Siemens WF 705 Operating and installation instructions
Equipment for Special Machines
WF 705
Position Measuring Module
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Edition 11.96Description
Note
Because of clear arrangement, this documentation does not inform about all details of
all types of the product. Therefore, it cannot take into account all possible cases of
installations, operation and maintenance.
If you require additional information or have special questions, please seek further
particulars from your local SIEMENS office.
The content of this documentation is not part of an earlier or existing agreement,
acceptance or legal matter. All obligations by Siemens are set in the corresponding
sales contract which also contains the complete and single valid settlement. The
contract guarantee will not be enlarged or limited by this documentation.
BERO, SIMATIC, SIMODRIVE, SINEC, SINUMERIK, STEP are registered trade marks of Siemens.
The remaining designations contained in this "Description" may be trade marks whose use through
third parties for their own purposes may infringe the rights of the owners of the mark.
Subject to technical changes.
The reproduction, transmission or use of this document or of its
contents is not permitted without express written authority.
Offenders will be liable for damages. All rights, including rights
supplied by patent grant or registration of a utility model or design,
are reserved.
©
Siemens AG 1996 All Rights Reserved
Contents
1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Characteristics of the WF 705 . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 Data of the SSI Absolute Encoder . . . . . . . . . . . . . . . . . . . . 1-2
2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1 Example with four Encoders on the WF 705 . . . . . . . . . . . . . 2-1
2.1.2 Example with twelve Encoders on the WF 705 . . . . . . . . . . . 2-1
2.1.3 Example with five Encoders on the WF 705 . . . . . . . . . . . . . . 2-2
2.2 Configuration of the Actual Value Distributor . . . . . . . . . . . . . 2-3
3 Operation with SIMATIC S5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Possible Slots for WF 705
in the SIMATIC S5 Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.1 Function Block Numbers Dependent on the Type of AU . . . . . 3-3
3.2.2 Start up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.3 FB100/130/160: ANL-705 . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.3.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.3.2 Information about Application . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.3.3 Block Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.3.4 Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2.4 Normal Operation (cyclical) . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2.5 FB101/111/131/161: WEG-705 . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.5.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.5.2 Execution Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.5.3 Block Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.5.4 Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.2.5.5 Format of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2.6 Data Block Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3 Application Example for Position Measurement of 12 Axes . . . 3-10
3.3.1 Initial Start and Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.2 Cyclic, Time-Driven or Interrupt-Driven Execution . . . . . . . . . 3-11
3.4 Commissioning/Trouble-Shooting . . . . . . . . . . . . . . . . . . . . 3-12
3.4.1 WF 705 Jumper and Switch Settings . . . . . . . . . . . . . . . . . 3-12
3.4.1.1 Module Address (DPR Address) . . . . . . . . . . . . . . . . . . . . . 3-13
3.4.1.2 Other Jumper Settings on the WF 705 Module . . . . . . . . . . 3-13
3.4.2 Jumper Settings on the Actual Value Distributor . . . . . . . . . . 3-14
3.4.3 Information about Trouble-Shooting . . . . . . . . . . . . . . . . . . 3-14
4 Operation with SIMATIC S7-400 . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Plugging the WF 705 in the SIMATIC S7-400 rack and
in coupled SIMATIC S5 extension units . . . . . . . . . . . . . . . . 4-1
4.2 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1 Possible CPU Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.2 Start up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.3 FC100: ANL_705 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.3.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.3.2 Information about Application . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.3.3 Block Call in OB 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.2.3.4 Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.2.4 Normal Operation (Cyclic) . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2.5 FC100: WEG_705 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2.5.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2.5.2 Execution Times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2.5.3 Block Call in OB 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2.5.4 Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2.5.5 Format of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.2.6 Assignment of the DBBG Work Data Block . . . . . . . . . . . . . 4-12
4.3 Example of Position Measuring . . . . . . . . . . . . . . . . . . . . . . 4-13
4.4 Addressing the WF 705 as
SIMATIC S7-400 Periphery . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.4.1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.4.2 Commissioning/Trouble-Shooting . . . . . . . . . . . . . . . . . . . . 4-16
4.4.2.1 WF 705 Jumper and Switch Settings . . . . . . . . . . . . . . . . . 4-16
4.4.2.2 Jumper Settings on the Actual Value Distributor . . . . . . . . . . 4-17
4.4.2.3 Information about Trouble-Shooting . . . . . . . . . . . . . . . . . . 4-18
4.5 Multiprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
5 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Characteristics of the Module . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Connection of the Module . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.1 Overview of Cables and Devices . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.2 Pin Assignment of Front Connectors . . . . . . . . . . . . . . . . . . . 5-3
5.2.3 Cable from WF 705 Module to SSI Absolute Encoder . . . . . . . 5-4
5.2.4 Cable from Actual Value Distributor to
SSI Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.5 Cable from WF 705 Module to Actual Value Distributor . . . . . . 5-6
6 EMV Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
7 Ordering Data / Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
11.96 Overview
1 Overview
1.1 Application
In addition to positioning of closed loop servo axes, today's automated machines require
position measurements of a number of axes.
The WF 705 position measuring module offers:
• Auxiliary axes
• Set up axes
• Handling and transportation functions
• Measuring functions
The WF 705 provides these functions in a space-saving and cost-effective way, compared to
conventional solutions.
The WF 705 module can be used as a peripheral device in medium- and high-performance
SIMATIC S5 PLCs (control versions S5-115U, S5-135U, S5-155U) and SIMATIC S7-400.
The WF 705 can measure up to 12 independent axes.
Up to 8 WF 705 modules can be used in one SIMATIC S5 PLC and this makes it possible to
work with up to 96 axes.
1.2 Characteristics of the WF 705
• 12 axes per module
• Installation width
- 1 SEP (SIMATIC S5)
- 2 SEP in adapter casing (SIMATIC S7)
• Digital absolute position measurement with synchronous-serial data transfer
• Less cabling needed than with parallel-absolute position measurement
• Data format: Dual Code at transfer to SIMATIC S5/S7
• Interference-free data transfer: RS 422
• Settable transfer rate dependent on length of cabling
1 Mbit/s: max. cable length 25 m
125 Kbit/s: max. cable length 120 m
• Required peripheral address space per WF 705: 4 bytes
• Cable break and short circuit monitoring
© Siemens AG 1996 All Rights Reserved 6ZB5 440-0AA02
1 - 1
WF 705 (Description)
Overview 11.96
1.3 Data of the SSI Absolute Encoder
• Gray code
• 125 Kbit/s to 1 Mbit/s transfer rate
• Possible number of steps per revolution at Standard SSI (pine-tree array):
128
256
512
1024
2048
4096
8192
• Maximum of 4096 revolutions
• 25-bit data transfer format
• 24 V power supply voltage
1 - 2
© Siemens AG 1996 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Configuration
2 Configuration
2.1 Versions
The serial-absolute encoders can either be connected directly to the WF 705 module or via the
actual value distributor. If the encoders are connected directly to the WF 705, their 24V DC
power supply is provided by the module.
2.1.1 Example with four Encoders on the WF 705
For cable, refer to
chapter 5.2.4
Encoder axis 1
Encoder axis 2
Encoder axis 4
Encoder axis 3
24 V
power supply
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WF 705 with adapter casing S7 Actual value in DBBG on:
S5 S7
➯DW 24/25 DBD 48
➯DW 30/31 DBD 60
➯DW 36/37 DBD 72
➯DW 42/43 DBD 84
2.1.2 Example with twelve Encoders on the WF 705
If more than four axes have to be connected, then three axes are connected to one actual
value distributor. The 24 V DC power supply for these encoders is fed through the actual value
distributor.
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24 V
power supply
WF 705 with adapter casing S7
©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
2 - 1
WF 705 (Description)
Configuration 11.96
2.1.3 Example with five Encoders on the WF 705
Hybrid operation of directly connected encoders and encoders connected via the actual value
distributor is possible. However, the power supply for those two versions must be the same
(common ground).
Actual value in DBBG on:
S5 S7
➯DW 24/25 DBD 48
➯DW 30/31 DBD 60
➯DW 42/43 DBD 84
➯DW 44/45 DBD 88
➯DW 46/47 DBD 92
24 V
power
supply
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WF 705 with adapter casing S7
Encoder axis 1
Encoder axis 2
Encoder axis 3
Encoder axis 4
Encoder axis 5
2 - 2 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Configuration
2.2 Configuration of the Actual Value Distributor
W
2
W
3
W
1
M
ext
+24 V
14 1
1
91
91
9
X111 X112 X113 X114
155
105
26
The actual value distributor transmits the clock pulses (CLK) arriving from the WF 705 on
connector X111 via X112/X113/X114 to max. three encoders or transmits the signals (data) of
max. 3 encoders via X112/X113/X114 to the connector X111 and thus to the WF 705.
©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
2 - 3
WF 705 (Description)
Configuration 11.96
2 - 4 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Operation with SIMATIC S5
3 Operation with SIMATIC S5
3.1 Possible Slots for WF 705 in the SIMATIC S5 Rack
It is not possible to use the WF 705 module in remote-linked extension racks (with IM 308/
IM 318). Each WF 705 module needs four address bytes in the peripheral area. The starting
address must therefore be a multiple of four. Ensure that the maximum current of the power
supply is not exceeded!
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Available slots are shaded grey.
Central unit S5-115U - subrack CR 700-2
PS CPU 0 1 2 3 4 5 6 IM
Slot desig-
nation
WF 705
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Central unit S5-115U - subrack CR 700-1
PS CPU 0 1 2 3 4 5 6 IM
Slot desig-
nation
WF 705
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Central unit S5-115U - subrack CR 700-0LA
PS CPU 0 1 2 3 IM
Slot desig-
nation
WF 705
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Central unit S5-115U - subrack CR 700-0LB
PS CPU 0 1 2 3 IM
Slot desig-
nation
WF 705
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Central unit S5-115U - subrack CR 700-3
PS CPU 0 1 2 3 4 5 6 IM
Slot desig-
nation
WF 705
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©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
3 - 1
WF 705 (Description)
Operation with SIMATIC S5 11.96
Extension unit EG-185U
Slot desig-
nation 3 11 19 27 35 43 51 59 67 75 83 91 99 107 115 123 131 139 147 155 163
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WF 705
Extension unit EG-183U
3 11 19 27 35 43 51 59 67 75 83 91 99 107 115 123 131 139 147 155 163
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WF 705
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3 11 19 27 35 43 51 59 67 75 83 91 99 107 115 123 131 139 147 155 163
Central unit S5-135U / 155U
WF 705
Slot desig-
nation
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Extension unit S5-115U - subrack ER 701-3
PS 0 1 2 3 4 5 6 7 IM
Slot desig-
nation
WF 705
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3 - 2 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Operation with SIMATIC S5
3.2 Functional Description
3.2.1 Function Block Numbers dependent on the Type of AU
Function
Blocks
115 U
943B
115 U
CPU 944B/945
135 U
CPU 928B/948
155 U
CPU 948
Start up 100 100 130 160
Position
measurement 101 111 131 161
Set up 103 103 133 163
3.2.2 Start up
To save time during cyclic operation, certain functions are carried out or transferred once in
the initial start routine.
The standard start up function block FB-ANL-705 needs the following parameters for initial
starts and restarts:
• Data block number, DBBG, containing the actual position values
• Number of steps/revolution for each encoder
• Module address
• Baud rate for each encoder
OB20/21/22 FB100/130/160
ANL-705 FB103/133/163
EINRDB DBBG
The DBBG data block provides the actual position values of the appropriate WF 705 module.
This data block is generated automatically by function block FB 103 (EINRDB) with a length of
48 data words. During system start up, FB 103 is called in FB100/130/160 and checks if
DBBG already exists and if it doesn't, it is generated.
The user can generate this data block himself and increase its length if he wants to, the user
can then utilize the additional data words.
All the S5 blocks needed for installation are on the standard diskette.
©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
3 - 3
WF 705 (Description)
Operation with SIMATIC S5 11.96
3.2.3 FB100/130/160: ANL-705
3.2.3.1 Description
Depending on the CPU, FB100, FB130 or FB160 have to be called for start-up (see
chapter 3.1). This block is used to preset the module after an initial start or a restart. It needs
the number of steps per revolution for each encoder and a working data block for the actual
position values. It checks whether the data block already exists, and if it doesn't it generates a
48 data word-long data block.
3.2.3.2 Information about Application
• Load FB 103/133/163; depending on S5-CPU (see chapter 3.1).
• The block must be called once for each module
• Each module needs one data block with a length of at least 48 data words
• Flags used: FYs 240–255
3.2.3.3 Block Call
FEHL
ADR
DBBG
GE 1
GE 2
GE 3
GE 4
GE 5
GE 6
GE 7
GE 8
GE 9
GE 10
GE 11
GE 12
O,BI
B
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
D,KF
FB 100 ANL-705
E,W Baud
3 - 4 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Operation with SIMATIC S5
3.2.3.4 Block Parameters
DBBG Module data block
GE 1 Number of steps per revolution for axis 1
..
..
..
GE12 Number of steps per revolution for axis 12
The following values for steps/revolution can be entered:
4, 8, 16, 32, 64, 1024, 2048
128, 256, 512 4096, 8192
A zero must be entered for an axis which is not used. With programmable encod-
ers, the number of steps per revolution can be set at the user's discretion. The
value stated above which is in accordance with the programming must be
entered in the parameter GE of the relevant axis as the function block is
designed for the so-called „tree” format. Please ask the encoder manufacturer if
you require further information.
BAUD Data transfer rate between encoder and WF 705 or actual value distributor
0: 125 Kbit/s up to a cable length of 120 m
1: 1 Mbit/s up to a cable length of 25 m
See chapter 3.5.5 for the formats of the parameters.
ADR Address of the module: The value range is PB 4...252 and the value must be a
multiple of 4 (see chapter 2.3, Possible slots).
FEHL This parameter is set if the DBBG cannot be generated, e.g because there is not
enough available memory, or the wrong resolution has been selected, e.g. 500
instead of 512.
3.2.4 Normal Operation (cyclical)
The program reads out the actual position value of the desired axis if a request is made (single
fetch). The program should be written in such a way that the actual values are made available
to the user as quickly as possible. The actual values are stored in a data block (see data block
interface).
FB WEG-
705
Axis 1
Axis 2
:
:
Axis 11
Axis 12
OB1
DBBG
Axis 1
Axis 2
:
:
Axis 11
Axis 12
FB101/111/131/161
• The actual values are transferred in dual format to the user (refer to chapter 3.2.6).
• Code conversions (e.g.: dual BCD) have to be carried out by the user.
• The actual values are always read-out from the WF705 via a ”single fetch”.
©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
3 - 5
WF 705 (Description)
Operation with SIMATIC S5 11.96
3.2.5 FB101/111/131/161: WEG-705
3.2.5.1 Description
Depending on the CPU, FB101, FB111, FB131, FB161 have to be called for position
measurement (see chapter 3.1).This block reads out the actual position values of up to 12
axes. The requested actual values are available in DBBG DW24...47 (see chapter 3.2.5, data
block interface) once execution of the FB is finished.
3.2.5.2 Execution Times
CPU Block Duration of
FB call
[ms]
Running time
per channel
[ms]
Example: Running time
for 3 channels
[ms]
CPU 943B FB101 2.61 3.69 3×3.69+2.61
CPU 944B FB111 0.3 0.4 3×0.4+0.3
CPU 945 FB111 0.025 0.275 3×0.275+0.025
CPU 928B FB131 0.33 0.37 3×0.37+0.33
CPU 948 FB161 0.11 0.29 3×0.29+0.11
• FBs to be loaded: FB100, FB103 (for start up)
• The block must be called once for each module.
• The user has to enter the DB No. and the axis No.
• Used flags: none
3.2.5.3 Block Call
FB 111-WEG-705
DBBG FEHL
ACHS
B
I, W O, W
*
* The parameters are not shown with designators if CPU 943B is used.
In this case, the parameters are assigned via a flag interface to save cycle time.
3.2.5.4 Block Parameters
DBBG Module DB MB 229
ACHS Number of the axis between 1 and 12 for which the actual
values FW230 are to be read-out (DUAL). FW 230
FEHL This parameter signals a break or a short-circuit in the cable,
wrong parameter assignment or wrong axis selection. FW 242
3 - 6 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
11.96 Operation with SIMATIC S5
3.2.5.5 Format of Parameters
ACHS Parameter Data words are not permitted
0000000000000000
0000Hex
Example:
The actual position values of axes 1,2,3,4 and 12 are to be read-out:
1111000000010000
080FHex
Axis 12
Axis 11
:
Axis 2
Axis 1
FEHL Parameter Data words are not permitted
0000000000000000
0000Hex
Example:
A fault is signalled for axis 2
0100000000000000
0002Hex
No axis selected
Wrong DB assignment
Fault display for axis 12
:
Fault display for axis 1
BAUD Parameter Data words are not permitted
0000000000000000
0000Hex
Example:
The actual values of axes 3 and 12 are to be read-out at 1 Mbit/s (25m cable) and axes 1, 2
and 4 are to be read-out at 125 Kbit/s (120m cable). The bit is only evaluated for axes which
have been selected in the ACHS parameter.
0010000000010000
0804Hex
Baud rate for axis 12
:
Baud rate for axis 1
©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
3 - 7
WF 705 (Description)
Operation with SIMATIC S5 11.96
3.2.6 Data Block Interface
If the DBBG data block module does not exist yet, then it is generated 48 data words long dur-
ing an initial start or a restart. It is also possible to generate DBBG more than 48 data words-
long. The data words above 48 would then be available to the user.
DW0..23
DW24
DW25
DW26
DW27
DW28
DW30
DW29
DW31
DW32
DW33
DW34
DW35
DW36
DW37
DW38
DW39
DW40
DW41
DW42
DW43
DW44
DW45
DW46
DW47
Used internally or reserved
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
High
Low
Actual position value of axis 6
Actual position value of axis 2
Actual position value of axis 8
Actual position value of axis 7
Actual position value of axis 7
Actual position value of axis 8
Actual position value of axis 1
Actual position value of axis 1
Actual position value of axis 2
Actual position value of axis 4
Actual position value of axis 3
Actual position value of axis 3
Actual position value of axis 4
Actual position value of axis 5
Actual position value of axis 5
Actual position value of axis 6
Actual position value of axis 9
Actual position value of axis 9
Actual position value of axis 12
Actual position value of axis 11
Actual position value of axis 11
Actual position value of axis 12
Actual position value of axis 10
Actual position value of axis 10
3 - 8 ©
Siemens AG 1990 All Rights Reserved 6ZB5 440-0AA02
WF 705 (Description)
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