02

This manual contains notices which you should observe to ensure your own personal safety, as

well as to protect the product and connected equipment. These notices are highlighted in the

manual by a warning triangle and are marked as follows according to the level of danger:

!Danger

indicates that death, severe personal injury or substantial property damage will result if proper

precautions are not taken.

!Warning

indicates that death, severe personal injury or substantial property damage can result if proper

precautions are not taken.

!Caution

indicatesthatminorpersonalinjuryorpropertydamagecanresultifproperprecautionsarenottaken.

Note

draws your attention toparticularly important informationon the product,handling the product,or

to a particular part of the documentation.

The device/system may only be set up and operated in conjunction with this manual. Only quali-

fied personnel should be allowed to install and work on this equipment. Qualified persons are

defined as persons who are authorized to commission, to ground, and to tag circuits, equipment,

and systems in accordance with established safety practices and standards.

Note the following:

!Warning

This device and its components may only be used for the applications described in the catalog or

the technical description, and only in connection with devices or components from other

manufacturers which have been approved or recommended by Siemens.

This product can only function correctly and safely if it is transported, stored, set up, and

installed correctly, and operated and maintained as recommended.

SIMATICand SINECare registered trademarks of SIEMENS AG.

Third parties using for their own purposes any other names in this document which refer to trade-

marks might infringe upon the rights of the trademark owners.

Wehavecheckedthecontentsofthismanualforagreementwiththe

hardwareandsoftwaredescribed. Since deviationscannot be pre-

cludedentirely,we cannot guarantee full agreement. However,the

data in this manual are reviewed regularly and any necessary cor-

rectionsincludedinsubsequenteditions.Suggestionsforimprove-

ment are welcomed.

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority.

Offenders will be liable for damages. All rights, including rights

createdbypatentgrantorregistrationofautilitymodelordesign,are

reserved.

Siemens AG

Automation Group

Industrial Automation Systems

P.O. Box 4848, D-90327 Nuremberg Siemens AG 1996

Technical data subject to change.

Siemens Aktiengesellschaft Order No. EWA 4NES 720 6000-02

Safety Guidelines

Qualified Personnel

Correct Usage

Trademarks

iii

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Preface

This manual describes all the steps that are necessary to effectively use the

FM 351 Positioning Function Module.

This manual describes the hardware and software of the FM 351 Positioning

Function Module. The manual contains the following subjects:

Principles of positioning

Installing and removing the FM 351

Wiring the FM 351

Assigning the FM 351 parameters

Programming the FM 351

Setting up the FM 351

Reference information

Appendices

For queries about the use of products described in this manual, the answers to

which you cannot find here, please consult your Siemens contact person at

the appropriate representatives and offices. You will find addresses, for ex-

ample, in the appendix “SIEMENS Worldwide” to the manual S7-300 Pro-

grammable Controller, Hardware and Installation.

With queries or comments about the manual itself, please fill in the reply slip

located at the end of the manual and return it to the stated address. Please

also enter your personal assessment in the manual reply slip.

We offer courses designed to make your introduction to the SIMATIC S7 Pro-

grammable Controller easier. To obtain information about these, please con-

tact your regional training center or the central training center in D-90027

Nuremberg, Tel. +49-911-895-3154.

This manual contains the description of the FM 351 Positioning Function

Module which is valid at the time of publication. We reserve the right to de-

scribe changes to the functional features of the FM 351 in product informa-

tion.

Our products fulfill the requirements of the EU guideline 89/336/EWG

“Electromagnetic Compatibility” and of the harmonized European standards

(EN) listed in it.

Purpose

Audience

Additional

Assistance

Scope of this

Manual

CE Labeling

iv FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

The EU declarations of conformity are kept available for the responsible au-

thorities according to the above-mentioned EU guideline at:

Siemens Aktiengesellschaft

Automation Division

AUT E 148

P.O. Box 1963

D-92209 Amberg

Germany

In the appendix you will find a list of other references about the S7-300 and

programmable logic controllers.

The manual contains the following access aids to make it easier for you to

access special information:

At the beginning of the manual you will find a comprehensive contents

list together with lists of figures and tables contained in the complete

manual.

In the chapters you will find information giving you an overview of the

section’s contents in the left-hand column on each page.

Following the reference chapter, you will find a glossary in which the

important specialist terms used in the manual are defined.

At the end of the manual you will find a comprehensive index, enabling

you quick access to the required information.

Other References

How to Use This

Manual

Preface

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Contents

1 Product Overview

1.1 FM 351 Fields of Application 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Components in Open-Loop Positioning 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Principles of Positioning

2.1 Ranges and Switching Points in the Region of the Target Position 2-3. . . . . .

2.2 Positioning Velocity Curve 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Target Approach 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 End of Positioning 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Installing and Removing the FM 351

3.1 Installing the FM 351 Positioning Function Module 3-2. . . . . . . . . . . . . . . . . . .

3.2 Removing the FM 351 Positioning Function Module 3-3. . . . . . . . . . . . . . . . . .

4 Wiring the FM 351

4.1 Wiring the Power Controller 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Description of the Encoder Interface 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Connecting the Encoders 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Description of the Peripheral Interface 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Wiring the Peripheral Interface 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 FM 351 Parameterization

6 Programming the FM 351

6.1 Principles of Programming an FM 351 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Principle of Communication between CPU and FM 351 6-4. . . . . . . . . . . . . . .

6.1.2 Calling Functions 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.3 Interrupt Handling 6-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Functions which Control the FM 351 6-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 FC INC_MOD 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 FC JOG_MODE 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.3 FC REF_MODE 6-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Functions which Write Data to the FM 351 6-18. . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.1 FC REFPT 6-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.2 FC ACT_VAL 6-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.3 FC SNG_FCT 6-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.4 FC SNG_COM 6-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.5 FC TG254 6-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3.6 FC TG253_5 6-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

vi FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

6.4 Functions which Read Data from the FM 351 6-28. . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 FC DIAG_INF 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 FC ACT_DAT 6-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Programming Example 6-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Technical Data 6-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Setting Up the FM 351

8 Machine Data and Increments

8.1 Basic Data 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Machine Data for the Drive 8-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Machine Data for the Axis 8-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 Absolute Encoder Adjustment 8-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 Machine Data for the Encoder 8-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 Resolution 8-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7 Incremental Dimensions 8-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Operating Modes and Settings

9.1 Generally Applicable Definitions 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Jogging Operating Mode 9-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Seek-Reference-Point Operating Mode 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Possibilities for the Seek-Reference-Point Mode 9-9. . . . . . . . . . . . . . . . . . . . .

9.5 Incremental Operating Mode 9-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 Setting Set Actual Value 9-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 Setting Set Reference Point 9-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8 Single Setting Loop Traverse 9-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.9 Single Setting Do Not Evaluate Enable Input 9-19. . . . . . . . . . . . . . . . . . . . . . . . .

10 Encoders

10.1 Incremental Encoders 10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Selecting an Incremental Encoder 10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Absolute Encoders 10-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Selecting an Absolute Encoder 10-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 Error Handling

11.1 Module Defects 11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.2 Diagnostic Interrupts 11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 General Errors 11-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12 Structure of the Channel DB

Contents

vii

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

A Technical Specifications

A.1 General Technical Specifications A-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Special Technical Specifications A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Connecting Cables

B.1 Connecting Cable for Incremental Encoder Siemens 6FX 2001-2

(Vp=5V; RS 422) B-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Connecting Cable for Incremental Encoder Siemens 6FX 2001-2

(Vp=24V; RS 422) B-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Connecting Cable for Incremental Encoder Siemens 6FX 2001-4

(Vp=24V; HTL) B-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4 Connecting Cable for Absolute Encoder Siemens 6FX 2001-5

(Vp=24V; SSI) B-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

viii FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Figures

1-1 View of the FM 351 Positioning Function Module 1-1. . . . . . . . . . . . . . . . . . . . .

1-2 FM 351 in the S7-300 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Example of a High-Bay Warehouse 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Electronic Cam Controller 1-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1 Controlled Positioning 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Ranges and Switching Points Around the Target 2-3. . . . . . . . . . . . . . . . . . . . .

2-3 Velocity Curve on Approaching a Target Position (Basic Shape) 2-4. . . . . . . .

2-4 Target Approach of Positioning 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 End of Positioning 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Abort of Positioning; The Signal POS_RCD is Not Set 2-8. . . . . . . . . . . . . . . .

4-1 Wiring Diagram for an Open-Loop Positioning System 4-2. . . . . . . . . . . . . . . .

4-2 Installation in a Cabinet 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Contactor Circuit 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Position of the Subminiature Cannon Sockets X2 and X3 4-6. . . . . . . . . . . . . .

4-5 Connection of an Encoder to the FM 351 Positioning Function Module 4-8. .

4-6 Position of the Front Connector 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Wiring of the Front Connector 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Principle of Communication between the CPU and FM 351 6-5. . . . . . . . . . . .

8-1 Limits for Entry of Incremental Dimensions 8-17. . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Symmetrical Position of the Switch-off and Switchover Points

for Increment 255 8-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1 Starting the Jogging Operating Mode 9-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Starting a Seek-Reference-Point Traverse 9-8. . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Starting the Incremental Mode 9-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Loop Traverse to a Target at the Software Limit Switch End 9-18. . . . . . . . . . . .

10-1 Signal Waveforms from Incremental Encoders 10-2. . . . . . . . . . . . . . . . . . . . . . .

10-2 Quadruple Evaluation 10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-1 Status and Error Indicators on the FM 351 11-2. . . . . . . . . . . . . . . . . . . . . . . . . .

11-2 Diagnostic Chart: Bits in the Channel DBs from Byte 72 Onwards

(DIAGNOSTIC_INT_INFO) 11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-1 Channel DB Structure 12-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Tables

4-1 Assignment of the 15-Pin Subminiature Cannon Sockets X2 and X3 4-6. . . .

4-2 Front connector assignment 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Digital Input Functions 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Digital Output Functions 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Entries in the Channel DB 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Overview of All Available Function Blocks 6-4. . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Evaluating the Diagnostic Information from the FM 351 6-9. . . . . . . . . . . . . . .

6-4 Brief Description of the Mode FCs 6-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Start Commands for the Operating Modes 6-10. . . . . . . . . . . . . . . . . . . . . . . . . .

6-6 List of the FCs which Write Data to the FM 351 6-18. . . . . . . . . . . . . . . . . . . . . .

6-7 Requirements for Calling Writing Functions 6-18. . . . . . . . . . . . . . . . . . . . . . . . .

6-8 FCs which Read Data 6-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-9 Blocks in the Example Project 6-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-10 Technical Data for the FM 351 Technological Functions 6-35. . . . . . . . . . . . . . .

6-11 Processing Times for the FM 351 Technological Functions 6-35. . . . . . . . . . . .

8-1 Basic Data 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Drive Data 8-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Machine Data for the Axis 8-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4 Machine Data for the Encoder 8-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1 Jogging with a Synchronized and Non-Synchronized Axis 9-5. . . . . . . . . . . .

9-2 Start Commands for a Seek-Reference-Point Traverse 9-7. . . . . . . . . . . . . . . .

9-3 Types of Seek-Reference-Point Mode 9-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 All Possibilities for a Seek-Reference-Point Mode 9-9. . . . . . . . . . . . . . . . . . . .

9-5 Start Commands for the Incremental Mode 9-12. . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Displacement of the Working Range on the Axis by Set Actual Value 9-15. . .

9-7 Displacement of the Working Range on the Axis by Set reference point 9-16.

9-8 Calculation of the Position of the Fictitious Target during a Loop Traverse 9-17

9-9 Behavior of the Start Signals during the Operating Modes 9-19. . . . . . . . . . . .

11-1 Diagnostic Interrupts for Internal Errors 11-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-1 Contents in the Channel DB 12-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

xFM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Contents

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