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Configuration/programming

2.2 Configuring and programming TM1x modules

TM15 / TM17 High Feature Operating Manual

Commissioning Manual, 05/2009

2.2

Configuring and programming TM1x modules

Requirement

Once the terminal module hardware is mechanically and electrically installed, it must be

integrated in the application project using the SCOUT engineering software.
The procedures contained in this chapter assume that the user has a general understanding

of SCOUT.
In addition, a SCOUT project must be generated, for example, with SIMOTION D.

Note
The following description relates to the configuration of Terminal Modules TM1x, which are

connected to the integrated drive of SIMOTION D.
The dialogs encountered during the configuration of Terminal Modules TM1x may differ

slightly if the TM1x are connected to a SINAMICS Control Unit CU310 or CU320, which is

connected via PROFIBUS or PROFINET to SIMOTION.

Summary of Contents for SIMOTION TM15

Page 1: ...___ ______________ ______________ ______________ ______________ Preface Description 1 Configuration programming 2 Commissioning 3 Error messages 4 Application tips 5 Technical data 6 Version overview 7 EC Declaration of Conformity A ESD guidelines B List of abbreviations C SIMOTION Terminal Modules TM15 TM17 High Feature Commissioning Manual 05 2009 ...

Page 2: ...e system may only be performed by qualified personnel Within the context of the safety notes in this documentation qualified persons are defined as persons who are authorized to commission ground and label devices systems and circuits in accordance with established safety practices and standards Proper use of Siemens products Note the following WARNING Siemens products may only be used for the app...

Page 3: ... a description of the interfaces and installation Organization of information in this Manual standards and approvals Description This section describes the overall use of the TM15 and TM17 High Feature modules Configuration programming This section describes step by step instructions for configuration and integration into your user program Commissioning This section details what is required at pow...

Page 4: ...p www siemens de simotion German http www siemens com simotion international Downloading documentation Further links for downloading files from Service Support http support automation siemens com WW view en 10805436 Individually compiling documentation on the basis of Siemens contents with the My Documentation Manager MDM refer to http www siemens com mdm My Documentation Manager provides you with...

Page 5: ...quest Americas Phone 1 423 262 2522 Fax 1 423 262 2200 E mail mailto techsupport sea siemens com Asia Pacific Phone 86 1064 757575 Fax 86 1064 747474 E mail mailto support asia automation siemens com Note Country specific telephone numbers for technical support are provided under the following Internet address http www automation siemens com partner Questions about this documentation If you have a...

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Page 7: ...ith the hardware 30 2 3 Accessing inputs and outputs in a user task 32 2 3 1 Linking symbolic I O variables with TM1x terminal modules 32 2 3 2 Controlling the enable signal 34 2 3 3 Signal status of the enable signal 35 2 3 4 Read back function for outputs 35 2 4 I O assignment to technology objects 36 2 5 Power Up and Synchronization with the User Program 37 2 5 1 Monitoring the synchronization ...

Page 8: ...utput 66 5 6 Frequently Asked Questions FAQs 67 6 Technical data 69 6 1 Operating modes 69 6 1 1 Overview of operating modes 69 6 1 2 Input modes 70 6 1 3 Output modes 72 6 2 System behavior 76 6 2 1 System behavior with binary inputs and outputs 76 6 2 2 System timing for single measurement 78 6 2 3 System behavior with cyclic measurement 79 6 2 4 System behavior with outputs of output cam 81 6 2...

Page 9: ...ion control cycle clock for inputs of measuring inputs or outputs of output cams Process input and output edges even within the position control cycle clock The use of an internal timer means that the resolution for outputs of output cams and inputs of measuring inputs is in the microsecond range rather than the millisecond range switching edges are acquired output under timer control rather than ...

Page 10: ...IMOTION D4x5 To SIMOTION D410 not shown To the CX32 expansion not shown 6 027 21 6 1 0 6 70 70 LJK HDWXUH 0RGXOHV 5 9 L4 5 9 L4 3RZHU Figure 1 1 Integration of TM15 TM17 High Feature with SIMOTION D4x5 System configuration with external drives In this configuration the TM1x modules are connected to a SINAMICS S120 Control Unit CU320 or CU310 which is connected To SIMOTION C P or D see figure via P...

Page 11: ...I DO input output component In this case the digital inputs and outputs are primarily available to the drive side and can be interconnected via BICO technology similar to TB30 or TM 31 This type of integration enables the TM15 to be used on a SINAMICS S120 Control Unit even without SIMOTION However these DI DO can be read write accessed from SIMOTION with an unassigned message frame Note This Comm...

Page 12: ...S hardware via DRIVE CLiQ Several TM1x modules can be installed on one DRIVE CLiQ line The SINAMICS S120 Manuals provide more information on the system structure of SINAMICS S and associated hardware Note In the Supplemental SINAMICS System Components for SIMOTION Manual you will find information about the design of Terminal Modules TM15 and TM17 High Feature as well as a description of the interf...

Page 13: ...nnection for 24 VDC electronic power supply The logical status of the I O channel is indicated by the associated green status LED The status of the TM15 TM17 High Feature is indicated by a multi colored RDY LED Each of the 24 DI DO TM15 or 16 DI DO TM17 High Feature can be parameterized on a channel specific basis as a digital input DI digital output DO input of a measuring input or output of an o...

Page 14: ...tput cams gate function Level controlled enable for inputs of measuring inputs Level or edge controlled enable for outputs of output cams In addition TM17 High Feature supports cyclic measurement of up to 2 edges per position control cycle clock Due to their high accuracy the DI DO channels of the TM17 High Feature are non isolated Note The module hardware of the TM15 and TM15 DI DO is identical b...

Page 15: ...n output cam or input of a measuring input DI O can only be addressed via SIMOTION controller Short response time X X X Number of I O channels 24 24 16 Electrical isolation of inputs and outputs X X Grouping of channels 3 groups for every 8 channels 3 groups for every 8 channels 2 groups for every 8 channels Inputs of measuring input single measurement X X Inputs of measuring input cyclic measurem...

Page 16: ...n detection of signals include Edge detection Quality monitoring e g product OK not OK Product tracking e g product available not available Print mark detection Tool monitoring e g presses Machine status monitoring e g plastic injection molding machines Weft break monitoring e g textile machines Applications requiring fast high precision output of signals include Position dependent switching of ac...

Page 17: ...KH RXWSXW FDPV 3RVLWLRQ 70 LJK HDWXUH 6 027 21 5 9 L4 ෙ PP 5 9 L4 Figure 1 4 Example Edge detection The technology of the terminal modules includes Exact encoder value measurements Exact edge acquisition Exact output of switching signals As a result applications with increased line speed are possible The switching conditions specific to each type of board are stored in a central controller Dependi...

Page 18: ...HU LQWHUIDFH Figure 1 5 Example Electronic output cam control The glue guns are activated via outputs of an output cam based on the axis position The axis position is measured by an encoder that connects an SMC encoder interface to SIMOTION D via DRIVE CLiQ The SIMOTION Output Cam or Output Cam Track technology object controls the digital outputs of the TM15 based on the axis position The output d...

Page 19: ...ION C TM is connected to a Control Unit which is connected via PROFIBUS to SIMOTION C SIMOTION P TM is connected to a Control Unit which is connected via PROFIBUS PROFINET to SIMOTION P DIN rail in accordance with DIN EN 50 022 35 x 15 7 5 DRIVE CLiQ cable PROFIBUS or PROFINET cable External 24 VDC power supply note the requirements for the TM15 and TM17 High Feature terminal modules Software requ...

Page 20: ...eering software The procedures contained in this chapter assume that the user has a general understanding of SCOUT In addition a SCOUT project must be generated for example with SIMOTION D Note The following description relates to the configuration of Terminal Modules TM1x which are connected to the integrated drive of SIMOTION D The dialogs encountered during the configuration of Terminal Modules...

Page 21: ... 2 1 Inserting new TM1x modules Procedure 1 Click the next to Input output component An expanded project tree similar to the one below will be displayed Figure 2 1 Insert input output component window 2 Double click Insert input output component A window similar to the one shown below will appear Figure 2 2 Insert input output component window ...

Page 22: ... interconnected via BICO technology TM17 SIMOTION for digital inputs outputs as well as inputs of measuring inputs and outputs of output cams for the most stringent accuracy requirements Additional modules which are not presented in greater detail here TM15 SIMOTION has been selected in the figure The Author Version and Comments fields can be used to further describe the module 3 Click OK to inser...

Page 23: ...h red green 2 Once you are satisfied that the displayed information is correct you can configure the individual TM15 SIMOTION I O channels Click the 24 Isolated bidirectional digital inputs outputs button You can also double click Inputs outputs in the project tree instead The window shown below will open Figure 2 4 SCOUT graphical configuration screen form for the TM15 SIMOTION You can use the dr...

Page 24: ...lated by the SIMOTION technology object in the IPO cycle clock or position control cycle clock That is the resolution is one IPO cycle clock or one position control cycle clock 2 The switching instant of the output of the output cam is calculated by the TM15 For this reason the resolution is less than the position control cycle clock The value in the Offset column will later be added to the module...

Page 25: ... Channels TM15 The window shown below will open Figure 2 5 SCOUT graphical configuration screen form for the TM17 SIMOTION The Inverter Function and Offset columns are identical to those in the TM15 display Additional configuration settings for the TM17 High Feature can also be made see figure below Filter You can select a 1 µs or 125 µs filter for the inputs via the drop down menus in the Filter ...

Page 26: ...a command The measuring process must be reactivated for each new measurement In contrast the measuring function need only be activated once for Cyclic measurement mode The measuring function remains active until it is deactivated again Up to two edges can be measured in each execution cycle of the Measuring Input TO IPO interpolation cycle clock IPO2 interpolation cycle clock or position control c...

Page 27: ...or with cyclic measurement Page 79 Enable function With the Enable drop down menu the inputs of measuring inputs or outputs of output cams for channels 0 to 5 can also be enabled by an enable signal of channels 10 to 15 If you select the enable function for channels 0 to 5 the following symbols in the Function column will be automatically selected for the assigned enable channels 10 to 15 Enable f...

Page 28: ...available for outputs of output cam The channel assigned for the enable signal is displayed as a measuring input A Measuring Input technology object must be configured in SIMOTION for the input of the measuring input The Measuring Input technology object can be used to evaluate the positions of the enable edges The enable signal polarity depends upon the selection you have made in the Inverter col...

Page 29: ...ng signals via the Measuring Input technology object or when outputting signals via the Output Cam Cam Track technology objects The same phenomenon may arise with servo drives if you set sampling times via p112 that result in DRIVE CLiQ cycle clocks 125 µs In the case of vector drives the DRIVE CLiQ cycle clock is calculated by the Control Unit during ramp up The SCOUT Engineering System must be a...

Page 30: ...ld therefore lead to errors See also Message frames Page 82 Maximum permissible message frame length Page 42 2 2 6 Aligning the configuration with the hardware I O addresses must now be assigned to the message frame so that the runtime system can access it These addresses are generated updated by the hardware configuration tool included in SCOUT 1 To begin assigning addresses in this example doubl...

Page 31: ...te When a TM1x is reconfigured the structure of its message frame is changed thus necessitating a realignment with HW Config This process will create new modified addresses for the inputs and outputs In addition the I O address assignment of the technology object must be updated Even if the operating mode of a measuring input is changed once cyclically realignment with HW Config is required althou...

Page 32: ...I O access Otherwise an I O access error will occur and the CPU will go to STOP mode See also Power Up and Synchronization with the User Program Page 37 2 3 1 Linking symbolic I O variables with TM1x terminal modules You have the option of addressing digital I O channels in the user program with symbolic variables The input and output addresses from the following figure are used in the addressing ...

Page 33: ... and for using the process image or direct I O access are described in the SIMOTION SCOUT Manual Note You cannot use I O variables to output to a digital output that is being used simultaneously by an Output Cam or Cam Track technology object An error message will be output when the project is downloaded to the target system Please also note that the Terminal Module must have ramped up before it i...

Page 34: ... for the enable signal e g channel 10 If the I O channel is activated by a HW enable signal during forcing this enable is retained even after the forcing function is terminated provided that the enable conditions are still fulfilled Table 2 8 Addressing the channel for the enable signal Channel for enable signal Assigned to I O channel I O address of enable input output address 10 0 Module address...

Page 35: ...nputs and outputs Page 76 Linking symbolic I O variables with TM1x terminal modules Page 32 2 3 4 Read back function for outputs The user program can read back the signal state of each output channel on the TM15 or TM17 High Feature Terminal Modules using the assigned input address The digital value reflects the signal state for Tin Example In the present example the actual signal state of DO 1 on...

Page 36: ...rm the desired configurations Note The terminal module must be powered up before it can be accessed by technology objects Otherwise a technology alarm will be triggered Inputs of measuring inputs are addressed in the same way as inputs DI and outputs of output cams are addressed in the same way as outputs DO You will find a detailed description of linking technology objects with terminal modules i...

Page 37: ...larm The start up operation can be monitored by directly accessing the TM1x module status word or via the PeripheralFaultTask 2 5 1 Monitoring the synchronization with PeripheralFaultTask During the transition from STARTUP to RUN all TM1x Terminal Modules are in the NOT_SYNCHRONIZED state As soon as the Terminal Modules have been successfully synchronized the PeripheralFaultTask with interrupt ID ...

Page 38: ...us word address corresponds to the input address of the module A WORD variable must be created for the module status word The synchronization bit SYNC is located in bit 8 of the module status word Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Function ERR SYNC FPGA PS MF means reserved cannot be used Synchronization bit bit 8 SYNC 0 Module is not synchronized SYNC 1 Module is synchronized If you want ...

Page 39: ...urrent message frame configuration is not changed as a result of an import to a CPU If only the SINAMICS drive unit is exported the message frame configuration for TM1x is not exported with it The TM1x configuration must be completely deleted after an import Select the SIMOTION CPU in the project tree and right click to open the context menu Delete the configuration with the menu Fast IO Delete Co...

Page 40: ...ine is two The total number of all TM15 and TM17 High Feature Terminal Modules permitted per SIMOTION D4x5 SINAMICS CU320 or CX32 is 8 The total number of all TM15 and TM17 High Feature Terminal Modules permitted per SIMOTION D410 or SINAMICS CU310 is 3 Note For details of any other applicable restrictions refer to the SIMOTION D and SINAMICS Manuals The TM15 and TM17 High Feature Terminal Modules...

Page 41: ...RIVE CLiQ line can cause the DRIVE CLiQ interface to cease communication 2 7 2 Maximum number of drive objects The maximum permissible number of drive objects per SIMOTION D SINAMICS CU or SINAMICS CX32 is dictated by the installed controller control unit SIMOTION D4x5 SINAMICS CU320 or SINAMICS CX32 maximum of 16 drive objects SIMOTION D410 or SINAMICS CU310 maximum of 5 drive objects Examples of...

Page 42: ...ated drives SIMOTION D CX32 512 bytes With external drives CU320 CU310 On PROFIBUS DP 244 bytes On PROFINET IO 1 380 bytes However because the message frames are user configured the length of the message frames is determined by the current configuration i e the actual length can be less than 244 bytes 512 bytes or 1 380 bytes Message frames contain all data for the drive unit including Message fra...

Page 43: ...W Config Station menu For more information refer to the SCOUT online help This allows you to verify the integrity of the defined hardware configuration for such things as PROFIBUS settings timing settings SINAMICS parameters etc Before saving a project in SCOUT you can check the consistency of the network by selecting the Check consistency option in the Network menu of NetPro For more information ...

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Page 45: ...l colors are explained in the following table The error display is the same as that used on other SINAMICS components Table 3 1 Module status LEDs Color Status Description Off Electronics power supply outside the permissible tolerance range Green Continuous light The component is ready for operation and cyclic DRIVE CLiQ communication is taking place Orange Continuous light DRIVE CLiQ communicatio...

Page 46: ...olbar at the top SCOUT is now connected to the SINAMICS device Figure 3 1 SCOUT project tree Topology 2 Selection of Terminal Module Double click Configuration under SINAMICS_Integrated A window with two tabs PROFIBUS message frames and Version overview will appear similar to screen below The Version overview tab contains all the components that are connected to the SINAMICS Control Unit The FW ve...

Page 47: ... RDY LED on the selected component flashes green orange if no faults are detected or red orange if faults are detected Select Start firmware update to perform the FW update for the selected components The firmware update process may take a while a message is displayed to indicate when it has been completed During the update the RDY LED flashes green red Now switch off the power supply for all driv...

Page 48: ...rocedure To make this selection in SINAMICS 1 Right click the SINAMICS component in the project tree 2 In the drop down menu select the Open HW Config option 3 Right click the SINAMICS icon 4 In the drop down menu select the Object properties option Figure 3 4 SCOUT DP Slave Properties window 5 Select the Isochronous operation tab 6 Select the Synchronize drive with equidistant DP cycle check box ...

Page 49: ...er Up and Synchronization with the User Program Page 37 PROFINET procedure The basic procedure with PROFINET corresponds to PROFIBUS However you must enable synchronization in the properties of the device s PROFINET interface module on the Application tab You must also select a sync domain with the RT class IRT top on the Synchronization tab ...

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Page 51: ... word structure The error bit corresponds to bit 9 of the module status word ERR 0 No error ERR 1 Error The cause of error is indicated via error bits MF PS and FPGA For hotline purposes drive parameter P2122 contains a detailed error code Error class if ERR 1 is set MF Internal module error PS No I O power supply FPGA Error in FPGA code Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Function ERR SYNC ...

Page 52: ...C_INVALID_ADDRESS DINT TSI logBaseAdrOut valid only when not equal to _SC_INVALID_ADDRESS DINT TSI logDiagAdr valid only when not equal to _SC_INVALID_ADDRESS DWORD TSI details Supplementary information UINT TSI eventClass 0x39 fault has occurred 0x38 fault has been corrected UINT TSI faultId 0x42 TSI details supplies the following supplementary information Bit 31 17 16 15 12 11 8 7 2 1 0 Function...

Page 53: ... is retracted automatically Check all terminals for the I O power supply 907 FPGA FPGA programming error TM17 High Feature only Try to update the firmware If error is still present replace the module and contact your local technical support The error code see table above is stored as parameter P2122 in the SINAMICS Control Unit This code can be read by the user task with the readDriveParameter sys...

Page 54: ...update it if necessary Delete the Fast I O configuration via SCOUT Select for example the D435 controller in the project tree Right click to open the context menu and select FastIO Delete configuration Then execute Transfer to HW Config in the SINAMICS configuration screen form If necessary delete the user data on the CompactFlash Card and completely reload the project Then execute Copy RAM to ROM...

Page 55: ...ed use a shielded connector for each proximity switch cable Do not route any other signals through this connector This prevents crosstalk between pins of noisy cables and sensitive receive signals If enough noise is injected on the 24 V supply e g through testing or as a result of natural machine noise the proximity switch circuitry will be re initialized causing faulty operation The 24 V source w...

Page 56: ...ed to the metal case on the switch side and to the shield connection on the terminal module at the other end This grounding to the machine frame should be made in such a way that it will not corrode Machine safety and well shielded grounding connections require good conductive connection between metal parts of machine components Coatings and corrosion compromise the electrical continuity of the ma...

Page 57: ...el with the input circuit to divert a portion of this leakage current so that the input voltage does not exceed 5 VDC The input resistance of the terminal module must be taken into account when selecting this resistor 2 8 kOhm for TM15 and TM17 High Feature The wattage of the resistor must be great enough that the current consumption can be adapted to the output voltage of the switched on source d...

Page 58: ...erature signal Note If the power switch is switched OFF due to an over temperature or overcurrent condition but the ON command persists the output will be switched on again once the over temperature or overcurrent condition is eliminated The green channel LED illuminates when the power switch of the channel is switched on A diode at each output protects the power switch from a reverse overvoltage ...

Page 59: ...nd output circuit TM15 Grounding scheme For TM15 the following are internally connected Module power supply ground Logic ground TM chassis The ground for the I O power supply terminals M1 M2 and M3 is capacitively coupled to the three grounds indicated above If terminal M1 M2 or M3 is connected to one of the three grounds indicated above isolation for the associated group of I O channels will be l...

Page 60: ... FKDQQHO 3 9ROWDJH 9 Figure 5 3 Input and output circuit TM17 Grounding scheme For TM17 High Feature the following are internally connected Module power supply ground Logic ground TM chassis The ground of the I O power supply is connected directly to the three grounds indicated above The ground connections for the I O of the TM17 High Feature and not isolated The ground of the I O power supply ter...

Page 61: ...e shows an example of an input connection Although TM15 is shown the TM17 High Feature is wired in a similar manner Note that no 24 VDC is required on the L1 terminal since it is only needed in an output application for the output driver See also Supplementary SINAMICS System Components for SIMOTION Manual 9 LPLW VZLWFK 5 2 2 2 2 2 2 2 2 70 0 Figure 5 4 Example Input circuitry on the TM15 ...

Page 62: ...hows an example of an indicator lamp connection Although the TM15 is shown the TM17 High Feature can be wired in a similar manner Please note that 24 VDC is required on the L1 terminal for the output driver to operate See also Supplementary SINAMICS System Components for SIMOTION Manual 9 P PD 5 2 2 2 2 2 2 2 2 70 0 Figure 5 5 Example Output circuitry on the TM15 ...

Page 63: ...ied with 24 VDC via a DI O DI O 2 in the example below This DI O may also be used to supply multiple switches up to a current load of 500 mA per channel Typically a 3 wire proximity switch requires about 150 mA If DI O 2 is configured as an inverted output a 24 V high level supply is applied after system power up without being programmed DI O 3 must be configured as an input 9 6ZLWFK RXWSXW URXQG ...

Page 64: ...kpiece is in the proper position the output of the output cam is activated via the enable input This ensures that the output cam and thus the glue is output only when a workpiece is present 70 5 2 2 2 2 2 2 2 2 0 0 0 0 0 0 0 0 2 2 2 2 2 2 2 2 0 0 0 0 QDEOH LQSXW 2XWSXW RI RXWSXW FDP 9 3RZHU VXSSO 3RVLWLRQ VHQVRU RQ FRQYH RU EHOW OXH QR OH Figure 5 7 Controlling a glue nozzle using the output of an...

Page 65: ...than one measuring range is needed or if the measuring range is to be specified more precisely this can be accomplished in the application as described below Configure a Measuring Input technology object with level triggered enable on the TM17 High Feature measuring input e g DI O 0 assigned enable input is therefore DI O 10 Configure an output cam track and output this to an output of an output c...

Page 66: ...6 Acquisition of times time triggered output If it is necessary to acquire times e g measure the duration of a pulse or to output a signal for a specific time period e g output a pulse for a certain duration a Measuring Input technology object or an Output Cam Output Cam Track technology object connection to a virtual axis can be used for this purpose The virtual axis is moved at constant velocity...

Page 67: ...5 TM17 High Feature Operating Manual Commissioning Manual 05 2009 67 5 6 Frequently Asked Questions FAQs Current FAQs on the Terminal Modules TM15 and TM17 High Feature are located at the following link http support automation siemens com WW view de 24332926 ...

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Page 69: ...es Mode of operation TM15 TM17 High Feature Digital input DI X X Input of measuring input single measurement X X Input of measuring input cyclic measurement X Input of measuring input with level triggered enable X channels 0 to 5 Enabling signal X channels 10 15 Digital output DO X X Output of output cam X X Output of output cam with level triggered enable X channels 0 to 5 Output of output cam wi...

Page 70: ...erenced to the local system time Note The resolution of the measuring time varies according to the type of module In the case of the TM15 the resolution corresponds to the DRIVE CLiQ clock cycle but is at least 125 µs In the case of the TM17 High Feature the resolution is 1 µs Enable signals TM17 High Feature only Inputs of measuring inputs can be activated with enable signals gate function Specif...

Page 71: ...5 µs TM17 Depends on selected filter times T4 Depends on ratio of IPO to servo T5 Not applicable TM15 does not have an enable function 1 µs 125 µs TM17 Depends on selected filter times Times specified for positive logic IPO Interpolator cycle clock 1 DRIVE CLiQ cycle clock but at least 125 µs See also System behavior with binary inputs and outputs Page 76 System timing for single measurement Page ...

Page 72: ...gh Feature the resolution is 1 µs See also System behavior with binary inputs and outputs Page 76 System behavior with outputs of output cam Page 81 Output of output cam with enable signal TM17 High Feature only The Output of output cam with enable mode treats output channels as outputs of an output cam for which an enable signal is required available on channels 0 through 5 only This mode is sele...

Page 73: ... enable signal Table 6 3 Timing of output of output cam Timer TM15 TM17 High Feature Comments T1 125 µs 1 1 µs Resolution T2 125 µs 1 50 µs typical 100 µs maximum Depends on the load conditions of the output See Supplementary SINAMICS System Components for SIMOTION Manual T3 125 µs typical 1 150 µs maximum 75 µs typical 250 µs maximum Depends on the load conditions of the output See Supplementary ...

Page 74: ...Both edges first falling and the Cyclic measuring mode is not supported Via the Measuring Input TO the positions of the enable edges can be evaluated see SIMOTION Motion Control Technology Objects for Output Cams and Measuring Inputs Manual Please note that the measuring range is monitored in the IPO IPO2 or position control cycle clock depending on the configured measuring input cycle clock Set o...

Page 75: ...ll output until the end if it has already started New output cams are no longer output 0HDVXULQJ QSXW WHFKQRORJ REMHFW 0HDVXULQJ UDQJH QDEOH LQSXW QDEOH VWDWXV 2XWSXW RI RXWSXW FDP 0HDVXULQJ UDQJH 1R RXWSXW RI RXWSXW FDPV 7HUPLQDWH RXWSXW RI RXWSXW FDPV 1R RXWSXW RI RXWSXW FDPV 7 7 7 7 7 7 7 Figure 6 3 Diagram Output of output cam with edge triggered enable signal Note Times T1 to T5 correspond to...

Page 76: ...HYDQW 8VHU SUR JUDP 8VHU SUR JUDP 8VHU SUR JUDP 758 LQ 7 RXW 7 32 7 6 6 Figure 6 4 System behavior with digital inputs and outputs TM15 and TM17 High Feature with user program in the IPO synchronous task level A digital input channel DI is always sampled at time Tin at the end of each IPO cycle clock A digital output channel DO is always activated at time Tout at the beginning of the IPO cycle clo...

Page 77: ... user task rather than the IPO synchronous user task the output signal is output one IPO cycle clock earlier Note In order to operate the TM1X the cycle time of the DRIVE CLiQ line must be at least 125 µs It is also possible to run a user program in the servo synchronous task level In this case a user programmed response in position control cycle clock 3 terminal terminal response time is possible...

Page 78: ... position value POS that is available to the user program in IPO cycle clock 3 The time related behavior for single measurement depends on two parameters The ratio between the IPO cycle time and the cycle time of the position control cycle clock i e ratio of IPO to servo The time level to which the Measuring Input technology object is assigned The following table shows the minimum sampling cycle T...

Page 79: ...screen for the Measuring Input technology object contains two fields for edge selection Edge selection for single measurement Edge selection for cyclic measurement 6 2 3 System behavior with cyclic measurement Up to two edges can be measured in each execution cycle of the Measuring Input TO IPO interpolation cycle clock IPO2 interpolation cycle clock or position control cycle clock The measured va...

Page 80: ...ges are buffered buffer of up to 2 edges In the following cycle clock the buffered edges are transferred first even if new edges were recorded these new edges are buffered again Table 6 5 Minimum time between two edges cyclic measuring Edge selection Minimum distance Explanation Rising edge Falling edge 10 µs with filter setting of 1 µs 500 µs with filter setting of 125 µs however a maximum of 2 e...

Page 81: ...ock cycle to time stamp Ton and Toff and then transferred at the beginning of IPO 3 The same system timing applies to the Output Cam Track technology object 6 2 5 Interpolation A linear interpolation is used to calculate the output cam switching points and for the conversion of measuring input edges to axis positions This can affect the accuracy in the event of strong axis acceleration The time th...

Page 82: ...type TM15 TM17 High Feature Message frame length for all axes Message frame length for all Line Modules If the message frame contains too much data the number of allowable TMs may be reduced The message frame length of a TM1x module can be calculated using the following formulas N number of time driven output channels i e outputs of output cam M number of time driven input channels i e inputs of m...

Page 83: ... of output cams 3 digital inputs 3 digital outputs The following applies Length of setpoint message frame output address area 8 4 6 32 bytes Length of actual value message frame input address area 8 4 4 24 bytes Note Outputs of output cams without high switching accuracy i e no time driven output channels are used count as a digital output See also Maximum permissible message frame length Page 42 ...

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Page 85: ...igh Feature with DRIVE CLiQ Hub Module DMC20 SIMOTION V4 1 SINAMICS V2 5 TM15 DI DO The module hardware of the TM15 and TM15 DI DO is identical but there is a difference between the two modules in terms of system integration For this reason they must be configured as different input output components The I O of the TM15 DI DO can be assigned drive functions or interconnected to a drive message fra...

Page 86: ...ng input for several axes monitoring measuring input SIMOTION V4 0 Measuring range for measuring input with cyclic measurement can be defined as TO function SIMOTION V4 0 Quantity structures Total number of all TM15 and TM17 High Feature Terminal Modules per SIMOTION D4x5 CU320 or CX32 Up to SINAMICS V2 2 2 max 0 CX32 up to SINAMICS V2 3 3 max SINAMICS V2 4 or later 8 max up to 3 thereof per DRIVE...

Page 87: ...ersion of the CAM or CAM_EXT technology package including Measuring Input Output Cam and Cam Track technology objects The SINAMICS version information always refers to the SINAMICS runtime version including the respective firmware status of the Terminal Modules as well as the corresponding version of the STARTER Older TM15 and TM17 High Feature modules must be upgraded to the new firmware version ...

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Page 89: ...ing Manual Commissioning Manual 05 2009 89 EC Declaration of Conformity A A 1 EC Declaration of Conformity The Declaration of Conformity can be found on the following website http support automation siemens com WW view de 15257461 ...

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Page 91: ...nternationally to refer to electrostatic sensitive devices Electrostatic sensitive devices are identified by the following symbol Figure B 1 Symbol for identification of electrostatic sensitive devices CAUTION Electrostatic sensitive devices can be irreparably damaged by voltages that are far lower than anything a person can perceive Voltages of this kind occur as soon as a component or an assembl...

Page 92: ...r concrete Figure B 2 Electrostatic voltage that can accumulate on operating personnel B 3 Basic measures for protection against discharge of static electricity Ensure sufficient grounding When working with electrostatically sensitive devices make sure that the you your workstation and the packaging are properly grounded This prevents the accumulation of static electricity Avoid direct contact Nev...

Page 93: ...g of the abbreviations and acronyms that are used in this Manual BiCo Binector Connector CU Control unit DI Digital input DI O Digital input output DO Digital output I O Input output FPGA Field programmable gate array IPO Interpolator cycle clock Lx Load power supply M Ground Mx Reference ground TM Terminal Module TO Technology object ...

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Page 95: ...f modules 40 System integration 10 CX32 Max number of modules 40 System integration 10 Cyclic measurement Configuration 26 Timing 79 D Declaration of conformity 89 DI Address 33 Example of input circuitry 61 Operating mode 70 Diagnostic Interrupt 52 DO Address 33 Example of output circuitry 62 Example of proximity switch connection 63 Operating mode 72 Reading back signal state 35 DRIVE CLiQ Confi...

Page 96: ...ation 28 Description 73 M Measuring input Address 36 Edge clearance cyclical measuring 80 General 9 several measuring ranges 65 Message frames Example calculation 82 Max permissible length 82 Maximum permissible message frame length 42 N Number Maximum number of Terminal Modules 40 Number of edges for measurement modes 26 O Offset 24 Output of output cam Accuracy 15 Address 36 Availability 15 Edge...

Page 97: ...es 10 SIMOTION D 10 T Technology object General 9 Linking with Terminal Modules 36 Terminals Connecting 12 Time controlled output 66 Timing Cyclic measurement 79 DI and DO 76 Outputs of output cam 81 Single measurement 78 TM15 DI DO 81 TM15 Circuit 59 Function overview 15 Servo drives 29 Vector drives 29 TM15 DI DO 11 BICO interconnection 11 Function overview 15 TM15 TM17 High Feature Comparison 1...

Page 98: ...SIMOTION SIMOTION SCOUT TM15 TM17 High Feature Operating Manual Commissioning Manual 05 2009 98 ...

Page 99: ...SIMOTION SIMOTION SCOUT TM15 TM17 High Feature Operating Manual Commissioning Manual 05 2009 99 ...

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