Siemens SIMATIC ET 200SP User manual

Technology module TM PosInput 1
(6ES7138-6BA00-0BA0)
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SIMATIC
ET 200SP
Technology module TM PosInput 1
(6ES7138-6BA00-0BA0)
Manual
02/2014
A5E33015755
-AA
Preface
Documentation guide
1
Product overview
2
Wiring
3
Configuring/address space
4
Interrupts/diagnostic
messages
5
Technical specifications
6
Parameter data records
A

Siemens AG
Industry Sector
Postfach 48 48
90026 NÜRNBERG
GERMANY
A5E33015755-AA
Ⓟ
03/2014 Subject to change
Copyright © Siemens AG 2014.
All rights reserved
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Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
4Manual, 02/2014, A5E33015755-AA
Preface
Purpose of the documentation
This manual includes module-specific information on wiring, diagnostics and the technical
specifications of the technology module.
General information regarding the design and commissioning of the ET 200SP is available in
the ET 200SP system manual.
The counting and measuring functions as well as the position input of the TM PosInput 1
technology module are described in more detail in the Counting, measurement and position
input (http://support.automation.siemens.com/WW/view/en/59709820) function manual.
Conventions
Please observe notes marked as follows:
Note
A note contains important information on the product described in the documentation, on the
handling of the product and on
the section of the documentation to which particular attention
should be paid.
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secure operation of plants, solutions, machines, equipment and/or networks. They are
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products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
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Copyright notice for the open-source software used
Open-source software is used in the firmware of the product described. The 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.

Preface
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 5
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 following copyright
notices.
© Copyright William E. Kempf 2001
Permission to use, copy, modify, distribute and sell this software and its documentation for
any purpose is hereby granted without fee, provided that the above copyright notice appear
in all copies and that both that copyright notice and this permission notice appear in
supporting documentation. William E. Kempf makes no representations about the suitability
of this software for any purpose. It is provided "as is" without express or implied warranty.
Copyright © 1994 Hewlett-Packard Company
Permission to use, copy, modify, distribute and sell this software and its documentation for
any purpose is hereby granted without fee, provided that the above copyright notice appear
in all copies and that both that copyright notice and this permission notice appear in
supporting documentation. Hewlett-Packard Company makes no representations about the
suitability of this software for any purpose. It is provided ``as is'' without express or implied
warranty.

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
6Manual, 02/2014, A5E33015755-AA
Table of contents
Preface ................................................................................................................................................... 4
1 Documentation guide .............................................................................................................................. 7
2 Product overview .................................................................................................................................... 9
2.1 Properties ...................................................................................................................................... 9
2.2 Functions..................................................................................................................................... 11
2.2.1 Acquisition of encoder signals .................................................................................................... 11
2.2.1.1 Position input with SSI absolute encoder.................................................................................... 11
2.2.1.2 Counting with incremental or pulse encoder............................................................................... 12
2.2.2 Measured value determination.................................................................................................... 14
2.2.3 Switching the outputs at comparison values............................................................................... 15
2.2.4 Position input for Motion Control ................................................................................................. 16
2.2.5 Additional functions ..................................................................................................................... 16
3 Wiring ................................................................................................................................................... 18
3.1 Pin assignment............................................................................................................................ 18
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 ................................................................................................... 37
4.5.1 Assignment of the control interface............................................................................................. 38
4.5.2 Assignment of the feedback interface......................................................................................... 40
5 Interrupts/diagnostic messages............................................................................................................. 41
5.1 Status and error displays ............................................................................................................ 41
5.2 Diagnostic messages .................................................................................................................. 43
5.3 Interrupts ..................................................................................................................................... 45
5.3.1 Trigger a diagnostic interrupt ...................................................................................................... 45
5.3.2 Cause of the error triggering a diagnostic interrupt .................................................................... 47
5.3.3 Triggering of a Hardware Interrupt.............................................................................................. 48
5.3.4 Events which can trigger a hardware interrupt............................................................................ 49
6 Technical specifications ........................................................................................................................ 50
A Parameter data records ........................................................................................................................ 58

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 7
Documentation guide
1
Introduction
This modular documentation of the SIMATIC products covers diverse topics concerning your
automation system.
The complete documentation for the ET 200SP and S7-1500 systems consists of the
respective system manuals, function manuals and device manuals.
The STEP 7 information system (TIA Portal) also helps you configure and program your
automation system.
Overview of the documentation provided for technology module TM PosInput 1
The following table lists further documentation that you will need when using the
TM PosInput 1 technology module.
Table 1- 1 Documentation for technology module TM PosInput 1
Topic
Documentation
Most important contents
System
description
System manual
ET 200SP Distributed I/O System
(http://support.automation.siemens.com/WW/
view/en/58649293)
•Application planning
•Installation
•Connecting
•Commissioning
S7-1500 Automation System
(http://support.automation.siemens.com/WW/
view/en/59191792) System Manual
Device manual
Interface module
(http://support.automation.siemens.com/WW/
view/en/55683316/133300)
•Connecting
•Interrupts, diagnostics, error,
and system alarms
•Technical specifications
•Dimensional drawing
Device manual
ET 200SP BaseUnits
(http://support.automation.siemens.com/WW/
view/en/58532597/133300)
Technical specifications
Designing
interference-free
controllers
Designing interference-free controllers
(http://support.automation.siemens.com/WW/
view/en/59193566) Function Manual
•Basics
•Electromagnetic compatibility
•Lightning protection

Documentation guide
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
8Manual, 02/2014, A5E33015755-AA
Topic
Documentation
Most important contents
Counting,
measurement and
position input
Counting, measurement and position input
(http://support.automation.siemens.com/WW/
view/en/59709820) Function Manual
•Counting functions
•Measuring functions
•Position input
•Control and feedback
interface
Motion Control
S7-1500 Motion Control
(http://support.automation.siemens.com/WW/
view/en/59381279) Function Manual
•Configuration
•Programming
•Commissioning
•Diagnostics
SIMATIC manuals
All current manuals for the SIMATIC products are available for download free of charge from
the Internet (http://www.siemens.com/automation/service&support).

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 9
Product overview
2
2.1
Properties
Order number
6ES7138-6BA00-0BA0
View of the module
Figure 2-1 View of the TM PosInput 1 module

Product overview
2.1 Properties
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
10 Manual, 02/2014, A5E33015755-AA
Properties
The TM PosInput 1 technology module has the following properties:
●Technical properties
–One channel
–Interfaces:
SSI encoder signals DAT and CLK or RS422/TTL encoder signals A, B and N
24 V encoder supply output, short-circuit proof
Digital inputs signals DI0 and DI1
Digital output signals DQ0 and DQ1
L+ supply voltage
–Position value range: 31 bits
–Count range: 32 bits
–Monitoring of encoder signals for wire break, short-circuit and offset voltage
–Hardware interrupts configurable
–Input filters for suppression of interferences at encoder inputs and digital inputs can be
configured
●Supported encoder/signal types
–SSI absolute encoder
–RS422/TTL incremental encoder with and without signal N
–RS422/TTL pulse encoder with direction signal
–RS422/TTL pulse encoder without direction signal
–RS422/TTL pulse encoders for up & down pulses
●Supported system functions
–Isochronous mode
–Firmware Update
–Identification data I&M

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 11
Accessories
The following accessories can be used with the module and are not included in the product
package:
●Labeling strip
●Color identification labels
●Reference identification labels
●Shield connector
A BaseUnit of the A0 type is required to operate the technology module. For an overview of
the BaseUnits to be used with the technology module, refer to the product information on the
documentation for the ET 200SP Distributed I/O System
(http://support.automation.siemens.com/WW/view/en/73021864).
For detailed information on the installation procedure, refer to the ET 200SP Distributed I/O
System (http://support.automation.siemens.com/WW/view/en/58649293) system manual.
2.2
Functions
2.2.1
Acquisition of encoder signals
2.2.1.1
Position input with SSI absolute encoder
You can use the TM PosInput 1 technology module with an SSI absolute encoder for
position input. The technology module reads the position via a synchronous, serial interface
from the SSI absolute encoder and sends it to the controller.
You can switch the digital outputs of the technology module exactly at defined position
values, independently of the user program. Position input with an SSI absolute encoder does
not involve gate control.
Gray-dual conversion
Gray-code and dual-code SSI absolute encoders are supported.
Range for position value
You can specify a frame length of 10 bits to 40 bits for the SSI absolute encoder. The
configurable bit numbers of the LSB and the MSB of the position value in the frame define
the value range. The technology module can read in a position value with a maximum length
of 31 bits and transfer it to the PLC. The position value is treated as unsigned positive value
and can assume values between 0 and 2(MSB-LSB+1)-1.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
12 Manual, 02/2014, A5E33015755-AA
Complete SSI frame
Instead of having a measured variable returned, you can choose to have the least significant
32 bit of the current unprocessed SSI frame returned. This provides you with encoder-
specific additional bits, such as error bits, in addition to the position value. If the SSI frame is
shorter than 32 bits, the complete SSI frame is returned right-aligned and the top unused bits
are returned with "0" in the feedback interface.
Capture
You can save the current position value as Capture value using the edge of the digital input.
The Capture function is triggered by rising, falling or both edges.
Hysteresis
You can specify hysteresis for the comparison values, within which a digital output will be
prevented from switching again. An encoder can come to a standstill at a specific position,
and slight movements may make the position value fluctuate around this position. If a
comparison value or a position value limit lies within this fluctuation range, the corresponding
digital output is switched on and off with corresponding frequency if hysteresis is not used.
The hysteresis prevents these unwanted switching operations.
2.2.1.2
Counting with incremental or pulse encoder
Counting refers to the recording and adding up of events. The counters of the technology
module detect encoder signals and pulses and evaluate them accordingly. The count
direction can be specified using encoder or pulse signals or through the user program.
You can control the counting processes with the digital inputs.
You can specify the counter characteristics using the functions described below.
Counting limits
The counting limits define the counter value range used. The counting limits are configurable
and can be modified during runtime with the user program.
The maximum possible counting limit is 2147483647 (231–1). The minimum possible
counting limit is –2147483648 (–231).
You can configure the response of the counter at the counting limits:
●Continue or stop counting upon violation of a counting limit (automatic gate stop)
●Set counter value to start value or to other counting limit upon violation of a counting limit
Start value
You can configure a start value within the counting limits. The start value can be modified
during runtime with the user program.
Depending on the parameter assignment, the technology module can set the current counter
value to the start value upon synchronization, upon Capture function activation, upon
violation of a counting limit or when the gate is opened.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 13
Gate control
Opening and closing the hardware gate and software gate defines the period of time during
which the counting signals are captured.
The control of the hardware gate takes place externally via the digital inputs of the
technology module. Control of the software gate takes place via the user program. The
hardware gate can be enabled through parameter assignment. The software gate (bit in the
control interface of the cyclic I/O data) cannot be disabled.
Capture
You can configure an external reference signal edge that triggers the saving of the current
counter value as Capture value. The following external signals can trigger the Capture
function:
●Rising or falling edge of a digital input
●Both edges of a digital input
●Rising edge of the N signal at the encoder input
When using a digital input, you can specify whether counting is to continue from the current
counter value or from the start value after the Capture function.
Synchronization
You can configure the edge of an external reference signal to load the counter with the
specified start value. The following external signals can trigger a synchronization:
●Rising or falling edge of a digital input
●Rising edge of the N signal at the encoder input
●Rising edge of the N signal at the encoder input depending on the level of the assigned
digital input
Hysteresis
You can specify hysteresis for the comparison values, within which a digital output will be
prevented from switching again. An encoder can come to a standstill at a specific position,
and slight movements may make the counter value fluctuate around this position. If a
comparison value or a counting limit lies within this fluctuation range, the corresponding
digital output will be switched on and off with corresponding frequency if hysteresis is not
used. The hysteresis prevents these unwanted switching operations.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
14 Manual, 02/2014, A5E33015755-AA
2.2.2
Measured value determination
The following measuring functions are available:
Measurement type
Description
Frequency measurement The mean frequency is calculated at set measuring intervals on the
basis of the time profile of the count pulses or position value
changes and returned in Hertz as floating point number.
Period measurement The mean period duration is calculated at set measuring intervals
on the basis of the time profile of the count pulses or position value
changes and returned in seconds as floating point number.
Velocity measurement The mean velocity is calculated at set measuring intervals on the
basis of the time profile of the count pulses or position value
changes and other parameters, and returned in the configured unit
of measurement.
The measured value and the counter value are available concurrently in the feedback
interface. Instead of having a measured variable returned, you can choose to have the least
significant 32 bit of the current unprocessed SSI frame returned when using an SSI absolute
encoder.
Update time
You can configure the interval at which the technology module updates the measured values
cyclically as the update time. Setting longer update time intervals allows uneven measured
variables to be smoothed and increases measuring accuracy.
Gate control for incremental and pulse encoders
Opening and closing the hardware gate and software gate defines the period of time during
which the counting signals are captured. The update time is asynchronous to the opening of
the gate, which means that the update time is not started when the gate is opened. After
closing, the last measured value captured continues to be returned.
Measuring ranges
The measuring functions have the following measuring range limits:
Measurement type
Low measuring range limit
High measuring range limit
Frequency measurement
0.04 Hz
4 MHz*
Period measurement
0.25 µs*
25 s
Velocity measurement Depends on the configured number of "increments per unit" and the
"time base for velocity measurement"
* Applies to incremental encoders and "Quadruple" signal evaluation.
All measured values are returned as signed values. The sign indicates whether the counter
value or position value increased or decreased during the relevant time period.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 15
2.2.3
Switching the outputs at comparison values
You define two comparison values that can control the two digital outputs independent of the
user program. The comparison values are configurable and can be modified during runtime
with the user program.
Comparison values in the Counting mode
Depending on the encoder, you define two position or counter values as comparison values
in the Counting mode. If the current position or counter value meets the configured
comparison condition, the corresponding digital output can be set to directly initiate control
processes in the process.
Comparison values in the Measuring mode
You define two comparison values in the Measuring mode. If the current measured value
meets the configured comparison condition, the corresponding digital output can be set to
directly initiate control processes in the process.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
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2.2.4
Position input for Motion Control
You can use the technology module for position input with S7-1500 Motion Control .
To do this, select "Position input for Motion Control" in the device configuration of the
technology module in STEP 7 (TIA Portal).
When using an incremental encoder or pulse encoder, the position input is based on the
counting function of the technology module. With an SSI absolute encoder, the absolute
value is read in via a synchronous, serial interface and prepared according to the parameter
assignment to be made available for S7-1500 Motion Control.
Additional information
A detailed description of the use of Motion Control and its configuration is available in the
function manual S7-1500 Motion Control as a download from the Internet
(http://support.automation.siemens.com/WW/view/en/59381279).
2.2.5
Additional functions
Hardware interrupts
The technology module can trigger a hardware interrupt in the CPU, for example, if a
compare event occurs, in the event of a zero crossing and/or a change of count direction
(direction reversal). You can specify which events (Page 49) are to trigger a hardware
interrupt during operation.
Diagnostic interrupt
The technology module can trigger a diagnostic interrupt in the event of a missing supply
voltage or an error at the digital outputs, for example. Select the diagnostic interrupts
(Page 47) in the device configuration freely.
Monitoring of encoder signals
The technology module monitors signals of an encoder for wire breaks, short-circuits and
offset voltages. In the case of an SSI absolute value encoder, the technology module also
monitors SSI frames for errors.
If you enable the diagnostic interrupts, the technology module triggers a diagnostic interrupt
in the event of a corresponding error.
Input filter
To suppress interference, you can configure an input filter for the RS422/TTL encoder inputs
and for the digital inputs.

Product overview
2.2 Functions
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 17
Distributed application
You can use the technology module in a distributed configuration by using an interface
module in the ET 200SP distributed I/O system. The following applications are possible:
●Distributed operation in an S7-1500 system
●Distributed operation in an S7-1200 system
●Distributed operation in an S7-300/400 system
●Distributed operation in a third-party system
Isochronous mode
The technology module supports the system function "Isochronous mode". This system
function enables position, counter and measured values to be recorded in a defined system
cycle.
In isochronous mode, the cycle of the user program, the transmission of the input signals
and processing in the technology module are synchronized. The output signals switch
immediately if the relevant comparison condition is met. A change in the state of a digital
input immediately affects the planned reaction of the technology module and changes the
status bit of the digital input in the feedback interface (Page 40).
Data processing
The data that was transmitted to the technology module in the current bus cycle via the
control interface takes effect when it is processed in the internal technology module cycle.
The position or counter value and, if required, the measured value and the status bits as well
are captured at the time Tiand made available in the feedback interface for retrieval in the
current bus cycle.
In isochronous mode, there is always data consistency across all bytes in the feedback
interface.

Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
18 Manual, 02/2014, A5E33015755-AA
Wiring
3
3.1
Pin assignment
The TM PosInput 1 is used with a BaseUnit of the A0 type.
The encoder signals, the digital input and output signals and the encoder supply are
connected to the BaseUnit of the technology module. The supply voltage feed on the light
BaseUnit BU...D of the associated potential group supplies the module and the digital
outputs, and generates the encoder supply voltage.
BaseUnit
The BaseUnit is not included in the product package of the module and must be ordered
separately.
For an overview of the BaseUnits to be used with the technology module, refer to the product
information on the documentation for the ET 200SP Distributed I/O System
(http://support.automation.siemens.com/WW/view/en/73021864).
You can find information about selecting a suitable BaseUnit in the ET 200SP Distributed I/O
System (http://support.automation.siemens.com/WW/view/en/58649293) system manual and
ET 200SP BaseUnits
(http://support.automation.siemens.com/WW/view/en/58532597/133300) device manual.
You can find information on wiring the BaseUnit, connecting cable shields, etc. in the
Connecting section of the ET 200SP Distributed I/O System
(http://support.automation.siemens.com/WW/view/en/58649293) system manual.

Wiring
3.1 Pin assignment
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
Manual, 02/2014, A5E33015755-AA 19
Pin assignment of the BaseUnit
The table below shows the pin assignment, using the BaseUnit BU15-P16+A0+2B as an
example.
Table 3- 1 Pin assignment of the BaseUnit BU15-P16+A0+2B
View
Signal name
Designation
RS422/TTL
incremental encoder
RS422/TTL pulse encoder
SSI
absolute
encoder
with
signal N
without
signal N
with
direction
signal
without
direction
signal
up/down
1 A or D Encoder signal A Counting signal A Up counting
signal A
SSI data
signal DAT
3 /A or /D Encoder signal /A
(RS422 only)
Counting signal /A
(RS422 only)
Up counting
signal /A
(RS422
only)
SSI data
signal
/DAT
5 B or C Encoder signal B Direction
signal B
— Down
counting
signal B
SSI clock
signal CLK
7 /B or /C Encoder signal /B
(RS422 only)
Direction
signal /B
(RS422
only)
Down
counting
signal /B
(RS422
only)
SSI clock
signal
/CLK
9 N Encoder
signal N
—
11 /N Encoder
signal /N
(RS422
only)
—
2
DI0
Digital input DI0
4
DI1
Digital input DI1
8
DQ0
Digital output DQ0
10
DQ1
Digital output DQ1
6
—
—
12
—
—
13
—
—
Supply voltage, encoder supply and ground
15
24VDC
24 V encoder supply
14
M
Ground for encoder supply, digital inputs and digital outputs
16
M
L+
DC 24V supply voltage
M
Ground for supply voltage

Wiring
3.1 Pin assignment
Technology module TM PosInput 1 (6ES7138-6BA00-0BA0)
20 Manual, 02/2014, A5E33015755-AA
Block diagrams
You must ground the shields of the cables between encoder and technology module both
through the shield terminal on the BaseUnit (shield bracket and terminal) and also on the
encoder.
The figure below shows the block diagram of the technology module with one connected
RS422 incremental encoder.
①
Electrical isolation
②
Shield connection on the BaseUnit
③
Technology
④
Backplane bus interface module of the technology module
⑤
Backplane bus
⑥
Input filter
Figure 3-1 Block diagram with RS422 incremental encoder