Siemens SIMATIC FM 351 User manual

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

ii
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.
  Copyright Siemens AG 1996 All rights reserved
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. [phone].
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

v
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

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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