FM351_E.PDF

Preface, Contents

User Information

Product Overview

SIMATIC

Principles of Positioning

Installing and Removing

the FM 351

FM 351 Positioning Function

Module

Installation and Parameter

Assignment

Wiring the FM 351

FM 351 Parameterization

Programming the FM 351

Manual

Setting up the FM 351

Reference Information

Machine Data and Increments

Operating Modes and Settings

Encoders

Error Handling

Structure of the Channel DB

Appendices

Technical Specifications

Connecting Cables

EWA 4NEB 720 6001-02

Glossary, Index

Edition 1

Safety Guidelines

This manual contains notices which you should observe to ensure your own personal safety, as

well as to protect the product and connected equipment. These notices are highlighted in the

manual by a warning triangle and are marked as follows according to the level of danger:

Danger

indicates that death, severe personal injury or substantial property damage will result if proper

precautions are not taken.

Warning

indicates that death, severe personal injury or substantial property damage can result if proper

precautions are not taken.

Caution

indicates that minor personal injury or property damage can result if proper precautions are not taken.

Note

draws your attention to particularly important information on the product, handling the product, or

to a particular part of the documentation.

Qualified Personnel

The device/system may only be set up and operated in conjunction with this manual. Only quali-

fied personnel should be allowed to install and work on this equipment. Qualified persons are

defined as persons who are authorized to commission, to ground, and to tag circuits, equipment,

and systems in accordance with established safety practices and standards.

Correct Usage

Note the following:

Warning

This device and its components may only be used for the applications described in the catalog or

the technical description, and only in connection with devices or components from other

manufacturers which have been approved or recommended by Siemens.

This product can only function correctly and safely if it is transported, stored, set up, and

installed correctly, and operated and maintained as recommended.

Trademarks

SIMATIC and SINEC are registered trademarks of SIEMENS AG.

Third parties using for their own purposes any other names in this document which refer to trade-

marks might infringe upon the rights of the trademark owners.

The reproduction, transmission or use of this document or its

contents is not permitted without express written authority.

Offenders will be liable for damages. All rights, including rights

created by patent grant or registration of a utility model or design, are

reserved.

Siemens AG

Automation Group

Industrial Automation Systems

P.O. Box 4848, D-90327 Nuremberg

We have checked the contents of this manual for agreement with the

hardware and software described. Since deviations cannot be pre-

cluded entirely, we cannot guarantee full agreement. However, the

data in this manual are reviewed regularly and any necessary cor-

rections included in subsequent editions. Suggestions for improve-

ment are welcomed.

Siemens AG 1996

Technical data subject to change.

Siemens Aktiengesellschaft

Order No. EWA 4NES 720 6000-02

FM 351 Positioning Function Module

EWA 4NEB 720 6001 02

Preface

Purpose

This manual describes all the steps that are necessary to effectively use the

FM 351 Positioning Function Module.

Audience

This manual describes the hardware and software of the FM 351 Positioning

Function Module. The manual contains the following subjects:

Principles of positioning

Installing and removing the FM 351

Wiring the FM 351

Assigning the FM 351 parameters

Programming the FM 351

Setting up the FM 351

Reference information

Appendices

Additional

Assistance

For queries about the use of products described in this manual, the answers to

which you cannot find here, please consult your Siemens contact person at

the appropriate representatives and offices. You will find addresses, for ex-

ample, in the appendix “SIEMENS Worldwide” to the manual S7-300 Pro-

grammable Controller, Hardware and Installation .

With queries or comments about the manual itself, please fill in the reply slip

located at the end of the manual and return it to the stated address. Please

also enter your personal assessment in the manual reply slip.

We offer courses designed to make your introduction to the SIMATIC S7 Pro-

grammable Controller easier. To obtain information about these, please con-

tact your regional training center or the central training center in D-90027

Nuremberg, Tel. +49-911-895-3154.

Scope of this

Manual

This manual contains the description of the FM 351 Positioning Function

Module which is valid at the time of publication. We reserve the right to de-

scribe changes to the functional features of the FM 351 in product informa-

tion.

CE Labeling

Our products fulfill the requirements of the EU guideline 89/336/EWG

“Electromagnetic Compatibility” and of the harmonized European standards

(EN) listed in it.

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

iii

Preface

The EU declarations of conformity are kept available for the responsible au-

thorities according to the above-mentioned EU guideline at:

Siemens Aktiengesellschaft

Automation Division

AUT E 148

P.O. Box 1963

D-92209 Amberg

Germany

Other References

In the appendix you will find a list of other references about the S7-300 and

programmable logic controllers.

How to Use This

Manual

The manual contains the following access aids to make it easier for you to

access special information:

At the beginning of the manual you will find a comprehensive contents

list together with lists of figures and tables contained in the complete

manual.

In the chapters you will find information giving you an overview of the

section’s contents in the left-hand column on each page.

Following the reference chapter, you will find a glossary in which the

important specialist terms used in the manual are defined.

At the end of the manual you will find a comprehensive index, enabling

you quick access to the required information.

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

Contents

Product Overview

1.1

FM 351 Fields of Application

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3

1.2

Components in Open-Loop Positioning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4

Principles of Positioning

2.1

Ranges and Switching Points in the Region of the Target Position

. . . . . .

2-3

2.2

Positioning Velocity Curve

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4

2.3

Target Approach

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5

2.4

End of Positioning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7

Installing and Removing the FM 351

3.1

Installing the FM 351 Positioning Function Module

. . . . . . . . . . . . . . . . . . .

3-2

3.2

Removing the FM 351 Positioning Function Module

. . . . . . . . . . . . . . . . . .

3-3

Wiring the FM 351

4.1

Wiring the Power Controller

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4

4.2

Description of the Encoder Interface

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6

4.3

Connecting the Encoders

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7

4.4

Description of the Peripheral Interface

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9

4.5

Wiring the Peripheral Interface

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-13

FM 351 Parameterization

Programming the FM 351

6.1

Principles of Programming an FM 351

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

6.1.1

Principle of Communication between CPU and FM 351

. . . . . . . . . . . . . . .

6-4

6.1.2

Calling Functions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-6

6.1.3

Interrupt Handling

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-8

6.2

Functions which Control the FM 351

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-10

6.2.1

FC INC_MOD

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-12

6.2.2

FC JOG_MODE

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-14

6.2.3

FC REF_MODE

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-16

6.3

Functions which Write Data to the FM 351

. . . . . . . . . . . . . . . . . . . . . . . . . . .

6-18

6.3.1

FC REFPT

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-21

6.3.2

FC ACT_VAL

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-23

6.3.3

FC SNG_FCT

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-24

6.3.4

FC SNG_COM

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-25

6.3.5

FC TG254

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-26

6.3.6

FC TG253_5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-27

FM 351 Positioning Function Module

EWA 4NEB 720 6001-02

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