Siemens SIMATIC ET 200SP User manual

Technology module TM Pulse 2x24V
(6ES7138‑6DB00‑0BB1)
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SIMATIC
ET 200SP
Technology module TM Pulse 2x24V
(6ES7138‑6DB00‑0BB1)
Manual
09/2015
A5E35061186
-AA
Preface
Documentation guide
1
Product overview
2
Modes and Functions
3
Connecting
4
Configuring
5
Program control and
feedback interface
6
Interrupts/diagnostic
messages
7
Technical specifications
8
Parameter data record
A
Open Source Software
B

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E35061186-AA
Ⓟ
08/2015 Subject to change
Copyright © Siemens AG 2015.
All rights reserved
Legal information
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editions.

Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
4Manual, 09/2015, A5E35061186-AA
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 the design and commissioning of the ET 200SP is available in
the ET 200SP system 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 documentation to which particular attention
should be paid.
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products and solutions undergo continuous development. Siemens recommends strongly
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To stay informed about product updates as they occur, sign up for a product-specific
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Preface
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 5
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 relating to this in the "Open Source Software
(Page 142)" appendix.

Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
6Manual, 09/2015, A5E35061186-AA
Table of contents
Preface ...................................................................................................................................................... 4
1 Documentation guide................................................................................................................................. 8
2 Product overview ..................................................................................................................................... 10
2.1 Properties............................................................................................................................... 10
3 Modes and Functions .............................................................................................................................. 14
3.1 Overview ................................................................................................................................ 14
3.2 Pulse output (single pulse) mode........................................................................................... 17
3.3 Pulse width modulation (PWM) mode.................................................................................... 25
3.4 Pulse train mode .................................................................................................................... 36
3.5 On/Off-delay mode................................................................................................................. 46
3.6 Frequency output mode ......................................................................................................... 57
3.7 DC motor mode...................................................................................................................... 65
3.8 Function: High-speed output.................................................................................................. 74
3.9 Function: Sequence counter.................................................................................................. 75
3.10 Function: Current measurement ............................................................................................ 76
3.11 Function: Current control ....................................................................................................... 78
3.12 Function: Dither PWM output................................................................................................. 82
3.13 Function: Isochronous mode.................................................................................................. 86
3.14 Function: Direct control of DQ digital outputs ........................................................................ 87
4 Connecting .............................................................................................................................................. 91
4.1 Pin assignment, sensor, load, and power wiring ................................................................... 91
5Configuring .............................................................................................................................................. 98
5.1 Configuration software ........................................................................................................... 98
5.2 Configuration overview .......................................................................................................... 99
5.3 Required I/O address space ................................................................................................ 100
5.4 TIA portal Device configuration............................................................................................ 101
5.4.1 TIA Portal Device configuration ........................................................................................... 101
5.4.2 General information ............................................................................................................. 102
5.4.3 Potential group..................................................................................................................... 102
5.4.4 Channel configuration: (4 A) single or (2 A) dual channel operation................................... 102

Table of contents
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 7
5.4.5 Channel parameters .............................................................................................................103
5.4.5.1 Operating mode ....................................................................................................................103
5.4.5.2 Reaction to CPU STOP ........................................................................................................103
5.4.5.3 Diagnostics ...........................................................................................................................105
5.4.5.4 Parameter (Channel parameters).........................................................................................106
5.4.6 I/O addresses........................................................................................................................109
6 Program control and feedback interface ................................................................................................ 110
6.1 TM Pulse 2x24V control interface.........................................................................................110
6.2 SLOT parameter handling (control interface) .......................................................................113
6.3 TM Pulse 2x24V feedback interface.....................................................................................115
7 Interrupts/diagnostic messages ............................................................................................................. 117
7.1 Status and error displays ......................................................................................................117
7.2 Parameter validation errors ..................................................................................................120
7.3 Error detection and diagnostics ............................................................................................122
8 Technical specifications......................................................................................................................... 125
8.1 Programming reference ........................................................................................................131
A Parameter data record........................................................................................................................... 138
BOpen Source Software .......................................................................................................................... 142
Index...................................................................................................................................................... 196

Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
8Manual, 09/2015, A5E35061186-AA
Documentation guide
1
Introduction
This modular documentation of a SIMATIC product covers automation system topics.
The complete documentation for the ET 200SP system consists of the respective system
manuals, function manuals, and device manuals.
The STEP 7 information system (TIA Portal online Help) also helps you configure and
program your automation system.
Overview of the documentation for TM Pulse 2x24V technology module
The following table lists further documentation that you will need when using the TM Pulse
2x24V technology module.
Table 1- 1 Documentation for TM Pulse 2x24V technology module
Topic
Documentation
Most important contents
System description System manual
ET 200SP Distributed I/O System
(https://support.industry.siemens.com/cs/mdm
/58649293?c=76156021003&t=1&s=BaseUnit
&lc=en-US)
•Application planning
•Installation
•Connecting
•Commissioning
Device manuals
Interface Module
(https://support.industry.siemens.com/cs/prod
ucts?dtp=Manual&pnid=14034&lc=en-US)
•Connecting
•Interrupts, diagnostics,
error, and system messag-
es
•Technical specifications
•Dimension drawing
Device manual for the ET 200SP BaseUnit
6ES7-193-6B20-0BB1 compatible with the
TM Pulse 2x24V module.
ET 200SP BaseUnits
(https://support.industry.siemens.com/cs/mdm
/59753521?c=72851856267&t=1&s=ET
200SP BaseUnit&lc=en-US)
Technical specifications

Documentation guide
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 9
Topic Documentation Most important contents
Configuring inter-
ference-free con-
trollers
SIMATIC S7-1500, ET 200MP, ET 200SP,
ET 200AL Designing interference-free control-
lers
(https://support.industry.siemens.com/cs/mdm
/59193566?t=1&s=Designing interference free
controllers function manual&lc=en-US)
Function Manual
•Basics
•Electromagnetic compatibil-
ity
•Lightning protection
Isochronous mode SIMATIC PROFINET with STEP 7
(https://support.industry.siemens.com/cs/mdm
/49948856?c=73850691339&t=1&s=PROFIN
ET with STEP 7 V13 SP1&lc=en-US)
Function manual
•Benefits
•Use
•Parameter settings
SIMATIC manuals
All current manuals for the SIMATIC products are available for download free of charge from
the Internet (https://support.industry.siemens.com/cs/?lc=en-US).

Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
10 Manual, 09/2015, A5E35061186-AA
Product overview
2
2.1
Properties
Article number
6ES7138-6DB00-0BB1
View of the module
Figure 2-1 View of the TM Pulse 2x24V module

Product overview
2.1 Properties
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 11
Properties
The TM Pulse 2x24V technology module has the following properties:
●2 pulse output channels with up to 2 A output current per channel
–One-channel operation: The two channels are merged together into one logical
channel and are connected in parallel to generate pulse signals with up to 4 A output
current.
–Two-channel operation: The two channels can work independently of each other.
●Programmable pulse timing.
Pulse timing
Minimum
Maximum
High-speed
disabled
High-speed
enabled
High-speed
disabled
High-speed
enabled
Pulse duration
10 μs
1
1.5 μs
1
85,000,000 μs (85 s)
Period duration
100 μs
10 μs
On-delay 0 μs
Off-delay
Frequency
0.02 Hz
10 kHz
100 kHz
1
A smaller value is possible but not guaranteed for Pulse train, PWM, On/Off-delay, and DC motor
modes
Parallel mode
Maximum pulse output current
High-speed disabled
High-speed enabled
Disabled
2 A (two channels)
100 mA (two channels)
Enabled
4 A (one channel)
Not allowed
●You can configure DI0.0 (Channel 0) and DI1.0 (Channel 1) digital inputs as hardware
enable inputs that start the output pulse sequence, or as inputs directly usable by your
program and independent of the pulse generation. In DC motor mode, you can stop the
motor by using the digital inputs for external stop control.
●If you configure one channel 4 A operation, the two output channels are connected in
parallel. Only Channel 0 is parameterized to control the parallel connection and only
DI0.0 is available as a digital input/hardware enable.
●Each channel's digital output provides two load connections:
–All modes except DC motor mode use a single unipolar output connection (DQn.A).
–In DC motor, connect a load between the bipolar output connections (DQn.A and
DQn.B). For example, a channel output can drive a DC motor in both directions by
reversing the voltage polarity. Note that not all functions are available in DC motor
mode; for example, current measurement and current control are not allowed.
●Digital outputs have integrated protection diodes to prevent voltage overstress due to
inductive kickback. No external protection diodes are required for inductive loads.

Product overview
2.1 Properties
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
12 Manual, 09/2015, A5E35061186-AA
Operating modes
●Pulse output: output a single pulse with variable pulse duration and On-delay.
●Pulse width modulation (PWM):
–Output a frequency with a defined period duration and variable ratio of pulse width to
period duration (duty cycle).
–PWM can vary current in the driven loads. You can use PWM mode to control
temperature in a heating resistor or the force from a coil in a proportional valve.
●Pulse train: output a train of pulses with an assigned pulse quantity, period duration, ratio
of pulse width to period duration (duty cycle), and On-delay.
●On/Off-delay: the pulse output follows the signal at the DIn.0 digital input after an
assigned On-delay and Off-delay.
●Frequency output: output pulses at a variable frequency with a fixed pulse width to pulse
period duty cycle of 50%.
●DC motor: drive a motor in both directions with a bipolar PWM output. You can assign a
digital input as an "External stop" signal, for the motor.
Functions
●Sequence counter: count completed output sequences and provide a feedback signal.
The sequence counter can count short output sequences that are too fast for your
program to monitor. For example, the counter is useful when the output sequence is
faster than your program's cycle time and the output sequence is triggered by the DI
digital input. The sequence counter is limited to 4 bits (count range 0 to 15).
●The sequence counter is available only for:
–Pulse output and Pulse train modes.
Without hardware enable, the counter is set to 1 after completion of the output
sequence.
With hardware enable, the counter is incremented after every completed output
sequence.
–On/Off-delay mode.
The counter is incremented with each positive and negative edge at the DQn.A digital
output.
●Current measurement: for Pulse train and PWM modes.
●Current control: PID loop control for proportional current control in PWM mode.
●Dithering: superimpose a dither signal on the PWM output to prevent valve sticking and
improve proportional valve control.
●Direct control of the digital output by your control program.

Product overview
2.1 Properties
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 13
●Programmable output response to CPU/master STOP condition.
●Error detection and diagnostics:
–Missing or under voltage L+ supply voltage
–Short-circuit/overload of a digital output
–Short-circuit/under voltage of a sensor power supply
–Over temperature error
–Parameterization fault
–Module/firmware error
Configuration
TM Pulse 2x24V configuration software options:
●TIA Portal V13 + SP1 with HSP 0131 (Hardware Support Package from the Internet)
●STEP 7 version V5.5 + SP4 with HSP 0240
●GSD file links:
–PROFIBUS GSD files
(https://support.industry.siemens.com/cs/document/73016883?dti=0&lc=en-US)
–PROFINET GSD files
(https://support.industry.siemens.com/cs/document/57138621?dti=0&lc=en-US)
Firmware update
Firmware updates can be downloaded to the memory of the TM Pulse 2x24V module by
means of the STEP 7 TIA Portal software or the HW Config software.
Accessories
The following accessories can be used with the module and are not included in the product
package:
●Labeling strip
●Color identification labels
●Reference identification labels
A BaseUnit of the B1 type is required to operate the technology module. For an overview of
the BaseUnits to be used with the technology module, refer to the product information on the
documentation for the ET 200SP Distributed I/O System
(https://support.industry.siemens.com/cs/document/73021864?dti=0&lc=en-US).
For detailed information on the installation procedure, refer to the system manual for the
ET 200SP Distributed I/O System
(https://support.industry.siemens.com/cs/document/58649293?dti=0&lc=en-US).

Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
14 Manual, 09/2015, A5E35061186-AA
Modes and Functions
3
3.1
Overview
Modes and functions
The TM Pulse 2x24V has two channels. You can assign a different mode for each channel.
Configuration of the operating mode is made using the TIA Portal or HW Config.
You can select one of six operating modes:
●Pulse output (single pulse)
●PWM
●Pulse train
●On/Off-delay
●Frequency output
●DC motor (PWM: forward and reverse rotation)
In addition to the operating mode, the TM Pulse 2x24V has the following functions:
●If enabled, the high-speed output option lets you generate a 1.5 μs minimum pulse
duration at a current of 100 mA and a non-high-speed mode (high-speed mode disabled)
with a minimum pulse duration of 10 μs and a maximum current of 2 A (two channels) or
4 A (one channel).
●The Sequence counter counts completed output sequences and provides a feedback
signal.
●Current measurement for PWM and Pulse train modes
●Current control for the output current in PWM mode
●Dithering: superimpose a dithering signal on the PWM output to improve proportional
valve control.
●You can directly control digital outputs with your control program, with separate control for
each channel.
●Parallel connection of both channels creates one logical channel that can drive a 4 A
output current.
●You can configure the response to CPU/master STOP. The outputs are put in the state
that you assign for the control program STOP condition.

Modes and Functions
3.1 Overview
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 15
●The TM Pulse 2x24V provides module diagnostics and channel error detection.
Figure 3-1 Dual channel operation
Figure 3-2 Single channel operation

Modes and Functions
3.1 Overview
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
16 Manual, 09/2015, A5E35061186-AA
Interfaces to the control program and the process under control
The TM Pulse 2x24V has the following I/O BaseUnit pin connections to the process under
control:
Channel 0:
●DI0.0 (digital input 0)
●DQ0.A and DQ0.B (digital output 0)
–Two connections are provided for each channel output (DQ0.A and DQ0.B). Load
wiring depends on a channel's mode assignment.
Channel 1:
●DI1.0 (digital input 1)
●DQ1.A and DQ1.B (digital output 1)
You can find a table of configuration parameters in the "Parameter assignment and structure
of the parameter data records (Page 138)" section.
You can modify and monitor the modes and functions with your control program using
control and feedback signals. These parameters are listed in the "Control and feedback
interface (Page 110)" section.
You will find the following in the "Modes and functions" section:
●Operation descriptions
●The relevant parameters
●The relevant control and feedback signals
The "Description of operations" for modes and functions applies to both channels. The terms
DIn.0, DQn.A, and DQn.B are used in descriptions that are true for both channels.

Modes and Functions
3.2 Pulse output (single pulse) mode
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 17
3.2
Pulse output (single pulse) mode
Definition
After the assigned On-delay time expires, the TM Pulse 2x24V outputs a pulse at the DQn.A
digital output (output sequence) for the pulse duration that you set.
Pulse diagram
Figure 3-3 Pulse output mode output sequence using optional HW enable signal to start the output sequence
The timing diagram above has the "Function DI" parameter set to "HW enable". The other
option is to set "Function DI" to "Input". If the "Function DI" parameter is set to "Input", then
the On-delay phase starts at the rising edge of SW_ENABLE.

Modes and Functions
3.2 Pulse output (single pulse) mode
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
18 Manual, 09/2015, A5E35061186-AA
Starting the output sequence
Your control program must issue the enable for the output sequence, using the software
enable (SW_ENABLE 0 →1).
The STS_SW_ENABLE feedback bit indicates that a software enable is pending in the
TM Pulse 2x24V.
You can also set the DIn.0 digital input of a TM Pulse 2x24V channel to be a hardware
enable (HW enable) with the "Function DI" parameter. The input delay (noise filter) of the
hardware enable can be set using the "Input delay" parameter.
If you want to use the hardware enable, it has to be combined with the software enable.
When the software enable has been enabled, the output sequence starts at the first positive
edge of the hardware enable. Further positive edges of the hardware enable during the
current output sequence are ignored. When the HW enable goes high (positive edge) and
remains high for the input delay time, the On-delay is started and the STS_ENABLE is set.
After the On-delay expires, the pulse is output with the assigned pulse duration. The output
sequence finishes with the end of the pulse and STS_ENABLE is cleared.
If you reduce the pulse duration to a time that has already expired, then the ERR_PULSE
signal indicates a pulse output error and the output sequence stops. To resume the pulse
output, you must restart the output sequence after an ERR_PULSE error occurs. The next
time the output sequence starts, TM Pulse 2x24V clears the ERR_PULSE feedback bit.
Note
TM_CTRL_DQ technology module output control signal
•
If TM_CTRL_DQ = 1, then the TM Pulse 2x24V module has control and produces pulse
sequences at the DQn.A outputs.
•
If TM_CTRL_DQ = 0, then the CPU has control and your program can set DQn.A/DQn.B
outputs directly with the SET_DQA/SET_DQB control bits.

Modes and Functions
3.2 Pulse output (single pulse) mode
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
Manual, 09/2015, A5E35061186-AA 19
Canceling the output sequence
Disabling the software enable (SW_ENABLE =1 →0) cancels the current output sequence
and the last period duration is not completed. STS_ENABLE and the DQn.A digital output
are immediately reset to 0.
You must restart the output sequence to begin new pulse output.
Truth Table
Software enable
SW_ENABLE
Function DI
parameter
Hardware enable
(DIn.0 digital input)
DQn.A digital output
(when TM_CTRL_DQ = 1)
STS_ENABLE
Output Sequence
1 HW_ENABLE 0→1 and remains 1
during the input delay.
Only active for the
first positive edge,
additional positive
edges are ignored
and no start occurs.
0, if On-delay > 0
1, if On-delay = 0
0→1 Start
0→1 Input Not used 0, if On-delay > 0
1, if On-delay = 0
0→1 Start
0HW_ENABLE or
Input
Any status 00Terminate
1 HW_ENABLE or
Input
Any status 0, if On-delay is not expired or if the
pulse duration is expired.
1, if On-delay is expired and pulse duration
is not expired.
-
0→1
HW_ENABLE
0
0
0
-
Setting and changing the pulse duration
Your control program can set the pulse duration directly with the control interface field
OUTPUT_VALUE as a DWord number value in microseconds:
●High-speed output enabled, from 2 μs to 85,000,000 μs
●High-speed output disabled, from 10 μs to 85,000,000 μs
If you change the pulse duration when an output sequence is running, the pulse time already
elapsed is subtracted from the new pulse duration and the pulse output continues.
Reducing the pulse duration
If you have reduced the pulse duration to a time that is less than the pulse time already
elapsed, then the output sequence is terminated. STS_ENABLE and the DQn.A digital
output are cleared, and the ERR_PULSE status bit is set. At the next output sequence, the
ERR_PULSE status bit is cleared.

Modes and Functions
3.2 Pulse output (single pulse) mode
Technology module TM Pulse 2x24V (6ES7138‑6DB00‑0BB1)
20 Manual, 09/2015, A5E35061186-AA
Setting and changing the On-delay
●
Permanent update
The On-delay can be controlled permanently using the control interface. The
MODE_SLOT bit has to be 1 (permanent-update); LD_SLOT must have the value 2
(for On-delay). Set the On-delay as a value between 0 μs and 85,000,000 μs in the
control interface field SLOT.
●
Single Update
Set the On-delay as a value between 0 μs and 85,000,000 μs in the configuration
parameters. Alternatively, you can do a single update using the control interface.
MODE_SLOT has to be 0 (single-update); LD_SLOT has to have the value 2 (for
On-delay). Set the On-delay as a value between 0 μs and 85,000,000 μs in the control
interface field SLOT.
If you change the On-delay value during the output sequence, then the new On-delay is
activated on the next output sequence.
For more details about the use of the SLOT value, see SLOT parameter handling (Page 113)
Using the Sequence counter
The Sequence counter counts completed pulse output sequences and provides the count
value variable SEQ_CNT in the feedback interface. The sequence counter can count short
output sequences that are too fast to be monitored by your program. See Sequence counter
(Page 75) for details.
Isochronous mode
General information is available in Function: Isochronous mode (Page 86).
Isochronous mode does not have any influence on the functionality of Pulse output operating
mode.
If you want to synchronize the output sequence with To , then set the Function DI parameter
to "Input" and the Pulse output sequence starts at To.