Siemens SIMATIC ET 200S User manual

SIMATIC ET 200S ET 200S Positioning
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Overview
1
1STEP 5V/204kHz
2
1PosInc/Digital
3
1PosInc/Analog
4
1PosSSI/Digital
5
1PosSSI/Analog
6
1PosUniversal/Digital
7
SIMATIC
ET 200S
Positioning
Operating Instructions
05/2007
A5E00124871-04

Safety Guidelines
Safety Guidelines
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
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG
Automation and Drives
Postfach 48 48
90437 NÜRNBERG
GERMANY
Ordernumber: A5E00124871-04
Ⓟ 05/2007
Copyright © Siemens AG (2007).
Technical data subject to change

ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 3
Table of contents
1 Overview.................................................................................................................................................. 13
2 1STEP 5V/204kHz................................................................................................................................... 15
2.1 Product overview .........................................................................................................................15
2.2 Example: Commissioning 1STEP 5V/204kHz .............................................................................16
2.3 Terminal Assignment Diagram.....................................................................................................21
2.4 Safety concept .............................................................................................................................23
2.5 Fundamentals of Positioning........................................................................................................24
2.5.1 Overview ......................................................................................................................................24
2.5.2 Parameters and Settings .............................................................................................................25
2.5.3 Traversal Curve of the 1STEP 5V/204kHz ..................................................................................26
2.5.4 Setting the Base Frequency.........................................................................................................29
2.6 Functions of the 1STEP 5V/204kHz ............................................................................................31
2.6.1 Overview ......................................................................................................................................31
2.6.2 Search for Reference...................................................................................................................31
2.6.3 Sequence of Execution of the Search for Reference ..................................................................33
2.6.4 Incremental Mode, Relative .........................................................................................................36
2.6.5 Stopping the Stepping Motor .......................................................................................................37
2.6.6 Pulse Enable................................................................................................................................39
2.6.7 Changing Parameters during Operation ......................................................................................40
2.6.8 Behavior of the Digital Inputs.......................................................................................................41
2.6.9 Behavior at CPU-Master-STOP...................................................................................................42
2.7 Parameter assignment.................................................................................................................43
2.8 Feedback and Control Interface ..................................................................................................44
2.8.1 Assignment of the Feedback and Control Interfaces...................................................................44
2.8.2 Starting the Positioning Job .........................................................................................................48
2.9 Technical specifications ...............................................................................................................51

Table of contents
ET 200S Positioning
4 Operating Instructions, 05/2007, A5E00124871-04
3 1PosInc/Digital......................................................................................................................................... 53
3.1 Product overview......................................................................................................................... 53
3.2 Brief Introduction to Commissioning the 1PosInc/Digital ............................................................ 54
3.3 Terminal Assignment Diagram.................................................................................................... 59
3.4 Safety concept ............................................................................................................................ 61
3.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed ............................................ 62
3.6 Functions of the 1PosInc/Digital ................................................................................................. 64
3.6.1 Overview of the Functions........................................................................................................... 64
3.6.2 Axis, Drive and Encoder.............................................................................................................. 67
3.6.3 Effect of the Directional Enables................................................................................................. 70
3.6.4 Stop (MODE 0)............................................................................................................................ 70
3.6.5 Reference Point Run (MODE 3) ................................................................................................. 71
3.6.6 Inching (MODE 1) ....................................................................................................................... 78
3.6.7 Absolute Positioning (MODE 5) .................................................................................................. 80
3.6.8 Relative Positioning (MODE 4) ................................................................................................... 84
3.6.9 Canceling JOB Processing (JOB 0)............................................................................................ 87
3.6.10 Setting the Actual Value (JOB 1) ................................................................................................ 88
3.6.11 Changing the Switch-Off Difference (JOB 3) ..............................................................................90
3.6.12 Changing the Switchover Difference (JOB 4) ............................................................................. 91
3.6.13 Evaluating the Reference Signal (JOB 9) ................................................................................... 92
3.6.14 Latch Function (JOB 10) ............................................................................................................. 94
3.6.15 Setting the Monitoring of the Direction of Rotation (JOB 11)...................................................... 95
3.6.16 Displaying Current Values (JOB 15) ........................................................................................... 97
3.6.17 Error Detection/Diagnostics ........................................................................................................ 99
3.7 CPU/Master Stop and RESET State......................................................................................... 104
3.8 Parameter List........................................................................................................................... 105
3.9 Control and Feedback Signals.................................................................................................. 107
3.10 Technical Specifications............................................................................................................ 110

Table of contents
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 5
4 1PosInc/Analog ..................................................................................................................................... 113
4.1 Product overview .......................................................................................................................113
4.2 Brief Instructions on Commissioning the 1PosInc/Analog .........................................................114
4.3 Terminal Assignment Diagram...................................................................................................120
4.4 Safety concept ...........................................................................................................................122
4.5 Fundamentals of Controlled Positioning Using the Analog Output............................................123
4.6 Functions of the 1PosInc/Analog ...............................................................................................125
4.6.1 Overview of the Functions .........................................................................................................125
4.6.2 Axis, Drive and Encoder ............................................................................................................129
4.6.3 Effect of the Directional Enables................................................................................................133
4.6.4 Stop (MODE 0)...........................................................................................................................134
4.6.5 Reference Point Run (MODE 3) ................................................................................................136
4.6.6 Inching (MODE 1) ......................................................................................................................143
4.6.7 Absolute Positioning (MODE 5) .................................................................................................145
4.6.8 Relative Positioning (MODE 4) ..................................................................................................149
4.6.9 Canceling JOB Processing (JOB 0)...........................................................................................152
4.6.10 Setting the Actual Value (JOB 1) ...............................................................................................153
4.6.11 Changing the Switch-Off Difference (JOB 3).............................................................................155
4.6.12 Changing the Switchover Difference (JOB 4)............................................................................156
4.6.13 Changing the Voltage for Rapid Feed (JOB 5) ..........................................................................157
4.6.14 Changing the Voltage for Creep Feed (JOB 6)..........................................................................159
4.6.15 Changing the Acceleration Tacc (JOB 7) ..................................................................................160
4.6.16 Changing the Deceleration Tdec (JOB 8)..................................................................................162
4.6.17 Evaluating the Reference Signal (JOB 9)..................................................................................164
4.6.18 Latch Function (JOB 10) ............................................................................................................166
4.6.19 Setting the Monitoring of the Direction of Rotation (JOB 11).....................................................167
4.6.20 Displaying Current Values (JOB 15)..........................................................................................169
4.6.21 Error Detection/Diagnostics .......................................................................................................171
4.7 CPU/Master Stop and RESET State .........................................................................................176
4.8 Parameter List............................................................................................................................178
4.9 Control and Feedback Signals...................................................................................................181
4.10 Technical Specifications for the 1PosInc/Analog.......................................................................184

Table of contents
ET 200S Positioning
6 Operating Instructions, 05/2007, A5E00124871-04
5 1PosSSI/Digital...................................................................................................................................... 189
5.1 Product overview....................................................................................................................... 189
5.2 Brief Introduction to Commissioning the 1PosSSI/Digital ......................................................... 190
5.3 Terminal Assignment Diagram.................................................................................................. 196
5.4 Safety concept .......................................................................................................................... 198
5.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed .......................................... 199
5.6 Functions of the 1PosSSI/Digital .............................................................................................. 201
5.6.1 Overview of the Functions......................................................................................................... 201
5.6.2 Axis, Drive and Encoder............................................................................................................ 204
5.6.3 Effect of the Directional Enables............................................................................................... 207
5.6.4 Stop (MODE 0).......................................................................................................................... 207
5.6.5 Inching (MODE 1) ..................................................................................................................... 208
5.6.6 Absolute Positioning (MODE 5) ................................................................................................ 210
5.6.7 Relative Positioning (MODE 4) ................................................................................................. 214
5.6.8 Canceling JOB Processing (JOB 0).......................................................................................... 217
5.6.9 Setting the Actual Value (JOB 1) .............................................................................................. 218
5.6.10 Moving the Encoder Range (JOB 2) ......................................................................................... 220
5.6.11 Changing the Switch-Off Difference (JOB 3) ............................................................................ 221
5.6.12 Changing the Switchover Difference (JOB 4) ........................................................................... 222
5.6.13 Latch Function (JOB 10) ........................................................................................................... 223
5.6.14 Setting the Monitoring of the Direction of Rotation (JOB 11).................................................... 224
5.6.15 Displaying Current Values (JOB 15) ......................................................................................... 226
5.6.16 Error Detection/Diagnostics ...................................................................................................... 228
5.7 CPU/Master Stop and RESET State......................................................................................... 233
5.8 Parameter List........................................................................................................................... 234
5.9 Control and Feedback Signals.................................................................................................. 236
5.10 Technical specifications ............................................................................................................ 238

Table of contents
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 7
6 1PosSSI/Analog .................................................................................................................................... 241
6.1 Product Overview.......................................................................................................................241
6.2 Brief Instructions on Commissioning the 1PosSSI/Analog ........................................................242
6.3 Terminal Assignment Diagram...................................................................................................248
6.4 Safety concept ...........................................................................................................................250
6.5 Fundamentals of Controlled Positioning Using the Analog Output............................................251
6.6 Functions of the 1PosSSI/Analog ..............................................................................................253
6.6.1 Overview of the Functions .........................................................................................................253
6.6.2 Axis, Drive and Encoder ............................................................................................................257
6.6.3 Effect of the Directional Enables................................................................................................262
6.6.4 Stop (MODE 0)...........................................................................................................................262
6.6.5 Inching (MODE 1) ......................................................................................................................264
6.6.6 Absolute Positioning (MODE 5) .................................................................................................266
6.6.7 Relative Positioning (MODE 4) ..................................................................................................270
6.6.8 Canceling JOB Processing (JOB 0)...........................................................................................273
6.6.9 Setting the Actual Value (JOB 1) ...............................................................................................274
6.6.10 Moving the Encoder Range (JOB 2)..........................................................................................276
6.6.11 Changing the Switch-Off Difference (JOB 3).............................................................................278
6.6.12 Changing the Switchover Difference (JOB 4)............................................................................279
6.6.13 Changing the Voltage for Rapid Feed (JOB 5) ..........................................................................280
6.6.14 Changing the Voltage for Creep Feed (JOB 6)..........................................................................281
6.6.15 Changing the Acceleration Tacc (JOB 7) ..................................................................................282
6.6.16 Changing the Deceleration Tdec (JOB 8)..................................................................................284
6.6.17 Latch Function (JOB 10) ............................................................................................................286
6.6.18 Setting the Monitoring of the Direction of Rotation (JOB 11).....................................................287
6.6.19 Displaying Current Values (JOB 15)..........................................................................................289
6.6.20 Error Detection/Diagnostics .......................................................................................................291
6.7 CPU/Master Stop and RESET State .........................................................................................296
6.8 Parameter List............................................................................................................................298
6.9 Control and Feedback Signals...................................................................................................300
6.10 Technical Specifications of the 1PosSSI/Analog.......................................................................303

Table of contents
ET 200S Positioning
8 Operating Instructions, 05/2007, A5E00124871-04
7 1PosUniversal/Digital............................................................................................................................. 307
7.1 Product overview....................................................................................................................... 307
7.2 Brief Instructions on Commissioning the 1PosU....................................................................... 309
7.3 Terminal Assignment Diagram.................................................................................................. 315
7.4 Safety concept .......................................................................................................................... 317
7.5 Fundamentals of Controlled Positioning Using Rapid/Creep Feed .......................................... 318
7.6 Functions of the 1PosU............................................................................................................. 320
7.6.1 Overview of the Functions......................................................................................................... 320
7.6.2 Axis, Drive and Encoder............................................................................................................ 324
7.6.3 Effect of the Directional Enables............................................................................................... 328
7.6.4 Stop (MODE 0).......................................................................................................................... 328
7.6.5 Inching (MODE 1) ..................................................................................................................... 329
7.6.6 Reference Point Run (MODE 3) ............................................................................................... 331
7.6.7 Relative Positioning (MODE 4) ................................................................................................. 338
7.6.8 Absolute Positioning (MODE 5) ................................................................................................ 341
7.6.9 Canceling JOB Processing (JOB 0).......................................................................................... 345
7.6.10 Setting the Actual Value (JOB 1) .............................................................................................. 346
7.6.11 Moving the Encoder Range (JOB 2) ......................................................................................... 348
7.6.12 Changing the Switch-Off Difference (JOB 3) ............................................................................ 350
7.6.13 Changing the Switchover Difference (JOB 4) ........................................................................... 351
7.6.14 Evaluating the Reference Signal (JOB 9) .................................................................................352
7.6.15 Latch Function (JOB 10) ........................................................................................................... 354
7.6.16 Setting the Monitoring of the Direction of Rotation (JOB 11).................................................... 356
7.6.17 Displaying Current Values (JOB 15) ......................................................................................... 358
7.6.18 Error Detection/Diagnostics ...................................................................................................... 360
7.7 CPU/Master Stop and RESET State......................................................................................... 367
7.8 Parameter List........................................................................................................................... 368
7.9 Control and Feedback Signals.................................................................................................. 374
7.10 Technical specifications ............................................................................................................ 376
Index...................................................................................................................................................... 379

Table of contents
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 9
Tables
Table 2-1 Terminal Assignment of the 1STEP 5V/204kHz ..........................................................................21
Table 2-2 Ranges for the Start-Stop Frequency, Output Frequency, and Acceleration ..............................30
Table 2-3 Assignment of the Inputs (I): Feedback interface ........................................................................44
Table 2-4 Assignment of the Outputs (O): Control interface........................................................................45
Table 3-1 Causes of Errors for POS_ERR.................................................................................................102
Table 3-2 Causes of Errors for JOB_ERR .................................................................................................103
Table 4-1 Terminal assignment of the 1PosInc/Analog .............................................................................115
Table 4-2 Terminal assignment of the 1PosInc/Analog .............................................................................120
Table 4-3 Interpretation of Bits 5 and 6......................................................................................................132
Table 4-4 Causes of Errors for POS_ERR.................................................................................................174
Table 4-5 Causes of Errors for JOB_ERR .................................................................................................175
Table 5-1 Causes of Errors for POS_ERR.................................................................................................231
Table 5-2 Causes of Errors for JOB_ERR .................................................................................................232
Table 6-1 Terminal assignment of the 1PosSSI/Analog ............................................................................243
Table 6-2 Terminal assignment of the 1PosSSI/Analog ............................................................................248
Table 6-3 Interpretation of Bits 5 and 6......................................................................................................260
Table 6-4 Causes of Errors for POS_ERR.................................................................................................294
Table 6-5 Causes of Errors for JOB_ERR .................................................................................................294
Table 7-1 Terminal assignment of the 1PosU............................................................................................310
Table 7-2 Terminal Assignment of the 1PosU ...........................................................................................315
Table 7-3 Causes of Errors for POS_ERR.................................................................................................365
Table 7-4 Causes of Errors for JOB_ERR .................................................................................................366

Table of contents
ET 200S Positioning
10 Operating Instructions, 05/2007, A5E00124871-04
Figures
Figure 2-1 Terminal Assignment for the Example ........................................................................................ 17
Figure 2-2 Design of a Positioning System with a Stepping Motor (Example)............................................. 23
Figure 2-3 Traversal Curve of the 1STEP 5V/204kHz ................................................................................. 26
Figure 2-4 Torque Characteristic Curve of a Stepping Motor ...................................................................... 27
Figure 2-5 Search for Reference, Start before REF..................................................................................... 33
Figure 2-6 Search for Reference, Start after REF........................................................................................ 34
Figure 2-7 Search for Reference, Start at REF ............................................................................................ 34
Figure 2-8 Start at the Limit Switch in Start Direction................................................................................... 34
Figure 2-9 Defective Reference Cam, Start before REF.............................................................................. 35
Figure 2-10 Defective Reference Cam, start at LIMIT_P ............................................................................... 35
Figure 2-11 Starting the Positioning Job ........................................................................................................ 48
Figure 2-12 Carrying Out a Parameter Change ............................................................................................. 49
Figure 2-13 Error Acknowledgment................................................................................................................ 50
Figure 3-1 Relay contact in the output circuit ............................................................................................... 60
Figure 3-2 Design of a Positioning Control System (Example) ....................................................................61
Figure 3-3 Switching points and switching differences................................................................................. 62
Figure 3-4 How the 1PosInc/Digital Works................................................................................................... 64
Figure 3-5 Control and Feedback Signals with MODEs............................................................................... 65
Figure 3-6 Control and Feedback Signals with JOBs................................................................................... 66
Figure 3-7 Digital Outputs with Control Mode 0 ........................................................................................... 67
Figure 3-8 Digital Outputs with Control Mode 1 ........................................................................................... 68
Figure 3-9 Sequence of Execution of the Search for Reference.................................................................. 72
Figure 3-10 Search for Reference Point Run with Reducing Cam and Zero Mark ........................................ 74
Figure 3-11 Reference Point Run with Minus Limit Switch ............................................................................ 75
Figure 3-12 Reference Point Run with Reversal of Direction at the Plus Limit Switch .................................. 76
Figure 3-13 Reference Point Run Only with Zero Mark ................................................................................. 76
Figure 3-14 Execution of Inching.................................................................................................................... 78
Figure 3-15 Execution of Absolute Positioning............................................................................................... 81
Figure 3-16 Execution of Relative Positioning................................................................................................ 84
Figure 4-1 Relay contact in the output circuit ............................................................................................. 121
Figure 4-2 Design of a Positioning Control System (Example) .................................................................. 122
Figure 4-3 Switching points and switching differences............................................................................... 123
Figure 4-4 How the 1PosInc/Analog Works ............................................................................................... 126
Figure 4-5 Control and Feedback Signals with MODEs.............................................................................127
Figure 4-6 Control and Feedback Signals with JOBs................................................................................. 128

Table of contents
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 11
Figure 4-7 Schematic Diagram of the Bipolar Control of a Drive ................................................................129
Figure 4-8 Schematic Diagram of the Unipolar Control of a Drive..............................................................130
Figure 4-9 Schematic Diagram of the Status of the Run.............................................................................132
Figure 4-10 Interrupting the Run by Switching Off: Directly ..........................................................................134
Figure 4-11 Interrupting the Run by Switching Off: Ramp ............................................................................135
Figure 4-12 Sequence of Execution of the Search for Reference ................................................................137
Figure 4-13 Search for Reference Point Run with Reducing Cam and Zero Mark.......................................139
Figure 4-14 Reference Point Run with Minus Limit Switch ...........................................................................140
Figure 4-15 Reference Point Run with Reversal of Direction at the Plus Limit Switch .................................141
Figure 4-16 Reference Point Run Only with Zero Mark ................................................................................141
Figure 4-17 Execution of Inching...................................................................................................................143
Figure 4-18 Execution of Absolute Positioning (Switch-Off Parameter: Ramp)............................................146
Figure 4-19 Execution of Relative Positioning ..............................................................................................149
Figure 4-20 Changing the Acceleration Tacc During Acceleration ...............................................................160
Figure 4-21 Changing the Deceleration Tdec During Deceleration ..............................................................162
Figure 5-1 Relay contact in the output circuit..............................................................................................197
Figure 5-2 Design of a Positioning Control System (Example)...................................................................198
Figure 5-3 Switching points and switching differences ...............................................................................199
Figure 5-4 How the 1PosSSI/Digital Works.................................................................................................201
Figure 5-5 Control and Feedback Signals with MODEs..............................................................................202
Figure 5-6 Control and Feedback Signals with JOBs .................................................................................203
Figure 5-7 Digital Outputs with Control Mode 0 ..........................................................................................204
Figure 5-8 Digital Outputs with Control Mode 1 ..........................................................................................205
Figure 5-9 Execution of Inching...................................................................................................................208
Figure 5-10 Execution of Absolute Positioning .............................................................................................211
Figure 5-11 Execution of Relative Positioning ..............................................................................................214
Figure 6-1 Relay contact in the output circuit..............................................................................................249
Figure 6-2 Design of a Positioning Control System (Example)...................................................................250
Figure 6-3 Switching points and switching differences ...............................................................................251
Figure 6-4 How the 1PosSSI/Analog Works ...............................................................................................254
Figure 6-5 Control and Feedback Signals with MODEs..............................................................................255
Figure 6-6 Control and Feedback Signals with JOBs .................................................................................256
Figure 6-7 Schematic Diagram of the Bipolar Control of a Drive ................................................................257
Figure 6-8 Schematic Diagram of the Unipolar Control of a Drive..............................................................258
Figure 6-9 Schematic Diagram of the Status of the Run.............................................................................260
Figure 6-10 Interrupting the Run by Switching Off: Directly ..........................................................................263

Table of contents
ET 200S Positioning
12 Operating Instructions, 05/2007, A5E00124871-04
Figure 6-11 Interrupting the Run by Switching Off: Ramp............................................................................ 263
Figure 6-12 Execution of Inching.................................................................................................................. 264
Figure 6-13 Execution of Absolute Positioning (Switch-Off Parameter: Ramp)........................................... 267
Figure 6-14 Execution of Relative Positioning.............................................................................................. 270
Figure 6-15 Changing the Acceleration Tacc During Acceleration .............................................................. 282
Figure 6-16 Changing the Deceleration Tdec During Deceleration ............................................................. 284
Figure 7-1 Relay Contact in the Output Circuit........................................................................................... 316
Figure 7-2 Design of a Positioning Control System (Example) .................................................................. 317
Figure 7-3 Switching points and switching differences............................................................................... 318
Figure 7-4 How the 1PosU Works.............................................................................................................. 321
Figure 7-5 Control and Feedback Signals with MODEs.............................................................................322
Figure 7-6 Control and Feedback Signals with JOBs................................................................................. 323
Figure 7-7 Digital Outputs with Control Mode 0 ......................................................................................... 325
Figure 7-8 Digital Outputs with Control Mode 1 ......................................................................................... 325
Figure 7-9 Execution of Inching.................................................................................................................. 329
Figure 7-10 Sequence of Execution of the Search for Reference................................................................ 332
Figure 7-11 Search for Reference Point Run with Reducing Cam and Zero Mark ...................................... 334
Figure 7-12 Reference Point Run with Minus Limit Switch .......................................................................... 335
Figure 7-13 Reference Point Run with Reversal of Direction at the Plus Limit Switch ................................ 336
Figure 7-14 Reference Point Run Only with Zero Mark ............................................................................... 336
Figure 7-15 Execution of Relative Positioning.............................................................................................. 338
Figure 7-16 Execution of Absolute Positioning............................................................................................. 342

ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 13
Overview 1
How the Manual is Structured
This manual complements the manual Distributed I/O System ET 200S .
It contains descriptions of the ET-200S modules that can be used for serial communication.
How to Find Your Way Around
At the beginning of each chapter you will find a Product Overview, which lists the features
and applications of the module described. You will also find the order number of the module
and the name and release of the software required. For the current GSD file, go to:
http://support.automation.siemens.com
In each chapter you will then find a section with the heading Brief Instructions on
Commissioning followed by the name of the relevant module. These brief instructions tell you
in a series of short steps how to install and configure the module, how to integrate it in your
use program, and how to test it in your user program.
Index
The index contains keywords that come up in the manual.
Further Support
Should you have any questions on the products described which are not answered in this
documentation, please contact your local Siemens partner.
Your partner can be found under:
http://www.siemens.com/automation/partner
Your guide to the technical documentation for the individual SIMATIC products and systems
can be found under:
http://www.siemens.com/simatic-tech-doku-portal
The online catalog and the online order system can be founder under:
http://mall.automation.siemens.com/

Overview
ET 200S Positioning
14 Operating Instructions, 05/2007, A5E00124871-04
Training Center
We offer corresponding courses to help familiarize you with the SIMATIC S7 automation
system. Please contact your regional training center or the central training center in
D 90327 Nuremberg, Germany.
Phone: [phone]
Internet: http://www.sitrain.com
Technical Support
The Technical Support for all the A&D products can be contacted
● Via the Web form for support request
http://www.siemens.de/automation/support-request
● Phone: + 49 180 5050 222
● Fax:+ 49 180 5050 223
Further information about our Technical Support can be found on the Internet under
http://www.siemens.com/automation/service.
Service & Support on the Internet
In addition to our documentation online we also offer you our complete knowledge online on
the Internet.
http://www.siemens.com/automation/service&support
There you can find:
● The newsletter that constantly provides you with up-to-date information on your products.
● The right documents via our Search function in Service & Support.
● A forum, where users and experts from all over the world exchange their experiences.
● Your local partner for Automation & Drives.
● Information on service on site, repairs, and spare parts. You will also find much more
under “Services”.

ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 15
1STEP 5V/204kHz 2
2.1 Product overview
Order number
6ES7138-4DC00-0AB0
Features
The 1STEP 5V/204kHz generates pulses for the power units of stepping motors. The
number of pulses emitted determines the distance traversed. The pulse frequency
determines the velocity.
A stepping motor shaft turns by a certain angle with every pulse. During rapid pulse
sequences, this stepping movement becomes a continuous turning motion.
The 1STEP 5V/204kHz has the following features:
● Digital input as reference cam
● Digital input as external STOP or external pulse enable
● Interface to commonly available stepping motor power units with differential signals for
pulses and direction to RS 422
● Maximum output frequency 204 kHz
● Distance up to 1 048 575 pulses
Configuration
You can use either of the following to configure the 1STEP 5V/204kHz:
● A DDB file (http://www.ad.siemens.de/csi/gsd) or
● STEP7 as of version V5.0 SP3

1STEP 5V/204kHz
2.2 Example : Commissioning 1STEP 5V/204kHz
ET 200S Positioning
16 Operating Instructions, 05/2007, A5E00124871-04
2.2 Example: Commissioning 1STEP 5V/204kHz
Task
The task of the 1STEP 5V/204kHz is to position a drive on certain predefined destinations.
Using the example of an incremental run, it guides you to a functioning application in which
you get to know and check a positioning operation (both hardware and software) of your
1STEP 5V/204kHz.
Note
The power unit used in this example and the stepping motor can be replaced by products
from other manufacturers.
Note that the power unit must process signals for pulses and direction in accordance with
RS 422. Make sure you also adapt the wiring to the products you have chosen.
Requirements
The following prerequisites must be fulfilled:
● You must have put an ET 200S station on an S7 station with a DP master into operation.
● You must have:
– A TM-E15S24-01 terminal module
– A 1STEP 5V/204kHz
– An FM STEPDRIVE
(Order Number: 6SN1 227-2ED10-0HA0, Catalog ST 70)
– A 3-phase stepping motor in the SIMOSTEP range
(for example, order number: 1FL3 041-0AC31-0BG0; Catalog ST 70)
– A motor cable (for example, order number: 6FX5008-5AA00-1BA0; Catalog ST 70)
– A network filter
(Order Number: B84113-C-BGO, Catalog ST 70)
– The necessary wiring material

1STEP 5V/204kHz
2.2 Example : Commissioning 1STEP 5V/204kHz
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 17
Installation, Wiring, and Fitting
1. Install and wire the TM-E15S24-01 terminal module (see the following figure).
2. Connect the 1STEP 5V/204kHz to the terminal module (you will find detailed instructions
on how to do this in the
Distributed I/O Device manual).
You can find out how to wire the power unit and the stepping motor in the relevant product
manuals.
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1STEP 5V/204kHz
2.2 Example : Commissioning 1STEP 5V/204kHz
ET 200S Positioning
18 Operating Instructions, 05/2007, A5E00124871-04
Configuring STEP 7 via HW Config
You begin by adapting the hardware configuration to your existing ET 200S station.
1. Open the relevant project in SIMATIC Manager.
2. Call the HWConfig configuration table in your project.
3. Select 1STEP from the hardware catalog. The number 6ES7 138-4DC00-0AB0 appears
in the info text. Drag the entry to the slot at which you have installed your
1STEP 5V/204kHz.
4. Double-click this number to open the DP Slave Properties dialog box.
5. On the Addresses tab, you will find the addresses of the slot to which you have dragged
the 1STEP 5V/204kHz. Make a note of these addresses for subsequent programming.
6. On the Parameters tab, you will find the default settings for the 1STEP 5V/204kHz.
Set the DI function as "external STOP". You must set the "external STOP, limit switch"
parameter as a normally open contact.
7. Save and compile your configuration, and download the configuration in STOP mode of
the CPU by choosing "PLC -> Download to Module".
Integrating the FC 101 Block into the User Program
Integrate block FC101 in your user program (for example, in OB1).
This block requires the DB1 data block with a length of 16 bytes. In the following example,
the start is triggered by setting the memory bit 30.0 with the programming device.
WARNING
You may damage your system at the start of a run (4800 pulses forwards). It may therefore
be necessary to adjust the distance.

1STEP 5V/204kHz
2.2 Example : Commissioning 1STEP 5V/204kHz
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04 19
STL Explanation
Block: FC101
//Initialize control interface
L L#4800; //Distance 4800 pulses
T DB1.DBD 0;
L 1; //Multiplier 1 for output frequency
T DB1.DBB 0;
L 0; //Delete limit switch etc.
T DB1.DBB 5;
T DB1.DBW 6;
SET;
S DB1.DBX 5.2; //Set pulse enable DRV_EN
R DB1.DBX 4.0; //Set incremental mode
R DB1.DBX 4.1; //Reserve bit = 0
R DB1.DBX 4.2; //Reserve bit = 0
R DB1.DBX 4.3; //Reserve bit = 0
R DB1.DBX 4.5; //Delete backward start DIR_M
R DB1.DBX 4.6; //Delete STOP
R DB1.DBX 4.7; //Delete reduction factor R
L DB1.DBD0 //Write 8 bytes to 1STEP 5V/204kHz
T PAD 256
L DB1.DBD4
T PAD 256
L PID 256 //Read 8 bytes from 1STEP 5V/204kHz
T DB1.DBD4
L PID 260
T DB1.DB12
A M 30.0; //Detect the edge on start initiation and set start
AN DB1.DBX 12.0 //DIR_P if STS_JOB is deleted.
S DB1.DBX 4.4
A DB1.DBX 12.0 //Wait for STS_JOB and
R DB1.DBX 4.4 //Reset start DIR_P; the run begins
R M 30.0 //Delete start initiation

1STEP 5V/204kHz
2.2 Example : Commissioning 1STEP 5V/204kHz
ET 200S Positioning
20 Operating Instructions, 05/2007, A5E00124871-04
Testing the Configuration
Start an incremental run and monitor the associated feedback.
1. Using "Monitor/Modify Variables", check the residual distance and the status bits POS
(positioning in operation) and STS_DRV_EN (pulse enable).
2. Select the "Block" folder in your project. Choose the "Insert > S7 Block > Variable Table"
menu command to insert the VAT 1 variable table, and then confirm with OK.
3. Open the VAT 1 variable table, and enter the following variables in the "Address" column:
– DB1.DBD8 (residual distance)
– DB1.DBX13.7 (POS, positioning in operation)
– DB1.DBX13.0 (STS_DRV_EN, pulse enable)
– M30.0 Start by means of the programming device
4. Choose "PLC > File Connect To > Configured CPU" to switch to online.
5. Choose "Variable > Monitor" to switch to monitoring.
6. Switch the CPU to RUN mode.
Result
When you switch the CPU to RUN, the following results are obtained:
● The RDY LED lights up.
● The POS status bit is deleted.
● The STS_DRV_EN status bit is set.
Start the run by setting memory bit 30.0 ("Variable > Modify >").
The following result is obtained during the run:
● The POS status bit is set (you can see this by monitoring the variable); that is, the POS
LED lights up.
● The residual distance is continuously updated.
● The STS_DRV_EN status bit (pulse enable) is set.
The following result is obtained after the run has been completed:
● The POS status bit is deleted (you can see this by monitoring the variable); that is, the
POS LED is no longer illuminated.
● The residual distance is 0.
● The STS_DRV_EN status bit (pulse enable) is set.