Siemens SIMATIC ET 200SP User manual

Technology module TM PosInput 1
(6ES7138-6BA00-0BA0)
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SIMATIC
ET 200SP
Technology module TM PosInput 1
(6ES7138-6BA00-0BA0)
Manual
04/2016
A5E33015755
-AC
Preface
Documentation guide
1
Product overview
2
Wiring
3
Configuring/address space
4
Interrupts/diagnostic
messages
5
Technical specifications
6
Parameter data record
A
Open Source Software
B

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E33015755-AC
Ⓟ
04/2016 Subject to change
Copyright © Siemens AG 2016.
All rights reserved
Legal information
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damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
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DANGER
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WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
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NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by
personnel qualified
for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
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Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Preface
Purpose of the documentation
This manual includes module-specific information on wiring, diagnostics and the technical
specifications of the technology module.
General information regarding the design and commissioning of the ET 200SP is available in
the ET 200SP system manual.
The counting and measuring functions as well as the position input of the TM PosInput 1
technology module are described in more detail in the Counting, measurement and position
input (http://support.automation.siemens.com/WW/view/en/59709820) function manual.
Conventions
Please observe notes marked as follows:
Note
A note contains important information on the product described in the documentation, on the
handling of the product and on the section of the documentation to which particular attention
should be paid.
Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
also be considered. You can find more information about industrial security on the Internet
(http://www.siemens.com/industrialsecurity).
To stay informed about product updates as they occur, sign up for a product-specific
newsletter. You can find more information on the Internet
(http://support.automation.siemens.com).

Preface
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 04/2016, A5E33015755-AC 5
Open Source Software
Open-source software is used in the firmware of the product described. Open Source
Software is provided free of charge. We are liable for the product described, including the
open-source software contained in it, pursuant to the conditions applicable to the product.
Siemens accepts no liability for the use of the open source software over and above the
intended program sequence, or for any faults caused by modifications to the software.
For legal reasons, we are obliged to publish the original text of the license conditions and
copyright notices. Please read the information relating to this in the appendix.

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Table of contents
Preface ...................................................................................................................................................... 4
1 Documentation guide................................................................................................................................. 8
2 Product overview ..................................................................................................................................... 11
2.1 Properties............................................................................................................................... 11
2.2 Functions................................................................................................................................ 14
2.2.1 Acquisition of encoder signals ............................................................................................... 14
2.2.1.1 Position input with SSI absolute encoder .............................................................................. 14
2.2.1.2 Counting with incremental or pulse encoder.......................................................................... 15
2.2.2 Measured value determination............................................................................................... 17
2.2.3 Switching the outputs at comparison values.......................................................................... 18
2.2.4 Position input for Motion Control............................................................................................ 18
2.2.5 Fast Mode .............................................................................................................................. 19
2.2.5.1 Fast Mode with SSI absolute encoder ................................................................................... 20
2.2.5.2 Fast Mode with incremental or pulse encoder....................................................................... 21
2.2.6 Additional functions................................................................................................................ 23
3 Wiring ...................................................................................................................................................... 25
3.1 Pin assignment....................................................................................................................... 25
4 Configuring/address space ...................................................................................................................... 33
4.1 Configuring............................................................................................................................. 33
4.2 Reaction to CPU STOP ......................................................................................................... 36
4.3 Address space ....................................................................................................................... 37
4.4 Parameters............................................................................................................................. 38
4.5 Control and feedback interface.............................................................................................. 48
4.5.1 Assignment of the control interface........................................................................................ 49
4.5.2 Assignment of the feedback interface.................................................................................... 51
4.5.3 Assignment of the feedback interface in Fast Mode.............................................................. 52
5 Interrupts/diagnostic messages ............................................................................................................... 54
5.1 Status and error displays ....................................................................................................... 54
5.2 Parameter validation error ..................................................................................................... 57
5.3 Diagnostic messages............................................................................................................. 62
5.4 Interrupts ................................................................................................................................ 65
5.4.1 Trigger a diagnostic interrupt ................................................................................................. 65
5.4.2 Cause of the error triggering a diagnostic interrupt ............................................................... 66
5.4.3 Triggering of a Hardware Interrupt......................................................................................... 67
5.4.4 Events which can trigger a hardware interrupt ...................................................................... 68
6 Technical specifications........................................................................................................................... 69

Table of contents
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 04/2016, A5E33015755-AC 7
A Parameter data record............................................................................................................................. 77
B Open Source Software ............................................................................................................................ 88

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Documentation guide
1
The documentation for the SIMATIC ET 200SP distributed I/O system is arranged into three
areas.
This arrangement enables you to access the specific content you require.
Basic information
The system manual describes in detail the configuration, installation, wiring and
commissioning of the SIMATIC ET 200SP. distributed I/O system. The STEP 7 online help
supports you in the configuration and programming.
Device information
Product manuals contain a compact description of the module-specific information, such as
properties, terminal diagrams, characteristics and technical specifications.

Documentation guide
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 04/2016, A5E33015755-AC 9
General information
The function manuals contain detailed descriptions on general topics regarding the
SIMATIC ET 200SP distributed I/O system, e.g. diagnostics, communication, Web server,
designing interference-free controllers.
You can download the documentation free of charge from the Internet
(http://w3.siemens.com/mcms/industrial-automation-systems-simatic/en/manual-
overview/tech-doc-et200/Pages/Default.aspx).
Changes and supplements to the manuals are documented in a Product Information.
You can download the product information free of charge from the Internet
(https://support.industry.siemens.com/cs/us/en/view/73021864).
Manual Collection ET 200SP
The Manual Collection contains the complete documentation on the SIMATIC ET 200SP
distributed I/O system gathered together in one file.
You can find the Manual Collection on the Internet
(http://support.automation.siemens.com/WW/view/en/84133942).
"mySupport"
With "mySupport", your personal workspace, you make the most of your Industry Online
Support.
In "mySupport" you can store filters, favorites and tags, request CAx data and put together
your personal library in the Documentation area. Furthermore, your data is automatically
filled into support requests and you always have an overview of your current requests.
You need to register once to use the full functionality of "mySupport".
You can find "mySupport" in the Internet (https://support.industry.siemens.com/My/ww/en).
"mySupport" - Documentation
In the Documentation area of "mySupport", you have the possibility to combine complete
manuals or parts of them to make your own manual.
You can export the manual in PDF format or in an editable format.
You can find "mySupport" - Documentation in the Internet
(http://support.industry.siemens.com/My/ww/en/documentation).

Documentation guide
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
10 Manual, 04/2016, A5E33015755-AC
"mySupport" - CAx Data
In the CAx Data area of "mySupport", you can have access the latest product data for your
CAx or CAe system.
You configure your own download package with a few clicks.
In doing so you can select:
●Product images, 2D dimension drawings, 3D models, internal circuit diagrams, EPLAN
macro files
●Manuals, characteristics, operating manuals, certificates
●Product master data
You can find "mySupport" - CAx Data in the Internet
(http://support.industry.siemens.com/my/ww/en/CAxOnline).
Application examples
The application examples support you with various tools and examples for solving your
automation tasks. Solutions are shown in interplay with multiple components in the system -
separated from the focus in individual products.
You can find the application examples on the Internet
(https://support.industry.siemens.com/sc/ww/en/sc/2054).
TIA Selection Tool
With the TIA Selection Tool, you can select, configure and order devices for Totally
Integrated Automation (TIA).
This tool is the successor of the SIMATIC Selection Tool and combines the known
configurators for automation technology into one tool.
With the TIA Selection Tool, you can generate a complete order list from your product
selection or product configuration.
You can find the TIA Selection Tool on the Internet
(http://w3.siemens.com/mcms/topics/en/simatic/tia-selection-tool).

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Product overview
2
2.1
Properties
Article number
6ES7138-6BA00-0BA0
View of the module
①
Module type and designa-
tion
⑦
LED for supply voltage
②
LED for diagnostics
⑧
Function class
③
2D matrix code
⑨
Module type color coding
④
Wiring diagram
⑩
Function and firmware version
⑤
LEDs for channel status
⑪
Color code for selecting the color-coded labels
⑥
LED for encoder supply
⑫
Article number
Image 2-1 View of the TM PosInput 1 module

Product overview
2.1 Properties
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
12 Manual, 04/2016, A5E33015755-AC
Properties
The TM PosInput 1 technology module has the following properties:
●Technical properties
–One channel
–Interfaces:
SSI encoder signals DAT and CLK or RS422/TTL encoder signals A, B and N
24 V encoder supply output, short-circuit proof
Digital inputs signals DI0 and DI1
Digital output signals DQ0 and DQ1
L+ supply voltage
–Position value range: 31 bits
–Count range: 32 bits
–Fast Mode configurable
–Monitoring of encoder signals for wire break, short-circuit and offset voltage
–Hardware interrupts configurable
–Input filters for suppression of interferences at encoder inputs and digital inputs can be
configured
●Supported encoder/signal types
–SSI absolute encoder
–RS422/TTL incremental encoder with and without signal N
–RS422/TTL pulse encoder with direction signal
–RS422/TTL pulse encoder without direction signal
–RS422/TTL pulse encoders for up & down pulses
●Supported system functions
–Isochronous mode
–Firmware Update
–Identification data I&M

Product overview
2.1 Properties
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Accessories
The following accessories can be used with the module and are not included in the product
package:
●Labeling strip
●Color identification labels
●Reference identification labels
●Shield connector
A BaseUnit of the A0 type is required to operate the technology module. For an overview of
the BaseUnits to be used with the technology module, refer to the product information on the
documentation for the ET 200SP Distributed I/O System
(http://support.automation.siemens.com/WW/view/en/73021864).
For detailed information on the installation procedure, refer to the ET 200SP Distributed I/O
System (http://support.automation.siemens.com/WW/view/en/58649293) system manual.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2
Functions
2.2.1
Acquisition of encoder signals
2.2.1.1
Position input with SSI absolute encoder
You can use the TM PosInput 1 technology module with an SSI absolute encoder for
position input. The technology module reads the position via a synchronous, serial interface
from the SSI absolute encoder and sends it to the controller.
You can switch the digital outputs of the technology module exactly at defined position
values, independently of the user program. Position input with an SSI absolute encoder does
not involve gate control.
Gray-dual conversion
Gray-code and dual-code SSI absolute encoders are supported.
Range for position value
You can specify a frame length of 10 bits to 40 bits for the SSI absolute encoder. The
configurable bit numbers of the LSB and the MSB of the position value in the frame define
the value range. The technology module can read in a position value with a maximum length
of 31 bits and transfer it to the PLC. The position value is treated as unsigned positive value
and can assume values between 0 and 2(MSB-LSB+1)-1.
Complete SSI frame
Instead of having a measured variable returned, you can choose to have the least significant
32 bit of the current unprocessed SSI frame returned. This provides you with encoder-
specific additional bits, such as error bits, in addition to the position value. If the SSI frame is
shorter than 32 bits, the complete SSI frame is returned right-aligned and the top unused bits
are returned with "0" in the feedback interface.
Capture (Latch)
You can save the current position value as Capture value using the edge of the digital input.
The Capture function is triggered by rising, falling or both edges.
Hysteresis
You can specify hysteresis for the comparison values, within which a digital output will be
prevented from switching again. An encoder can come to a standstill at a specific position,
and slight movements may make the position value fluctuate around this position. If a
comparison value or a position value limit lies within this fluctuation range, the corresponding
digital output is switched on and off with corresponding frequency if hysteresis is not used.
The hysteresis prevents these unwanted switching operations.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2.1.2
Counting with incremental or pulse encoder
Counting refers to the recording and adding up of events. The counters of the technology
module detect encoder signals and pulses and evaluate them accordingly. The count
direction can be specified using encoder or pulse signals or through the user program.
You can control the counting processes with the digital inputs.
You can specify the counter characteristics using the functions described below.
Counting limits
The counting limits define the counter value range used. The counting limits are configurable
and can be modified during runtime with the user program.
The maximum possible counting limit is 2147483647 (231–1). The minimum possible
counting limit is –2147483648 (–231).
You can configure the response of the counter at the counting limits:
●Continue or stop counting upon violation of a counting limit (automatic gate stop)
●Set counter value to start value or to other counting limit upon violation of a counting limit
Start value
You can configure a start value within the counting limits. The start value can be modified
during runtime with the user program.
Depending on the parameter assignment, the technology module can set the current counter
value to the start value upon synchronization, upon Capture function activation, upon
violation of a counting limit or when the gate is opened.
Gate control
Opening and closing the hardware gate and software gate defines the period of time during
which the counting signals are captured.
The control of the hardware gate takes place externally via the digital inputs of the
technology module. Control of the software gate takes place via the user program. The
hardware gate can be enabled through parameter assignment. The software gate (bit in the
control interface of the cyclic I/O data) cannot be disabled.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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Capture (Latch)
You can configure an external reference signal edge that triggers the saving of the current
counter value as Capture value. The following external signals can trigger the Capture
function:
●Rising or falling edge of a digital input
●Both edges of a digital input
●Rising edge of the N signal at the encoder input
When using a digital input, you can specify whether counting is to continue from the current
counter value or from the start value after the Capture function. When using the rising edge
of the N signal at the encoder input, counting is to continue from the current counter value
after the Capture function.
Synchronization
You can configure the edge of an external reference signal to load the counter with the
specified start value. The following external signals can trigger a synchronization:
●Rising or falling edge of a digital input
●Rising edge of the N signal at the encoder input
●Rising edge of the N signal at the encoder input depending on the level of the assigned
digital input
Hysteresis
You can specify hysteresis for the comparison values, within which a digital output will be
prevented from switching again. An encoder can come to a standstill at a specific position,
and slight movements may make the counter value fluctuate around this position. If a
comparison value or a counting limit lies within this fluctuation range, the corresponding
digital output will be switched on and off with corresponding frequency if hysteresis is not
used. The hysteresis prevents these unwanted switching operations.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2.2
Measured value determination
The following measuring functions are available:
Measurement type
Description
Frequency measurement The mean frequency is calculated at set measuring intervals on the
basis of the time profile of the count pulses or position value
changes and returned in Hertz as floating point number.
Period measurement The mean period duration is calculated at set measuring intervals
on the basis of the time profile of the count pulses or position value
changes and returned in seconds as floating point number.
Velocity measurement The mean velocity is calculated at set measuring intervals on the
basis of the time profile of the count pulses or position value
changes and other parameters, and returned in the configured unit
of measurement.
The measured value and the counter value are available concurrently in the feedback
interface. Instead of having a measured variable returned, you can choose to have the least
significant 32 bit of the current unprocessed SSI frame returned when using an SSI absolute
encoder.
Update time
You can configure the interval at which the technology module updates the measured values
cyclically as the update time. Setting longer update time intervals allows uneven measured
variables to be smoothed and increases measuring accuracy.
Gate control for incremental and pulse encoders
Opening and closing the hardware gate and software gate defines the period of time during
which the counting signals are captured. The update time is asynchronous to the opening of
the gate, which means that the update time is not started when the gate is opened. After
closing, the last measured value captured continues to be returned.
Measuring ranges
The measuring functions have the following measuring range limits:
Measurement type
Low measuring range limit
High measuring range limit
Frequency measurement
0.04 Hz
4 MHz*
Period measurement
0.25 µs*
25 s
Velocity measurement Depends on the configured number of "increments per unit" and the
"time base for velocity measurement"
* Applies to incremental encoders and "Quadruple" signal evaluation.
All measured values are returned as signed values. The sign indicates whether the counter
value or position value increased or decreased during the relevant time period.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2.3
Switching the outputs at comparison values
You define two comparison values that can control the two digital outputs independent of the
user program. The comparison values are configurable and can be modified during runtime
with the user program.
Comparison values in the Counting mode
Depending on the encoder, you define two position or counter values as comparison values
in the Counting mode. If the current position or counter value meets the configured
comparison condition, the corresponding digital output can be set to directly initiate control
processes in the process.
Comparison values in the Measuring mode
You define two comparison values in the Measuring mode. If the current measured value
meets the configured comparison condition, the corresponding digital output can be set to
directly initiate control processes in the process.
2.2.4
Position input for Motion Control
You can use the technology module for position input with S7-1500 Motion Control .
In the device configuration of the technology module in STEP 7 (TIA Portal), select "Position
input for Motion Control" mode.
When using an incremental encoder or pulse encoder, the position input is based on the
counting function of the technology module. With an SSI absolute encoder, the absolute
value is read in via a synchronous, serial interface and prepared according to the parameter
assignment to be made available for S7-1500 Motion Control.
Additional information
A detailed description of the use of Motion Control and its configuration is available in the
function manual S7-1500 Motion Control as a download from the Internet
(http://support.automation.siemens.com/WW/view/en/59381279).

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2.5
Fast Mode
You can use the technology module in Fast Mode for very fast detection of the numerical or
position value in case of compressed functionality. In Fast Mode, you have access to a
reduced feedback interface but not to a control interface. This means you can use a shorter
send clock for the CPU.
The range of functions of the technology module has the following additional limitations in
Fast Mode:
●Parameter change in RUN only possible with data record 128
●Count/position value range: 25 bits
●No measured value available
●No software gate available
●No complete SSI frame available
●No Capture function available
●No hardware interrupts available
●Combined error message (feedback bit) that is acknowledged automatically
To do this, select "Fast Mode" operating mode in the device configuration of the technology
module in STEP 7 (TIA Portal).

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
20 Manual, 04/2016, A5E33015755-AC
2.2.5.1
Fast Mode with SSI absolute encoder
You can use the technology module with an SSI absolute encoder for position input. The
technology module reads the position value via a synchronous serial interface from the SSI
absolute encoder and makes it available to the controller.
You can switch the digital outputs of the technology module exactly at defined position
values, independently of the user program. The comparison values can only be changed
with data record 128 in RUN. Position input with an SSI absolute encoder does not involve
gate control.
Gray-dual conversion
Gray-code and dual-code SSI absolute encoders are supported.
Range for position value
You can specify a frame length of 10 bits to 40 bits for the SSI absolute encoder. The
configurable bit numbers of the LSB and the MSB of the position value in the frame define
the value range. The technology module can read a position value with a maximum length of
25 bits and communicate it to the controller. The position value is treated as unsigned
positive value and can assume values between 0 and 2(MSB-LSB+1)-1.
Hysteresis
You can specify hysteresis for the comparison values, within which a digital output will be
prevented from switching again. An encoder can come to a standstill at a specific position,
and slight movements may make the position value fluctuate around this position. If a
comparison value or a position value limit lies within this fluctuation range, the corresponding
digital output is switched on and off with corresponding frequency if hysteresis is not used.
The hysteresis prevents these unwanted switching operations.