Page 1 Preface, Contents User Information Product Overview Principles of Positioning SIMATIC Installing and Removing the FM 451 FM 451 Positioning Function Wiring the FM 451 Module FM 451 Parameterization Installation and Parameter Assignment Programming the FM 451 Setting up the FM 451 Manual Reference Information Machine Data and Increments...
Page 2 This device and its components 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. This product can only function correctly and safely if it is transported, stored, set up, and installed correctly, and operated and maintained as recommended.
Page 3 For queries about the use of products described in this manual, the answers Assistance to which you cannot find here, please consult your Siemens contact person at the appropriate representatives and offices. You will find addresses, for ex- ample, in the appendix “SIEMENS Worldwide” to the manual S7-300 Pro- grammable Controller Hardware and Installation.
Page 4 Preface The EU declarations of conformity are kept available for the responsible authorities according to the above-mentioned EU guideline at: Siemens Aktiengesellschaft Automation Division AUT E 148 P.O. Box 1963 D-92209 Amberg Germany Other References In the appendix you will find a list of other references about the S7-300 and programmable logic controllers.
Page 5 Contents Product Overview ............FM 451 Fields of Application .
Page 6 Contents Functions which Write Data to the FM 451 ......6-18 6.3.1 FC REFPT – Set Reference Point .
Page 7 ............Connecting Cable for Incremental Encoder Siemens 6FX 2001-2 (Vp=5V;...
Page 8 Contents Figures Front View of the FM 451 ......... SIMATIC S7-400 Configuration with an FM 451 .
Page 9 Contents Tables Assignment of the 15-Pin Sub D Sockets of Encoders 1, 2 and 3 ..Front connector assignment ........Digital Input Functions .
Page 10 Contents FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 11 Product Overview FM 451 The FM 451 positioning function module for rapid and creep speed drives is used for controlled positioning. The module consists of three independent channels and can therefore control rotary or linear axes. An incremental or absolute encoder (SSI) can be connected to the module for each channel. The module operates automatically.
Page 12 Product Overview FM 451 in the The S7-400 programmable controller consists of a CPU and different signal S7-300 modules installed on a mounting rack. You can operate a number of FM 451 positioning function modules simulta- neously. Combinations with other FM/CP modules are also possible. A typi- cal application is the combination with an FM 352 Electronic Cam Control- ler.
Page 13 Product Overview FM 451 Fields of Application Fields of Below are a few examples from the field of controlled positioning which Application show the variation of applications possible with the FM 451. Control of Feed Various wooden parts are processed with a profile machine. Different work- Processes ing steps and routing heads are required to process the wood.
Page 14 Product Overview Components in Open-Loop Positioning Control Circuit In Figure 1-4 you can see the control circuit and components of an open-loop positioning system. EMER- Line voltage GENCY STOP FM 451 positioning function module Leistungs- Power Safety ansteue- controller device rung Processing stations...
Page 15 Product Overview FM 351 The FM 451 positioning function module determines the present actual posi- Positioning tion of the axis via an encoder. Here, pulses are measured which are propor- Function Module tional to the distance moved. On reaching certain axis positions the power controller is controlled appropri- ately via the digital outputs.
Page 16 Product Overview FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 17 Principles of Positioning What Does Encoders supply pulses or numerical values as output signals. The encoder ’Controlled output signals describe the displacement of the load to be positioned. When Positioning’ the displacement reaches a specified setpoint, then with controlled position- Mean? ing the drive is switched over or switched off.
Page 18 Principles of Positioning If you carry out open-loop positioning with the FM 451, the drive is con- trolled with rapid and creep speeds in the appropriate direction using digital outputs. With the FM 451 positioning function module for rapid and creep speed drives you can position two axes independently of one another.
Page 19 Principles of Positioning Ranges and Switching Points in the Region of the Target Position Introduction This chapter gives information about the combined effects of individual ma- chine data. You will find a description of the machine data in Chapter 8. Definition of the Each target position is characterized by a number of ranges which you para- Switching Points...
Page 20 Principles of Positioning Positioning Velocity Curve Introduction This chapter gives an overview of the basic curve for positioning on a target. Velocity Curve on The velocity and also the basic curve mainly depend on the possibilities pro- Approaching a vided by the power controller which you are using. Target Position We show you the basic sequence on approaching a target position in Fig.
Page 21 Principles of Positioning Target Approach Definition During a target approach the FM 451 makes various monitoring features and signals available. This achieves the following: The target approach is monitored. The signal Position reached is generated. You obtain the signal on the parameter POS_RCD of the FC INC_MOD (see Chapter 6.2.1).
Page 22 Principles of Positioning Schematic: Target The figure clearly illustrates the sequence. Approach Target –1000 mm 1000 mm creep stand = Monitoring period Ü Switchover difference, positive Switch-off difference, positive Standstill velocity reached Standstill range Target range Target range with v reached: POS_RCD is set stand Figure 2-4 Target Approach of Positioning...
Page 23 Principles of Positioning End of Positioning Definition You must differentiate between two cases for the end of positioning: The positioning is correctly terminated via the switchover and switch-off differences. This process is termed the end in the following. The positioning is immediately terminated by a “hard” action. This pro- cess is termed abort in the following.
Page 24 Principles of Positioning Abort Abort means that the positioning process is terminated immediately without application of the switchover and switch-off differences from the rapid and creep speeds to standstill. rapid POS_RCD is not set creep Abort Figure 2-6 Abort of Positioning; The Signal POS_RCD is Not Set FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 25 Installing and Removing the FM 451 Determining the The FM 451 positioning module can, like a signal module, be installed in a Slots central rack or in an expansion rack. Planning the Information on the options of mechanical installation and how you must pro- Mechanical ceed during the project planning will be found in the S7-400/M7-400 Pro- Installation...
Page 26 Installing and Removing the FM 451 Installing the FM 451 Positioning Function Module Rules No special protective measures (ESD guidelines) are required for the installa- tion of the FM 451 positioning function module. Tool Required You will need a 4.5 mm (0.25 in) screwdriver to install the FM 451 position- ing function module.
Page 27 Installing and Removing the FM 451 Removing the FM 451 Positioning Function Module Tool Required You will need a 4.5 mm (0.25 in) screwdriver to remove the FM 451 posi- tioning function module. Procedure The following list describes how you remove the FM 451 positioning func- tion module: 1.
Page 28 Installing and Removing the FM 451 FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 29 Wiring the FM 451 Important Rules It is essential for the safety of the system to install the switching elements mentioned below and to adapt them to your system conditions. EMERGENCY STOP switch enabling you to switch off the complete sys- tem.
Page 30 Wiring the FM 451 Wiring Diagram In Figure 4-1 you can see a wiring diagram for an open-loop positioning sys- tem using the FM 451 positioning function module. PS CPU FM 451 24 VDC voltage supply Enable EMERGENCY STOP Power Safety controller device...
Page 31 Wiring the FM 451 Installation in a A diagram of a cabinet installation is shown in Figure 4-2. The FM 451 posi- Cabinet tioning function module, the CPU and power supply module are situated in the right part of the cabinet. The power controller is accommodated in the left part of the cabinet.
Page 32 Wiring the FM 451 Wiring the Power Controller Power Controller The power controller is connected to the digital outputs on the FM 451. The motor is controlled by the power controller. The power controller may for example consist of a simple contactor circuit. Contactor Circuit In Figure 4-3 you can see the control and load circuits of a power controller.
Page 33 Wiring the FM 451 Working Principle The contactors K1 and K2 control the clockwise and counterclockwise motor of the Contactor rotation. Both contactors are interlocked against one another by the normally Circuit closed contacts K2 and K1. The limit switches E1 and E2 are the start/finish limit switches.
Page 34 Wiring the FM 451 Description of the Encoder Interface Position of the The mounting position and the designation of the sockets on the module are Sub D Sockets shown in Figure 4-4. Incremental or absolute encoders (SSI) can be con- nected to the two Sub D sockets.
Page 35 Wiring the FM 451 Connecting the Encoders Selecting the Right You parameterize the type of encoder in the parameterization interface in the Encoder dialog field Encoder Data. Here, you can set the following types of encoders: 5 V incremental encoder 24 V incremental encoder Absolute encoder (SSI) –...
Page 36 Wiring the FM 451 Procedure Proceed as follows to connect the encoders: 1. Connect the connecting cable to the encoder. With some encoders it may be necessary to assemble the cable (cable-end at the encoder) according to the manufacturer’s specification. 2.
Page 37 Wiring the FM 451 Description of the Peripheral Interface Position of the The FM 451 positioning function module with front connector open is illus- Front Connector trated in Figure 4-6. Connect the supply voltages, switches and power con- troller at the front connector. Figure 4-6 Position of the Front Connector Display Elements The current status of the peripheral interface is indicated by LEDs which you...
Page 38 Wiring the FM 451 Table 4-2 Front connector assignment, continued Terminal Name Meaning 2I 2 Digital input 2 of channel 2 2I 3 Digital input 3 of channel 2 1Q 0 Digital output 0 of channel 1 1Q 1 Not used 24 VDC auxiliary voltage The two terminals are jumpered on the module.
Page 39 Wiring the FM 451 Auxiliary Voltages Here you connect the 24 VDC auxiliary voltage for the encoders and the digi- for Encoders and tal outputs. Digital Outputs The 24 VDC auxiliary voltage of the encoders and digital outputs is moni- (1L+,2L+, 3L+, 4L+ tored and M)
Page 40 Wiring the FM 451 Connected The ground of the encoder supply is non-isolated with respect to the CPU Potentials ground, that is, Terminal 2 (1M) should be connected with low resistance to the CPU ground. In the case of external encoder supply, you must also provide a low-resis- tance connection between the ground of the external encoder supply and the ground of the CPU.
Page 41 Wiring the FM 451 Function of the The power stage is controlled by the digital outputs. The function of the digi- Digital Outputs tal outputs depends on the control mode. You select the control mode in the parameterization interface. The digital outputs are non-floating. Table 4-4 Digital Output Functions Output...
Page 42 Wiring the FM 451 Wiring the Peripheral Interface Wiring the Front Figure 4-7 shows the wiring of the front connector. Connector Figure 4-7 Wiring of the Front Connector Front Connector The front connector is available in three versions: Front connector (48-pin) with screw connections: 6ES7 492-1AL00-0AA Front connector (48-pin) with spring-loaded connections: 6ES7-492-1BL00-0AA0 Front connector (48-pin)
Page 43 Wiring the FM 451 Tool Required Screwdriver or motor-driven screwdriver, 3.5 mm (0.14 in). Procedure To wire the front connector, proceed as follows: Warning Personal injury can result. If you wire the front connector of the FM 451 while it is live, you risk injury from electric shock.
Page 44 Wiring the FM 451 FM 451 Positioning Function Module 4-16 EWA 4NEB 720 6009-02...
Page 45 FM 451 Parameterization Introduction You parameterize the positioning module with the parameterization software. The software is intended for the FM 351 and the FM 451. The description of operation can be found in the integrated help. Requirements Before you begin the parameterization of the FM 451 positioning function module, you should check the following requirements: STEP 7 from V2.0 is correctly installed on your programming device/PC.
Page 46 FM 451 Parameterization Configuration For configuration it is assumed that you have created a project in which you can store the parameterization. You will find further information on the con- figuration of modules in your user manual Standard Software for S7 and M7, STEP 7.
Page 47 FM 451 Parameterization Integrated Help The parameterization interface is equipped with integrated help which sup- ports you when parameterizing the positioning module. You call the inte- grated help as follows: Via the menu command Help Help topics... By pressing the F1 key. Supply Channel Before you program the module with the user program, you must supply the channel DB with important data.
Page 48 FM 451 Parameterization FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 49 Programming the FM 451 The Programming In order that you can use the FM 451 effectively, you have the functions Package available in the form of a number of FCs. These function blocks are subdi- vided into three groups: Function blocks (FCs) which control the FM 451. Function blocks (FCs) which write data, settings and commands to the FM 451.
Page 50 Programming the FM 451 Principles of Programming an FM 451 Requirements for The following requirements must be fulfilled if you want to control the Programming FM 351 from your user program: Your S7-400 system must be configured. STEP 7 from Version 2.0 must be installed on a computer. The computer must be connected to the CPU on the S7-400.
Page 51 Programming the FM 451 Programming When you now write your program code, note that you only need to link the Rules FCs which you actually need for your application. Make sure that the separately written functions are mutually interlocked. Generally, only one write job at a time may be executed on the FM 451. Irrespective of the extent of the interlocks which you program, you should ensure that the FC DIAG_INF is only called when really needed, that is with a diagnostic interrupt.
Page 52 Programming the FM 451 6.1.1 Principle of Communication between CPU and FM 451 Introduction We introduced you to the three-way subdivision of the function blocks for the FM 451 in the overview to Chapter 6. In this Chapter we will show you how the separate function blocks control the communication between the CPU and FM 451.
Page 53 Programming the FM 451 Communication The following summarizing figure shows you how a communication is executed. The following abbreviations are used in the figure: MD = Machine data IT = Incremental table (set values) DB* = Channel DB for channel * User program FC INC_MOD DB1 for...
Page 54 Programming the FM 451 6.1.2 Calling Functions Requirements When you link the FM 451 into your program, please pay attention to the following requirements. The parameterization for the two channels in the FM 451 has been com- pleted. That is, there is valid data in the CPU. The channel DB is present and assigned appropriate to the configuration of the system.
Page 55 Programming the FM 451 Duration of the You communicate with the FM 451 through the FC calls. In order that the Call data transfers and control processes can run without errors, the FCs contain parameters which inform you of the status of the process. Step Controlling FCs Writing FCs...
Page 56 Programming the FM 451 6.1.3 Interrupt Handling Types of Interrupt The FM 451 can release diagnostic interrupts in the CPU. Requirements You must have programmed the diagnostic interrupt OB for handling diag- nostic interrupts. Note If you have not programmed the interrupt OB (OB 82), the CPU goes to STOP in the event of an interrupt.
Page 57 Programming the FM 451 Calling the FC You read the diagnostic information from the FM 451, depending on the pa- DIAG_INF in OB 82 rameter DIAGNOSTIC INTERRUPT, in OB 82. Erläuterung CALL DIAG_INF( // Call FC DIAG_INF DB_NO := DB_ABS, RET_VAL := Error code_read fct.
Page 58 Programming the FM 451 Functions which Control the FM 451 Definition In the FM 451 programming package there are functions which you can call as required for all operating modes. Table 6-4 Brief Description of the Mode FCs Function Brief Description of the Task FC INC_MOD The incremental mode is the standard mode for the FM 451.
Page 59 Programming the FM 451 Information about the possibilities and any restrictions on calling operating modes can be found in Chapter 10 of this manual. OT_ERR If it is not possible to call an operating mode or the control of an active oper- ating mode is not possible or has been incorrectly carried out, the relevant module signals this by setting the parameter OT_ERR.
Page 60 Programming the FM 451 6.2.1 FC INC MOD – Incremental Mode Task The FC INC_MOD is the main block for programming the FM 451. When the FC is called you immediately set the incremental operating mode. This is independent of the assignment of the individual parameters. The FM 451 signals the acceptance of the operating mode with the set pa- rameter INC_MD_A.
Page 61 Programming the FM 451 Description of the The following table describes the parameters in the function block FC Parameters INC_MOD. Name Data Type P Type Meaning DB_NO BLOCK_DB Channel DB number. DRV_EN BOOL Drive enable; the missing signal initiates an abort of the current position- ing.
Page 62 Programming the FM 451 6.2.2 FC JOG MODE – Jog Task With the FC JOG_MODE you set the jogging operating mode. All commands and parameters are specified with the FC. The FC carries out the following actions: Sets the jogging operating mode. Controls the jogging operating mode.
Page 63 Programming the FM 451 Parameter The following table describes the parameters in the function block FC Description JOG_MODE. Name Data Type P Type Meaning DB_NO BLOCK_DB Channel DB number. DRV_EN BOOL Drive enable. SL_SPEED BOOL False = Creep speed True = Rapid speed OT_ERR_A BOOL Operating error acknowledgment.
Page 64 Programming the FM 451 6.2.3 FC REF MODE – Seek Reference Point Task With the FC REF_MODE you start the seek-reference-point mode. The FC executes the following actions: Sets the seek-reference-point operating mode. Controls the seek-reference-point operating mode. Reads the check-back signal (for example, actual value). The read values are saved by the FC in the channel DB (CHECKBACK_SIGNALS).
Page 65 Programming the FM 451 Parameter The following table describes the parameters in the function block FC Description REF_MODE. Name Data Type P Type Meaning DB_NO BLOCK_DB Channel DB number. DRV_EN BOOL Drive enable. OT_ERR_A BOOL Operating error acknowledgment. STOP BOOL Stop.
Page 66 Programming the FM 451 Functions which Write Data to the FM 451 Write Definition All functions which transfer data to a channel in the FM 451 are included in the group of write functions. The data is situated in the channel DB. Introducing the In Table 6-6 you will find all the FCs which have write access to the FM 451 channels.
Page 67 Programming the FM 451 Task of all FCs Irrespective of their specific task, all FCs read the check-back signals from the FM 451 (for example, the momentary actual value). The read values are then entered by the relevant FC in the channel DB (CHECKBACK_SIGNALS.ACT_POS).
Page 68 Programming the FM 451 Name Data Type P Type Meaning JP_**** BOOL The FC signals the data transfer status with this parameter. TRUE - Data transfer is active. FALSE - Data transfer is terminated. For each FC the **** must be substituted by the specific designation. EN;EN0 BOOL This parameter is only necessary in the LAD representation.
Page 69 Programming the FM 451 6.3.1 FC REFPT – Set Reference Point Task With the FC REFPT you call Set reference point. The FC executes the fol- lowing actions: Transfer of the value for the setting of the reference point from the chan- nel DB to the FM 451.
Page 70 Programming the FM 451 Calling Example The following shows you a calling example for the function FC REFPT. Explanation Write fct_R; // No new function start. REFP; // Call FC REFPT. L#1000; DB_ABS.SETTING_REFERENCE_POINT; // Enter reference point // in channel DB. Start_write fct;...
Page 71 Programming the FM 451 6.3.2 FC ACT VAL – Set Actual Value Task With the FC ACT_VAL you call Set actual value. The FC carries out the following actions: Transfer of the value for setting the Actual value from the channel DB to the FM 451.
Page 72 Programming the FM 451 6.3.3 FC FACT VAL – Set Actual Value On-the-Fly Task With the FC ACT_VAL you call Set actual value on-the-fly. The FC carries out the following actions: Transfer of the value for setting the Actual value on-the-fly from the channel DB to the FM 451.
Page 73 Programming the FM 451 6.3.4 FC ZERO_OFF – Zero Offset Task With the FC ZERO_OFFSET you call Set zero offset. The FC carries out the following actions: Transfer the value ZERO_OFFSET for the setting Zero offset from the channel DB to the FM 451. When you call the FC you shift the zero point in the coordinate system by the value specified.
Page 74 Programming the FM 451 6.3.5 FC SNG FCT – Single Settings Task With the FC SNG_FCT you can call the individual settings Creep speed and Do not evaluate enable input on the FM 451. The FC carries out the follow- ing actions: Transfer of the data area SINGLE_FUNCTIONS from the channel DB to the FM 451.
Page 75 Programming the FM 451 6.3.6 FC SNG COM – Single Commands Task With the FC SNG_COM you call the single commands Undo set actual value and Delete residual distance on the FM 451. The FC carries out the following actions: Transfer of the data area SINGLE_COMMANDS from the channel DB to the FM 451.
Page 76 Programming the FM 451 6.3.7 FC TG254 – Increment 254 Task With the FC TG254 you transfer the Increment 254 for the incremental oper- ating mode. The FC carries out the following actions: Transfer of the value for the Increment 254 to the FM 451. Calling Methods Calling in LAD Representation Calling in STL Representation...
Page 77 Programming the FM 451 6.3.8 FC TG253_5 – Increment 255 Task With the FC TG253_5 you transfer the Increment 255 and the values for the switch-off and switchover difference for the incremental operating mode to the FM 351. The FC carries out the following actions: Transfer of the values for the Increment 255 to the FM 351.
Page 78 Programming the FM 451 Functions which Read Data from the FM 451 Read Definition All data which is to be read from a channel on the FM 451 is included in the group of reading functions. The reading of the check-back signals which is carried out by each FC is not included.
Page 79 Programming the FM 451 Binary Result BR All FCs affect the binary result BR: BR=1: the data transfer has been terminated without any errors. BR=0: the data transfer has been terminated with an error. In the case of an error (BR=0) the parameter RET_VAL provides further in- formation.
Page 80 Programming the FM 451 6.4.1 FC DIAG INF – Reading the Diagnostic Information Task With the FC DIAG_INF you read the diagnostic information in the event of a diagnostic interrupt from the FM 451. The FC carries out the following ac- tions: Reading of 14 bytes of diagnostic information from the FM 451 and en- tering in the channel DB in the data area DIAGNOSTIC_INT_INFO.
Page 81 Programming the FM 451 6.4.2 FC ACT DAT – Reading the Basic Operating Data or the Service Data Task With the FC ACT_DAT you read the basic operating data or the service data from the FM 451. The FC carries out the following functions: Reading of the data from the FM 451 and entry in the channel DB: –...
Page 82 Programming the FM 451 Programming Example Introduction On the enclosed diskette you will find a programming example with which you can test the basic functional features of the FM 451. In this chapter we describe the required surrounding conditions and the controlling elements. Parameterization When creating the example project given, we have parameterized the FM 451 in accordance with our hardware configuration.
Page 83 Programming the FM 451 Hardware The example is designed for the following hardware set-up: A programming device (for example, PG 740) with STEP 7 software installed from Version 2.1 must be present. Two modules with 16 digital inputs: – The first module must have start address 0 –...
Page 84 Programming the FM 451 Input Marker Description Output Marker Description Write function selection 13.3 13.3 Error during write function 0: Not allowed 1 S t f 1: Set reference point 13.4 13.4 Error during read function 2: Do not evaluate enable in- 3: Evaluate enable input 13.6 13.6...
Page 85 Programming the FM 451 Marker Description M 41.2 Start parameter for read function MB 20 Increment number MB 28 Mode selection MB 30 Write function selection (settings, single settings) MW 0 Replica, Input Word 1 MW 4 Replica, Input Word 2 MW 8 Replica, Output Word 1 MW 12...
Page 86 Programming the FM 451 Technical Data Technical Data The following table gives you an overview of the technical data of the FM 351 technological functions. Table 6-9 Technical Data for the FM 451 Technological Functions Block Block Name Version Space Space Space Space...
Page 87 Programming the FM 451 Processing Times The following table gives you an overview of the processing times for the FM 451 technological functions. Table 6-10 Processing Times for the FM 451 Technological Functions Block Number Block Name CPU 416 – 1 FC 0 INC_MOD 1.0 to 1.2 ms...
Page 88 Programming the FM 451 FM 451 Positioning Function Module 6-40 EWA 4NEB 720 6009-02...
Page 89 Setting Up the FM 451 Introduction In this chapter we would like to show in a few steps how you can set up the FM 451. HW Installation To obtain a better overview, the procedure Set-up is subdivided into a num- and Wiring ber of small steps.
Page 90 Setting Up the FM 451 Configuring the Now configure the project under STEP 7 such that parameterization with the Project parameterization mask is possible. Step What Must Be Done? Configure a new project under STEP 7. Build up a new rack. Enter your hardware installation into the rack with the configuration interface.
Page 91 Setting Up the FM 451 Setting Up the Check for the correct parameterization of the FM 451 with the following FM 451 table. Warning To prevent personal injury and material damage, please note the following points: Install an EMERGENCY OFF switch in the vicinity of the computer. This is the only means of ensuring that the system can be switched off safely in the event of a computer or software failure.
Page 92 Setting Up the FM 451 Step What Must Be Done? Select the operating mode incremental mode: Absolute – Check positioning at the defined increment. – Check positioning at the Increments 254 and 255. Relative – Check positioning at the defined increment. –...
Page 93 Setting Up the FM 451 Preparing the A channel DB must be prepared for each channel so that you can initiate the Channel DB module functions via the FCs. Step What Must Be Done? In the channel DB enter: Module address nnn in Parameter MOD_ADR of the channel DB. You noted the address during configuring the project in Point 5.
Page 94 Setting Up the FM 451 FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 95 Machine Data and Increments What is Machine You adapt the FM 451 to the axes with the machine data. Data For? Positioning with the FM 451 is only possible, if correct machine data exists on the module. Increments Increments are specified targets, the approach to which is controlled by the FM 451 with the relative or absolute incremental mode.
Page 96 Machine Data and Increments Basic Data Starting Before you parameterize your FM 451, you must Parameterizing select a special unit and create the required channels for the entry of the data in the parameterization interface. The selected system of units is then used both for the input as well as for the output of the data.
Page 97 Machine Data and Increments System of Units in In this chapter we use the mm system of units when stating the minimum this Chapter and maximum values. For determining the limits in the other systems of units, apply the following calculation: For the Conversion of Calculate –1...
Page 98 Machine Data and Increments Machine Data for the Drive Definition The machine data for the drive describes: How the FM 451 can control a drive (power controller) using its outputs. How a target approach is executed and monitored. Data List All data for the Drive input range can be found in the following table: Table 8-2 Drive Data...
Page 99 Machine Data and Increments Table 8-2 Drive Data, continued Machine Data and Description Assignment Control type 4 rapid 1Q0/2Q0/3Q0: Rapid speed, positive creep 1Q1/2Q1/3Q1: Creep speed, positive 1Q2/2Q2/3Q2: Rapid speed, negative 1Q3/2Q3/3Q3: Creep speed, negative Switchover difference po- The switchover difference defines the switchover point in the travel range at which the sitive/negative und drive switches over from rapid to creep speed.
Page 100 Machine Data and Increments Table 8-2 Drive Data, continued Machine Data and Description Assignment Standstill range The standstill range is used for monitoring for standstill. Whether the drive remains stationary at the approached position or drifts away is monitored. 0 mm to 1 000 000,000 mm at a If the standstill range is left, an error is signaled.
Page 101 Machine Data and Increments Machine Data for the Axis Definition The axis has the input ranges: Axis type Entries for the reference point on the axis Axis limits Data List The description of all data for the axis input range can be found in Table 8-3. Table 8-3 Machine Data for the Axis Machine Data and...
Page 102 Machine Data and Increments Table 8-3 Machine Data for the Axis, continued Machine Data and Description Assignment Reference point Incremental encoder: coordinate You determine the reference point by synchronization, that is, via the setting Set ref- – 1,000,000.000 mm erence point or the Seek-reference-point mode. If the synchronization event is de- tected (for example, zero mark of the encoder during a seek-reference-point travel), the reference coordinate is allocated to this event.
Page 103 Machine Data and Increments Table 8-3 Machine Data for the Axis, continued Machine Data and Description Assignment Starting velocity for seek- With this data you select the velocity for the start of a seek-reference-point travel: reference-point travel: Rapid speed Rapid speed Creep speed Creep speed Software limit switch...
Page 104 Machine Data and Increments Absolute Encoder Adjustment Definition The absolute encoder adjustment provides a permanent relationship between the coordinate system and the encoder. What You Define When you parameterize your FM 451 with the parameterization interface, the values that you define include the following: Software Limit Switches Start (SLS) and End (SLE);...
Page 105 Machine Data and Increments Determining the After the initial parameterization further steps are necessary to create a cor- Correct Absolute rect relationship between the encoder and the coordinate system. Encoder Adjust- 1. Set the axis to a defined reproducible point with which you are familiar ment and which is physically unambiguous.
Page 106 Machine Data and Increments Extended Travel The encoder supplies 2048 unambiguous values. The working range is de- Range fined by the software limit switches. Due to the selected resolution of 1 mm per increment, the encoder can cover a larger working area. With the set resolution the working range is already covered with 2001 val- ues.
Page 107 Machine Data and Increments Machine Data for the Encoder Definition The encoder supplies the displacement information to the module which evaluates it and converts to an actual value using the resolution. It is only by correctly specifying the machine data of the encoder that you can ensure that the determined actual value of the axis position matches the real axis position.
Page 108 Machine Data and Increments Table 8-4 Machine Data for the Encoder Machine Data and Description Assignment Increments per encoder The machine data Increments per encoder revolution gives the number of increments revolution which the encoder produces per revolution. The FM 451 determines the resolution from this value and the machine data Displacement per encoder revolution.
Page 109 Machine Data and Increments Table 8-4 Machine Data for the Encoder Machine Data and Description Assignment No. of revolutions This machine data is only required for absolute encoders. You use it to define the num- ber of revolutions possible with this encoder. 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, If you would like to know more about absolute encoders, please read Chapter 10.3 of...
Page 110 Machine Data and Increments Resolution Definition The resolution is not a direct item of machine data. It is however found by the FM 451 from the two items of machine data: Displacement per encoder revolution. Pulses per encoder revolution. With incremental encoders the quadruple evaluation is also taken into ac- count.
Page 111 Machine Data and Increments Incremental Dimensions Definition Incremental dimensions are specified target values which can be approached by the FM 451 with the relative or absolute incremental operating mode. You have the possibility of entering a maximum of 100 incremental dimen- sions in a table.
Page 112 Machine Data and Increments Standard Incre- In the parameterization interface you must enter the incremental dimensions ments 1 to 100 in an increment table. The list has space for a maximum of 100 increments which are valid for the Relative incremental mode as well as for the Abso- lute incremental mode.
Page 113 Machine Data and Increments Switchover and In contrast to the increments 1 to 100 and 254, for Increment 255 you specify Switch-off only one value for each of the two ranges switch-off difference and switch- Difference for over difference. These values are interpreted by the FM 451 depending on the Increment 255 direction of movement as positive or negative differences.
Page 114 Machine Data and Increments FM 451 Positioning Function Module 8-20 EWA 4NEB 720 6009-02...
Page 115 Operating Modes and Settings Operating Modes The task of an FM 451 is the positioning of a drive at certain specified tar- gets. For these tasks the FM 451 has the following operating modes available: Jogging The drive is driven for the duration of the key depression. Incremental –...
Page 116 Operating Modes and Settings Calling Options Basically, you have the option of conveniently calling all the settings. To do this, you select: The parameterization interface with which you comprehensively test and set up the FM 451. The FCs which you can link into your program. In this chapter we only show you the calling of the single FCs.
Page 117 Operating Modes and Settings Generally Applicable Definitions Travel Range The maximum possible travel range is determined by the number representa- tion in the FM 451. Caution The travel range of the FM 451 may be larger than the maximum range of the physical axis.
Page 118 Operating Modes and Settings Jogging Operating Mode Definition In the Jogging operating mode you move the drive in one direction with the pressing of a key. You must install a key for each direction (positive and neg- ative). Requirements The following requirements must be fulfilled for the start of the operating mode: The axis must be parameterized.
Page 119 Operating Modes and Settings Aborting Jogging Aborting is a process with which the otherwise normal sequence of a target approach is not carried out (see Chapter 2.2) “Jogging” is aborted when: The signal Drive enable is deleted. A traverse range limit is crossed with a linear axis. Speeds With the FM 451 jogging is possible at two speeds: Jogging at rapid speed.
Page 120 Operating Modes and Settings Seek-Reference-Point Operating Mode Definition You synchronize the FM 451 with the Seek-reference-point mode. Synchronization with a seek-reference-point traverse is only necessary with incremental encoders. A seek-reference-point traverse must be carried out for each channel. The synchronization of pulse counters and the axis is necessary: So that your drive can approach an absolute target.
Page 121 Operating Modes and Settings Speeds You can define a speed for the start of a seek-reference-point traverse: Start with creep speed. Start with rapid speed. Calling the Seek- You call the seek-reference-point mode: Reference-Point In the mask for setting up the parameterization interface. Mode With the FC REF_MODE.
Page 122 Operating Modes and Settings Type of Seek-Ref- For incremental encoders the machine data Type of Seek-Reference-Point erence-Point Mode Mode determines: The direction in which a seek-reference-point traverse must be started. The position of the encoder zero mark referred to the reference-point switch.
Page 123 Operating Modes and Settings Possibilities for the Seek-Reference-Point Mode Seek-Reference- With a seek-reference-point traverse there are five different cases which are Point Traverse in dependent: Dependence of the On the position of the drive on starting a seek-reference-point traverse. Start Position On the parameterized start direction.
Page 124 Operating Modes and Settings Table 9-4 All Possibilities for a Seek-Reference-Point Mode, continued Conditions for the Seek-Reference-Point Mode Sequence of the Seek-Reference-Point Mode At the start of the seek-reference-point mode the drive is located at the reference-point switch. Position of the zero mark from the reference-point switch is parameterized negatively.
Page 125 Operating Modes and Settings Incremental Operating Mode Definition With the incremental mode the FM 451 can: Move the drive to absolute targets. Move the drive relatively by a displacement in a specified direction. The target position or the relative displacements are specified for the FM 451 as incremental dimensions.
Page 126 Operating Modes and Settings Starting 1I2; 2I;, 3I2 Sequence Start, DIR_P, DIR_M WORKING WAIT_EN rapid creep Figure 9-3 Starting the Incremental Mode Start Command The methods of starting an incremental mode are dependent on: The type of incremental mode (relative or absolute). The type of axis.
Page 127 Operating Modes and Settings Residual Distance With the relative incremental mode a residual distance remains, if the rela- with Relative tive incremental mode was terminated by STOP. Incremental Mode The remaining residual distance can be traversed to the end if: The operating mode is unchanged, The incremental dimension number is unchanged, The direction is unchanged and...
Page 128 Operating Modes and Settings Setting Set Actual Value/Set Actual Value On-the-Fly Definition Set actual value and Set actual value on-the-fly are two independent set- tings. However, because they are identical in effect, they are described in the same section. They differ only in their start conditions and in the possible error messages.
Page 129 Operating Modes and Settings Table 9-6 Displacement of the Working Range on the Axis by Set Actual Value Set Actual Value [mm] –500 -400 -200 Projection of the working the working range by Set actual value to 300 mm -400 -200 –500 All numerical values are given in the units of mm.
Page 130 Operating Modes and Settings Zero Offset Definition With the zero offset setting, you shift the zero point in the coordinate system by the value entered. The sign determines the direction of the offset in the coordinated system. Calculating New You calculate all values in the offset coordinate system with the following Values formula: Value...
Page 131 Operating Modes and Settings Table 9-7 Coordinate System Shift Resulting from Zero Offset Zero Offset ACT SLE [mm] –500 -400 -200 Coordinate shift of 200 mm resul- ting from zero ting from zero offset of –200 mm -200 –500 All numerical values are specified in the mm system of units Loss of If synchronization is lost as a result of an error, a zero offset remains active.
Page 132 Operating Modes and Settings Tool at ACT = Tool at ACT = 340 The zero point turns through -45 degrees. All points on the axis receive new coordinate values Figure 9-4 Rotation of the Coordinate System Resulting from a Zero Offset In the example in Figure 9-4, this results in a new value of 385 for the tran- sition 0/End of rotary axis taking account of a ZO = 0.
Page 133 Operating Modes and Settings Setting Set Reference Point Definition With the setting Set reference point you synchronize the axis. Requirements Take note of the following requirements for this setting: The channel must be parameterized. Linear axis: The reference-point coordinate must not be located outside the software limit switches.
Page 134 Operating Modes and Settings Single Setting Loop Traverse Definition With the single setting Loop traverse you define the direction in which a target is approached. A target which is approached against the specified direction is first passed by. Then the FM 451 carries out a reversal of direction and approaches the target in the specified direction.
Page 135 Operating Modes and Settings Example Figure 9-5 shows you a positioning task with loop traverse to the maximum target position in positive direction: rapid creep Change of direction Target creep Switchover difference, negative Switch-off difference, positive Figure 9-5 Loop Traverse to a Target at the Software Limit Switch End FM 451 Positioning Function Module 9-21 EWA 4NEB 720 6009-02...
Page 136 Operating Modes and Settings 9.10 Single Setting Do Not Evaluate Enable Input Definition The start of an operating mode for a channel is normally only possible, if the appropriate enable input is set: Digital input 1I2 for Channel 1 Digital input 2I2 for Channel 2 Digital input 3I2 for Channel 3 You therefore have the possibility of preparing an operating mode for start- ing.
Page 137 Encoders Encoders which You can connect the following encoders to the positioning function module: You Can Connect Incremental encoders Absolute encoders (SSI) Chapter Overview In this chapter you will find information in the following sub-chapters: In Section You Will find on Page 10.1 Incremental Encoders...
Page 138 Encoders 10.1 Incremental Encoders Incremental The FM 451 positioning function module supports two types of incremental Encoders encoder: Incremental encoders (25 V) with asymmetrical output signals. Incremental encoders (5 V) with symmetrical output signals. Signal Waveforms The signal waveforms from encoders with asymmetrical and symmetrical output signals are illustrated in Figure 10-1.
Page 139 Response time = 150 µs Blurring Blurring affects the positioning accuracy. With incremental encoders the blurring is negligible. Manufacturer We recommend that you use incremental encoders from SIEMENS (see Appendix B). FM 451 Positioning Function Module 10-3 EWA 4NEB 720 6009-02...
Page 140 Encoders 10.3 Absolute Encoders Single-Turn and There are the following absolute encoders: Multi-Turn Single-turn encoders Encoders Single-turn encoders form the total encoder range on one encoder revolu- tion. You can use single-turn encoders with the following steps per revo- lution: –...
Page 141 Encoders 10.4 Selecting an Absolute Encoder Absolute Encoders You can connect single-turn encoders (13 or 25 bit frame length) or multi- turn encoders (25 bit frame length) to the FM 451 positioning function mod- ule (see Chapter 10.3). Response Times The following response times apply to absolute encoders (SSI): Min.
Page 142 For programmed absolute encoders: Blurring = Frame transfer time + Monostable flipflop period +1/max. step sequence frequency Manufacturer We recommend that you use absolute encoders from SIEMENS (see Appendix B). FM 451 Positioning Function Module 10-6 EWA 4NEB 720 6009-02...
Page 143 Error Handling Preliminary The FM 451 positioning function module provides diagnostic possibilities Remarks for: Errors on the module and the connected peripherals. Errors which occur when controlling the module. Purpose of this This chapter describes the procedure during the error evaluation for the Chapter FM 451.
Page 144 Error Handling Where to Find Error messages help you limit error responses. In this manual you will find: Error Messages the errors signaled via diagnostic interrupts; that is, those that can be eva- luated via FC DIAG_INF (see Section 11.2). In the integral Help of the parameterization interface, you will find all error messages;...
Page 145 Error Handling 11.1 Module Defects Purpose When the FM 451 starts up, that is, the power supply is switched on (“Power on”), the FM 451 goes through a general module test (that is, RAM test and EPROM test). 1. The two LEDs “INTF” and “EXTF” light up briefly. 2.
Page 146 Error Handling 11.2 Diagnostic Interrupts Purpose Errors leading to a diagnostic interrupt are monitored for their “incoming” and “outgoing”. The FM 451 signals “incoming” errors by: One of the two LEDs “INTF” or “EXTF” lights up (see Figure 11-1) and Setting the Bit 0.0 in OB 82 (OB82_MDL_DEFECT).
Page 147 Error Handling FM 451 Response When a diagnostic interrupt occurs, the FM provides a defined system state to an Error with due to the following actions: Diagnostic The positioning is aborted. Interrupt Synchronization is deleted in the case of incremental encoders if: –...
Page 148 Error Handling FM 451 Detects the If the FM 451 signals an “outgoing” error, then you should take note of the Transition to the following sequence: Error-Free Status 1. The FM 451 detects that all errors have been rectified and initiates a diag- (”Outgoing”) nostic interrupt.
Page 149 Error Handling Example In the event of an error, the EXTF LED lights up. When you evaluate the diagnostic bit, you find: Step Set Bit Meaning The module is faulty. The fault/error is an external one. The fault/error is a channel error. The fault/error is a channel error on channel 2 10.2 Error message: Error pulses in incremental encoder...
Page 150 Error Handling Table 11-1 Diagnostic Interrupts for Internal Errors, continued Error Signal, Error Analysis and Rectification Event Number External auxiliary voltage 24 V missing 0x8004 Cause External 24 V auxiliary voltage is not connected or failed. Effect See Page 11-4 The processing is aborted.
Page 151 Error Handling Table 11-1 Diagnostic Interrupts for Internal Errors, continued Error Signal, Error Analysis and Rectification Event Number Encoder wire breakage 0x8090 Cause Encoder cable cut or not plugged in. 10.0 Encoder has no quadrature signals. 12.0 Incorrect pin assignment. Cable length too long.
Page 152 Error Handling Table 11-1 Diagnostic Interrupts for Internal Errors, continued Error Signal, Error Analysis and Rectification Event Number Error pulses in incremental encoders 0x8092 Cause Encoder monitoring has found error pulses. 10.2 Number of increments per encoder revolution is incorrectly entered. 12.2 Encoder defective: Does supply the specified number of pulses.
Page 153 Error Handling Table 11-1 Diagnostic Interrupts for Internal Errors, continued Error Signal, Error Analysis and Rectification Event Number Machine data erroneous 0x8098 Cause Machine data from the rack SDB is incorrect. 11.0 11.0 Effect See Page 11-4 13.0 The channel has not been parameterized. The outputs are switched off.
Page 154 Error Handling 11.3 General Errors Purpose If there are no module defects or diagnostic interrupts present, then you can localize general errors on the module with the parameterization software. General errors are: Parameterization errors during test and set-up with the parameterization software.
Page 155 Structure of the Channel DB Purpose of the The channel DB is the data interface between the user program and the FM Channel DB 451 positioning function module. All data belonging to one channel of the FM 451 positioning function module are located in the channel DB of the FC INC_MODE.
Page 156 Structure of the Channel DB Contents in the Table 12-1 below describes the contents of the channel DB with the Channel DB associated absolute and symbolic addresses. Table 12-1 Contents in the Channel DB Address Variable Data Starting Description Type Value Addresses 12.0 MOD_ADR (Entries!)
Page 157 Structure of the Channel DB Table 12-1 Contents in the Channel DB, continued Address Variable Data Starting Description Type Value Check-back signals 31.2 ... GO_M BOOL FALSE TRUE: Approach in negative direc- tion FALSE: Does not travel in negative direction 31.3 ...
Page 158 Structure of the Channel DB Table 12-1 Contents in the Channel DB, continued Address Variable Data Starting Description Type Value Diagnostic data 72.0 DIAGNOSTIC_INT_INFO..STRUCT --- Diagnostic data (see Chapter 11.2) 72.0 ... BYTE 0 BYTE B#16#0 Module diagnosis: DS0/DS1 Module diagnosis: DS0/DS1 73.0 ...
Page 159 Technical Specifications Purpose of this This chapter acts as a reference chapter. It describes the technical data for the Chapter FM 351 positioning function module. General technical data Dimensions and weight Encoder inputs Digital inputs Digital outputs Chapter In Section You Will find on Page Overview...
Page 160 “Electromagnetic Compatibility” and the harmonized European standards (EN) listed therein. The EU declarations of conformity are kept according to the above-men- tioned EU Directive, Article 10 for the responsible authorities at: Siemens Aktiengesellschaft Bereich Automatisierungstechnik AUT E 148 Postfach 1963...
Page 161 Technical Specifications Area of SIMATIC products have been designed for use in the industrial area. Application SIMATIC products may also be used in the domestic environment (house- hold, business and trade area, small plants) with individual approval which must be obtained from the respective national authority or testing body. Area of Application Requirements Emitted interference...
Page 162 Technical Specifications Special Technical Data General Technical General technical data is: Data Electromagnetic compatibility Transport and storage conditions Mechanical and climatic ambient conditions Details on insulation tests, class and level of protection. This general technical data contains standards and test values which the S7-300 maintains and fulfills, as well as to which test criteria the S7-300 was tested.
Page 163 Technical Specifications Encoder Inputs Displacement measurement Incremental Absolute Signal voltages Symmetrical inputs: 5 V to RS 422 Asymmetrical inputs: 24 V/typ. 4 mA Input frequency and line length for symmetrical encoder Max. 500 KHz for 32 m shielded line length with 5 V supply Input frequency and line length for symmetrical encoder Max.
Page 164 Technical Specifications Digital Inputs Insulation test VDE 0160 Digital Outputs Number of outputs Electrical isolation Output current 0-signal: 0.5 mA 1-signal: 0.5 A (Permissible range: 5...600 mA) Lamp load: 5 W 1 signal: Max. 300 µs Output delay for output current 0.5 A 0-signal: Max.
Page 165 Connecting cable for incremental encoder Siemens 6FX 2001-2 (Vp=24V; RS 422) Connecting cable for incremental encoder Siemens 6FX 2001-4 (Vp=24V; HTL) Connecting cable for absolute encoder Siemens 6FX 2001-5 (Vp=24V; SSI) FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 166 Ordering The cable cross-sectional areas are stated in the figure. The maximum length Information of the connecting cable, matching the incremental encoder Siemens 6FX 2001-2 (V =5 V; RS 422), is 32 m shielded. The relevant order number 6ES5 703-1xxx0 (xxx: Length code see catalog...) The connecting cable can also be obtained without an encoder connector (open cable end).
Page 167 Ordering The cable cross-sectional areas are stated in the figure. The maximum length Information of the connecting cable, matching the incremental encoder Siemens 6FX 2001-2 (Vp=24 V; RS 422), is 100 m shielded. The relevant order num- ber is: 6ES5 703-7xxx0 (xxx: Length code see catalog...) The connecting cable can also be obtained without an encoder connector (open cable end).
Page 168 The cable cross-sectional areas are stated in the figure. The maximum length Information of the connecting cable, matching the incremental encoder Siemens 6FX 2001-4 (Vp=24 V; HTL), is 100 m shielded. The relevant order number 6ES5 703-8xxx0 (xxx: Length code see catalog...) The connecting cable can also be obtained without an encoder connector (open cable end).
Page 169 The cable cross-sectional areas are stated in the figure. The maximum length Information of the connecting cable, matching the absolute encoder Siemens 6FX 2001-5, is 320 m shielded at a baud rate of 125 KHz. The relevant order number is: 6ES5 703-9xxx0 (xxx: Length code see catalog...)
Page 170 Connecting Cables FM 451 Positioning Function Module EWA 4NEB 720 6009-02...
Page 171 Glossary Absolute Encoder An absolute encoder determines the displacement traveled by reading off a numerical value. Absolute Encoder The absolute encoder adjustment provides a fixed relationship between the Adjustment coordinate system and the encoder. The following values are required for this: Absolute encoder adjustment: This is a value from the value range of the absolute encoder.
Page 172 Glossary Enable Input The enable input is a digital input per channel on the positioning module. A positioning process is started and stopped with the enable input. Encoder Encoders are used for the exact measurement of distances, positions and speeds. Evaluate Enable As standard the positioning module evaluates the enable input of the relevant Input...
Page 173 Glossary Multi-Turn Encoder Multi-turn encoders are absolute encoders. The resolution is determined over a number of coded disks. Positioning Positioning means to bring a load to a defined position in a certain time tak- ing into account all the forces and moments acting. Positioning The positioning module for rapid and creep speed drives is a function module Module for Rapid...
Page 174 Glossary Resolution The resolution is determined from the ratio of the machine data: Displacement per encoder revolution Pulses per encoder revolution. The resolution is a measure of the accuracy of the positioning. It also deter- mines the possible maximum traversing range. Reversing Switch When the drive reaches the reversing switch, the traversing direction is re- versed.
Page 175 Glossary Software Limit The software limit switch Start defines the start of the working range on the Switch Start axis. SSI Encoders The SSI encoder is a subset of the absolute encoders. With the SSI encoder the data is transferred serially. Standstill The standstill monitoring reacts when the standstill range has been left with- Monitoring...
Page 176 Glossary Target Range The target range is located symmetrically about the target. Within the target range the drive must reach the standstill speed, so that the signal “Position reached” is set. Target Approach After reaching the switch-off point, the drive switches off. It then runs in - starting from the creep speed - to the target.
Page 177 Index Configuration, 5-2 Connected potentials, 4-12 Abort, 2-8 Connecting cables, B-1 Aborting jogging, 9-5 Connecting the encoders, 4-7 Absolute encoder adjustment, 8-8, 8-10 Control, 6-10 Absolute encoders, 10-4 Control circuit, 4-4 Absolute incremental mode, 9-11, 9-12 Control mode, 4-13 Addresses, 12-2 Control type, 8-4 Alarm OB - OB 82, 11-4 Controlled positioning, 2-1...
Page 178 Index ENCODER, 4-6 Encoder General errors, 11-1, 11-12 connecting, 4-7 GRAY code, 10-4 counting direction, 8-14 mechanical adjustment, 8-12 Encoder interface, 4-6 Encoder pulses, 10-2 Encoder supply, polarity, 4-11 Hardware switching time, 10-3 Encoder type, 8-13 Hilfsspannung, 4-11 Encoder wire breakage, 11-9 End, 2-7 End of positioning, 2-7 End of rotary axis, 8-7...
Page 179 Index Load circuit, 4-4 Possibilities for the seek-reference-point mode, Loop traverse, 9-20 Power controller, 4-4 Principles of positioning, 2-1 Programming, 6-1 Programming example, 6-34 Machine data, 8-1 Pulse evaluation, 10-2 Machine data erroneous, 11-11 Machine data for the axis, 8-7 Machine data for the drive, 8-4 Machine data for the encoder, 8-13 Marking, CE, A-2...
Page 180 Index Shield bus/protective conductor bar, 4-3 Synchronisation, 9-6 Shield connector plug, 4-3 Shielding, 4-3 Signal period, 10-2 Signal waveforms, 10-2 Target approach, 2-5 SIMATIC manager, 5-2 Target position, 2-3 Single commands, 12-3 switching points in the region, 2-3 Single setting, 9-1 Target range, 2-3, 8-5 do not evaluate enable input, 9-22 Terminating jogging, 9-4...
Page 181 Siemens AG AUT E 148 Postfach 1963 D–92209 Amberg Federal Republic of Germany From: Your Name: _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _...
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