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Writing Traversing Programs

10-16

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0

10.2

Program execution and direction of processing

Forward processing

As a rule, programs are processed by ascending block number.

Reverse processing

If programs are processed in reverse, the effects of commands must be taken into
account in the programming:

S

Commands are modal (G90, G91, G60, G64, G30

−

G39)

S

Active tool offset (G43, G44, D0

−

D20)

S

Change of coordinate systems via G87, G88, G89.

For these reasons, a distinction can be made between forward processing and re-
verse processing, in terms of both geometry and block transition response.

10.3

Block transitions

Overview

This chapter describes the influence of certain commands on block transitions.

Exact positioning - G60

G60 mode is overlaid with G50 and G88 to G89 (force block change on-the-fly).

The program advances to the next block when the target range is reached.

The influence of M functions is as indicated in machine data item MD32.

Output of M function before positioning

V

N

i

N

i+1

ÉÉ

ÉÉ

ÉÉ

É

É

É

M

t

ÉÉ

ÉÉ

ÉÉ

t

Case 1

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Summary of Contents for SIMATIC FM 353

Page 1: ...mming the Technological Functions 6 Starting up 7 Human machine Interface 8 Description of Functions 9 Writing Traversing Programs 10 Troubleshooting 11 Appendices Technical Specifications A User Data Block AW DB B List of Abbreviations C Index 6ES7 353 1AH01 8BG0 04 2007 Edition FM 353 Stepper Drive Positioning Module Manual SIMATIC ...

Page 2: ...permitted by Siemens It is assumed that this product be transported stored and installed as intended and maintained and operated with care to ensure that the product functions correctly and safely Trademarks All names marked with the copyright notice R are registered trademarks of SIEMENS AG Other names in this publication might be trademarks whose use by a third party for his own purposes may vio...

Page 3: ... positioning Chapter 2 Here you will find introductory information on positioning methods and associ ated definitions of terms S Installing and removing the FM 353 Chapter 3 Explains the installation and removal of the FM 353 S Wiring the FM 353 Chapter 4 Describes the connection and wiring of drives and digital input output modules S Defining parameters of the FM 353 Chapter 5 Describes the param...

Page 4: ...tor panel interface FM 353 users The structure and presentation of the information in the manual are oriented to the intended uses of the FM 353 and the user s own activity It distinguishes among the following S Installation and wiring These activities include installation and wiring of the FM 353 S Parameterizing and Programming These activities include parameterizing and programming the FM 353 S...

Page 5: ...cal support If you have any technical question please do no hesitate to contact our hotline Time zone Europe Africa Asia Australia America Telephone 49 0 180 5050 222 86 1064 719 990 1 423 262 2522 Fax 49 0 180 5050 223 86 1064 747 474 1 423 262 2289 Internet http www siemens com automation support request E mail adsupport siemens com Note The country specific telephone numbers for technical consu...

Page 6: ...01 8BG0 Further support We are offering courses to help you familiarize yourself with the operation of the SIMATIC S7 programmable controller system Please contact your regional or the central training center in D 90027 Nürnberg Germany under tel 49 911 89 53 202 J ...

Page 7: ...g up the front connector 4 18 5 Defining Parameters 5 1 5 1 Installing Parameterize FM 353 5 3 5 2 Getting started with Parameterize FM 353 5 4 5 3 Parameter data 5 7 5 3 1 Machine data 5 9 5 3 2 Increments 5 20 5 3 3 Tool offset data 5 21 5 3 4 Traversing programs 5 23 5 4 Parameterization with Parameterize FM 353 5 25 5 5 Storing the parameter data in SDB 1 000 5 26 6 Programming the Technologic...

Page 8: ...7 Sample applications 6 57 6 8 Error list system messages CPU 6 64 6 9 Technical specifications 6 66 7 Starting up 7 1 7 1 Installation and wiring 7 2 7 2 Initial values for testing and optimization 7 3 7 3 Testing and optimization 7 7 7 3 1 Activating the machine data 7 13 7 3 2 Evaluating the characteristics of the stepper motor 7 14 7 3 3 Basic startup of stepper motor control 7 18 7 3 4 Optimi...

Page 9: ...quest in the user DB DBX42 0 9 55 9 3 12 Active NC block Read request in the user DB DBX42 1 next NC block Read request in the user DB DBX42 2 9 56 9 3 13 Application data Read request in the user DB DBX43 6 9 57 9 3 14 Actual value block change Read request in the user DB DBX42 3 9 57 9 3 15 Servicing data Read request in the user DB DBX42 4 9 57 9 3 16 Additional operating data Read request in t...

Page 10: ...2 1 Fault indication by LED 11 4 11 2 2 Diagnostic interrupts 11 6 11 2 3 Error messages in checkback signals 11 7 11 2 4 Message in data block 11 8 11 2 5 Viewing the diagnostic buffer PG PC 11 8 11 3 Error lists 11 9 11 3 1 Diagnostic interrupts 11 9 11 3 2 Error messages 11 13 A Technical Specifications A 1 B User Data Block AW DB B 1 C List of Abbreviations C 1 Index Index 1 ...

Page 11: ...oning module for actuating a step per motor The FM 353 is a high performance module for positioning with stepper drives The module works autonomously and is controlled by way of the user program in the SIMATIC S7 300 system It can operate rotary and linear axes The FM 353 has a variety of operating modes The module has a non volatile data memory to store parameterization data S The FM 353 is low m...

Page 12: ...es S Woodworking machines S Handling equipment S Loaders S Auxiliary movements in milling and turning machines S Packaging machines S Conveyor equipment Its range of functions is comparable to that of the WF 721 module in the SIMATIC S5 system and the FM 354 in the SIMATIC S7 system 1 1 The FM 353 in the S7 300 programmable controller How is the FM 353 linked up with the S7 300 The FM 353 is desig...

Page 13: ...TIC S7 300 CPU Rack 0 Rack 1 Rack 2 Rack 3 Backplane bus SM SM SM PS 24 V 2 5 10 A 24 V 24 V 24 V 24 V Programming device PG OP SM IM dig anal SM SM dig anal FM Operator panel stepper drive dig anal dig anal IM dig anal SM SM dig anal SM dig anal SM dig anal SM dig anal SM dig anal FM IM dig anal SM dig anal SM dig anal SM dig anal SM SM dig anal SM dig anal FM 353 dig anal SM dig anal SM SM dig a...

Page 14: ...ivid ual components which are shown in Figure 1 2 Operator panel OP e g OP 07 Power section SIMATIC S7 300 SM SM Your programming device PG CPU PS IM SM SM FM 353 e g touch probe DIN rail Motor e g SIMOSTEP Configuration package e g FM STEPDRIVE Fig 1 2 System overview schematic MPI connection The FM can service up to 3 MPI nodes PCs programming devices or OPs simul taneously ...

Page 15: ...ower the S7 300 Signal modules SM adapts various process signal levels to the S7 300 Interface module IM connects the individual cells of an S7 300 with one another applies to multi rack configuration see Figure 1 1 Programming device PG configures parameterizes programs and tests the S7 300 and the FM 353 Operator panel OP the interface to the machine It serves for operation and monitoring It is ...

Page 16: ...line data OP LAD STL Editor DB Editor Parameter ize FM 353 PG STEP 7 Creation of the user program P bus K bus Operating system DBx parame terization data e g S Machine data S Increments S Tool offset data S Traversing programs S Status messages Diagnostic process interrupt S Module data S Diagnostic data Loading buffer RAM Human machine interface Parameterization testing and diag nostics DBx param...

Page 17: ...ault and status displays Labeling plate Front view with doors removed Front door flips open Status and error displays Drive port X2 Bus connector SIMATIC port SF DC5V DIAG DIN rail I O port X1 1 2 3 4 5 6 7 8 9 1 1 1 1 1 1 1 1 1 1 2 0 0 1 2 3 4 5 6 7 8 9 Front connector STEP CONTR X2 I0 I1 I2 I3 RM Q0 Q1 Q2 Q3 Display for digital I O modules Module name plate FM 353 FM STEPPER MOTOR Fig 1 4 View o...

Page 18: ...arranged on the front panel of the FM 353 Table 1 3 describes these LEDs and what they mean Table 1 3 Status and error displays LED Significance SF red Group error This LED indicates an error condition in the FM 353 see Troubleshooting Chapter 11 5 V DC green Logic power supply is ON This LED indicates that the hardware is ready for operation DIAG yellow Diagnostics This LED indicates various diag...

Page 19: ...SVP JM123456 Marks and approvals SIEMENS Fig 1 5 Type plate of the FM 353 1 3 Overview of module functions Summary The FM 353 module performs the following functions S Mode control S Determining position S Stepper motor control S Digital inputs and outputs S Settings and functions that do not depend on operating mode S Software limit switches S Process interrupts S Block sequence control S Diagnos...

Page 20: ...l The stepper motor control performs the following tasks S Guidance of the drive commensurate with speed during movement sequence e g adjustable acceleration and delay start stop operation S Output of step pulses in form of control frequency S Output of a direction signal S Accurate approach by axis into programmed target position S Phase current control to the drive device Digital inputs outputs ...

Page 21: ...easurement completed S On the fly block change S Inprocess measurement Process interrupts are selected by way of machine data Block sequence control Automatic processing of a traversing program including subprograms created dur ing the parameterization process A number of traversing programs are available for execution on the module Diagnostics and troubleshooting Startup and ongoing operation of ...

Page 22: ...Product Overview 1 12 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 23: ...orces and torques into account Position A Position B s path Dx distance to be traversed F driving force Dx F s Fig 2 1 Principle of a positioning action What is servo controlled positioning Servo controlled positioning with a stepper motor is S Control of the drive at the right speed while a movement is being performed S Specifying a target position and true to target axis approach into programmed...

Page 24: ...ments CPU FM 353 Parameterize FM 353 Parameterize PG EMERG STOP Drive port Safety device Motor Fig 2 2 Setup of positioning with stepper motor example FM 353 The FM 353 generates the following for the power section S Control frequency S Direction signal S Special control signals Power section The power section processes the control signals and supplies power to the motor Motor The motor is connect...

Page 25: ...ents These include not only the axis but also gear trains and clutch systems Peripherals All other additional equipment is covered by the term peripherals Peripherals mainly include S Limit switches to limit the positioning range safety devices S A programming device PG and the Parameterize FM 353 parameterization software J ...

Page 26: ...Basic Principles of Positioning 2 4 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 27: ...h you must follow when integrating an FM 353 in the S7 300 PLC in a plant or system These rules and specifications are described in the installation manual S7 300 Pro grammable Controller Hardware and Installation Mechanical set up The options for the mechanical set up and its configuration are described in the manual S7 300 Programmable Controller Hardware and Installation Below we give only a fe...

Page 28: ...ller you should note the follow ing rules 1 No more than eight SMs or FMs per tier rack 2 The maximum number of modules is limited by module width and by the length of your DIN rail The FM 353 requires an installation width of 80 mm 3 12 inches 3 The maximum number of modules is limited by the total power that all modules to the left of the CPU or IM as the case may be consume from the 5 V back pl...

Page 29: ... bus connector on the FM 353 If the FM 353 is the last module in the rack do not connect this bus connector 2 Hook the FM 353 onto the rail and swing it down into position 3 Screw the FM 353 down torque approx 80 110 Nm 4 After the modules have been mounted you can also assign each of them a slot number Slot labels for this purpose are enclosed with the CPU The numbering scheme and how to plug in ...

Page 30: ... 353 only after all power to the S7 300 has been turned OFF Tools required A 4 5 mm 18 inch screwdriver Procedure To remove the FM 353 1 Open the front doors If necessary remove the labeling strips 2 Detach the power supply connections from the terminal block 3 Detach the sub D plug from the drive unit 4 Release the protective device on the front connector and unplug it 5 Loosen the fastening scre...

Page 31: ... FM 353 before removing the old FM and resume communication after installing the new FM If data parameters are modified during operation and stored retentively on the FM please follow the instructions in Section 9 3 1 Replacing an FM 353 To replace a parameterized but defective FM 353 1 Replace the FM 353 when the system is switched off CPU FM Remove the FM 353 see Sec 3 2 No Install the FM 353 se...

Page 32: ...Installing and Removing 3 6 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 33: ... e g hardware limit switches S Equipment and measures for protecting the motors and power electronics in accordance with the installation guidelines for FM STEPDRIVE SIMOSTEP We also recommend you carry out a risk analysis in accordance with basic safety requirements Appendix 1 of the EC machine directive in order to identify sources of danger affecting the complete system Further references Pleas...

Page 34: ...ing an FM 353 Summary Figure 4 1 shows how the individual components of the positioning controller with FM 353 are linked together SIEMENS PG FM 353 Dig inputs e g touch probe MPI connecting cable Setpoint cable External 24 V power supply CPU OP SIMATIC S7 300 X2 Dig outputs e g direction of rotation Drive device port Front connector e g FM STEPDRIVE Fig 4 1 Wiring an FM 353 ...

Page 35: ...power source LPS Connecting cables Table 4 1 lists the connecting cables for a positioning controller with the FM 353 Table 4 1 Connecting cables for a positioning controller with FM 353 Type Order No Description MPI connecting cable see Catalog ST 70 Order No E86060 K4670 A101 AV Connection between OP PG and S7 300 CPU Setpoint cable 6FX2 002 3AC02 1VV0 see Catalog NC Z Order No E86060 K4490 A001...

Page 36: ...M 353 provides an enable signal Connector position Figure 4 2 shows the installation position and identification of the plug on the mod ule FM 353 STEP CONTR X2 1 15 8 9 Fig 4 2 Position of X2 connector Connector pinout Connector identifier X2 STEP CONTR X2 Connector type 15 pin sub D plug connector Table 4 2 Pinout of the X2 connector Pin Name Type Pin Name Type 1 PULSE O 9 PULSE_N O 2 DIR O 10 D...

Page 37: ...ENABLE ENABLE_N Enable signal true and negated PWM BOOST PWM_N BOOST_N Current control true and negated READY1_N Ready message GND Signal ground Signal type O Output I Input Note The active level of each signal can be defined in MD37 see Section 5 3 1 9 7 Check the technical documentation for your drive device regarding assignment of signal levels to direction of rotation ...

Page 38: ...of rotation of the mo tor Signal ON Rotation to left Signal OFF Rotation to right S ENABLE The FM 353 activates this signal anytime the cyclical control operating mode is detected Signal ON Power activation is enabled Signal OFF Depending on power section one or more of the responses mentioned may occur Disable pulse input Switch off power to motor Reset ring counter Erase error messages S PWM BOO...

Page 39: ...f the various non standardized input circuits of the drive units Especially the lead length and the limit frequency depend on the properties of the input circuit and the lead used Furthermore the reference potential GND must be floating in order to prevent electrical interference Table 4 3 provides a summary of the output signal electrical data Table 4 3 Electrical parameters of the stepper drive ...

Page 40: ...35 m l 35 m l 10 m l 10 m FM 353 VOD VOH VOL RL GND GND GND GND GND VOH VOL RL RL RL Balanced transfer with RS422 compliant differential input Balanced transfer with optical coupler input Unbalanced transfer with optical coupler input Unbalanced transfer with voltage input Power section IO IO IO Fig 4 3 Connection options for drive port output signals ...

Page 41: ...section An alternative connection option is available by way of peripherals connector X1 see Section 4 4 Its use is defined in machine data see MD37 Section 5 3 1 9 7 2 Signal parameters of the input Table 4 4 presents a summary of the electrical parameters of the input signal Table 4 4 Electrical parameters of the READY1_N signal input Parameters Value Unit Comment 1 Signal voltage range VH 3 5 5...

Page 42: ... you different signal connection options for the READY1_N input l 35 m FM 353 GND Actuation of the READY1_N input by contact Actuation of the READY1_N input by optical coupler GND GND Actuation of the READY_1 input by transistor open collector Power section l 35 m l 35 m 2 k 5 V 2 k 5 V 2 k 5 V Fig 4 4 Connection of the READY1_N input ...

Page 43: ...rference we recommend that you not ground the shielding on the drive unit side The cable set supplied as an accessory offers excellent immunity against interfer ence FM 353 Connecting cable X2 Drive device port e g FM STEPDRIVE Fig 4 5 Connecting a drive unit Procedure to connect the connecting cable Connect the drive unit as follows 1 Wire the free cable end of the connecting cable to the termina...

Page 44: ... A001 AV 4 4 Description of the I O interface Front connector Four digital inputs outputs and one message signal from the power section may be connected to the 20 pin front connector X1 with its single wire terminal Location of connector Figure 4 6 shows the front connector in position to be wired and the labeling on the inside of the front door X1 Labeling on in side of front door Front connector...

Page 45: ...Type 1 open VI 11 DO1 Q 2 not assigned VI 12 DO2 Q 3 DI1 I 13 DO3 Q 4 DI2 I 14 DO4 Q 5 DI3 I 15 not assigned 6 DI4 I 16 not assigned 7 open 17 not assigned 8 open 18 not assigned 9 RM_P I 19 L VI 10 RM_N I 20 M VI Signal names DI1 4 Digital input 1 4 DQ1 4 Digital output 1 4 RM_P Positive input for controller message RM_N Negative input for controller message L M 24 V load power supply ground Sign...

Page 46: ...ers Value Unit Comment 1 signal voltage range 11 30 V 1 signal power consumption 6 15 mA 0 signal voltage range 3 5 V or input open Signal delay 0 1 15 µs Signal delay 1 0 150 µs Controller message RM input One message signal from the drive power section can be connected to the RM_P RM_N terminals The message signal is specified in MD37 see Section 5 3 1 and can be one of the following see Section...

Page 47: ...y 1 0 150 µs Internal signal delay 20 µs for actual value transfer function There are two ways of powering the standby signal S from the open loop control S from the drive unit Power from the open loop control Figure 4 7 shows examples of how to power the standby signal from the control RM_P RM_N L M 19 9 10 20 X1 FM 353 Power section Actuation current sourcing RM_P RM_N L M 19 9 10 20 X1 Actuatio...

Page 48: ...oller message power supply from the drive unit 4 digital outputs DQ1 4 All outputs have equal priority The switching function is allocated to the output number in machine data see MD34 35 Section 5 3 1 These four outputs are intended for wiring of application specific signals Possible uses include S Position reached and stopped S Switching function M command S Forward backward rotation See Section...

Page 49: ...te S Resistive load max 100 Hz S Inductive load 0 25 Hz Load power supply L M Here a 24 V load power supply must be connected The unit will not operate if the poles are reversed Note Note the SIMATIC setup guidelines In particular the M terminal reference poten tial must be connected with the chassis ground of the programmable controller M terminal on the terminal block of the S7 300 CPU see manua...

Page 50: ...f front door AC DC24V 19 20 11 e g touch probe FM 353 SF DC5V DIAG 1 2 3 4 5 6 7 8 9 1 1 1 1 1 1 1 1 1 1 2 0 0 1 2 3 4 5 6 7 8 9 ENCODERX3 I0 I1 I2 I3 RM Q0 Q1 Q2 Q3 Shielding terminal element Digital outputs Digital inputs Fig 4 9 Wiring of the front connector Connecting cables Flexible conductor cross sectional area 0 25 1 5 mm2 Ferrules are not necessary You can use ferrules without insulating ...

Page 51: ...rom below start wiring from the bottom other wise start from the top Screw down unused terminals as well The tightening torque should be 60 80 Nm 5 Tighten the cable grip on the cable strand 6 Move the front connector into operating position while pressing down on the locking elements 7 You can fill out the labeling strip enclosed with the product and slip it into the front panel Shielded cables W...

Page 52: ... lead for shielded cables this element can be inserted in the DIN rail It can accept up to eight shielding terminals KLBÜ line from Weidmüller Order No Terminal element 6ES7 390 5AA00 0AA0 Shielding terminal 6ES7 390 5CA00 7AA0 see Catalog NC 60 1 Order No E86060 K4460 A101 AV see Catalog ST 70 Order No E86060 K4670 A101 AV J ...

Page 53: ...ng Parameters Chapter Overview Section Section Header Page 5 1 Installing Parameterize FM 353 5 3 5 2 Getting started with Parameterize FM 353 5 4 5 3 Parameter data 5 7 5 4 Parameterization with Parameterize FM 353 5 25 5 5 Storing the parameter data in SDB 1 000 5 26 5 ...

Page 54: ...ng in the File menu PG STEP 7 HW CONFIG Parameter ization forms Rack parameterization Group selection Activate interrupts basic parameters Module parameterization Configuration Generate system data Data blocks DB S DB MD S DB SM S DB TO S DB NC Setup exe User data block S Parameterization tool Parameterize FM 353 S Function blocks S MD DBs for start up of stepper motor 1 S Preconfigured user inter...

Page 55: ...figured user interface for OPs is stored on CD ROM Install the software as follows 1 Insert the CD ROM in the CD ROM drive of your PG PC 2 Run file Setup exe on the CD ROM 3 Follow the instructions displayed by the installation routine step for step Result The software is installed in the following directories Parameterize FM 353 parameterization tool STEP7 directory S7FSTEP Technology functions S...

Page 56: ...ual Standard Software for S7 and M7 STEP 7 The description be low outlines only the most important steps 1 Start the SIMATIC Manager and open your project 2 Insert a SIMATIC 300 station in the menu Insert Station 3 Select the SIMATIC 300 station Call up the S7 hardware configuration from the menu Edit Open Object 4 Select a rack 5 Select the FM 353 positioning module with the correct order number ...

Page 57: ...up the screen for setting the parameters Fig 5 3 Overview display for parameterization You can return to this display at any point during parameterization by selecting the menu View Overview The FM 353 module for stepper drive controlled positioning is parameterized by way of parameter DBs that reside in memory on the module Here a key function is performed by the Machine data data block DB MD sin...

Page 58: ...igured your project you can call up the Properties screen in S7 Configuration by selecting the module and activating the menu command Edit Object Properties Note Once you have imported a project from STEP 7 V2 1 you cannot store any pa rameter data data blocks in this project You can only read the parameter data in this project by importing the data from a file or store the data by exporting the d...

Page 59: ...a can also be created edited and saved offline on the PG Data blocks DB of the FM 353 Table 5 1 gives you an overview of the data blocks in the FM 353 and their mean ing Table 5 1 Data blocks Data block Significance DB MD Machine data DB No 1210 User memory requirements 284 bytes Machine data serves to adapt the FM 353 to the user s own specific ap plication Parameterization with machine data is e...

Page 60: ...fications can be made in all operating modes and during movement If modifications are made during starting or at block transitions when the tool compensation is active internal access to offset values the error message tool offset value does not exist is output Cl 3 No 35 DB NC Traversing programs Program No 1000 DB No 1001 1199 User memory requirements 108 20 x no of traversing blocks Traversing ...

Page 61: ...zation data for the individual types of data blocks can be found in the following sections 5 3 1 Machine data DB structure Table 5 3 gives you an overview of the structure of the machine data data block DB MD Table 5 3 DB structure machine data Byte Variable type Value Significance of the variables Comment DB header 0 WORD Rack slot Module address 2 WORD DB No 1000 As in DB header 4 DWORD Reserved...

Page 62: ...le form When creating the MD DBs you must follow the instructions in Chapter 7 Starting up the FM 353 Note The measurement system MD7 must match the measurement system specified in the other DBs The measurement system raster MSR is the smallest distance unit in the active system of measurement If at some point you have failed to take this precaution 1 Delete all data blocks which do not match the ...

Page 63: ...rs1 4 bytes3 7 K System of measure ment 1 1 10 3 mm 2 10 4 inch 3 10 4 degrees 4 10 2 degrees DWORD MSR 9 4 8 K Axis type 0 0 linear axis 1 rotary axis DWORD 9 5 9 K Rotary axis end2 36 105 0 1 000 000 000 DWORD MSR 10 not assigned 11 K Travel per motor revolu tion division period 2 10 000 1 1 000 000 000 DWORD MSR integer compo nent 9 6 12 K Residual path per motor revolution2 0 0 232 1 DWORD 2 3...

Page 64: ...on point with ref to RPS Watch for MD37 9 2 3 19 not assigned 20 not assigned 21 E Software limit switch beginning2 109 1 000 000 000 1 000 000 000 DINT MSR 9 7 9 9 22 E Software limit switch end2 109 1 000 000 000 1 000 000 000 23 FM 353 used inter nally 24 thru 26 not assigned 27 E Reference point shift 0 1 000 000 000 1 000 000 000 DINT MSR 9 2 3 28 E Referencing velocity2 6 106 10 500 000 000 ...

Page 65: ...easure 5 RPS for search for reference 6 reversing switch for search for reference BITFIELD32 bit coded function allocation Bit No I O 0 Bit No 8 I O 1 Bit No 16 I O 2 Bit No 24 I O 3 The front edge al 9 2 3 9 8 35 K Digital outputs2 0 0 Position reached stop 1 Axis movement forward 2 Axis movement reverse 3 Change M97 4 Change M98 5 Enable Start 7 Direct output The front edge al ways activates the...

Page 66: ... 10 000 DWORD Hz Please follow the 40 E Frequency value for ac celeration switchover2 10 000 500 75 000 Minimum value MD39 1 Maximum value MD41 1 Please follow the diagram Working range frequency genera tor 41 E Maximum frequency 50 000 500 200 000 tor see Figure 5 5 42 E Acceleration 12 100 000 10 10 000 000 DWORD Hz sec 43 E Acceleration 22 100 000 10 MD42 0 as with MD42 Please follow the diagra...

Page 67: ... 100 52 E Speed for backlash compensation 0 0 1 100 DWORD 9 7 53 E Mode for backlash com pensation 0 0 before positioning 1 during positioning DWORD 9 7 56 E Motion profile 0 0 and 1 Standard motion profile 1 Optimized motion profile 7 3 8 MSR measurement system grid RPS reference point switch 1 The variable axis name is implemented as an axis letter X Y Z with an address extension 1 9 Permissible...

Page 68: ...ariables These reference variables and the dependency checks are described in the tables below Reference variables generated internally from MD Generation of travel per motor revolution UMWEG UMWEG MD11 MD12 2 32 Generation of internal measured value factor MWFAKTOR MWFAKTOR UMWEG MD13 Activation of software limit switches SEAKT MD21 MD22 SEAKT 109 109 0 inactive 109 109 109 109 1 active 109 109 I...

Page 69: ... 1 0 MD21 MD9 0 MD22 MD9 MD21 MD22 MD28 check Permissible velocity 10 MD28 MD41 MWFAKTOR 60 MD29 check Permissible velocity 10 MD29 MD41 MWFAKTOR 60 MD34 check Permissible BYTE0 MD34 BYTE1 MD34 BYTE2 MD34 BYTE3 MD34 MD35 check Permissible BYTE0 MD35 0x7F BYTE1 MD35 0x7F BYTE2 MD35 0x7F BYTE3 MD35 0x7F MD38 check MD38 Permissible increment number per current sourcing cycle 0 0 MD38 4 MD40 check Per...

Page 70: ...353 1AH01 8BG0 MD42 check Permissible acceleration MD41 200 MD42 MD392 MD43 check MD43 Permissible acceleration 0 0 0 MD41 200 MD43 MD392 MD44 check MD44 Permissible acceleration 0 0 0 MD41 200 MD44 MD392 MD45 check MD45 Permissible acceleration 0 0 0 MD41 200 MD45 MD392 ...

Page 71: ...ce to fss Max frequency absolute too high tover df dt 10 000 500 200 000 P1 P2 P4 P3 Working points of the frequency generator in the direction of shift of e g Px by the acceleration override function aover and time override tover aover Acceleration too low with reference to fmax Fig 5 5 Working range frequency generator Machine data values range Start Stop frequency fss MD39 10 Hz 10 kHz Maximum ...

Page 72: ...erved 8 WORD Error No from FM With HMI services 10 WORD 1 Channel number 12 2 STRING SM DB identifier type 2 ASCII characters 16 DWORD 353 Module identifier FM 353 20 4 CHAR 0 Version number block number DB structure 24 DWORD 1 3 Measurement system grid per MD7 Unit of measurement 28 WORD 0 1 Parameter DB backup Job via HMI 30 WORD Reserved 32 DWORD 0 109 Increment 1 36 DWORD 0 109 Increment 2 to ...

Page 73: ...th HMI services 10 WORD 1 Channel number 12 2 STRING TO DB identifier type 2 ASCII characters 16 DWORD 353 Module identifier FM 353 20 4 CHAR 0 Version number block number DB structure 24 DWORD 1 3 Measurement system grid per MD7 Unit of measurement 28 WORD 0 1 Parameter DB backup Job via HMI 30 WORD Reserved 32 DINT DINT DINT 109 109 109 109 109 109 Tool length offset 1 Wear value 1 absolute Wear...

Page 74: ...values Values are input in the tool offset data menu of the Parameterize FM 353 para meterization tool If the additive wear value is changed online the FM calculates the new wear pa rameter as an absolute value and the additive tool wear is reset to 0 Fig 5 7 Entering values for tool offset data ...

Page 75: ... DB No 1000 As in DB header 4 DWORD Reserved 8 WORD Error No from FM With HMI services 10 WORD 1 Channel number 12 2 STRING NC DB identifier type 2 ASCII characters 16 DWORD 353 Module identifier FM 353 20 4 CHAR 0 Version number block number DB structure 24 DWORD 1 3 Measurement system grid per MD7 Unit of measurement 28 WORD Reserved 30 WORD Reserved 32 18 STRING ASCII char NC program name max 1...

Page 76: ...rogram number The program name is optional and may have up to 18 characters 2 N block number G command G1 G2 G3 X value F value M command M1 M2 M3 D No tool offset number L No P No for NC programming see Chapter 10 You must enter the block number N first and in ascending order The rest of the inputs may be in any desired sequence Input separators as a blank You must enter characters in upper case ...

Page 77: ...Machine data The values are entered in dialog boxes and windows selected by option tabs To display the machine data in a table select the menu View Table form Here you can enter the values as described in the user data section 3 Tool compensation data and increment sizes You can input the values in a table Select input fields with the cursor and enter the values 4 Traversing programs Traversing pr...

Page 78: ... DB parameter data is opened and when a file is imported If the contents of the DB are modified for instance the machine data a new time stamp is also generated when the DB is saved or loaded You must ensure that the parameter data in SDB 1 000 always match the parameter data on the FM 353 when start up is complete Note If parameter data are modified again in the FM following creation of SDB 1 000...

Page 79: ...ed SDB exists SDB is created and stored in the S7 project in CPU S7 Program Blocks System data An associated SDB 1 000 exists for the FM 353 in the S7 project Yes Abort Overwrite this SDB Yes No Fig 5 9 Creating SDB 1 000 Display delete SDB in the S7 project Select menu File Display SDB All SDBs for FM 353 of the project are displayed Delete SDB No Yes Select SDB and delete Close the window Fig 5 ...

Page 80: ... data in the SIMATIC Manager in CPU S7 Pro gram Blocks System data Activate the menu Target system Load or the right mouse button to load the system data into the CPU or Use the menu Target system Load in EPROM memory card on CPU You can also program the memory card for the CPU on a programming device PC If the configuration is loaded from HW CONFIG this SDB is not loaded into the CPU Deleting SDB...

Page 81: ...tting the FM 353 into operation with the parameter initialization tool 6 8 6 3 Standard function blocks of the FMSTSV_L block library 6 8 6 4 Standard function blocks of the FM353_354 block library also for PROFINET upon request 6 28 6 5 Interrupts 6 44 6 6 User data block AW DB 6 46 6 7 Example applications 6 57 6 8 Error list system messages CPU 6 64 6 9 Technical specifications 6 66 6 ...

Page 82: ...er program to suit your particular application P bus K bus CPU FM 353 S7 300 Online Offline PG STEP 7 Setup exe User DB S Parameterize FM 353 parameterization tool S Standard function blocks and sample program S MD DBs for commssioning of the stepper motor 1 S Preconfigured user interface for OPs S Manual in the PDF format S Getting started in the PDF format Standard function blocks Data blocks Th...

Page 83: ...d the software on the PG PC as per Section 5 1 The block libraries containing the basic functions are stored in the following directories by default Blocks of the FMSTSV_L library STEP7 directory S7LIBS FMSTSV_L Blocks of the FM353_354 library also for PROFINET upon request STEP7 directory S7LIBS FM353_354 S The link from PG PC to the S7 CPU must be established see Figure 4 1 S You must have alrea...

Page 84: ... the CPU and the FM 353 Embedding the FM 353 in the user program The diagram below shows you how the FM 353 the user DB and the technological functions communicate User DB CPU POS_MSRM POS_CTRL POS_INIT FM 353 OB 40 process interrupt 4 bytes of OB start information OB 1 OB 82 diagnostics POS_DIAG OB 100 Restart start up 4 bytes of OB start information Read write requests Error message 1 DB per cha...

Page 85: ...that is to control your system S User program Error evaluation Note GET PUT functions SFC 72 73 from to the FM are not guaranteed to work prop erly that is to say these functions are not supported since they are not required Parameter initialization data can be modified via the Modify parameters data sig nal user DB DBX39 3 Information on signal processing The FM 353 s cycle 2 ms and the user cycl...

Page 86: ...aintained with an FM 353 despite a faulty link be tween CPU and distributed I Os DP OB 86 is to be linked into the user program In OB 86 provisions e g set flag and evaluate in OB must be made to prevent OB 1 communication with the FM 353 in case of a failure To enable synchroniza tion of the user program and the FM the POS_INIT block corresponding to exe cution in OB 100 is to be linked on re est...

Page 87: ... blocks from it into the Blocks direc tory of your project 8 Select the Sources directory in your project Start the LAD STL FBD Editor by double clicking on the OB_EXAMPLE file 9 Modify the appropriate input parameters see Block description Sections 6 3 and 6 4 in the POS_INIT call in OB 100 and in the POS_DIAG call in OB 82 10 You can insert the relevant functions from the sample project zDt13_02...

Page 88: ...s interface concluded AW DB DBX22 1 must be ob served For a description of these signals see Section 9 1 Also please observe Section 7 3 Testing and Optimization Note Observe the relevant safety measures if you want to move the axis 6 3 Standard function blocks of the FMSTSV_L block library Overview This chapter contains information on the following S Overview of the FMSTSV_L block library Section...

Page 89: ...CTRL Call in OB 1 cyclic operation synchroniza tion with FM 353 Basic functions and operating modes inter face processing read and write requests FC 2 Page 6 22 POS_DIAG Call in OB 82 internal errors external er rors and external channel errors of the FM FC 3 Page 6 25 POS_MSRM Call in OB 40 or OB 1 reading out of the measured values To be used only if the function in question is re quired for the...

Page 90: ...agram Call in STL representation statement list EN ENO POS_INIT LADDR CH_NO DB_NO RET_VA CALL POS_INIT DB_NO CH_NO LADDR Parameters The Table below lists the parameters for this block Name Data Type Param Type Description DB_NO INT I Data block number CH_NO BYTE I Number of the axis 0 Only one channel axis on the module 1 First channel axis on the module 2 255 Illegal Same mean ing internally LADD...

Page 91: ... functions and single commands and their Ready and Error signals 3 If the input parameter LADDR 0 no address is entered in the user DB It is assumed that the addressing values module address have been entered manually via Parameterize FM 353 button Enter Mod Adr in user DB in main display Error evaluation An error is signalled by the binary result BR 0 or by RET_VAL 0 Possible errors are S Unknown...

Page 92: ...tended functions must be entered in AW DB 5 Carrying out of Read requests from user data block AW DB which includes transfer of the associated data to AW DB and setting of the Read job status 6 Automatic transfer of all single functions from user data block AW DB to the FM 353 when one or more than one setting has been changed and setting of the Write job status Set or Reset 7 Automatic transfer o...

Page 93: ...k is called S Start up POS_CTRL acknowledges start up of the module During this time the RET_VAL parameter and the Write Read job in progress signals AW DB DBX68 0 and DBX68 2 are TRUE S Control and checkback signals When POS_CTRL is called the checkback signals are read from the FM 353 immediately via direct access Since the control signals and job requests are processed after these signals have ...

Page 94: ...call has been made For each job request there is a Ready signal AW DB DBX44 0 to 53 7 and an Error signal AW DB DBX54 0 to 63 7 in addition to the Initiate signal You should reset the Ready and Error signals for a job request following evalua tion or prior to issuing the request S Order in which job requests are serviced priority You may submit several job requests simultaneously even together wit...

Page 95: ...imultaneous job requests 3 1 Irrelevant for error evaluation Processing status Signal Description Write not possible AW DB DBX68 1 TRUE Write request cannot be serviced in this cycle because S The axis is not initialized S Test mode is enabled S No operating mode is active S The selected operating mode has not yet been set In these cases you can leave the Write request pending or you can cancel it...

Page 96: ...u command Debug Error Evaluation and in Chapter 11 Performance in the event of an error during the servicing of a Write request does not apply to single functions and commands S The Initiate signal is removed for the errored request and the Error signal AW DB DBX54 0 to 63 7 and Ready signal AW DB DBX44 0 to 53 7 are set job request status point 3 Table 6 2 S The Initiate signal is also removed fo...

Page 97: ... 2 DBX38 0 DBB160 167 V d d V d d 9 2 1 Frequency levels 1 2 DBX38 1 DBB168 175 d V d d d d 9 2 2 Setpoint for incremental di mension DBX38 2 DBB156 159 d d d V d d 9 2 4 MDI block DBX38 3 DBB176 195 d d d d V d 9 2 5 MDI block on the fly DBX38 4 DBB222 241 x 9 2 5 Reserved DBX38 5 Set reference point DBX38 6 DBB152 155 x x x x x 9 3 9 Set actual value DBX38 7 DBB144 147 x x x x x 9 3 5 Set on the...

Page 98: ... x x x x x 9 3 17 Digital inputs outputs DBX43 4 DBB220 221 x x x x x x 9 8 Application data DBX43 6 DBB382 397 x x x x x x 9 3 13 Read measured values DBX43 7 DBB486 497 x x x x x x 9 3 10 6 3 5 x Data are accepted or processed Operating mode control The operating modes are discussed in detail in Section 9 2 the control checkback signals and handling information in Section 9 1 The user must write...

Page 99: ...4 OVERR OVERRIDE DBB18 Override Checkback signals TFGS TST_STAT DBX22 1 Switching of P BUS interface completed BF FS OT_ERR DBX22 3 Operator traversing error DF DATA_ERR DBX22 4 Data error PARA PARA DBX22 7 Channel initialized SFG ST_ENBLD DBX23 0 Start Enable BL WORKING DBX23 1 Process in progress WFG WAIT_EI DBX23 2 Wait for external Enable T L DT_RUN DBX23 5 Dwell time running PBR PR_BACK DBX23...

Page 100: ...arted Process in progress when the block is called started when the FM starts tra versing movement Position AW DB DBX13 7 FALSE When status signal Position reached Stop AW DB DBX25 7 0 is returned or when a mode is started with the relevant control signals Position Position reached Stop when the block is called started when FM starts traversing movement Single functions and single commands are als...

Page 101: ... The error number is entered in the AW DB user data block and the Read status set An operating error reported via a diagnostic interrupt can be read out with the Read request Operating error no AW DB DBX42 5 Table 6 4 Error messages from the FM Error Message Error No Error Acknowl edgement Data error Status signal AW DB DBX22 4 Is read out via Read re quest AW DB DBB94 and 95 New Write request Ope...

Page 102: ... statement list EN ENO POS_DIAG DB_NO RET_VAL IN_DIAG CALL POS_DIAG DB_NO RET_VAL IN_DIAG Parameters The Table below lists the parameters for the POS_DIAG block Name Data type Param type Description DB_NO INT I Data block number RET_VAL INT Q 1 IN_DIAG BOOL I Q Initiation signal for reading of the diagnostic data is reset following execution of POS_DIAG Parameter types I input parameter Q output p...

Page 103: ...information for the FM 353 Table 6 5 Diagnostic information Data Format Message User DB Description 4 x 1 b t When a diagnostic i t t i DBX70 0 Module group errors byte interrupt is gener ated the relevant in DBX70 1 Internal error hardware error group error bytes 72 73 ated the relevant in formation is made il bl i th CPU DBX70 2 External error available in the CPU local data area OB DBX70 3 Exte...

Page 104: ... tered in the AW DB DBB70 DBX78 0 5 Unassigned When an operating error occurs the er ror number can be DBX78 7 Operating error see Chapter 11 Troubleshooting ror number can be read via Read re quest DBX42 5 AW DB DBB86 to 89 DBB79 83 Unassigned Tips for the user Following a diagnostic interrupt the diagnostic information and the associated module address OB82_MDL_ADDR is made available in the loca...

Page 105: ...k is called the measured values are obtained irrespective of any other Read requests currently present Call options POS_MSRM can be called in OB 40 only when FM is used centralized if the pro cess interrupt was triggered see Section 5 2 or in OB 1 POS_MSRM must not be called in both OBs at the same time Call in LAD representation ladder diagram Call in STL representation statement list EN ENO POS_...

Page 106: ...on Errors are flagged in the Binary Result BR 0 and by RET_VAL 0 Possible errors are as follows Data transfer errors during transfers with SFC 59 RD_REC The error is made available in the user data block AW DB DBW98 see Error List Section 6 8 6 3 6 Interface user data blocks AW DBs The AW DB interface is created off line The user can access the signals and or data on the interface using absolute o...

Page 107: ...y the blocks are entered in the symbol table with the symbol name ad dress and data type the symbol table is supplied in the project and in the library If you change the block number in your project with the SIMATIC Manager the numbering in the symbol table must also be changed Block allocation via the sym bol table is always absolutely unique Before writing and compiling your user program you mus...

Page 108: ...4 3 p 6 30 S POS_DIAG FC 2 Reading diagnostic interrupt data Section 6 4 4 p 6 41 S POS_MSRM FB 3 Reading measured values Section 6 4 5 p 6 41 S Interface user data blocks AW DB Section 6 4 6 p 6 42 6 4 1 Overview of the FM353_354 block library You can use the blocks of the FM353_354 block library as follows S centralized configuration of the FM S distributed configuration of the FM via PROFIBUS D...

Page 109: ...l in OB 82 internal errors external er rors and external channel errors of the FM FB 3 Page 6 41 POS_MSRM Call in OB 40 or OB 1 reading out of the measured values To be used only if the function in question is re quired for the application in question the number can be changed 1 DB 1 IFFM_ICTRL Interface to the FM and instance DB for POS_CTRL FB 1 Required for application number can be changed 1 D...

Page 110: ...rite requests from user data block AW DB which includes the transfer of associated data from AW DB and setting of the job status for the Write Before the function is activated all data required for the execution of the intended functions must be entered in AW DB 5 Carrying out of Read requests from user data block AW DB which includes transfer of the associated data to AW DB and setting of the Rea...

Page 111: ...efore you call the function enter all data signals in the user DB AW DB which are re quired to execute the intended functions Call in LAD representation ladder diagram Call in STL representation statement list EN ENO POS_CTRL IFFM_ICTRL CALL POS_CTRL IFFM_ICTRL Parameters The POS_CTRL block possesses neither input nor output parameters Return values The POS_CTRL block delivers the following return...

Page 112: ...hange with the module that goes beyond control and checkback sig nals is handled using job requests Simultaneously pending Write or Read re quests however can only be executed in succession whereby one Read and one Write request are processed in one call To issue a request set the relevant initiation signal in user data block AW DB DBB38 to DBB43 In the case of Write requests you must also make th...

Page 113: ...requests The Read requests are serviced in the order of the Initiate signals which is stipulated in user data block AW DB from DBX42 0 to 43 6 S Job request status You can read the status of the job processing infrom the RETVAL instance variable of the block and from the Write read job in progress signals in user data block AW DB DBX68 0 and DBX68 2 You can evaluate the status of an individual job...

Page 114: ...ou can cancel it The POS_CTRL block resets the signal when all of the above listed condi tions are fulfilled Read not possible AW DB DBX68 3 TRUE Read request cannot be serviced at this time because S The axis is not initialized S No mode has been selected S Test mode is enabled In these cases you can leave the Read request pending or you can cancel it The POS_CTRL block resets the signal when all...

Page 115: ... the menu command Debug Error Evaluation and in Chapter 11 Performance in the event of an error during the servicing of a Write request does not apply to single functions and commands S The Initiate signal is removed for the errored request and the Error signal AW DB DBX54 0 to 63 7 and Ready signal AW DB DBX44 0 to 53 7 are set job request status point 3 Table 6 7 S The Initiate signal is also re...

Page 116: ... 2 DBX38 0 DBB160 167 V d d V d d 9 2 1 Frequency levels 1 2 DBX38 1 DBB168 175 d V d d d d 9 2 2 Setpoint for incremental di mension DBX38 2 DBB156 159 d d d V d d 9 2 4 MDI block DBX38 3 DBB176 195 d d d d V d 9 2 5 MDI block on the fly DBX38 4 DBB222 241 x 9 2 5 Reserved DBX38 5 Set reference point DBX38 6 DBB152 155 x x x x x 9 3 9 Set actual value DBX38 7 DBB144 147 x x x x x 9 3 5 Set on the...

Page 117: ...igital inputs outputs DBX43 4 DBB220 221 x x x x x x 9 8 Application data DBX43 6 DBB382 397 x x x x x x 9 3 13 Read measured values DBX43 7 DBB486 497 x x x x x x 9 3 10 6 3 5 x Data are accepted or processed Operating mode control The operating modes are discussed in detail in Section 9 2 the control checkback signals and handling information in Section 9 1 The user must write the control signal...

Page 118: ...kback signals TFGS TST_STAT DBX22 1 Switching of P BUS interface completed BF FS OT_ERR DBX22 3 Operator traversing error DF DATA_ERR DBX22 4 Data error PARA PARA DBX22 7 Channel initialized SFG ST_ENBLD DBX23 0 Start Enable BL WORKING DBX23 1 Process in progress WFG WAIT_EI DBX23 2 Wait for external Enable T L DT_RUN DBX23 5 Dwell time running PBR PR_BACK DBX23 6 Reverse program scanning BAR MODE...

Page 119: ...arted Process in progress when the block is called started when the FM starts tra versing movement Position AW DB DBX13 7 FALSE When status signal Position reached Stop AW DB DBX25 7 0 is returned or when a mode is started with the relevant control signals Position Position reached Stop when the block is called started when FM starts traversing movement Furthermore various settings and commands ar...

Page 120: ... The error number is entered in the AW DB user data block and the Read status set An operating error reported via a diagnostic interrupt can be read out with the Read request Operating error no AW DB DBX42 5 Table 6 9 Error messages from the FM Error Message Error No Error Acknowl edgement Data error Status signal AW DB DBX22 4 Is read out via Read re quest AW DB DBB94 and 95 New Write request Ope...

Page 121: ...request If more than one Read request is present this request is processed in the relevant order If the POS_MSRM block is called the measured values are obtained irrespective of any other Read requests currently present Call options The POS_MSRM block requires an instance DB when called The DB IMSRM DB 3 is part of the FM353_354 library POS_MSRM can be called in OB 40 only when the FM is operated ...

Page 122: ...executing Transfer of the data is terminated is complete when the parameter is reset IN_MSR FALSE Error evaluation Errors are flagged in the Binary Result BR 0 and by RETVAL 0 Possible errors are as follows Data transfer errors during transfers with SFB 52 RDREC The error is made available in the user data block AW DB DBW98 see Error List Section 6 8 6 4 6 Interface user DBs AW DBs User DB 1 is th...

Page 123: ...s and data type the symbol table is part of the project and included in the FM353_354 block library If you change the block numbers in your project using the SIMATIC Manager the numbering in the symbol table must also be changed The block assignment is provided unambiguously via the symbol table Before writing and compiling your user program you must enter the blocks AW DB FCs FBs in the symbol ta...

Page 124: ...rties Ad dresses Save and compile the hardware configuration Load the hardware configuration into the CPU 2 Enable the events for the process interrupt in the machine data Evaluating a process interrupt When the FM 353 generates a process interrupt variable OB40_POINT_ADDR or the corresponding variable in another process interrupt OB contains the following information Table 6 10 Contents of double...

Page 125: ...ning Module 6ES7 353 1AH01 8BG0 Evaluating a diagnostic interrupt Following a diagnostic interrupt the diagnostic information is made available in the local data area of OB 82 for quick analysis Call the POS_DIAG block to ascertain the exact cause of error see Section 6 3 4 ...

Page 126: ...P bus Start up DBB15 Drive enable Block skip Read in enable Acknowl edge M function Positive direction Negative direction Stop Start DBB16 Operating mode DBB17 Operating mode parameters DBB18 Override DBB19 to DBB21 Reserved Checkback signals DBB22 Channel initialized Data error Operator traversing error Switch to P bus com pleted DBB23 Reverse prog scan Dwell in progress Wait for external enable ...

Page 127: ...itiation signals for single commands transfer through Write request when change occurs signals are reset following transfer DBB36 Reserved DBB37 Rescind setting of actual value Restart Automatic block return Automatic block ad vance Delete residual distance Activate MD Initiation signals for Write requests DBB38 Set actual value Set refer ence point On the fly MDI block MDI block Setpoint for incr...

Page 128: ...ind setting of actual va lue Restart Autom block return Autom block advance Delete residual distance Activate MD DBB48 Set actual value Set refer ence point On the fly MDI block MDI block Setpoint for incremental dimension Frequency levels 1 2 Speed levels 1 2 DBB49 Teach in Request application data Program selection Digital outputs Modify pa rameters data Zero offset On the fly setting of actual ...

Page 129: ...point On the fly MDI block MDI block Setpoint for incremental dimension Frequency levels 1 2 Speed levels 1 2 DBB59 Teach In Request application data Program selection Digital outputs Modify pa rameters data Zero offset On the fly setting of actual value DBB60 to DBB61 Reserved DBB62 Data error read Operator traversing error read Operating error read Service data Actual value block change Next NC ...

Page 130: ...og triggered Comm er ror K bus DBB73 Process int lost RAM error FEPROM error DBB74 FM pos ID 74H DBB75 Length of diagnostic information 16 DBB76 Number of channels 1 DBB77 Channel er DBB77 Channel er ror vector DBB78 Operating DBB78 Operating error DBB79 to DBB85 Reserved Error code after error message Operating error is read if operating error is set after calling the POS_DIAG block DBB86 Error n...

Page 131: ...l event number DBW96 Error code for the POS_DIAG block return code SFC 51 Data type INT DBW98 Error code for the POS_MSRM block return code SFC 59 Data type INT Data for the requests Zero offset DBD140 Data type DINT Set actual value DBD144 Data type DINT On the fly setting of actual value DBD148 Data type DINT Set reference point DBD152 Data type DINT Setpoint for incremental dimension DBD156 Spe...

Page 132: ...DINT DBD188 Value for speed data type DINT DBB192 M function no of group 1 DBB193 M function no of group 2 DBB194 M function no of group 3 DBB195 Reserved Modify parameter data or request reading of relevant data DBB196 DB type DBB197 Number DBB198 Quantity DBB199 Request DBB200 to DBB219 Data array structure data type of Write data as per bytes 1 to 4 of this structure e g a program block or max ...

Page 133: ...up 3 DBB241 Reserved Program selection DBB242 Program number DBB243 Block number DBB244 Direction of processing DBB245 Reserved Request for application data DBB246 Application data 1 DBB247 Application data 2 DBB248 Application data 3 DBB249 Application data 4 Teach in DBB250 Program number DBB251 Block number DBB252 to DBB309 Reserved Data read as per request Basic operating data DBD310 Actual po...

Page 134: ...erved DBD350 Value for position dwell data type DINT DBD354 Value for speed data type DINT DBB358 M function no of group 1 DBB359 M function no of group 2 DBB360 M function no of group 3 DBB361 Tool offset no Next NC block DBB362 Program number DBB363 Block number DBB364 Block skip UP call No of UP Position G function group DBB364 Block skip UP call No of UP calls Position dwell 3 2 1 DBB365 Tool ...

Page 135: ...D406 Pulse output counter data type DINT DBD410 Reserved DBD414 Reserved DBD418 Difference between setpoint and actual position data type DINT DBD422 Reserved DBD426 Switch adjustment data type DINT DBD430 Reserved Additional production data DBB434 Override DBB435 NC traversing program no DBB436 NC block no DBB437 UP call counter DBB438 Active G90 91 DBB439 Active G60 64 DBB440 Active G43 44 DBB44...

Page 136: ...itoring DBB498 Frequency levels transferred Speed levels transferred Increm dim trans ferred Teach in transferred Prog sel transferred MDI block transferred Read MD Write MD DBB499 Operator traversing error Data error Diagnostic interrupt Zero offset transferred Set actual value transferred MDI block transferred on the fly DBW500 MD number DBD502 MD value data type DINT DBB506 Incremental dimensio...

Page 137: ...TRL POS_DIAG POS_INIT are called in the OB 1 OB 82 and OB 100 blocks DB 100 DBEX contains the relevant user signals user data for all application examples Each example is programmed as a block e g example 1 FC 101 etc In The basic example FC 100 is always necessary for the examples 1 to 3 it sets the relevant modes and copies the data between DB 1 and DB 100 The examples 1 to 3 are interdependent ...

Page 138: ...ates the mode status signals and displays the current mode The checkback signals required for the examples will be copied into DBEX In order to use the Jog or Reference point approach mode in Example 1 the user has to set the relevant mode code in byte MODE_IN of DBEX 01 for Jog 03 for Reference point approach When Jog mode is selected mode parameter 01 MODE_TYPE is additionally set for activating...

Page 139: ...ome active the Write request VLEV_EN AW DB transfer speed level 1 2 is executed once If you want to transfer it again you must either reset the VLEV_D bit status checkback signal from the request or set the JOBRESET reset status error in DB_FM If you set bit DIR_M minus direction or bit DIR_P plus direction to TRUE in DBEX the axis is moved in either a negative or positive direction Reference poin...

Page 140: ...MDI block This block can be changed in dependence on the system and the request If it is to be retransferred you either have to reset the MDI_D bit in AW DB status checkback signal for request or set bit JOBRE SET reset status error Set the START bit in DBEX to TRUE in the EX2 structure The activated MDI block is started on the condition that the axis is synchronized and has a Start En able Then t...

Page 141: ...Auto mode Set the AUTO mode mode code 08 in byte MODE_IN of DBEX The relevant mode checkback signal is flagged in byte MODE OUT Following successful mode selection the program with the number 10 is auto matically selected by setting Write request PROGS_EN in AW DB Set the START bit in DBEX to TRUE in structure EX3 The selected program is started assuming that the axis is synchronized and has a Sta...

Page 142: ...ields to be transferred the appropriate parameters and data For example if you select the machine data screen PIC_763 you can write an MD using the set softkey SK and read an MD using the read softkey SK Once you have selected the mode screen PIC_75 on the operator panel and selected the appropriate mode SK the selected mode will be accepted into the control signals of the interface and the approp...

Page 143: ... BOOL Synchronized START_EN BOOL Start Enable POS_ROD BOOL Position reached Stop WORKING BOOL Execution in progress GO_M BOOL Traverse in negative direction GO_P BOOL Traverse in positive direction OT_ERR BOOL Operator traversing error DATA_ERR BOOL Data error INIT_ERR BOOL Error in POS_INIT DIAG_ERR BOOL Error in POS_DIAG MINUS1 BOOL MINUS1 error in POS_CTRL MINUS2 BOOL MINUS2 error in POS_CTRL M...

Page 144: ...P protocol error in layer 2 data transfer over Profi bus DP interrupted e g due to wirebreak missing terminator parameterization error etc S PROFINET IO General CM error 80A4 32932 32604 Communication problem on K bus 80A7 32935 63601 DP slave or module is busy 80A9 32937 63599 This function is not supported by DP slave or by the module 80AA to 80AF 32938 to 32943 32598 to 32593 DP slave or module...

Page 145: ...ot exist Write request 8544 34116 31420 Error on the n th n 1 attempt to read a DB following the occurrence of an error Write request 8723 34595 30941 DB too short The data cannot be written to the DB Read request 8730 34608 30928 DB write protected in the CPU Data cannot be written to the DB Read request 8732 34610 30926 DB no out of user area 873A 34618 30918 DB does not exist Read request 8745 ...

Page 146: ... 884 516 Table 6 14 Memory mapping of the blocks and of the user data block AW DB FM353_354 library No Block Block in bytes Loading buffer MC7 code in bytes Local data in bytes 0 POS_INIT 250 142 4 1 POS_CTRL 4 966 3 198 34 2 POS_DIAG 310 186 46 3 POS_MSRM 380 242 32 4 AW DB 2 012 576 Processing times for the blocks taking the following example system The specified times are rounded Structure CPU ...

Page 147: ...aud rate 1 5 MB Table 6 16 Processing times for distributed blocks No Block System data transfer Transfer time in the range from to Average transfer time 0 POS_CTRL Control checkback signals 1 1 1 5 ms 1 3 ms 1 POS_CTRL Write request 30 40 ms 35 ms 2 POS_CTRL Read request 10 20 ms 15 ms 3 POS_DIAG Read 2 1 2 7 ms 2 4 ms Several cycles are required to read or write data via the relevant requests Re...

Page 148: ...Programming the Technological Functions 6 68 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 149: ... optimization 7 3 7 3 Testing and optimization 7 7 Overview This Chapter introduces you to the user interface for testing and start up and pro vides check lists for starting up the positioning module The checklists will help you S Check all steps until the module is running S Prevent malfunctions of the module once it is in operation You are guided through start up of the machine axes 7 ...

Page 150: ...on and wiring checklist Step Check What to do OK 1 Slots Plug the module into one of the suitable slots 2 Shielding Check the shielding of the FM 353 positioning module S To ensure proper shielding the module must be screwed down firmly on the rail S The shielding for shielded lines for digital I O modules must be connected to the shielding terminal element S The shielding for the setpoint cable s...

Page 151: ...splay appears in the Parameterize FM 353 tool Fig 7 1 Overview display for parameterization and start up You can return to this display at any point during parameterization by selecting the menu View Overview As it is written to the FM 353 the DB MD is checked for the input limits of the indi vidual values and their interdependencies It is then stored only if all values are allowed Otherwise data ...

Page 152: ...tended for changes during startup and serves to optimize FM 353 response for the technological process of positioning The values in Table 7 3 are recommended and sometimes necessary as initial settings Initial machine data assignments for FM STEPDRIVE To help you start up your machine axis with FM STEPDRIVE and the SIMOSTEP motors you will find the MD DBs for open loop control mode in the director...

Page 153: ...o download the parameters without a programming device PC Note The measurement system MD7 must match the measurement system specified in the other DBs The measurement system raster MSR is the smallest distance unit in the active system of measurement If at some point you have failed to take this precaution 1 Delete all data blocks which do not match the measurement system or clear the memory of th...

Page 154: ...value for acceleration switchover from operating characteristic curve see Section 7 3 2 41 Maximum frequency from drive configuration 42 43 44 45 Acceleration values for powerup and braking from operating characteristic curve see Section 7 3 2 46 100 Minimum idle time between two positioning cycles 47 100 Minimum traversing time at constant frequency 48 100 Boost duration absolute 49 100 Boost dur...

Page 155: ...eir traversing programs and view and debug them during execution There are two ways of operating the FM S CPU is in STOP test without user program S CPU is in RUN test with user program You can monitor the interface between the FM and the user program You can also control the program from the start up user interface when control signal TFB TEST_EN is enabled in the user program This interface is i...

Page 156: ...atus field e g actual values checkback signals 3 Field for mode specific inputs 4 Field for input of values settings commands and start stop for movement 1 2 3 4 The abbreviations for the checkback signals are described in Table 9 2 Fig 7 2 Startup interface e g for Reference point approach mode ...

Page 157: ... the following button you will get dialog windows S set actual value S set actual value on the fly S set reference point S zero offset Warning If you move the axis directly without simulation for safety s sake make sure you can switch off the hardware if a hazard arises Note If you use the start up user interface to operate the FM 353 when the CPU is in STOP and then switch the CPU to RUN and then...

Page 158: ...tioning Module 6ES7 353 1AH01 8BG0 You can also call up the following screens The following display appears when you select Test Alarms Fig 7 3 Troubleshooting The following display appears when you select Test Service data Fig 7 4 Service data ...

Page 159: ...Starting up 7 11 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 The following display appears when you select Test Trace Fig 7 5 Trace ...

Page 160: ...erating characteristic curves of the stepper motor See Section 7 3 2 7 14 3 Basic startup of stepper motor control See Section 7 3 3 7 18 4 Optimization of dynamic response See Section 7 3 4 7 21 5 Readjustment of reference point coordinates See Section 7 3 5 7 24 6 Activation of stepper motor diagnostics See Section 7 3 6 7 25 7 Activation of software limit switches and back lash compensation See...

Page 161: ...e DB MD is error free put the new or modified data into effect by means of the Acti vate machine data function provided that an operating mode is active parameter izing tool Start up display The following approaches are possible S If only E data has been modified in the machine data record since the last ac tivation the equipment is activated with module status Operation in progress 0 without inte...

Page 162: ...ositec Berger Lahr title translated Formulas Computations for optimal stepper motor adjust ment TN available in English If so what is exact English title provided by the stepper drive manufacturers You can obtain optimal configuration of the speed profile for traversing movement when the speed timing diagram as shown in Figure 9 7 is well defined You can determine the parameters for the speed prof...

Page 163: ...lution JLoad n f Hz 10 100 f1 f0 1 000 feg 10 000 12 120 1 200 n 1 min 1 min 3 0 Fig 7 6 Operating characteristic curve of the stepper motor When you evaluate this example characteristic in accordance with the algorithm in Figure 7 7 you determine the following machine data MD39 100 Hz Start stop frequency MD40 3 000 Hz Frequency value feg MD42 218 000 Hz s Acceleration 1 f feg MD43 109 000 Hz s A...

Page 164: ...r friction torque factors may provide a moment which deviates from the acceleration case MD45 must be either be calculated along the lines of the formula used to calculate MD43 or some technologically desirable value must to be verified Enter MD45 0 Should values for acceleration and delay be identical within the range f feg Yes No Equate acceleration element for all f fmax Mb1 Mb2 Enter MD40 MD41...

Page 165: ...ration capability is realized from the mo ment curve only within the lower rpm range of the motor e g Mb1 3 4 Nm 0 6 Nm 2 8 Nm Mb2 unchanged The following adjustments should be made electrical connection MD37 activation of the function MD48 49 for monitoring of boost duration see Section 7 3 6 S In case your stepper drive features the Current control through PWM function you can reduce the power l...

Page 166: ...r motor will traverse as a matter of course in response to actuation by the FM 353 A se cond test should be conducted to verify positioning accuracy Always activate MD changes using Activate MD Note Always activate MD changes using Activate machine data Caution Prior to triggering any traversing movements check to make sure there is clear ance for axis movement in the desired direction of travel B...

Page 167: ...us or minus direction execute several times make sure travel area is clear Axis movement completed Stepper drive active Motor torque present Select BA jogging Speed level 1 Check drive Check MD MD 37 0 RFG MD 37 16 to MD 37 19 No Yes No Direction correct No Check MD MD 39 MD 37 17 MD 37 19 Check MD MD37 9 inverted Yes No Yes Restart test sequence Start axis Plus or minus direction execute several ...

Page 168: ...ental Increment 254 OVER 10 Plus or minus direction make sure travel area is clear Depending on traversing speed of test move ment select any travel distance increment which is great enough to ensure that the set speed is reached within the speed profile of the test move ment Preliminary computation or evaluation of the frequency display in the service data Yes No Repeat basic startup see Figure 7...

Page 169: ... control module the FM 353 must be subordinated to these factors as they bear on parameterization Following completion of basic startup as described in Section 7 3 3 optimization of parameterization should now be carried out geared to these factors as well as to the technology Different requirements are imposed on the axis dynamic response for different technological applications Criteria for eval...

Page 170: ...y amount to a few ms However should the axis machinery have a tendency to vibrate they can be used e g in the case of seamless transition between acceleration and delay e g when traversing short distances in order to prevent the resultant doubling of accelera tion jump or to permit the vibration which is induced at this discontinuous location to die out by adding a constant travel time Table 7 5 E...

Page 171: ...e speed that is most significant for your technology Use the following procedure to trigger test movements on the axis to be optimized Set Servo enable ON Set Speed level 1 0 1 Vmax Speed level 2 0 5 Vmax Select BA jogging Speed level 2 OVER various values Start axis Yes No Additional testing desired Evaluation of axis behavior Plus or minus direction make sure travel area is clear END Uniformity ...

Page 172: ...range make a corresponding adjustment in the relative position allocation between the zero pulse encoder or the stepper motor and the reference point switch Example Positive search direction SYNI Switch readjustment displayed 40 MD11 12 suitable for high reducing speeds RPS Zero pulse MD11 12 Set the referencing velocity to the highest value compatible with your require ments It is important for i...

Page 173: ...lative in the event that time for the active phase s of the Boost signal is exceeded Once parameterization is completed check the diagnostics function for efficacy using a suitable test program with which particularly large proportions of accelera tion and braking phases occur during execution Rotation monitoring Activation is accomplished by way of the Rotation monitoring single setting func tion...

Page 174: ...ftware limit switches the input limits 109 and 109 MSR must be entered in MD21 MD22 for default values see Table 5 4 Backlash compensation Due to play in the mechanical transmission elements position deviation of the ma chine component to be positioned e g lathe slide may occur when a stepper mo tor is used for positioning Normally some travel distance turns up missing follow ing a direction rever...

Page 175: ...tivate machine data Set Velocity level 1 0 1 vmax Velocity level 2 0 5 vmax Select BA relative incremental Increment 3 OVER 10 Direction per MD31 Measurement device e g dial gauge or laser measurement device Start axis Direction opposite MD31 Additional testing desired for check ing or for averaging Additional testing at another location desired for averaging Select BA jogging Speed level 2 OVER 1...

Page 176: ...n occur The positioning time is not reduced or remains unchanged but the positioning can last longer by several FM cycles The possibility of mispositioning should not be excluded in conjunction with the causes for this behavior even though such error messages had not been reported by now In the present software version the functioning principle of the FM 353 can be switched to the Optimized motion...

Page 177: ... control and monitoring of the FM 353 a control panel can be con nected to the CPU via the MPI interface see Figure 1 2 The FM can service no more than three nodes simultaneously The module uses the SIMATIC interface backplane bus to communicate with the control panel Configured operator control screens User data user data block technology func tions see Section 6 CPU 314 in data blocks S Machine ...

Page 178: ...signals in the data blocks S Machine data DB No 1210 S Increment sizes DB No 1230 S Tool offset data DB No 1220 S Traversing programs DB No 1001 1199 What can I monitor on the FM 353 The following data and signals can be displayed on the operator panel display S Machine data DB No 1210 S Increment sizes DB No 1230 S Tool offset data DB No 1220 S Traversing programs DB No 1001 1199 S Status message...

Page 179: ... renamed to a text of your choice You can print out the entire configuration using ProTool Lite This provides you with detailed graphics descriptions You will find the preconfigured user interfaces op07_353 pdb and op17_353 pdb in the following directory STEP7 directory EXAMPLES FM353 zEn13_02_FM353_OP_EX DB SS This data block for status messages DB 1000 contains the control checkback signals as w...

Page 180: ...ons and single commands are set in the user data block via the OP they are immediately transferred to the FM by the POS_CTRL block The signals written in Operator Control and Monitoring requests to transfer the data with Write as per Table 8 3 must be evaluated accordingly by the user pro gram taking into account any user specific interlocks before setting the Write or Read requests ...

Page 181: ...Axis PIC722 MD no Value Read Set active PIC711 Teach In Pr no X 1000000 000 mm set PIC712 F level 1 F level 2 Selection stage Control SMR MDI PIC7124 G X F set PIC7123 SM free SM no Free SM PIC7122 Fre level1 Fre level2 Selection stage PIC713 120 N 100 UP Z 10 X 1000000 000 mm Selection PIC7132 Direction SAvor SArü set PIC714 Set Actual value Value X 1000000 000 mm NPVer IWset IWrü PIC7141 Zero po...

Page 182: ...creen PIC73 K6 Note The screens of the user interface see Figure 8 2 and description of each screen Table 8 1 contain display fields and input output fields These fields contain values of configured variables S The display fields are addressed to the DB SS Control 2 DB1000 and are read directly from the FM 353 S The input output fields are addressed to the user DB No 1 Control 1 CPU Transmission o...

Page 183: ...hows you the diagnostic interrupts and error messages for the FM 353 in four lower level screens The following are dis played S Error class and error number for operator control and guidance errors S The bit numbers of the single diagnostic interrupt bytes You can use the soft keys Quit and Res to acknowledge the errors See Chapter 11 3 for diagnostic interrupts and error messages User screens PIC...

Page 184: ...it is not set the field will be blank The other fields are text entry fields in which you can toggle between x and You can use the soft keys and to change between the inset screens of this screen Set data for the Control operating mode PIC7122 This illustration contains input output fields for the frequency levels or a text field for frequency level selection Selection 1 or 2 possible Set data for...

Page 185: ...the user DB S Soft key SAvor You can also use this soft key automatic block search forward or SArü automatic block search backward to set the corresponding bits in the user DB S Soft key set you can use this soft key to set a memory bit in the user DB Teach In PIC711 This screen contains input output fields You can use the soft key set to set a bit in the user DB The actual value display X is a di...

Page 186: ...PIC77 SK1 Group signal SK2 Alarms Startup SK1 Startup settings SK3 Machine data Mode selection MDI block input Auto main screen SK1 Current block SK2 Foll block SK4 Program selection SK5 Teach In Parameters Free PIC Z_MESS_EVENT PIC772 PIC76 PIC763 PIC761 PIC75 PIC74 PIC741 PIC73 PIC731 PIC732 PIC734 PIC735 PIC72 PIC71 Free later FM selection presently for user screens Global function keys K2 K3 K...

Page 187: ...election F1 to F8 local soft keys F8 K1 K2 K3 K4 K5 K6 F1 Note The screens of the user interface see Figure 8 3 and description of the individual screens contain display fields and input output fields These fields contain values of configured variables S The display fields are addressed to the DB SS Control 2 DB1000 and are read directly from the FM 353 S The input output fields are addressed to u...

Page 188: ...creens Para Autom MDI BA_An IBN Diag Anwen FM 353 Fig 8 5 Main screen PIC7 This screen is displayed to you after the OP 17 is enabled The FM353 values are display values The soft keys F1 F8 are used to request the continuation screens The first and last soft keys User are kept free for the user to insert his her own screens e g including additional FMs FM 353 Tipp Steu Refpk SMR MDI AutoE Autom Fr...

Page 189: ...l value for you You can enter the values for Teach In FM 353 MDIfl set Fig 8 8 MDI block entry PIC74 The fields identified by an X are text fields and can be toggled back and forth be tween X and You can enter the values of the MDI block FM 353 MDI set Fig 8 9 MDI block on the fly PIC741 Handling of the MDI block on the fly corresponds to that of the MDI block ...

Page 190: ...art program overview P sel and PIC737 Part program Edit P ed you can select programs and read write traversing program blocks FM 353 SAvor SArü set Fig 8 11 Program selection PIC734 This screen features input output fields It is upward and downward selectable FM 353 folgSA Fig 8 12 Current block PIC731 This screen contains only display fields FM 353 aktSA Fig 8 13 Continuation block PIC732 This sc...

Page 191: ...are display fields FM 353 Einst MD Frequency output value Switch readjustment in ref Diff betw act and setpoint pos Pulse output counter Hz Fig 8 15 Startup PIC76 The FM 353 values service data are display values FM 353 Fig 8 16 Startup settings PIC761 The fields in which an X is entered are display fields FM 353 lesen aktiv set Fig 8 17 Machine data PIC763 Value input is password protected ...

Page 192: ...18 Diagnostic error message PIC77 This screen displays the FM 353 errors The fields are display fields FM 353 Meld Fehler Res Fig 8 19 Interrupt messages PIC772 This screen displays the FM 353 errors The fields are display fields The screen PICZ_MESS_EVENT contains factory supplied default ProTool Lite screens for the OP17 ...

Page 193: ...2 1 37 3 1 498 3 1 SK SAvor SK SArü SK set Transfer Block advance to the FM Transfer Block return to the FM Transfer data for Program selection from the user DB to the FM 39 5 7132 734 498 4 1 SK set Transfer data for Teach in from the user DB to the FM 39 7 711 735 498 2 1 SK set Transfer data for MDI block entry from the user DB to the FM 38 3 7124 74 499 0 1 SK set Transfer data for MDI block o...

Page 194: ...s TF Delete distance to go To change Disable software limit switch trans fer yes no to the FM Transfer Restart axis to the FM Transfer Delete distance to go to the FM 723 723 761 498 1 1 37 0 1 498 0 1 SK read SK active SK set Read MD No from the user DB retrieve its value from the FM and enter that value in the user DB Transfer Activate MD to the FM Transfer MD No and its value from the user DB t...

Page 195: ...BOOL Single commands Activate machine data Delete distance to go Automatic block advance Automatic block return Restart Undo set actual value Internal Write re quest DBD140 DINT Zero offset DBX39 1 DBD144 DINT Set actual value DBX38 7 DBD156 DWORD Setpoint for incremental dimension DBX38 2 DBD160 DWORD Speed level 1 DBX38 0 DBD164 DWORD Speed level 2 DBD168 DWORD Frequency level 1 DBX38 1 DBD172 D...

Page 196: ... Byte 4 5 30 8 x BOOL Checkback signals Byte 0 31 8 x BOOL Checkback signals Byte 1 32 BYTE Checkback signals Byte 2 33 8 x BOOL Checkback signals Byte 3 34 BYTE Checkback signals Byte 4 35 8 x BOOL Checkback signals Byte 5 36 12 x BYTE Reserved 48 DWORD Velocity level 1 52 DWORD Velocity level 2 56 DWORD Frequency level 1 60 DWORD Frequency level 2 64 DWORD Setpoint for incremental value 68 STRUC...

Page 197: ...ting data 176 DINT Rotational speed rotary axis Basic operating data 180 DINT Free 184 DINT Free 188 STRUCT NC block struc Active NC block 208 STRUCT NC block struc Next NC block 228 DINT Code application 1 Application data 232 DINT Code application 2 Application data 236 DINT Code application 3 Application data 240 DINT Code application 4 Application data 244 DINT Actual position on leading edge ...

Page 198: ...32 332 1 8 x BOOL BOOL Status messages 1 S Velocity limitation to limit value from MD Additional operating data 333 333 0 333 1 333 3 8 x BOOL BOOL BOOL BOOL Status messages 2 S Start Stop frequency S Frequency value f accel switching S Acceleration delay value is limited 334 2 x BYTE Free 336 4 x 8 x BOOL Diagnostics system specific 340 4 x BYTE Diagnostics channel specific Identifier 344 2 x 8 x...

Page 199: ...BL SFG 32 BAR 33 PEH FIWS SRFG FR FR ME SYN 34 MNR 35 AMF The following table describes the control and checkback signals in German and En glish Table 8 5 Control and checkback signals German English Description Control signals TFB TEST_EN Switch P bus interface to Start up BFQ FSQ OT_ERR_A Acknowledge operator and traversing errors ST START Start STP STOP Stop R DIR_M Negative direction R DIR_P P...

Page 200: ...eckback signals TFGS TST_STAT Switching of P bus interface completed BF FS OT_ERR Operator traversing errors DF DATA_ERR Data error PARA PARA Channel initialized SFG ST_ENBLD Start Enable BL WORKING Execution in progress WFG WAIT_EI Waiting for external Enable T L DT_RUN Dwell time running PBR PR_BACK Reverse program scanning BAR MODE_OUT Active mode SYN SYNC Channel synchronized ME MSR_DONE Measu...

Page 201: ...f measurement 9 59 9 5 Axis type 9 60 9 6 Determining the position 9 63 9 7 Stepper motor control system 9 66 9 8 Digital inputs outputs Read request in the user DB DBX43 4 9 77 9 9 Software limit switches 9 80 9 10 Process interrupts 9 81 Overview This chapter describes the functions of the FM 353 You can activate these functions via the user program by calling the appropriate standard function b...

Page 202: ...le and transfers the checkback signals from the module to the user DB Bit Byte 7 6 5 4 3 2 1 0 Control signals 14 BFQ FSQ TFB 15 AF SA EFG QMF R R STP ST 16 BA 17 BP 18 OVERR 19 Checkback signals 22 PARA DF BF FS TFGS 23 PBR T L WFG BL SFG 24 BAR 25 PEH FIWS SRFG FR FR ME SYN 26 MNR 27 AMF 28 29 ACT POS 1 30 ACT_POS 1 31 1 With FM firmware version V3 8 in conjunction with the blocks of the FM353_3...

Page 203: ...ing and Control modes moves axis in negative direction level dependent S Starts movement in negative direction in Incremental relative and Reference point approach modes S Specifies direction of movement for rotary axes in MDI and Auto matic modes DIR_P R Direc tion plus moves axis in positive direction S In Jogging and Control modes moves axis in positive direction level dependent S Starts moveme...

Page 204: ...able etc the relevant error response is initi ated e g the distance to go is deleted BL 0 a new path must be specified MODE_IN BA Operat ing mode Operating mode see Section 9 2 Code Jogging 01 Open loop control 02 Reference point approach 03 Incremental relative 04 MDI 06 Automatic 08 Automatic single block 09 MODE_ TYPE BP Mode parame ter selects speed levels in Jogging mode selects frequency lev...

Page 205: ...ffected only after the axis comes to a stop e g reversal of direction vact vprog Override 100 aact a Override2 1002 tact t 100 Override speed v is cut in half acceleration and deceleration are quartered Cut override in Start Stop frequency Positioning time is doubled Example Cut override in half from 100 to 50 100 t vact vprog 50 v fss S Time override If you parameterize the time override function...

Page 206: ...is reported to the user when a data error occurs see Section 11 PARA PARA Parameterize module parameterized All machine data applicable for control of an axis are present on the module ST_ENBLD SFG Start enable signals that the FM 353 is ready for positioning and output S Start enable is set if no static stop or error is pending and the drive enable is pending if the mode setting and mode checkbac...

Page 207: ...T_EI WFG Wait for ex ternal enable takes effect only if a digital input has been parameterized by means of MD34 see Section 9 8 1 Set if the enable input has not yet been set or has been reset when a movement has been activated DT_RUN T L Dwell time in progress only active in Automatic and MDI mode As soon as a traversing block with a dwell time has been pro cessed T L is output during the program...

Page 208: ...of the acceleration phase and remains active until the axis comes to a standstill or the POS_ROD target area has been reached ST_SERVO SRFG Servo enable status S Feedback of servo enable status after single function has been activated S See also Section 9 3 2 Servo enable S See also Section 11 1 error reaction Everything OFF FVAL_ DONE FIWS Set actual value on the fly complete set Actual value on ...

Page 209: ...uding reference point shift MDI Incremental relative If the preset position has been reached Automatic If a traversing block has been positioned in full and the axis remains motionless until the next traversing movement S It is not set if no synchronization is available yet ACT_POS ACT_ POS Actual posi tion The firmware version V3 8 of the FM 353 positioning module in conjunction with the blocks o...

Page 210: ...G FR FR WFG SYN PEH Servo Enable User DB DBX34 0 Incremental relative 04 R R STP AF OVERR BP 1 100 for increment table or 254 BL SFG FR FR WFG SYN PEH Speed levels 1 2 user DB DBX38 0 Servo Enable user DB DBX34 0 Setpoint for incremen tal dimension user DB DBX34 2 only if BP 254 if BP is 1 to 100 the relevant incremental dimensions must be parameterized MDI 06 ST STP AF QMF OVERR BL SFG FR FR WFG ...

Page 211: ...ta e g speed levels must be transferred and the override must be 0 S It is only possible to start the movement when the start enable is set and the enable input is set if parameterized Enable Start is set if No error occurred Mode is active No Stop is called Drive enable is set S A static Stop signal prevents all movements or block processing S Response of the FM 353 to transition of the S7 300 CP...

Page 212: ...ference point ap proach mode 03 Start R R Edge Direction as in MD R or R 0 1 or Start 0 1 speed as in MD Incremental relative mode 04 BP 1 100 BP 254 R R Edge R 0 1 or R 0 1 speed level 1 MDI mode 06 Start Edge Start 0 1 R R relevant only for rotary axis with absolute measure specified for direction selection Automatic mode 08 Start Edge Start 0 1 according to program preset ting Automatic single ...

Page 213: ...ble input1 0 Drive enable 02 Incremental relative mode 04 Stop 1 or Enable input1 0 Stop 0 or Enable input1 1 with R or R Position reached or mode change Drive enable 02 MDI mode 06 Stop 1 or Enable input1 0 Stop 0 or Enable input1 1 with Start 0 1 Position reached or block pro cessed or mode change Drive enable 02 Automatic mode 08 Stop 1 or Enable input1 0 Stop 0 or Enable input1 1 with Start 0 ...

Page 214: ...ser data block is called to transfer the operating mode code to the FM 353 The axis is controlled by enabling and disabling appropriate control signals Checkback signal for mode When the specification is allowed the FM 353 feeds back the specified mode to the user program If this checkback mode matches the specified one the mode is active Changing modes Changing modes triggers an internal stop If ...

Page 215: ...hanged during the movement Name Lower input limit Upper input limit Unit Speed 10 500 000 000 MSR min MSR stands for measurement system raster see Section 5 3 1 Handling by the user The table below gives you an overview of how to handle this mode Triggering of movement Direc tion R Ievel selection Speed R or R BP 1 Value for speed level 1 R or R level controlled BP 2 Value for speed level 2 Note P...

Page 216: ...action 3 deactivate axis positive direction Control signal Direction plus R Checkback signals Travel plus FR Start enable SFG Processing in progress BL R is canceled When the axis has come to a standstill the BL and FR messages are canceled and SFG is activated Before the axis comes to a standstill it is possible to define a new direction through start Control action 4 move axis negative direction...

Page 217: ...ated again and a new direction command can be initiated Control action 7 cancel drive enable special situation Control signal Drive enable AF Checkback signals Travel minus FR Processing in progr BL AF is deactivated during the traversing movement The axis is stopped immediately FR and BL are canceled Control action 8 reset during axis motion special situation Single command Restart DBX37 5 Checkb...

Page 218: ...and reinstated after the axis comes to a stop if the servo controller enable is still active when the axis stops Frequency values The frequency is specified in the user DB DBX38 1 You can choose between two mutually independent frequency levels level 1 and level 2 with the mode parameter BP Name Lower input limit Upper input limit Unit Frequency 0 200 000 Hz The values of the frequency levels can ...

Page 219: ...nal to right of reference point switch 1 direction current sourcing pattern zero zero pulse external to left of reference point switch 2 direction current sourcing pattern zero zero pulse external to right of reference point switch 3 direction current sourcing pattern zero zero pulse external to left of reference point switch 4 direction reference point switch center 5 direction reference point sw...

Page 220: ... sourcing pattern zero or zero pulse exter nal to right of RPS RPS VA VR Ref pt 2nd situation Current sourcing pattern zero or zero pulse exter nal to left of RPS VA V R RPS R edge con trolled or Start 3rd situation RPS centered no zero pulse necessary RPS VA V R 4th situation RPS edge no zero pulse necessary RPS VA V R 1st situation see above equals R 2nd situation mirrored 2nd situation see abov...

Page 221: ...ulse external NIX RPS VR NIX Center Using a reversing switch If it is possible for the axis to be behind the reference point switch when you start reference point approach a reversing switch can be installed at the end of the axis in the approach direction in order to reverse the axis in the direction of the refer ence point switch On axis movements with referencing feed a signal length of t 2 FM ...

Page 222: ...trol signal in the user DB DBX15 7 S Stop STP 0 control signal in the user DB DBX15 1 S Servo Enable RF is 1 user DB DBX34 0 Table 9 4 Control actions for Reference point approach mode examples Signal name Level Explanation Control action 1 enable Reference point approach mode Control signal Mode BA Checkback signals Active mode BAR Start enable SFG The user initiates a BA command The module retur...

Page 223: ...et BL is also removed SFG is set Control action 5 ambiguous direction command special situation Control signals Direction plus R Direction minus R Checkback signals Travel minus FR Processing in progress BL Control signals Direction plus R Direction minus R Checkback signal Start enable SFG R is defined although R is active The ambiguous direction command causes the axis to stop FR and BL are canc...

Page 224: ...osition changes e g changing of the position setpoint during the course of a movement is not possible Handling by the user The table below gives you an overview of how to handle this mode Triggering of movement Direc tion R Increment selection Position Distance to be traveled R or R BP 254 in accordance with the setpoint for incremental dimension user DB DBX38 2 BP 1 100 as in SM table DB SM Posit...

Page 225: ...Level Explanation Control action 1 enable Incremental relative mode Control signal Mode BA Checkback signals Active mode BAR Start enable SFG The user initiates a BA command The module returns BAR and SFG Control action 2 define position Transfer incremental di mension DBX38 2 Select increment 254 Control signal Direction plus R Checkback signals e g Travel plus FR Start enable SFG Processing in p...

Page 226: ...ion 4 error during traversing movement Checkback signals Travel plus FR Processing in progress BL Control signal Acknowledge operator travel error BFQ FSQ Checkback signals Start enable SFG Control signal Direction plus R Checkback signals Travel plus FR Processing in progress BL The axis moves An error is output during the traversing movement FR and BL are canceled and BFQ FSQ is en abled When th...

Page 227: ...nally The feedrate is override dependent The MDI block remains in effect until it is overwritten with a new MDI block A new block can be transmitted while another block is being processed Table 9 6 MDI block see Chapter 10 for command structure Name Lower input limit Upper input limit Unit Position X Dwell time t 1 000 000 000 2 1 000 000 000 100 000 MSR from MD7 ms Speed F 10 500 000 000 MSR from...

Page 228: ... PEH 1 Block structure The following table shows the block structure of the MDI block X t Position dwell time programmed fills in value 1 G1 G2 G function group 1 2 M1 M3 M function group 1 3 F Speed programmed fills in value 2 Example1 Byte Data format Bit 7 6 5 4 3 2 1 0 0 0 Byte 0 0 1 Byte 0 Bits 0 1 4 set 2 8 x bits 0 0 0 X t 0 0 G2 G1 Bit 0 set 3 8 x bits 0 0 0 0 M3 M2 M1 F 90 4 Byte G functi...

Page 229: ...ed S Drive Enable AF is 1 control signal in user DB DBX15 7 S Stop STP is 0 control signal in user DB DBX15 1 S Servo Enable RF is 1 user DB DBX34 0 S Axis is synchronized Table 9 7 Control actions for MDI mode examples Signal name Level Explanation Control action 1 define position Transfer MDI block DBX38 3 Control signal Start ST Checkback signals e g Travel plus FR Start enable SFG Processing i...

Page 230: ... SFG is activated BL remains active and PEH is not output since positioning is not complete If ST is initiated again FR and SFG are reset and positioning is completed Before the axis comes to a standstill it is possible to define a new direction through start Control action 4 stop during positioning with new start signal and new MDI block Control signal Stop STP Checkback signals Travel plus FR St...

Page 231: ...am pre selection of the program is canceled You must then select the program again A modification can be made to a program when BL 0 start of program end of pro gram and on Stop Triggering f Select program Type of movement di t d bl k of move ment Block No Processing direction according to programmed blocks Start 0 0 e g 30 e g 30 forward reverse forward reverse Start at beginning of program proce...

Page 232: ...ized Backward processing The program processes the block numbers in descending order Processing begins at Start with the last block specified block number 0 If processing is to begin at some other point of the traversing program specify the desired block number Processing will take place by searching back to this block then processing in reverse until the program beginning is recognized Note If re...

Page 233: ...rating mode change you can continue execution from this point of interruption in the appropriate direction of processing With forward block search the interrupted program must previously have been go ing in the forward direction With block search in reverse the interrupted program must previously have been going in the reverse direction The command for automatic forward or reverse block search is ...

Page 234: ...ST when EFG is active Processing commences e g with a positioning opera tion FR or FR and BL are activated SFG is reset Control action 3 M function output Checkback signals Change M function AMF M function number MNR Control signal Acknowledge M function QMF 2nd M command If M function output is acknowledgement driven for example the user program can continue to process the MNR when AMF appears M ...

Page 235: ... in enable special situation Control signal Read in enable EFG Checkback signals Travel plus FR or Travel minus FR Position reached stop PEH The program resumes on EFG FR and FR are reset PEH is reset Control action 8 stop during positioning with new start signal for resumed positioning special situation Control signals Stop STP Start ST Checkback signals Position reached stop PEH Travel plus FR S...

Page 236: ...ng This direction preference can be suppressed by speci fying R or R Control action 12 deactivate operating mode during program execution special situation Control signal Mode BA Checkback signals Old mode BAR Travel plus FR or Travel minus FR Processing in progress BL New mode BAR If a new operating mode is selected during active pro gram execution the axis is stopped FR or FR and BL are reset 9 ...

Page 237: ...ctual value on the fly Write request in the user DB DBX39 0 page 9 49 S Request application data Write request in the user DB DBX39 6 page 9 50 S Teach in Write request in the user DB DBX39 7 page 9 51 S Set reference point Write request in the user DB DBX38 6 page 9 51 S Measured values page 9 52 S Basic operating data Read request in the user DB DBX42 0 page 9 55 S Active NC block Read request i...

Page 238: ...Symbol Description 196 Byte DB type type 1 MD 2 SM 3 TO 4 NC travers ing program 197 Byte Number Info 1 MD No 5 45 SM No 1 100 TO No 1 20 Progr No 1 199 198 Byte Number Info 2 Number of MDs con secutive 1 5 Number of SMs con secutive 1 5 0 Tool offset complete 1 Tool length only 2 Wear value abs only 3 Wear value add only Block No 1 255 199 Byte Job 1 Read job parameters 2 Write parameters 4 Write...

Page 239: ...tarted in Incremental relative mode If this is not the case the error message incremental dimensions do not exist is output Cl 2 No 13 S Tool offset data Modifications can be made in all operating modes and during movement If modifications are made during starting or at block transitions when the tool compensation is active internal access to offset values the error message tool offset value does ...

Page 240: ...ype 1 Data array 0 2 Set Write request user DB DBX39 3 3 Following termination of the Write request one cycle later read out the block by setting the Read request user DB DBX43 3 4 Save the data read out from DBB 446 to 469 of the user DB in DBB196 to 219 5 Enter the actual value in data array DBB208 to 211 in the user DB data type DINT 6 Enter the velocity in DBB212 to 215 of the user DB data typ...

Page 241: ...elete reprogram cycles 64 000 106 typical Block size in bytes in which param eter data are modified Block sizes DB machine data 284 bytes DB increments 468 bytes DB tool offset data 308 bytes DB traversing programs 108 20 x no of traversing blocks bytes Example Assuming a service life of 10 years and 24 hour operation a typical limit 106 Parameteriza tion data DB size Number of possible delete rep...

Page 242: ...on can be executed at a time In double activations both functions are switched to inactive An error message is issued For function description see Section 9 3 10 Retrigger reference point A precondition for retrigger reference point is that the axis has been synchronized by reference point approach With this setting the axis resynchronizes upon overrunning the synchronization point when the direct...

Page 243: ...chronizing zero pulse migrates to an adjacent zero pulse Switch off enable input With the switch off enable input function you can switch off evaluation of the en able input see Section 9 8 1 Deactivate end position monitoring You can use this function to deactivate monitoring of the software limit switches see Section 9 9 It can be switched on or off only if Processing in progress 0 Rotation moni...

Page 244: ...n if you are going to simulate sequences that use such signals they should be connected to the inputs of the FM 353 e g for Reference Point Approach S The servo simulates a controlled system Controller Ready is not necessary S The setting can be switched on or off if Processing in progress 0 S All internal function sequences behave as in normal operation When the function is deactivated the axis i...

Page 245: ... FM operating condition is maintained For machine data see Section 5 3 1 This command is possible only when the axis is not in motion Processing in prog ress 0 An operating mode must be selected An MD block is likewise activated by switching on or off Delete residual path You can use this command to delete a residual distance that remains after a job has been canceled S Effective only in Increment...

Page 246: ...tion 9 3 4 Zero offset Write request in the user DB DBX39 1 Function of zero offset A selection change or cancellation of a zero offset takes effect with the next posi tioning action With a zero offset the instantaneous shift of the coordinate system is canceled provided that a zero offset was already active and the specified shift change ZONPVnew ZOold was executed with the first positioning All ...

Page 247: ...arting Reference Point Approach mode S Set reference point S Eliminating axis synchronization e g by a restart Rotary axis The following restriction applies to a rotary axis Zero offset Rotary axis range The actual value is normalized Example Range start Range end 0 360 After shift value 50 Actual value 350 Actual value 40 Range start Range end 0 360 The start and end of the range are shifted 50 E...

Page 248: ...otion after selecting Processing in progress 0 The coordinates of the software limit switches remain unchanged Example of setting actual value Machine axis Working range Start 0 Target pos 120 Working range End 200 Set actual value to 150 Working range End 200 Working range Start 0 Target posi tion 120 Machine axis Actual position 100 Actual position 150 Fig 9 2 Set actual value The coordinates ca...

Page 249: ...nates new actual value set actual value on the fly is activated However the Set Actual Value function is not triggered via the appropriate digital input until Processing in progress 1 Set actual value on the fly can be activated again by transmitting Set actual value on the fly again The coordinates can be reset to their original value by S Including synchronization in Reference Point Approach mod...

Page 250: ...quest 1 Actual position 2 Actual speed 3 Residual distance 4 Set position 5 Total current coordinate shift 6 Rotational speed 16 Frequency output value 17 Pulse output counter 0 216 1 pulse 20 Difference between target and actual position MSR 22 Switch adjustment in Reference point approach mode The code should be entered in CODE_AP1 AP4 These values are always updated in the FM cycle The selectio...

Page 251: ...is is not in motion The program and the appropriate program block must be present on the FM 353 see Parameterization Chapter 5 9 3 9 Set reference point Write request in the user DB DBX38 6 Overview You can use this function to synchronize the axis without reference point approach Function With Set Reference Point a position value at the instantaneous position of the axis indicated as a parameter ...

Page 252: ...measuring Because both functions use the same digital input of the FM 353 only one function can be performed at a time If both functions are activated at the same time both functions are deactivated and an error message is output Function description Measurement functions can be executed in all modes An executed measurement is signaled by the checkback signal ME and optionally also by a process in...

Page 253: ...ger the reference point The measured length constitutes the difference of the edge positions S Set the actual value The measured length constitutes the distance actually traversed S Zero offset The Zero offset function does not change the actual position of the axis and is thus not relevant for evaluations regarding the Length measurement function S Rotary axis The measured length is the path actu...

Page 254: ...avel at the falling edge is opposite to the direction of travel of the previous rising edge Measurement value checkback signals The checkback signal ME see Section 9 1 signals the status of function execu tion as follows ME Inprocess measurement Length measurement 0 S the Length Measurement and Inpro cess Measurement functions are inac tive S with Start after a prior measurement S the Length Measu...

Page 255: ...position for falling touch probe edge in Length Measurement function 3 S the Length Measurement and Inprocess Measurement functions are inactive S always with the Inprocess Measurement function S measured length 0 is actually possible because touch probe has been con nected while axis is stationary Erroneous length mea surement Measured length Nonexistent 9 3 11 Basic operating data Read request i...

Page 256: ...ime programmed fills in value 1 G1 G3 G function group 1 3 D Tool offset value number M1 M3 M function group 1 3 F Speed programmed fills in value 2 Byte Data for Bit Byte Data for mat 7 6 5 4 3 2 1 0 0 Byte NC program number 1 Byte NC block number 2 8 bit L P X t 0 G3 G2 G1 3 8 bit 0 0 0 D M3 M2 M1 F 4 Byte G function 1 5 Byte G function 2 6 Byte G function 3 7 Byte 0 8 DINT 32 bit value 1 UP num...

Page 257: ... Read re quest user DB DBX43 6 9 3 14 Actual value block change Read request in the user DB DBX42 3 Overview The actual value block change function is described in Section 10 1 G50 G88 G89 9 3 15 Servicing data Read request in the user DB DBX42 4 Overview The following display data of the measuring circuit are servicing data S Frequency output value Hz S Pulse output counter 0 216 1 pulse S Differ...

Page 258: ...imum frequency MD41 S Status messages 2 data type BOOL When the acceleration or time override is programmed a displayed limitation of the active limitation occurs in the event that the working range of the frequency generator of the FM 353 is violated compare the diagram Working range fre quency generator Figure 5 5 Start Stop frequency is limited MD39 Frequency value for acceleration switchover l...

Page 259: ...l value inputs and all value ranges refer to the setting in the system of measure ment Internal processing of values In Parameterize FM 353 and in the FM 353 itself values are processed in the following base units S 0 001 mm S 0 0001 inch S 0 0001 degree Examples The sample values in the table below illustrate the relation between the system of measurement and internal values System of measurement...

Page 260: ... the FM 353 completely 2 Modify the other data blocks on the PG 3 Reload the data blocks to the FM 353 9 5 Axis type Overview You can select the axis type with machine data item MD8 Choose either of the following types S Linear axis S Rotary axis Linear axis A linear axis moves between two range limits traversing range min 109 max 109 The range limits may be bounded by software limit switches MD21...

Page 261: ...e FM 353 recognizes the end of the rotary axis This value is the theoretical maximum that the actual value can reach At this value display of the actual value switches back to 0 The theoretical maximum however is never displayed because it is physically located in the same position as the start of the rotary axis i e 0 Example The following example in Figure 9 4 illustrates the behavior of the axi...

Page 262: ...from the need to reproduce the actual posi tion accurately over several revolutions when referencing with one periodic zero pulse per motor revolution type of reference point approach 4 See also De pendencies Section 5 3 1 Type of reference point approach MD18 4 MD18 4 Any rotary axis cycle Condition SRA n SSZ n 1 2 3 Examples Rotary axis cycle SRA Stepper motor cycle SSZ Fig 9 5 Restriction for r...

Page 263: ...ernally to form a position value Function parameters The following table shows you how to adapt a stepper motor to the FM 353 MD Designation Value Meaning Comments Unit 11 Distance motor revolution division period 1 1 000 000 000 1 MSR integer component 12 Residual distance motor revolution division period 0 232 1 1 2 32MSR fractional compo nent 13 Increments motor revolu tion division period 21 2...

Page 264: ...ference Point Approach mode S Removed from the synchronization point by the amount of the reference point shift in axes with incremental encoders Reference point offset Difference in distance between the synchronization point and the reference point The reference point shift serves S for numeric adjustment of stepper motor S as a displacement reserve to brake the drive if the synchronization point...

Page 265: ...e MD18 together with the ap proach direction Example Current sourcing pattern zero or zero pulse external RPS Axis direction Synchronization point Cyclical zero mark Measurement grid With reference to the synchronization point the reference point can be located on the side of the lower or the higher position actual values In the reference point approach operating mode the machine axis additionally...

Page 266: ...klash compensation v s f generation f t Phase current control Stepper mo tor control MD30 MD31 MD39 MD47 active inactive high low X2 to the drive X1 Peripherals Enable servo controller MD37 Servo ready Boost PWM Pulse Direction Current sourcing pattern zero or zero pulse external MD21 Software limit switches beginning MD22 Software limits switches end MD30 Backlash compensation MD31 Directional re...

Page 267: ...axis movement takes place This results in positioning errors Reversal play or backlash Spindle A backlash figure entered in the MD30 is calculated with correction by the stepper motor control as a factor of the current traversing direction of the axis The result is an approximate compensation of backlash during positioning In MD31 the backlash free traversing direction of the axis is identified Wh...

Page 268: ...ensation 0 Backlash compensation prior to positioning 1 Backlash compensation during positioning The backlash traversing speed is added to the programmed speed for the traversing job affected by override Note the following carefully S If the interdependencies of the MDs are violated an error is reported with range violation as its cause S Backlash compensation goes into effect prior to reference p...

Page 269: ...s with MD43 Hz sec 46 Minimum idle time between two positioning cycles tst 1 10 000 ms 47 Minimum traversing time at constant frequency tvk 1 10 000 ms 1 see Section 5 3 1 Dependencies Frequency profile In controlling speed special importance is attached to the drive specific require ments regarding the shape of the frequency time function Based on this a discon tinuous traversing movement is init...

Page 270: ...verride f fmax feg fss t f1 f2 f3 N1 N2 N3 f1 Frequency in set N1 Override value 1 f2 Frequency in set N2 Override value 2 f3 Frequency in set N3 Override value 3 Fig 9 8 Frequency profile with G64 or speed override Frequency profile with Stop or G60 f fmax feg fss Stop N1 N2 t tvk tst Fig 9 9 Frequency profile for Stop or G60 ...

Page 271: ...ign direction Output signal Optional signals servo enable servo ready These signals are used to activate the drive The Servo ready signal can be con nected to the FM 353 either via the X2 connector at TTL level or X1 with the 24 V level see Section 4 The active level for both signals can be parameterized MD Designation Value Meaning 37 Special control signals 37 0 Controller enable active 0 Signal...

Page 272: ...ponse Movement status Output signal Boost Output signal PWM Idle inactive pulse duty factor per MD 51 Acceleration delay active static active Constant travel inactive pulse duty factor per MD 50 The following table shows you the available machine data for parameterizing the function MD Designation Value Meaning 37 Special control signals 37 16 Boost active 0 Boost function not used 1 Boost functio...

Page 273: ... crease on the drive unit The amount of the increase is set on the drive unit At zero speed and during continuous travel the current is always 100 IBoost 100 fpulse t t Optional signal Current sourcing zero or Zero pulse external To support stepper motor axis synchronization the FM 353 processes a cyclic in put signal which is dependent on the axis movement as a zero marker see Sec tion 4 4 This s...

Page 274: ...rn from stepper drive Active phase in current sourcing pattern zero of the stepper drive n times per revolution n current sourcing pattern number Current sourcing pat tern external and MD38 MD13 n The following table shows you the available machine data for parameterizing the function MD Designation Value Meaning 37 Special control signals 37 24 Current sourcing pattern zero active 0 Current sourc...

Page 275: ... s front panel connector 3 Parameterization of the external zero pulse MD37 26 4 Use of the current sourcing pattern zero signal is not allowed Activation of rotation monitoring For rotation monitoring single function see Section 9 3 2 Error message The following errors are reported S Error Digital input not parameterized see Troubleshooting Table 11 5 Kl 3 Nr 30 Selecting function without paramet...

Page 276: ...dow also triggers the Rotation monitoring error S Stepper motor rotation without a specified setpoint value likewise triggers a Rotation monitoring error in response to the NIX edges caused by the un wanted rotation This occurs whenever the previous setpoint position falls within the range outside the allowable window for the NIX edges No error is triggered if the previous setpoint position is wit...

Page 277: ...Designation Data type bit array meaning 34 Digital inputs1 I0 I1 I2 I3 0 8 16 24 External start2 1 9 17 25 Enable input 2 10 18 26 External block change 3 11 19 27 Set actual value on the fly 4 12 20 28 Measurement inprocess measurement length measurement2 5 13 21 29 Reference point switch for reference point approach2 6 14 22 30 Reversing switch for reference point approach2 35 Digital outputs1 Q...

Page 278: ...imum signal length at the digital input 2 FM cycle Enable input Setting the enable input is a prerequisite for positioning movement or output of an axis if this is parameterized with MD34 A reset stops the movement external movement enable S In the Jogging and Control modes the movement of the axis proceeds as long as the AND link continues between the control signal R R and the enable input Posit...

Page 279: ...onally output via digital outputs The output assignment is parameterized by way of MD35 Change output M97 and M98 The change M function checkback signal AMF for M functions M97 and M98 can be output as a digital output parameterization MD35 It allows these M functions switching signals to be applied without being delayed by the user cycle time Direct output Outputs Q0 Q3 D_OUT1 D_OUT4 which are de...

Page 280: ... mode At the limit switch the traveling movement is stopped in the limit switch position and an error is signaled Control mode If the actual value is beyond the end position the traveling movement is stopped and an error is signaled The limit switch position is overshot by the amount of the necessary deceleration distance Reference point approach mode No effect Incremental relative MDI Automatic m...

Page 281: ...e inactive 9 10 Process interrupts Overview Process interrupts are interrupts that quickly signal states in the current process to the user program The appropriate setting in the machine data MD5 specifies which signals are to be quickly communicated to the user program Process interrupt generation The process interrupt is generated by way of machine data item MD5 MD Designation Significance 5 Pro...

Page 282: ...Description of Functions 9 82 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 283: ... DIN 66025 Traversing programs Each traversing program is stored under a program number A traversing program consists of not more than 100 traversing blocks The program number and traversing blocks are converted to an internal format see Section 9 3 12 are stored in the appropriate data block and are transferred to the module where they are administered The possible number of programs depends on t...

Page 284: ...lock number 6 7 45 91 46 2 End of program M2 or M30 M1 M2 M3 10 1 Traversing blocks Block structure The following Figure gives you an overview of the structure of traversing blocks Identifier for skipped block N Block number G1 G function of first function group G2 G function of second function group see Table 10 1 G3 G function of third function group X t Position dwell time F Speed M1 M function...

Page 285: ...ch traversing block only one G function may be entered from each G function group The following figure shows an example N G1 G2 G3 X t F M1 M2 M3 D 400 00 100 000 10 90 43 34 10 G functions Table 10 1 lists the possible G functions and the individual G function groups Table 10 1 G functions GNo G Function G Function group 041 Dwell time 87 Turn off measuring system shift for Set Actual Value On th...

Page 286: ... ms Odd input values are rounded upward Dwell times take effect only on a block by block basis If no value is input for G04 in the block the lower input limit applies Block change G60 G64 approach conditions With G60 the exact programmed position is approached and the feed movement is stopped exact stop block change G64 causes the next block to be processed immediately as soon as the point of dece...

Page 287: ...r any subsequent in cremental programming Depending on the situation N20 is processed as follows S If the block position in N20 is less than the actual position at the time when the digital input is received reversal of direction the equipment is stopped so that the position can then be approached in the opposite direction S If no position is programmed in block N20 movement is braked the function...

Page 288: ...ameterized with the Set actual value on the fly function by way of machine data item MD34 Example of set actual value on the fly The following figures show the program structure program flow and actual value curve for an example of Set actual value on the fly N G1 G2 G3 X t F M1 M2 M3 D 400 000 10 90 15 20 25 50 300 400 200 000 400 000 400 000 89 88 90 87 100 Í V t I N10 N15 N20 N25 t Reversal of ...

Page 289: ...s to the shifted coordinate system At the block change from N20 to N25 G87 cancels the shift of the coordinate sys tem and causes reference measure programming to the block position of N25 The saved actual value can be read out with Actual value block change The shift of the coordinate system is maintained until it is canceled by G87 or by a mode change It is possible to use the existing shift of ...

Page 290: ...olute and incremental input The status at startup is reference measure programming G90 G90 and G91 are modal Absolute dimensioning G90 Absolute dimensioning is the method used to specify dimensions that generally refer to the coordinate system 90 20 N G1 G2 G3 X t F M1 M2 M3 D 100 0 10 20 30 40 50 mm Programmed position Actual position Fig 10 1 Reference measure input G90 Note To ensure precise re...

Page 291: ... 1AH01 8BG0 Incremental dimensioning G91 Incremental dimensioning is the method used to specify incremental dimensions that refer to the last actual position 91 30 N G1 G2 G3 X t F M1 M2 M3 D 100 0 10 20 30 40 50 mm Programmed position Actual position Fig 10 2 Incremental input G91 ...

Page 292: ...position 270_ Set position 10 90 315 with direction R specified N G1 G2 G3 X t F M1 M2 M3 D 100 Option 1 Option 2 Fig 10 3 Rotary axis Option 1 With G90 the axis autonomously always takes the shortest path to reach the set position of 45_ going via 0_ to 315_ Option 2 The control signals R or R force the respective direction of the axis in this example 45_ via 180_ to 315_ R or R must already be p...

Page 293: ...the program prevents block change on the fly Consequently G60 response is forced in the preceding block The acceleration override is turned off by S Mode changes S Resetting the axis with a Restart single command S Changing or ending the program Tool compensation G43 G44 Tool compensation allows you to continue using an existing machining program even when the tool dimensions have changed Tool off...

Page 294: ...d wear value Additively by adding an offset value to the current tool length wear value contents Tool new Tool wear a Tool wear b Tool zero DL DVabs DVadd DV ÉÉ É É É Fig 10 4 Tool offset Notes to the figure The tool offset thus consists of the tool length compensation and the tool length wear value D DL DV DV DVabs DVadd D Tool compensation DL Tool length compensation positive or negative DV Tool...

Page 295: ... position value is corrected by Xms Xset D To program a tool offset in the traversing block at least the tool length offset must be input If no correction is to be applied even when the function has been se lected the tool length offset and tool length wear value must be preset to 0 A tool length wear value can be deleted by an absolute input of 0 Position X Positions may be input with a negative ...

Page 296: ... 3 97 98 Change signal programmable as digital output 99 User functions M0 M2 M18 and M30 are always output at the end of the traversing movement M0 M2 M18 and M30 are mutually exclusive within a single block Stop at end of block M0 If M no 0 is programmed in a traversing block the program stops at the end of the traversing block and M0 is output Only a new START edge causes the traversing program...

Page 297: ...ignal programmable as digital output M97 M98 If M97 or M98 is programmed in a block the M function output proceeds via the digital outputs as defined in machine data item MD35 in the same way as the checkback signals Tool offset number D Twenty tool offset numbers D1 D20 are available D0 in conjunction with G43 or G44 causes the tool offset to be switched off The offset values must previously have...

Page 298: ... Change of coordinate systems via G87 G88 G89 For these reasons a distinction can be made between forward processing and re verse processing in terms of both geometry and block transition response 10 3 Block transitions Overview This chapter describes the influence of certain commands on block transitions Exact positioning G60 G60 mode is overlaid with G50 and G88 to G89 force block change on the ...

Page 299: ...ulated for multiple blocks when the G64 function is programmed The number of blocks processed in advance is three When the block changes the feed rate is changed in such a way that a higher speed from a preceding block is never carried over into the next block and a higher speed from a following block never goes into effect while a given block is still traversing its own path This means that accel...

Page 300: ...to the higher traversing speed begins when the set position of N10 is reached 3 N20 is started at a lower traversing speed at the braking point of N15 4 When the traversing direction is changed the axis decelerates to a standstill 5 When the target range is reached the axis accelerates in the opposite direction up to the traversing speed of the new block To be able to approach a position correctly...

Page 301: ...function before or after positioning By M function M0 stop at end of block To continue the program the START control signal must be reset By a block with a dwell time By processing a program in the Automatic Single Block mode Each block must be activated individually By a change in the acceleration override S Functions that themselves prevent block change on the fly M functions during positioning ...

Page 302: ...unction output during positioning N G1 G2 G3 X t F M1 M2 M3 D 100 00 10 10 000 10 90 40 97 5 15 20 60 20 000 30 000 40 000 20 30 V X N5 N10 N15 N20 10 000 20 000 30 000 40 000 10 20 30 40 97 M No 1 Output of M10 is not position dependent since no relevant position for a position dependent M function is present 2 At the block change from N5 to N10 output is prepared The axis the M function does not...

Page 303: ...n Section Header Page 11 1 Error classes and module responses 11 3 11 2 Error messages 11 4 11 3 Error lists 11 9 Overview The FM 353 provides diagnostics for the following S I Os S Module processes This chapter Troubleshooting describes the different types of errors their cause effect and elimination 11 ...

Page 304: ...rors External errors OB 1 OB 82 call SFC 52 POS_CTRL Diagn buffer of the CPU Write diagn interrupt information STEP 7 Info Parameterize FM353 SSL System status list SFC System function DB SS Data block for status signals Internal errors POS_DIAG Other error mes sage Fig 11 1 Overview of diagnostics errors Error evaluation by software The following manuals describe how to include diagnostics capabl...

Page 305: ...can occur due to faulty module connec tion e g parameters for initialization of module MPI station numbers are missing or are incorrect see Section 6 3 4 for diagnostic interrupt data and error list Table 11 4 External channel errors are measurement system errors or errors which can oc cur by connecting the digital outputs or during operation operator control errors of the FM 353 e g cable break i...

Page 306: ... acknowledged with Restart S No new travel jobs possible Feed STOP S Stop movement S Travel job is canceled and terminated S No new travel jobs possible Warning S Message only S Movement and control of axes not affected 11 2 Error messages Introduction The following approaches to error localization are available for the FM 353 S Error display by LEDs S Error messages to the system and to the user ...

Page 307: ...ardware is ready for operation If not illuminated this may indicate one of the following condi tions S Your line voltage is not OK S Load current supply is faulty S Module is incorrectly connected S Your control circuit is configured incorrectly sum of rated and starting currents is too great or S The module is faulty DIAG yellow LED ON LED blinking Diagnostics This LED indicates the various diagn...

Page 308: ...Bit No 0 2 0 3 LED SF and DIAG y Group error byte 8 A diagnostic interrupt is reported by the FM 353 as incoming or outgoing Diagnostic interrupt Message to the CPU precondition interrupt message activated see Section 5 2 Message in the troubleshooting display of Para Entry in diag nostic buffer No OB 82 exists CPU OB 82 OB 1 display of Para meterize FM353 Menu Test exists CPU switches to STOP Ent...

Page 309: ...he form of an error number see error list in Table 11 6 11 8 Error acknowledgement Set clear control signal BFQ FSQ or on message DF write a new write job Note Invalid data are not accepted The original data are retained Reading out the error number The errors are identified by the detail event class DEKL and the detail event num ber DENR Error technology class DEKL DENR Message Operator control e...

Page 310: ...s each time the data block is written to until the cause has been eliminated It is recommended to scan the error message after every write operation 11 2 5 Viewing the diagnostic buffer PG PC Overview The last five error messages are stored in the diagnostic buffer There are two ways of proceeding 1 In the S7 SIMATIC Manager select the menu File Open Accessible Nodes 2 In the Accessible Nodes wind...

Page 311: ...Communication disturbance SF 8031 Cause MPI K bus communication fault caused by unknown event SF DC5V DIAG Effect MPI interface inactive DIAG Elimination S Check connection S Check programming device CPU S Switch module on off S Replace module 2 3 8033 Internal time monitoring circuit Watchdog 8033 Cause S Pronounced noise conditions on the FM 353 S Errors in the FM 353 Effect S Deactivate entire ...

Page 312: ... errors 8043 Cause S Faulty RAM data memory S Faulty flash EPROM data memory Effect Elimination Replace the FM 353 3 6 8046 Process interrupt lost 8046 Cause S A process interrupt event was detected by the FM 353 and can not be reported because the same event has not yet been ac knowledged by the user program CPU S Faults on backplane bus Effect Elimination S Incorporate OB40 into user program S C...

Page 313: ...ating errors Cl No Error message error analysis and remedy Mes sage Dis play Operating errors Error response Everything Off as in Table 11 2 1 01 1 01 Software limit switch beginning is passed Diag ti Cause Limit switch passed in Control operating mode nostic inter Effect S The limit switch position is passed by the necessary stop ping distance S Set actual value is not executed inter rupt Elimina...

Page 314: ...h soft limits disabled the traversing range beginning was passed nostic inter rupt Effect The limit switch position is passed by the necessary stopping distance rupt Elimination Following acknowledgment of the error it is possible to tra verse to the working range 1 01 4 04 Traversing range end passed Diag ti Cause When operating in Control operating mode with soft limits disabled the traversing r...

Page 315: ...ect Elimination Set operating mode parameters to an allowable value 2 02 5 05 Start enable missing CBS Cause A travel command was given in the absence of a start enable start external start R R Effect Elimination Restore travel command and wait for start enable 2 02 9 09 Axis is not synchronized CBS Cause Synchronization of the axes is necessary in the Incremental relative MDI and Automatic operat...

Page 316: ... and read in setpoint parameters 2 02 14 0E No program preselected CBS Cause No program preselected at Start Effect Elimination First preselect program then start 2 02 15 0F Digital input not activated CBS Cause The programmed target was reached in a block with external block change G50 Effect Elimination Check programming MD34 and connection of digital input 2 02 16 10 Measurement function undefi...

Page 317: ...rs Error response Feed STOP see Table 11 2 3 03 1 01 Software limit switch beginning CBS Cause Limit switch approached in Jogging mode in Automatic operating mode if G88 89 without switching signal from the corresponding digital input The axis is located to the left of the software limit switch be cause of actual value set Effect S Axis movement is stopped at the limit switch position S Set actual...

Page 318: ...avel range limits are established by the maximum allowable values for the limit switches 3 03 3 03 Traversing range beginning approached CBS Cause S During traversing with soft limit switches disabled the traversing range beginning was approached S The axis is located to the left of the traversing range beginning because of actual value set Traversing range 109 Effect S Axis movement is stopped at...

Page 319: ...tion S Correct position to be approached S Alter value of software limit switch MD S With G64 block sequences program smaller positions in several traversing blocks S Switch off monitoring limit switch occasionally With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches 3 03 23 17 Target velocity zero CBS Cause S Zero ...

Page 320: ...ause No tool offset values are available on the FM 353 or tool off sets are accessed and modified when an override is active Effect Elimination Parameterize and read in tool offset values 3 03 36 24 Set actual value on the fly incorrect value CBS Cause Value is no longer within the range 109 Effect Elimination Input a correct value 3 03 37 25 MDI block on the fly incorrect syntax CBS Cause Incorre...

Page 321: ...and of the axis without servo enable except for Control operating mode Effect No axis movement Elimination Set servo enable by way of user program 3 03 62 3E Servo not ready for operation CBS Cause Axis started without Servo ready message Effect No axis movement Elimination S Check drive connecting cables S Analysis of the Controller ready message can be dis abled by MD37 3 03 66 42 Rotation monit...

Page 322: ...r analysis and remedy Mes sage Display General data errors Error response Warning see Table 11 2 4 04 1 01 Data at time of transmission unacceptable CBS Cause Data not transmitted in appropriate operating mode or DB Effect Data not accepted DB Elimination Transmit data in appropriate operating mode 4 04 2 02 Velocity level 1 incorrect CBS Cause Velocity not within the range between 0 and max allow...

Page 323: ...ental value is retained DB Elimination Input an allowable incremental value 4 04 7 07 MDI block incorrect syntax CBS Cause Incorrect M or G commands or incorrect block structure or DB Effect Original MDI block is retained DB Elimination Input a correct MDI block 4 04 8 08 MDI block incorrect velocity CBS Cause Velocity not within the range between 0 and max allow able traverse velocity 500 000 000...

Page 324: ...tion S Correct user program S Correct parameterization of the output assignment within the MD35 to the desired assignment 4 04 14 0E Request application data incorrect CBS Cause Incorrect request code or DB Effect Old application data are retained DB Elimination Request code 0 6 16 23 and 25 possible 4 04 15 0F Teach In program number incorrect CBS Cause The program was not parameterized or read i...

Page 325: ...t Programmable modules communication unauthorized task Programmable modules communication data errors CBS or DB Cause Incorrect data Effect Task is not executed Elimination Correct and retransmit 4 04 120 78 Measurement system grid deviates CBS Cause The measurement system in the DBs NC SM TO does not agree with MD7 or DB Effect DB does not become effective and is non retentively stored Eliminatio...

Page 326: ...non retentively DB Elimination Delete unnecessary programs DBs or compress memory by way of parameterization interface 4 04 126 7E Allowable program length exceeded CBS Cause Number of blocks too high or DB Effect DB does not become effective and is stored non retentively DB Elimination Correct program and retransmit 4 04 127 7F Writing parameters data is not possible CBS Cause Axis does not come ...

Page 327: ...tion is not executed Elimination Check program and repeat function with correct block num ber 4 04 144 90 SDB cannot be loaded CBS Cause Module not at standstill or DB Effect SDB is rejected DB Elimination Stop module and retry load operation 4 04 145 91 SDB user data error CBS Cause SDB contains value error or DB Effect SDB is rejected DB Elimination Generate SDB with parameter assignment tool an...

Page 328: ... stored non retentively Elimination Correct and retransmit 5 05 18 12 Type of reference point travel CBS Cause Unacceptable type of reference point travel or DB Effect DB does not become effective and is stored non retentively DB Elimination Correct and retransmit 5 05 21 15 22 16 23 17 27 1B 28 1C 29 1D 30 1E Software limit switch begin Software limit switch end Maximum velocity Reference point o...

Page 329: ...it 5 05 35 23 Digital outputs CBS Cause Outputs undefined or defined more than once or DB Effect DB does not become effective and is stored non retentively DB Elimination Correct and retransmit 5 05 36 24 Input adapter CBS Cause Input adapter undefined or DB Effect DB does not become effective and is stored non retentively DB Elimination Correct and retransmit 5 05 52 34 53 35 Velocity for backlas...

Page 330: ...cy Boost duration absolute Boost duration relative Phase current traversing Phase current zero speed CBS or DB Cause Unacceptable value range Effect DB does not become effective and is stored non retentively Elimination Correct and retransmit 5 05 96 60 Software limit unacceptable CBS Cause With linear axes Software begin limit switch greater than software limit switch end with rotary axes Softwar...

Page 331: ...subprogram called in the program contains another subprogram call Nesting is not possible or DB Effect Program selection is not executed Elimination S Parameterize and read in program correct as necessary S Select another program 8 08 8 08 Program selection program number not in place CBS Cause The program was not parameterized not in place on the FM 353 or DB Effect Program selection is not execu...

Page 332: ... program number CBS Cause Program numbers in the blocks incorrect or DB Effect Program is not stored DB Elimination Correct program per cause 8 08 21 15 No block in program CBS Cause No block in program or DB Effect Program is not stored DB Elimination Correct program per cause 8 08 22 16 Error block number CBS Cause Block number value range incorrect or DB Effect Program is not stored DB Eliminat...

Page 333: ... missing for the tool offset G43 G44 or DB Effect Program block not stored Elimination Correct program per cause 8 08 27 1B M function unacceptable CBS Cause S The number programmed as M function is not allowed S At least two of the M functions M0 M2 M18 M30 which cancel each other out are found in one block or DB Effect Program block not stored Elimination Correct program per cause 8 08 28 1C Pos...

Page 334: ...or DB Effect Program block not stored DB Elimination Correct program per cause 8 08 32 20 Error callup subroutine CBS Cause Block syntax for callup subroutine is incorrect or DB Effect Program is not stored DB Elimination Correct program per cause 8 08 33 21 D function unacceptable CBS Cause Block syntax for invoking a D function is incorrect or DB Effect Program is not stored DB Elimination Corre...

Page 335: ...l and climate conditions S Data on insulation testing protection class and degree of protection This information contains standards and test values incorporated into the S7 300 with which it is also in compliance with or according to whose criteria the S7 300 was tested The general technical data are described in the manual Installing an S7 300 UL CSA certifications The following certifications ar...

Page 336: ...SCONNECT WHILE CIRCUIT IS LIVE UNLESS LOCATION IS KNOWN TO BE NONHAZARDOUS CE marking Our products are in compliance with the EU Guideline 89 336 EEC Electromag netic Compatibility and the harmonized European standards EN which it embo dies The EC Declaration of Conformity in accordance with Article 10 of the EU Guide line referenced above can be found on the Internet at http support automation si...

Page 337: ...umption from 5 V back plane bus 100 mA Dimensions and weights Technical data for dimensions and weights Table A 2 Technical data dimensions and weight Dimensions W H D mm in 80 125 118 Weight g lb approx 550 1 lb 3 3 oz Memory for parameter data RAM memory 16 Kbytes FEPROM for retentive storage of parameter data FM cycle 2 ms Drive port Technical data on drive port Table A 3 Technical data on driv...

Page 338: ...l outputs Technical data for digital outputs Table A 5 Technical data digital outputs Number of outputs 4 Supply voltage 24 V DC allowable range 20 4 28 8 V Electrical isolation No Output voltage S 0 signal Residual current max 2 mA S 1 signal Power supply 3 V Output current on signal 1 S at ambient temperature of 40_C Rated value Permissible value range Lamp load S at ambient temperature of 60_C ...

Page 339: ...ved 14 3 OT_ERR_A BOOL Acknowledge operator traversing error 14 4 14 7 Reserved 15 0 START BOOL Start 15 1 STOP BOOL Stop 15 2 DIR_M BOOL Negative direction 15 3 DIR_P BOOL Positive direction 15 4 ACK_MF BOOL Acknowledge M function 15 5 READ_EN BOOL Read in enable 15 6 SKIP_BLK BOOL Block skip 15 7 DRV_EN BOOL Drive enable 16 MODE_IN BYTE Operating mode 17 MODE_ TYPE BYTE Operating mode parameters...

Page 340: ...nd of measurement 25 2 GO_M BOOL Negative travel 25 3 GO_P BOOL Positive travel 25 4 ST_SERVO BOOL Servo enable status 25 5 FVAL_DONE BOOL On the fly setting of actual value completed 25 6 Reserved 25 7 POS_RCD BOOL Position reached Stop 26 NUM_MF BYTE M function number 27 0 27 3 Reserved 27 4 STR_MF BOOL M function strobe signal 27 5 33 Reserved 28 31 ACT_POS DINT Actual position 32 33 Reserved I...

Page 341: ... Initiation signals for Write requests 38 0 VLEV_EN BOOL Speed levels 1 2 38 1 CLEV_EN BOOL Frequency levels 1 2 38 2 TRG254_EN BOOL Setpoint for incremental dimension 38 3 MDI_EN BOOL MDI block 38 4 MDIFLY_EN BOOL On the fly MDI block 38 5 Reserved 38 6 REFPT_EN BOOL Set reference point 38 7 AVAL_EN BOOL Set actual value 39 0 FVAL_EN BOOL On the fly setting of actual value 39 1 ZOFF_EN BOOL Zero ...

Page 342: ...LY_D BOOL On the fly measuring 44 2 44 4 Reserved 44 5 TRAV_MON_D BOOL Rotation monitoring 44 6 PARK_AX_D BOOL Parking axis 44 7 SIM_ON_D BOOL Simulation on 45 0 45 1 Reserved 45 2 MSR_D BOOL Length measurement 45 3 REF_TRIG_D BOOL Retrigger reference point 45 4 DI_OFF_D BOOL Enable input disabled 45 5 Reserved 45 6 SSW_DIS_D BOOL Software limit positions disabled 45 7 Reserved Ready signals for I...

Page 343: ...ion 49 6 REQAPP_D BOOL Request application data 49 7 TEACHIN_D BOOL Teach in 50 51 Reserved Ready signals for Initiation signals for Read requests 52 0 OPDAT_D BOOL Basic operating data 52 1 ACT_BL_D BOOL Active NC block 52 2 NXT_BL_D BOOL Next NC block 52 3 BLEXT_D BOOL Actual value block change 52 4 SERVDAT_D BOOL Service data 52 5 OC_ERR_D BOOL Operating error read 52 6 OT_ERR_D BOOL Operator t...

Page 344: ... 1 DELDIST_ERR BOOL Delete residual distance 57 2 SEARCH_F_ERR BOOL Automatic block advance 57 3 SEARCH_B_ERR BOOL Automatic block return 57 4 Reserved 57 5 RESET_AX_ERR BOOL Restart 57 6 AVALREM_ERR BOOL Rescind setting of actual value 57 7 Reserved Error signals for Initiation signals for Write requests 58 0 VLEV_ERR BOOL Speed levels 1 2 58 1 CLEV_ERR BOOL Frequency levels 1 2 58 2 TRG254_ERR B...

Page 345: ... 3 PARRD_ERR BOOL Parameter data 63 4 DIGIO_ERR BOOL Dig inputs outputs 63 5 OPDAT1_ERR BOOL Additional operating data 63 6 APPDAT_ERR BOOL Application data 63 7 MSRRD_ERR BOOL Read measured values 64 65 Reserved Error messages status signals from POS_CTRL 66 JOB_ERR INT Error code SFC 58 59 POS_CTRL 68 0 JOBBUSY_WR BOOL Write job active 68 1 IMPO_WR BOOL Write request not possible 68 2 JOBBUSY_RD...

Page 346: ...lost 73 7 Reserved 74 POS_ID BYTE FM pos ID 74H 75 LEN_INFO BYTE Length of the diagnostic information 16 76 CHEN_NO BYTE Number of channels 1 77 0 CH_ERR_VE1 BOOL Channel error vector 77 1 78 6 Reserved 78 7 OC_ERR_EN1 BOOL Operating error for channel 79 85 Reserved 86 OC_ERR_NO BYTE Error number DS 164 Detail event class 87 OC_REE_CL BYTE Error number DS 164 Detail event number 88 89 Reserved 90 ...

Page 347: ...quency level 2 MDI block 176 MDIB STRUCT MDI block 0 1 Reserved 2 0 G_1_EN BOOL G function group 1 2 1 G_2_EN BOOL G function group 2 2 2 2 3 Reserved 2 4 X_T_EN BOOL Position dwell 2 5 2 7 Reserved 3 0 V_EN BOOL Speed 3 1 M_1_EN BOOL M function group 1 3 2 M_2_EN BOOL M function group 2 3 3 M_3_EN BOOL M function group 3 3 4 3 7 Reserved 4 G_1_VAL BYTE G function no of group 1 5 G_2_VAL BYTE G fu...

Page 348: ...tal input 2 220 3 D_IN3 BOOL Digital input 3 220 4 7 Reserved 221 0 D_OUT0 BOOL Digital output 0 221 1 D_OUT1 BOOL Digital output 1 221 2 D_OUT2 BOOL Digital output 2 221 3 D_OUT3 BOOL Digital output 3 221 4 7 Reserved On the fly MDI block 222 MDI_F STRUCT On the fly MDI block 0 1 Reserved 2 0 G_1_EN BOOL G function group 1 2 1 G_2_EN BOOL G function group 2 2 2 2 3 Reserved 2 4 X_T_EN BOOL Positi...

Page 349: ...data 246 CODE_AP1 BYTE Application data 1 247 CODE_AP2 BYTE Application data 2 248 CODE_AP3 BYTE Application data 3 249 CODE_AP4 BYTE Application data 4 Teach in 250 TEA_PROG_NO BYTE Program number 251 TEA_BLCK_NO BYTE Block number 252 FELD2_INTERN ARRAY 252 309 BYTE Internal Reserved Basic operating data 310 ACT_VAL DINT Actual position 314 SPEED DWORD Actual speed 318 REM_DIST DINT Residual dist...

Page 350: ...BOOL Tool offset 3 5 3 7 Reserved 4 G_1_VAL BYTE G function no of group 1 5 G_2_VAL BYTE G function no of group 2 6 G_3_VAL BYTE G function no of group 3 7 Reserved 8 X_T_VAL DINT Value for position dwell 12 V_VAL DINT Value for speed 16 M_1_VAL BYTE M function no of group 1 17 M_2_VAL BYTE M function no of group 2 18 M_3_VAL BYTE M function no of group 3 19 TO_VAL BYTE Tool offset no END_STRUCT N...

Page 351: ...n dwel 12 V_VAL DINT Value for speed 16 M_1_VAL BYTE M function no of group 1 17 M_2_VAL BYTE M function no of group 2 18 M_3_VAL BYTE M function no of group 3 19 TO_VAL BYTE Tool offset no END_STRUCT Application data 382 APP1 DINT Application data 1 386 APP2 DINT Application data 2 390 APP3 DINT Application data 3 394 APP4 DINT Application data 4 Actual value block change 398 BLCK_EXT DINT Actual...

Page 352: ... frequency limited 443 1 LIM_FV BOOL Frequency value for acceleration limited 443 2 Reserved 443 3 LIM_FS BOOL Acceleration deceleration value limited 443 4 445 Reserved Parameter data 446 PAR_RD STRUCT Parameter data 0 TYP BYTE DB type 1 NUMB BYTE Number 2 COUN BYTE Quantity 3 JOB BYTE Request 4 DATA1 ARRAY 450 469 BYTE Array structure data type according to data to be read as per bytes 1 to 4 of...

Page 353: ...Set actual value transferred 1 2 BITC_10 BOOL Zero offset transferred 1 3 1 4 Reserved 1 5 BITC_13 BOOL Diagnostic interrupt 1 6 BITC_14 BOOL Data error 1 7 BITC_15 BOOL Operator traversing error 2 MD_NO WORD MD number 4 MD_VALUE DINT MD value 8 INC_NO BYTE Incremental dimension number 9 Reserved 10 PICT_NO WORD Display number 12 KEY_CODE WORD Keyboard code 14 15 Reserved 16 0 BITA_0 BOOL Open loo...

Page 354: ...User Data Block AW DB B 16 FM 353 Stepper Drive Positioning Module 6ES7 353 1AH01 8BG0 ...

Page 355: ... for machine data Data block for traversing programs Data block for increments Data block for status messages Data block for tool offset data Detail event class Detail event number Distributed I O Electromagnetic compatibility Enable input parameter in LAD representation Enable Output output parameter in LAD representation Erasable programmable read only memory Electrostatic sensitive device Exter...

Page 356: ...ement system raster Organization block Operator panel Programming device Programmable controller Power Supply SIMATIC S7 Pulse width modulation Output parameter Controller enable Reference point switch PLC of medium performance range System data block System Function Call integrated fucntions Signal module SIMATIC S7 e g input output module Synchronous Serial Interface Programming device software ...

Page 357: ...ing an OP 6 6 connecting cables 4 3 MPI connecting cable 4 3 setpoint cable 4 3 control loop 7 21 Control signals 6 12 6 13 6 30 6 32 control signals 8 23 9 2 9 3 COROS equipment operator panels 8 3 Creating the AW DB 6 27 CSA certification A 1 D data blocks 5 7 increments 5 8 5 20 machine data 5 7 5 9 status messages 8 3 status messages 8 20 system data block 5 8 tool offset data 5 8 5 21 travers...

Page 358: ...0 4 F FM approval A 2 FM cycle 9 53 9 75 9 76 9 77 9 78 A 3 frequency generation 9 69 working range of frequency generator 5 19 frequency levels 9 18 front connector 1 7 4 12 connecting cables 4 18 Wiring up the front connector 4 18 front connectors 4 3 front panel elements 1 7 G G functions 10 3 I I O interface 4 12 incremental dimensioning 10 9 Incremental relative 9 10 incremental relative 9 24...

Page 359: ...1 open loop control 2 2 status messages 9 58 process interrupts 9 81 processing in progress 9 7 Processing read and write requests 6 12 6 14 6 30 6 32 Processing Read requests 6 18 6 37 Processing Write requests 6 17 6 36 Program selection block advance 9 33 program selection 9 31 block return 9 33 Programming the technological functions 6 1 Communication between the CPU and the FM 353 6 4 Fundame...

Page 360: ... 43 switch off enable input 9 43 Single settings 6 20 6 21 6 39 6 40 slots for the FM 353 3 2 software limit switches 7 26 9 80 Standard function blocks 6 9 FC POS_CTRL FC 1 data interchange 6 12 6 30 FC POS_DIAG FC 2 read diagnostic interrupt data 6 22 6 41 FC POS_INIT FC 0 Initialization 6 10 6 30 FC POS_MSRM FC 3 read measured values 6 25 6 41 Overview 6 9 start enable 9 6 Starting the axis 7 1...

Page 361: ...IAG FC 2 block read diagnostic interrupt data 6 41 The POS_INIT FC 0 block Initialization 6 30 The POS_MSRM FC 3 block read mea sured values 6 25 6 41 time override 9 5 tool compensation 10 11 tool offset data 5 21 Trace 7 11 traversing block 9 27 traversing blocks 10 2 axis as rotary axis 10 10 block change 10 4 block structure 10 2 G functions 10 3 traversing programs 5 23 9 31 direction of proc...

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