Siemens Simatic S7-1500 User manual

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SIMATIC
S7-1500/ET 200MP
Technology module TM PosInput 2
(6ES7551-1AB00-0AB0)
Manual
06/2018
A5E03982218
-AB
Preface
Documentation guide
1
Product overview
2
Wiring
3
Configuring/address space
4
Interrupts/diagnostic
messages
5
Technical specifications
6
Dimensional drawing
A
Parameter data record
B

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E03982218-AB
Ⓟ
05/2018 Subject to change
Copyright © Siemens AG 2018.
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
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
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
avoiding potential hazards when working with these products/systems.
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Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
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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 2 (6ES7551-1AB00-0AB0)
Manual, 06/2018, A5E03982218-AB 3
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 design and commissioning of the S7-1500 or ET 200MP is
available in the S7-1500 and ET 200MP System Manuals.
The counting and measuring functions and position input of the TM PosInput 2 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 documenta
tion 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, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
security concept. Siemens’ products and solutions only form one element of such a concept.
Customer is responsible to prevent unauthorized access to its plants, systems, machines
and networks. Systems, machines and components should only be connected to the
enterprise network or the internet if and to the extent necessary and with appropriate security
measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens’ guidance on appropriate security measures should be taken into
account. For more information about industrial security, please visit
(http://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 (http://www.siemens.com/industrialsecurity).

Preface
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
4Manual, 06/2018, A5E03982218-AB
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 PosInput 2 (6ES7551-1AB00-0AB0)
Manual, 06/2018, A5E03982218-AB 5
Table of contents
Preface ................................................................................................................................................... 3
1 Documentation guide .............................................................................................................................. 7
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 ..........................................................................16
2.2.2 Measured value determination ...............................................................................................17
2.2.3 Switching the outputs at comparison values ..........................................................................17
2.2.4 Position input for Motion Control.............................................................................................18
2.2.5 Additional functions.................................................................................................................19
3 Wiring ................................................................................................................................................... 20
3.1 SSI encoder signals................................................................................................................22
3.2 RS422 encoder signals...........................................................................................................24
3.3 TTL encoder signals ...............................................................................................................28
4 Configuring/address space.................................................................................................................... 32
4.1 Operating with "Counting and measurement" technology object ...........................................32
4.1.1 Configuring..............................................................................................................................32
4.1.2 Reaction to CPU STOP ..........................................................................................................33
4.1.3 Parameter setting....................................................................................................................34
4.1.3.1 Parameters (SSI absolute encoder) .......................................................................................35
4.1.3.2 Parameters (incremental or pulse encoder) ...........................................................................39
4.1.4 Address space ........................................................................................................................43
4.1.5 Isochronous mode ..................................................................................................................43
4.2 Position input for ""Motion Control"" technology object ..........................................................45
4.2.1 Configuring..............................................................................................................................45
4.2.2 Parameter setting....................................................................................................................46
4.2.2.1 Parameters (SSI absolute encoder) .......................................................................................47
4.2.2.2 Parameters (incremental or pulse encoder) ...........................................................................49
4.2.3 Address space ........................................................................................................................50
4.2.4 Isochronous mode ..................................................................................................................51
4.3 Manual operation (without technology object) ........................................................................52
4.3.1 Configuring..............................................................................................................................52
4.3.2 Reaction to CPU STOP ..........................................................................................................54
4.3.3 Parameter setting....................................................................................................................55
4.3.3.1 Parameters (SSI absolute encoder) .......................................................................................56
4.3.3.2 Parameters (incremental or pulse encoder) ...........................................................................60

Table of contents
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
6Manual, 06/2018, A5E03982218-AB
4.3.4 Address space ....................................................................................................................... 64
4.3.5 Control and feedback interface .............................................................................................. 65
4.3.5.1 Assignment of the control interface........................................................................................ 65
4.3.5.2 Assignment of the feedback interface.................................................................................... 68
4.3.6 Isochronous mode ................................................................................................................. 72
5 Interrupts/diagnostic messages............................................................................................................. 73
5.1 Status and error display ......................................................................................................... 73
5.2 Diagnostic alarms................................................................................................................... 76
5.3 Hardware interrupts ............................................................................................................... 80
6 Technical specifications ........................................................................................................................ 82
A Dimensional drawing............................................................................................................................. 91
B Parameter data record .......................................................................................................................... 93
B.1 Parameter assignment and structure of parameter data record............................................ 93
B.2 Parameter validation error ................................................................................................... 100

Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
Manual, 06/2018, A5E03982218-AB 7
Documentation guide
1
The documentation for the SIMATIC S7-1500 automation system and the
SIMATIC ET 200MP 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 S7-1500 and ET 200MP systems. 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.
General information
The function manuals contain detailed descriptions on general topics regarding the
SIMATIC S7-1500 and ET 200MP systems, e.g. diagnostics, communication, motion control,
Web server, OPC UA.
You can download the documentation free of charge from the Internet
(http://w3.siemens.com/mcms/industrial-automation-systems-simatic/en/manual-
overview/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/68052815).

Documentation guide
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
8Manual, 06/2018, A5E03982218-AB
Manual Collection S7-1500/ET 200MP
The Manual Collection contains the complete documentation on the SIMATIC S7-1500
automation system and the ET 200MP 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/86140384).
SIMATIC S7-1500 comparison list for programming languages
The comparison list contains an overview of which instructions and functions you can use for
which controller families.
You can find the comparison list on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/86630375).
"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
In the Documentation area in "mySupport" you can combine entire manuals or only parts of
these to your own manual.
You can export the manual as PDF file or in a format that can be edited later.
You can find "mySupport" - Documentation on the Internet
(http://support.industry.siemens.com/My/ww/en/documentation).
"mySupport" - CAx data
In the CAx data area in "mySupport", you can access the current 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).

Documentation guide
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
Manual, 06/2018, A5E03982218-AB 9
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).
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
the TIA Portal.
General function overview:
●Network browsing and creation of a table showing the accessible devices in the network.
●Flashing of device LEDs or HMI display to locate a device
●Downloading of addresses (IP, subnet, gateway) to a device
●Downloading the PROFINET name (station name) to a device
●Placing a CPU in RUN or STOP mode
●Setting the time in a CPU to the current time of your PG/PC
●Downloading a new program to a CPU or an HMI device
●Downloading from CPU, downloading to CPU or deleting recipe data from a CPU
●Downloading from CPU or deleting data log data from a CPU
●Backup/restore of data from/to a backup file for CPUs and HMI devices
●Downloading service data from a CPU
●Reading the diagnostics buffer of a CPU
●Performing a CPU memory reset
●Resetting devices to factory settings
●Downloading a firmware update to a device
You can find the SIMATIC Automation Tool on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/98161300).

Documentation guide
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
10 Manual, 06/2018, A5E03982218-AB
PRONETA
With SIEMENS PRONETA (PROFINET network analysis), you analyze the PROFINET
network during commissioning. PRONETA features two core functions:
●The topology overview independently scans PROFINET network and all connected
components.
●The IO check is a fast test of the wiring and the module configuration of a system.
You can find SIEMENS PRONETA on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/67460624).
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 optimal exploitation
of resources
You can find SINETPLAN on the Internet (https://www.siemens.com/sinetplan).

Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
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Product overview
2
2.1
Properties
Article number
6ES7551-1AB00-0AB0
Firmware version
This manual describes the properties of the module with firmware version V1.3.
View of the module
Figure 2-1 View of the TM PosInput 2 module

Product overview
2.1 Properties
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
12 Manual, 06/2018, A5E03982218-AB
Properties
The TM PosInput 2 technology module has the following properties:
●Technical properties
–Two channels
–Interfaces:
SSI encoder signals D und C or RS422/TTL encoder signals A, B and N
5 V and 24 V encoder supply, short-circuit-proof
DI0 and DI1 digital input signals (per channel)
DQ0 and DQ1 digital output signals (per channel)
Supply voltage L+
–Count range: 32 bits
–Channel-by-channel monitoring of encoder signals for wire break, short-circuit and
faulty supply voltage
–Hardware interrupts can be configured channel by channel
–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 N signal
–RS422/TTL incremental encoder without N signal
–RS422/TTL pulse encoder with direction signal
–RS422/TTL pulse encoder without direction signal
–RS422/TTL pulse encoder with up/down count signal
●Supported system functions
–Isochronous mode
–Firmware update
–Identification data I&M

Product overview
2.1 Properties
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
Manual, 06/2018, A5E03982218-AB 13
The module supports the following functions:
Table 2- 1 Version dependencies of the functions
Function
Firmware ver-
sion of module
Configurable as of
STEP 7
(TIA Portal)
GSD
PROFINET
IO
PROFIBUS
DP
Firmware update
V1.0 or higher
V13
X
—
I&M identification data
V1.0 or higher
V13
X
X
Parameter reassignment in RUN
V1.0 or higher
V13
X
X
Isochronous mode V1.0 or higher V13 — —
Counting/measuring
V1.0 or higher
V13
X
X
Operating with "Counting and
measurement" technology object
V1.0 or higher V13 — —
Position input for "Motion Control"
technology object
V1.0 or higher V13 — —
Operating with "Measuring input"
technology object
V1.3 or higher V15 with
HSP0256
— —
Position value range of 32 bits V1.3 or higher V15 with
HSP0256
X X
Accessories
The following components are supplied with the technology module and can also be ordered
separately as spare parts:
●Shield bracket
●Shield terminal
●Power supply element
●Labeling strip
●U-connector
Other components
The following component needs to be ordered separately:
●Front connectors, including potential jumpers and cable ties
You can find information on the front connector in system manual S7-1500 / ET 200MP
Automation System (http://support.automation.siemens.com/WW/view/en/59191792),
section "Accessories".

Product overview
2.2 Functions
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14 Manual, 06/2018, A5E03982218-AB
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 2 technology module with an SSI absolute encoder for
position detection. 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-code and dual-code
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 32 bits and transfer it to the controller.
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 configure the edge of an external reference signal that triggers saving of the current
position value as a 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
The "Frequency of Capture function" parameter specifies whether the function is executed at
each configured edge or only once after each enable.

Product overview
2.2 Functions
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
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Measuring input
If you use Position input for Motion Control (Page 18), you can use the "Measuring input"
technology object to execute a measuring input function with a hardware digital input.
Hardware interrupts
The technology module can trigger a hardware interrupt in the CPU when a comparison
event, zero crossing and/or direction reversal occurs. You can specify which events during
operation are to trigger a hardware interrupt.

Product overview
2.2 Functions
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2.2.1.2
Counting with incremental or pulse encoder
Counting is the detecting 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. In addition, you can read the
signal state of the respective digital input via the feedback interface.
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.
You can configure the behavior of the counter at the counting limits.
Start value
You can configure a start value within the counting limits. The start value can be modified
during runtime with the user program.
Gate control
You can define the time window in which the count signals are acquired with the hardware
gate (HW gate) and software gate (SW gate).
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 signal N at the encoder input
The "Frequency of Capture function" parameter specifies whether the function is executed at
each configured edge or only once after each enable.
Measuring input
If you use Position input for Motion Control (Page 18), you can use the "Measuring input"
technology object to execute a measuring input function with a hardware digital input.
Hardware interrupts
The technology module can trigger a hardware interrupt in the CPU when, for example, a
comparison event, zero crossing and/or a change of count direction (direction reversal)
occurs. You can specify which events during operation are to trigger a hardware interrupt.

Product overview
2.2 Functions
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
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2.2.2
Measured value determination
The following high-accuracy measurement functions are available (accuracy up to 100 ppm):
●Frequency measurement with the unit of hertz
●Period measurement with the unit of seconds
●Velocity measurement with a flexibly adaptable unit
●Complete SSI frame instead of a measured quantity
Update time
You can configure the interval at which the technology module updates the measured values
cyclically as the update time.
Gate control for incremental and pulse encoders
You can define the time window in which the count signals are acquired with the hardware
gate (HW gate) and software gate (SW gate).
2.2.3
Switching the outputs at comparison values
The available digital outputs DQ0 and DQ1 can be directly activated/switched by the
specified comparison values or via the user program. The comparison values are
configurable and can be modified during runtime with the user program. This enables very
fast reaction times to be achieved.
Comparison values in the Counting/Position input operating mode
In Counting/Position input operating mode you specify two position or counter values as
comparison values depending on the encoder. 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.

Product overview
2.2 Functions
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
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2.2.4
Position input for Motion Control
You can use the technology module for position detection for the following axis technology
objects of S7-1500 Motion Control :
●TO_PositioningAxis
●TO_SynchronousAxis
●TO_ExternalEncoder
In this operating mode, you can use the measuring input technology object
(TO_MeasuringInput) to execute a measuring input function with hardware digital input DI1.
Additional information
You can find a detailed description of the use of Motion Control and its configuration in the
following:
●Function manual S7-1500 Motion Control available for download on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/59381279)
●Function manual S7-1500T Motion Control available for download on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109481326)

Product overview
2.2 Functions
Technology module TM PosInput 2 (6ES7551-1AB00-0AB0)
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2.2.5
Additional functions
Synchronization for incremental and pulse encoder
You can configure the edge of an external reference signal that loads 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 signal N at the encoder input
●Rising edge of signal N at the encoder input depending on the level of the assigned digital
input
The "Frequency of synchronization" parameter specifies whether the function is executed at
each configured edge or only once after each enable.
Hysteresis
You can specify a hysteresis for the comparison values within which a digital output will be
prevented from switching again.
Diagnostic interrupt
The technology module can trigger diagnostic interrupts. You enable the diagnostic
interrupts in the device configuration.
Input filter
To suppress interference, you can configure an input filter for the RS422/TTL encoder inputs
and for the digital inputs.
Isochronous mode
The technology module supports the "Isochronous mode" system function. This system
function enables position, counter and measured values to be acquired in a defined system
cycle.