Siemens Simatic S7-1500 User manual

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SIMATIC
S7-1500/ET 200MP
Technology Module TM PTO 4
(6ES7553-1AA00-0AB0)
Manual
12/2016
A5E38896703
-AA
Preface
Documentation guide
1
Product overview
2
Connecting
3
Configuring/address space
4
Interrupts/diagnostic alarms
5
Technical specifications
6
Dimensional drawing
A
Parameter data record
B

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E38896703-AA
Ⓟ
12/2016 Subject to change
Copyright © Siemens AG 2016.
All rights reserved
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
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
indicates that minor personal injury can result if proper precautions are not taken.
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.
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 complied with. The information in the relevant documentation must be observed.
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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 PTO 4 (6ES7553-1AA00-0AB0)
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Preface
Purpose of the documentation
This manual includes module-specific information on wiring, diagnostics and the technical
specifications of the technology module.
Generally-applicable information on installation and commissioning of the S7-1500 or
ET 200MP is available in System Manual "S7-1500, ET 200MP Automation System".
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.
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 PTO 4 (6ES7553-1AA00-0AB0)
Manual, 12/2016, A5E38896703-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 on this on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/109740777).

Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
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Table of contents
Preface ...................................................................................................................................................... 4
1 Documentation guide................................................................................................................................. 7
2 Product overview ..................................................................................................................................... 11
2.1 Properties............................................................................................................................... 11
2.2 Functions................................................................................................................................ 14
2.2.1 Pulse Train Output (PTO) ...................................................................................................... 14
2.2.2 Isochronous mode ................................................................................................................. 16
3 Connecting .............................................................................................................................................. 17
3.1 Pin assignment....................................................................................................................... 17
4 Configuring/address space ...................................................................................................................... 26
4.1 Configuring............................................................................................................................. 26
4.2 Reaction to CPU STOP ......................................................................................................... 28
4.3 Address space ....................................................................................................................... 28
4.4 Parameters............................................................................................................................. 29
4.5 Control and feedback interface.............................................................................................. 34
4.5.1 Assignment of the control interface........................................................................................ 34
4.5.2 Assignment of the feedback interface.................................................................................... 38
4.5.3 Enabling the pulse output ...................................................................................................... 42
5 Interrupts/diagnostic alarms..................................................................................................................... 44
5.1 Status and error displays ....................................................................................................... 44
5.2 Diagnostic alarms................................................................................................................... 47
6 Technical specifications........................................................................................................................... 49
A Dimensional drawing ............................................................................................................................... 54
B Parameter data record............................................................................................................................. 56
B.1 Parameter assignment and structure of the parameter data record...................................... 56
B.2 Parameter validation error ..................................................................................................... 61

Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
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Documentation guide
1
The documentation for the SIMATIC S7-1500 automation system, the CPU 1516pro-2 PN
based on SIMATIC S7-1500 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. For
CPU 1516pro-2 PN you use the corresponding operating instructions. 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.

Documentation guide
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
8Manual, 12/2016, A5E38896703-AA
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).
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).

Documentation guide
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"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).
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).

Documentation guide
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SIMATIC Automation Tool
You can use the SIMATIC Automation Tool to run commissioning and maintenance activities
simultaneously on various SIMATIC S7 stations as a bulk operation independently of the TIA
Portal.
The SIMATIC Automation Tool provides a multitude of functions:
●Scanning of a PROFINET/Ethernet network and identification of all connected CPUs
●Address assignment (IP, subnet, gateway) and station name (PROFINET device) to a
CPU
●Transfer of the date and the programming device/PC time converted to UTC time to the
module
●Program download to CPU
●Operating mode switchover RUN/STOP
●Localization of the CPU by means of LED flashing
●Reading out CPU error information
●Reading the CPU diagnostic buffer
●Reset to factory settings
●Updating the firmware of the CPU and connected modules
You can find the SIMATIC Automation Tool on the Internet
(https://support.industry.siemens.com/cs/ww/en/view/98161300).
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 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).

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Product overview
2
2.1
Properties
Article number
6ES7553-1AA00-0AB0
View of the module
Figure 2-1 View of the TM PTO 4 module

Product overview
2.1 Properties
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
12 Manual, 12/2016, A5E38896703-AA
Introduction
The technology module enables you to connect up to four stepper motor axes to an S7-1500
system. The module is linked to technology objects by means of an implementation of the
PROFIdrive frame 3 and forms the interface to the drive. The number of steps that are output
is returned as the actual position value.
Properties
The TM PTO 4 technology module has the following properties:
●Technical properties
–4 channels, quantity can be configured, channel-by-channel parameter assignment
–Interfaces:
RS422/TTL(5 V) or 24 V pulse output signals P/A and D/B for the PTO function (per
channel, max. 1 MHz for RS422, max. 200 kHz for 24 V / TTL (5 V))
Digital input signals DI0 and DI1 for the reference switch, measuring input, ready input
functions (per channel)
Digital output signal DQ0 for the PTO or drive enable function (per channel)
Digital output signal DQ1 for the PTO function (per channel)
Digital input/output signal DIQ2 for the drive enable or ready input function (per
channel)
Supply voltage L+
–Configurable diagnostics (per channel)
–Configurable interpulse period for auto reverse
–Configurable input delay: none, 0.05 ms ... 20 ms
●Supported signal types for pulse output
–Pulse encoder with direction signal
–Pulse encoder with forward signal and backward signal
–Incremental encoder with two signals with a 90° phase shift
●Supported system functions
–Isochronous mode
–Firmware Update
–Identification data I&M

Product overview
2.1 Properties
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
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Accessories
The following components are supplied with the technology module and can also be ordered
separately as spare parts:
●Shield bracket
●Shield clamp
●Infeed element
●Labeling strip
●U-connector
Other components
The following component needs to be ordered separately:
●Front connectors, including potential jumpers and cable ties
See also
For more information on accessories, see System Manual S7-1500, ET 200MP Automation
System (http://support.automation.siemens.com/WW/view/en/59191792).

Product overview
2.2 Functions
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14 Manual, 12/2016, A5E38896703-AA
2.2
Functions
2.2.1
Pulse Train Output (PTO)
Applications
Pulse Train Output is a simple and universal interface between a SIMATIC controller and a
drive. PTO is supported worldwide by many stepper and servo drives and is used in many
positioning applications, such as for adjustment axes and feed axes.
PTO is also referred to as the pulse/direction interface. The pulse/direction interface
comprises two signals. The frequency of the pulse output represents the speed and the
number of pulses that are output represents the distance to be traversed. The direction
output defines the traversing direction. The position specification is thereby accurate to
within one increment. The pulse/direction interface is especially well-suited for operation with
the technology objects TO_SpeedAxis, TO_PositioningAxis and TO_SynchronousAxis.
Control
The control of the pulse output channels is provided above all with S7-1500 Motion Control
by means of the technology objects TO_SpeedAxis, TO_PositioningAxis and
TO_SynchronousAxis . The control and feedback interface (Page 34) of the channels is an
implementation of the PROFIdrive interface with standard frame 3.
For a detailed description of configuring the technology module with the axis technology
objects, see Function Manual S7-1500T Motion Control, section "Configuring", which is
available for download on theInternet
(https://support.industry.siemens.com/cs/ww/en/view/109481326).
Signal types
The technology module supports the following four signal types:
●Pulse (P) and direction (D):
One output (P) controls the pulses and one output (D) controls the direction. D is 'high'
(active) when pulses are generated in the negative direction. D is 'low' (inactive) when
pulses are generated in the positive direction.
①
Positive direction of rotation
②
Negative direction of rotation

Product overview
2.2 Functions
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
Manual, 12/2016, A5E38896703-AA 15
●Count up (A), count down (B):
One output (A) outputs pulses for positive directions and another output (B) outputs
pulses for negative directions.
①
Positive direction of rotation
②
Negative direction of rotation
●Incremental encoder (A, B phase-shifted):
Output pulses are output by both outputs at the specified velocity, but phase-shifted by
90 degrees. This involves a single pulse output in which the duration of the pulse is the
time between two transitions of signal A while signal B is in low state.
A positive direction of rotation is generated at a positive edge of signal A while signal B is
in low state. A negative direction of rotation is generated at a negative edge of signal A
while signal B is in low state.
A precedes B (positive direction of rotation)
A follows B (negative direction of rotation)
Number of pulses
Number of pulses

Product overview
2.2 Functions
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
16 Manual, 12/2016, A5E38896703-AA
●Incremental encoder (A, B phase-shifted, quadruple):
Output pulses are output by both outputs at the specified velocity, but phase-shifted by
90 degrees. This signal type involves a quadruple pulse output in which each edge
transition corresponds to one increment. Therefore, a complete period of signal A
contains four increments. In this way, it is possible, for example, to use two outputs, each
with 100 kHz signal frequency, to output a control signal that supplies 400,000
increments per second.
Whether count pulses are generated in the positive or negative direction of rotation
depends on the edge direction of one signal and the logic state of the other signal in each
case.
A precedes B (positive direction of rotation) A follows B (negative direction of rotation)
Number of pulses
Number of pulses
2.2.2
Isochronous mode
The technology module supports the system function "isochronous mode" in distributed
mode on PROFINET.
In isochronous mode, the cycle of the user program, the transmission of the input and output
data and the processing in the technology module are synchronized with each other.
Data processing
At time Tithe current position value is acquired and made available in the feedback interface
for retrieval in the current bus cycle. At time Tothe pulse output is adjusted to the current
speed setpoint.

Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
Manual, 12/2016, A5E38896703-AA 17
Connecting
3
3.1
Pin assignment
You connect the pulse output signals, digital input signals and digital output signals to the
40-pin front connector of the technology module. In addition, you connect the supply voltage
for supplying the module and the digital outputs to the 4-pin infeed element.
For information on wiring the front connector, connecting the cable shield, etc., see System
ManualS7-1500, ET 200MP Automation System
(http://support.automation.siemens.com/WW/view/en/59191792), section Wiring.
Pin assignment for the front connector
The table below shows the pin assignment of the front connector for the respective signal
interface.
Table 3- 1 Pin assignment of the front connector
View
Signal name
Designation
24 V, asymmetrical
RS422, symmetrical
TTL (5 V), asymmetrical
Channel 0
1 CH0.P/A — Pulse signal P/A Pulse signal P/A
2
/CH0.P/A
Inverted pulse signal P/A
—
3 CH0.D/B Pulse signal D/B Pulse signal D/B
4
/CH0.D/B
Inverted pulse signal D/B
—
5
DQ0.0
Pulse signal P/A
Digital output DQ0
Digital output DQ0
6
DQ0.1
Pulse signal D/B
—
—
7
DI0.0
Digital input DI0
8
DI0.1
Digital input DI1
9
DIQ0.2
Digital input/output DIQ2
Channel 1
10
CH1.P/A
—
Pulse signal P/A
Pulse signal P/A
11
/CH1.P/A
Inverted pulse signal P/A
—
12
CH1.D/B
Pulse signal D/B
Pulse signal D/B
13
/CH1.D/B
Inverted pulse signal D/B
—
14
DQ1.0
Pulse signal P/A
Digital output DQ0
Digital output DQ0
15
DQ1.1
Pulse signal D/B
—
—
16
DI1.0
Digital input DI0
17
DI1.1
Digital input DI1
18
DIQ1.2
Digital input/output DIQ2
19
— —
20

Connecting
3.1 Pin assignment
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
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View
Signal name
Designation
24 V, asymmetrical
RS422, symmetrical
TTL (5 V), asymmetrical
Channel 2
21
CH2.P/A
—
Pulse signal P/A
Pulse signal P/A
22 /CH2.P/A Inverted pulse signal P/A —
23
CH2.D/B
Pulse signal D/B
Pulse signal D/B
24
/CH2.D/B
Inverted pulse signal D/B
—
25
DQ2.0
Pulse signal P/A
Digital output DQ0
Digital output DQ0
26
DQ2.1
Pulse signal D/B
—
—
27
DI2.0
Digital input DI0
28
DI2.1
Digital input DI1
29
DIQ2.2
Digital input/output DIQ2
Channel 3
30
CH3.P/A
—
Pulse signal P/A
Pulse signal P/A
31
/CH3.P/A
Inverted pulse signal P/A
—
32
CH3.D/B
Pulse signal D/B
Pulse signal D/B
33
/CH3.D/B
Inverted pulse signal D/B
—
34
DQ3.0
Pulse signal P/A
Digital output DQ0
Digital output DQ0
35
DQ3.1
Pulse signal D/B
—
—
36
DI3.0
Digital input DI0
37
DI3.1
Digital input DI1
38
DIQ3.2
Digital input/output DIQ2
39
M
Ground for digital outputs, digital inputs and pulse signals of the
technology module
40
M
Note
Use of jumper links in the front connector is not permitted.

Connecting
3.1 Pin assignment
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
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Pin assignment for the infeed element
The infeed element is inserted into the front connector and serves to supply power to the
technology module. You must connect the supply voltage to terminal 41 (L+) and terminal 44
(M) for this.
Figure 3-1 Infeed element wiring
L+
24 V DC supply voltage
M
Ground for supply voltage
Behavior of the digital outputs following a wire break at the ground connection of the outputs
Due to the characteristics of the output driver used in the module, a wire break causes
approximately 10 mA supply current to drain from the digital outputs via a parasitic diode.
This behavior may lead to a high signal state even at outputs that are not set. Depending on
the nature of the load, 10 mA may be enough to activate a load with high signal state.
Duplicate wiring of ground
To prevent unintended switching of the outputs in the event of a ground connection wire
break, follow these steps:
1. Route the first ground connection from terminal 44 to the ground connection of the central
power supply of the system.
2. Route the second ground connection from terminal 43 to the ground connection of the
central power supply of the system.
If one of the two ground connection cables is interrupted, the outputs are maintained at the
required potential by the remaining ground connection.
WARNING
Wire break at ground connection
Always connect two cables to the ground connection of the central power supply of the
system.

Connecting
3.1 Pin assignment
Technology Module TM PTO 4 (6ES7553-1AA00-0AB0)
20 Manual, 12/2016, A5E38896703-AA
Circuit diagram
The figure below shows an example circuit diagram of the technology module. In this
example, four channels are used with the RS422, 5 V-TTL and 24 V signal interfaces:
①
Electrical isolation
②
Technology and backplane bus interface
③
Input filter for supply voltage
④
Supply voltage via infeed element
⑤
Duplicate wiring to the ground connection of the central power supply of the system
⑥
Shield connection at the front connector
⑦
Equipotential bonding
⑧
LEDs per channel
⑨
Twisted-pair cables
⑩
Motor with drive stage at RS422 signal interface
⑪,⑬
Motor with drive stage at 24 V signal interface
⑫
Motor with drive stage at TTL signal interface
Figure 3-2 Circuit diagram when using RS422, 5 V-TTL and 24 V signal interfaces