Siemens SIMATIC ET 200SP User manual

Technology module TM PTO 2x24V (6ES7138-6EB00-0BA0)
SIMATIC
ET 200SP
Technology module
TM
PTO 2x24V
(6ES7138‑6EB00‑0BA0)
Equipment Manual
09/2021
A5E50983437
-AA
Preface
Documentation guide
1
Product overview
2
Connecting
3
Configuring/address space
4
Interrupts/diagnostic
alarms
5
Technical specifications
6
Parameter data record
A

Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E50983437-AA
Ⓟ
08/2021 Subject to change
Copyright © Siemens AG 2021.
All rights reserved
Legal information
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NOTICE
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The product/system described in this documentation may be operated only by personnel qualified for the specific
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editions.

Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 3
Preface
Purpose of the documentation
This manual includes module-specific information on wiring, diagnostics and the technical
specifications of the technology module.
You can find information that pertains generally to the configuration and commissioning of
the ET 200SP in the ET 200SP system manual.
Conventions
Please observe notes marked as follows:
Note
A note con
tains 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.
Siemens Industry Online Support
You can find current information on the following topics quickly and easily here:
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This information is provided by the Siemens Industry Online Support in the Internet
(https://support.industry.siemens.com).

Preface
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
4Equipment Manual, 09/2021, A5E50983437-AA
Industry Mall
The Industry Mall is the catalog and order system of Siemens AG for automation and drive
solutions on the basis of Totally Integrated Automation (TIA) and Totally Integrated Power
(TIP).
You can find catalogs for all automation and drive products on the Internet
(https://mall.industry.siemens.com) and in the Information and Download Center
(https://www.siemens.com/automation/infocenter).
Security information
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necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
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Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation)
are in place.
You can find additional information on industrial security measures that may be implemented
here (https://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends to apply product updates as soon as available and to
always use the latest product versions. Use of product versions that are no longer supported,
and failure to apply latest updates may increase customer’s exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS
Feed under (https://www.siemens.com/industrialsecurity).
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 on this on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109740777).

Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 5
Table of contents
Preface ................................................................................................................................................... 3
1 Documentation guide............................................................................................................................ 6
1.1 ET 200SP Documentation Guide........................................................................................... 6
2 Product overview................................................................................................................................. 11
2.1 Properties.......................................................................................................................... 11
2.2 Functions .......................................................................................................................... 14
2.2.1 Pulse Train Output (PTO).................................................................................................... 14
3 Connecting .......................................................................................................................................... 17
3.1 Pin assignment .................................................................................................................. 17
4 Configuring/address space .................................................................................................................. 22
4.1 Configuring ....................................................................................................................... 22
4.2 Parameter setting .............................................................................................................. 25
4.3 Address space.................................................................................................................... 29
4.4 Control and feedback interface .......................................................................................... 30
4.4.1 Assignment of the control interface ................................................................................... 30
4.4.2 Assignment of the feedback interface ................................................................................ 34
4.4.3 Enabling the pulse output.................................................................................................. 39
4.4.4 Reaction to CPU STOP ........................................................................................................ 40
4.5 Isochronous mode ............................................................................................................. 41
5 Interrupts/diagnostic alarms ............................................................................................................... 42
5.1 Status and error displays.................................................................................................... 42
5.2 Diagnostic alarms .............................................................................................................. 44
6 Technical specifications....................................................................................................................... 47
A Parameter data record......................................................................................................................... 52
A.1 Parameter assignment and structure of the parameter data record ..................................... 52
A.2 Parameter validation error ................................................................................................. 55

Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
6Equipment Manual, 09/2021, A5E50983437-AA
Documentation guide
1
1.1 ET 200SP Documentation Guide
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 and Getting Started describe 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, wiring diagrams, characteristics and technical specifications.

Documentation guide
1.1 ET 200SP Documentation Guide
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 7
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, motion
control and OPC UA.
You can download the documentation free of charge from the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109742709).
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
(https://support.industry.siemens.com/cs/ww/en/view/84133942).
"mySupport"
With "mySupport", your personal workspace, you make the best out of your Industry Online
Support.
In "mySupport", you can save filters, favorites and tags, request CAx data and compile your
personal library in the Documentation area. In addition, your data is already filled out in
support requests and you can get an overview of your current requests at any time.
You must register once to use the full functionality of "mySupport".
You can find "mySupport" on the Internet (https://support.industry.siemens.com/My/ww/en).
"mySupport" - Documentation
With "mySupport", your personal workspace, you make the best out of your Industry Online
Support.
In "mySupport", you can save filters, favorites and tags, request CAx data and compile your
personal library in the Documentation area. In addition, your data is already filled out in
support requests and you can get an overview of your current requests at any time.
You must register once to use the full functionality of "mySupport".
You can find "mySupport" on the Internet
(http://support.industry.siemens.com/My/ww/en/documentation).

Documentation guide
1.1 ET 200SP Documentation Guide
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
8Equipment Manual, 09/2021, A5E50983437-AA
"mySupport" - CAx data
In the CAx data area of "mySupport", you can 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 on 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 on individual products.
You will 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).

Documentation guide
1.1 ET 200SP Documentation Guide
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 9
SIMATIC Automation Tool
You can use the SIMATIC Automation Tool to perform commissioning and maintenance
activities simultaneously on various SIMATIC S7 stations as a bulk operation independent of
TIA Portal.
The SIMATIC Automation Tool provides a multitude of functions:
•Scanning of a PROFINET/Ethernet system network and identification of all connected CPUs
•Address assignment (IP, subnet, gateway) and station name (PROFINET device) to a CPU
•Transfer of the date and the programming device/PC time converted to UTC time to the
module
•Program download to CPU
•RUN/STOP mode switchover
•CPU localization by means of LED flashing
•Reading out of CPU error information
•Reading of the CPU diagnostics buffer
•Reset to factory settings
•Firmware update of the CPU and connected modules
You can find the SIMATIC Automation Tool on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/98161300).
PRONETA
SIEMENS PRONETA (PROFINET network analysis) allows you to analyze the plant network
during commissioning. PRONETA features two core functions:
•The topology overview automatically scans the PROFINET and all connected components.
•The IO check is a fast test of the wiring and the module configuration of a plant.
You can find SIEMENS PRONETA on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/67460624).

Documentation guide
1.1 ET 200SP Documentation Guide
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
10 Equipment Manual, 09/2021, A5E50983437-AA
SINETPLAN
SINETPLAN, the Siemens Network Planner, supports you in planning automation systems and
networks based on PROFINET. The tool facilitates professional and predictive dimensioning of
your PROFINET installation as early as in the planning stage. In addition, SINETPLAN supports
you during network optimization and helps you to exploit network resources optimally and to
plan reserves. This helps to prevent problems in commissioning or failures during productive
operation even in advance of a planned operation. This increases the availability of the
production plant and helps improve operational safety.
The advantages at a glance
•Network optimization thanks to port-specific calculation of the network load
•Increased production availability thanks to online scan and verification of existing systems
•Transparency before commissioning through importing and simulation of existing STEP 7
projects
•Efficiency through securing existing investments in the long term and the optimal use of
resources
You can find SINETPLAN on the Internet (https://www.siemens.com/sinetplan).
MultiFieldbus Configuration Tool (MFCT)
The MultiFieldbus Configuration Tool (MFCT) is used to configure and assign parameters for
MultiFieldbus devices (e.g. IM 155-6 MF HF). You load the configuration and parameter
assignment into the MF device with MFCT.
You can also use MFCT to update the firmware of MF devices and modules.
You can find MFCT on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109773881).

Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 11
Product overview
2
2.1 Properties
Article number
6ES7138-6EB00-0BA0
View of the module
①
Module type and designation
⑦
Function class
②
LED for diagnostics
⑧
Module type color coding
③2D matrix code for reading article and serial
numbers
⑨Function and firmware version
④Terminal diagram ⑩Color code for selection of the color-coded la-
bels and BaseUnit type
⑤
LEDs for channel status
⑪
Article number
⑥
LED for supply voltage
Figure 2-1 View of the TM PTO 2x24V module

Product overview
2.1 Properties
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
12 Equipment Manual, 09/2021, A5E50983437-AA
Introduction
The technology module offers you the possibility to connect up to two stepper motor axes to
an ET 200SP system. The module is linked to technology objects by means of an
implementation of the PROFIdrive telegrams 1 and 81 and forms the interface to the drive.
The number of steps that are output is returned as the actual position value.
Properties
The TM PTO 2x24V technology module has the following properties:
•Technical properties
–2 channels, channel-by-channel configuration
–Interfaces:
24 V pulse output signals pulse (P), direction (D) or A, B for the PTO function (per
channel, max. 200 kHz for single evaluation, max. 800 kHz for quadruple evaluation)
Digital input signal RS for the reference switch function (per channel)
Digital input signal MI for the measuring input function (per channel)
Digital input signal DR for the Ready input function (per channel)
Digital output signal ED for the drive enable function (per channel)
Supply voltage L+
–Configurable diagnostics (per channel)
–Configurable pulse pause on reversal of direction
–Configurable input delay: none, 0.05 ms ... 20 ms
•Supported signal types for pulse output
–Pulse output with direction signal
–Pulse output with forward signal and backward signal
–Pulse output with two signals with a 90° phase shift

Product overview
2.1 Properties
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 13
The module supports the following functions:
Table 2- 1 Configurability of the functions
Function Firmware ver-
sion of the
module
Configurable as of
STEP 7 (TIA
Portal) V17
with
HSP0341
GSD
PROFINET IO PROFIBUS DP
Firmware update
V1.0 or higher
X
X
—
I&M identification data
V1.0 or higher
X
X
X
Parameter reassignment in RUN
V1.0 or higher
X
X
X
Isochronous mode
V1.0 or higher
X
—
—
Centralized operation on
CPU 151xSP
V1.0 or higher
X
—
—
Pulse Train Output with single and
quadruple evaluation
V1.0 or higher
X
X
X
Operating with technology objects
TO_SpeedAxis, TO_PositioningAxis,
TO_SynchronousAxis,
TO_MeasuringInput
V1.0 or higher
X
—
—
Accessories
A BaseUnit of type A0 is needed for operation of 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 additional information on the accessories, 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 PTO 2x24V (6ES7138‑6EB00‑0BA0)
14 Equipment Manual, 09/2021, A5E50983437-AA
2.2 Functions
2.2.1 Pulse Train Output (PTO)
Applications
Pulse Train Output is a simple and universal interface between a SIMATIC controller and a
drive. PTO is supported worldwide by many stepper and servo drives and is used in many
positioning applications, such as for adjustment axes and feed axes.
PTO is also referred to as the pulse/direction interface. The pulse/direction interface comprises
two signals. The frequency of the pulse output represents the speed and the number of
pulses that are output represents the distance to be traversed. The direction output defines
the traversing direction. The position specification is thereby accurate to within one
increment. The pulse/direction interface is especially well-suited for operation with the
technology objects TO_SpeedAxis, TO_PositioningAxis and TO_SynchronousAxis.
TO_MeasuringInput can be used to detect measuring inputs on the drive axis.
Control
The control of the pulse output channels is provided above all with S7-1500 Motion Control
by means of the technology objects TO_SpeedAxis, TO_PositioningAxis and
TO_SynchronousAxis . The control and feedback interface (Page 30) of the channels is an
implementation of the PROFIdrive interface with standard telegrams 1 and 81.
For a detailed description of configuring the technology module with the axis technology
objects, see Function Manual S7-1500T Motion Control, section "Configuring", which is
available for download on theInternet
(https://support.industry.siemens.com/cs/ww/en/view/109481326).

Product overview
2.2 Functions
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 15
Signal types
The technology module supports the following four signal types:
Note
The pulse width is fixed depending on the maximum pulse frequency set for the respective
channel.
•PTO (Pulse (P) and direction (D)):
One output (P) controls the pulses and one output (D) controls the direction. D is 'high'
(active) when pulses are generated in the negative direction. D is 'low' (inactive) when
pulses are generated in the positive direction.
①
Positive direction of rotation
②
Negative direction of rotation
•PTO (count up (A), count down (B)):
One output (A) outputs pulses for positive directions and another output (B) outputs
pulses for negative directions.
①
Positive direction of rotation
②
Negative direction of rotation

Product overview
2.2 Functions
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
16 Equipment Manual, 09/2021, A5E50983437-AA
•PTO (A, B phase-shifted):
Output pulses are output by both outputs at the specified velocity, but phase-shifted by
90 degrees. This involves a single pulse output in which the duration of the pulse is the
time between two transitions of signal A while signal B is at low level.
A positive direction of rotation is generated at a positive edge of signal A while signal B is
in low state. A negative direction of rotation is generated at a negative edge of signal A
while signal B is in low state.
A precedes B (positive direction of rotation)
A follows B (negative direction of rotation)
Position
Position
•PTO (A, B phase-shifted, quadruple)
Output pulses are output by both outputs at the specified velocity, but phase-shifted by
90 degrees. This signal type involves a quadruple pulse output in which each edge
transition corresponds to one increment. Therefore, a complete period of signal A
contains four increments. In this way, it is possible, for example, to use two outputs, each
with 100 kHz signal frequency, to output a control signal that supplies 400,000
increments per second.
Whether count pulses are generated in the positive or negative direction of rotation
depends on the edge direction of one signal and the logic state of the other signal in each
case.
A precedes B (positive direction of rotation)
A follows B (negative direction of rotation)
Position
Position

Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 17
Connecting
3
3.1 Pin assignment
The TM PTO 2x24V technology module is used with a BaseUnit of type A0 (article number
6ES7193-6BPx0-0xA0).
Connect the pulse output signals, digital input signals and digital output signals to the
BaseUnit of the technology module. The supply voltage feed on the light-colored BaseUnit
BU...D of the associated potential group supplies the module and the digital outputs.
BaseUnit
The BaseUnit is not included in the scope of delivery of the module and must be ordered
separately.
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).
You can find information about selecting a suitable BaseUnit in the ET 200SP Distributed I/O
system (http://support.automation.siemens.com/WW/view/en/58649293) system manual and
ET 200SP BaseUnits (http://support.automation.siemens.com/WW/view/en/58532597/133300)
equipment manual.
You can find information on wiring the BaseUnit, connecting cable shields, etc. in the Wiring
section of the ET 200SP Distributed I/O system
(http://support.automation.siemens.com/WW/view/en/58649293) system manual.
Supply voltage L+/M
With a light-colored BaseUnit, you connect the supply voltage to the L+ and M terminals. With
a dark BaseUnit, the supply voltage of the left-hand module is used. An internal protective
circuit protects the technology module from polarity reversal of the supply voltage. The
technology module monitors the connection of the supply voltage.

Connecting
3.1 Pin assignment
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
18 Equipment Manual, 09/2021, A5E50983437-AA
Pin assignment of BaseUnit
The table below shows the terminal assignment, using the BaseUnit BU15-P16+A0+2B as an
example.
Table 3- 1 Terminal assignment of the BaseUnit BU15-P16+A0+2B
Designation
Signal name
View
Signal name
Designation
Channel 0
Channel 1
Pulse signal P/A
CH0.P/A
1
2
CH1.P/A
Pulse signal P/A
Pulse signal D/B
CH0.D/B
3
4
CH1.D/B
Pulse signal D/B
DQ Enable Drive
CH0.ED
5
6
CH1.ED
DQ Enable Drive
DI Reference Switch
CH0.RS
7
8
CH1.RS
DI Reference Switch
DI Measuring Input
CH0.MI
9
10
CH1.MI
DI Measuring Input
DI Drive Ready
CH0.DR
11
12
CH1.DR
DI Drive Ready
Supply voltage and ground of
both channels
Ground of both channels
Ground for digital outputs,
digital inputs and pulse sig-
nals of the technology mod-
ule
M
13
14
M
Ground for digital outputs,
digital inputs and pulse sig-
nals of the technology mod-
ule
M
15
16
M
24 V DC supply voltage
L+
M
Ground for supply voltage
Behavior of the digital outputs following a wire break at the ground connection of the outputs
Due to the characteristics of the output driver used in the module, a wire break causes
approximately 10 mA supply current to drain from the digital outputs via a parasitic diode.
This behavior may lead to a high signal state even at outputs that are not set. Depending on
the nature of the load, 10 mA may be enough to activate a load with high signal state.
Duplicate wiring of ground
To prevent unintended switching of the outputs in the event of a ground connection wire
break, follow these steps:
1. Route the first ground connection from terminal M to the ground connection of the central
power supply of the plant.
2. Route the second ground connection from terminal 16 to the ground connection of the
central power supply of the plant.
If one of the two ground connection cables is interrupted, the outputs are maintained at the
required potential by the remaining ground connection.
WARNING
Wire break at ground connection
Always connect two cables to the ground connection of the central power supply of the
system.

Connecting
3.1 Pin assignment
Technology module TM PTO 2x24V (6ES7138‑6EB00‑0BA0)
Equipment Manual, 09/2021, A5E50983437-AA 19
Circuit diagram
You must ground the shields of the cables between the motor and the technology module via
the shield connection to the BaseUnit (shield support and terminal).
The figure below shows the block diagram of the technology module with an example using
both channels.
①
Electrical isolation
②
Shield support on the BaseUnit
③
Technology
④
Backplane bus interface module of the technology module
⑤
Backplane bus
⑥
LEDs per channel
⑦
Motor with drive stage
⑧
Duplicate wiring to the ground connection of the central power supply of the system
Figure 3-1 Circuit diagram