Siemens SIMOTION TM15 Quick start guide

SIMOTION SIMOTION SCOUT TM15 / TM17 High Feature Operating Manual
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Preface
Description
1
Configuration/programming
2
Commissioning
3
Error messages
4
Application tips
5
Technical data
6
Version overview
7
EC Declaration of Conformity
A
ESD guidelines
B
List of abbreviations
C
SIMOTION
Terminal Modules
TM15 / TM17 High Feature
Commissioning Manual
05/2009

Legal information
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
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
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 device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Proper use of Siemens products
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
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be adhered to. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
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.
Siemens AG
Industry Sector
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90026 NÜRNBERG
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Copyright © Siemens AG 2009.
Technical data subject to change

TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 3
Preface
Purpose of this manual
This manual describes the functionality and application of the Terminal Modules TM15 and
TM17 High Feature.
Note
Numerous publications providing detailed explanations of the application of these terminal
modules (TM) are available to assist you. This manual provides information about the TM
hardware and applications of the Terminal Modules. In the SIMOTION manuals, you will find
general information about working with the SIMOTION SCOUT engineering software,
technology objects, etc.
Note
In the "Supplemental SINAMICS System Components for SIMOTION" manual, you will find
information about the design of Terminal Modules TM15 and TM17 High Feature as well as
a description of the interfaces and installation.
Organization of information in this Manual / standards and approvals
● Description
This section describes the overall use of the TM15 and TM17 High Feature modules.
● Configuration/programming
This section describes step-by-step instructions for configuration and integration into your
user program.
● Commissioning
This section details what is required at power up and what should be observed during the
power up process.
● Error messages
This section provides diagnostic information regarding possible faults.
● Application tips
This section contains practical information for interconnection and use of the Terminal
Modules.
● Appendix
The individual sections of the appendix contain reference information (e.g., on ESD, etc.),
an overview of the operating modes, as well as information on system behavior, the
message frames and a version overview.
● Index
The index helps you to locate information in the Manual quickly and easily.

Preface
TM15 / TM17 High Feature Operating Manual
4 Commissioning Manual, 05/2009
Standards and approvals
Our products meet the requirements of EU directive 89/336/EEC "Electromagnetic
Compatibility" and the harmonized European Standards listed therein.
You will find detailed information about approvals and standards in the "Supplemental
SINAMICS System Components for SIMOTION" Manual.
The EC Declaration of Conformity in accordance with the above EU directive, Article 10, is
contained in this Manual.
See also
EC Declaration of Conformity (Page 89)
Siemens Internet address
The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
● General information:
– http://www.siemens.de/simotion (German)
– http://www.siemens.com/simotion (international)
● Downloading documentation
Further links for downloading files from Service & Support.
http://support.automation.siemens.com/WW/view/en/10805436
● Individually compiling documentation on the basis of Siemens contents with the My
Documentation Manager (MDM), refer to http://www.siemens.com/mdm
My Documentation Manager provides you with a range of features for creating your own
documentation.
● FAQs
You can find information on FAQs (frequently asked questions) by clicking
http://support.automation.siemens.com/WW/view/en/10805436/133000.
Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
For more information, please contact your regional Training Center or the main Training
Center in 90027 Nuremberg, Germany.
Information about training courses on offer can be found at:
www.sitrain.com

Preface
TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 5
Technical support
If you have any technical questions, please contact our hotline:
Europe / Africa
Phone [phone] (subject to charge)
Fax [phone]
€0.14/min from German wire-line network, mobile phone prices may differ.
Internet http://www.siemens.com/automation/support-request
Americas
Phone [phone]
Fax [phone]
E-mail mailto:[email protected]
Asia / Pacific
Phone [phone]
Fax [phone]
E-mail mailto:support.asia.automatio[email protected]
Note
Country-specific telephone numbers for technical support are provided under the following
Internet address:
http://www.automation.siemens.com/partner
Questions about this documentation
If you have any questions (suggestions, corrections) regarding this documentation, please
fax or e-mail us at:
Fax [phone]
E-mail mailto:[email protected]

TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 7
Table of contents
Preface ...................................................................................................................................................... 3
1 Description................................................................................................................................................. 9
1.1 TM15 and TM17 High Feature modules - Introduction..................................................................9
1.2 Properties: TM15 / TM17 High Feature .......................................................................................13
1.3 Machine applications ...................................................................................................................16
1.3.1 Overview ......................................................................................................................................16
1.3.2 Application examples ...................................................................................................................17
2 Configuration/programming ..................................................................................................................... 19
2.1 Requirement.................................................................................................................................19
2.2 Configuring and programming TM1x modules.............................................................................20
2.2.1 Inserting new TM1x modules .......................................................................................................21
2.2.2 Configuring I/O channels – TM15 ................................................................................................22
2.2.3 Configuring I/O channels – TM17 High Feature ..........................................................................25
2.2.4 Other information .........................................................................................................................29
2.2.5 Generating message frames and TM1x drive objects .................................................................30
2.2.6 Aligning the configuration with the hardware...............................................................................30
2.3 Accessing inputs and outputs in a user task................................................................................32
2.3.1 Linking symbolic I/O variables with TM1x terminal modules .......................................................32
2.3.2 Controlling the enable signal........................................................................................................34
2.3.3 Signal status of the enable signal ................................................................................................35
2.3.4 Read back function for outputs ....................................................................................................35
2.4 I/O assignment to technology objects..........................................................................................36
2.5 Power Up and Synchronization with the User Program ..............................................................37
2.5.1 Monitoring the synchronization with PeripheralFaultTask ...........................................................37
2.5.2 Monitoring synchronization by direct access to the module status word.....................................38
2.6 Export/import project....................................................................................................................39
2.7 Limitations of use .........................................................................................................................40
2.7.1 Maximum number of terminal modules........................................................................................40
2.7.2 Maximum number of drive objects...............................................................................................41
2.7.3 Maximum permissible message frame length .............................................................................42
2.7.4 Consistency checks .....................................................................................................................43
3 Commissioning ........................................................................................................................................ 45
3.1 Power-up......................................................................................................................................45
3.2 Updating the firmware..................................................................................................................46
3.3 Synchronous mode ......................................................................................................................48
4 Error messages ....................................................................................................................................... 51

Table of contents
TM15 / TM17 High Feature Operating Manual
8 Commissioning Manual, 05/2009
5 Application tips......................................................................................................................................... 55
5.1 Tips on proximity switches .......................................................................................................... 55
5.1.1 Proximity switch cable shielding ................................................................................................. 56
5.2 Information on leakage currents ................................................................................................. 57
5.2.1 Input configuration....................................................................................................................... 57
5.2.2 Output configuration.................................................................................................................... 57
5.3 Power switches ("SmartFETs")................................................................................................... 58
5.4 Input and output circuit................................................................................................................ 59
5.5 Other application examples......................................................................................................... 61
5.5.1 Use of inputs ............................................................................................................................... 61
5.5.2 Use of outputs ............................................................................................................................. 62
5.5.3 Connection of a proximity switch ................................................................................................ 63
5.5.4 Using the enable signal............................................................................................................... 64
5.5.5 Multiple µs-granular measuring ranges....................................................................................... 65
5.5.6 Acquisition of times / time-triggered output................................................................................. 66
5.6 Frequently Asked Questions (FAQs) ..........................................................................................67
6 Technical data ......................................................................................................................................... 69
6.1 Operating modes......................................................................................................................... 69
6.1.1 Overview of operating modes ..................................................................................................... 69
6.1.2 Input modes ................................................................................................................................ 70
6.1.3 Output modes.............................................................................................................................. 72
6.2 System behavior ......................................................................................................................... 76
6.2.1 System behavior with binary inputs and outputs ........................................................................ 76
6.2.2 System timing for single measurement....................................................................................... 78
6.2.3 System behavior with cyclic measurement................................................................................. 79
6.2.4 System behavior with outputs of output cam .............................................................................. 81
6.2.5 Interpolation ................................................................................................................................ 81
6.2.6 System Behavior of TM15 DI/DO................................................................................................ 81
6.3 Message frames.......................................................................................................................... 82
7 Version overview ..................................................................................................................................... 85
7.1 Version overview......................................................................................................................... 85
A EC Declaration of Conformity .................................................................................................................. 89
A.1 EC Declaration of Conformity...................................................................................................... 89
B ESD guidelines ........................................................................................................................................ 91
B.1 ESD definition ............................................................................................................................. 91
B.2 Electrostatic charging of individuals............................................................................................ 92
B.3 Basic measures for protection against discharge of static electricity ......................................... 92
C List of abbreviations................................................................................................................................. 93
Index........................................................................................................................................................ 95

TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 9
Description 1
1.1 TM15 and TM17 High Feature modules - Introduction
Introduction
The TM15 and TM17 High Feature terminal modules can be used to set up inputs of
measuring inputs and outputs of output cams for the SIMOTION motion control system. In
addition, these terminal modules provide drive-related digital inputs and outputs with short
signal delay times.
In particular, wherever standard I/O only permit one signal change per position control cycle
clock, TM15 and TM17 High Feature can:
● Process up to two edges per position control cycle clock for inputs of measuring inputs or
outputs of output cams.
● Process input and output edges even within the position control cycle clock.
The use of an internal timer means that the resolution for outputs of output cams and inputs
of measuring inputs is in the microsecond range rather than the millisecond range (switching
edges are acquired/output under timer control rather than in the IPO or position control cycle
clock).
System integration
As a result of the standardized modular design of the SIMOTION system, the Terminal
Modules can be operated very easily by means of the Output Cam, Cam Track, and
Measuring Input technology objects.
In principle, there are two possibilities for integration of the TM15 and TM17 High Feature
modules into a SIMOTION automation solution:

Description
1.1 TM15 and TM17 High Feature modules - Introduction
TM15 / TM17 High Feature Operating Manual
10 Commissioning Manual, 05/2009
● System configuration with integrated drives
In this configuration, the TM1x modules are connected directly
– To SIMOTION D4x5
– To SIMOTION D410 (not shown)
– To the CX32 expansion (not shown)
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Figure 1-1 Integration of TM15/TM17 High Feature with SIMOTION D4x5
● System configuration with external drives
In this configuration, the TM1x modules are connected to a SINAMICS S120 Control Unit
CU320 or CU310, which is connected
– To SIMOTION C, P or D (see figure) via PROFIBUS DP, or
– To SIMOTION P or D via PROFINET IO

Description
1.1 TM15 and TM17 High Feature modules - Introduction
TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 11
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Figure 1-2 Integration of TM15/TM17 High Feature with SIMOTION C or P
A characteristic of both options is that the DIs, DOs, outputs of output cams, and inputs of
measuring inputs can only be accessed from the SIMOTION controller (addressing via
corresponding HW address).
In addition, the TM15 module can also be used with DI/DO functionality alone (selection:
TM15 DI/DO input/output component). In this case, the digital inputs and outputs are
primarily available to the drive side and can be interconnected via BICO technology (similar
to TB30 or TM 31).
This type of integration enables the TM15 to be used on a SINAMICS S120 Control Unit
even without SIMOTION. However, these DI/DO can be read/write-accessed from
SIMOTION with an unassigned message frame.
Note
This Commissioning Manual describes how to integrate the TM15 and TM17 High Feature
into SIMOTION. Integration of the TM15 via BICO technology is not covered in this
Commissioning Manual. You will find more information on integrating the TM15 via BICO
technology in the SINAMICS S120 Commissioning Manual as well as in the SIMOTION
D4xx Commissioning and Hardware Installation Manuals.

Description
1.1 TM15 and TM17 High Feature modules - Introduction
TM15 / TM17 High Feature Operating Manual
12 Commissioning Manual, 05/2009
Structure
The modules are mounted on a DIN rail in accordance with DIN EN 50 022 (35 x 15 / 7.5).
They are connected to the SIMOTION/SINAMICS hardware via DRIVE CLiQ.
Several TM1x modules can be installed on one DRIVE CLiQ line.
The SINAMICS S120 Manuals provide more information on the system structure of
SINAMICS S and associated hardware.
Note
In the "Supplemental SINAMICS System Components for SIMOTION" Manual, you will find
information about the design of Terminal Modules TM15 and TM17 High Feature as well as
a description of the interfaces and installation.
See also
Maximum number of terminal modules (Page 40)

Description
1.2 Properties: TM15 / TM17 High Feature
TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 13
1.2 Properties: TM15 / TM17 High Feature
Figure 1-3 Terminal Module TM15 and Terminal Module TM17 High Feature
The properties of the Terminal Modules are presented below. This overview is intended to
help you select the appropriate module for your application.
Properties
The TM15 and TM17 High Feature Terminal Modules are terminal expansion modules
designed to be mounted on a DIN rail in accordance with DIN EN 50 022.
The Terminal Modules contain the following:
● 2 DRIVE CLiQ sockets
● Connection for 24 VDC electronic power supply
● The logical status of the I/O channel is indicated by the associated green status LED.
● The status of the TM15/TM17 High Feature is indicated by a multi-colored RDY LED.
Each of the 24 DI/DO (TM15) or 16 DI/DO (TM17 High Feature) can be parameterized on a
channel-specific basis as a digital input (DI), digital output (DO), input of a measuring input,
or output of an output cam, and can also be inverted. The SCOUT engineering software is
used for parameterization.
● Each channel can be parameterized as a digital input (DI) or digital output (DO).
● Each channel can be parameterized as an input of a measuring input.
● Each input of a measuring input has a selectable edge detection (falling edge, rising
edge, or both edges).
● Each channel can be parameterized as an output of an output cam.

Description
1.2 Properties: TM15 / TM17 High Feature
TM15 / TM17 High Feature Operating Manual
14 Commissioning Manual, 05/2009
The outputs are equipped with short-circuit protection, shutdown in case of overtemperature,
and reverse-polarity protection. The actual signal state of each output channel can be read
back on the SIMOTION side.
The differences between the TM15 and TM17 High Feature Terminal Modules are defined
by their range of application. The TM17 High Feature has fewer I/O channels than TM15, but
offers increased functionality.
The TM17 High Feature is distinguished by especially high resolution and accuracy as well
as a parameterizable input filter and enable inputs.
The enable inputs can activate inputs of measuring inputs or outputs of output cams (gate
function).
● Level-controlled enable for inputs of measuring inputs
● Level- or edge-controlled enable for outputs of output cams
In addition, TM17 High Feature supports cyclic measurement of up to 2 edges per position
control cycle clock.
Due to their high accuracy, the DI/DO channels of the TM17 High Feature are non-isolated.
Note
The module hardware of the TM15 and TM15 DI/DO is identical, but there is a difference
between the two modules in terms of system integration. For this reason, they must be
configured as different input/output components.
This Commissioning Manual describes how to integrate the TM15 and TM17 High Feature
into SIMOTION. Integration of the TM15 DI/DO via BICO technology is not covered in this
Commissioning Manual. You will find more information on integrating the TM15 DI/DO via
BICO technology in the SINAMICS S120 Commissioning Manual as well as in the
SIMOTION D4xx Commissioning and Hardware Installation Manuals.

Description
1.2 Properties: TM15 / TM17 High Feature
TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 15
Table 1- 1 Comparison table for module selection
Function TM15 1 TM15 DI/DO 1 TM17 High Feature 1
System integration Use only in conjunction with
SIMOTION (SIMOTION D,
CX32 or CU310/CU320 with
SIMOTION as the higher-
level controller)
Use also in conjunction with
CU310/CU320 (without
SIMOTION)
Use only in conjunction with
SIMOTION (SIMOTION D,
CX32 or CU310/CU320 with
SIMOTION as the higher-
level controller)
Functionality 24 DI/O can be
parameterized on a channel-
specific basis as DI, DO,
output of an output cam, or
input of a measuring input;
DI/O can only be addressed
via SIMOTION controller
24 DI/DO-channels can be
parameterized as DI or DO;
DI/DO can only be
interconnected via BICO
technology
16 DI/O can be
parameterized on a channel-
specific basis as DI, DO,
output of an output cam, or
input of a measuring input;
DI/O can only be addressed
via SIMOTION controller
Short response time X X X
Number of I/O channels 24 24 16
Electrical isolation of inputs
and outputs
X X -
Grouping of channels 3 groups for every 8
channels
3 groups for every 8
channels
2 groups for every 8
channels
Inputs of measuring input
(single measurement)
X - X
Inputs of measuring input
(cyclic measurement)
- - X
Several measuring inputs per
axis
X - X
One measuring input for
several axes
X - X
Measuring on virtual axes X - X
Outputs of the output cams X - X
Resolution - inputs of
measuring input
Typ. 125 µs 2
(firmware support)
Not applicable 1 µs (hardware support)
Resolution -
outputs of output cam
Typ. 125 µs 2
(firmware support)
Not applicable 1 µs
(hardware
support)
Accuracy - inputs of
measuring input
Typ. ±125 µs 2 Not applicable ≤ ±1 µs
Accuracy - outputs of output
cam
Typ. ±125 µs 2 Not applicable ≤ ±10 µs
Input filtering 50 µs 50 µs 1 µs or 125 µs, user-
assignable
Enable via external signal - Not applicable 6 channels, max.
1 "X" = available; "-" = not available.
2 corresponds to the DRIVE CLiQ cycle clock in use (125 μs, typical)

Description
1.3 Machine applications
TM15 / TM17 High Feature Operating Manual
16 Commissioning Manual, 05/2009
1.3 Machine applications
1.3.1 Overview
Many production machines require fast, precise detection of signals or exact switching of
digital outputs. The measuring input and output cam feature of the TM15 and TM17 High
Feature modules represents an optimal solution for a variety of industrial applications.
Applications requiring fast, high-precision detection of signals include:
● Edge detection
● Quality monitoring (e.g. product OK/not OK)
● Product tracking (e.g. product available/not available)
● Print-mark detection
● Tool monitoring (e.g. presses)
● Machine status monitoring (e.g. plastic injection molding machines)
● Weft break monitoring (e.g. textile machines)
Applications requiring fast, high-precision output of signals include:
● Position-dependent switching of actuators
– Camera trigger signal (quality assurance)
– Control of an air nozzle for blowing away cut-offs
– Control of nozzles for applying glue tracks
● Product extraction from production line
● Implementation of line motion control systems
● Output of pulse patterns

Description
1.3 Machine applications
TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 17
1.3.2 Application examples
Edge processing
In this example, the movement of boards through a machine is controlled by fixed guides
and clamping brackets. The sides of the boards are machined as they pass by a group of
actuated cutters.
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Figure 1-4 Example: Edge detection
The technology of the terminal modules includes:
● Exact encoder value measurements
● Exact edge acquisition
● Exact output of switching signals
As a result, applications with increased line speed are possible.
The switching conditions specific to each type of board are stored in a central controller.
Depending on the exact position of the board (relative to its detected rising edge), the
individual cutters are engaged and disengaged. The switching signal control relative to the
detected edge is critical since cutting accuracy is directly dependent upon precise switching.

Description
1.3 Machine applications
TM15 / TM17 High Feature Operating Manual
18 Commissioning Manual, 05/2009
Application of glue tracks
In the following example, glue tracks are applied to a workpiece. Each track controls one
glue gun via a digital output.
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The glue guns are activated via outputs of an output cam based on the axis position.
The axis position is measured by an encoder that connects an SMC encoder interface to
SIMOTION D via DRIVE-CLiQ.
The SIMOTION Output Cam or Output Cam Track technology object controls the digital
outputs of the TM15 based on the axis position.
The output delay times (output delay times of DO / actuators, etc.) are compensated in the
technology object. This compensation ensures that the glue placement is always accurate
regardless of machine speed.

TM15 / TM17 High Feature Operating Manual
Commissioning Manual, 05/2009 19
Configuration/programming 2
2.1 Requirement
To begin using the terminal modules, you need the following:
Hardware requirements
● TM15 or TM17 High Feature
● One of the following components:
– SIMOTION D (TM is connected directly to SIMOTION D or CX32)
– SIMOTION D (TM is connected to a Control Unit, which is connected via
PROFIBUS/PROFINET to SIMOTION D)
– SIMOTION C (TM is connected to a Control Unit, which is connected via PROFIBUS
to SIMOTION C)
– SIMOTION P (TM is connected to a Control Unit, which is connected via
PROFIBUS/PROFINET to SIMOTION P)
– DIN rail in accordance with DIN EN 50 022 (35 x 15 / 7.5)
– DRIVE-CLiQ cable
– PROFIBUS or PROFINET cable
– External 24 VDC power supply (note the requirements for the TM15 and TM17 High
Feature terminal modules)
Software requirements
This documentation describes
● SIMOTION V4.1 incl. SP1 and
● SINAMICS V2.5 incl. SP1
Previous SIMOTION and SINAMICS versions do not include all the functions described in
this Manual.
See also
Version overview (Page 85)

Configuration/programming
2.2 Configuring and programming TM1x modules
TM15 / TM17 High Feature Operating Manual
20 Commissioning Manual, 05/2009
2.2 Configuring and programming TM1x modules
Requirement
Once the terminal module hardware is mechanically and electrically installed, it must be
integrated in the application project using the SCOUT engineering software.
The procedures contained in this chapter assume that the user has a general understanding
of SCOUT.
In addition, a SCOUT project must be generated, for example, with SIMOTION D.
Note
The following description relates to the configuration of Terminal Modules TM1x, which are
connected to the integrated drive of SIMOTION D.
The dialogs encountered during the configuration of Terminal Modules TM1x may differ
slightly if the TM1x are connected to a SINAMICS Control Unit CU310 or CU320, which is
connected via PROFIBUS or PROFINET to SIMOTION.