Siemens Simatic S7-300 User manual

SIMATIC S7-300
FM 354 Servo Drive Positioning Module
Manual 04.97 Edition
This manual is intended to accompany the configuration package,
Order No.: 6ES7 354-1 AH01-7AG0.

Preface, Contents
User Information
Product Summary 1
Basic Principles of Positioning 2
Installing and Removing the
FM 354 3
Wiring the FM 354 4
Defining Parameters of the
FM 354 5
Programming the FM 354 6
Starting up the FM 354 7
Human-machine Interface
for the OP 07/OP 17 8
Reference Information
Description of Functions 9
Writing Traversing Programs 10
Troubleshooting 11
Annexes
Technical Specifications A
EC Declaration of Conformity B
Abbreviations C
Index
FM 354 Servo Drive Positioning
Module
Manual
SIMATIC S7

This manual contains notices intended to ensure personal safety, as well as to protect the pro-
ducts and connected equipment against damage. These notices are highlighted by the sym-
bols shown below and graded according to severity by the following texts:
!Danger
indicates that death, severe personal injury or substantial property damage will result if pro-
per precautions are not taken.
!Warning
indicates that death, severe personal injury or substantial property damage can result if pro-
per precautions are not taken.
!Caution
indicates that minor personal injury or property damage can result if proper precautions are
not taken.
Note
contains important information about the product, its operation or a part of the document to
which special attention is drawn.
A device/system may only be commissioned or operated by qualified personnel. Qualified
personnel as referred to in safety guidelines in this document are persons authorized to ener-
gize, de-energize, clear, ground, and tag circuits, equipment and systems in accordance with
established safety practice.
Please observe the following:
!Warning
The equipment/system or the system components may only be used for the applications
described in the catalog or the technical description, and only in combination with the equip-
ment, components, and devices of manufacturers as far as this is recommended or permitted
by Siemens.
The product will function correctly and safely only if it is transported, stored, set up, and
installed as intended, and operated and maintained with care.
SIMATICand SINECare registered trademarks of SIEMENS AG.
Third parties using for their own purposes any other names in this document which refer to
trademarks might infringe upon the rights of the trademark owners.
Wehavecheckedthecontentsofthismanualforagreementwiththe
hardware and software described. However, deviations cannot be
precluded entirely. The data in this manual are reviewed regularly
and any necessary corrections included in subsequent editions.
Suggestions for improvement are welcome.
Disclaimer of LiabilityCopyright Siemens AG 1997 All Rights Reserved
The reproduction, transmission or use of this document or its
contents is not permitted without express written authority.
Offenders will be liable for damages. All rights, including rights
createdbypatentgrantorregistrationofautilitymodelordesign,are
reserved.
Siemens AG
Automation Group
Industrial Automation Systems
P.O. Box 4848,D- 90327 Nuremberg Siemens AG 1997
Technical data subject to change.
Siemens Aktiengesellschaft FM 354 Positioning Module
Safety-related Guide-
lines
Qualified Personnel
Proper Usage
Trademarks

i
FM 354 Servo Drive Positioning Module
Preface
This manual contains all information about the FM 354 module:
Hardware and functions
Parameter definition
Human-machine interface
S7 function blocks
Safe setup
The following information blocks describe the purpose and uses of this
manual:
Product overview of the module (Chapter 1)
This section explains the purpose and possible applications of the module.
It provides introductory information about the FM 354 and its functions.
Basic principles of positioning (Chapter 2)
Here you will find introductory information on positioning methods and
associated definitions of terms.
Installing and removing the FM 354 (Chapter 3)
Explains the installation and removal of the FM 354.
Wiring the FM 354 (Chapter 4)
Describes the connection and wiring of drives, encoders and digital input/
output modules.
Defining parameters of the FM 354 (Chapter 5)
Describes the parameterization and functions of “Parameterize FM 354.”
Programming the FM 354 (Chapter 6)
Describes how to program the FM 354 with STEP 7.
Starting up the FM 354 (Chapter 7)
Describes startup procedures for the FM 354.
Human-machine interface (Chapter 8)
– Describes the various options for operating and monitoring the
FM 354, and which data and signals can be used and monitored.
Purpose of this
document
Information blocks
in this manual

ii FM 354 Servo Drive Positioning Module
Reference information and appendices for finding factual information
(module functions, programming guide, interface signals, parameter lists,
error handling, technical specifications, standard HMI user interface)
List of abbreviations and index for looking up information.
The present manual describes the hardware and functions of the FM 354
To set up, program and start up a SIMATIC S7-300 with the FM 354, you
will need a knowledge of:
The SIMATIC S7
Installation manual S7-400/M7–400 Programmable Controller, Hardware
and Installation
Your programming device (PG)
How to perform programming with STEP 7
How to configure a operator panel interface.
The structure and presentation of the information in the manual are oriented
to the intended uses of the FM 354, and the user’s own activity.
It distinguishes among the following:
Installation
These activities include installation and wiring of the FM 354.
Programming
These activities include parameterizing and programming the FM 354.
Troubleshooting and diagnostics
These activities include detecting and correcting faults and errors
– in the hardware setup of the module and its components
– and in the programming, handling and control of module functions.
Operation
These users operate the FM 354. The operator accordingly deals only with
the control of positioning tasks.
User requirements
FM 354 users
Preface

iii
FM 354 Servo Drive Positioning Module
Our products are in compliance with the EU Guideline 89/336/EEC “Electro-
magnetic Compatibility” and the harmonized European standards (EN) which
it embodies.
The EC Declaration of Conformity in accordance with Article 10 of the EU
Guideline referenced above is contained in this manual (see Chapter B).
If you should encounter any problems using this manual, or if you have any
questions, please contact the office specified on the query form at the end of
this manual.
If you have an urgent problem, please contact:
Test Hotline, +49 911 / 895 – 7000
J
CE marking
Contact partners
Hotline
Preface

iv FM 354 Servo Drive Positioning Module
Preface

v
FM 354 Servo Drive Positioning Module
Contents
1 Product Summary 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 The FM 354 in the S7-300 programmable controller 1-3. . . . . . . . . . . . . . . . . .
1.2 Module description 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Overview of module functions 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Basic Principles of Positioning 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Installing and Removing the FM 354 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Installing the FM 354 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Removing the FM 354 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Module replacement 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Wiring the FM 354 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Wiring an FM 354 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Description of the drive interface 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Connecting the drive unit 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Description of the measurement system interface 4-7. . . . . . . . . . . . . . . . . . . .
4.5 Connecting the encoders 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Description of the I/O interface 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Wiring up the front connector 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Defining Parameters of the FM 354 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installing “Parameterize FM 354” 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Getting started with “Parameterize FM 354” 5-3. . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Parameter data 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Machine data 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Increments 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Tool offset data 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Traversing programs 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Parameterization with “Parameterize FM 354” 5-22. . . . . . . . . . . . . . . . . . . . . . .
5.5 Storing the parameter data in SDB w 1 000 5-26. . . . . . . . . . . . . . . . . . . . . . . . . .
6 Programming the FM 354 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 FC INIT_DB (FC 1) – Initialize user DB 6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 FC MODE_WR (FC 2) – Control operating modes and
process write jobs 6-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Process write jobs 6-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Controlling operating 6-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

vi FM 354 Servo Drive Positioning Module
6.3 FC RD_COM (FC 3) – Process read jobs cyclically 6-13. . . . . . . . . . . . . . . . . . .
6.4 Reading diagnostic information 6-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 FC DIAG_RD (FC 4) – Read diagnostic interrupt data in OB 82 6-17. . . . . . . .
6.4.2 FC DIAG_INF (FC 6) – Read diagnostic interrupt data in OB 1 6-21. . . . . . . . .
6.5 FC MSRMENT (FC 5) – Read measured values 6-22. . . . . . . . . . . . . . . . . . . . .
6.6 User data block 6-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Example applications 6-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Technical specifications 6-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Starting up the FM 354 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Installation and wiring 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Initial values for testing and optimization 7-3. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Testing and optimization 7-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Activating the machine data 7-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Checking the drive and encoder circuits 7-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Basic startup of the position controller 7-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Optimizing the position controller 7-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.5 Realigning the reference point coordinates 7-22. . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.6 Activating position controller diagnostics 7-23. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.7 Activating the software limit switches, drift compensation and backlash
compensation 7-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Human-machine interface 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Standard HMI (human–machine interface) for the OP 07 and the OP 17 8-3.
8.1.1 Standard user interface for the OP 07 8-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Standard user interface for the OP 17 8-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Analysis of the user DB by the user program for operator control 8-16. . . . . . .
8.3 Data block for status messages (DB-SS) 8-20. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Description of Functions 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Control/checkback signals 9-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Control signals 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Checkback signals 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3 General handling information 9-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Operating modes 9-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Jogging 9-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Open–loop control 9-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 Reference point approach 9-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.4 Incremental relative 9-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.5 MDI (Manual Data Input) 9-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.6 Automatic 9-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.7 Automatic single block 9-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 System data 9-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Change parameters/data (job no. 8) 9-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Single functions (job no. 10) 9-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 Single commands (job no. 11) 9-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Zero offset (job no. 12) 9-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5 Set actual value (job no. 13) 9-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents