FM 354

Preface, Contents Product Overview
1 2 3 4 5 6 7 8 9 10 11 A B C
SIMATIC FM 354 Positioning Module for Servo Drives

Manual
Basic Principles of Positioning Installing and Removing Wiring Defining Parameters Programming the Technological Functions Starting up Human-machine Interface Description of Functions Writing Traversing Programs Troubleshooting Appendices Technical Specifications User Data Block (AWDB) List of Abbreviations Index
6ES7 354-1AH01-8BG0 01/2008 Edition
Safety Information
This Manual contains information which you should carefully observe to ensure your own personal safety and the prevention of damage to the system. This information is highlighted by a warning triangle and presented in one of the following ways depending on the degree of risk involved:
! ! !
Danger
indicates that death or severe personal injury damage will result if proper precautions are not taken.
Warning
indicates that death or severe personal injury damage can result if proper precautions are not taken.
Caution
indicates that minor personal injury can result if proper precautions are not taken.
Caution
without warning triangle means that material damage can occur if the appropriate precautions are not taken.
Attention
means that an undesired result or a condition may occur if the appropriate note is not observed. If more than one level of hazard can occur, the warning note of the correspondingly highest level is used in all cases. If a warning note with a warning triangle warns of personal injury, an additional warning of material damage can be included in the same warning note.
Qualified personnel
The unit may only be started up and operated by qualified personnel. Qualified personnel as referred to in the safety guidelines in this document are those who are authorized to start up, earth and label units, systems and circuits in accordance with relevant safety standards.
Proper use
Please note the following:
Warning
The unit may be used only for the applications described in the catalog or the technical description, and only in combination with the equipment, components and devices of other manufacturers as far as this is recommended or 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 violate the rights of the registered holder.
Copyright Siemens AG. 1996-2008 All rights reserved 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, are reserved. Siemens AG Automation & Drives 90437 Nrnberg Federal Republic of Germany
Exclusion of liability We have checked that the contents of this publication agree with the hardware and software described herein. Nonetheless, differences might exist and therefore we cannot guarantee that they are completely identical. The information given in this publication is reviewed at regular intervals and any corrections that might be necessary are made in the subsequent printings.
Siemens Aktiengesellschaft
Index-2
E Siemens AG 1996-2008 Subject to change without 354 Servo Drive Positioning Module FM prior notice. 6ES7-354-1AH01-8BG0
6ES7 354-1AH01-8BG0
Preface
Information
This manual contains all information about the FM 354 module: S S S S S Hardware and functions Parameterization Human-machine interface S7 blocks Safe design
Information blocks in this manual

The following information blocks describe the purpose and application of this manual: S Product overview of the module (Chapter 1) This section explains the purpose and possible applications of the module. It provides introductory information about the FM 354 and its functions. S Basic principles of positioning (Chapter 2) Here you will find introductory information on positioning methods and associated definitions of terms. S S S S S S Installing and removing the FM 354 (Chapter 3) Explains the installation and removal of the FM 354. Wiring the FM 354 (Chapter 4) Describes the connection and wiring of drives and digital input/output modules. Defining parameters of the FM 354 (Chapter 5) Describes the parameterization and functions of Parameterize FM 357. Programming the FM 354 (Chapter 6) Describes how to program the FM 357 with STEP 7. Starting up the FM 354 (Chapter 7) Describes startup procedures for the FM 354. Human-machine interface (Chapter 8) Describes the various options for operating and monitoring the FM 354, and which data and signals can be used and monitored.
FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0
Preface
Reference information and appendices for finding factual information (module functions, programming guide, interface signals, error handling, technical specifications, standard HMI user interface) List of abbreviations and index for looking up information.
User requirements
The present manual describes the hardware and functions of the FM 354 To set up, program and start up a SIMATIC S7-300 with the FM 354, you will need a knowledge of: S The SIMATIC S7 Installation manual S7-400/M7400 Programmable Controller, Hardware and Installation S S S Your programming device (PG) How to perform programming with STEP 7 How to configure an operator panel interface.
FM 354 users
The structure and presentation of the information in the manual are oriented to the intended uses of the FM 354, and the users own activity. It distinguishes among the following: S S S Installation and wiring These activities include installation and wiring of the FM 354. Parameterizing and Programming These activities include parameterizing and programming the FM 354. Troubleshooting and diagnostics These activities include detecting and correcting faults and errors in the hardware setup of the module and its components and in the programming, handling and control of module functions. S Operation These users operate the FM 354. The operator accordingly deals only with the control of positioning tasks.
Note
The PROFINET functionality described in the present manual (in the current version) is only available on request. Please get in touch with your Siemens contact partner.
ii
Preface
Standards and approvals

Our products are in compliance with the EU Guideline 89/336/EEC Electromagnetic Compatibility and the harmonized European standards (EN) which it embodies. The current version of the EC Declaration of Conformity can be found on the Internet at http://support.automation.siemens.com/WW/view/de/15257461
Recycling and disposal

For recycling in an environmentally compatible manner and for the disposal of your old SIMATIC in line with prsent state of technology, please contact your appropriate Siemens contact partner: http://www.automation.siemens.com/partner
Technical support
If you have any technical question, please do no hesitate to contact our hotline:
Time zone: Telephone Fax Internet E-mail Europe/Africa +49 (0) 180 5050 222 +49 (0) 180 5050 223 Asia/Australia +86 1064 719 990 +86 1064 747 474 America +1 423 262 2522 +1 423 262 2289
http://www.siemens.com/automation/support-request adsupport@siemens.com
Note The countryspecific telephone numbers for technical consultation can be found on the Internet at: http://www.siemens.com/automation/service&support
Questions regarding this Manual

If you have any questions regarding this Documentation (suggestions, corrections), please send a fax or an email to the following address: Fax: +49 (0) 9131 98 63 315 E-mail: docu.motioncontrol@siemens.com
Siemens Internet address

For currently updated information on the SIMATIC products, vitsit us on the Internet at: http://www.siemens.de/simatic.
iii
Preface
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 Nrnberg, Germany under tel. +49 911-89 53 202. J
iv
Table of Contents
1 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 1.2 1.3 2 3 The FM 354 in the S7-300 programmable controller . . . . . . . . . . . . . . . . . . Module description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of module functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1-2 1-7 1-9 2-1 3-1 3-3 3-4 3-5 4-1 4-3 4-5 4-7 4-8 4-12 4-14 4-20 5-1 5-3 5-4 5-7 5-9 5-19 5-20 5-22 5-24 5-25 6-1 6-4 6-4 6-5 6-6 6-6
Basic Principles of Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing and Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 3.2 3.3 Installing the FM 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Removing the FM 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Replacing modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring an FM 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connecting the drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the measurement system interface . . . . . . . . . . . . . . . . . . . . Connecting the encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wiring up the front connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing Parameterize FM 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Getting started with Parameterize FM 354 . . . . . . . . . . . . . . . . . . . . . . . . . Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tool offset data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Traversing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameterization with Parameterize FM 354 . . . . . . . . . . . . . . . . . . . . . . . Storing the parameter data in SDB w 1 000 . . . . . . . . . . . . . . . . . . . . . . . . Programming fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication between the CPU and the FM 354 . . . . . . . . . . . . . . . . . . . Structure of a user program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Distributed configuration, OB 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Embedding an OP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 4.2 4.3 4.4 4.5 4.6 4.7
Defining Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.2 5.3 5.3.1 5.3.2 5.3.3 5.3.4 5.4 5.5
Programming the Technological Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 6.1.1 6.1.2 6.1.3 6.1.4
Table of Contents
6.1.5 6.2 6.3 6.3.1 6.3.2 6.3.3 6.3.4 6.3.5 6.3.6 6.4 6.4.1 6.4.2 6.4.3 6.4.4 6.4.5 6.4.6 6.5 6.6 6.7 6.8 6.9 7 7.1 7.2 7.3 7.3.1 7.3.2 7.3.3 7.3.4 7.3.5 7.3.6 7.3.7 7.3.8 7.3.9 8
Procedure for writing the user program (AWP) . . . . . . . . . . . . . . . . . . . . . . . Putting the FM 354 into operation with the parameter initialization tool . . Standard function blocks of the FMSTSV_L block library . . . . . . . . . . . . Overview of the FMSTSV_L function block library . . . . . . . . . . . . . . . . . . The POS_INIT (FC 0) block Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . The POS_CTRL (FC 1) block Data exchange . . . . . . . . . . . . . . . . . . . . . The POS_DIAG (FC 2) block Read diagnostic interrupt data . . . . . . . . . The POS_MSRM (FC 3) block Read measured values . . . . . . . . . . . . . Interface, user data blocks (AW-DBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standard function blocks of the FM353_354 block library (also for PROFINET, upon request) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of the FM353_354 block library . . . . . . . . . . . . . . . . . . . . . . . . . The POS_INIT (FC 0) block Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . The POS_CTRL (FC 1) block Data exchange . . . . . . . . . . . . . . . . . . . . . The POS_DIAG (FC 2) block Read diagnostic interrupt data . . . . . . . . . The POS_MSRM (FC 3) block Read measured values . . . . . . . . . . . . . Interface, user DBs (AW-DBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User data block (AW-DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sample applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error list, system messages (CPU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installation and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Initial values for testing and optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . Testing and optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Activating the machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Checking the drive and encoder circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic startup of the position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Optimizing the position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Realigning the reference point coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . Activating position controller diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . Activating the software limit switches, drift compensation and backlash compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameterizable zero-speed monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standard diagnosis for the position controller with parameterizable response time when overriding the actuating signal . . . . . . . . . . . . . . . . . . Standard HMI (human-machine interface) for the OP 07 and the OP 17 Standard user interface for the OP 07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Standard user interface for the OP 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Analysis of the user DB by the user program for operator control . . . . . . Data block for status messages (DB-SS) . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-7 6-8 6-8 6-9 6-10 6-12 6-22 6-25 6-26 6-28 6-28 6-30 6-30 6-41 6-41 6-42 6-44 6-46 6-57 6-64 6-66 7-1 7-2 7-3 7-6 7-12 7-13 7-17 7-19 7-23 7-24 7-26 7-28 7-29 8-1 8-3 8-5 8-10 8-17 8-20
Starting up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Human-machine Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 8.1.1 8.1.2 8.2 8.3
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Description of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 9.1.1 9.1.2 9.1.3 9.2 9.2.1 9.2.2 9.2.3 9.2.4 9.2.5 9.2.6 9.2.7 9.2.8 9.3 9.3.1 9.3.2 9.3.3 9.3.4 9.3.5 9.3.6 9.3.7 9.3.8 9.3.9 9.3.10 9.3.11 9.3.12 9.3.13 9.3.14 9.3.15 9.3.16 9.3.17 9.4 9.5 9.6 9.6.1 9.6.2 9.6.3 9.7 9.8 9.8.1 9.8.2 9.9 9.10 Control and checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General handling information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Open-loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference point approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Incremental relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Incremental relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . MDI (Manual Data Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Automatic single block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Change parameters/data (Write request in user DB, DBX39.3) . . . . . . . . Single functions (user DB, DBB34 and 35) . . . . . . . . . . . . . . . . . . . . . . . . . . Single functions (user DB, DBB36 and 37) . . . . . . . . . . . . . . . . . . . . . . . . . . Zero offset (Write request in the user DB, DBX39.1) . . . . . . . . . . . . . . . . . Set actual value (Write request in the user DB, DBX38.7) . . . . . . . . . . . . . Set actual value on-the-fly (Write request in the user DB, DBX39.0) . . . . Request application data (Write request in the user DB, DBX39.6) . . . . . Teach in (Write request in the user DB, DBX39.7) . . . . . . . . . . . . . . . . . . . . Set reference point (Write request in the user DB, DBX38.6) . . . . . . . . . . Measured values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic operating data (Read request in the user DB, DBX42.0) . . . . . . . . . Active NC block (Read request in the user DB, DBX42.1), next NC block (Read request in the user DB, DBX42.2) . . . . . . . . . . . . . . Application data (Read request in the user DB, DBX43.6) . . . . . . . . . . . . . Actual value block change (Read request in the user DB, DBX42.3) . . . . Servicing data (Read request in the user DB, DBX42.4) . . . . . . . . . . . . . . Additional operating data (Read request in the user DB, DBX43.5) . . . . . Parameters/data (Read request in the user DB, DBX43.3) . . . . . . . . . . . . System of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Incremental encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Absolute encoders (SSI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Synchronizing the encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Digital inputs/outputs (Read request in the user DB, DBX43.4) . . . . . . . . Function description of digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function description of digital outputs (Write request in the user DB, DBX39.4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . Software limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Process interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-1 9-2 9-3 9-6 9-10 9-14 9-15 9-18 9-19 9-24 9-26 9-27 9-31 9-36 9-37 9-38 9-42 9-45 9-47 9-49 9-50 9-51 9-52 9-52 9-53 9-56 9-57 9-58 9-58 9-58 9-59 9-59 9-60 9-61 9-64 9-66 9-69 9-72 9-74 9-85 9-86 9-87 9-88 9-89
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10
Writing Traversing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 10.2 10.3 Traversing blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1 10-2
Program execution and direction of machining . . . . . . . . . . . . . . . . . . . . . . . 10-16 Block transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16 11-1 11-3 11-4 11-4 11-6 11-7 11-8 11-8 Error classes and module responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fault indication by LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error messages in checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message in data block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Viewing the diagnostic buffer (PG/PC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 11.2 11.2.1 11.2.2 11.2.3 11.2.4 11.2.5 11.3 11.3.1 11.3.2
Error lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9 Diagnostic interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15 A-1 B-1 C-1
A B C
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Data Block (AW-DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index-1
viii
Product Overview
Chapter overview
Section 1.1 1.2 1.3 Module description Overview of the module functions Section Header The FM 354 in the S7-300 programmable controller
1
Page 1-2 1-7 1-9
What can the FM 354 do?

The FM 354 is a microprocessor-controlled positioning module for actuating a stepper motor. The FM 354 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 354 has a variety of operating modes. The module has a non-volatile data memory to store parameterization data. S S The FM 354 is low-maintenance (no battery). It can be linked and adapted to user circumstances by parameterizing it as required by the system.
1-1
Product Overview
Where can the FM 354 be used?

The FM 354 can be used for both simple positioning and complex traversing profiles demanding superior dynamic response, accuracy and speed. It is also suitable for positioning tasks in machinery with high clock-pulse rates. Typical uses for the positioning module might include: S S S S S S S S Transfer lines Assembly lines Woodworking machines Handling equipment Loaders Auxiliary movements in milling and turning machines Packaging machines 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 354 in the S7-300 programmable controller
How is the FM 354 linked up with the S7-300?

The FM 354 is designed as a function module of the SIMATIC S7-300 controller. The S7-300 programmable controller consists of a CPU and a variety of peripheral modules mounted on a mounting rail. The configuration may have one or more racks.
1-2
Product Overview
Multi-rack configurations
A SIMATIC S7-300 CPU may run up to four racks with as many as eight bus stations each (see Figure 1-1).
MPI
OP Operator panel
PG Programming device
Backplane bus
Rack 3 IM SM dig./ anal. SM dig./ anal. SM dig./ anal. FM SM dig./ anal. SM dig./ anal. SM dig./ anal.
24 V Rack 2
IM 24 V Rack 1 IM
SM dig./ anal.
SM dig./ anal.
SM dig./ anal.
FM
SM dig./ anal.
SM dig./ anal.
S M dig./
anal.
stepper drive
SM dig./ anal.
SM dig./ anal.
SM dig./ anal.
FM 354
SM dig./ anal.
24 V Rack 0
S M dig./ anal.
SM dig./ anal.
Distributed I/Os, L2-DP with IM interface module IM SM dig./ anal. SM dig./ anal. SM dig./ anal. FM 354
PS 24 V 2/5/10 A
SIMATIC S7-300 CPU
MPI IM SM PS CPU Fig. 1-1
Multipoint interface Interface module Signal module Power supply Central processing unit
24 V Stepper drive
Multi-rack configuration of a SIMATIC S7-300 with FM 354 (example)
1-3
Product Overview
System overview
A complete positioning controller using the FM 354 consists of a variety of individual components, which are shown in Figure 1-2.
Operator panel (OP) (e.g. OP 07) Your programming device (PG)
Configuration package
DIN rail SIMATIC S7-300
P S
CPU
IM
S M
S M
FM 354
S M
S M
Power section e.g. FM STEPDRIVE e.g. touch probe Motor e.g. SIMOSTEP
Fig. 1-2
System overview (schematic)
MPI connection
The FM can service up to 3 MPI nodes (PCs, programming devices or OPs) simultaneously.
1-4
Product Overview
Components
The most important components and their functions are listed in Table 1-1.
Table 1-1 Components of a positioning controller Function ... the module mounting rack for the S7-300. ... the positioning module. It is controlled by the S7-300 CPU. ... executes the user program; powers the S7-300 backplane bus at 5 V; and communicates with the programming device and the operator panel via the MPI interface. ... converts line voltage (120/230 V AC) to 24 V DC operating voltage to power the S7-300. ... adapts various process-signal levels to the S7-300 ... connects the individual cells of an S7-300 with one another (applies to multi-rack configuration; see Figure 1-1). ... configures, parameterizes, programs and tests the S7-300 and the FM 354. ... the interface to the machine. It serves for operation and monitoring. It is not an absolute prerequisite for operation of an FM 354. ... actuates the motor. ... drives the axis. ... A CD-ROM containing:
Component DIN rail FM 354 CPU
Power supply (PS) Signal modules (SM) Interface module (IM)
Programming device (PG) Operator panel (OP)
Power section Motor Configuration package
S S S S
An FC block package MD DBs (for start-up of stepper motor) The parameterization tool Parameterize FM 354 A preconfigured operator interface for the COROS series OP 07 and OP 17
S A manual in PDF format S Getting Started in PDF format
1-5
Product Overview
System overview of data handling

The following figure gives you an overview of the data storage concept.
CPU Loading buffer RAM User program, including blocks Module data P bus
FM 354
S Module data S Diagnostic data
User DBx Online data Operating system MPI
Diagnostic/ process interrupt K bus
DBx parameterization data
DBx parameterization data
Creation of the user program
Human-machine interface Parameterization, testing and diagnostics OP e.g.:
S S S S S
Machine data Increments Tool offset data Traversing programs Status messages
LAD/STL Editor
DB Editor PG (STEP 7)
Parameterize FM 354
Fig. 1-3
Data storage concept
1-6
Product Overview
1.2
Module description
View of the FM 354

Figure 1-4 shows the FM 354 module, its interfaces and front-panel elements (including fault and status displays).
DIN rail
Module name plate: FM 354 FM STEPPER MOTOR Bus connector SIMATIC port Front door (flips open) Labeling plate Front view with doors removed STEP.CONTR.X2
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Status and error displays
S F DC5 DIA V G
Front connector I0 I1 I2 I3 R M Q Q 0 Q 1 Q 2 3
1 1 1 1 1 1 1 1 1 1 2
Drive port X2
Display for digital I/O modules
I/O port X1 Fig. 1-4 View of the FM353
1-7
Product Overview
Ports
A description of the ports is provided in Table 1-2.
Table 1-2 Ports Ports Bus connector SIMATIC port Drive port I/O port Description Back connector to continue the S7 LAN from module to module 15-pin male sub-D connector (X2) to connect the drive unit 20-pin male front connector (X1) to connect the load power supply and for digital input and output wiring
LED indicators
Twelve LEDs are arranged on the front panel of the FM 354. Table 1-3 describes these LEDs and what they mean.
Table 1-3 Status and error displays LED SF (red) Group error 5 V DC (green) Logic power supply is ON DIAG (yellow) Diagnostics I0 I3 (green) Digital inputs Q0 Q3 (green) Digital outputs RM (green) Input, controller message Significance This LED indicates an error condition in the FM 354. (see Troubleshooting, Chapter 11) This LED indicates that the hardware is ready for operation.
This LED indicates various diagnostic states (see Troubleshooting, Chapter 11) These LEDs indicate which input is ON. These LEDs indicate which output is ON. This LED indicates that the input is activated.
1-8
Product Overview
Type plate of the FM 354

Figure 1-5 describes all the information contained in the type plate of the FM 354.
SIEMENS
SVP JM123456 Made in Germany Product status Order number Fig. 1-5 Type plate of the FM 354
Marks and approvals Module identifier
1.3
Overview of module functions
Summary
The FM 354 module performs the following functions: S S S S S S S S S S Mode control Determining position Stepper motor control Digital inputs and outputs Settings and functions that do not depend on operating mode Software limit switches Process interrupts Block sequence control Diagnostics and troubleshooting Data storage on the FM 354
1-9
Product Overview
Mode control
The operating mode is specified to the FM 354 by way of the user program. The FM 354 has the following modes available: S S S S S S S Jogging Open-loop control Reference point approach Incremental mode, relative MDI-Manual Data Input) Automatic Automatic single block
Determining position
The control frequency pulses emitted by the FM 354 are added internally to form a position actual value.
Stepper motor control

The stepper motor control performs the following tasks: S S S S S Guidance of the drive commensurate with speed during movement sequence (e.g. adjustable acceleration and delay, start/stop operation) Output of step pulses in form of control frequency Output of a direction signal Accurate approach by axis into programmed target position Phase current control to the drive device
Digital inputs/outputs
Four digital inputs and four outputs can be used as specified by the user. You might connect: S S S S S Reference-point switches Switches for external starting Touch probes Position reached, Stop (PEH) Forward/backward rotation
The switching function is assigned to a given I/O number by way of the machine data.
1-10
Product Overview
Settings and functions not dependent on operating mode

Special functions can be activated by specific settings in the user program, in addition to the mode (e.g., inprocess measurement).
Software limit switches

The operating range (specified by software limit switches) is automatically monitored after synchronization is recorded.
Process interrupts
Process interrupts are triggered by such events as: S S S S Position reached Length measurement completed On-the-fly block change Inprocess measurement
Process interrupts are selected by way of machine data.
Block sequence control

Automatic processing of a traversing program, including subprograms created during the parameterization process. A number of traversing programs are available for execution on the module.
Diagnostics and troubleshooting

Startup and ongoing operation of the module are monitored by fault and diagnostic interrupts. Faults or errors are reported to the system and displayed by the LEDs on the module.
Data storage on the FM 354

Parameterization data (machine data, tool compensation data, traversing programs and increment sizes) is retained in storage on the FM 354. J
1-11
Product Overview
1-12
Basic Principles of Positioning

What is positioning?
Positioning means moving a load to a defined position within a defined time, taking all influencing forces and torques into account.
F s Dx Position A F = driving force Fig. 2-1 Position B s = path
Dx = distance to be traversed
Principle of a positioning action
Servo-controlled positioning
Servo-controlled positioning is: S S S guidance of the drive at the proper speed during execution of a movement precise approach of the axis to the programmed target position maintenance of the axis in position in the face of interfering factors.
2-1
Structure of a positioning circuit

Figure 2-2 shows the structure of a position control circuit with the FM 354.
Power grid FM 354 CPU
EMERG. STOP
Reference position Safety device Power section e.g., SIMODRIVE 611-A
Actual position
Parameterize
PG
Movement
Motor
M
Mechanical transmission elements
Encoders Hardware limit switch Parameterize FM 354
Fig. 2-2
Setup of servo-controlled positioning, example
FM 354
Servo-controlled positioning with output of an analog actuating signal for the drive.
Power section
The power section processes the analog actuating signal and delivers the proper electric power to the motor.
Motor
The motor is actuated by the power section and drives the axis.
Mechanical transmission elements

These include not only the axis, but also gear trains and clutch systems.
2-2
Encoder
The encoder detects movement of the axis. It supplies pulses to the FM 354. The number of pulses is proportional to the distance traversed
Peripherals
All other additional equipment is covered by the term peripherals. Peripherals mainly include: S S Limit switches to limit the positioning range (safety devices). A programming device (PG) and the Parameterize FM 354 parameterization software. J
2-3
2-4
Installing and Removing

Chapter Overview
Section 3.1 3.2 3.3 Installing the FM 354 Removing the FM 354 Replacing modules Section Header
3
Page 3-3 3-4 3-5
Overview
The FM 354 is intended for installation as an I/O module in the SIMATIC S7-300 programmable logic controller.
Important safety rules

There are important rules which you must follow when integrating an FM 354 in the S7-300 PLC in a plant or system. These rules and specifications are described in the manual S7-300 Programmable 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 few supplementary pointers.
Installation position
The module should preferably be installed horizontally. In vertical installations, please observe the ambient temperature restrictions (max. 40 C).
3-1
What you should know about the mechanical layout

The FM 354 can be mounted in any of the eight available slots (slots 4 to 11) for I/O modules on the mounting rail. In configuring the mechanical layout of your controller, you should note the following 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 354 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 backplane bus. The CPU 314, for example, can supply a maximum of 1.2 A. The FM 354 requires 100 mA of this amount.
3-2
3.1
Rules
Installing the FM 354
No particular protective measures (EGB Guidelines) are necessary for the installation of the FM 354.
Warning Install the FM 354 only after all power to the S7-300 has been turned OFF.
Tools required
A 4.5 mm (.18 inch) screwdriver.
Procedure
To install the FM 354: 1. The FM 354 comes with a bus connector. Plug this into the bus plug of the module to the left of the FM 354. (The bus plug is on the back; you may have to loosen the module already in place.) If further modules are to be mounted to the right, plug the bus connector of the next module into the right backplane bus connector on the FM 354. If the FM 354 is the last module in the rack, do not connect this bus connector. 2. Hook the FM 354 onto the rail and swing it down into position. 3. Screw the FM 354 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 the slot labels are described in the manual S7-300 Programmable Controller, Hardware and Installation, for the numbering scheme to follow and how to apply the slot labels.
Note The slot determines the initial address of each module. To find out how to allocate the module start address, please refer to the manual S7-300 Programmable Controller, Hardware and Installation. The FM 354 is addressed in the same way as an analog module.
3-3
3.2
Rules
Removing the FM 354
No particular protective measures (EGB Guidelines) are necessary for the removal of the FM 354.
Warning Remove the FM 354 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 354: 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 plugs from the encoder and drive unit. 4. Release the protective device on the front connector and unplug it. 5. Loosen the fastening screws and swing the module up and out.
3-4
3.3
Replacing modules
Overview
If a defective FM 354 has to be replaced, and no programming device/PC is available for parameterization, or the module is to be replaced while the system is switched on, please note the following start-up requirements (CPU, FM): S S An SDB w 1 000 should be generated in order to complete the startup (for storing the parameter data); see Section 5.5. In the user program: Interrupt communication with the FM 354 before removing the old FM, and resume communication after installing the new FM. If data/parameters are modified during operation and stored modally on the FM, please follow the instructions in Section 9.3.1.
Replacing an FM 354
To replace a parameterized but defective FM 354: 1. Replace the FM 354 when the system is switched off (CPU, FM)
Remove the FM 354 (See Sec. 3.2)
Install the FM 354 see Sec. 3.1) Switch on the system Appropriate SDB w 1 000 in CPU?1) Yes FM 354 parameterized automatically FM 354 ready 1) How to create an SDB w1 000 after startup, and how to load it in the CPU is described in Section 5.5. No
Reparameterization of FM PG/PC required
Fig. 3-1
Replacing the FM 354 with the system switched off
3-5
3-6
Wiring
Chapter Overview
Section 4.1 4.2 4.3 4.4 4.5 4.6 4.7 Wiring an FM 354 Description of the drive interface Connecting the drive unit Description of the measurement system interface Connecting the encoders Description of the I/O interface Wiring up the front connector Section Header
4
Page 4-3 4-5 4-7 4-8 4-12 4-14 4-20
Safety rules
In order to ensure the safe operation of your plant, you should introduce the following additional measures, and adjust them appropriately to your systems conditions: S S S An EMERGENCY STOP concept meeting appropriate safety regulations (e.g. European standards EN 60204, EN 418 and associated standards). Additional measures for limiting the end position of axes (e.g. hardware limit switches). Equipment and measures for protecting the motors and power electronics in accordance with the installation guidelines for SIMODRIVE.
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.
4-1
Wiring
Further references
Please refer also to the following chapters in the manual S7-300 Programmable Controller, Hardware and Installation: S S S Lightning protection and overvoltage protection: Chapter 4.2 Guidelines for handling of electrostatic sensitive devices (ESDs): Appendix B. Configuring the electrical installation: Chapter 4
For further information about EMC guidelines, we recommend the description in: Equipment for Machine Tools, EMC guidelines for WS/WF equipment, Order No.: 6ZB5 440-0QX01-0BA1.
Standards and specifications

When wiring the FM 354 you must observe the relevant VDE guidelines.
4-2
Wiring
4.1
Wiring an FM 354
Summary
Figure 4-1 shows how the individual components of the positioning controller with FM 354 are linked together.
OP
PG
SIMATIC S7-300
SIEMENS
Front connector
External 24 V power supply MPI connecting cable
CPU
FM 354
X3
X2
Setpoint cable
Measuringsystem cables e.g. incremental encoder with RS 422 e.g. ROD 320 (built-in encoder in 1FT5 motor) e.g. absolute encoder (SSI) e.g. linear scale with EXE Dig. outputs, e.g. direction of rotation
Dig. inputs, e.g. touch probe
Drive unit, e.g. SIMODRIVE 611-A

SIEMENS
SIMODRIVE
Fig. 4-1
Wiring diagram of an FM 354
4-3
Wiring
Note The device is designed for operation with safety extralow voltage (SELV). This means that only safety extralow voltages (SELV) complying with IEC950/EN60950/VDE0805 may be connected to the power supply terminals. The power unit for supplying the device must comply with NEC Class 2 as described by the National Electrical Code(r) (ANSI/NFPA 70). The power of all connected power units in total must correspond to a limited power source (LPS).
Connecting cables
Table 4-1 lists the connecting cables for a positioning controller with the FM 354.
Table 4-1 Type MPI connecting cable Setpoint cable Connecting cables for a positioning controller with FM 354 Order No. see Catalog ST 70, Order No. E86060-K4670-A101-AV 6FX2 002-3AB01-1VV0 see Catalog NC Z Order No.: E86060-K4490-A001-AV 6FX2 002-2CD01-1VV0 see Catalog NC Z Order No.: E86060-K4490-A001-AV 6FX2 002-2CE01-1VV0 see Catalog NC Z Order No.: E86060-K4490-A001-AV 6FX2 002-2CC01-1VV0 see Catalog NC Z Order No.: E86060-K4490-A001-AV Description Connection between OP, PG and S7-300 CPU Setpoint cable for FM 354 and SIMODRIVE 611-A, "10 V; one axis Incremental encoder with RS 422 and FM 354 (EXE with linear scale) ROD 320 encoder with 1FT5 motor and FM 354
Measurement system cable
Measuringsystem cables
Measuringsystem cables
Connection of absolute encoder (SSI) and FM 354
Front connector
You need a 20-pin screw-type front connector for wiring the I/Os. It must be ordered separately. Order No.: 6ES7 392-1AJ00-0AA0
see Catalog ST 70, Order No. E86060-K4670-A101-AV see Catalog NC 60.1, Order No. E86060-K4460-A101-AV
4-4
Wiring
4.2
Description of the drive interface
Connector for the drive unit

Power sections with an analog interface ("10 V) can be connected to the 9-pin sub-D X2 connector of the FM 354. The FM 354 also provides an enable signal.
Connector position
Figure 4-2 shows the installation position and identification of the plug on the module.
ANAL. OUT X2
6 1
FM 354 Fig. 4-2 Position of X2 connector
Connector pinout
Connector identifier: Connector type:
Table 4-2 Pin 1 2 3 4 5
X2 ANAL. OUT X2 9-pin sub-D plug connector
Pinout of the X2 connector Name SW open open open RF.2 K type VO Pin 6 7 8 9 Name BS open open RF.1 K type VO
Signal names
SW BS RF.1...2 Setpoint "10 V Reference potential for setpoint Contact for CL controller enable
4-5
Wiring
Signal type
VO K Voltage outlet Switching contact
Signals
One voltage signal and one enable signal are provided. S S SETPOINT (SW) An analog voltage signal in the range "10 V, for output of an rpm setpoint. REFERENCE SIGNAL (BS) A reference potential (analog ground) for the setpoint signal, internally connected with the logic ground. S SERVO ENABLE (RF) A relay contact pair used to switch the axis-specific Enable signal for the power section, e.g. a SIMODRIVE drive unit. The FM 354 activates this signal when cyclic openloop control mode is entered, that is, when startup and initialization were successfully completed and the user activated the single function Servo Enable. Prerequisite is, however, that MD37 is set for Servo Enable active.
Signal parameters
The setpoint is output as an analog differential signal.
Table 4-3 Electrical parameters of the setpoint signal Parameters Rated voltage range Output current Min 10 3 Max 10 3 Unit V mA
D/A converter resolution:
0...1 V 1...10 V
16 bits + sign 13 bits + sign
Relay contacts
The axis enables are switched via relay outputs (make contacts).
Table 4-4 Electrical parameters of the relay contacts Parameters Switching voltage Switching current Switching capacity Max 50 1 30 Unit V A VA
Connecting cables to drive unit

Acceptable length: up to 35 m (115 ft)
4-6
Wiring
4.3
Connecting the drive unit
To connect the connecting cables

Please note:
Note Use only shielded twisted pairs for lines. The shielding must be connected to the metallic or metallized connector jacket on the controller side. To protect the analog setpoint signal against low-frequency interference, we recommend that you not ground the shielding on the drive-unit side The cable set supplied as an accessory offers excellent immunity against interference
Connecting cable
X2 FM 354
Drive unit, e.g. SIMODRIVE 611-A
SIMODRIVE
SIEMENS
E/R
VSA
Fig. 4-3
Connecting a SIMODRIVE 611-A drive unit
4-7
Wiring
Procedure to connect the connecting cable

Connect the drive unit as follows: 1. Wire the free cable end of the connecting cable to the terminals of the drive unit. (The terminal identifiers on the cable ends indicate the proper terminals for SIMODRIVE units.) 2. Open the front door and plug the sub-D connector into the module. 3. Lock the connector in place with the knurled screws. Close the front door.
Designation of the connecting cable

The connecting cable is a prefabricated cable for an axis with an analog interface, terminal designation for SIMODRIVE drive units. Order No.: 6FX2 002-3AB01-0VV0
The connecting cable is available in a variety of lengths. see Catalog NC Z, Order No.: E86060-K4490-A001-AV.
4.4
Description of the measurement system interface
Connectors for encoders

A 15-pin female sub D connector is provided for the connection of incremental encoders or absolute encoders (serial port).
Location of connector
Figure 4-4 shows where the connector is installed on the module, and how it is identified.
ENCODER X3
15 8
FM 354 Fig. 4-4 Location of the X3 connector
4-8
Wiring
Connector pinout
Identifier: Type:
Table 4-5 Pin 1 2 3 4 5 6 7 8 P5EXT P24EXT P5EXT MEXT Unassigned
X3
ENCODER X3 15-pin female sub-D plug connector
Pinout of the X3 connector Encoders Incremental Unassigned CLS CLS_N Absolute type I O O VO VO VO VO Pin 9 10 11 12 13 14 15 N N_N B_N B A_N A DATA_N DATA Encoders Incremental MEXT Absolute type VO I I I I I I
Signal names
A, A_N B, B_N N, N_N CLS, CLS_N DATA, DATA_N P5EXT P24EXT MEXT Track A true / negated (incremental encoder) Track B true / negated (incremental encoder) Zero mark true / negated (incremental encoder) SSI sliding pulse true / negated (absolute encoder) SSI data true / negated (absolute encoder) +5 V supply (pins 4 and 6 connected internally) +24 V power supply Ground power supply
Signal type
VO O I Voltage outlet (power supply) Output (5 V signal) Input (5 V signal)
Connectable encoder types

Incremental or absolute (SSI) encoders may be connected directly (e.g. digitalrotary encoders); they are then selected via machine data. Encoders with SINE/COSINE signals (e.g. length scales) may be connected by way of an external electronic pulse shaper (EXE) that converts the signals to 5 V levels.
4-9
Wiring
Encoder characteristics
Both encoders that can be connected directly and EXEs must meet the following requirements: Incremental encoders Transfer procedure: Output signals: Differential transfer with 5 V rectangular signals (such as RS422 standard) Track A as true and negated signal (Ua1, Ua1) Track B as true and negated signal (Ua2, Ua2) Zero signal N as true and negated signal (Ua0, Ua0) When connecting an incremental encoder, please note that at the instant of the zero pulse (TRUE signal) the signals of tracks A and B must also be TRUE. If necessary, the negated signal must be connected and, consequently, the direction adjusted (MD19). 1 signal w 2.4 V 0 signal < 0.8 V
Maximum output frequency: 1 MHz Phase shift, track A to B: Power consumption: Absolute encoders (SSI) Transfer procedure: Synchronous-serial interface (SSI) with 5 V differential-signal transfer signals (such as RS422 standard) Data as true and negated signal Sliding pulse as true and negated signal Not more than 25 bits 1.25 Mbps Not more than 300 mA 90 "30 Not more than 300 mA
Output signals: Input signals: Resolution: Maximum transfer frequency: Power consumption:
Encoder power supply

The 5 V or 24 V power supply to the encoders is generated within the module and is available on the female sub-D connector, and so you can power the encoders by way of the connecting cable, without additional wiring. The available voltage is electronically protected against shorting and thermal overload, and is monitored.
4-10
Wiring
Table 4-6
Electrical parameters of encoder power supply Parameters Min 5.1 Max 5.3 50 0.3 20.4 28.8 3.6 0.3 Unit V mVss A V Vss A
5 V power supply Voltage Ripple Current carrying capacity 24 V power supply Voltage Ripple Current carrying capacity
Note 24 V encoders that are supplied via X3 must not be inserted or removed when the FM 354 power supply is connected.
External voltage supply

If the encoders are supplied externally (encoders are not connected to FM power supply), the reference potentials of the two supplies must be interconnected.
Connecting cables to encoder

The maximum cable length depends on the specifications of the encoder power supply, and on the transfer frequency. For trouble-free operation, you should not exceed the following values when using SIEMENS cable sets:
Table 4-7 Maximum cable length as a function of encoder power supply Power consumption < 300 mA < 220 mA < 300 mA Max. cable length 25 m (82 ft) 35 m (115 ft) 100 m (328 ft)
Supply voltage 5 V DC 5 V DC 24 V DC
Note If you want to use incremental encoders with cable lengths longer than 25 or 35 m (82 or 115 ft), select a type that uses a 24 V power supply.
4-11
Wiring
Table 4-8
Maximum cable length as a function of transfer frequency Encoder type Frequency 1 MHz 500 kHz 1.25 Mbps 125 kbps Max. cable length 10 m (32.8 ft) 35 m (115 ft) 10 m (32.8 ft) 100 m (328 ft)
Incremental encoder Absolute encoder (SSI)
For further encoder information see Section 9.6.
4.5
Connecting the encoders
To connect the connecting cables, please note the following:

Note Use only shielded cables. The shielding must be connected to the metallic or metallized connector jacket. The cable sets supplied as an accessory offer excellent immunity from interference, as well as cross-sections large enough for the power supply to the encoders.
Connecting cable
FM 354 X3 X3 X3 X3
e.g. incremental encoder with RS 422
e.g. ROD 320 (built-in encoder in 1FT5)
e.g. absolute encoder (SSI)
e.g. linear scale with EXE
Fig. 4-5
Connecting the encoders
4-12
Wiring
Procedure for connecting encoders

To connect the encoders: 1. Connect the connecting cables to the encoders. For absolute encoders (SSI) it may be necessary to cut and add connectors to the cable (end of the cable to the encoder) according to the manufacturers instructions. 2. Open the front door and plug the sub-D connector into the module. 3. Lock the connector in place with the knurled screws. Close the front door.
Available connecting cables for encoders

Cable set for add-on encoders or EXEs (for connection of linear scales) Order No.: 6FX2 002-2CD01-1jj0
Cable set for built-in encoders with 17-pin round plugs. Order No.: 6FX2 002-2CE01-1jj0
Cable set for absolute encoders (SSI) with a free cable end. Order No.: 6FX2 002-2CC01-1jj0
Connecting cables are available in a variety of lengths. see Catalog NC Z , Order No.: E86060-K4490-A001-Aj.
4-13
Wiring
4.6
Description of the I/O interface
Front connector
Four digital input/output modules and the standby signal (controller message) 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.
Front connector in wiring position Locking device
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 3 4 5 6 9 10 X1 1 1 1 1 1 1 1 1 1 2 11 12 13 14
X1
Labeling on inside of front door
19 20 L+ M
Fig. 4-6
Location of X1 connector
4-14
Wiring
Connector pinout
Connector identifier: Connector type:
Table 4-9
Pin 1 2 3 4 5 6 7 8 9 10
X1 20-pin S7 front connector for single-wire terminal
Pinout of the X1 connector

Name open open DI1 DI2 DI3 DI4 open open RM_P I I I I I I Type Pin 11 12 13 14 15 16 17 18 19 20 Name DA1 DA2 DA3 DA4 open open open open L+ M VI VI Type O O O O
RM_N
Signal names
DI1...4 DQ1...4 RM_P RM_N L+, M Digital input 1...4 Digital output 1...4 Positive input for controller message Negative input for controller message 24 V load power supply / ground
Signal type
O I VI Output Input Voltage input
4 digital inputs (DI1...4)

All inputs have equal priority. Switching functions are allocated to an input number by way of machine data; input polarity is selected in the same way (starting and shutdown slopes). These fast inputs are PLC-compatible (24 V current-sourcing). Switches or contactless sensors (2-wire or 3-wire sensors) can be connected. Possible uses include: S S S As reference-point switches As switches for external Start/Stop, external block change As touch probes
See Section 5.3.1 for further applications.
4-15
Wiring
Table 4-10
Electrical parameters of digital inputs Parameters Value 11...30 6...15 3...5 15 150 20 Unit V mA V s s s for actual value transfer function or input open Notes
1 signal, voltage range 1 signal, power consumption 0 signal, voltage range Signal delay 0 1 Signal delay 1 0 Internal signal delay
Controller message (RM) input

The standby signal of the drive power section (controller message) can be connected to a further input.
Note The controller message input is configured as an isolated optical coupler input. This allows both a current-sourcing and a current-sinking output of the power section to be connected. See Section 4.7 for details about wiring.
Table 4-11
Electrical parameters of controller message input Parameters Value 15...30 2...6 3...5 30 150 Unit V mA V s s or input open Notes
1 signal, voltage range 1 signal, power consumption 0 signal, voltage range Signal delay 0 1 Signal delay 1 0
There are two ways of powering the standby signal: S S from the controller from the drive unit
4-16
Wiring
Power from the open-loop control

Figure 4-7 shows examples of how to power the standby signal from the controller (e.g. SIMODRIVE 611 drive unit).
Actuation of input controller message by high-side switch or relay contact Drive unit FM X1 9 10 19 20 RM_P RM_N L+ M e.g. SIMODRIVE 611 74 73 High-side switch or relay contact
Actuation of input controller message by low-side switch or relay contact X1 9 10 19 20 RM_P RM_N L+ M Low-side switch or relay contact
Fig. 4-7
Actuation of the input controller message, power supply from the control
Power from the drive unit

Figure 4-8 shows examples of how to power the standby signal from the drive unit.
Actuation of input controller message by high-side switch or relay contact Drive unit FM X1 9 10 19 20 RM_P RM_N L+ M M P24
Actuation of input controller message by low-side switch or relay contact X1 9 10 19 20
RM_P RM_N L+ M
P24
Fig. 4-8
Actuation of the input controller message, power supply from the drive unit
4-17
Wiring
4 digital outputs (DO1...4)

All outputs have equal priority. Switching functions are allocated to an output number by way of machine data. These four outputs are intended for wiring of application-specific signals. Possible uses include: S S S Position reached and stopped Switching function M command Forward/backward rotation
See Section 5.3.1 for further applications.
Note Make sure that the cable length between the digital outputs and the load does not exceed a permissible max. length of 30 m.
Table 4-12
Electrical parameters of digital outputs 24 V DC (allowable range: 20.4...28.8 V) No
Supply voltage Electrical isolation Output voltage Output current on signal 1
S 0 Signal: Residual current max. 2 mA S 1 Signal: (Power supply 3 V)
S at ambient temperature of
40_C Rated value Permissible value range Lamp load 0.5 A (total current 2 A) 5 mA...0.6 A (via supply voltage) max. 5 W
60_C Rated value Permissible value range Switching rate 0.1 A (total current 0.4 A) 5 mA...0.12 A (over power supply)
S Resistive load: max. 100 Hz S Inductive load: 0.25 Hz
4-18
Wiring
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 potential) must be connected with the chassis ground of the programmable controller (M terminal on the terminal block of the S7-300 CPU). see manual S7-300 Programmable Controller, Hardware and Installation.
Danger The 24 V load power supply should be a functional extra-low voltage with safe isolation to EN60204-1, Section 6.4, PELV (with M grounding).
Note Make sure that the interconnecting cable between power supply and load power supply connection L+ and appropriate reference potential M does not exceed a max. permissible length of 10 m.
4-19
Wiring
4.7
Wiring up the front connector
Wiring the front connector

Figure 4-9 shows you how to install the conductors on the front connector and how to relieve the strain with the shield connection element.
ENCODER X3
SF DC5V DIAG
1 1 1 1 1 1 1 1 1 1 2
ANAL.OUT X2
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
I0 I1 I2 I3
RM
3 4 5 6 9 10 X1
Q0 Q1 Q2 Q3
11 12 13 14
19 20
+ DC24V
AC
19 20 L+ M
FM 354 Labeling on inside of front door Digital outputs Digital inputs e.g. touch probe Fig. 4-9 Wiring up the front connector
Shielding terminal element
Connecting cables
Flexible conductor, cross-sectional area 0.25...1.5 mm2. Ferrules are not necessary. You can use ferrules without insulating collars per DIN 46228, Shape A, long configuration. You can connect two lines measuring 0.25...0.75 mm2 in a single ferrule. Note To provide optimum immunity to interference, shielded cables should be used to connect touch probes or sensors.
4-20
Wiring
Tools required
A 3.5 mm (.13 inches) screwdriver or power screwdriver.
Procedure for wiring the front connector

To wire the terminal strip: 1. Strip 6 mm (.23 inches) of insulation from the cable; apply ferrules, if any. 2. Open the front door. Move the front connector into position for wiring (while pressing down on the locking elements as shown in Figure 4-6). Lock the connector in place without any electrical contact to the module. 3. Apply the cable grip to the connector. 4. If you are leading the lines out from below, start wiring from the bottom; otherwise 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
When using shielded cables, the following additional steps are necessary: 1. After leading the cable into the cabinet, connect the cable shielding with a grounded shielding bus (strip the insulation from the cable itself). For this you can use the shielding terminal element mounted on the DIN rail; it will accept up to eight shielding terminals. see manual S7-300 Programmable Controller, Hardware and Installation. 2. Connect the shielded line to the module, but do not connect the shielding there.
Shielding terminal element

To provide a shielding end lead for shielded cables, this element can be inserted in the DIN rail. It can accept up to eight shielding terminals (KLB line from Weidmller). Order No.: Terminal element: 6ES7 390-5AA00-0AA0 Shielding terminal: 6ES7 390-5CA00-7AA0
see Catalog NC 60.1, Order No. E86060-K4460-A101-Aj see Catalog ST 70, Order No. E86060-K4670-A101-Aj J
4-21
Wiring
4-22
Defining Parameters
Chapter Overview
Section 5.1 5.2 5.3 5.4 5.5 Section Header Installing Parameterize FM 354 Getting started with Parameterize FM 354 Parameter data Parameterization with Parameterize FM 354 Storing the parameter data in SDB w 1 000
5
Page 5-3 5-4 5-7 5-24 5-25
5-1
Defining Parameters
Summary
This chapter gives you an overview of how to define the parameters of the FM 354 with the Parameterize FM 354 tool.
S7-300
CPU
User data block
P bus
FM 354
Data blocks (DB)
MPI
K bus
S S S S
DB-MD DB-SM DB-WK DB-NC
Online (editing in the PLC menu and selection of the Online editing option) Offline (editing in the File menu)
PG (STEP 7)
HW-CONFIG
Parameterization forms
Rack parameterization Group selection - Activate interrupts (basic parameters)
Setup.exe
Configuration: Generate system data Module parameterization
S S S S S
Parameterization tool Parameterize FM 354 Function blocks Preconfigured user interface for OPs Manual in PDF format Getting Started in PDF format
Fig. 5-1
Overview of parameterization
5-2
Defining Parameters
5.1
Installing Parameterize FM 354
Prerequisites
One of the following operating systems must be installed on the programming device (PG/PC): S Windows Vista 32 Bit Ultimate S Windows Vista 32 Bit Business S Windows 2000 SP4 S Windows 2003 Server S Windows XP-Professional You need the STEP 7 program (V5.3 + SP2 or higher by Windows Vista: V5.4 + SP3 or higher). For online operation, make sure that your programming device (PG) / PC is connected to the S7-300 CPU (see Figure 4-1). For distributed use of the FM, a connection from the PG / PC must be established to the L2 DP network. For distributed use of the FM 354 in PROFINET, a connection from the PG / PC must be established to the L2 DP network or to the Ethernet via a switch module.
Installation
The entire software (parameterization tool, function blocks and preconfigured 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 354 parameterization tool: [STEP7 directory]\S7FSTEP -- Technology functions: [STEP7 directory]\S7LIBS\FMSTSV_L (library name: FMSTSV_L) -- Technology functions (also for PROFINET, upon request): [STEP7 directory]\S7LIBS\FM353_354 (library name: FM353_354) -- User interface for OPs: [STEP7 directory]\EXAMPLES\FM354\zDt14_02_FM354_OP_EX -- Sample applications for blocks of the FMSTSV_L library: [STEP7 directory]\EXAMPLES\zDt14_02 STEP7 project name: zDt14_02_FM353_EX -- Sample applications for blocks of the FM353_354 library: [STEP7 directory]\EXAMPLES\zDt14_03 STEP7 project name: zDt14_03_FM354_EX -- MD DBs (for commissioning of the stepper drive): [STEP7 directory]\EXAMPLES\FM354\MD
5-3
Defining Parameters
5.2
Getting started with Parameterize FM 354
Prerequisites
You have installed the software on your programming device/PC, as described in Section 5.1.
Configuration
Before you can configure your system, you must create a project in which to save the parameters. You will find further information on how to configure modules in your user manual Standard Software for S7 and M7, STEP 7. The description below 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 354 positioning module with the correct order number from the module catalog, and insert it in the hardware table as appropriate for your configuration. 6. Double-click a module to configure it. The Properties dialog box appears.
Fig. 5-2
Getting started with Parameterize FM 354
5-4
Defining Parameters
7. By clicking on the tabs in this FM 354 window (General, Addresses and Basic Parameters), you can Assign a name Change the address of the FM as well as any input parameters for the POS_INIT block (see Section 6.3.2) Configure the interrupts (diagnostic interrupt, process interrupt). Note: Further operation of the FM 354 is not possible with the CPU in the STOP state. Click the Parameters button to call 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 354 module for servo-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), since it is always needed, regardless of what technological function the module performs. All other parameter DBs are only needed as a function of the technology involved. You can now set the parameters of your module. This chapter gives you an overview of the parameters that can be set.
5-5
Defining Parameters
You can use the mouse to change the size of the window for entering the parameter data and the size of the overview display. Proceed as follows: 1. Position the mouse pointer on the top border of the window, so that it changes into an arrow. 2. Press the left mouse button, and drag the pointer downwards by moving the mouse. 3. Release the mouse button. 4. Position the mouse pointer on the bar with the name of the window. 5. Press the left mouse button, and drag the pointer upwards by moving the mouse. When you have moved the window to the correct position, release the mouse button. When you have configured your project, you can call up the Properties screen in S7 Configuration by selecting the module and activating the menu command Edit > Object Properties.
Integrated help
The parameterization user interface has an integrated help system to support you when you set the parameters of the positioning module. To call up the integrated help: S Select the menu command Help > Help Topics ... or S press the F1 key or S select the symbol and then move to the element or window you want information about and press the left mouse button.
5-6
Defining Parameters
5.3
Parameter data
What can I parameterize?

You can parameterize the following data storage areas: S S S S S Machine data (MD) Increment sizes (SM) Tool offset data (TO) Traversing programs (NC) User data (user data blocks)
This data is stored in data blocks (DBs) within the numerical range 1001 to 1239 (not including user data). The MD, SM, TO and NC data blocks are transferred to the FM 354 and reside in memory there. Parameterization of SM, TO and NC may be omitted if the associated functions are not used. The user data block must be stored in the CPU. Only then can it be filled with data online (see Chapter 6). Parameterization data (except for user data) can also be created, edited and saved offline on the PU.
Data blocks (DB) of the FM 354

Table 5-1 gives you an overview of the data blocks in the FM 354 and their meaning.
Table 5-1 Data blocks Significance Machine data (DB No. = 1200) User memory requirements = 284 bytes Machine data serves to adapt the FM 354 to the users own specific application. Parameterization with machine data is essential in order for the FMs functions to be activated. The parameterized DB-MD should be loaded to the FM. As it is written to the FM 354, the DB-MD is checked for the input limits of the individual values and their interdependencies. It is then stored only if all values are allowed. Otherwise data error messages are displayed by way of the MPI. A defective DB will not be retained when the power is turned off. The machine data can then be activated by way of Activate machine data or by switching the equipment on and off.
Data block DB-MD
5-7
Defining Parameters
Table 5-1
Data blocks, continued Significance Increments (DB No. = 1230) User memory requirements = 468 bytes Increments serve in the Relative incremental operating mode as userdefinable relative path distances for individual positioning. You can define from 1 to 100 increment sizes (see Section 5.3.2). Modifications can be made in all operating modes (even in Incremental relative mode) during movement. The modifications of the increments must always be complete before a new movement is started in Incremental relative mode. If this is not the case, the error message incremental dimensions do not exist is output Cl. 2/No. 13.
Data block DB-SM
DB-WK
Tool offset data (DB No. = 1220) User memory requirements= 308 bytes The use of tool length compensation and wear values is described in Section 10.1. Up to 20 compensation or wear values are available. Tool offset data are required for the Automatic and Automatic single block modes. 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 not exist is output Cl.3/No.35.
DB-NC
Traversing programs (Program No. + 1000 = DB No. = 1001...1199) User memory requirements= 108 bytes + (20 x number of traversing blocks) Traversing programs are required for the Automatic and Automatic single block modes.
S Programs which are not selected can always be modified. S If modifications are made to a preselected program, including the
subprogram, preselection 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 program) and on Stop.
System data block SDB w 1 000 DB-SS
For module replacement without PG All the parameter data of the FM 354 (DB-MD, DB-SM, DB-WK, DB-NC) are stored in SDB w 1 000. This SDB is loaded into the CPU and is used as an additional means of data storage. Data block for status messages (DB no. 1000) The DB-SS is an internal DB on the FM for testing, start-up and operator control and monitoring.
DB 1249
Internal DB on the FM, not relevant for user.
5-8
Defining Parameters
Data block structure

Table 5-2 gives a rough picture of data block structure.
Table 5-2 Data block structure Contents DB header 0 and above 24 and above for MD, otherwise 32 User data area / structure header User data Comment System information, not relevant for user Information for labeling of data block within the system Parameterization data
Addresses/ Offset
Detailed data block structures and parameterization 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 Byte DB structure Machine data Variable type Value Significance of the variables DB header 0 2 4 8 10 12 16 20 24 and above. .. WORD WORD DWORD WORD WORD 2 STRING DWORD 4 CHAR 1 MD 354 0 Rack slot DB No. (w 1000) reserved Error No. (from FM) Channel number DB identifier/type Module identifier Version number/block number See machine data list MD5...MD45 2 ASCII characters FM 354 (DB structure) With HMI services Module address As in DB header Comment
Note: MD address in DB = (MD-no. 5) * 4 +24
5-9
Defining Parameters
Entering values
In Parameterize FM 354 select the menu File > New > Machine Data to call up the following display.
Fig. 5-4
Entering values for machine data
Enter the machine data in the tab windows. You can also enter your values in a table by selecting View > Table form. When creating the MD DBs you must follow the instructions in Section 7 Starting up the FM 354.
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 the FM 354 completely. 2. Modify the other data blocks on the PG. 3. Reload the data blocks to the FM 354.
5-10
Defining Parameters
Machine data list

All machine data of the FM 354 are listed in Table 5-4. Notes to the machine data list: K stands for configuration data: see Section9.3.3 E stands for user-definable machine data settings for readjustment (startup optimization) and technology; see Section 9.3.3 The units of measurement refer to the value representation in the machine data DB.
Table 5-4 No. 1...4 5E Process interrupt generation 0 0 = Position reached 1 = Length meas. completed 3 = Change block on-the-fly 4 = Inprocess Measurement max. 2 ASCII characters1) 1 = 103 mm 2 = 104 inch 3 = 104 degrees 4 = 102 degrees 0 = linear axis 1 = rotary axis 0...1 000 000 000 0 1 3 4 13 14 = = = = = = not present incremental encoder absolute enc. (SSI, 13-bit) absolute enc. (SSI, 25-bit) absolute enc. (SSI, 13-bit) absolute enc. (SSI, 25-bit) Machine data list Designation Default values Value/Meaning Data type/ Unit/Comments open BITFIELD32 9.10 See Section
6 7K
Axis name System of measurement
X 1
4 bytes3) DWORD [MSR] 9.4
8K 9K
Axis type Rotary axis end2)
0 36@105 1
DWORD DWORD [MSR] DWORD GRAY Code GRAY Code Binary Code Binary Code DWORD [MSR] (integer component) DWORD [232MSR] (fractional component)
9.5
10 K Encoder type
9.6.1 9.6.2
11 K
Travel per motor revolution (division period)2
10 000
1...1,000,000 ,000
9.6.1 9.6.2
12 K Residual distance per encoder revolution (division period)2
0...2321
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 characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: X, X1 2) see Dependencies 3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification).
5-11
Defining Parameters
Table 5-4 No.
Machine data list, continued Designation Default values 2 500 Value/Meaning 21...225 (for absolute encoders) Data type/ Unit/Comments DWORD With incremental encoders, evaluation takes place at 4@MD. DWORD Only powers of two are allowed. DWORD See Section 9.6.1 9.6.2
13 K Increments per encoder revolution (division period)2
14 K Number of rotations absolute encoder 15 K Baud rate absolute encoder For baud rates which lie between these values, set the next lower baud rate 16 K Referencepoint coordinate 17 K Absolute-encoder readjustment 18 K Type of referencepoint approach (reference-point approach direction)
0/1 = single-turn encoders 21...212 for multi-turn encoders 1= 78,000 2 = 156,000 3 = 312,000 4 = 625,000 5 = 1,250,000
9.6.1 9.6.2 9.6.1 9.6.2
0 0
1,000,000,000...+1,000,000,000 DINT [MSR] 0...225 1 DWORD [Encoder grid] absolute encoder DWORD Code identifies position for synchronization point with ref. to RPS for incremental encoders only BITFIELD32 BITFIELD32
9.2.3 9.6.3
0 = direction +, zero pulse right 1 = direction +, zero pulse left 2 = direction , zero pulse right 3 = direction , zero pulse left 4 = direction +, RPS center 5 = direction , RPS center 8 = direction +, RPS edge 9 = direction , RPS edge 0 = invert direction of measurand 1 = invert analog value 0 = cable break (incremental encoder) 1 = error, absolute encoder 2 = pulse monitoring (incremental encoder) 3 = Voltage monitoring - encoder 1 000 000 000...1 000 000 000
9.2.3
19 K Direction adjustment 20 K Hardware monitoring
0 0
9.7 9.6.1 9.6.2
21 E Software limit switches, beginning2) 22 E Software limit switch end2)
109
DINT [MSR]
9.7 9.9
109
1 000 000 000...1 000 000 000
5-12
Defining Parameters
Table 5-4 No.
Machine data list, continued Designation Default values 30@106 1 000 0 Value/Meaning 10...500,000,000 0...1 000 000 0 = no monitoring 1 ... 65534 1...1 000 000 Data type/ Unit/Comments DWORD [MSR/min] DWORD [MSR] DWORD [ms] rounded to 2-ms steps DWORD [MSR] 9.2.3 9.2.3 See Section 9.7
23 E Maximum speed 24 E Target range (position reached, stop) 25 E Monitoring time
26 E Stationary range 27 E Referencepoint shift 28 E Referencing velocity2) 29 E Reducing velocity2) 30 E Backlash compensation 31 E Directional reference of backlash
104 0 6@106 3@106 0 0
1,000,000,000...+1,000,000,000 DINT [MSR] 10...500,000,000 10...500,000,000 0 to 1,000,000 0 = as in search for reference (not for absolute encoders) 1 = positive 2 = negative during positioning: 1 = time-controlled 2 = acknowledgment-controlled before positioning: 3 = time-controlled 4 = acknowledgment-controlled after positioning: 5 = time-controlled 6 = acknowledgment-controlled DINT [MSR] DWORD DWORD [MSR/min]
9.7 9.7
32 K M-function output type
DWORD serial output of up to 3 M functions in NC block
10.3 9.1
33 K M-function output time
10
1...100,000
DWORD [ms] rounded to 2-ms steps
5-13
Defining Parameters
Table 5-4 No.
Machine data list, continued Designation Default values 0 Value/Meaning 0 = external start 1 = input for enable 2 = external block change 3 = set actual value on-the-fly 4 = measure 5 = RPS for search for reference 6 = reversing switch for search for reference 0 = Position reached, stop 1 = Axis movement forward 2 = Axis movement reverse 3 = Change M97 4 = Change M98 5 = Enable Start 7 = Direct output 8 = I0 inverted 9 = I1 inverted 10 = I2 inverted 11 = I3 inverted 0 = controller enable active 2 = controller ready active 3 = controller ready inverted 7 = time override active 15 = continue operation after emergency stop (drive enable [AF]) 16 = automatic drift compensation active 1...10,000 0 = no monitoring 1...1 000 000 0 = without ramp 1...100,000 1 100 000 0...10,000 1,000...10,000 1,000...+1,000 0...10,000,000 DWORD [(MSR/min)/MSR] DWORD [MSR] DWORD [103MSR/ 2] MSR/s DWORD [ms] DWORD [mV] DINT [mV] DWORD [mV/s] 9.7 Data type/ Unit/Comments BITFIELD32 bit-coded function allocation: Bit No. Bit No. + 8 Bit No. + 16 Bit No. + 24 I/O 0 I/O 1 I/O 2 I/O 3 9.8 See Section 9.2.3 9.8
34 K Digital inputs2)
35 K Digital outputs2)
Front edge always activates the function
36 K Input adjustment (signal processing inverted) 37 K Servo control signals
BITFIELD32
9.8
9.7
9.1.1
38 E Positioning loop amplification 39 E Minimum following error, dynamic 40 E Acceleration 41 E Deceleration 42 E Jolt time 43 E Set voltage, max. 44 E Offset compensation 45 E Voltage ramp
1 000 0 1 000 1 000 0 8 000 0 0
5-14
Defining Parameters
Table 5-4 No.
Machine data list, continued Designation Default values 0 0 0 0 1 to 100 0 = before positioning 1 = during positioning 0 Automatic zero-speed monitoring 1...1 000 000 zero-speed monitoring detection if standstill speed falls below setpoint Value/Meaning Data type/ Unit/Comments DWORD [%] DWORD [MSR/min] See Section 9.7 9.7 7.3.8
52 E Speed for backlash compensation 53 E Mode for backlash compensation 54 E Standstill speed
55 E TimeOut time for zero-speed monitoring
0 No TimeOut monitoring 1...100 000 Enforced zero-speed monitoring after the TimeOut time has elapsed
[ms]
7.3.8
56 E Standard diagnosis
0 unverzgerte Standarddiagnose 1...10000 Ansprechzeit fr Standarddiagnose (im 2 ms-Raster aufgerundet wirksam) > 10000 Parametriertool Fehlermeldung: 0x0538 MD56(im Parametriertool < Version 4.03.03 (?) erfolgt die Fehlermeldung mit der falschen MD-Nummer MD57 )
[ms]
7.3.9
60 E Function enable for response time in MD56
101 Function enable for response time in MD56 Remaining values: No function enable for the response time in MD56
Code
5-15
Defining Parameters
Dependencies
With certain combinations of machine data, restrictions in the value range arise for non-processing of the machine data. These dependencies are verified on acceptance of the MD DB or individual machine data, and an error message is output in the event of a violation. Some checks are performed on the basis of internally calculated reference variables. These reference variables and the dependency checks are described in the tables below. Reference variables generated internally from MD: Generation of travel per encoder revolution UMWEG
UMWEG = MD11 + MD12@232
Generation of internal measured value factor MWFAKTOR

MD10 0 1 3, 4, 13, 14 MWFAKTOR = 1 MWFAKTOR = UMWEG / (4@MD13) MWFAKTOR = UMWEG / MD13 Measured value factor
Activation of software limit switches SEAKT

MD21 = 109 109 = 109 109 MD22 = +109 = +109 +109 +109 1( (active) ) 0 (inactive) SEAKT
Internal generation of absolute traversing range limits VFBABS

MWFAKTOR <1 w1 109 / MWFAKTOR 109 VFBABS
5-16
Defining Parameters
Verification: MD9 check

MD8 0 1 MD10 0 1 3, 13 4, 14 w4 <4 MD18 MD9 mod UMWEG == 0 UMWEG mod MD9 == 0 (MD14@UMWEG) mod MD9 == 01) (MD23/30 000) 000)@ vMD9vVFBABS Permissible rotary axis end
1) MD9 is the ratio of a power of 2x or 2x to the absolute value range of the encoder (see Section 9.6.2)
MD11, MD12, MD13 check results in MWFAKTOR (see above)

Permissible measured value factor range: 214 < MWFAKTOR < 214
MD13 check
MD10 0, 1 3, 4, 13, 14 2x x = 1, 2, 3, ... Increments per encoder revolution
MD14 check
MD10 0, 1, 3, 13 4, 14 2x x = 1, 2, 3, ... No. of revolutions
MD21, MD22 check (Part1)

SEAKT 0 1 0 MD8 Permissible software limit switches MD21 = 109, MD22 = +109 MD21 VFBABS MD22 VFBABS MD21 < MD22 1 0 MD21 < MD9 0 MD22 < MD9 MD21 MD22
5-17
Defining Parameters
MD21, MD22 check (Part2)

SEAKT 0 1 0, 1 3, 13 4, 14 MD10 MD22MD21 UMWEG MD22MD21 MD14@UMWEG Permissible software limit switches MD21 = 109, MD22 = +109
MD28 check
Permissible velocity: 10 MD28 MD23
MD29 check
MD10 3, 4, 13, 14 0, 1 any, not used 10 MD29 MD23 Permissible velocity:
MD31 check
MD30 0 0 0, 1 3, 4, 13, 14 1, 2 MD10 Permissible directional reference of backlash
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
MD53 check
MD53 0 1 0...100 MD52 < (10 V MD43 [V]) @ 100 / 10 V Permissible MD52
5-18
Defining Parameters
5.3.2
Increments
DB structure
Table 5-5 gives you a general view of the structure of the Increments data block (DB-SM).
Table 5-5 Byte DB structure increments Variable type Value Significance of the variables DB header 0 2 4 8 10 12 16 20 24 28 30 32 36 WORD WORD DWORD WORD WORD 2 STRING DWORD 4 CHAR DWORD WORD WORD DWORD DWORD 0...109 0...109 1 SM 354 0 1...3 0/1 Rack slot DB No. (w 1000) Reserved Error No. (from FM) Channel number DB identifier/type Module identifier Version number/block number Measurement-system grid per MD7 Parameter (DB) backup Reserved Increment 1 Increment 2 to increment 100 see Section 9.2.5 2 ASCII characters FM 354 (DB structure) Unit of measurement Job via HMI With MMI services Module address As in DB header Comment
Input of values
Values are input in the increments menu of the Parameterize FM 354 parameterization tool.
Fig. 5-5
Entering values for incremental dimensions
5-19
Defining Parameters
5.3.3
Tool offset data
DB structure
Table 5-6 gives you a general view of the structure of the tool offset data data block (DB-WK).
Table 5-6 Byte DB structure tool offset data Variable type Value Significance of the variables DB header 0 2 4 8 10 12 16 20 24 28 30 32 WORD WORD DWORD WORD WORD 2 STRING DWORD 4 CHAR DWORD WORD WORD DINT DINT DINT DINT DINT DINT 109...109 109...109 109...109 109...109 109...109 109...109 1 TO 354 0 1...3 0/1 Rack slot DB No. (w 1000) Reserved Error No. (from FM) Channel number DB identifier/type Module identifier Version number/block number Measurement-system grid per MD7 Parameter (DB) backup Reserved Tool length offset 1 Wear value 1 absolute Wear value 1 additive Tool length offset 2 Wear value 2 absolute Wear value 2 additive to Tool length offset 20 Wear value 20 absolute Wear value 20 additive Tool 1 2 ASCII characters FM 354 (DB structure) Unit of measurement Job via MMI With MMI services Module address As in DB header Comment
44
Tool 2
to Tool 20 see Section 10.1
5-20
Defining Parameters
Input of values
Values are input in the tool offset data menu of the Parameterize FM 354 parameterization tool. If the additive wear value is changed online, the FM calculates the new wear parameter as an absolute value and the additive tool wear is reset to 0.
Fig. 5-6
Entering values for tool offset data
5-21
Defining Parameters
5.3.4
Traversing programs
DB structure
Table 5-7 gives you a general view of the structure of the traversing programs data block (DB-NC).
Table 5-7 Byte DB structure traversing programs Variable type Value Significance of the variables DB header 0 2 4 8 10 12 16 20 24 28 30 32 52 72 92 WORD WORD DWORD WORD WORD 2 STRING DWORD 4 CHAR DWORD WORD WORD 18 STRING STRUCT STRUCT STRUCT ASCII characters NC block NC block NC block 1 NC 354 0 1...3 Rack slot DB No. (w 1000) Reserved Error No. (from FM) Channel number DB identifier/type Module identifier Version number/block number Measurement-system grid per MD7 Reserved Reserved NC program name NC block new (modification range) 1st traversing block 2nd to 100th traversing block see Section 9.3.11, 10.1 max. 18 characters 2 ASCII characters FM 354 (DB structure) Unit of measurement With MMI services Module address As in DB header Comment
5-22
Defining Parameters
Input of traversing programs

An empty window is provided for the input of NC traversing programs. Here you can input your traversing program as follows:
Fig. 5-7
Entry for traversing programs
1. % Program number Program name The % can be input only in the first line. This input is mandatory. The DB number is formed from the program 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 letters. You can also use the input area at the top of the screen. The program number and the program name are saved when you exit the input box. You can save the traversing blocks with the Save Block button.
5-23
Defining Parameters
5.4
Parameterization with Parameterize FM 354
Entering the values

You have a variety of options for entering your parameterization data. 1. User data You can input values or select texts in a table. Select input fields with the cursor and enter the values. You can select the associated texts for the values with the space key. 2. 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 programs are input in text format. A comment column is included in the tables for MD, SM, and TO values. This comment is not stored in the data block. It can be printed out or stored with the data in the file on export.
5-24
Defining Parameters
5.5
Storing the parameter data in SDB w 1 000
Overview
The FM 354 stores its parameter data internally. In order to ensure that the parameter data are available if a fault develops on the FM 354 and no programming device/PC is at hand, the data can be stored in a system data block in the CPU (SDB w 1 000). The CPU transfers the data stored in SDB w 1 000 to the FM 354 on each new start. If the FM 354 has no machine data or the internal time stamp (time of creation) is invalid, the data are transferred from SDB w 1 000 to the FM 354 and saved there. The time stamp is renewed every time a DB (parameter initialization 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 w 1 000 always match the parameter data on the FM 354 when start-up is complete. Note If parameter initialization data are modified again in the FM following creation of SDB w 1 000, they are overwritten when the CPU is restarted (see Time stamp, above). SDB w 1 000 should therefore not be created until start-up is finished.
If you need to modify the data subsequently, you should generate SDB w 1 000 again and load it into the CPU. You can delete the previous SDB before you load the new one, however the new SDB automatically overwrites the old one when it is generated. The old SDB and the new SDB do not have to be allocated the same number.
5-25
Defining Parameters
Creating the SDB

Prerequisite: Online connection with the FM 354
Select menu File > Create SDB If no DB-MD exists on the FM Abort
An associated SDB w 1 000 exists for the FM 354 in the S7 project. Yes Overwrite this SDB?
No
No associated SDB exists
No
Yes
Abort
SDB is created and stored in the S7 project in CPU\S7-Program\blocks\system data
Fig. 5-8
Creating SDB w 1 000
Display/delete SDB in the S7 project

Select menu File > Display SDB
All SDBs for FM 354 of the project are displayed No Yes Select SDB and delete
Delete SDB?
Close the window
Fig. 5-9
Displaying/deleting SDB w 1 000
5-26
Defining Parameters
Loading the SDB in the CPU

When you have created the SDB, you must load the system data of the project into the CPU. There are two ways of proceeding: 1. Method Select the online window in the SIMATIC Manager (the online and offline windows must be open) Copy the system data from the offline project in CPU\S7-Program\Blocks\System data into the online project (drag with the mouse or select Copy/Paste). 2. Method Select the system data in the SIMATIC Manager in CPU\S7-Program\Blocks\System data. Activate the menu PLC > Load (or the right mouse button) to load the system data into the CPU or Use the menu PLC > 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 SDBs in the CPU

To delete the SDBs in the CPU: 1. Select Parameterize FM 354. 2. Select menu File > Display SDB. Delete the SDB(s). 3. Close Parameterize FM 354 and in the SIMATIC Manager in Online Project select CPU\S7-Program\Blocks\System data. Delete the system data. 4. Transfer the system data to the CPU again (see above) J
5-27
Defining Parameters
5-28
Programming the Technological Functions

Chapter Overview
Section 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 Section Header Programming fundamentals Putting the FM 354 into operation with the parameter initialization tool Standard function blocks of the FMSTSV_L block library Standard function blocks of the FM353_354 block library (also for PROFINET, upon request) Interrupts User data block (AW-DB) Example applications Error list, system messages (CPU) Technical specifications
6
Page 6-4 6-8 6-8 6-28 6-44 6-46 6-57 6-64 6-66
6-1
General remarks The purpose of the function description of the blocks and of the interface is to illustrate the communication between the CPU and the FM 354 in the SIMATIC S7 programmable controller. The programmable blocks and the AW-DB (which is the interface to the FM 354) make it possible for you to write your user program to suit your particular application.
S7-300 CPU Standard function blocks, user program and user DB P bus FM 354 Control/checkback signals System data Data blocks Online PG (STEP 7) User DB Standard function blocks Offline
K bus MPI
The standard function blocks and the user DB are loaded into the CPU.
Setup.exe
S S S S S
Parameterize FM 354 parameterization tool Standard function blocks and sample programs Preconfigured user interface for OPs Manual in the PDF format Getting started in the PDF format
Fig. 6-1
Programming overview
6-2
Prerequisites
The following prerequisites must be fulfilled for the development of your user program if you want to control the FM 354: S You must have installed 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 S The link from PG/PC to the S7 CPU must be established (see Figure 4-1). You must have already created your project for the SIMATIC S7 (see FM 354, First Steps).
6-3
6.1
Programming fundamentals
Overview
In this chapter you will find information on the following: S S S S S Communication between the CPU and the FM 354, Section 6.1.1, p. 6-4 Structure of a user program, Section 6.1.2, p. 6-5 Distributed use of OB 86, Section 6.1.3, p. 6-6 Embedding an OP, Section 6.1.4, p. 6-6 Procedure for creating a user program, Section 6.1.5, p. 6-7
6.1.1
Communication between the CPU and the FM 354
Embedding the FM 354 in the user program

The diagram below shows you how the FM 354, the user DB and the technological functions communicate.
CPU OB 40 (process interrupt) 4 bytes of OB start information 1)
Read/write requests Error message
FM 354 OB 82 4 bytes of OB start information (diagnostics) POS_DIAG OB 1 Control and checkback signals POS_CTRL User DB POS_MSRM 1) Data, error message and error specification Diagnostic and process interrupt information
POS_MSRM OB 100 Restart (start-up) POS_INIT
(1 DB per channel)
1) This block can only be called in OB 40 or in OB 1, but not in both simultaneously. Fig. 6-2 Overview diagram for linking the FM 354 into the user program
6-4
6.1.2
Structure of a user program

The diagram below provides an overview of the structure of the user program (AWP).
OB 100 and OB 86 (in distributed configurations) Call of POS_INIT The CPU goes to STOP when an error occurs during start-up. Parameter entry OB 1 (or other cyclic levels) User DB
S Call of POS_CTRL S Your user program, the one that is to control your system S User program: Error evaluation
OB 82
S Call of POS_DIAG S User program: Open Emergency STOP circuit, reset signals
User program: Set, reset, scan signals/data
(the FM was reset or a fatal error occurred in the FM; see Information on error evaluation)
Note GET/PUT functions (SFC 72/73) from/to the FM are not guaranteed to work properly, 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 signal (user DB, DBX39.3).
Information on signal processing:

The FM 354s cycle (= 2 ms) and the user cycle (OB 1) are asynchronous to one another. Depending on the instant of signal transfer to the FM 354, the time it takes to process signals may be = 1 to < 2 x the FM cycle. This must be taken into account particularly when user cycles are short. If necessary, the processing status of the FM 354 should be queried before activating a new action. Please note that signal/data transmission takes longer/several user cycles in distributed configurations (see Section 6.9).
6-5
Information on testing the user program

When testing the user program with Set breakpoint, please note that it is not always possible to resume the program scan with the FM 354 after the breakpoint has been reached (for technical reasons). For example, movements activated by the user program cannot be halted when the user program has reached the breakpoint. The program can be resumed by executing a restart (CPU: STOP/RUN), by resetting the axis, or by changing the operating mode.
6.1.3
Distributed configuration, OB 86
If system operation must be maintained with an FM 354 despite a faulty link between 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 354 in case of a failure. To enable synchronization of the user program and the FM, the POS_INIT block (corresponding to execution in OB 100) is to be linked on re-establishing the link. Additionally, OB 122 (I/O access error) must be loaded in the CPU.
6.1.4
Embedding an OP
Part of the AW-DB, namely the Data field for operator control/monitoring (DBB496 to DBB515), is used to store signals/data for an OP as per the preconfigured operator interface. In order to initiate actions, the relevant signals/data have to be transferred to the interface (relevant area in the AW-DB) via the user program (see Section 6.7, example 4).
6-6
6.1.5
Procedure for writing the user program (AWP)

The sample projects zDt13_02_FM353_EX included in the configuring package (for the blocks of the FMSTSV_L library) and zDt13_03_FM353_EX (for blocks of the FM353_354 library) will help you when creating your user program and can be used as a template. Suggested procedure: 1. Open your project in the SIMATIC Manager. 2. Select SIMATIC xxx > CPUxxx > S7 Program. 3. In the SIMATIC Manager, select File > Open > Projects to load the zDt13_02_FM353_EX or the zDt13_03_FM353_EX project. 4. Select the EXAMPLES directory. 5. Select the Symbols file and copy it to your project under SIMATIC xxx > CPUxxx > S7 Program (replacing the existing object). 6. Open the Sources directory and copy from all STL sources to your projects Sources directory. 7. Open the Blocks directory and copy all blocks from it into the Blocks directory 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_FM353_EX (see Section 6.7) in the EXAMPLE CALLS network in OB 1. The functions can be activated by writing your user program to set/ reset the signals in the DB 100 (user DB for the examples) supplied. The call for the POS_CTRL must be modified accordingly (input parameters or appropriate instance DB). 11. The organization blocks (OB 1, OB 82, OB 100) are generated from the STL source with the menu commands File > Save and File > Compile (warnings from the compilation run can be ignored). 12.Close the editor. 13.Set the CPU to STOP and switch the CPU on. 14.In the SIMATIC Manager, select SIMATIC xxx > CPUxxx > S7 Program > Blocks. 15.Load all the S7 blocks (including system data) into your CPU (with the CPU at STOP) with PLC > Load.
6-7
6.2
Putting the FM 354 into operation with the parameter initialization tool
To put the FM 354 into operation with the parameter initialization tool Parameterize FM 354, the CPU must be at STOP. It can also be at RUN, for example if you want to automate part of your plant or connect the drives, in which case the control/checkback signals Switch P bus interface to start-up (AW-DB, DBX14.1) and Switching of P bus interface concluded (AW-DB, DBX22.1) must be observed. 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 S S S S S Overview of the FMSTSV_L block library, Section 6.3.1, p. 6-9 POS_INIT (FC 0) Initializing the user DB, Section 6.3.2, p. 6-10 POS_CTRL (FC 1) Data exchange, Section 6.3.3, p. 6-12 POS_DIAG (FC 2) Reading diagnostic alarm data, Section 6.3.4, p. 6-22 POS_MSRM (FC 3) Reading measurement values, Sections 6.3.5, p. 6-25 Interface, user data blocks (AW-DB), Section 6.3.6, p. 6-26
6-8
6.3.1
Overview of the FMSTSV_L function block library

You can use the blocks of the FMSTSV_L block library as follows: S S Central configuration of the FM Distributed configuration of the FM via PROFIBUS DP
The table below provides an overview of the functions (FC), data blocks (DB) and organization blocks (OB) required for communication and control of the FM 354.
Table 6-1 Block FC 0 Page 6-10 FC 1 Page 6-12 Standard function blocks of the FMSTSV_L library (overview) Block Name POS_INIT POS_CTRL Description/Function Call in OB 100 and OB 83, start-up/initialization Call in OB 1, cyclic operation (synchronization with FM 354) Basic functions and operating modes, interface processing, read and write requests Call in OB 82, internal errors, external errors, and external channel errors of the FM Call in OB 40 or OB 1, reading out of the measured values To be used only if the function in question is required for the application in question; the number can be changed 1) Required for application Required for application Remarks Required for application, no. can be changed 1)
FC 2 Page 6-22 FC 3 Page 6-25
POS_DIAG POS_MSRM
DB (UDT) OB 1 OB 82 OB 100 OB 86 OB 122
AW-DB
Interface to the FM Cyclic level Diagnostic interrupt level Start-up level Rack failure I/O access error
For distributed configurations ti
1) The block number is a default setting, block number can be changed in the SIMATIC Manager Symbol table entries can be changed in conjunction with symbolic programming only
Note The symbolic block identifier is used from here on.
6-9
6.3.2
The POS_INIT (FC 0) block Initialization
Function
Use the POS_INIT block to initialize specific areas of your AW-DB.
Call options
The POS_INIT block must be called once in the start-up OB 100 and in OB 86 for distributed configuration.
Call in LAD representation (ladder diagram) EN DB_NO CH_NO LADDR POS_INIT ENO RET_VA Call in STL representation (statement list)
CALL POS_INIT DB_NO CH_NO LADDR := := :=
Parameters
The Table below lists the parameters for this block.
Name DB_NO CH_NO Data Type INT BYTE Param. Type I I Data block number Number of the axis: 0 Only one channel/axis on the module 1 First channel/axis on the module 2...255 Illegal LADDR INT I Same meaning internally Description
S Logical base address of the module; use entry from S 0 No entry of addresses in the user DB
HW-CONFIG, Properties, Address (see Section 5.2)
Parameter types: I = input parameter
6-10
Function description
The POS_INIT block carries out the following actions: 1. Entry of addressing values in user DB AW-DB, If parameter LADDR 0 Module address 2. Deletion of the following structures in user DB AW-DB: Control signals Checkback signals Initiate, Ready and Error signals for the job requests Single 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 354 (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 S Unknown channel number CH_NO and DB no. = 0 as input parameters; the AW-DB is not initialized. If no AW-DB is found, the CPU goes to STOP; view the CPUs diagnostic buffer.
RET_VAL 1 2 Error Unknown channel number DB number = 0
6-11
6.3.3
The POS_CTRL (FC 1) block Data exchange
Function
The POS_CTRL block is the basic block for controlling the FM 354. With the POS_CTRL block, you can: S S process read and write requests control the operatign modes (control and checkback signals)
The POS_CTRL block performs the following actions: 1. Synchronization with the module (only then is the exchange of signals/data possible). 2. Reading of the checkback signals. The values/signals read by the POS_CTRL block are stored in the user data block AW-DB. 3. Transfer of the control signals from user data block AW-DB to the FM 354. 4. Carrying out of Write 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 Read job status. 6. Automatic transfer of all single functions from user data block AW-DB to the FM 354 when one or more than one setting has been changed and setting of the Write job status (Set or Reset). 7. Automatic transfer of all single commands from user data block AW-DB to the FM 354 and setting of the Write job status. The single commands are reset following the transfer. 8. Automatic reading of the error number when an operator input error, traversing error or data error has occurred. The error number is entered in user data block AW-DB (DBB90 to DBB97) and the Read job status set.
Call options
POS_CTRL must be called cyclically (once in the OB 1 cycle, for instance) for each channel. Before calling the function, enter all data/signals required to execute the intended functions in user data block AW-DB.
Call in LAD Representation (ladder diagram)
EN DB_NO POS_CTRL ENO RET_VAL
Call in STL Representation (statement list)

CALL POS_CTRL DB_NO RET_VAL := :=
6-12
Parameters
The Table below lists the parameters for this block.
Name DB_NO Data Type INT Param. Type I Q Data block number Return value Description
RET_VAL INT
Parameter types: I = input parameter, Q = output parameter
Return values
The function returns the following values:
RET_VAL 1 0 <0 BR 1 1 0 Description At least 1 job/transfer in progress No job/transfer in progress, no error Error:
S Data error (AW-DB, DBX22.4) S Communication error (AW-DB, DBW66)
The function works together with an AW-DB user data block. The DB number is passed to the function in the DB_NO parameter when the block 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 354 immediately (via direct access). Since the control signals and job requests are processed after these signals have been read, the checkback signals reflect the status of the module before the block was called. The control signals are also written to the FM 354 using direct access. Depending on the chosen mode, the control signals Start, Negative direction and Positive direction (AW-DB, DBX15.0, 15.2 and 15.3) are reset once start-up has actually taken place (edge formation of the signals for the FM). For information on the generation of the checkback signals Process (AW-DB, DBX13.6) and Position (AW-DB, DBX13.7), see Mode control.
6-13
Job requests Data interchange with the module that goes beyond control and checkback signals is handled using job requests. Simultaneously pending Write or Read requests, 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 the appropriate data available. The request is serviced when POS_CTRL is called. When the FM is used centralized, a Read request is performed during the call. A Write request requires at least three calls (or OB cycles) due to the acknowledgements required from the module. The time interval between the calls should exceed the length of one FM cycle. When a request has been serviced, the Initiate signal is removed (does not apply to single functions). The next job request is not determined or executed until the next block 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 evaluation or prior to issuing the request.
Order in which job requests are serviced/priority You may submit several job requests simultaneously, even together with Write requests for single commands and single functions. As soon as a Write request is detected (also on a signal change in the case of single functions), it is serviced immediately upon completion of the transfer currently in progress, if any. Be sure that signals for single commands are not set cyclically, as this could prevent other job requests from being serviced (priority). Order/priority of Write requests: 1. Write single commands 2. Write single functions 3. Write requests. The Write requests are serviced in the order of the Initiate signals, which is stipulated in user data block AW-DB (from DBX38.0 to 39.7). Order/priority of Read requests: 1. Read error code, operator/traverse errors or data errors 2. Read 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).
6-14
Job request status You can read the status of the job request in return value RET_VAL and in 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 request by evaluating the Initiate, Ready and Error signals for that job request.
Table 6-2
Job request status RET_VAL (integer) 1 0 1 1 2 1 Jobs in Progress (DBX68.0 DBX68.2) Initiate Signals (DBB34...43) 1 Ready Signals (DBB44...53) 1 1 Error Signals (DBB54...63) 1 1 1 1
Job Request Status 1. Job in progress 2. Job terminated without error 3. Write job terminated with error in this job 4. Write job aborted or not executed 5. Read job aborted
6. Write and Read aborted 3 or not executed (in the case of simultaneous job requests) Irrelevant for error evaluation
Processing status
Signal Write not possible (AW-DB, DBX68.1) Description = TRUE; Write request cannot be serviced in this cycle because:
S S S S
The axis is not initialized Test mode is enabled No operating mode is active The selected operating mode has not yet been set
In these cases, you can leave the Write request pending or you can cancel it. The POS_CTRL block resets the signal when all of the above-listed conditions are fulfilled. Read not possible (AWDB, 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 of the above-listed conditions are fulfilled.
Reset status/error (AW-DB, DBX69.1)
With this signal you can reset all Ready and Error signals prior to processing of the pending job requests. The signal itself is then reset by the block.
6-15
Error evaluation
Communication errors or data interpretation errors on the FM are flagged in the Binary Result (BR = 0) and by RET_VAL < 0; see job request status. Possible errors are: S Data transfer error (communication is not completed) during a transfer with SFC 58/59 WR_REC / RD_REC. The error code is made available in user data block AW-DB, DBW66 (RET_VAL value of these internal SFCs) (job states 4, 5 and 6, see Table 6-2, see also Error List, Section 6.8). Data transferred with Write are checked for data errors by the module and interpreted. If a data error occurs, the checkback signal Data error (AW-DB, DBX22.4) is set to TRUE in user data block AW-DB (message: Write job terminated with error). The error number, read out via an internal job request, is entered in user data block AW-DB, DBB94 and 95 (job status 3, Table 6-2). You will find more information on data errors in the parameter initialization tool under 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 (AWDB, 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). The Initiate signal is also removed for all pending Write requests and the Error signal set (job request status, point 4, Table 6-2). Any pending Read requests are serviced. The error code (AW-DB, DBW66) for each request is re-set if another error occurs. The Initiate signal is removed for the errored Read and the Error signal set (job request status, point 5, Table 6-2). Any pending Read requests are serviced. The error code (AW-DB, DBW66) for each request is re-set if another error occurs.
S S
Performance in the event of an error during the servicing of a Read request: S S
Performance in the event of an error during servicing of single functions and commands: S S The Write request is not serviced in its entirety, and the Error signal is set (job request status, point 4, Table 6-2). The function set/reset which led to initiation of the Write request is not activated.
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Processing write requests

Before Write requests can be processed, the data area associated with the Write request must first be initialized with the relevant values and the appropriate operating mode. A Write request is initiated by setting the relevant job request number. The following abbreviations are used in the Table below to indicate the adjacent operating mode: Operating mode: T STE REF SM MDI A/AE Jogging mode Control mode Approach to reference point Incremental mode (relative) MDI (Manual Data Input) Automatic mode / Automatic single block
The following Write requests are available:

Operating Mode System Data Speed levels 1, 2 Frequency levels 1, 2 Setpoint for incremental dimension MDI block MDI block, on-the-fly Reserved Set reference point Set actual value Set on-the-fly actual value Zero offset Reserved Modify parameters/data Digital outputs Program selection Application request Teach-in d x V Write Request DBX38.0 DBX38.1 DBX38.2 DBX38.3 DBX38.4 DBX38.5 DBX38.6 DBX38.7 DBX39.0 DBX39.1 DBX39.2 DBX39.3 DBX39.4 DBX39.5 DBX39.6 DBX39.7 DBB196...219 DBB220...221 DBB242...245 DBB246...249 DBB250...251 DBB152...155 DBB144...147 DBB148...151 DBB140...143 x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x V x 9.3.1 9.8.2 9.2.7 9.3.7 9.3.8 9.3.9 9.3.5 9.3.6 9.3.4 See Sect. 9.2.1 9.2.2 9.2.5 9.2.6 9.2.6
Data DBB160...167 DBB168...175 DBB156...159 DBB176...195 DBB222...241
T V d d d
STE d V d d
REF d d d d
SM V d V d
MDI d d d V x
A/AE d d d d
Data are accepted, then processed in the relevant operating mode. Data are accepted or processed. Data are rejected with error (see error handling, Table 11-8, column 4, No. 1). Data required to move the axis.
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Processing read requests

A Read request is initiated by setting the relevant job request number. The relevant operating mode must be activated. The following Read requests are available:
Operating Mode Read System Data Request Basic operating data Active NC block Next NC block Actual value for block change Service data Operating error number Suppl. operating data Parameters/data Digital inputs/outputs Application data Read measured values x See Sect. 9.3.11 9.3.12 9 3 12 9.3.14 9.3.15 6.3.4 9.3.16 9.3.17 9.8 9.3.13 9.3.10 6.3.5
Data
T x
STE x
REF x
SM x
MDI x
A/AE x x x x
DBX42.0 DBB310...333 DBX42.1 DBB342...361 DBX42.2 DBB362...381 DBX42.3 DBB398...401 DBX42.4 DBB402...433 DBX42.5 DBB86...89 DBX43.5 DBB434...442 DBX43.3 DBB446...469 DBX43.4 DBB220...221 DBX43.6 DBB382...397 DBX43.7 DBB486...497
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x 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 signals to the user data block (AW-DB). POS_CTRL transfers the control signals from user data block AW-DB to the FM 354 and the checkback signals from the FM 354 to user data block AW-DB. The FM must be initialized. The Table below lists the control and checkback signals, with symbols in German and English.
Table 6-3 German Control signals TFB BFQ/FSQ ST STP TEST_EN OT_ERR_A START STOP DBX14.1 DBX14.3 DBX15.0 DBX15.1 Switch P bus interface to Start-up Acknowledge operator errors and traversing errors Start Stop Control/checkback signals English AW-DB Description
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Table 6-3 German R R+ QMF EFG SA AF BA
Control/checkback signals English DIR_M DIR_P ACK_MF READ_EN SKIP_BLK DRV_EN MODE_IN AW-DB DBX15.2 DBX15.3 DBX15.4 DBX15.5 DBX15.6 DBX15.7 DBB16 Positive direction Acknowledge M function Read Enable Skip block Drive enable Operating mode Jog Control Approach to reference point Incremental mode, relative MDI Automatic Automatic single block Code 01 02 03 04 06 08 09 Code 1 and 2 1 and 2 1...100, 254 Description Negative direction
BP
MODE_TYPE
DBB17
Operating mode parameters Speed levels Frequency levels Incremental dimension selection Override
OVERR TFGS BF/FS DF PARA SFG BL WFG T-L PBR BAR SYN ME FR FR+ SRFG FIWS PEH MNR AMF
OVERRIDE TST_STAT OT_ERR DATA_ERR PARA ST_ENBLD WORKING WAIT_EI DT_RUN PR_BACK MODE_OUT SYNC MSR_DONE GO_M GO_P ST_SERVO FVAL_DONE POS_RCD NUM_MF STR_MF
DBB18 DBX22.1 DBX22.3 DBX22.4 DBX22.7 DBX23.0 DBX23.1 DBX23.2 DBX23.5 DBX23.6 DBB24 DBX25.0 DBX25.1 DBX25.2 DBX25.3 DBX25.4 DBX25.5 DBX25.7 DBB26 DBX27.4
Checkback signals Switching of P BUS interface completed Operator-/traversing error Data error Channel initialized Start Enable Process in progress Wait for external Enable Dwell time running Reverse program scanning Active operating mode Channel synchronized End of measurement Travel in negative direction Travel in positive direction Servo enable status Setting of on-the-fly actual value successfully completed Position reached. Stop. M function number M function modification
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The checkback signals Process in progress and Position reached. Stop are not reported back to the user program until the FM has detected and processed the Start signal (v 2 FM cycles). When calling the POS_CTRL block and the relevant control/checkback signals, the subsequent signals are generated so that starting of the procedure can be detected earlier than would otherwise be the case.
Signal Execution started (AW-DB, DBX13.6) Description = TRUE When a mode/movement is started with the relevant control signals or when the status for Process in progress (AW-DB, DBX23.1) = 1 Execution started Process in progress Position (AW-DB, DBX13.7) = FALSE when the block is called/ started when the FM starts traversing movement
When status signal Position reached. Stop. (AW-DB, DBX25.7) = 0 is returned or when a mode is started with the relevant control signals. when the block is called/ Position started Position reached. Stop when FM starts traversing movement
Single functions and single commands are also requred to control the FM 354. All single commands and single functions that are active when the POS_CTRL block is called are transferred. The single commands are cancelled following transfer, even in the event of an error.
Operating Modes Write System Data Request Single functions Single commands x Internal Internal See Sect. 9.3.2 9.3.3
Function DBB34 and 35 DBB36 and 37
T V x
STE x x
REF V x
SM V x
MDI V x
A/AE V x
V Data required to move the axis.
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The functions which can be activated in the FM using single settings or single commands are listed below.
Single Settings Servo enable On-the-fly measuring Rotational speed monitoring Parking axis Simulation Length measuring Retriggering of reference point Reset Enable input Disable software limit position monitoring Single Commands Activate machine data Delete distance to go Automatic block return Automatic block advance Restart Rescind set actual value
Error messages from the FM

When an operator error, traversing error or data error occurs, the error number is read automatically via a Read request. 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 Data error Error messages from the FM Message Error No. Error Acknowledgement New Write request
Status signal Is read out via Read re(AW-DB, DBX22.4) quest (AW-DB, DBB94 and 95) Status signal Is read out via Read re(AW-DB, DBX22.3) quest (AW-DB, DBB 90 and 91)
Operator/traversing error
Set/reset control signal Acknowledge operator/traversing error (AWDB, DBX14.3)
Diagnostic interrupt
Activated with OB 82, the data must be read out using the POS_DIAG block
In case of an operating er- Single command: ror read out via the Restart POS_DIAG block, the error no. is read out via the Read request DBX42.5 (AW-DB, DBB86 and 87)
For additional specific information, please refer to Chapter 11 Error Handling.
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6.3.4
The POS_DIAG (FC 2) block Read diagnostic interrupt data

In the event of a fatal error, the FM 354 generates a diagnostic interrupt (OB 82 must be embedded in the user program and the interrupt parameterization of the FM 354 must be activated) and provides the relevant information to the local data area. For information on diagnostic interrupts, see Section 6.5. For further information on external channel errors (operating errors), please call the POS_DIAG block.
Call options
POS_DIAG can be called in interrupt OB 82 or in OB 1.
Call in LAD representation (ladder diagram)
EN DB_NO IN_DIAG POS_DIAG ENO RET_VAL
Call in STL representation (statement list)

CALL POS_DIAG DB_NO RET_VAL IN_DIAG := := :=
Parameters
The Table below lists the parameters for the POS_DIAG block.
Name DB_NO IN_DIAG Data type INT BOOL Param. type I Q I/Q Data block number 1 Initiation signal for reading of the diagnostic data; is reset following execution of POS_DIAG. Description
RET_VAL INT
Parameter types: I = input parameter, Q = output parameter, I/Q = throughput parameter (initiation parameter)
The function works together with an AW-DB user data block. When the function is called, the AW-DB is forwarded with a DB_NO parameter. Reading of the diagnostic data is started by setting the IN_DIAG parameter to TRUE. The block resets the parameter when the request has been serviced. The IN_DIAG parameter remains set while the request is being serviced. Transfer of the data is terminated when the parameter is reset (IN_DIAG = FALSE).
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Error evaluation
Errors are flagged in the Binary Result (BR = 0) and by RET_VAL < 0. Possible errors are as follows: Data transfer error during transfers with SFC 51 RDSYSST. The error is made available in the user DB AW-DB, DBW96 (see Error List, Section 6.8).
Diagnostic data
The prerequisite for the generation of a diagnostic interrupt is activation of the interrupt with the aid of the appropriate parameters (see Section 5.2). If the user program does not contain an OB 82, the CPU goes to STOP. The Table below contains the diagnostic information for the FM 354.
Table 6-5 Data Format 4x1 byte b t Diagnostic information Message When a diagnostic interrupt is generi t ti ated, the relevant information is made available in d il bl i the CPU (local data area, OB 82) and is entered in AW-DB by calling POS_DIAG. User DB DBX70.0 DBX70.1 DBX70.2 DBX70.3 DBX70.6 DBX71.4 DBX72.1 DBX72.3 DBX72.4 DBX73.2 DBX73.3 DBX73.6 Module/group errors Internal error/hardware error (group error bytes 72, 73) External error External channel error (group error byte 78) Module not initialized Channel information available Communication error (K bus) Response from watchdog timer Internal supply voltage to the module failed (NMI) FEPROM error RAM error Process interrupt lost Description
DBX71.0...3 Module type class for FM 354 = 08H
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Table 6-5 Data Format 10 x byte b t
Diagnostic information, continued Message When the POS_DIAG bl k POS DIAG block is called, the information (incl. bytes 0 to 3) is read and entered in the AWDB (DBB70). User DB DBB74 DBB75 DBB76 DBX77 FM pos. ID (74H) Length of the diagnostic information (16) Number of channels (1) Channel vector error (1) Operating error (see Chapter 11, Troubleshooting) Description
DBX78.0...5 Unassigned
When an operat- DBX78.7 ing error occurs, the error number can be read via DBB79...83 Read request DBX42.5 (AWDB, DBB86 to 89)
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 local data area of OB 82 for quick analysis.
Local data
MDL_DEFECT Module error
INT_FAULT Internal error
EXT_FAULT External error
PNT_FAULT External channel error
COMM_FAULT WTCH_DOG_FLT INT_PS_FLT EPROM_FLT RAM_FLT HW_INTR_FLT Fig. 6-3 Evaluating diagnostic data
AW-DB Byte.Bit: 78.0...7
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6.3.5
The POS_MSRM (FC 3) block Read measured values
Function
Use the POS_MSRM block to read the measured values from the AW-DB user data block. For information on process interrupts, please see Section 6.5. For information on measured values 9.3.10.
Note The measured values can also be read by means of POS_CTRL (Read request). If more than one Read request is pending, this request will be 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
POS_MSRM can be called in OB 40 (only when FM is used centralized) if the process 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)
EN DB_NO IN_MSR POS_MSRM ENO RET_VAL
Call in STL representation (statement list)

CALL POS_MSRM DB_NO RET_VAL IN_MSR := := :=
Parameters
The Table below lists the parameters for the POS_MSRM block.
Name DB_NO IN_MSR Data type INT BOOL Param. type I Q I/Q Data block number 1 Start Read Description
RET_VAL INT
6-25
The function works together with an AW-DB user data block. When the function is called, the DB number is forwarded in the DB_NO parameter. Reading of the measured value is started by setting the IN_MSR parameter to TRUE. When the function has executed, the block resets the parameter. The IN_MSR parameter remains set while the function is 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 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 or symbolic addresses (creation of the AW-DB with UDT structure). The interface is allocated to the relevant channel/axis via the standard function blocks DB_NO input parameter. The module address is part of the user DB. It is entered by POS_INIT or manually via Parameterize FM 354 (button Enter ModAdr in user DB in main display). The user DB must already exist.
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Creating the AW-DB (offline)

Proceed as follows: 1. Open your project and select SIMATIC xxx > CPUxxx > S7 Program > Blocks. 2. The data block (for example DB 1) is generated under STEP 7 with the menu command Insert > S7 Block > Data Block. 3. The LAD/STL/FBD editor is started by double-clicking on this data block. 4. In the New data block dialog, select Data block with assigned user-specific data type. 5. UDT 1 is displayed. UDT 1 contains the structure of the AW-DB. 6. Select UDT 1 and confirm with OK. 7. You have now created the AW-DB. 8. Save this AW-DB with File > Save. 9. Close the editor.
Information about symbolic programming

Normally, the blocks are entered in the symbol table with the symbol name, address, 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 symbol table is always absolutely unique. Before writing and compiling your user program, you must enter the blocks (AWDBs, FCs) which you are using for your particular configuration in the symbol table. The symbolic structure of the interface is stored in the UDT block provided. The symbolic relationship is established via your STEP 7 project, the symbol table, and the UDT block. Appendix B shows the UDT with symbols and absolute address. Sample symbol table:
Symbol DB_FM POS_INIT POS_CTRL Address DB 1 FC 0 FC 1 Data Type UDT 1 FC 0 FC 1 Comments User DB for the FM 354 User DB initialization Data interchange
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6.4
Standard function blocks of the FM353_354 block library (also for PROFINET, upon request)
The present chapter provides the following information: S S S S S S Overview of the FM353_354 block library, Section 6.4.1, p. 6-28 POS_INIT (FC 0) Initializing the user data block (AW-DB), Section 6.4.2, p. 6-30 POS_CTRL (FB 1) Data exchange, Section 6.4.3, p. 6-30 POS_DIAG (FC 2) Reading diagnostic interrupt data, Section 6.4.4, p. 6-41 POS_MSRM (FB 3) Reading measured values, Section 6.4.5, p. 6-41 Interface, user data blocks (AW-DB), Section 6.4.6, p. 6-42
Overview
6.4.1
Overview of the FM353_354 block library

You can use the blocks of the FM353_354 block library as follows: S S S centralized configuration of the FM distributed configuration of the FM via PROFIBUS DP distributed configuration of the FM via PROFINET
Note The blocks of the FM353_354 block library requires the following firmware version on the CPU: S CPU modules with MMC with firmware V2.0 and higher
S CPU318 with firmware V3.0 and higher
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The table below provides an overview of the functions (FC), function blocks (FB), data blocks (DB) and organization blocks (OB) required for communication and control of the FM 354.
Table 6-6 Block FC 0 Page 6-30 FB 1 Page 6-30 Standard function blocks of the FM353_354 library (overview) Block Name POS_INIT POS_CTRL Description/Function Call in OB 100 and OB 86, start-up/initialization Call in OB 1, cyclic operation (synchronization with the FM 354) Basic functions and operating modes, interface processing, read and write requests Call in OB 82, internal errors, external errors, and external channel errors of the FM Call in OB 40 or OB 1, reading out of the measured values To be used only if the function in question is required for the application in question; the number can be changed 1) Required for application, number can be changed 1) Required for application if POS_MSRM is called; number can be changed 1) Required for application Remarks Required for application, number can be changed 1)
FB 2 Page 6-41 FB 3 Page 6-41
POS_DIAG POS_MSRM
DB 1 DB 3
IFFM_ICTRL IMSRM
Interface to the FM and instance DB for POS_CTRL (FB 1) Instance DB for POS_MSRM (FB 3)
OB 1 OB 82 OB 100 OB 86 OB 122
Cyclic level Diagnostic interrupt level Start-up level Subrack failure I/O access error
For distributed configurations ti
1) The block number is a default setting, block number can be changed in the SIMATIC Manager Symbol table entries can only be changed in conjunction with symbolic programming
Note The symbolic block identifier is used from here on.
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6.4.2
The POS_INIT (FC 0) block Initialization
Block description
See Section 6.3.2.
6.4.3
The POS_CTRL (FC 1) block Data exchange
Function
The POS_CTRL block is the basic block for controlling the FM 354. With the POS_CTRL block, you can: S S process read and write requests control the operating modes (control and checkback signals)
The POS_CTRL block performs the following actions: 1. Synchronization with the module (only then is the exchange of signals/data possible). 2. Reading of the checkback signals. The values/signals read by the POS_CTRL block are stored in the user data block AW-DB. 3. Transfer of the control signals from user data block AW-DB to the FM 354. 4. Carrying out of Write 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 Read job status. 6. Automatic transfer of all single functions from user data block AW-DB to the FM 354 when one or more than one setting has been changed and setting of the Write job status (Set or Reset). 7. Automatic transfer of all single commands from user data block AW-DB to the FM 354 and setting of the Write job status. The single commands are reset following the transfer. 8. Automatic reading of the error number when an operator input error, traversing error or data error has occurred. The error number is entered in user data block AW-DB (DBB90 to DBB97) and the Read job status set.
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Call options
The POS_CTRL block requires an instance data block (DB) when called. The DB IFFM_ICTRL (DB1) is part of the FM353_354 library and at the same time includes the user interface. For more information, please refer to Section 6.4.6. You must call the POS_CTRL block cyclically (e.g. once in the OB 1 cycle). Before you call the function, enter all data/signals in the user DB (AW-DB) which are required to execute the intended functions.
Call in LAD representation (ladder diagram) IFFM_ICTRL POS_CTRL Call in STL representation (statement list)
CALL POS_CTRL, IFFM_ICTRL
EN
ENO
Parameters
The POS_CTRL block possesses neither input, nor output parameters.
Return values
The POS_CTRL block delivers the following return values in the RETVAL instance variable:
RET_VAL 1 0 <0 BR 1 1 0 Description At least 1 job/transfer in progress No job/transfer in progress, no error Error:
S Data error (AW-DB, DBX22.4) S Communication error (AW-DB, DBW66)
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The block operates with an AW-DB user data block. The DB number is determined when calling the FB using a transferred instance DB. S Start-up POS_CTRL acknowledges start-up of the module. During this time, the RETVAL 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 354 immediately (via direct access). Since the control signals and job requests are processed after these signals have been read, the checkback signals reflect the status of the module before the block was called. The control signals are also written to the FM 354 using direct access. Depending on the chosen mode, the control signals Start, Negative direction and Positive direction (AW-DB, DBX15.0, 15.2 and 15.3) are reset once start-up has actually taken place (edge formation of the signals for the FM). For information on the generation of the checkback signals Process (AW-DB, DBX13.6) and Position (AW-DB, DBX13.7), see Mode control. S Job requests Data interchange with the module that goes beyond control and checkback signals is handled using job requests. Simultaneously pending Write or Read requests, 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 the appropriate data available. The request is serviced when POS_CTRL is called. When the FM is used centralized, a Read request is performed during the call. A Write request requires at least three calls (or OB cycles) due to the acknowledgements required from the module. The time interval between the calls should exceed the length of one FM cycle. When a request has been serviced, the Initiate signal is removed (does not apply to single functions). The next job request is not determined or executed until the next block 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 evaluation or prior to issuing the request. S Order in which job requests are serviced/priority You may submit several job requests simultaneously, even together with Write requests for single commands and single functions.
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As soon as a Write request is detected (also on a signal change in the case of single functions), it is serviced immediately upon completion of the transfer currently in progress, if any. Be sure that signals for single commands are not set cyclically, as this could prevent other job requests from being serviced (priority). Order/priority of Write requests: 1. Write single commands 2. Write single functions 3. Write requests. The Write requests are serviced in the order of the Initiate signals, which is stipulated in user data block AW-DB (from DBX38.0 to 39.7). Order/priority of Read requests: 1. Read error code, operator/traverse errors or data errors 2. Read 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 request by evaluating the Initiate, Ready and Error signals for that job request.
Table 6-7 Job request status RETVAL instance variable (integer) 1 0 1 1 2 3 1 Jobs in progress (DBX68.0 DBX68.2) Initiate signals (DBB34...43) 1 Ready signals (DBB44...53) 1 1 Error signals (DBB54...63) 1 1 1 1
Job request status 1. Job in progress 2. Job completed without errors 3. Write job completed with errors in this job 4. Write job aborted or not executed 5. Read job aborted 6. Write and Read aborted or not executed (in case of simultaneous job requests)
Irrelevant for error evaluation
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Processing status
Signal Write not possible (AW-DB, DBX68.1) Description = TRUE; Write request cannot be processed in this cycle because:
S S S S
The axis is not initialized Test mode is enabled No operating mode is active The selected operating mode has not yet been set
In these cases, you can leave the Write request pending or you can cancel it. The POS_CTRL block resets the signal when all of the above-listed conditions are fulfilled. Read not possible (AWDB, 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 of the above-listed conditions are fulfilled.
Reset status/error (AW-DB, DBX69.1)
With this signal you can reset all Ready and Error signals prior to processing of the pending job requests. The signal itself is then reset by the block.
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Error evaluation
Communication errors or data interpretation errors on the FM are flagged in the Binary Result (BR = 0) and by instance variable RETVAL < 0; see job request status. Possible errors are: S Data transfer error (communication is not completed) during a transfer with SFC 58/59 RDREC / WRREC. The error code is made available in user data block AW-DB, DBW66 (RET_VAL value of these internal SFBs) (job states 4, 5 and 6, see Table 6-7, see also Error List, Section 6.8). Data transferred with Write are checked for data errors by the module and interpreted. If a data error occurs, the checkback signal Data error (AW-DB, DBX22.4) is set to TRUE in user data block AW-DB (message: Write job terminated with error). The error number, read out via an internal job request, is entered in user data block AW-DB, DBB94 and 95 (job status 3, Table 6-2). You will find more information on data errors in the parameter initialization tool under 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 (AWDB, 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). The Initiate signal is also removed for all pending Write requests and the Error signal set (job request status, point 4, Table 6-7). Any pending Read requests are serviced. The error code (AW-DB, DBW66) for each request is re-set if another error occurs. The Initiate signal is removed for the errored Read and the Error signal set (job request status, point 5, Table 6-7). Any pending Read requests are serviced. The error code (AW-DB, DBW66) for each request is re-set if another error occurs.
S S
Performance in the event of an error during the servicing of a Read request: S S
Performance in the event of an error during servicing of single functions and commands: S S The Write request is not serviced in its entirety, and the Error signal is set (job request status, point 4, Table 6-7). The function set/reset which led to initiation of the Write request is not activated.
6-35
Processing write requests

Before Write requests can be processed, the data area associated with the Write request must first be initialized with the relevant values and the appropriate operating mode. A Write request is initiated by setting the relevant job request number. The following abbreviations are used in the Table below to indicate the adjacent operating mode: Operating mode: T STE REF SM MDI A/AE Jogging mode Control mode Approach to reference point Incremental mode (relative) MDI (Manual Data Input) Automatic mode / Automatic single block
The following Write requests are available:

Operating Mode System Data Speed levels 1, 2 Frequency levels 1, 2 Setpoint for incremental dimension MDI block MDI block, on-the-fly Reserved Set reference point Set actual value Set on-the-fly actual value Zero offset Reserved Modify parameters/data Digital outputs Program selection Application request Teach-in d x V Write Request DBX38.0 DBX38.1 DBX38.2 DBX38.3 DBX38.4 DBX38.5 DBX38.6 DBX38.7 DBX39.0 DBX39.1 DBX39.2 DBX39.3 DBX39.4 DBX39.5 DBX39.6 DBX39.7 DBB196...219 DBB220...221 DBB242...245 DBB246...249 DBB250...251 DBB152...155 DBB144...147 DBB148...151 DBB140...143 x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x V x See Sect. 9.2.1 9.2.2 9.2.5 9.2.6 9.2.6 9.3.9 9.3.9 9.3.5 9.3.6 9.3.4 9.8 9.3.1 9.8.2 9.2.7 9.3.7 9.3.8
Data DBB160...167 DBB168...175 DBB156...159 DBB176...195 DBB222...241
T V d d d
STE d V d d
REF d d d d
SM V d V d
MDI d d d V x
A/AE d d d d
Data are accepted, then processed in the relevant operating mode. Data are accepted or processed. Data are rejected with error (see Error Handling, Table 11-8 column 4, No. 1). Data required to move the axis.
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Processing read requests

A Read request is initiated by setting the relevant job request number. The relevant operating mode must be activated. The following Read requests are available:
Operating Mode Read System Data Request Basic operating data Active NC block Next NC block Actual value for block change Service data Operating error number Suppl. operating data Parameters/data Digital inputs/outputs Application data Read measured values x See Sect. 9.3.11 9.3.12 9 3 12 9.3.14 9.3.15 6.3.4 9.3.16 9.3.17 9.3.8 9.3.13 9.3.10 6.3.5
Data
T x
STE x
REF x
SM x
MDI x
A/AE x x x x
DBX42.0 DBB310...333 DBX42.1 DBB342...361 DBX42.2 DBB362...381 DBX42.3 DBB398...401 DBX42.4 DBB402...433 DBX42.5 DBB86...89 DBX43.5 DBB434...442 DBX43.3 DBB446...469 DBX43.4 DBB220...221 DBX43.6 DBB382...397 DBX43.7 DBB486...497
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x x
x x x x x x x
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 signals to the user data block (AW-DB). The POS_CTRL block transfers the control signals from user data block AW-DB to the FM 354 and the checkback signals from the FM 354 to user data block AW-DB. The FM must be initialized. The Table below lists the control and checkback signals, with symbols in German and English.
Table 6-8 German Control signals TFB BFQ/FSQ ST STP R TEST_EN OT_ERR_A START STOP DIR_M DBX14.1 DBX14.3 DBX15.0 DBX15.1 DBX15.2 Switch P bus interface to Start-up Acknowledge operator and traversing errors Start Stop Negative direction Control/checkback signals English AW-DB Description
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Table 6-8 German R+ QMF EFG SA AF BA
Control/checkback signals English DIR_P ACK_MF READ_EN SKIP_BLK DRV_EN MODE_IN AW-DB DBX15.3 DBX15.4 DBX15.5 DBX15.6 DBX15.7 DBB16 Positive direction Acknowledge M function Read Enable Skip block Drive enable Operating mode Jog Control Approach to reference point Incremental mode, relative MDI Automatic Automatic single block Code 01 02 03 04 06 08 09 Code 1 and 2 1 and 2 1...100, 254 Description
BP
MODE_TYPE
DBB17
Operating mode parameters Speed levels Frequency levels Incremental dimension selection Override
OVERR TFGS BF/FS DF PARA SFG BL WFG T-L PBR BAR SYN ME FR FR+ SRFG FIWS PEH MNR AMF ACT_POS
OVERRIDE TST_STAT OT_ERR DATA_ERR PARA ST_ENBLD WORKING WAIT_EI DT_RUN PR_BACK MODE_OUT SYNC MSR_DONE GO_M GO_P ST_SERVO FVAL_DONE POS_RCD NUM_MF STR_MF ACT_POS
DBB18 DBX22.1 DBX22.3 DBX22.4 DBX22.7 DBX23.0 DBX23.1 DBX23.2 DBX23.5 DBX23.6 DBB24 DBX25.0 DBX25.1 DBX25.2 DBX25.3 DBX25.4 DBX25.5 DBX25.7 DBB26 DBX27.4 DBD28
Checkback signals Switching of P BUS interface completed Operator-/traversing error Data error Channel initialized Start Enable Process in progress Wait for external Enable Dwell time running Reverse program scanning Active operating mode Channel synchronized End of measurement Travel in negative direction Travel in positive direction Servo enable status Setting of on-the-fly actual value successfully completed Position reached. Stop. M function number M function modification Actual positon
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The checkback signals Process in progress and Position reached. Stop are not reported back to the user program until the FM has detected and processed the Start signal (v 2 FM cycles). When calling the POS_CTRL block and the relevant control/checkback signals, the subsequent signals are generated so that starting of the procedure can be detected earlier than would otherwise be the case.
Signal Execution started (AW-DB, DBX13.6) Description = TRUE When a mode/movement is started with the relevant control signals or when the status for Process in progress (AW-DB, DBX23.1) = 1 Execution started Process in progress Position (AW-DB, DBX13.7) = FALSE when the block is called/ started when the FM starts traversing movement
When status signal Position reached. Stop. (AW-DB, DBX25.7) = 0 is returned or when a mode is started with the relevant control signals. when the block is called/ Position started Position reached. Stop when FM starts traversing movement
Furthermore, various settings and commands are required to control the FM 354. In all cases, those commands and settings are transferred which are activated at the time when the POS_CTRL block is called. The commands are canceled after the transfer, also in case of error.
Operating Modes Write System Data Request Single functions Single commands x Internal Internal See Sect. 9.3.2 9.3.3
Function DBB34 and 35 DBB36 and 37
T V x
STE x x
REF V x
SM V x
MDI V x
A/AE V x
V Data required to move the axis.
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The functions which can be activated in the FM using single settings or single commands are listed below.
Single Settings Servo enable On-the-fly measuring Rotational speed monitoring Parking axis Simulation Length measuring Retriggering of reference point Reset Enable input Disable software limit position monitoring Single Commands Activate machine data Delete distance to go Automatic block return Automatic block advance Restart Rescind set actual value
Error messages from the FM

When an operator error, traversing error or data error occurs, the error number is read automatically via a Read request. 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 Data error Error messages from the FM Message Error No. Error Acknowledgement New Write request
Status signal Is read out via Read re(AW-DB, DBX22.4) quest (AW-DB, DBB94 and 95) Status signal Is read out via Read re(AW-DB, DBX22.3) quest (AW-DB, DBB 90 and 91)
Operator/traversing error
Set/reset control signal Acknowledge operator/traversing error (AWDB, DBX14.3)
Activated with OB 82, the data must be read out using the POS_DIAG block
In case of an operating er- Single command: ror read out via the Restart POS_DIAG block, the error no. is read out via the Read request DBX42.5 (AW-DB, DBB86 and 87)
For additional specific information, please refer to Chapter 11 Error Handling.
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6.4.4
The POS_DIAG (FC 2) block Read diagnostic interrupt data
Block description
See Section 6.3.4.
6.4.5
The POS_MSRM (FC 3) block Read measured values
Function
Use the POS_MSRM block to read the measured values into the AW-DB user data block. For information on process interrupts, please see Section 6.5. For information on measured values, see Section 9.3.10.
Note The measured values can also be read by means of POS_CTRL (Read 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 in the central configuration) if the process interrupt has been activated (see Section 5.2), or in OB 1. It is not possible to call POS_MSRM in both OBs simultaneously.
Call in LAD representation (ladder diagram) IMSRM POS_MSRM Call in STL representation (statement list)
CALL POS_MSRM, IMSRM DB_NO RETVAL IN_MSR := := :=
EN DB_NO IN_MSR
ENO RETVAL
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Parameters
The Table below lists the parameters for the POS_MSRM block.
Name DB_NO RETVAL IN_MSR Data type INT INT BOOL Param. type I Q I/Q Data block number 1 Start Read Description
The function works together with an AW-DB user data block. When the function is called, the DB number is forwarded in the DB_NO parameter. Reading of the measured value is started by setting the IN_MSR parameter to TRUE. When the function has executed, the block resets the parameter. The IN_MSR parameter remains set while the function is 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 the user data block in the default condition of the function blocks; its symbolic name is IFFM_ICTRL. This DB consists of the user data interface and the instance data of the POS_CTRL block (FB 1). The user can access the signals and/or data on the interface using absolute or symbolic addresses if reference is made via the symbol table of the project. When calling POS_CTRL, the interface is transferred as an instance. With the other standard function blocks, the interface is assigned to the appropriate channel/axis using the DB_NO input parameter.
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Note If the POS_CTRL block is called for several channels/axes, a new instance DB of the POS_CTRL block is to created for each individual channel/axis. To assign the datza to the relevant channel/axis, this instance is always to be transferred when calling the block. The module address is part of the user data block (AW-DB). It is entered either by the POS_INIT block or manually via Parameterize FM 354 using the Enter module address in the user data block in the overview diagram. The user data block (AW-DB) must exist.
Information about symbolic programming

Normally, the blocks are entered in the symbol table with the symbol name, address, 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 (AWDB, FCs, FBs) in the symbol table according to your particular configuration. The symbolic structure of the interface is stored in the supplied instance data block DB 1 (IFFM_ICTRL). The symbolic reference is provided via your STEP 7 project the symbol table. The Annex shows the user interface with the appropriate symbols and with the absolute address. Example symbol table:
Symbol IFFM_ICTRL POS_INIT POS_CTRL Address Data type DB 1 FC 0 FB 1 FB 1 FC 0 FB 1 Comments CPU / FM interface, instance DB to the POS_CTRL block Initialization Operating modes, commands and data exchange
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6.5
Interrupts
Interrupt processing
The FM 354 can generate process interrupts and diagnostic interrupts. You can process these interrupts only in an interrupt OB (OB 40 or OB 82). If an interrupt is generated without the associated OB having been loaded, the CPU goes to STOP (refer to the manual entitled Programming with STEP 7). Interrupt servicing is enabled in the following stages: 1. General Interrupt Enable for the entire module: Select the module in the hardware configuration. Enable diagnostic and/or process interrupts with Edit > Object Properties > Basic Parameters (also see Figure 5.2). Select the OB number for the process with Edit > Object Properties > Addresses. 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 354 generates a process interrupt, variable OB40_POINT_ADDR (or the corresponding variable in another process interrupt OB) contains the following information:
Table 6-10
Byte 0 Bit 7
Contents of doubleword OB40_POINT_ADDR

Bit 6 Bit 5 Bit 4 in-process measuring Bit 3 On-the-fly block chang Bit 2 Bit 1 Bit 0
Length Position measurement reached terminated
1 2 3
The reason for the interrupt is made available in byte 0.
Lost process interrupts

If servicing of a process interrupt in the process interrupt OB has not yet been terminated, the module makes a note of all subsequent process interrupt events. If an event re-occurs before a process interrupt could be generated, the module generates the diagnostic interrupt process interrupt lost.
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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).
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6.6
User data block (AW-DB)
Overview
The Table below describes the structure of the user data block.
Table 6-11 User data block (AW-DB) FM 354
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
AW-DB
Byte General addresses DBW0 DBW2 to DBB12 DBB13 Position Execution started
Module address (data type INT) Reserved
Control signals Acknowledge operator/traversing error Drive enable Block skip Read-in enable Acknowledge M function Positive direction Negative direction Switch to P bus Start-up
DBB14
DBB15 DBB16 DBB17 DBB18 DBB19 to DBB21
Stop
Start
Operating mode Operating mode parameters Override Reserved
Checkback signals DBB22 Channel initialized Reverse prog. scan Dwell in progress Active operating mode Position reached. Stop. On-the-fly setting of Servo enactual value able status completed Positive travel Negative travel End of measurement Channel synchronized Data error Operator/ traversing error Wait for external enable Switch to P bus completed Machining in progress Start enable
DBB23 DBB24
DBB25
DBB26 DBB27
M function number M function modification
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Table 6-11
User data block (AW-DB), continued FM 354

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Actual position (with firmware version V3.7.6 and higher in conjunction with the blocks of the FM353_354 library Reserved
AW-DB
Byte DBD28 DBW32
Initiation signals
Initiation signals for single settings (switches); transfer through Write request when change occurs DBB34 Simulation Parking axis Software limit positions disabled Rotation monitoring Enable input disabled Retrigger ref. point Length measurement In-process measuring Controller enable
DBB35
Initiation signals for single commands; transfer through Write request when change occurs (signals are reset following transfer) DBB36 DBB37 Rescind setting of actual value Restart Reserved Automatic block return Automatic block advance Delete residual distance Activate MD
Initiation signals for Write requests DBB38 Set actual value Set reference point Request application data Program selection On-the-fly MDI block Digital outputs MDI block Modify parameters / data Reserved Setpoint for Frequency incremental levels 1, 2 dimension Zero offset Speed levels 1, 2 On-the-fly setting of actual value
DBB39 DBB40 to DBB41
Teach-in
Initiation signals for Read requests DBB42 Read measured values Operating error no. Application data Additional operating data Service data Dig. inputs/ outputs Actual value block change Parameter/ data Next NC block Active NC block Basic operating data
DBB43
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Table 6-11

AW-DB
Byte
Ready signals
Status/checkback signals from POS_CTRL DBB44 Simulation Parking axis Software limit positions disabled Rotation monitoring Enable input disabled Retrig. ref. point Length measurement In-process measuring Controller enable
DBB45
DBB46 Rescind setting of actual value Set actual value Set reference point Request application data
Reserved Autom. block return On-the-fly MDI block Autom. block advance Delete residual distance Activate MD
DBB47
Restart
DBB48
MDI block
Setpoint for Frequency incremental levels 1, 2 dimension
Speed levels 1, 2 On-the-fly setting of actual value
DBB49
Teach-in
Program selection
Digital outputs
Modify parameters/ data
Zero offset
DBB50 to DBB51 DBB52 Data error read Read measured values Operator/ traversing error read Application data Operating error read Additional operating data Service data
Reserved Actual value block change Parameter/ data Basic operating data
Next NC block
Active NC block
DBB53
Dig. inputs/ outputs
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Table 6-11

AW-DB
Byte
Error signals
Error messages from POS_CTRL DBB54 Simulation Parking axis Software limit positions disabled Rotation monitoring Enable input disabled Retrig. ref. point Length measurement In-process measuring Controller enable
DBB55
DBB56 Rescind setting of actual value Set actual value Set reference point Request application data
Reserved Autom. block return On-the-fly MDI block Autom. block advance Delete residual distance Activate MD
DBB57
Restart
DBB58
MDI block
Setpoint for Frequency incremental levels 1, 2 dimension
Speed levels 1, 2 On-the-fly setting of actual value
DBB59
Teach-In
Program selection
Digital outputs
Modify parameters/ data
Zero offset
DBB60 to DBB61 DBB62 Data error read Read measured values Operator/ traversing error read Application data Operating error read Additional operating data Service data
Reserved Actual value block change Parameter/ data Basic operating data
Next NC block
Active NC block
DBB63 DBB64 bis DBB65
Dig. inputs/ outputs
Reserved
Processing status of POS CTRL POS_CTRL

DBW66 DBB68 Error code (communications error) of the last job request/transfer (data type: INT) Read request not possible Read job active Write request not possible Reset status/error Write job active
DBB69
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Table 6-11

AW-DB
Byte
Diagnostic data for the FM, read out with POS_DIAG DBB70 Module not initialized Channel info available Int. module supply volt. failed Process int. lost Watchdog triggered Ext. chan. err. (DBB78) External error Int./HW err. (DBB 72, 73) Module/ group fault
DBB71
Module type classes (08H)
DBB72
Comm. error (K bus)
DBB73 DBB74 DBB75 DBB76 DBB77
RAM error FM pos. ID (74H)
FEPROM error
Length of diagnostic information (16) Number of channels (1) Channel erer ror vector Operating error Reserved
DBB78 DBB79 to DBB85
Error code after error message Operating error (is read if operating error is set after calling the POS_DIAG block) DBB86 DBB87 DBB88 to DBB89 Error code following flagging of Operator/traversing error DBB90 DBB91 DBB92 to DBB93 Error number (DS 162) Detail event class Error number (DS 162) Detail event number Reserved Error number (DS 164) Detail event class Error number (DS 164) Detail event number Reserved
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Table 6-11

AW-DB
Byte Error code following flagging of Data error DBB94 DBB95 DBW96 DBW98
Error number (DS163) Detail event class Error number (DS163) Detail event number Error code for the POS_DIAG block (return code SFC 51) (Data type: INT) Error code for the POS_MSRM block (return code SFC 59) (Data type: INT)
Data for the requests Zero offset DBD140 Set actual value DBD144 On-the-fly setting of actual value DBD148 Set reference point DBD152 Setpoint for incremental dimension DBD156 Speed levels 1 and 2 DBD160 DBD164 Frequency levels 1 and 2 DBD168 DBD172 Frequency level 1 Frequency level 2 Speed level 1 Speed level 2 Data type: DINT Data type: DINT Data type: DINT Data type: DINT
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Table 6-11

AW-DB
Byte MDI block DBB176 to DBB177 DBB178
Reserved Position/ dwell M function group 3 G function no. of group 1 G function no. of group 2 Reserved Value for position/dwell (data type DINT) Value for speed (data type DINT) M function no. of group 1 M function no. of group 2 M function no. of group 3 Reserved 2 1 G function group 2 1 Speed
DBB179 DBB180 DBB181 DBB182 bis DBB183 DBD184 DBD188 DBB192 DBB193 DBB194 DBB195 Modify parameter/data or request reading of relevant data DBB196 DBB197 DBB198 DBB199 DBB200 to DBB219 Digital inputs/outputs DBB220 DB type Number Quantity Request
Data array, structure/data type of Write data as per bytes 1 to 4 of this structure (e.g. a program block or max. 5 MD items)
Digital input 3 2 1 0
DBB221 On-the-fly MDI block DBB222 to DBB223 DBB224 Reserved Position/ dwell
Digital output 3 2 1 0
G function group 2 M function group 3 2 1 1 Speed
DBB225 DBB226
G function no. of group 1
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Table 6-11

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 G function no. of group 2 Reserved Value for position/dwell (data type DINT) Value for speed (data type DINT) M function no. of group 1 M function no. of group 2 M function no. of group 3 Reserved
AW-DB
Byte DBB227 DBB228 to DBB229 DBD230 DBD234 DBB238 DBB239 DBB240 DBB241 Program selection DBB242 DBB243 DBB244 DBB245 Request for application data DBB246 DBB247 DBB248 DBB249 Teach-in DBB250 DBB251 DBB252 to DBB309
Program number Block number Direction of processing Reserved
Application data 1 Application data 2 Application data 3 Application data 4
Program number Block number Reserved
Data read as per request Basic operating data DBD310 DBD314 DBD318 DBD322 DBD326 DBD330 DBD334 to DBD338 Actual position (data type DINT) Actual speed Residual distance (data type DINT) Setpoint position (data type DINT) Sum of active coordinate offset, tool offset, zero offset (data type DINT) Rotational speed Reserved
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Table 6-11

AW-DB
Byte Active NC block DBB342 DBB343 DBB344 Block skip UP call
Program number Block number No. of UP calls Position/ dwell Tool offset G function group 3 M function group 3 2 1 2 1 Speed
DBB345 DBB346 DBB347 DBB348 DBB349 DBD350 DBD354 DBB358 DBB359 DBB360 DBB361 Next NC block DBB362 DBB363 DBB364 Block skip UP call No. of UP calls
G function no. of group 1 G function no. of group 2 G function no. of group 3 Reserved Value for position/dwell (data type DINT) Value for speed (data type DINT) M function no. of group 1 M function no. of group 2 M function no. of group 3 Tool offset no.
Program number Block number Position/ dwell Tool offset G function group 3 M function group 3 2 1 2 1 Speed
DBB365 DBB366 DBB367 DBB368 DBB369 DBD370 DBD374 DBB378 DBB379 DBB380 DBB381
G function no. of group 1 G function no. of group 2 G function no. of group 3 Reserved Value for position/dwell (data type DINT) Value for speed (data type DINT) M function no. of group 1 M function no. of group 2 M function no. of group 3 Tool offset no.
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Table 6-11

AW-DB
Byte Application data DBD382 DBD386 DBD390 DBD394 Actual value block change DBD398 Service data DBD402 DBD406 DBD410 DBD414 DBD418 DBD422 DBD426 DBD430 Additional production data DBB434 DBB435 DBB436 DBB437 DBB438 DBB439 DBB440 DBB441 DBB442
Application data 1 (data type: DINT) Application data 2 (data type: DINT) Application data 3 (data type: DINT) Application data 4 (data type: DINT)
Data type DINT
Frequency output value (data type DINT) Pulse output counter (data type DINT) Reserved Reserved Difference between setpoint and actual position (data type DINT) Reserved Switch adjustment (data type DINT) Reserved
Override NC traversing program no. NC block no. UP call counter Active G90/91 Active G60/64 Active G43/44 Active D number Speed limit Acceleration/deceleration value limited Reserved Frequency value for acceleration limited Start/stop frequency limited
DBB443
DBB444 to DBB445 Parameter/data DBB446 DBB447 DBB448 DBB449
DB type (MD, incremental dimension or traversing program) Number Quantity Request
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Table 6-11

AW-DB
Byte DBB450 to DBB469 DBB470 to DBB485
Array, structure/data type according to data, to be read as per bytes 1 to 4 of this structure (e.g. a program record or max. 5 MD items)
Reserved
Measured values Measured values as per POS_MSRM call DBD486 DBD490 DBD494 Initial value or in-process measured value (data type DINT) Final value (data type DINT) Measured length value
Array for operator control/monitoring Operator control and monitoring DBB498 Frequency levels transferred Operator/ traversing error Speed levels transferred Data error Increm. dim. transferred Diagnostic interrupt MD number MD value (data type DINT) Incremental dimension number Reserved Display number Keyboard code Reserved Teach-in transferred Prog. sel. transferred MDI block transferred Zero offset transferred Read MD Set actual value transferred Write MD MDI block transferred on-the-fly
DBB499 DBW500 DBD502 DBB506 DBB507 DBW508 DBW510 DBW512
Operating mode selection DBB514 Acknowledge diagnostic interrupt Jog mode Auto mode Auto/single block mode MDI Incremental mode (relative) Approach to reference point Open-loop control mode
DBB515
Acknowledge error
Note For the symbolic signal designations, please refer to the FMSTSV_L library, UDT 1 block, or to the FM353_354 library, DB 1 (IFFM_CTRL).
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6.7
Sample applications
Overview
This chapter provides information on the following: S S S S S Basic example for setting the operating mode Example 1: Moving axes in JOG mode and Approach to reference point mode Example 2: Traversing an MD block Example 3: Automatic mode with program selection Example 4: Technology example for embedding OPs
General remarks
The installation of the FM 354 configuration package includes the following sample projects: S S zDt13_02_FM353_EX ([STEP7 directory]\EXAMPLES\zDt13_02) for application examples for the FMSTSV_L block library zDt13_03_FM353_EX ([STEP7 directory]\EXAMPLES\zDt13_03) for application examples for the FM353_354 block library
The relevant technological functions (POS_CTRL, 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. They are technologically simple examples which you can expand to suit your particular needs. To be able to use the functions provided by the examples 1 to 3, call the relevant examples in OB 1 analogous to example 1. OB 1 contains an example after the call of POS_CTRL how the evaluation of the reported errors of the POS_CTRL could be programmed. You can expand this error evaluation accordingly if you want. Example 4 requires the OB_example4 source file specified in the source folder to be compiled. Since this is an application example for use of an OP, only example 4 should be called in OB 1, as not to overwrite data.
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Note In the examples, the axes do not traverse in simulation mode! Because DBEX is a retentive DB, it is initialized in the start/restart routine (OB 100). If this is not required, simply delete the initialization section of OB 100 (network DBEX Initialization).
Basic example for setting the operating mode

This example is always required for sample applications 1 to 3. Open the zDt13_02_FM353_EX or the zDt13_03_FM353_EX example project in the SIMATIC Manager with File > Open... > Projects. The block for this example is FC 100. You will find the signals in DBEX. This example must always be called. It sets the operating modes according to the users specifications, evaluates 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 speed level 1 in Jog mode. Mode Jog Reference point approach MDI Auto Code 01 03 06 08
In Example 2, you must set MDI mode (mode coded in byte MODE_IN = 06). In Example 3, you must set Auto mode (mode coded in byte MODE_IN = 08). The active mode is displayed in byte MODE_OUT in the relevant code. To restart the module (e.g. after diagnostic interrupt), bit RESET_AX must be set in DBEX. The example will then set bit RESET_AX in AW-DB. A restart will be initiated and bit RESET_AX reset in DBEX. In order to work with the following examples, you must set the mode required for each.
6-58
Example 1
Open the example project. The block used for this example is FC 101. The signals are in DBEX. The signals relevant for Example 1 only are in structure EX1. The Drive Enable and the Controller Enable for the axis are set in DBEX (OB 100: DRV_EN = TRUE, SERVO_EN = TRUE) and are transferred to the interface (AW_DB) in Example 1. In order for the example to function, you must first set either Jog mode (mode code 01) or Reference point approach mode (mode code 03) in byte MODE_IN of the DBEX. The respective mode checkback signal is flagged in byte MODE_OUT. The traversing movements are shown in bits GO_M = TRUE (traverse -axis 1) or GO_P = TRUE (traverse + axis 1). Jog mode active: Once a mode has become 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 point approach mode active: When you set the START bit to TRUE, the axis is moved in a negative or positive direction (depending on the machine data initialization) until the reference point is located. If the reference point approach was successful, the axis is synchronized (SYNC=TRUE). If an operator or traverse error occurred, this is flagged by bit OT_ERR = TRUE. An error can be acknowledged by setting bit OT_ERR_A to TRUE. Note: Variable table 1, which contains all the relevant signals for monitoring and controlling Example 1 (control and monitor variable tool), is located in the Blocks directory.
6-59
Example 2
Open the example project. The block used for this example is FC 102. The signals are in DBEX. The signals relevant for Example 2 only are in structure EX2. The Drive Enable and the Controller Enable for the axis are set in DBEX (OB 100: DRV_EN = TRUE, SERVO_EN = TRUE), and are transferred to the interface (AW-DB) in Example 2. In order for the example to function, you must set the MDI mode. Enter MDI mode (mode code 06) in the MODE_IN byte of DBEX. The relevant mode checkback signal is flagged in byte MODE_OUT. Once the mode has been successfully set, a default MDI block is automatically transferred to the module (MDI network) when Write request MDI_EN has been set in AW-DB (transfer 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 JOBRESET (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 Enable. Then the START bit is reset. The MDI block cannot be restarted until the start enable is again available. The block can be stopped by setting the STOP bit. Only when the STOP bit has been reset to FALSE (and the START bit to TRUE) is a restart possible. If an operator error or traversing error occurs, it is flagged by the OT_ERR bit (the bit is set to TRUE). The error can be acknowledged by setting the OT_ERR_A bit to TRUE. Note: Variable table 2, which contains all the relevant signals for monitoring and controlling Example 2 (control and monitor variable tool), is located in the Blocks directory.
6-60
Example 3
Open the example project. The block used for this example is FC 103. The signals are in DBEX. The signals relevant for Example 3 only are in structure EX3. The program to be selected in the Example has the program number 10. This program number is entered in Example 3. The Read Enable, the Drive Enable, and the Controller Enable for the axis are set in DBEX (OB 100: READ_EN = TRUE, DRV_EN=TRUE, SERVO_EN=TRUE), and are transferred to the interface (AW-DB) in Example 3. Prerequisite for successful program selection is the availability of that program in the FM. In order for the example to function, you must set 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 automatically 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 Start Enable. Then the START bit will be reset. The program can be stopped by setting the STOP bit. It can be restarted by resetting the STOP bit to FALSE (and the START bit to TRUE). If an operator error or traversing error occurs, it is flagged in the OT_ERR bit (the bit is then TRUE). The error can be acknowledged by setting bit OT_ERR_A to TRUE. Note: Variable table 3, which contains all the relevant signals for monitoring and controlling Example 3 (control and monitor variable tool), is located in the Blocks directory.
6-61
Example 4
Open the example project. The block used for this example is FC 104. Note: If you call the example 4 in OB 1, then please do not call the examples 1 to 3 at the same time; otherwise, data would be overwritten. In this example, the HMI interface signals for the data range from DBB 498 through DBB 515 are transferred to the interface area for the control signals, e.g. the modes (see Section 8.2). You can trigger write and read jobs by assigning the data fields 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 appropriate mode will be set. If you select the diagnostic screen PIC_77, you can acknowledge an error by pressing the Quit SK or acknowledge a diagnostic alarm by pressing the Res SK. In this way, all interface signals which can be activated by the OP are requested. You can assign default values to all data fields and transmit trigger pulses for the jobs to be executed.
6-62
Structure of DBEX (DB 100)

DATA_BLOCK DBEX STRUCT ERR_CODE_INIT ERR_CODE_CTRL ERR_CODE_DIAG OVERRIDE MODE_IN MODE_OUT DRV_EN SERVO_EN OT_ERR_A RESET_AX DIAG_RD PARA SYNC START_EN POS_ROD WORKING GO_M GO_P OT_ERR DATA_ERR INIT_ERR DIAG_ERR MINUS1 MINUS2 MINUS3 EX1: STRUCT DIR_M DIR_P START STOP END_STRUCT; EX2: STRUCT START STOP END_STRUCT; EX3: STRUCT START STOP READ_EN END_STRUCT; END_STRUCT BEGIN END_DATA_BLOCK : : : : : : : : : : : : : : : : : : : : : : : : : : : : : INT; INT; INT; BYTE; BYTE; BYTE; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; BOOL; // *** General signals *** // Error code for POS_INIT // Error code for POS_CTRL // Error code for POS_DIAG // Override // Mode setting (coded) // Mode setting (coded) // Drive Enable // Controller Enable // Acknowledgement for operator/traversing error // Restart // Start of POS_DIAG // Initialized // Synchronized // Start Enable // Position reached, Stop // Execution in progress // Traverse in negative direction // Traverse in positive direction // Operator-/traversing error // Data error // Error in POS_INIT // Error in POS_DIAG // MINUS1 error in POS_CTRL // MINUS2 error in POS_CTRL // MINUS3 error in POS_CTRL // *** Signals for EXAMPLE 1 *** // Negative direction // Positive direction // Start // Stop // *** Signals for EXAMPLE 2 *** // Start // Stop // *** Signals for EXAMPLE 3 *** // Start // Stop // Read Enable
: BOOL; : BOOL;
: BOOL; : BOOL; : BOOL;
6-63
6.8
Error list, system messages (CPU)

The Table below lists some of the errors which occur during data transfer with the internal SFC/SFBs (RET_VAL in SFCs 51, 58 and 59 and status messages (bytes 2 and 3), SFB 52/53, system messages) (see Reference Manual System Software for S7-300/400; System and Standard Functions).
Table 6-12
Error list Description No errors SZL_ID invalid or not in CPU Information currently unavailable (caused by system) Negative acknowledgement when reading from module. Module removed during Read operation or module defective. Negative acknowledgement while writing to module. Module removed during Write operation or module defective. DP protocol error in layer 2 (data transfer over Profibus-DP interrupted, e.g. due to wirebreak, missing terminator, parameterization error, etc.)
Error Code (AW-DB, DBW66) HEX 0 8082 8085 80A0 80A1 80A2 80A3 0 32898 32901 32928 32929 32930 32931 DEC 0 32638 32635 32608 32607 32606 32605 INT
S PROFIBUS: DP protocol error in layer 2 (data transfer over Profibus-DP interrupted, e.g. due to wirebreak, missing terminator, parameterization error, etc.)
S PROFINET IO: General CM error

80A4 80A7 80A9 80AA to 80AF 80B0 80B1 80B2 80B3 80B5 80B6 80C0 80C1 80C2 80C3 32932 32935 32937 32938 to 32943 32944 32945 32946 32947 32949 32950 32960 32961 32962 32963 32604 63601 63599 32598 to 32593 32592 32591 32590 32589 32587 32586 32576 32575 32574 32573 Communication problem on K bus DP slave or module is busy This function is not supported by DP slave or by the module. DP slave or module is reporting a manufacturerspecific error in the evaluation. For specifying the error, please refer to the Manufacturer Documentation of the DP slave or of the module. The module does not know this data record. Invalid length specification in the RECORD parameter The configured slot is not occupied. Actual module type not the same as setpoint module type DP slave or module not ready Access to DP slave or module denied Module does not yet have the data to be read available Data from an identical Write job have not yet been processed on the module Module is currently servicing the maximum possible number of requests Needed resources (such as memory, etc.) are currently in use
6-64
Table 6-12
Error list, continued Description Communication error; repeat the job. Distributed I/O not available Job aborted due to restart (warm restart) or cold restart of DP master DB too short; the data cannot be read out of the DB (Write request) DB no. out of user area DB does not exist (Write request) Error on the n-th (n > 1) attempt to read a DB following the occurrence of an error (Write request) DB too short. The data cannot be written to the DB (Read request). DB write-protected in the CPU. Data cannot be written to the DB (Read request). DB no. out of user area DB does not exist (Read request) Error on the n-th attempt (n > 1) to write to a DB following the occurrence of an error (Read request)
Error Code (AW-DB, DBW66) HEX 80C4 80C5 80C7 8522 8532 853A 8544 8723 8730 8732 873A 8745 DEC 32964 32965 32966 34082 34098 34106 34116 34595 34608 34610 34618 34629 INT 32572 32571 32570 31454 31438 31430 31420 30941 30928 30926 30918 30907
The errors 80A2 to 80A7, as well as 80Cx are temporary, i.e. it is possible that they are eliminated without your intervention after a certain time of waiting. Messages in the form 7xxx indicate temporary communication states.
6-65
6.9
Technical specifications
Memory allocation
The Table below provides an overview of the memory allocation for the blocks and the user data block (AW-DB). All values are rounded.
Table 6-13 No. 0 1 2 3 4 Memory requirements for the blocks and user data block Block POS_INIT POS_CTRL POS_DIAG POS_MSRM AW-DB Block in bytes Loading buffer 250 3,394 310 286 1,884 MC7 code in bytes 142 2,964 186 176 516 Local data in bytes 4 22 46 20
Table 6-14 No. 0 1 2 3 4
Memory mapping of the blocks and of the user data block AW-DB, FM353_354 library Block POS_INIT Block in bytes Loading buffer 250 4,966 310 380 2,012 MC7 code in bytes 142 3,198 186 242 576 Local data in bytes 4 34 46 32
POS_CTRL POS_DIAG POS_MSRM AW-DB
Processing times for the blocks taking the following example system
The specified times are rounded. Structure: CPU 315-2DP, FM 354 in the simulation mode User cycle time: approx. 5 ms FM cycle: 2 ms
Table 6-15 Block Processing times for the blocks Transfer Write control/status signals without data POS_CTRL _ Write control/status signals with data Read control/status signals with data Cycle 1 1.3 ms 1.5 ms 3.6 ms Cycle 2 3.2 ms Cycle 3 1.5 ms
6-66
Table 6-15 Block POS_DIAG POS_MSRM
Processing times for the blocks, continued Transfer Read process and diagnostic data Read measured values Cycle 1 3.2 ms 3.6 ms Cycle 2 Cycle 3
Processing times for the blocks when used in a distributed configuration PROFIBUS DP), taking the following example
The specified times are rounded. Structure: CPU 315-2DP, IM 153-2, FM 354 in the simulation mode User cycle time: 5 ms FM cycle: 2 ms Baud rate: 1.5 MB
Table 6-16 No. 0 1 2 3 Processing times for distributed blocks Block POS_CTRL POS_CTRL POS_CTRL POS_DIAG System data transfer Control/checkback signals Write request Read request Read Transfer time in the range from ... to 1.1...1.5 ms 30...40 ms 10...20 ms 2.1...2.7 ms Average transfer time
1.3 ms 35 ms 15 ms 2.4 ms
Several cycles are required to read or write data via the relevant requests.
Response time for start signals to a distributed FM (PROFIBUS DP)

Table 6-17 Response times for start signals to Response at the output of the FM (axis traverses incl traverses, incl. FM response time) Response time in the range from ... to 8...13 ms 10...15 ms
From the view of the CPU: from calling the block Start Jog Start MDI
6-67
6-68
Starting up
Chapter Overview
Section 7.1 7.2 7.3 Installation and wiring Initial values for testing and optimization Testing and optimization Section Header
7
Page 7-2 7-3 7-6
Overview
This Chapter introduces you to the user interface for testing and start-up, and provides check lists for starting up the positioning module. The checklists will help you: S S Check all steps until the module is running. Prevent malfunctions of the module once it is in operation.
You are guided through start-up of the machine axes.
7-1
Starting up
7.1
Installation and wiring
Installation information
You can find information about how to install your module: S S In Chapter 3 of this manual Inthe manual S7-300 Programmable Controller, Hardware and Installation
Wiring information
You can find information about how to wire your module: S S In Chapter 4 of this manual In the manual S7-300 Programmable Controller, Hardware and Installation
Checklist
The checklist below will help you check important steps in the installation and parameterization of the FM 354 positioning module.
Table 7-1 Step 1 2 Installation and wiring checklist Check Slots Shielding What to do: Plug the module into one of the suitable slots. Check the shielding of the FM 354 positioning module: OK
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. the drive-unit end.
S The shielding for the setpoint cable should not be grounded on

3 Limit switches Check the start/stop limit switches. The limit-switch connections must be connected to the power section. The start/stop limit switches should not be connected to the digital inputs. Make sure the FM 354 positioning module setup is consistent with the parameterization. Check in particular that:
Parameterize
S The attached encoder matches the machine data. S The wiring of the digital I/O modules matches the machine data.
7-2
Starting up
7.2
Initial values for testing and optimization
Parameterization information
You can find information about parameterization: S S In Chapter 5 of this manual In the on-line help in Parameterize FM 354
Overview
The following opening display appears in the Parameterize FM 354 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 354, the DB-MD is checked for the input limits of the individual values and their interdependencies. It is then stored only if all values are allowed. Otherwise data error messages are displayed by way of the MPI. A defective DB will not be retained when the power is turned off.
7-3
Starting up
Checklist
Despite the acceptance testing just mentioned, the ultimate responsibility for the accuracy of all machine data lies with the module user. So it is highly advisable to perform startup using the following checklist.
Table 7-2 Step 1 Parameterization checklist Check Machine data What to do: Set initial machine data contents As shown in Table 5-4 machine data are subdivided into configuration data (K) and setting data (E). K data indicates how the FM 354 is connected to the machine axis or CPU user program, and must therefore already be fully set up before startup begins. E data is intended for changes during startup, and serves to optimize FM 354 response for the technological process of positioning. The values in Table 7-3 are recommended, and sometimes necessary, as initial settings. 2 Increments Increments are only needed for the Relative incremental mode. For the next part of the startup procedure it is helpful to set up an Increments data block (DB-SM) with the following values: Value 1 1 MSR Value 2 10 MSR Value 3 100 MSR Value 4 1,000 MSR Value 5 10,000 MSR with rotary axes: Value 6 3 Tool offset data 1 rotary-axis cycle [MSR] MSR = measurement-system grid OK
Tool offset data is needed only for the Automatic mode and is not necessary for the startup described here. Generally, it is not needed until you start up the user program on the S7-300 CPU. Traversing programs are needed only for the Automatic mode and are not necessary for the startup described here. Generally, it is not needed until you start up the user program on the S7-300 CPU. When you have completed all start-up actions on the FM 354 and your plant, create, save and load SDB w 1 000 into the CPU/onto the memory card of the CPU. All the parameter data (DBs) of the FM 354 are stored in SDB w 1 000. This SDB allows you to replace the FM 354 module in the event of a fault, and to download the parameters without a programming device/PC.
Traversing programs Create SDB w 1 000
7-4
Starting up
Initial contents of MD
The table below shows you what initial contents are recommended or required for the E machine data at startup of the machine axis. Enter the machine data in the tab windows or in table format in accordance with the following table.
Table 7-3 MD (E) 5 16 17 0 109...+109 0 [MSR] Initial contents of machine data Value Explanation FM 354 triggers no process interrupts Specified reference-point coordinates Absolute encoder readjustment value (absolute encoders only). Entered automatically when the reference point of the FM 354 is set. Software limit switches inactive Specified maximum axis speed Large PEH target range PEH time monitoring switched off Zero speed range monitoring set to default value (If the zero speed range monitoring error occurs during the start-up, as described in Section 7.3, please enter the maximum value of 1 000 000 deviating from the default. You then define the value required for your true drive axis in Section 7.3.6) 27 28 29 30/31 38 0 0.2@vmax 0.1@vmax 0/0 1 000 [MSR/min/MSR] Reference-point shift (incremental encoders only) should be entered for numerical readjustment of the reference point 20% of the maximum speed is the recommended initial value 10% of the maximum speed is the recommended initial value Backlash compensation inactive Generally applicable position control loop gain
21/22 231) 24 25 26
109/+109 [MSR] vmax = 10...5@108 [MSR/min] 1 000 [MSR] 0 10 000 [MSR]
7-5
Starting up
Table 7-3 MD (E) 39 40/41 42 431) 44 45 0
Initial contents of machine data, continued Value 1 000/1 000[103MSR/s2] 0 Umax = 1,000...10,000 [mV] 0 0 Explanation Following-error monitoring inactive Very low acceleration values Jolt filter switched off Specified maximum amount of drive setpoint Offset value for drive setpoint Voltage ramp inactive
1) This pair of values corresponds to the speed category of the drive. It serves as a basis for calculating the Kv factor in the servo, and must therefore be entered correctly. Recommendation: So far as possible, Umax should be set in the range between 8 and 9 V.
7.3
Testing and optimization
Testing and optimization information

Once you have installed, wired and parameterized the unit, you can test and optimize your FM 354 positioning module. Testing and optimization can be performed with the aid of the testing and start-up interface with or without the user program. You can also test individual modes and their traversing programs, and view and debug them during execution. There are two ways of operating the FM: S S CPU is in STOP, test without user program 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 installed with Parameterize FM 354. Once the FM 354 has been parameterized, you can call it up by selecting the menu Test > Startup or by selecting from the overview display.
7-6
Starting up
When you call up this menu the following screen appears:
1 2 3 4
Error field Status field (e.g. actual values, check-back signals) Field for mode-specific inputs Field for input of values/settings/commands and start/stop for movement
The abbreviations for the checkback signals are described in Table 9-2. Fig. 7-2 Startup interface (e.g. for Reference-point approach mode)
7-7
Starting up
Note To start a movement, we recommend the following input sequence:
S S S S S
Select a mode Turn simulation on (if you want an operating case) Servo enable Drive enable Override 1...100%
You can operate the R+ and R buttons in the jogging mode as follows: 1. Select R+ or R with the mouse 2. Press the space bar You can operate Start and Stop with the mouse, or with the space bar if you have already selected the button. The digital outputs are not set in the Stop status of the CPU. When you operate the following buttons, 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 safetys 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 354 when the CPU is in STOP, and then switch the CPU to RUN and then immediately switch to the start-up interface in your user program by means of the [TFB] (TEST_EN) signals (e.g. if example application 3 is included in the user program), please note the following: You must select the mode again from the start-up interface, or close the start-up interface and call it up again.
7-8
Starting up
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
7-9
Starting up
The following display appears when you select Test > Trace:
Fig. 7-5
Trace
7-10
Starting up
Checklist
When starting up the machine axis, it is important to perform the following steps in the indicated sequence. Steps 1 to 5 are always necessary; the rest are optional, depending on your own application.
Table 7-4 Step 1 2 3 4 5 6 7 Checklist - Startup of machine axis Check Activation of machine data Monitoring of drive and encoder switching Basic startup of position controller Optimization of position controller Readjustment of reference-point coordinates Activation of position controller diagnostics Activation of software limit switches, drift compensation and backlash compensation What to do: See Section 7.3.1 See Section 7.3.2 See Section 7.3.3 See Section 7.3.4 See Section 7.3.5 See Section 7.3.6 See Section 7.3.7 Page 7-12 7-13 7-17 7-19 7-23 7-24 7-26 OK
Note In order for an axis to start, the start enable checkback signal must have been set. If there is no start enable, this may be because: S Drive enable is not set
S Stop is set S Operation in progress is active
7-11
Starting up
7.3.1
Activating the machine data
Overview
The checkback signal PARA notifies you that a DB-MD has been retained. This machine data is automatically activated at power-up. The modules positioning functions are ready to operate. If no DB-MD is present as yet on the FM 354 when the control is switched on, the module can only communicate by way of the MPI interface. The control signals are not processed by the FM 354. Once an error-free DB-MD has been transferred, the machine data is automatically activated, PARA is set and the control signals are processed. If the FM 354 is working with activated machine data, you can transfer a new data block or individual parameters in modified form to the module and, if the entire DB-MD is error-free, put the new or modified data into effect by means of the Activate machine data function provided that an operating mode is active (parameterizing tool Start-up display). The following approaches are possible: S If only E data have been modified in the machine data record since the last activation, the equipment is activated with module status Operation in progress = 0, without interrupting the servo cycle. SYN is retained. If K data has also been modified in the machine data record since the last activation, activation takes place with module status Operation in progress = 0 by way of a cold restart of the servo, just as occurs for a power-up of the module. The instantaneous actual position is still displayed, but encoder pulses from incremental encoders might go unrecorded. SYN is reset. If the machine data record contains erroneous data at activation time, the function is rejected, with the Machine data cannot be activated error message (see Table 11-5, Class 2, No. 21).
7-12
Starting up
7.3.2
Checking the drive and encoder circuits
Overview
The following startup action allows you to monitor the proper actuation of the drive unit and the encoder:
Note Always be sure to put MD modifications into effect with Activate machine data.
Caution Before triggering any traversing movement, be sure to check that there is enough space for the axis to move in the desired direction.
Drive actuation
You can use the following flow chart to check the actuation of the drive. Starting the axis Start the axis with the space bar after preselecting the direction via R+ or R. The Windows properties allow for successive execution of the command (repeated starting/stopping of the axis) when the space bar is depressed in quick succession.
7-13
Starting up
Select
Mode = Control
Set Voltage level 1 = 0 Voltage level 2 = 0.1 @ Umax Select Set
Voltage level 1 Servo enable = ON
Start axis Plus or minus direction Axis idle? Yes No Parameterization MD44 Set offset compensation Set Select Voltage level 2 Start axis Plus or minus direction (be sure there is enough room!) Axis moving? Yes No Is servo enable parameterization correct? Yes No Activate machine data
Parameterization MD37 Servo enable Set Activate machine data
Check and correct drive actuation No Axis travel direction correct? Yes Parameterization MD19 Invert analog value Set Activate machine data
END Fig. 7-6 Drive actuation
7-14
Starting up
Encoder actuation and traversing speed

You can use the following flow chart to check the encoder actuation and traversing speed.
Select
Mode = Control Voltage level 2 Umax = MD43
Set Voltage level 1 = 0 Voltage level 2 = 0.1 @ Umax Set Servo enable = ON Start axis Plus or minus direction (be sure there is enough room!) Read actual position Is direction of position change correct? Yes No
Parameterization MD19 Reverse direction of measurement
Set Activate machine data Is amount of change in actual position correct? No Yes Parameterization MD11...13 Measured-value resolution Set Activate machine data
Read actual speed
Is actual speed = 0.1 @MD23 correct? Yes
No MD23 correct? No Yes Correct RPM allocation accordingly on the drive
Parameterization MD23 Maximum speed Set Activate machine data END Fig. 7-7 Encoder actuation and traversing speed
7-15
Starting up
Drive transition time and maximum voltage rise

For the following position-controller optimization it is important to know the drive time constant (transition time). In open-loop control mode and on errors with the response Everything Off (see Section 11) the voltage value is fed to the drive by way of a ramp defined in MD45. A variety of drives, as well as certain mechanical or technological situations, may require a limitation on the voltage rise. If you do not have a specific value in hand and wish to find a suitable rise value by trial and error, please use the following procedure: Note A voltage rise setting will obviously make the axis stop more slowly if an Everything Off error response occurs.
Select
Mode = Control Voltage level 2
Set Voltage level 1 = 0 Voltage level 2 = Ua = Umax Set Servo enable = ON Start axis Plus or minus direction (be sure there is enough room!) Read drive time constant (Ta) from servicing data If controlled drive of the axis at Umax is not possible without a voltage ramp, set voltage level 2 to a value Ua < Umax and calculate the real drive time constant Tareal = Ta time constant Ta, as: Tareal from the measured@Umax : Ua Start axis Plus or minus direction (be sure there is enough room!)
Axis acceleration too high? No
Yes
Parameterization MD45 Voltage ramp lower Set Activate machine data
Axis acceleration too low? No
Yes
Parameterization MD45 Voltage ramp higher Set Activate machine data
Was voltage level 2 = Umax? Yes END Fig. 7-8
No Set Raise voltage level 2 (up to Ua = Umax)
Drive transition time and maximum voltage rise
The axis is now ready for startup of the position controller.
7-16
Starting up
7.3.3
Basic startup of the position controller
Overview
The following startup action allows you to monitor the basic function of the servo i.e. position control of the axis:
Note Always be sure to put MD modifications into effect with Activate machine data.
Non-release control
You can use the following flow chart to check the non-release control.
Select
Mode = jogging Speed level 1 OVER = 100 %
Set Speed level 1 = 0,1 @ vmax Speed level 2 = 0.5 @ vmax Set Servo enable = ON Read actual position Does axis start up too fast(sometimes with Drive rotation direction error message)? No Does axis slowly drift away? No Yes
Yes
Does actual value oscillate around one place?
Repeat Check encoder actuation startup step
Yes
No Repeat Check drive actuation startup step
END Fig. 7-9 Non-release control
See Figure 7-6
See Figure 7-7
7-17
Starting up
Positioning
Use the following flow chart to check axis travel to a target position.
Select
Mode = Relative incremental Increment = 4 OVER = 10 %
DB increments, Value 4 = e.g. 1,000 MSR
Set Speed level 1 = 0.5 @ vmax Speed level 2 = 0.5 @ vmax Set Set reference point with value 0 Check check-back signal SYN Set Servo = ON
Start axis Plus or minus direction (be sure there is enough room!) Read actual position
Direction OK? Yes Amount OK? Yes Further testing desired? Yes Select new OVER 1...200 %
No
No No
Start again with Check drive actuation startup step
END Fig. 7-10 Positioning
See Figure 7-6
7-18
Starting up
7.3.4
Optimizing the position controller
Overview
In principle, the dynamic response of an axis is essentially determined by the dynamic response of the variable-speed drive; there is not sufficient space to discuss this topic here. But this latter dynamic response, in turn, is influenced by the design characteristics of the machinery, such as friction, backlash, torsion and the like. By feeding back the measured displacement, a position controller generally closes the outermost loop of a controller cascade with the following structure:
Motor and Machine Speed Regulator Current Regulator M
FM 354 Servo controller
Drive
Ref. position
Tacho
Actual position Fig. 7-11 Position control circuit
Encoders
Procedure
The following instructions are intended as an aid for practical situations. Position controllers must meet a variety of requirements for various technological applications. Assessment criteria for the quality of the positioning process can include: S S S S Good uniformity of traversing movement Little or no overshoot at the target point for positioning Short positioning time A continuous acceleration (soft travel).
In most applications, several of these criteria will be important, so that most of the time the dynamic response of the controller can be optimized only with a number of compromises. Execute test movements as in Figure 7-12 during the optimization steps described below.
7-19
Starting up
To trigger test movements

You can trigger test movements as follows as you perform optimization:
Select Mode = jogging Speed level 2 OVER = various values
Set Speed level 1 = 0.1 @ vmax Speed level 2 = 0.5 @ vmax Set Servo enable = ON
Start axis Plus or minus direction (be sure there is enough room!) Uniformity of movement - Overshoot - Positioning time
Evaluate axis response
Yes
Further testing desired? No END
Fig. 7-12
Test movements for optimizing the servo control system
Selecting initial values of response-defining MD

Set the following machine data in accordance with the drive time constant Ta (Tareal) determined in Section 7.3.2 to the initial values for the optimization steps below, e.g. for an axis in MSR 103 mm: S S S Acceleration, delay MD40 = MD41 [mm/s2] = 30 @ MD23 [mm/min] : Ta [ms] Jolt time MD42 (ms) = 0 Positioning loop amplification MD38 (1/min) = 100,000 : Ta (ms) The acceleration value that actually acts on the system is reduced by the time response of the position control circuit - i.e. as a function of the Kv value. The maximum acceleration (a) in this setting can be attuned to the drive time constant, and can be estimated as follows: amax [mm/s 2] = 16 @ MD23 [mm/min] : Ta [ms]
7-20
Starting up
The qualitative effect of the parameters on the positioning process appears in the following table:
Table 7-5 Effect of machine data that defines response MD38 Quiet running Noise immunity Soft movement reversal Positioning without overshooting Fast positioning small great small small great great great small MD40/41 great great small MD42
Optimization of dynamic response

The following startup actions allow you to optimize the position controller to your requirements. Check all speed ranges, and if applicable give the greatest weight in evaluating the results to the speed that is the most significant for your technology. Optimization for uniformity of movement You can make optimization of the position controller considerably easier by analyzing the actuating signal or drive speed (tachometer voltage) with a storage oscillograph. The resulting oscillograms for the transition functions U(t) and v(t), i.e. the oscillation pattern, can be interpreted more easily (see Figure 7-13).
U
Effective range of jolt filter Gain too high (axis swing damping weak) Amplification/acceleration too great Amplification/acceleration too small Optimum setting Fig. 7-13 Transition function of the position-control circuit
7-21
Starting up
Optimization for overshoot Evaluate the overshoot in the target position (s-overshoot in the servicing data). For suitable machine data changes, see Table 7-5. Optimization for positioning time Evaluate the approach time to the target position (approach time Te in the servicing data). For suitable machine data changes, see Table 7-5. Optimization for especially soft travel (super-soft) For particular applications, especially soft travel response of the axis is desirable. By choosing the following output values for the machine data affecting the dynamic response you can produce a very soft movement where the acceleration is controlled exclusively by the jolt filter. The effective maximum acceleration in movement-reversal processes responds proportionally to the difference in speed, and reaches its maximum in the transition from v = 0 to maximum speed (see Figure 7-14). S S S Acceleration, delay MD40 = MD41 [mm/s2] = 0 Jolt time MD42 [ms] = 0.5 @Ta [ms] Positioning loop amplification MD38 [1/min] = 100,000 : Ta [ms] The maximum value of the actual effective acceleration can be estimated as follows: amax [mm/s 2] = 16 @MD23 [mm/min] : Ta [ms]
U
Response on different velocity transitions (sum effect of jolt filter and position control)
T_a
Fig. 7-14
Response on different velocity transitions (sum effect of jolt filter and position control)
7-22
Starting up
Compromise optimization
When optimizing for several of the above criteria, you can determine the machine data from the results of the individual optimizations by a variety of methods: S Guarantee of all partial results Least determined value of MD38 Greatest value for each of MD40, MD41 and MD42 S Prioritization of one optimization criterion Set MD38 and MD40-MD42 to the values that match the highest-priority optimization criterion for your application, and again evaluate response as to the remaining criteria. S Taking the mean of partial results Set MD38 and MD40-MD42 to the means of the individual partial results, and again evaluate response as to all criteria.
7.3.5
Realigning the reference point coordinates
Axis with incremental encoder

To ensure distinct reproducibility of reference recordings, it is necessary for the synchronizing zero pulse (SYNI) to be a distinct distance away from the reference point switch (RPS). At low reducing speeds, we recommend a distance of from 10% to 90% of the distance of one encoder revolution. For high reducing speeds we recommend 30% to 60%. Check this value in the servicing data report after executing a reference point approach (switch alignment value) and if you find nonconformity to the required value range, make a corresponding adjustment in the relative position allocation between the encoder and the reference point switch. Example: Positive search direction
SYNI zero pulse RPS MD11, 12
Switch readjustment displayed: 40 % @ MD11, 12 (suitable for high reducing speeds)
7-23
Starting up
Set the referencing velocity to the highest value compatible with your requirements. It is important to be able to decelerate to the reducing velocity across the length of the reference-point switch. If this is not the case, an additional repositioning to the RPS occurs before the search phase of the synchronizing zero pulse begins. Compare the cycle of the executed traversing movements with Section 9.2.3 and optimize the referencing speed (MD28). Then readjust the reference-point coordinates proper by entering the necessary reference-point shift in the machine data. After the machine data is activated, the new reference-point shift takes effect with the next search for reference.
Axis with absolute encoder (SSI)

In a suitable mode (jogging, incremental relative) move to a known point on the axis and execute the Set reference point function with the known position value. The set position and actual position will immediately be set to this value, and the allocation of an absolute value to the absolute encoder (SSI) will be entered in the machine data record (MD17). If you want to archive this value externally, apart from the modules own data memory, perform a readout of the machine data DB and save it to a floppy disk or to the hard disk of your PG.
7.3.6
Activating position controller diagnostics
Overview
Once the position controller has been optimized, activate the position controller diagnostics. If position control is performing improperly or the axis is responding abnormally, this function will trigger error messages. You can use the following flow chart to start the position controller diagnostics:
7-24
Starting up
Select
Mode = jogging Speed level 2 OVER = 10...20 %
Set Speed level 1 = 0.1 @ vmax Speed level 2 = 0.5 @ vmax Set Servo enable = ON Set Servo enable = OFF Read the following error from the servicing data Is maximum value for following error detected with controller inactive? Yes Parameterization MD26 Entry > 300% of maximum idle following error Start axis Plus or minus direction (be sure there is enough room!) Read the following error from the servicing data Parameterization MD39 Enter the following error at approx. 5...10 % vmax OVER = 200 % Parameterization MD24 Enter a PEH target range Start axis Plus or minus direction (be sure there is enough room!) Read approach time Te of drive in servicing data Parameterization MD25 PEH monitoring time MD25 w 1.5 @Te Set Activate machine data END Fig. 7-15 Activation of position controller diagnostics Generates PEH target range monitoring error message In the specified distance range, the positioning operation for the motion sequence is interpreted as complete. Enable Following error too great error message Test: Swerve the axis on deactivation of the controller
No
When the positioning operation is complete, check that the axis has remained within the specified distance range. Generates Drive movement without controller enable, idle range error message
7-25
Starting up
7.3.7
Activating the software limit switches, drift compensation and backlash compensation

Carefully run the axis up to its extreme limits as specified for normal operation of the machine. Enter these position actual values into the machine data MD21/MD22 as software limit switches, and activate them.
Note If you change the reference-point coordinate later or use Set reference point for the absolute encoder, you must redefine the positioning values of the software limit switches. If you do not need the software limit switches, the input limits 109 and 109 [MSR] must be entered in MD21/MD22 (for default values, see Table 5-4).
Drift compensation
If you want to use the drift compensation function in addition to the offset compensation already described in Section 7.3.2, activate it in the machine data (please see the function description in Section 9.7, Position control).
Backlash compensation
With indirect position measurement (for example, with an encoder on the motor) the free play of mechanical transmission elements during positioning may cause a position deviation of a machine part (such as a lathe saddle) that is to be positioned but does not lie in the measured-value feedback loop. As a rule, a piece of the distance will be missing after a reversal of direction. This backlash amount can be determined as a mean at various axis positions, and entered in the machine data MD30 and MD31. You can use the following flow chart to determine backlash and activate backlash compensation. Also please refer to the information on backlash compensation presented in Section 9.7 !
7-26
Starting up
Parameterization MD31 Set directional reference of backlash Set Activate machine data
Initial backlash value MD30 = 0 (see Table 7-3)
Set Speed level 1 = 0.1 @ vmax Speed level 2 = 0.5 @ vmax Set Servo enable = ON Select Mode = Relative incremental Increment = 3 OVER = 10 %
DB increments, value 3 = e.g. 100 MSR (see Table 7-2)
Start axis Direction as in MD31 Zero gauge on machine part to be positioned Start axis Direction opposite to MD31 Read traveled distance on gauge Determine backlash Backlash=Increment - measured value distance Yes Further testing for checking or to take mean? No Further testing at another position to take mean? Yes Select Mode = jogging Speed level 2 OVER = 100 % No Take the mean for all partial results Parameterization MD30 Add backlash to value in effect to date, with correct sign Check for efficacy of correction? No END Please note: Negative backlash values may occur during repeat tests if there is overcompensation Gauge, e.g. dial gauge or laser gauge
Start axis Move to new measuring position Yes Set
Activate machine data
Fig. 7-16
Determination of backlash and activation of backlash compensation
7-27
Starting up
7.3.8
Parameterizable zero-speed monitoring

Warning The parameterizable zero-speed monitoring is only required in exceptions. The parameterization lies completely in the users own responsibility and should be carried out with utmost care. In the uncontrolled mode of the axis, a zero-speed monitoring of the axis motion is provided by the FM 354 via the velocity evaluation. These are special cases in which the MD45 voltage ramp is active: S S In the Controlling mode: Deceleration of an axis motion In all the other modes: Cancellation of drive enable during an axis motion Restart during an axis motion In case of all errors with error reaction All OFF In case of some errors with error reaction Feed STOP (see Section 11, Error handling) The evaluation is provided using an automatic mechanism implemented in the software, which is intended to: S quit the Machining running status S quit the position control with servo enable activated For extraordinary exceptional cases of technologically required sequence of motions or extraordinary dynamic behaviors of an axis, for which this automatic mechanism cannot determine an axis standstill reliably, new machine data will be introduced with which exact criteria can be parameterized to detect the end of the motion. MD54 MD55 Note MD54 and MD55 are zero (0) by default. Thus, the automatic zero-speed monitoring is enabled principle of functioning as in earlier software versions. MD54 and MD55 act independently of each other, i.e. can be parameterized in 4 possible combinations. The TimeOut time is started after the setpoint 0 has been reached at the setpoint output of the FM 354, i.e. if MD45 is not equal to 0 after the voltage ramp has been processed. Zero speed (see Table 5-4) TimeOut time for zero-speed monitoring (see Table 5-4)
7-28
Starting up
7.3.9
Standard diagnosis for the position controller with parameterizable response time when overriding the actuating signal
Overview
The position controller of the FM 354 provides a standard diagnostic function which issues an error message when an output value of 10 V is reached as the maximum actuating signal for the drive. Note This diagnostic function cannot be deactivated. It is deemed to be indispensable and serves for safety of the installation and protection of the operating personnel, in particular during commissioning of the machine. Reaching of the 10 V output value can have the following causes and result in the following effects:
Table 7-6 Causes for reaching the 10 V output value Effect U1 drive stopped: U2 drive is moving in the opposite direction: U3 drive is moving in the setpoint direction: Cause Error Drive is not moving Diagnostic alarm Direction of rotation of the drive No error message1) Response Feedrate STOP All OFF None
1) Diagnosis possible by status evaluation of DS34[8].2)
The causes U1 and U2 which constitute the basis for the error messages above and result from a commissioned and optimized axis do not occur any longer in normal operation. Therefore, the appropriate error messages are already issued by the position controller when the 10 V output value occurs once. In practice, there were several applications with inappropriately dimensioned axes. The encoder resolution in proportion to the parameterized maximum speed selected so was so bad that the distance corresponding to approximately one increment of the measuring system (MR) is covered when a setpoint of 10 V is output to the drive. In such an application, the axis status always represents itself as a standstill for the position controller, since also an axis being in position control can move by +/1 increment (MR). The response criterion of the standard diagnostic function is: S S In case No drive motion case: +/2 MR/TZ In the Direction of rotation of the drive case: v actual value sign opposite to the v setpoint
7-29
Starting up
Calculating the required response time

The error message at the 10 V limit can be delayed by an appropriate time value by parameterizing a response time. If an axis motion by at least one increment (MR) in the programmed traversing direction is recognized, the response time is restarted. The error message is then issued according to the current axis status after expiry of the parameterized time. It is recommended to proceed as follows: S Calculate the maximum speed (MD23) into MR/TZ; (TZ = 2 ms): VMR = MD23 / TASTPROMIN / MWFAKTOR Calculate MWFAKTOR as per Section 5.3.1, Subsection Dependencies. The number of sampling cycles per minute (TASTPROMIN) is 30,000. S S Calculate the theoretical minimum value for the required response time: TOV_min = 1 / VMR Define the practically required minimum value TOV = (2...3) @ TOV_min. (This value, however, must be by a multiple higher in case of a bad starting behavior of the axis. When testing the axis, the value can be corrected starting from an initial value until a stable and safe positioning behavior is achieved.)
Enter the TOV value in MD56. To avoid an undefined value in the existing MD56 automatically resulting in a new behavior when upgrading the firmware, the function must be reenabled in MD60. MD56 Standard diagnosis (see Table 5-4) MD60 Function enable for the response time in MD56 (see Table 5-4) Note MD56 is zero (0) by default. Thus, the standard diagnosis is enabled without delay principle of functioning as in earlier software versions. The standard diagnosis cannot be deactivated, only its effect can be delayed. MD56 is in effect immediately when activated and entered online (category E). While the response time is running, the override status is signaled in DS34[8].2 (this also pertains to cause U3).
Warning Inappropriate input values can result in hazards to the installation when the parameterized response time is activated for the standard diagnosis. Therefore, the use of MD56 shall be the users solely responsibility. Siemens will not assume any liability in case of damage to the installation.
7-30
Starting up
Parameterization examples
Example 1: Machine data: MD10 = 1 MD13 = 1,000 Calculating MD56: MD11 = 2,000,000 MSR MD12 = 0 MD23 = 1,000,000 MSR/min MWFAKTOR = (MD11 + MD12 @ 2-32) / (4 @ MD13) MWFAKTOR = ( 2,000,000 + 0 @ 2-32) / (4 @ 1,000) = 500 VMR = 1000000 / 30000 / 500 = 0.066... TOV_min = 1 / 0.066... = 15 MD56 = 30 ... 45 Example 2: Machine data: MD10 = 1 MD13 = 1024 Calculating MD56: MD11 = 20000 MSR MD12 = 0
MD23 = 30000000 MSR/min MWFAKTOR = (MD11 + MD12 @ 2-32) / (4 @ MD13) MWFAKTOR = (20000 + 0 @ 2-32) / (4 @ 1024) = 4,8828125 VMR = 30000000 / 30000 / 4,8828125 = 204,8 TOV_min = 1 / 204,8 = 0,004 MD56 = 0
This case where TOV_min < 1 is not an example for an inappropriate ratio of the encoder resolution to the parameterized maximum speed. Probably, the cause lies in an FM354 error message from the mechanics or in the axis optimization. J
7-31
Starting up
7-32
Human-machine Interface
Chapter Overview
Section 8.1 8.2 8.3 Section Header Standard HMI (human machine interface) for the OP 07 and the OP 17 Analysis of the user DB by the user program for operator control Data block for status messages (DB-SS)
8
Page 8-3 8-17 8-20
Summary
In this chapter youll find an overview of the operator control and monitoring capabilities offered by the FM 354. For operator control and monitoring of the FM 354, an operator panel can be connected 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.
e.g. Text-based operator panel (OP) Configured operatorcontrol screens
Operator panel
Operator control and monitoring via the MPI interface CPU FM 354 in data blocks: Backplane bus User data (user data block, technology functions, see Section 6)
S S S S
Machine data Increments Tool offset data Traversing programs
S Status messages
Fig. 8-1
Operator control and monitoring for the FM 354
8-1
Operator control and monitoring of FM data/signals on the CPU 314

The data and signals that can be controlled and monitored at the control panel are listed in the user data block. These data or signals must be processed by the user program (for data and signals see Chapter 6 and Section 8.1).
What can I control on the FM 354?

Using the keyboard of the operator panel, you can change the data/signals in the data blocks: S S S S Machine data DB No. 1200 Increment sizes DB No. 1230 Tool offset data DB No. 1220 Traversing programs DB No. 1001...1199
What can I monitor on the FM 354?

The following data and signals can be displayed on the operator panel display: S S S S S Machine data DB No. 1200 Increment sizes DB No. 1230 Tool offset data DB No. 1220 Traversing programs DB No. 1001...1199 Status messages DB No. 1000 (DB-SS) etc. Operating data, such as actual values Active NC blocks Linear measurements Actual value block change Check-back signals and error conditions Service data The configuration package includes a pre-configured interface for the COROS OP 07 and OP 17 operator panels.
8-2
8.1
Standard HMI (human-machine interface) for the OP 07 and the OP 17
Overview
This Section describes a preconfigured user interface, which you will need to change according to your project (e. g. FM addresses, DB no.), for the following COROS equipment (operator panels): S S OP 07 OP 17
The tool to be used for this is the ProTool/Lite configuring tool. You can use it to modify, add or delete graphics. The user interface is addressed to user DB No.1 in the CPU (target system 1, address = 2) and to the DB-SS of the FM 354 (target system 2, address = 3). The text field FM user name represented in the images can be 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_354.pdb und op17_354.pdb in the following directory: STEP7 Directory\EXAMPLES\FM354\zEn14_02_FM354_OP_EX
DB-SS
This data block for status messages (DB 1000) contains the control/checkback signals, as well as the system data of the FM 354. The data of the DB-SS can only be read.
Monitoring
The data for monitoring can be read and displayed directly in the DB-SS as well as in the corresponding parameterized DBs of the FM 354. The advantage of reading directly from the FM is that the values/signals do not have to be read via the user program first.
Operator control
For operator control, the data and signals (including memory bits and values) are written to the user DB of the user program.
8-3
User program
User data bock AWDB is the interface for the OP. When control signals, single functions 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 program (taking into account any userspecific interlocks) before setting the Write or Read requests.
8-4
8.1.1
Standard user interface for the OP 07
User interface of the OP 07

The following illustration provides you with an overview of the OP 07 user interface (menu tree).
User name act. operating mode F 500000.000 OR 120 x +1000000.000 mm Act.value IBN Diag. User
PIC7
K6
PIC71
K1
PIC73
PIC71
User name act. operating mode x +1000000.000 mm x-Diff 1000000.000 Teach BA-E Auto Eist
PIC72
Following error Kv factor DAC output val. MD Eins User Free for user
PIC74
SK for OP operating mode Offl Onl Trans
PIC712
PIC714 PIC723
status set Servo enable Restart Axis >> Read Set active status set SW limit switch off Parking axis <<
PIC73
Operator/travel errors Error class Error no.
PIC713 PIC722
MD no. Value
PIC724
Free for user
<< Acknowledg Res >> Data error Error class Error no. << Message >> Operating error Error class Error no. << Res >> Diagnostic interrupts Byte 0: Byte 2: Byte 3: Byte 8:
PIC711
Teach In Pr. no. Block X +1000000.000 mm set
PIC712
F level 1 F level 2 Selection stage Control SMR MDI
<<
Res
>>
PIC7122
Vol. level1 Vol. level2 Selection stage mV mV
PIC7123
SM free SM no. Free SM G X F
PIC7124
set
PIC713
% 120 N 100 UP-Z 10 X +1000000.000 mm X-Diff 1000000.000 Selection
PIC714
Set actual value Value X +1000000.000 mm Zero point offset
PIC7132
% Direction N
PIC7141
Zero point offset Value Sum of 1000000.000 offsets Set zero point offset
SAvor SAr set
Fig. 8-2
Menu tree of the OP 07 user interface
8-5
Figure 8-2 describes the functions of the global function keys for the user interface of the OP 07. ESC key You can use this key to call up the previous screen of the higher levels. You can use these keys to call up the next inset screen within the same screen (same screen number). You can use this key to skip from any point in the menu tree to the actual value display main screen (PIC71). You can use this key to skip from any point in the menu tree to the diagnostic main screen (PIC73).
>>
<<
Soft keys
K1
Function key
K6
Function key
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 354. S The input/output fields are addressed to the user DB No.:1 (Control 1-CPU). Transmission of these values occurs from the OP 07 to the CPU into the user DB. These values (if needed) must be transmitted to the FM 354 by the user program. If certain values or control signals can be written only under the right conditions (e.g. if axis is in HOLD mode or selection of a certain operating mode is required), then the user program must ensure, by analyzing the response signals, that these conditions are met.
8-6
Table 8-1 below describes the individual screens of the user interface.
Table 8-1 Description of the screens in the user interface Screen No. PIC7 Description This screen is displayed to you after the OP 07 is enabled. The FM354 values are display values. You can use the soft keys to call up the following main screens:
Screen name Main screen
S S S S
Main screen, actual value display PIC71
Softkey Istw PIC71 Softkey IBN PIC72 Softkey Diag PIC73 Softkey Anw PIC74
The values on the screen are display values. You can use the soft keys to call up the following screens:
S S S S
Main screen, startup PIC72
Softkey Teach PIC711 Softkey BA-E PIC712 Softkey Auto PIC713 Softkey Eist PIC714
The FM 354 values (service data) are display values. You can use the soft keys to call up the following screens:
S Softkey MD PIC722 S Softkey Eins PIC723 S Softkey Anw PIC724

Main screen, diagnostics PIC73 This screen shows you the diagnostic interrupts and error messages for the FM 354 in four lower-level screens. The following are displayed:
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 Section 11.3 for diagnostic interrupts and error messages User screens PIC74 and PIC724 You can use these screens to configure your own contents.
Setting data for operat- PIC712 ing mode
This screen contains input/output fields for the velocity levels or a text field for selecting velocity level (selections 1 or 2 possible). You can use the soft keys to call up the following screens:
S Softkey Steu PIC7122 S Softkey SMR PIC7123 S Softkey MDI PIC7124

Setting data for the Automatic operating mode Set actual value PIC713 This screen contains only display fields. You can use the Anwahl soft key to call up screen PIC 7132. The actual value display is a display field. The value for set an actual value appears in an input/output field. You can use the soft key NPVer to call up the screen PIC7141. You can use the soft keys Iwr and IWset to execute functions.
PIC714
8-7
Table 8-1
Description of the screens in the user interface, continued Screen No. PIC722 Description This screen contains input/output fields. Input of values is password protected. The values entered are in the user DB. You can use the soft keys to set bits in the user DB:
Screen name Machine data
S Soft key lesen You can use this soft key to insert a memory
bit (in the user DB) which causes the user program to read the item of machine data whose number has been entered. causes the user program transfer to the FM 354 the number entered under value for the item of machine data under MD No. memory bit (activate MD bit in the user DB) which is transmitted from the user program to the FM 354.
S Soft key set You can use this soft key to set a bit which
S Soft key aktiv You can use this soft key (activate MD) to set a
Each bit in the user DB which you set in this screen must be reset by the user program following execution of the function. Settings for startup PIC723 The fields of this screen which are identified by an x are display fields. If the bit is set, you will see an x. If the bit 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 Set data for the incremental mode, relative operating mode PIC7122 PIC7123 This screen contains input/output fields for the control levels or a text field for control level selection (selections 1 or 2 possible). This screen contains input/output fields. The fields SM-No. and free SM are addressed to the same address in the user DB. You can use the SM No. to enter the values 1 to 100. The free SM field is a text field and you can toggle back and forth between x and . If you select x, this corresponds to the value 254 for free SM. The value of the free SM is found in the user DB. This screen contains input/output fields. The MDI data record must be preassigned by the user program with the corresponding bits (G, X, F bits are set) and possibly, with values for G, X and F. The entry field behind G is a text field. There, you can select between the values 90 and 91. Using the soft key set you can set a memory bit (in the user DB), which must be analyzed by the user program. With modification of this bit, the MDI block must be transmitted from the user DB to the FM 354, and the bit must be reset.
Set data for the MDI operating mode
PIC7124
8-8
Table 8-1
Description of the screens in the user interface, continued Screen No. PIC132 Description This screen contains input/output fields. This field for direction is a text field. It is upward and downward selectable. You can use the soft keys to set bits in the user DB:
Screen name Program selection
S Soft key SAvor - You can also use this soft key (automatic
block search forward) or SAr (automatic block search backward) to set the corresponding bits in the user DB. the user DB).
S Soft key set - you can use this soft key to set a memory bit (in
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 display field. Zero offset PIC7141 This screen features an input/output field. The sum of the offsets (Sumn Ver) is a display field. You can use the soft key NPVset to execute a function.
8-9
8.1.2
Standard user interface for the OP 17
User interface of the OP 17

The following illustration provides you with an overview of the OP 17 user interface (menu tree).
Main screen PIC7 F1 F2 F3 F4 F5 F6 F7 F8
K1 K2 K3 K4 K5 K6
Global function keys
User-specific screens Diagnostics, error message SK1 Group signal PIC Z_MESS_EVENT Startup SK2 Alarms PIC772 PIC76 PIC77
SK1 Startup settings PIC761
SK3 Machine data PIC763 PIC75
Operating mode selection
MDI block input SK1 MDI block on the fly PIC73 Auto main screen SK1 Current block PIC731 SK2 Foll. block PIC732 SK4 Program selection PIC734
PIC74 PIC741
SK5 Teach In PIC735
SK7 Part progr.1) Overview (P-sel) PIC736 SK8 Part progr.1) Edit (P-ed) PIC737
Parameters
PIC72
Free
PIC71
1) Part progr. = traversing program for FM 354
Free later FM selection, presently for user screens
Fig. 8-3
Menu tree of the OP 17 user interface
8-10
Figure 8-3 describes the functions of the global function keys for the user interface of the OP 17.
ESC key
You can use this key to call up the previous screen of the higher level (the table of contents in the main screen). You can use this key to jump from any point on the menu tree to the main screen (PIC7). You can use this key to jump from any point on the menu tree to the diagnostics, error message screen (PIC77). You can use this key to jump from any point on the menu tree to the operating mode selection screen (PIC75). OP 17 Offline operating mode selection OP17 Online (normal) operating mode selection OP 17 Transfer operating mode selection F1 to F8 (local soft keys)
K1
Function key
K2
Function key
K3
Function key
K4 K5 K6
Function key Function key Function key
F1 ... F8
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 354. S The input/output fields are addressed to user DB No.: 1 (control 1-CPU). Transmission of these values occurs from the OP 17 to the CPU into the user DB. These values (if needed) must be transmitted to the FM 354 by the user program. If certain values or control signals can be written only under the right conditions (e.g. if axis is in HOLD mode or selection of a certain operating mode is required), then the user program must ensure, by analyzing the response signals, that these conditions are met. The pending errors are displayed in the errors line. More detailed error information is provided on the screens Diagnostics, Troubleshooting and Interrupt messages.
8-11
Description of the individual screens

The following illustration shows the screen layout of the preconfigured interface.
FM 354
Fig. 8-4
Screen layout of the preconfigured interface
The illustrations shown below (Fig. 8-5 to Fig. 8-19) provide you with the screen content of the configured screens.
Para Fig. 8-5
Autom
MDI
BA_An
IBN
Diag
Anwen
Main screen, PIC7
This screen is displayed to you after the OP 17 is enabled. The FM354 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).
Tipp Fig. 8-6
Steu
Refpk
SMR
MDI
AutoE
Autom
Operating mode selection, PIC75
This screen permits you to enter the operating mode, velocity levels or control levels or the incremental value.
8-12
set Fig. 8-7 Teach In PIC735
This illustration displays the actual value for you. You can enter the values for Teach In.
MDIfl Fig. 8-8 MDI block entry PIC74
set
The fields identified by an X are text fields and can be toggled back and forth between X and . You can enter the values of the MDI block.
MDI Fig. 8-9 MDI block on the fly PIC741
set
Handling of the MDI block on the fly corresponds to that of the MDI block.
8-13
aktSA Fig. 8-10
folSA
%Wahl
Teach
P-sel
P-ed
Automatic main screen PIC73
This screen contains only display fields. In the screens PIC736 Part program overview (P-sel) and PIC737 Part program Edit (P-ed), you can select programs and read/write traversing program blocks.
SAvor Fig. 8-11 Program selection PIC734
SAr
set
This screen features input/output fields. It is upward and downward selectable.
folgSA Fig. 8-12 Current block PIC731
This screen contains only display fields.
aktSA Fig. 8-13 Continuation block PIC 732
8-14
This screen contains only display fields.
IWset Fig. 8-14 Parameters, PIC72
IWr
Set ZPO
The sum of the offsets and the actual value display are display fields.
Einst Fig. 8-15 Startup PIC76
MD
The FM 354 values (service data) are display values.
Fig. 8-16
Startup settings PIC761
The fields in which an X is entered are display fields.
lesen Fig. 8-17 Machine data PIC763
aktiv
set
Value input is password protected.
8-15
Meld Fig. 8-18
Alarm Diagnostics, error message PIC77
Res
Quit
This screen displays the FM 354 errors. The fields are display fields.
Meld Fig. 8-19
Fehler Interrupt messages PIC772
Res
This screen displays the FM 354 errors. The fields are display fields.
The screen PICZ_MESS_EVENT contains factory-supplied default ProTool/Lite screens for the OP17.
8-16
8.2
Analysis of the user DB by the user program for operator control
Overview
The Table below tells you which Write requests must be submitted by the user program and which signals are written directly to the FM.
Table 8-2 OP 07/17 User DB, DBX 499.5 499.6 499.7 499.1 = 1 499.2 = 1 37.6 = 1 37.2 = 1 37.3 = 1 498.3 = 1 498.4 = 1 498.2 = 1 499.0 = 1 34.0 34.6 Triggered by Analysis of the user DB by the user program User program Function Diagnostic interrupt Data error Operator control/traversing error Transfer data for Set actual value from the user DB to the FM Transfer data for Set zero point offset from user DB to the FM Transfer Cancel setting of actual value to the FM Transfer Block advance to the FM Transfer Block return to the FM Transfer data for Program selection from the user DB to the FM Transfer data for Teach-in from the user DB to the FM Transfer data for MDI block entry from the user DB to the FM Transfer data for MDI block on-the-fly from the user DB to the FM To change Servo enable, transfer yes/no to the FM To change Parking axis, transfer yes/no to the FM 39.5 39.7 38.3 38.4 711 7124 723 735 74 741 761 38.7 39.1 User DB, DBX see PIC OP 07 7 OP 17
FM 354
SK IWset SK NPVset SK IWr SK SAvor SK SAr SK set SK set SK set SK set TF Servo enable TF park. axis
714 7141 714 7132
72
734
SK = Softkey, TF = Text field 1) The relevant code for the operating mode (BA) is to be entered in DBB16 of the user DB 2) Code = 254 in DBB17 of the user DB 3) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 1 4) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 4, DBD200 of DBD502 5) User DB, DBBX499.5 must be acknowledged with DBX515.7, DBX399.6 and DBX399.7 must be acknowledged with DBX515.6
8-17
Table 8-2 OP 07/17 User DB, DBX 514.6 = 1 514.0 = 1 514.1 = 1 514.2 = 1 514.3 = 1 514.4 = 1 514.5 = 1
Analysis of the user DB by the user program, continued User program Triggered by Function Transfer data for Jog mode and Jog mode1) to the FM Transfer data for Control mode and Control mode1) to the FM Transfer Reference point approach mode1) to the FM Transfer data for Incremental relative mode and Incremental relative mode1) to the FM Transfer MDI mode1) to the FM Transfer Automatic single block mode1) to the FM Transfer Automatic mode1) to the FM To change Disable software limit switch, transfer yes/no to the FM Transfer Restart axis to the FM Transfer Delete distance to go to the FM 723 723 761 User DB, DBX 38.0 38.1 see PIC OP 07 OP 17 75
SK Jog SK Control SK Refpt SK SMR SK MDI SK AutoE SK Autom
38.22)
35.6 37.5 = 1 37.1 = 1
TF Software limit switch off TF Restart axis TF Delete distance to go SK read
498.1 = 1
Read MD No. from the user DB, retrieve its value from the FM, and enter that value in the user DB Transfer Active MD to the FM Transfer MD No. and its value from the user DB to the FM Error acknowledgement Res in the FM 354 (diagnostic interrupt) Error acknowledgement Ack in the FM 354 (data error, operator control/traversing error)
3)
39.3 43.3
4)
722
763
37.0 = 1 498.0 = 1 515.7 = 1 515.6 = 1
SK active SK set SK Res SK Ack
39.3
5)
73
77
SK = Softkey, TF = Text field 1) The relevant code for the operating mode (BA) is to be entered in DBB16 of the user DB 2) Code = 254 in DBB17 of the user DB 3) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 1 4) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 4, DBD200 of DBD502 5) User DB, DBBX499.5 must be acknowledged with DBX515.7, DBX399.6 and DBX399.7 must be acknowledged with DBX515.6
8-18
Variables in the user DB

The Table below contains the signals/data that must be entered in the user DB via the OP (FM interface). For a detailed description of the structure of the user DB, see Section 6.6.
Table 8-3 User-DB DBB17 DBX34.0 DBX34.6 DBX35.6 DBX37.0 DBX37.1 DBX37.2 DBX37.3 DBX37.5 DBX37.6 DBD140 DBD144 DBD156 DBD160 DBD164 DBD168 DBD172 DBB176 to DBB195 DBB222 to DBB241 DBB242 DBB243 DBB244 DBB250 DBB251 DBW500 DBD502 DBB506 Variables for the user DB Variable type BYTE BOOL Description Velocity or voltage level 1, 2 [BP] Single functions Servo enable Parking axis Disable software limit monitoring Single commands Activate machine data Delete distance to go Automatic block advance Automatic block return Restart Undo set actual value Zero offset Set actual value Setpoint for incremental dimension Speed level 1 Speed level 2 Voltage/frequency level 1 Voltage/frequency level 2 MDI block DBX38.3 DBX38.1 Internal Write request Internal Write request User-DB
BOOL
DINT DINT DWORD DWORD DWORD DWORD DWORD STRUCT
DBX39.1 DBX38.7 DBX38.2 DBX38.0
STRUCT
MDI block on-the-fly
DBX38.4
BYTE BYTE BYTE BYTE BYTE WORD DINT/ relev. MD BYTE
Program selection program number Program selection block number Program selection direction Teach in program number Teach in block number MD No. MD value SM No.
DBX39.5
DBX39.7
8-19
8.3
Data block for status messages (DB-SS)

The following table lists the parameters/data that can be read out during operation.
Overview
Table 8-4 Byte 0...35 36...59 Offset1) 24 25 26 28 30 31 32 33 34 35 36 48 52 56 60 64 68 88 90 92 96 100 104 106 126 127
Parameters/data of the DBSS (DB No. 1000) Variable type Value Significance of the variables DB header Internal header information Variable type 8 x BOOL 8 x BOOL 2 x BYTE 2 x BYTE 8 x BOOL 8 x BOOL BYTE 8 x BOOL BYTE 8 x BOOL 12 x BYTE DWORD DWORD DWORD DWORD DWORD STRUCT 16 x BOOL 16 x BOOL DINT DINT DINT 16 x BOOL STRUCT BYTE BYTE MDI block structure MDI block structure Value Significance of the variables Control signals Control signals Control signals Control signals Checkback signals Checkback signals Checkback signals Checkback signals Checkback signals Checkback signals Reserved Velocity level 1 Velocity level 2 Control level 1 Control level 2 Setpoint for incremental value MDI block Single functions Single commands Zero offset Set actual value Set actual value on the fly Digital inputs/outputs MDI block on the fly Program selection Program selection Program number Block number Comment Byte 0 Byte 1 Byte 2, 3 Byte 4, 5 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Comment
1) A variable in the S7 protocol is addressed by the DB No. and, depending on data format, by the DBB, DBW and DBD No. (offset in DB), as well.
8-20
Table 8-4 Offset1) 128 130 134 135 136 140 156 160 164 168 172 176 180 184 188 208 228 232 236 240 244
Parameters/data of the DBSS (DB No. 1000), continued Variable type 2 x BYTE 4 x BYTE BYTE BYTE DINT 4 x DINT DINT DINT DINT DINT DINT DINT DINT DINT STRUCT STRUCT DINT DINT DINT DINT DINT NC block struct. NC block struct. Value Significance of the variables Program selection Request application data Teach In Teach In Reference coordinate Free Actual position Actual velocity Residual travel Target position Sum of current tool offset Rotational speed, rotary axis Free Free Active NC block Next NC block Code application 1 Code application 2 Code application 3 Code application 4 Actual position on leading edge Application data Application data Application data Application data Length measurement/ inprocess measurement Length measurement Length measurement Servicing data Servicing data Servicing data Servicing data Servicing data Servicing data Basic operating data Basic operating data Basic operating data Basic operating data Basic operating data Basic operating data Comment Direction, free Application data 1-4 Prog. no. Block number
248 252 256 260 264 268 272 276 280
DINT DINT DINT DINT DINT DINT DINT DINT DINT
Actual position on trailing edge Length measurement value Act. value at external block change DAC value/frequency Encoder actual value Error pulses Kv-factor Following error Following error limit
8-21
Table 8-4 Offset1) 284 288 292 324 325 326 327 328 329 330 331 332 332.1 332.2 332.3 333 334 336 340 344 346 350 352 353 354 356 357 358 360 361 362
Parameters/data of the DBSS (DB No. 1000), continued Variable type DINT DINT 8 x DINT BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE 8 x BOOL Value Significance of the variables s Overshoot/Switch readjustment in Reference Point Approach mode Approach time Te (ms)/drive constant Ta (ms) in OL Control mode Free Override Part program no. Part program block no. No. of callup subroutine loops G90/91 Active G60/64 Active G43/44 Active Active D No. Status messages 1 Additional operating data Additional operating data Additional operat. data Additional operat. data Additional operat. data Additional operat. data Additional operating data Additional operating data Comment Servicing data Servicing data
S Speed limitation to limit value

from MD
S Limitation to "10 V S Limitation of min. acceleration

or min. deceleration in effect 8 x BOOL 2 x BYTE 4 x 8 x BOOL 4 x BYTE 2 x 8 x BOOL 4 x 8 x BOOL 2 x BYTE BYTE BYTE 2 x BYTE BYTE BYTE 2 x BYTE BYTE BYTE 32 x BOOL Free Free Diagnostics, system-specific Diagnostics, channel-specific Diagnostics, channel-specific Free Error number DS 162 Free Free Error number DS 163 Free Free Error number DS 164 Free Free Process interrupt Operator control error Data error Operator/travel error Identifier Channel error
8-22
The control and checkback signals in Table 8-4 can be the following signals:
Bit 7 6 5 4 3 2 1 0
Byte 24 25 26 27 28 29
Control signals: BFQ/ FSQ AF SA EFG QMF R+ BA BP OVERR R TFB STP ST
Checkback signals: 30 31 32 33 34 35 AMF PEH FIWS SRFG PARA PBR T-L BAR FR+ MNR FR ME SYN DF BF/FS WFG TFGS BL SFG
The following table describes the control and checkback signals in German and English.
Table 8-5 German Control signals TFB BFQ/FSQ ST STP R R+ QMF EFG SA AF TEST_EN OT_ERR_A START STOP DIR_M DIR_P ACK_MF READ_EN SKIP_BLK DRV_EN Switch P bus interface to Start-up Acknowledge operator control and traversing errors Start Stop Negative direction Positive direction Acknowledgement for M function Read enable Skip block Drive enable Control and checkback signals English Description
8-23
Table 8-5 German BA
Control and checkback signals, continued English MODE_IN Mode Jog Control Reference point approach Incremental relative MDI Automatic Automatic single block Description Code 01 02 03 04 06 08 09 Code 1 and 2 1 and 2 1...100, 254
BP
MODE_TYPE
Operating parameters Speed levels Voltage levels Incremental dimension selection Override
OVERR TFGS BF/FS DF PARA SFG BL WFG T-L PBR BAR SYN ME FR FR+ SRFG FIWS PEH MNR AMF
OVERRIDE TST_STAT OT_ERR DATA_ERR PARA ST_ENBLD WORKING WAIT_EI DT_RUN PR_BACK MODE_OUT SYNC MSR_DONE GO_M GO_P ST_SERVO FVAL_DONE POS_RCD NUM_MF STR_MF
Checkback signals Switching of P bus interface completed Operator control/traversing errors Data error Channel initialized Start enable Execution in progress Waiting for external enable Dwell time running Reverse program scanning Active mode Channel synchronized Measurement completed Negative travel Positive travel Servo enable status On-the-fly setting of actual value completed Position reached. Stop. M function number M function modification
8-24
Description of Functions
Chapter Overview
Section 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 9.10 Operating modes System data System of measurement Axis type Determining the position Stepper motor control system Digital inputs/outputs (Read request in the user DB, DBX43.4) Software limit switches Process interrupts Section Header Control and checkback signals
9
Page 9-2 9-14 9-37 9-60 9-61 9-64 9-74 9-85 9-88 9-89
Overview
This chapter describes the functions of the FM 354. You can activate these functions via the user program by calling the appropriate standard function blocks or technology functions.
9-1
9.1
Control and checkback signals
Overview
The POS_CTRL block transfers the control signals from the user DB to the module and transfers the checkback signals from the module to the user DB.
Bit 7 6 5 4 3 2 1 0
Byte 14 15 16 17 18 19
Control signals: BFQ/ FSQ AF SA EFG QMF R+ BA BP OVERR R-TFB STP ST
Checkback signals: 22 23 24 25 26 27 28 29 30 31 1) With FM firmware version V3.7.6 in conjunction with the blocks of the FM353_354 library. ACT_POS ACT POS 1) AMF PEH FIWS SRFG PARA PBR T-L BAR FR+ MNR FR-ME SYN DF BF/FS WFG TFGS BL SFG
9-2
9.1.1
Overview
Control signals
The axis is operated and controlled by means of control signals. Table 9-1 describes the control signals and their functions.
Table 9-1 Control signals Name Function
Symbol English TEST_EN German TFB
Sw./over Interrupts communication with the user program, and switches over P-bus the P bus interface for operation with the start-up user interface. interface Acknowl. operator/ travel error Start Stop Direction minus ... resets an error message. Before acknowledging the error, correct its cause.
OT_ERR_A
BFQ/ FSQ
START STOP DIR_M
ST STP R
... starts movement in Automatic, MDI and Reference-point approach modes. ... interrupts movement or processing of the program ... cancels reference point approach. ... moves axis in negative direction.
S In Jogging and Control modes, moves axis in negative direction

(level-dependent).
S Starts movement in negative direction in Incremental relative and

Reference-point approach modes. matic modes.
S Specifies direction of movement for rotary axes in MDI and AutoDIR_P R+ Direction plus ... moves axis in positive direction.
S In Jogging and Control modes, moves axis in positive direction

(level-dependent).
S Starts movement in positive direction in Incremental relative and

Reference-point approach modes. matic modes.
S Specifies direction of movement for rotary axes in MDI and AutoACK_MF QMF Acknowledge M function Read-in enable ... only acknowledge-driven during M function output (see machine data list in Table 5-4, MD32). ... acknowledges receipt of M function. Program sequence can be continued. ... prevents read-in (processing) of the next block ... has effect only in Automatic mode. The read-in enable is required in order to read in the next traversing block during program execution. SKIP_BLK SA Skip block ... skips identified blocks in the program ... has effect only in Automatic mode.
READ_EN
EFG
9-3
Table 9-1
Control signals, continued Name Drive enable Function ... enables movement. When the signal is reset, a deceleration of the movement takes place. If MD 37.15 = 0, program execution or the movement is aborted and the distance to go deleted. If MD 37.15 = 1, the following applies (machining resumed after emergency stop): S Rapid deceleration of the movement. S On axis standstill FR+ or FR = 0; BL = 1 the drive remains activated and Servo Enable active
Symbol English DRV_EN German AF
S If an error occurs in this state (e.g. the user starts the movement
without a Start Enable, etc.), the relevant error response is initiated, e.g. the distance to go is deleted; BL = 0 (a new path must be specified). Code 01 02 03 04 06 08 09
MODE_IN
BA
Operating mode
Operating mode (see Section 9.2) Jogging Open-loop control Reference point approach Incremental relative MDI Automatic Automatic single block
MODE_ TYPE
BP
Mode parameter
... selects speed levels in Jogging mode ... selects frequency levels in Control mode ... selects increment in Incremental relative mode (value 1 100 or 254). ... override has no effect in Control mode
OVERRIDE
OVERR
Override ... affects response of traversing movement. Range: 0-255%
S Velocity override
Range: 0-255% Speed adjusted by percentage Example: Override doubled from 100% to 200% v 200 % 100 % vact vprog t
speed v is doubled acceleration and deceleration values are not affected vprog Override vact = 100 The positioning time is not cut in half.
9-4
Table 9-1
Control signals, continued Name Override Function
Symbol English OVERRIDE German OVERR
S Time override
If you parameterize the time override function in MD37, there are two ranges: range 100-255%: speed override operates as described above range 0-100%: time override operative Speed, acceleration and deceleration are changed in such a way that the time necessary for the traversing movement is directly correlated with the override value. Example: Cut override in half, from 100% to 50% v 100 % v
prog
50 % fss speed v is cut in half
vact t
acceleration and deceleration are quartered Cut override in Start/Stop frequency vact = vprog Override 100 aact = a Override2 1002 tact = t 100 Override
Positioning time is doubled. Taking the override into account as a time override presupposes the following additional condition: If a traversing movement consists of multiple positioning blocks with block change on-the-fly (the axis does not stop between blocks), changing the override value affects only the speed. Acceleration and deceleration are additionally affected only after the axis comes to a stop (e.g., reversal of direction). Note: Time override has effect only in the MDI and Automatic modes.
Note For further functions, settings and commands concerning open-loop control, see Section 9.3.2 and Section 9.3.3.
9-5
9.1.2
Checkback signals
Overview
The checkback signals indicate the processing status of the axis and report it to the user program. Table 9-2 describes the checkback signals and their functions.
Table 9-2 Checkback signals Symbol English TST_STAT German TFGS Significance Sw./over P bus interface complete Operator/ travel errors Function Communication with the user program is not possible, since the P bus interface has been switched over for operation with the start-up tool. ... signaled to the user if an operator-control error or travel error is pending (e.g., unallowed control signal has been set, (R+) and (R) set simultaneously) An error message causes the movement to be canceled. See Chapter 11 DATA_ERR PARA ST_ENBLD DF PARA SFG Data error ... is reported to the user when a data error occurs. see Chapter 11 Parameterize ... module parameterized. All machine data applicable for control of an axis are present on the module. Start enable ... signals that the FM 354 is ready for positioning and output.
OT_ERR
BF/FS
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 checkback match (after mode change) if no axis functions (including M output, dwell time) are active, or after functions have been completed for further processing of a function interrupted with unprogrammed stop in Automatic mode, after program has been selected (one program active) and after M0, M2, M30, or at end of block with Automatic single-block
S Start enable is deleted:

if a function has been started and is active, or if a start condition is active (stat.) if there is an error and an unprogrammed stop
S Without Enable Start, none of the functions that can be
operated with Travel Plus, Travel Minus and Start can be executed.
9-6
Table 9-2
Checkback signals, continued Symbol Significance Processing in progress Function ... indicates that a function has been started with Start or Travel Plus/Minus, and is active.
English WORKING
German BL
S Processing in progress is set with:

Jogging, Control mode during the movement up to standstill after cancelation of R+, R Reference-point approach mode, during approach until reference point is reached MDI, Incremental relative mode, during the positioning process or while functions of the MDI block are being processed Automatic mode, during processing of a traversing program until the end of the program.
S Processing in progress is deleted:

by errors and restarts by mode changes. after axis standstill WAIT_EI WFG Wait for external 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 processed, (T-L) is output during the programmed time period. ... is set after a Start in Automatic mode if a program is being processed in reverse. The selected mode is not fed back until it is internally active. For a mode change, for example, a movement must be stopped before another mode can become active (does not apply to switching between Automatic and Automatic singleblock modes). ... module is synchronized (see Section 9.8) Required for axis motion in modes:
PR_BACK
PBR
Program processing in reverse Active mode
MODE_OUT BAR
SYNC
SYN
Synchronism
S Incremental Relative S MDI S Automatic

MSR_DONE ME End measurement ... signals an executed measurement (see Section 9.3.10)
9-7
Table 9-2
Checkback signals, continued Symbol Significance Travel plus Go_minus Function ... means the axis is traveling in the direction of increasing actual values or in the direction of frequency output + in Control mode ... means the axis is traveling in the direction of decreasing actual values or in the direction of frequency output in Control mode.
English GO_P GO_M
German FR+ FR
S As soon as an active traversing movement is pending,
the messages (FR+) or (FR) are output depending on the traversing direction. They can only be pending as alternatives. the acceleration phase and remains active until the axis comes to a standstill or the POS_ROD target area has been reached. been activated
S Travel Plus or Travel Minus is actuated at the start of
ST_SERVO
SRFG
Servo enable status
S Feedback of servo enable status after single function has S See also Section 9.3.2 Servo enable S See also Section 11.1, error reaction Everything OFF
FVAL_ DONE NUM_MF STR_MF
FIWS
Set actual value on-thefly complete M function number Change M function
... set Actual value on-the-fly is executed. The signal is reset when Set actual value on-the-fly is activated (see Section 9.3.6). M command 0 99 ... is indicated simultaneously with the M function number.
MNR AMF
S If M functions are programmed in a traversing block, their

output is signaled by setting Change M function.
S Change M function remains pending until:

the specified time has expired, for time-controlled M functions the user has acknowledged, for acknowledgment-controlled M functions.
9-8
Table 9-2
Checkback signals, continued Symbol Significance Position reached, Stop (PEH) Function
English POS_RCD
German PEH
S When the preset target position is reached correctly,

(PEH) is actuated, and remains in effect until the next axis movement.
S (PEH) is actuated only in the following modes and cases:

---Reference-point approach: If the reference point has been reached in full (including 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 position The firmware version V3.7.6 of the FM 354 positioning module in conjunction with the blocks of the FM353_354 block library provides direct access to the actual value. This is stored in the checkback signals during the module cycle (2 ms) and read by the POS_CTRL block. In addition, as previously, the actual value is included as a DINT variable in the basic operating data read request.
9-9
9.1.3
Overview
General handling information
Before data/settings can be transferred to the FM 354, an operating mode must be active (e.g. Jogging mode = 1 and MODE = 1). That means that communication with the FM 354 has been initiated and the FM 354 has access to valid machine data.
Operating modes (codes) Jogging (01) Relevant control signals [R+], [R], [STP], [AF], [OVERR], [BP] = 1 or 2 Relevant checkback signals Required data/ settings
[BL], [SFG], [FR+], [FR], Speed levels 1, 2 [SYN], [WFG] (User DB, DBX38.0) Servo Enable (User DB, DBX34.0)
Control (02) Reference point approach (03) Incremental relative (04)
[R+], [R], [STP], [AF], [BP] = 1 or 2 [R+], [R], [ST], [STP], [AF], [OVERR] [R+], [R], [STP], [AF], [OVERR], [BP] = 1...100 for increment table or 254
[BL], [SFG], [FR+], [FR], Frequency levels 1, 2 [WFG] (user DB, DBX38.1) [BL], [SFG], [FR+], [FR], Servo Enable [WFG], [SYN], [PEH] (User DB, DBX34.0) [BL], [SFG], [FR+], [FR], Speed levels 1, 2 [WFG], [SYN], [PEH] (user DB, DBX38.0) Servo Enable (user DB, DBX34.0) Setpoint for incremental 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], MDI block [WFG], [SYN], [PEH], (user DB, DBX38.3) [AMF], [MNR], [T-L] Servo Enable (user DB, DBX34.0) [BL], [SFG], [FR+], [FR], [WFG], [SYN], [PEH], [AMF], [T-L], [PBR], [MNR] Program selection (user DB, DBX 39.5) (assuming that the relevant traversing program was parameterized) Servo Enable (user DB, DBX34.0)
Automatic (08) Automatic single block (09)
[ST], [SA], [EFG], [STP], [AF], [QMF], [OVERR]
Error condition: S S S Reported via BF/FS acknowledgement with BFQ/FSQ Reported via DF acknowledgement with next correct data transfer Reported via diagnostic interrupt acknowledgement with Restart (user DB, DBX37.5)
9-10
Hints to the user

Here are a few hints for starting a movement and about the response of the FM 354 to a change of the status of the S7-300 CPU: It is assumed that the FM 354 has been parameterized correctly. S S S First a mode must be set. The servo enable must subsequently be set in order to prevent the axis from running away,. Before starting a movement in any mode, the relevant data (e.g. speed levels) must be transferred and the override must be > 0. 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 S A static Stop signal prevents all movements or block processing. Response of the FM 354 to transition of the S7-300 CPU from RUN to STOP state: As described for Restart (see Section 9.3.3) The digital outputs are switched off Interface to the user program is switched off S Response of the FM 354 to transition of the S7-300 CPU from STOP to RUN state: A cold restart of the module is executed.
9-11
Module control
The following table lists the control signals used to start a movement. Prerequisite: Drive enable [AF] = 1, Stop [STP] = 0, Start enable [SFG] = 1
Mode (BA) Parameters Command / Signal state R+, R / Level R+, R / Level
Activation of movement R+ or R with Level = 1 (R+ and R simultaneously ! error) R+ or R with Level = 1 (R+ and R simultaneously ! error)
Jogging (mode = 01) Velocity level BP = 1 = level 1 BP = 2 = level 2 Control (mode = 02) Frequency level BP = 1 = level 1 BP = 2 = level 2
Reference point approach (mode = 03) Incremental relative (mode = 04) MDI (mode = 06)
Start, R+, R / Direction as in MD Edge R+ or R = 0/1 or Start = 0/1 (speed as in MD) R+, R / Edge R+ = 0/1 or R = 0/1 (speed level 1) Start / Edge Start = 0/1 (R+, R relevant only for rotary axis with absolute measure specified for direction selection) Start = 0/1 (according to program presetting) Start = 0/1
BP = 1...100 BP = 254
Automatic (mode = 08) Automatic single block (mode = 09)
Start / Edge Start / Edge
Stat. pending start condition

Processing in progress remains active after the end of machining and there is no start enable as long as the start condition is not reset.
Switching edge (e.g. R+, R, Start, according to mode) Processing in progress Enable start Axis movement with preset path Preset path executed
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The following table lists the control signals used to interrupt/terminate a movement.
Mode (BA) Interrupt movement Continue movement Stop = 0 or Enable input1) = 1 Stop = 0 or Enable input1) = 1 Interrupt/ end movement, Stop R+ or R with Level = 0 or mode change Drive enable = 02) R+ or R with Level = 0 or mode change Drive enable = 02) Stop = 0/1 or ref. received or mode change or enable input1) =0 Drive enable = 02) Position reached or mode change Drive enable = 02) Position reached or block processed or mode change Drive enable = 02) Program end or mode change New program selected after stop Drive enable = 02) Program end or mode change New program selected after stop Drive enable = 02)
Jogging (mode = 01) Stop = 1 or Enable input1) = 0 Control (mode = 02) Stop = 1 or Enable input1) = 0
Reference point approach (mode = 03) Incremental relative (mode = 04) MDI (mode = 06)
Stop = 1 or Enable input1) = 0 Stop = 1 or Enable input1) = 0 Stop = 1 or Enable input1) = 0 Stop = 1 or Enable input1) = 0
Stop = 0 or Enable input1) = 1, with R+ or R Stop = 0 or Enable input1) = 1, with Start = 0/1 Stop = 0 or Enable input1) = 1, with Start = 0/1 Stop = 0 or Enable input1) = 1, with Start = 0/1
Automatic (mode = 08) Automatic single block (mode = 09)
1) Prerequisite: Digital input defined in MD34; see Section 9.8.1 2) if MD37.15 not defined, see Table 9-1 Control signal [AF]
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9.2
Operating modes
Overview
The following operating modes are implemented on the FM 354: S S S S S S S Jogging (ER) Open-loop control (STE) Reference point approach (REF) Incremental relative (SMR) MDI (Manual Data Input) Automatic (A) Automatic single block (AE) Code 01 Code 02 Code 03 Code 04 Code 06 Code 08 Code 09
Selecting the mode

By calling POS_CTRL, the mode (coding) entered by the user program in the user data block is called to transfer the operating mode (code) to the FM 354. The axis is controlled by enabling and disabling appropriate control signals.
Checkback signal for mode

When the specification is allowed, the FM 354 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 a mode change is attempted while a traversing movement is in progress, the modes are not switched until the axis comes to a stop. The mode checkback is performed after the movement in the old mode is completed. This does not apply to changes between Automatic and Automatic Single-Block mode.
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9.2.1
Overview
Jogging
In Jogging mode, axis traversing movements are specified by way of the direction keys (R+ or R) and by speed.
Velocity
Before the axis can be moved, speeds (velocities) 1 and 2 must first be transferred to the FM 354 (user DB, DBX38.0). You can choose between two mutually independent velocities (level 1 and level 2) with the mode parameter (BP). The velocity can also be controlled using the override, and can be changed during the movement.
Name Speed Lower input limit 10 Upper input limit 500 000 000 Unit 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, Direction (R) R+ or R R level-controlled Ievel selection Speed
BP = 1 BP = 2
Value for speed level 1 Value for speed level 2
Note Please see also Section 9.1.3!
Control actions
Preconditions: S S S S S S The FM 354 has been initialized. The mode has been selected and acknowledged. Drive Enable [AF] = 1 (control signal in user DB, DBX15.7) Stop [STP] = 0 (control signal in user DB, DBX15.1) Servo Enable (RF) = 1 (user DB, DBX34.0) Speed levels have been transferred.
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Table 9-3
Control actions for Jogging mode (examples) Level Explanation
Signal name Control signal: Mode [BA] Checkback signals: Active mode [BAR] Start enable [SFG]
Control action 1, enable Jogging mode The user initiates a [BA] command. The module returns [BAR] and [SFG].
Control action 2, move axis positive direction Control signals: Direction plus [R+] Drive enable [AF] Checkback signals: Travel plus [FR+] Start enable [SFG] Processing in progress [BL] Control action 3, deactivate axis positive direction Control signal: Direction plus [R+] Checkback signals: Travel plus [FR+] Start enable [SFG] Processing in progress [BL] Control signals: Direction minus [R] Velocity level [BP] Checkback signals: Travel minus [FR] Processing in progress [BL] Control action 5, switch over set-up velocity Control signal: Velocity level [BP] A switchover from [level 2 to level 1] causes a dynamic transition between velocity levels 1 and 2. The axis travels at velocity level 2, and returns [BL] and [FR]. The [SFG] signal is canceled. [R] is actuated in combination with velocity level 2. 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. [R+] is canceled The axis cancels the [SFG] and outputs messages [BL] and [FR+] When [SFG] and [AF] are active, [R+] is actuated.
Control action 4, move axis negative direction
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Table 9-3
Control actions for Jogging mode (examples), continued Level Explanation
Signal name Control signals: Direction plus [R+] Direction minus [R] Checkback signals: Travel minus [FR] Processing in progr. [BL] Start enable [SFG] Operator/travel error [BF/ FS] Control signals: Direction minus [R+] Error acknowledgement [BFQ/FSQ] Checkback signal: Start enable [SFG]
Control action 6, ambiguous direction command (special situation) [R+] is actuated while the axis is traversing with [R]. The ambiguous direction command causes the axis to stop and [BF/FS] to be output. [FR] and [BL] are reset.
Only when [R+] is canceled and the error is acknowledged [BFQ/FSQ] is [SFG] actuated 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] The axis is stopped immediately. [FR] and [BL] are canceled. [AF] is deactivated during the traversing movement.
Control action 8, reset during axis motion (special situation) Single command Restart , (DBX37.5) Checkback signals: Travel plus [FR+] Processing in progr. [BL] Control action 9, change direction Control signal: Direction plus [R+] Checkback signal: Start enable [SFG] Control action 10, change mode Control signal: Mode [BA] Checkback signal: Active mode [BAR] Travel plus [FR+] Processing in progress [BL] A new [BA] 1 is preselected during the traversing movement. The axis is stopped. [FR+] and [BL] are deleted. Only when [R+] is canceled is [SFG] reactivated. Restart is defined during the traversing movement. The axis is stopped immediately. [FR+] and [BL] are cleared.
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9.2.2
Overview
Open-loop control
In the Control mode, a frequency with selectable magnitude is specified and then used to perform a controlled movement. The direction of movement is determined by way of direction keys (R+ or R). The actual value of the axis is updated at the same time. Note A closed-loop controller, which may have been activated by a servo enable, is interrupted while the frequency is being output. After the Jogging signals R+ or R have died off, servo control is referred to the new actual value, 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 Frequency Lower input limit 0 Upper input limit 200 000 Unit Hz
The values of the frequency levels can be altered during movement.

Triggering of movement, Direction (R) R+ or R R level-controlled Level selection Speed
BP = 1 BP = 2
Value for frequency level 1 Value for frequency level 2
Control actions
The control and checkback signals are handled in the same way as in Jogging mode.
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9.2.3
Overview
Reference point approach
In Reference-point approach mode, the direction keys (R+ or R) or Start are used to position the axis to a point (reference-point coordinate MD16) specified in the machine data. The axis is thus synchronized (see Section 9.6.3). The override is set at 100% for the reducing speed. An active zero offset or Set actual value is reset.
Machine data
The following table lists the machine data that is of significance for reference-point approach:
MD 16 Designation Referencepoint coordinate Type of referencepoint approach Value/Meaning 1,000,000,000 +1,000,000,000 Comments/ Unit [MSR]
18
0 = direction +, current-sourcing pattern zero/ zero pulse external, 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 switch center 8 = direction + , reference point switch edge 9 = direction , reference point switch edge
27 28 29 34
Referencepoint shift
1,000,000,000 +1,000,000,000
[MSR] [MSR/min] [MSR/min] Assigned depending on input
Referencing 10 vmax (MD23) speed Reducing speed Inputs 10 x (see Machine data list, Table 5-4) 5 = reference point switch for reference point approach 6 = reversing switch for reference point approach

S S with connected reference-point switch (RPS). without connected reference-point switch (RPS).
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With reference point switch (RPS)

It is necessary to connect the reference point switch (RPS) to a digital input and parameterize it in MD34.
Triggering of movement, direction for synchronization (R) Sequence of motions (reference point offset = 0) VA referencing velocity VR reducing velocity
Type of referencepoint approach
1st situation Current-sourcing pattern zero or zero pulse external, to right of RPS 2nd situation Current-sourcing pattern zero or zero pulse external, to left of RPS
VA
VR
RPS VA V
R
+ Ref. pt.
RPS
R+ (edge-controlled) or Start
3rd situation RPS centered (no zero pulse necessary)
VA
V
R
RPS 4th situation RPS edge (no zero pulse necessary) VA V

R
RPS 1st situation see above 2nd situation see above R (edge-controlled) or Start 3rd situation RPS centered (no zero pulse necessary) 4th situation RPS centered (no zero pulse necessary) equals R+ 2nd situation mirrored equals R+ 1st situation mirrored equals R+ 3rd situation mirrored
equals R+ 4th situation mirrored
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When crossing the RPS, a signal length of t w 2@FM cycle must be assured!
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 reference point switch. On axis movements with referencing feed, a signal length of t w 2@FM cycle must be assured for the reversing switch! Example
Axis position Approach direction from MD18
RPS
Reference point
Reversing switch
Emergency limit switch
The value for the reference-point shift (MD27) is traveled after the synchronization point is reached.
Without reference-point switch (RPS)

The following table describes how a reference can be recorded without a reference-point switch.
Recording of synchronization R+, R or Start Sequence of movements 1. Instantaneous position is defined as reference point (referencepoint coordinate). 2. Value for reference-point shift is traveled.
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Control actions
Preconditions: S S S S S
Table 9-4
The FM 354 has been initialized. The mode has been selected and acknowledged. Drive Enable [AF] is = 1 (control signal in the user DB, DBX15.7) Stop [STP] = 0 (control signal in the user DB, DBX15.1) Servo Enable (RF) is = 1 (user DB, DBX34.0)
Control actions for Reference point approach mode (examples) Level Explanation
Signal name Control signal: Mode [BA] Checkback signals: Active mode [BAR] Start enable [SFG]
Control action 1, enable Reference point approach mode The user initiates a [BA] command. The module returns [BAR] and [SFG].
Control action 2, move axis positive direction Control signal: Direction plus [R+] Checkback signals: Travel plus [FR+] Start enable [SFG] Processing in progr. [BL] Synchronization [SYN] RPS Encoder zero marker Checkback signals: Travel plus [FR+] Travel minus [FR] Synchronized [SYN] Control action 4, approach reference point Checkback signals: Travel minus [FR] Position reached, stop [PEH] Processing in progress [BL] Start enable [SFG] When reference point is reached. [FR] is removed. [PEH] is set. [BL] is also removed. [SFG] is set. When [SFG] is active, [R+] or [Start] are actuated, for example. The axis cancels [SFG], outputs the [BL] and [FR+] messages and travels here in the positive direction (defined in MD). An existing synchronization is reset.
Control action 3, reference point switch (RPS) reached When the RPS is reached, the velocity is reduced. The encoder is synchronized when the zero marker is detected. The axis is positioned by traversing through the reference point offset to the reference point (the direction is reversed if necessary).
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Table 9-4
Control actions for Reference point approach mode (examples), continued Level Explanation
Signal name 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]
Control action 5, ambiguous direction command (special situation) [R+] is defined although [R] is active.
The ambiguous direction command causes the axis to stop. [FR] and [BL] are canceled, and an error is output. The [SFG] does not reappear until [R+] and [R] have been canceled].
Control action 6, cancel servo enable (special situation) Single function Servo Enable (DBX34.0) Checkback signals: Oper./travel error [BF/FS] Travel minus [FR] Processing in progr. [BL] Control signal: Acknowledge operator/ travel error [BFQ/FSQ] Checkback signals: Start enable [SFG] When the error is acknowledged, the error message is canceled and the start enable is activated. The axis is stopped immediately and outputs an error. [FR] and [BL] are canceled. The servo enable is deactivated during the traversing movement.
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9.2.4
Overview
Incremental relative
In the Incremental Relative mode it is possible to execute single positionings over relative distances using user-definable increments. The traversing movement is triggered with the direction keys (R+ and R).
Defining the position

The options available for defining the increment with the mode parameter are: S Via the user program by defining a position for incremental mode (user DB, DBX38.2) The setpoint for the incremental dimension must be entered in the AW-DB, DBD156, before the write order is initiated. S Using the increment table; see Section 5.3.2 Speed level 1 (user DB, DBX38.0, see Section 9.2.1) is used as speed setpoint, and can be modified while the movement is in progress. On-the-fly position changes (e.g. changing of the position setpoint during the course of a movement) is not possible.

Triggering of movement, Direction (R) Increment selection Position, Distance to be traveled in accordance with the setpoint for incremental dimension (user DB, DBX38.2) as in SM table (DB-SM)
BP = 254 R+ or R BP = 1...100
Position setting
Name Increment Lower input limit 0 Upper input limit 1 000 000 000 Unit MSR
MSR stands for measurement system raster (see Section 5.3.1) Note the following when interrupting a movement with Stop: S S To continue movement in the same direction - the residual distance is processed with the appropriate direction key. To continue movement with delete distance to go (user DB, DBX37.1), the remaining distance to go is deleted and the incremental dimension is again traveled (provided the incremental dimension was not changed). To position in the opposite direction - the residual distance is deleted automatically.
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Control actions
Prerequisites: S S S S S S S
Table 9-5
The FM 354 has been initialized. The mode has been selected and acknowledged. The Drive Enable [AF] is = 1 (control signal in the user DB, DBX15.7) Stop [STP] = 0 (control signal in the user DB, DBX15.1) The Servo Enable (RF) is = 1 (user DB, DBX34.0) Speed levels have been transferred. The axis is synchronized.
Control actions for Incremental relative mode (examples) Level Explanation
Signal name Control signal: Mode [BA] Checkback signals: Active mode [BAR] Start enable [SFG] Control action 2, define position Transfer incremental dimension (DBX38.2) Select increment (254) Control signal: Direction plus [R+] Checkback signals: e.g. Travel plus [FR+] Start enable [SFG] Processing in progress [BL] e.g. Travel plus [FR+] Processing in progress [BL] Position reached, stop [PEH]
Control action 1, enable Incremental relative mode The user initiates a [BA] command. The module returns [BAR] and [SFG].
When the incremental dimension has been transferred and selected, [R+] can be specified.
The axis cancels the [SFG] and outputs messages [BL] and [FR+]
When the defined position has been reached, the axis enables [PEH] and checkback signals [FR+] and [BL] are reset. In the Incremental mode relative, [SFG] is already set when the interpolator is ready (setpoint coincidence reached). [BL] continues to be present if a new Start ([R+] or [R] has been provided before [PEH] is reached.
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Table 9-5
Control actions for Incremental relative mode (examples), continued Level Explanation If Stop is enabled during positioning, the axis stops. [FR] is reset, and [SFG] is activated. [PEH] is not output, since positioning is not complete. Before the axis comes to a standstill, it is possible to define a new direction through start.
Signal name Control signal: Stop [STP] Checkback signals: Travel minus [FR] Start enable [SFG]
Control action 3, stop during positioning
Control action 4, error during traversing movement Checkback signals: Travel plus [FR+] Processing in progress [BL] Control signal: Acknowledge operator control/travel error [BFQ/ FSQ] Checkback signals: Start enable [SFG] Control signal: Direction plus [R+] Checkback signals: Travel plus [FR+] Processing in progress [BL] Control action 5, change mode Control signal: Mode [BA] Checkback signals: Active mode [BAR] Travel plus [FR+] Processing in progress [BL] The axis is stopped by way of the deceleration ramp. [FR+] and [BL] are reset. [BA] is deactivated during the traversing movement. [FR+] and [BL] are activated. [SFG] is canceled. The axis moves. An error is output during the traversing movement. [FR+] and [BL] are canceled, and [BFQ/FSQ] is enabled.
When the error has been acknowledged, the start enable is activated. The movement can be restarted with [R+].
9.2.5
Overview
Incremental relative
In the Incremental Relative mode it is possible to execute single positionings over relative distances using user-definable increments. The traversing movement is triggered with the direction keys (R+ and R).
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9.2.6
MDI (Manual Data Input)
Overview
In the MDI mode it is possible to execute single positionings by way of traversing blocks. These traversing blocks are provided by the user program. The MDI block and MD block on-the-fly have an identical block structure.
MDI block
The structure of the MDI block is identical to that of the traversing blocks (see Chapter 10 resp. Section 9.3.12) except that it has neither a program number nor a block number. The user program passes the MDI block (user DB, DBX38.3) to the FM 354, and the block can then be executed. The block can be executed repeatedly, since it is stored internally. 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 Position X / Dwell time t Speed F G function group 1 G04 G90 G91 G function group 2 G30 100% G31 10% to G39 90% Lower input limit 1,000,000,000 2 10 Upper input limit + 1,000,000,000 100,000 500 000 000 Dwell time Absolute dimensions Incremental dimensions Override Acceleration/ Deceleration Unit MSR from MD7 ms MSR from MD7/min
M function group 1, 2, 3
M1 17 User functions M19 96 M99 M97, 98 Change signal programmed as digital output M2, M30 Not allowed
MSR stands for measurement system raster (see Section 5.3.1) For rotary axes with absolute programming, the commands [R+], [R] are defined as direction commands. They must be available before positioning starts.
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MDI block on-the-fly

The MDI block currently being processed is canceled when the user program outputs an MDI block on-the-fly (user DB, DBX38.4). Transfer of MDI block on-the-fly interrupts the active MDI block. The new block is executed immediately without Start. The MDI block on-the-fly is not saved in the FM 354. With software version 3.6 of the FM 354 and higher, the error Data cannot be accepted at the time of transfer (Class 4/No.1) is signaled when MDI block flying is provided and [BL] has already been reset or [PEH] =1.
Block structure
The following table shows the block structure of the MDI block. X/t G1...G2 M1...M3 F
Example1) 0 0 Bits 0, 1, 4 set Bit 0 set 90 30 0 0 100,000 5,000 0 0 0 0
Position/dwell time programmed (fills in value 1) G function group 1...2 M function group 1...3 Speed programmed (fills in value 2)
Byte 0 1 2 3 4 5 6 7 8 12 16 17 18 19 Data format 7 Byte Byte 8 bits 8 bits Byte Byte Byte Byte DINT DINT Byte Byte Byte Byte 0 0 0 0 0 0 X/t 0 6 5 4 0 0 0 0 G2 G1 F M3 M2 M1 Bit 3 2 1 0
G-function1 G-function2 0 0 32-bit value 1 32-bit value 2 M-function 1 M-function 2 M-function 3 0
1) Traversing block with absolute dimensions (G90), an end position of 100,000 DSG as per MD7, and a speed of 5,000 DSG/min.
Note: When the assignment bit (byte 2 and byte 3) is not set, the associated values must be deleted.
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Triggering of movement Start MDI block on-the-fly transmitted to the FM 354 Type of movement as defined by MDI block (user DB, DBX38.3) as defined by MDI block on-the-fly (user DB, DBX38.4)
Control actions
Prerequisites: S S S S S S
Table 9-7
The FM 354 has been initialized. The mode has been selected and acknowledged. Drive Enable [AF] is = 1 (control signal in user DB, DBX15.7) Stop [STP] is = 0 (control signal in user DB, DBX15.1) Servo Enable (RF) is = 1 (user DB, DBX34.0) Axis is synchronized.
Control actions for MDI mode (examples) Level Explanation When the MDI block has been transferred, [ST] can be initiated.
Signal name 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 in progr. [BL] e.g. Travel plus [FR+] Processing in progr. [BL] Position reached, stop [PEH] Transfer MDI block onthe-fly (DBX38.4) Checkback signals: Travel plus [FR+] Travel minus [FR]
The axis cancels the [SFG] and outputs messages [BL] and [FR+]
When the defined position has been reached, the axis enables [PEH]; [SFG] and checkback signals [FR+] and [BL] are reset.
Control action 2, change position during positioning If a new MDI block on-the-fly is transferred during positioning, the current positioning operation is canceled immediately, and the new positioning operation is started on-the-fly. In this case, for example, this causes the direction to be changed from [FR+] to [FR].
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Table 9-7
Control actions for MDI mode (examples), continued Level Explanation If Stop is enabled during positioning, the axis stops. [FR] is reset, and [SFG] is activated. [BL] remains active and [PEH] is not output, since positioning is not complete.
Signal name Control signal: Stop [STP] Checkback signals: Travel minus [FR] Start enable [SFG] Control signal: Start [ST] Checkback signals: Travel minus [FR] Start enable [SFG]
Control action 3, stop during positioning with new start signal for resumed positioning
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+] Start enable [SFG] Transfer MDI block (DBX38.3) Transfer delete residual path (DBX37.1) Control signal: Start [ST] Checkback signals: Travel minus [FR] The axis deletes the residual path of the old positioning operation, and starts executing the new traversing block. [FR] is enabled, and [SFG] is reset. Note: If no new MDI block is transferred, execution of the current MDI block is repeated from the start. Without delete residual path, the interrupted positioning operation would be continued (see control action 3) If Stop is enabled during positioning, the axis stops. [FR+] is reset, and [SFG] is activated. When a new MDI block has been transferred, [ST] is enabled again. Delete residual path is also enabled.
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9.2.7
Automatic
Overview
In the Automatic mode (following-block mode), the FM 354 processes traversing programs autonomously. These programs are created with Parameterize FM 354 (see Chapter 5, Section 5.3.4) and stored as a data block. The traversing programs contain information about movement sequences and outputs (see Chapter 10).
Program selection
Programs are selected (user DB, DBX39.5) by way of the user program, by specifying a program number and an optional block number, as well as the direction of machining. A program can be selected only when other programs have been interrupted or terminated or at the start of a program. A selected program remains active until it is inactivated by selecting program number = 0, or overwritten by selecting another program. If modifications are made to a preselected program, including the subprogram, preselection 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 program) and on Stop.
Triggering of movef ment 0 0 Start e.g. 30 e.g. 30 Select program Block No. Processing direction forward reverse forward reverse Type of movement (according to programmed blocks) ( di t d bl k ) Start at beginning of program, process by ascending block number Start at end of program, process by descending block number Block search forward to block No. 30, by ascending block number Block search in reverse to block No. 30, by descending block number 1. Automatic block search forward to interruption point forward 2. Positioning to interruption point (if a movement was performed in another mode) 3. Process the interrupted block and continue the program 1. Automatic block search in reverse to interruption point reverse 2. Positioning to interruption point (if a movement was performed in another mode) 3. Process the interrupted block and continue the program
Start with automatic block search forward
Start with automatic block search in reverse
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User DB allocation
Data format Byte 0 Byte 1 Byte 2 Program number Block number Direction of machining: 0 = process forward 1 = process in reverse Significance
Forward processing
The program processes the block numbers in ascending order. Processing begins at Start, with the first 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 forward to this block, then processing forward until the program end command is recognized.
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 reverse processing is to execute the same sequence of movements as the forward movement, the effects of the corresponding commands must be taken into account in the programming. For example: S M outputs should be written separately in a block; note M output (MD32) and G60/G64. S Note change between G60/G64 and G90/G91.
S Note start and end of tool offsets. S M18 is not executed. S M02 and M30 at the end of the program are not processed.
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Block advance
The program is prepared up to the end point of the target block; the tool offset, M commands and dwell times are output; and the traversing movements are suppressed. When processing traversing programs with a forward block search, there are a number of special cases: S S S The external forward block search (G50) is not executed. Continuous travel with functions to set (G88, 89) or delete (G87) an actual value on-the-fly is not executed. The blocks under G50, G87, G88, G89 (in the processing direction) should contain a path in absolute coordinates.
Block return
Similar to block advance
Automatic block advance/return

Automatic block advance/return means that, after the interruption of an active automatic program (by an operating 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 going 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 evaluated in the FM 354 at Start, and a forward or reverse block search to the interruption point is executed in the Jog mode at the velocity of stage 1. Positioning to the interruption point takes place (if positioning has taken place previously in some other mode), and then the interrupted block is processed, including any required output.
Control actions
Prerequisites: S S S S S S The FM 354 has been inititalized. The mode has been selected and acknowledged. Drive Enable [AF] is = 1 (control signal in user DB, DBX15.7) Stop [STP] is = 0 (control signal in user DB, DBX15.1) Servo Enable (RF) is = 1 (user DB, DBX34.0) Axis is synchronized.
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Table 9-8
Control actions for Automatic mode (examples) Level Explanation
Signal name Control signals: Mode [BA] Read-in enable [EFG] Checkback signals: Active mode [BAR] Start enable [SFG]
Control action 1, Automatic/Automatic single block mode The user initiates [BA] and [EFG].
The module returns [BAR] and [SFG].
Control action 2, positioning by program selection Program selection (DBX39.5) Control signal: Start [ST] Checkback signals: Travel plus [FR+] or Travel minus [FR] Start enable [SFG] Processing in progress [BL] 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 function output is complete. [QMF] acknowledges the M function, and [AMF] and [MNR] disappear. Processing commences, e.g. with a positioning operation. [FR+] or [FR] and [BL] are activated. [SFG] is reset. When [SFG] appears, the program can be activated by [ST] when [EFG] is active.
Control action 4, M function output and positioning Control signal: Acknowledge M function [QMF] Checkback signals: Position reached, stop [PEH] Travel plus [FR+] or Travel minus [FR] Block with M output (same as control action 3) and position is started. The program is resumed on completion of the M function output. [FR+] and [FR] are activated and [PEH] is reset.
9-34
Table 9-8
Control actions for Automatic mode (examples), continued Level Explanation During processing of a traversing block with dwell, the dwell time t0 [T-L] and [PEH] are output.
Signal name Checkback signals: Travel plus [FR+] or Travel minus [FR] Dwell time running [T-L] Position reached, stop [PEH]
Control action 5, traversing block with dwell
t0
Control action 6, cancelation of the read-in enable during program execution (special situationl) Control signal: Read-in enable [EFG] Checkback signals: Travel plus [FR+] or Travel minus [FR] Position reached, stop [PEH] Control action 7, resume program execution after read-in enable (special situation) Control signal: Read-in enable [EFG] Checkback signals: Travel plus [FR+] or Travel minus [FR] Position reached, stop [PEH] [FR+] and [FR] are reset. [PEH] is reset. The program resumes on [EFG]. If [EFG] is canceled during program execution, the current block is processed up to the end, and program execution is then suspended. [FR+] and [FR] are reset. [PEH] is actuated.
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+] Start enable [SFG] Processing in progress [BL] Control action 9, end of program reached Checkback signals: Travel plus [FR+] or Travel minus [FR] Processing in progr. [BL] Position reached, stop [PEH] M function number [MNR] Start enable [SFG] The end of the program is indicated by the enabling of [PEH], output of M2, M30 and resetting of [BL]. Interrupt with Stop [FR+] is cleared when the axis comes to a standstill, and [SFG] is enabled (if Stop is not active). [PEH] remains cleared, since the defined position has not yet been reached. Start clears [SFG] and enables [FR+] again. [BL] remains enabled. Before the axis comes to a standstill, it is possible to define a new direction through start.
9-35
Table 9-8
Control actions for Automatic mode (examples), continued Level Explanation If delete residual path is also preselected on [ST], the block interrupted by Stop is not executed up to the end, but the next block is started immediately.
Signal name Control signal: Start [ST] Transfer delete residual path (DBX37.1) Control signals: Direction plus [R+] or direction minus [R] Start [ST] Control signal: Mode [BA] Checkback signals: Old mode [BAR] Travel plus [FR+] or Travel minus [FR] Processing in progress [BL] New mode [BAR]
Control action 10, delete start signal and residual path (special situation)
Control action 11, positioning for rotary axis (special situation) If the axis is operated as a rotary axis, the FM always attempts to select the shortest path during positioning. This direction preference can be suppressed by specifying [R+] or [R].
Control action 12, deactivate operating mode during program execution (special situation) If a new operating mode is selected during active program execution, the axis is stopped. [FR+] or [FR] and [BL] are reset.
9.2.8
Automatic single block
Overview
Functions, same as Automatic mode Whereas in Automatic mode the FM 354 automatically starts processing the next block after completing a given block, in Automatic single-block mode the axis waits for a new Start signal after processing each block that contains a traversing path, dwell time or M command (except for blocks with G50, G88 or G89). You can change between Automatic single-block and Automatic mode at any time, without stopping the movement or interrupting the output.
9-36
9.3
System data
Overview
This chapter describes settings and functions that apply in multiple modes, and that are likewise necessary in order to control and operate the FM 354, and data of the FM available for checkback messages. S S S S S S S S S S S S S S S S S Change parameters/data (Write request in user DB, DBX39.3), page 9-38 Single functions (user DB, DBB34 and 35), page 9-42 Single functions (user DB, DBB36 and 37), page 9-45 Zero offset (Write request in the user DB, DBX39.1), page 9-47 Set actual value (Write request in the user DB, DBX38.7), page 9-49 Set actual value on-the-fly (Write request in the user DB, DBX39.0), page 9-50 Request application data (Write request in the user DB, DBX39.6), page 9-51 Teach in (Write request in the user DB, DBX39.7), page 9-52 Set reference point (Write request in the user DB, DBX38.6), page 9-52 Measured values, page 9-53 Basic operating data (Read request in the user DB, DBX42.0), page 9-56 Active NC block (Read request in the user DB, DBX42.1), next NC block (Read request in the user DB, DBX42.2), page 9-57 Application data (Read request in the user DB, DBX43.6), page 9-58 Actual value block change (Read request in the user DB, DBX42.3), page 9-58 Servicing data (Read request in the user DB, DBX42.4), page 9-58 Additional operating data (Read request in the user DB, DBX43.5), page 9-59 Parameters/data (Read request in the user DB, DBX43.3), page 9-59
9-37
9.3.1
Overview
Change parameters/data (Write request in user DB, DBX39.3)
You can use this function to modify parameters and data in the FM 354 data blocks or to define parameters and data which can then be read out with a Read request (user DB, DBX43.3) (see Section 9.3.17).
Structure of Write request

The following table shows which parameters or data can be changed or read by setting the indicated codes.
Addr. in user DB 196 197 198 Data format Byte Byte Byte
Symbol DB type Number Number type 1 = MD 2 = SM
Description 3 = TO TO No. (1 20) 0 = Tool offset complete 1 = Tool length only 2 = Wear value abs. only 3 = Wear value add. only 4 = NC (traversing program) Progr. No. (1 199) Block No. (1 255)
Info 1 MD No. (5 45) Info 2 Number of MDs, consecutive (1 5)
SM No. (1 100) Number of SMs, consecutive (1 5)
199
Byte
Job
1 = Read job parameters 2 = Write parameters 4 = Write parameters and save retentively1)
200 219
depends on type
Data field
S S S S
MD: Data format of machine data see Table 5-4 or SM: Data format of increments see Table 5-5 (DWORD) or WK: Data format of tool offset see Table 5-6 (DINT) or NC: Block format see Section 9.3.12 Active NC block
1) not with cyclic operation under 10 s
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Example 1
The software limit switches (MD21, MD22) for the axis are to be set to the values 100 mm and 50,000 mm. These values are to remain in effect only until the unit is shut down. DB type Data number Number of data Job type Data array Byte 200 203 Byte 204 207 Bytes from 208 on =1 = 21 =2 =2 = 100,000 (MD21, data format DINT) = 50,000,000 (MD22, data format DINT) =0
For activation of the machine data, see Section 9.3.3
Notes
Please note the following when changing the parameter data: S Machine data Machine data can always be modified. Once you have modified the machine data, the machine data have to be reactivated (for single command, see Section 9.3.3). S Increments Modifications can be made in all operating modes (even in Incremental relative mode) during movement. The modifications of the increments must always be complete before a new movement is started 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 not exist is output Cl.3/No.35. S Traversing programs Programs which are not selected can always be modified. If modifications are made to a preselected program, including the subprogram, preselection 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 program) and on Stop. Delete block: Specify the program no. and the block no. in the data field. The other data/bits must not be assigned. Insert block: The block number does not exist in the selected program. The contents should be entered in accordance with the block format. Modify block: The block with the corresponding block number is overwritten with the contents in accordance with block format.
9-39
Example 2
Procedure for changing the actual value and the velocity in block 10 of traversing program 1. 1. Submit job request to read the block. Enter the following values in the user DB: DB type = 4 Number = 1 Number of data = 10 Job type = 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 type DINT). 7. Enter a 4 in DBB199 of the user DB (request) (retentive storing of the block). 8. Set Write request (user DB, DBX39.3).
9-40
Retentive storage of parameter data

Please note the following when using the function Write parameters with retentive storage (byte 4, job type 4): Retentive writing must only occur on demand (not cyclically)! Retentive data are stored on FEPROM (maintenance-free, no battery required). This memory has a physical limit for the possible number of delete/reprogram cycles: minimum 105, typically 106. The possible number of delete/reprogram cycles can be multiplied, from the users viewpoint, by providing a larger retentive memory capacity (much larger than the parameter data memory) and organizing the memory accordingly.
Number of delete/ reprogram cycles 64 000 106 (typical) Block size (in bytes), in which parameter data are modified
Block sizes: DB machine data DB increments DB tool offset data DB traversing programs Example: Assuming a service life of 10 years and 24-hour operation, a typical limit = 106.
Parameterization data MD Traversing programs (20 blocks) DB size Number of possible delete/ reprogram cycles 237.04 106 125.49 106 Number of possible delete/ reprogram cycles per minute 46 24
284 bytes 468 bytes 308 bytes 108 + (20 x no. of traversing blocks) bytes
284 bytes 508 bytes
Note SDB w 1 000 (system data block, created for module replacement), contains parameter data which were valid at the time of start-up. If data/parameters are modified during operation and stored retentively on the FM, these data are not contained in SDB w 1 000. These modifications are lost when the module is replaced, and should be traceable in the user program.
9-41
9.3.2
Single functions (user DB, DBB34 and 35)
Overview
You can use this function to transfer single settings to the FM 354 and activate the corresponding functions. These settings are: S S S S S S Length measurement Inprocess measurement Retrigger reference point Switch off enable input Follow-up mode Switch off software end position monitoring
S Switch off automatic drift compensation S Servo enable S Parking axis S Simulation
Callup of single settings

The individual functions remain activated until they are reset.
Length measurement, inprocess measurement

Since both functions use the same digital input on the FM 354, only one function 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 direction of travel is the same as the direction of reference point approach. Regardless of the current speed, the reference point coordinates are allocated to the current actual position, taking into account any active shift. Any resulting change in the actual value causes no internal change of the target. When crossing the RPS, a signal length of t 2FM-cycle must be assured! When a Set Actual Value On-the-Fly is pending, activation of Retrigger Reference Point is interlocked.
9-42
Start
Target
--
Zero pulse
RPS
Zero pulse for synchronization
Reference-point switch input of the FM 354
Hint to the user: You can use Retrigger Reference Point, for example, to compensate for slippage of the trolley in a high-bay warehouse during operation, without having to resynchronize the axis with the Reference-Point Approach mode. When retriggering in reference point approach with a zero pulse, be careful that the total slippage between the reference point switch and the stepper motor does not become so great that the synchronizing 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 enable input (see Section 9.8.1).
Follow-up mode
The ollow-up mode function is used to cancel closed-loop control of the axis. S For external movement of the axis, the actual value is tracked. S This setting can be switched on or off only if Processing in progress = 0. (does not apply to MD37.15 Resume after Emergency Stop)
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.
9-43
Deactivate automatic drift compensation

This function can be used to switch off the automatic drift compensation. Automatic drift compensation means: The drift is balanced to zero by an automatic matching of the analog actuating signal. S The setting can be switched on or off if the axis is not in motion. S Automatic drift compensation has no effect: -- in Control mode -- in the Follow-up Mode setting -- if there is no servo enable -- in the absence of a controller ready signal (if parameterized) -- if the axis is in motion.
Servo enable
You can use this function to: S activate position control (the prerequisite for closed-loop-controlled operation of the FM 354) S to switch the signal through to the drive as indicated in MD37 S to provide control of stops between movements in the Control mode.
Parking axis
This function can be used to change over the measurement system while the complete system is running. With this setting: S Encoder synchronization (SYN = 0) is deleted S Pending error messages are deleted and no new ones are initiated (including diagnostic interrupts) by the encoder when Parking Axis is disabled. S Digital outputs are inactive; analog voltage value: 0 V. The setting can be switched on or off if Processing in progress = 0.
9-44
Simulation
You can use this function to: S Test function sequences without the drive and measuring system. A drive, if any connected, must be switched off. S Evaluate all digital inputs (Caution, if you are going to simulate sequences that use such signals, they should be connected to the inputs of the FM 354 - 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 is reset internally (see Restart, Section 9.3.3).
9.3.3
Overview
Single commands (user DB, DBB36 and 37)
You can use this function to transfer single commands to the FM 354. These commands are: S Activate machine data S Delete residual distance S Automatic block search in reverse S Automatic block advance S Restart S Undo set actual value
Callup of single commands

The single commands are activated when the corresponding data record is transmitted to the FM 354. The commands are deleted in the FM 354 after execution.
9-45
Activate machine data

Once you have downloaded the machine data (MD) or the MD block (from the programming device), the machine data have to be activated. At the first parameterization, the machine data is transferred automatically. In terms of effects, the FM 354 distinguishes between K and E machine data.
MD category K Reset of the FM Effect in FM 354 after activation
S As long as Reset is in progress, it is not possible to transfer

other data
S For internal response, see Restart

E 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 progress = 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 Incremental Relative, MDI, and Automatic modes after a stop (SFG = 1 and BL = 1). If processing is not interrupted with a stop, the Delete Distance to Go request is suspended in the FM 354. On starting after a Delete Residual Distance in MDI mode, the active MDI block is processed from the start. On starting after a Delete Residual Distance in Incremental Relative and Automatic modes, processing continues with the following block.
S S
Automatic block advance

This command is described in Section 9.2.7.
Automatic block return

This command is described in Section 9.2.7.
9-46
Restart
You can use this command to reset the axis. S S S S Pulse output is interrupted. The instantaneous processing status is canceled, and synchronization in incremental encoders is deleted. Active compensation values are deleted. An acknowledge signal is issued for all errors.
Undo set actual value

You can use this command to reset coordinates modified with the functions Set actual value and Set actual value on-the-fly to their original value (if the axis is not in motion).
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 positioning 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 coordinates and software limit switches, the reference point and the actual value are updated accordingly. The reference of the workpiece coordinate system is provided via the zero offset. The actual values read from the FM 354 refer to the machine coordinate system. The position specification in a traversing block is referred to the workpiece coordinate system.
9-47
Example of a zero offset:

Machine axis Working range, Start = 0 Target posi- Working range, End = 200 tion = 120 Actual position = 100 Zero offset by 50 (shift of reference point) Workpiece coordinates Working range, Target posiStart = 50 tion = 120 50 Zero point Fig. 9-1 Zero offset Actual position = 150 Working range, End = 250
The zero offset can be deleted by: S S S S Transmitting shift value = 0 Starting Reference-Point Approach mode Set reference point 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 Actual value 350 After shift value = 50 Actual value 40 Range start/ Range end 0/360
The start and end of the range are shifted 50. Exceptions: In the Incremental Relative, MDI and Automatic modes, a zero offset is not possible until the block has been processed (position reached, programmed stop set), i.e. it is not possible when the axis is stationary after execution is interrupted with an abnormal stop.
9-48
9.3.5
Set actual value (Write request in the user DB, DBX38.7)
Overview
You can use this function to assign a new value to the current actual value.
Function of set actual value

By transmitting the coordinates, the actual value is set to this value when the axis is not in motion (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 Actual position = 100
Working range, End = 200
Set actual value to 150 Machine axis
Working range, Target posiStart = 0 tion = 120
Working range, End = 200
Actual position = 150 Fig. 9-2 Set actual value
The coordinates can be reset to their original value by: S S S S Including synchronization in Reference Point Approach mode Set reference point Remove setting actual value Restart
9-49
9.3.6
Set actual value on-the-fly (Write request in the user DB, DBX39.0)
Overview
You can use this function to assign a new value to the actual value by means of an external event.
Function of set actual value on-the-fly

By transmitting the coordinates (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 S S S Including synchronization in Reference Point Approach mode Set reference point Remove setting actual value Restart
Note: For set actual value on-the-fly in Automatic mode, see Section 9.2.7
9-50
9.3.7
Request application data (Write request in the user DB, DBX39.6)
Overview
A selection of up to four display data items whose values can be read out with read application data (see Section 9.3.13). Code table:
Code 0 1 2 3 4 5 6 16 17 20 22 No parameter request Actual position Actual speed Residual distance Set position Total current coordinate shift Rotational speed Frequency output value Pulse output counter (0...2161) [pulse] Difference between target and actual position [MSR] Switch adjustment in Reference point approach mode Significance
The code should be entered in CODE_AP1 AP4. These values are always updated in the FM cycle. The selection is stored on the FM, i.e. you need make the selection only once to read the corresponding values cyclically afterwards (user DB, DBX43.6).
9-51
9.3.8
Teach in (Write request in the user DB, DBX39.7)
Overview
In a program block selected with the program number and block number, the current actual position is entered as a position setpoint (Caution: This is an absolute position). The Teach-in facility is possible only in the following modes: S S S Jogging Incremental Relative MDI
and while the axis is not in motion. The program and the appropriate program block must be present on the FM 354 (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, is accepted as an actual value. Set reference point is not possible during machining ([BL] = 1) and will only come into effect after machining ([BL] = 0). This function is not effective in Automatic mode (mode 08) or in Automatic Single block mode (mode 09).
9-52
9.3.10
Measured values
Prerequisites
The following prerequisites must be fulfilled to execute the Measuring function: 1. Connect a bounce-free switching-signal encoder (sensing probe) to a digital output of the FM 354. 2. Parameterize Measurement for this input in MD34.
Activating the measuring function

The Individual settings function (AW-DB, DBB34 and 35) can be used to activate a length measurement or inprocess measuring. Because both functions use the same digital input of the FM 354, 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.
Measurement functions can be executed in all modes. An executed measurement is signaled by the checkback signal ME and optionally also by a process interrupt. Inprocess measurement The present actual position is captured at each rising edge of the touch probe. At the same time, the axis movement is interrupted (servo-controlled braking).
Measurement taking place Inprocess measurement On Measurement input Process interrupt S1 S1 execution of measurement
9-53
Length measurement The current actual position value is acquired at both the rising and the subsequent falling edge of the sensing probe. In addition, the distance (absolute value) actually traversed between the two edges is determined.
Length measurement On Measurement input Process interrupt Measurement taking place Measured length value S t
S1 S2 S1 start of length measurement S2 end of length measurement S Measured length value t minimum signal length at the digital input: w 2@FM cycle
The measured length is determined as follows under certain supplementary conditions: S S S Retrigger the reference point: The measured length constitutes the difference of the edge positions. Set the actual value: The measured length constitutes the distance actually traversed. 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. Rotary axis: The measured length is the path actually traversed over several rotations of the rotary axis. Direction reversal: The axis can change the traversing direction within the length to be measured as often as you want. Case 1: The axis passes the falling edge in the traversing direction of the rising edge: The measured length is the difference of the edge positions. Case 2: The axis passes the falling edge in the opposite direction to the rising edge: End of the length measurement with output of an error message.
9-54
Error messages
The following table lists the errors that can occur in the execution of the Measurement function.
Error Travel errors Operator contr. errors Measuring error Significance The Digital input not parameterized error is signaled when a measurement function is selected without a digital input having been parameterized (see Troubleshooting, Table 11-7, Class 3 No. 30). The Measurement function undefined error is signaled when both measuring functions are selected (see Troubleshooting, Table 11-6, Class 2 No. 16). An erroneous length measurement is indicated by signaling back the length 1. Possible causes include:
S Resynchronization in the Reference-Point Approach mode while a measurement is in

progress
S Execution of the Set Reference Point function while a measurement is in progress S Direction of travel at the falling edge is opposite to the direction of travel of the previous
rising edge
Measurementvalue checkback signals

The checkback signal ME (see Section 9.1) signals the status of function execution, as follows:
ME 0 Inprocess measurement Length measurement
S the Length Measurement and InproS with Start after a prior measurement
cess Measurement functions are inactive
S the Length Measurement and Inpro-
cess Measurement functions are inactive nal after a prior measurement
S with front edge of the touch probe sigWith the back edge of the touch probe signal (= Length Measurement is in progress)
With the front edge of the touch probe signal (= Inprocess Measurem. is in progr.)
Reading out the measured values After performing the Length measurement and Inprocess measurement functins you can read out the measured values from the FM 354 by calling the POS_MSRM block using the AW-DB read job, DBB43.7 (see Section 6.3.5). The measured values read out are valid for the performed measuring process starting from the ME checkback signal until the edge of the subsequent measuring job arives.
9-55
No. 1
Value 0 the Length Measurement and Inprocess Measurement functions are inactive
Value 1
All other positive values
All other negative values
Actual position for rising touch-probe edge in Inprocess Measurement and Length Measurement functions Actual position for falling touch-probe edge in Length Measurement function
S the Length Measurement and Inprocess

Measurement functions are inactive function
S always with the Inprocess Measurement

3
S the Length Measurement and Inprocess

Measurement functions are inactive function
S always with the Inprocess Measurement S measured length 0 is actually possible,

because touch probe has been connected while axis is stationary
Erroneous length measurement
Measured length
Nonexistent
9.3.11
Overview
Basic operating data (Read request in the user DB, DBX42.0)
The following display data are basic operating data: S S S S S S Actual position [MSR] Actual speed [MSR/min] Distance-to-go [MSR] Set position [MSR] Total of active coordinate shifts for tool offset, zero offset [MSR] Rotational speed (rotary axis only) [rpm]
9-56
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)
Active NC block
... are display data in Automatic mode / L P X/t G1-G3 D M1-M3 F Skipped block Subprogram callup (fills in UP number) Number of runs for subprogram (fills in UP number of runs) Position/dwell time programmed (fills in value 1) G function group 1-3 Tool offset value number M function group 1-3 Speed programmed (fills in value 2)
Byte 0 1 2 3 4 5 6 7 8 12 16 17 18 19
Data for format Byte Byte 8-bit 8-bit Byte Byte Byte Byte DINT DINT Byte Byte Byte Byte / 0
Bit 7 6 5 4 3 2 1 0 NC program number NC block number L 0 P 0 X/t D 0 M3 G3 M2 G2 M1 G1 F
G function 1 G function 2 G function 3 0 32-bit value 1 (UP number, bytes) 32-bit value 2 (UP number of runs, bytes) M function 1 M function 2 M function 2 D function
Next NC block
as described in active NC block
9-57
9.3.13
Application data (Read request in the user DB, DBX43.6)
Overview
The values requested with Request application data (user DB, DBX42.3, see Section 9.3.7) are returned by the FM 354 when the user submits the Read request (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 S DAC output value [mV] Actual encoder value [MSR] Incremental encoder: (0...216 1) [encoder increments] Absolute encoder: S S S S S S Missing pulses [pulses] Kv factor (position control loop gain) Following error [MSR] Following-error limit [MSR] s overshoot value/switch alignment in Reference point approach mode [MSR] Approach time Te [ms]/drive time constant Ta [ms] in Open-loop control mode Absolute value + encoder
9-58
9.3.16
Additional operating data (Read request in the user DB, DBX43.5)
Overview
The following display data are additional operating data: S S S S S S S S S Override [%] NC traverse program no. NC block no. Callup SR loop no. counter G90/91 active, see Section 10.1 G60/64 active, see Section 10.1 G43/44 active, see Section 10.1 D No. active, see Section 10.1 Status messages 1 (data type: BOOL): Speed limitation to limit value from MD23 Limitation to "10 V Limitation of minimum acceleration or minimum deceleration in effect S Status messages 2 (data type: BOOL): not in use
9.3.17
Parameters/data (Read request in the user DB, DBX43.3)
Overview
This request is used to read the parameters and data modified by means of the Change parameters/data function (Write request in the user DB, DBX39.3, see Section 9.3.1).
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9.4
System of measurement
Overview
At the start of parameterization, you must fill in the basic machine data item system of measurement (MD7). This item governs the input of values.
Variants of the system of measurement

You can set the system of measurement for the following three units: S S S mm inches degrees
Input of machine data

All value inputs and all value ranges refer to the setting in the system of measurement.
Internal processing of values

In Parameterize FM 354 and in the FM 354 itself, values are processed in the following base units: S S S 0.001 0.001 mm 0.0001 inch 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 mm inches degrees Internal values 103 mm 104 inch 104 degree 102 degree 10,995@104 Input at interface 10 995@103 mm inch 3,600,000@104 degree 36,000@102 degree 10.995 mm 1.0995 inch 360.0000 degree 360.00 degree
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9.5
Axis type
Overview
You can select the axis type with machine data item MD8. Choose either of the following types: S S Linear axis 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, MD22) to form the working range. Linear axes have a limited traversing range. The limits are imposed by the: S S Resolution of the numerical scale The range covered by an absolute encoder.
Movement
M Motor
G Encoders
Fig. 9-3
Linear axis
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Rotary axis
With rotary axes, the actual value is reset to 0 after one revolution. Rotary axes thus have an infinite traversing range.
0 9 999
5 000
Fig. 9-4
Rotary axis
Rotary axis end

Machine data item MD9 defines the value by which the FM 354 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 axis. Assume you specify a value of 10,000 for the end of the rotary axis. The value 10,000 will never be displayed. The display always rolls over from 9,999 to 0. If the direction of rotation is negative, the display rolls over from 0 to 9,999.
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Encoders on rotary axes

Rotary axes are subject to certain restrictions in the choice of encoder/gearbox/ motor, as shown in Figure 9-5. These restrictions arise from the need to reproduce the actual position accurately over several revolutions when referencing (with incremental encoders or on POWER OFF/ON with absolute encoders). See also Dependencies, Section 5.3.1).
Encoder type? Incremental encoder Type of reference point approach? MD18 w 4 Any rotary axis cycle MD18 < 4 Condition: SRA = n SGZ n = 1, 2, 3 Examples: Rotary axis cycle SRA Encoder cycle SGZ or or e.g.: 4 rev Fig. 9-5 Encoders on rotary axes e.g.: 2 rev Single-turn Condition: SGZ = 2n SRA n = 0, 1, 2 Absolute encoder
Single-turn or multi-turn encoder? Multi-turn Condition: SGZ = 2n SRA n = ...2, 1, 0, 1, 2, ...
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9.6
Encoders
Overview
One of the following encoders must be connected to the measuring-system interface of the FM 354 (see Fig. 1-4). S S Incremental encoder Absolute encoder (SSI)
Paths and positions are displayed in 103 mm, 104 inches or 104 degrees, as selected with machine data item MD7. The path resolution of the machine axis obtained by the encoder is calculated within the FM from machine data MD11 to MD13.
Encoder selection
The prerequisite for achieving a given positioning accuracy is an n-fold improvement in path resolution by the encoder.
Recommended values for n Minimum 2 Optimum 4 Maximum 10
For that reason, when configuring a given specific application, select an encoder that meets the desired positioning accuracy requirements. The known design data for the machine axis and the desired measurement resolution A: A= 1 n Positioning accuracy [mm], [inches], [degrees]
yield a calculation of the necessary pulse number per encoder revolution according to the following relationship (taking a metric measuring system as an example):
Incremental encoder IG = S [mm] 4 iGS A [mm] Absolute encoder (SSI) SG = S [mm] iGS A [mm]
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The table below gives you an overview of the data used in this calculation and their meaning. You will find the machine data (MD) assignments under Function parameters.
Symbol IG SG S A 4 iGS Significance Increments per encoder rotation (incremental encoder) Number of steps per encoder revolution (absolute encoder) Distance per spindle or rotary table revolution [mm/rev], [inches/rev], [degrees/rev] Required resolution [mm], [inches], [degrees] Pulse multiplication (constant) Ratio between encoder and mechanism Number of encoder revolutions number of encoder revs spindle revolution or number of encoder revs or rotary table revs
If unusual numbers of pulses or steps result, the encoder with the next-higher number of pulses or steps should be selected.
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9.6.1
Incremental encoders
Overview
Incremental encoders serve to detect position values, supplying pulses that the FM 354 adds up to form an absolute value. After the FM 354 is switched on, there is an offset, which cannot be determined in advance, between the internal position value and the mechanical position of the axis. In order to establish the position reference, the internal value must therefore be set to a predefined value at a specific axis position. This value is stored in the machine data (MD) as a reference point coordinate (see Section 9.2.3).
Incremental encoders
The following variant applications are possible: S Rotary incremental encoder on linear axes Encoders with one zero pulse per revolution may be used. The number of encoder pulses must be a multiple of ten or a power of two. S Rotary incremental encoder on rotary axes Encoders with one zero pulse per revolution may be used. The number of encoder pulses must be a multiple of ten or a power of two. With indirect encoder mounting and reference point approach with a zero pulse (MD18 < 4), you must ensure that the revolution of the rotary axis is divisible without remainder by the cyclical zero pulse (see Dependencies Sections 5.3.1. and 9.5). S Linear scales on linear axes Scales may be used with at least one reference zero pulse, or with a cyclic zero pulse. In comparison to rotary incremental encoders, instead of the encoder revolution a period of division is used as a basis here, corresponding for example to the segment between two zero-mark pulses.
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Function parameters
Table 9-9 shows you how to adapt the selected encoder to the FM 354.
Table 9-9 MD 10 11 Function parameters Incremental encoders Designation Encoder type Displacement per encoder revolution (division period) Residual distance per encoder revolution (division period) Increments per encoder revolution (division period) Direction adjustment Hardware monitoring Value/Meaning 1 = Incremental encoder 1...1 000 000 000 see Section 5.3.1, Dependencies Comments/Unit (Code number) [MSR] (integer portion)
12
0...2321 see Section 5.3.1, Dependencies
[232MSR] (fractional portion) Entry according to encoder rating plate Entry for monitoring to be switched on
13
19.0 20 20.0 20.2 20.3
1 = invert measured value direction
1 = Cable break 1 = Pulse monitoring 1 = Voltage monitoring
Sample encoder adjustment

Encoder: Number of increments per revolution (MD13) = 2,500 (The FM 354 works by the principle of quadruple evaluation. This yields an FM-internal number of increments per revolution = 10,000.) Machine design: S S Motor with 50:30 gear ratio on spindle with 10 mm pitch = 10,000 MSR Encoder on motor.
From this one can calculate the following traversing distance per encoder revolution: 50 spindle revolutions = 1.666666... Gear ratio: i = 30 motor revolutions Displacement per encoder revolution = i 10,000 MSR = 16,666.666... MSR The following values are entered:
MD 11 12 13 Value 16 666 0.666... 232 = 2,863,311,530 2 500 Unit [103 mm] [232 103 mm] [pulse/rev]
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Monitoring/error diagnostics
If MD20 = 0 is input, all monitoring functions are active. Individual monitoring functions can be inactivated by entering 0 in the designated bit of MD20. You can deactivate the error messages using the single function parking axis (see Section 9.3.2).
Table 9-10 Error diagnostics Incremental encoder Cause Signals of one track pair (A, A / B, B / N, N) do not behave as negations of one another. 1000 incr. per rotation), the pulse rate between two zero pulses is not divisible mod 10 1024 incr. per rotation), the pulse rate between two zero pulses is not divisible mod 16 Error message The FM 354 responds with a diagnostic interrupt, external channel error (see Troubleshooting, Table 11-4) pulse memory (sum of all mod values) exceed the value 7, the diagnostic interrupt external channel error (see Troubleshooting, Table 11-4) is generated. the missing-pulse memory.
Diagnosis Cable break monitoring Pulse monitoring
S In the case of decimal encoders (e.g. S If the contents of the missing
S In the case of binary encoders (e.g.
S The control signal Restart clears

Effect:
In Reference-Point Approach mode, no zero pulse is recorded after leaving the reference-point switch within the path as defined in MD11, 12.1)
S Encoder cannot be synchronized. S On leaving the reference-point
switch in Reference-Point Approach mode, the FM 354 will travel no more than the distance of one encoder revolution (MD11), and needs the deceleration distance from the reducing speed.
Voltage monitoring
Encoder power failure
Diagnostic interrupt, external channel error (see Troubleshooting, Table 11-4)
1) The monitoring can be disabled using MD20
Warning Hardware monitoring functions should be skipped only for test purposes, since positioning errors may destroy the machine. Exception: Pulse monitoring for encoders with non-cyclic zero pulse.
Encoder connection
See Section 4.5.
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9.6.2
Absolute encoders (SSI)
Overview
Absolute encoders (SSI) have several significant advantages over incremental encoders: S S S Longer cable lengths Reliable data capture by using a single-step GRAY code No encoder synchronization needed.
Absolute encoders (SSI)

You can use 13-bit single-turn encoders or 25-bit multi-turn encoders with the SSI protocol (left-justified). S Absolute encoder (SSI) on linear axes Make sure the value range of the encoder is at least equal to the traversing distance of the axis. S Absolute encoder on rotary axes Make sure that the absolute value range captured by the encoder corresponds to a ratio of 2x or 2x to one revolution of the rotary axis, and that it encompasses at least one rotary axis revolution (see Dependencies Section 5.3.1 and Figure 9-5).
Function parameters
Table 9-11 shows you how to adapt the selected encoder to the FM 354.
Table 9-11 MD 10 Function parameters Absolute encoders (SSI) Value/Meaning 3 = Absolute encoder (SSI 13 4 = Absolute encoder (SSI 25 13 = Absolute encoder (SSI 13 14 = Absolute encoder (SSI 25 bit) bit) bit) bit) Comments/Unit GRAY Code GRAY Code Binary Code Binary Code [MSR] (integer portion)
Designation Encoder type
11
Displacement per encoder revolution (division period) Residual distance per encoder revolution
1...1 000 000 000 see Section 5.3.1, Dependencies
12
[232 MSR] (fractional portion) Entry according to encoder rating plate
13
Increments per 21...225 encoder revolu- see Section 5.3.1, Dependencies tion (division period)
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Table 9-11 MD 14
Function parameters Absolute encoders (SSI), continued Value/Meaning 0/1 = Single-turn encoder 21...212 for multi-turn encoder see Section 5.3.1, Dependencies 1 = 78,000 Baud 2 = 156,000 Baud 3 = 312,000 Baud 4 = 625,000 Baud 5 = 1,250,000 Baud 1 = invert measured value direction Comments/Unit Only powers of 2 allowed (Code number) The baud rate depends on the cable length between FM 354 and encoder Entry for monitoring to be switched on
Designation Number of revolutions of SSI encoder SSI baud rate
15
19. 0 20 20. 1 20. 3
Direction adjustment Hardware monitoring
1 = Error in absolute encoder 1 = Voltage monitoring
Sample encoder adjustment

Encoder: Number of increments per revolution (MD13) = 4096 = 212 Number of revolutions (MD14) = 256 = 28 Machine axis design: S S Motor with 50:30 gear ratio on spindle with 10 mm pitch = 10,000 MSR Encoder on motor.
From this one can calculate the following traversing distance per encoder revolution: Gear ratio: i= 50 spindle revolutions 30 motor revolutions = 1.666666...
Displacement per = i 10,000 MSR = 16,666.666... MSR encoder revolution The following values are entered:
MD 11 12 13 14 Value 16 666 0.666... 232 = 2,863,311,530 4096 256 Unit [103 mm] [232 103 mm] [puls/rev] [rev]
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Note The encoder covers an absolute traversing distance of 256 16,666.666... MSR. In the 103 mm system of measurement this corresponds to a maximum axis traversing distance of 4,266.666... mm.
Monitoring/error diagnostics
If MD20 = 0 is input, all monitoring functions are active. Individual monitoring functions can be inactivated by entering 0 in the designated bit of MD20. You can deactivate the error messages using the single function parking axis (see Section 9.3.2).
Table 9-12 Error diagnostics Absolute encoder Cause Encoder power failure Error in protocol for data transfer between absolute encoder and FM 354 Error message Diagnostic interrupt, external channel error (see Troubleshooting, 11-4) Diagnostic interrupt, external channel error (see Troubleshooting, 11-4)
Diagnosis Voltage monitoring Error in absolute encoder
Warning Hardware monitoring functions should be skipped only for test purposes, since positioning errors may destroy the machine. When voltage monitoring is deactivated and the power supply to the encoders or the FM is switched off, an immediate failure in absolute value signaling can cause drive movements if: S an operating mode other than open-loop control is active S and follow-up mode is deactivated
S and the servo enable is activated or not parameterized.
Encoder connection
See Section 4.5.
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9.6.3
Overview
Synchronizing the encoders
When using incremental encoders, at switch-on there is an offset, which cannot be determined in advance, between the internal position value in the FM and the mechanical position of the axis. To establish the position reference, the value internal to the FM must be synchronized with the real position value of the axis. Synchronization is performed by taking over a position value at a known point of the axis. When using absolute encoders (SSI), at switch-on there is already a defined relationship between the position value internal to the FM and the mechanical position of the axis. This reference can be adjusted by setting an absolute encoder alignment value (see Section 9.3.9, Setting the reference point).
Absolute encoder alignment

is the compensation value for numerical alignment of the internal FM position value.
Reference point approach

is an operating mode used to position the axis at the reference point.
Reference point
is a fixed point on the axis. It is: S S The target coordinate in the Reference-Point Approach mode 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 S for numerical measuring-system readjustment when an encoder is changed as a displacement reserve to brake the drive if the synchronization point is overshot.
Reference point switch (RPS)

The reference point switch selects the synchronizing (encoder) zero marker on the traversing path of the axis. S S It is also the signal encoder for a speed reduction before the synchronization point is reached. It is connected to a digital input of the FM 354.
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Synchronization point
is a defined point on the traversing path of the axis. It is defined by the mechanical position of a reference-point switch or in association with a cyclic zero mark of an incremental encoder.
Synchronization
Creating the position reference between the internal FM position value and mechanical position of the axis.
Measured value synchronization with incremental encoders

Irrespective of the approach direction, the synchronization point can be located on the side of the lower or the higher actual position values in relation to the reference point switch position. It is demarcated by the rising edge of a zero pulse or by the reference point switch. This selection is made by the MD18 (together with the approach direction). Example
zero pulse RPS Axis direction +
Measurement grid
Cyclical zero mark
Synchronization point
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 traverses this distance, during its last phase of motion, once the synchronization point has been found. Consequently, the axis halts the motion, in each instance, exactly on the reference point. Example
Variant 1 Axis direction +
RV + Variant 2 Axis direction +
RV Measurement grid Cyclical zero mark Synchronization point Reference point
RV Reference point offset
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9.7
Position controller
Overview
The closed-loop position controller performs the following tasks: S S S guidance of the drive at the proper speed during execution of a movement precise approach of the axis to the programmed target position maintenance of the axis in position in the face of interfering factors.
The position controller is configured as a proportional-action controller. In its environment are a number of function units that provide support by performing special tasks within the complex of movement control, and that can be adapted to axis conditions by means of a variety of machine data. The diagram 9-6 gives you an overview of the function units and the machine data acting upon them.
MD40 MD41
MD42
MD30, MD31 Position comparison +
MD38 MD44
MD45
MD23 MD43
Interpolator t
Jolt filter
Position controller
+ MD19 MD37
D/A converter " 10 V
MD21 MD22
MD19
Drift compensation Following-error monitoring
(setpoint)
X 3 from encoder
error
X2 to drive
(actual value) MD19 MD21 MD22 stop MD23 MD24 MD25 MD26 MD30 MD31
MD39 MD25 MD24 MD26 MD37 MD38 tion MD39 MD40 MD41 MD42 MD43 MD44 MD45
(actuating value) Control signal Servo Bit 16 Positioning loop amplificaMin. following error, dynamic Acceleration Deceleration Jolt time Set voltage, max. Offset compensation Voltage ramp
Direction adjustment Software limit switch - start Software limit switch Maximum speed Target range; position reached, stop (PEH) Monitoring time Idle range Backlash compensation Directional reference, backlash
Fig. 9-6
Overview of position controller
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Interpolator
The machine data for acceleration (MD40) and deceleration (MD41) can be used to adapt the transition response of the command variable defined by the interpolator to the transition response of the controlled system.
v
MD40 v speed a acceleration t time MD4 1 t
MD 40 41
Designation Acceleration Deceleration
Value/Meaning 0 = without ramp 1...100,000 1 100 000 [103 MSR/s2]
Unit
For settings of MD40/41 see Section 7.3.4

Software limit switches MD21 and MD22 (see Section 9.9) are used to limit the working area.
MD 21 22 Designation Software limit switch, start Software limit switch, stop Value/Meaning 1 000 000 000...< +1 000 000 000 see Section 5.3.1, Dependencies Unit [MSR]
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Jolt filter
Without jolt limitation the acceleration and deceleration act as abrupt variables. Jolt limitation allows the break points of a ramp-like speed curve to be smoothed out for both acceleration and deceleration. This yields particularly soft (jolt-free) acceleration and braking for certain positioning tasks, such as conveying of fluids. Jolt time can be set in MD42 as the parameter for jolt limitation.
v Interpolator output signal Jolt filter output signal
MD42 t a
t v speed a acceleration r jolt t time
MD 42
Designation Jolt time
Value/Meaning 0...10,000 [ms]
Unit
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Basic diagnostics in the position control loop

In servo-controlled mode, the manipulated variable is compared periodically with the possible maximum values (10 V or maximum frequency). A violation of the maximum limit is interpreted as follows: No axis movement: Traverse in the opposite direction: Correct travel direction: No drive movement error message (see Table 11-7, Class 3/No. 65) Direction of drive rotation error message (see Table 11-5, Class 1/No. 11) Oversteer message in status message 1 (see Section 9.3.16, Additional operating data)
In all operating modes except Control mode, the servo enable signal is required for the duration of every traversing movement, irrespective of the parameter definitions. If the servo enable is not detected or is deactivated during the movement, the servo enable missing message is triggered (see Table 11-5, Class 3/No. 61). In all operating modes except Open-loop control mode, the servo ready signal is required for the duration of every traversing movement when the parameter is active (MD37.2). If the servo ready is not detected or is deactivated during the movement, the servo not ready message is triggered (see Table 11-5, Class 3/No. 62).
Position approach
The following diagram shows position approach.
s Target range (PEH) (MD24) Upper range Position to be approached Lower limit Set Actual a b c t1 t2 t3 Monitoring time (MD25)
PEH - Position reached, stop s path t time
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On approach to a position, the monitoring time is activated:

Time t1 (a) Position monitoring After the interpolator reaches the target position, the monitoring time (MD25) for reaching the target range is started in the CL controller, after the overtravel in the jolt filter dies down to the target range value (PEH on setpoint side). Before the monitoring time expires, the actual position reaches the target range. Positioning is completed. A PEH is signaled, and exact matching is performed by the CL controller. After the monitoring time expires, the actual position has not reached the target range (PEH). Error message: PEH Target Range Monitoring (see Troubleshooting, Table 11-7, Class 3/No. 64)
t2 (b)
t3 (c)
MD 24 25
Designation Target range Monitoring time
Value/Meaning 0...1 000 000 0 = no monitoring 1...65 534 [MSR]
Unit [ms], rounded to 2-ms steps
Following error monitoring

Axis standstill A message is output on an axis standstill setpoint or deactivated servo enable if disturbances cause the axis to move out of position.
MD 26 Designation Stationary range Value/Meaning 0...1 000 000 [MSR] Unit
The standstill zone is located symmetrically around the target approach position.
Approach position
Stationary range
When the tolerance window for idle is exceeded, the FM 354 signals a Stationary Range error (see Troubleshooting, Table 11-5, Class 1/No. 12).
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Axis moving To monitor following error during movement, the FM 354 calculates the allowable following error for the instantaneous traveling speed from the parameterized positioning loop amplification (MD38). Above the parameterized Minimum following error (dynamic), a comparison is performed with the actual value for the following error.
Calculated curve of dynamic following-error limit (Scalc) at which error is signaled. Dynamic monitoring in effect MD39 Actual curve of following error s following error v speed vmax (MD23) v
(Idealized) curve of following error according to KV
MD 39
Designation Minimum following error (dynamic)
Value/Meaning 0 = no monitoring 1...1 000 000 [MSR]
Unit
When the calculated dynamic following-error limit is exceeded (1.5fold of the idealized following error), the FM 354 signals the error Following error too large (see Troubleshooting, Table 11-7, Class 3/No. 66). Exception: If an axis standstill occurs above the minimum dynamic following error, the error message described under Basic diagnostics no drive movement is output (see Table 11-7, Class 3/No. 65).
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Position controller
The following error is calculated by periodical comparison of the set position defined by the interpolator with the actual position of the axis detected by the encoder. From this error, the position controller calculates the actuating signal needed for the drive in order to balance to a following error value of zero. The actuating signal is provided via a D/A converter (DAC) as an analog signal at the FM 354 output.
Digital actual value
Digital setpoint
Digital following error = digital setpoint - digital actual value
Digital DAC value = digital following error DAC factor
Digital Analog
Voltage setpoint (manipulated value)
Position control loop gain The positioning loop amplification (Kv factor) specifies at what speed of axis travel a given following error sets in. The mathematical (proportional) relationship is: Kv = Velocity Following error = v [103 MSR/min] s [MSR]
Although the magnitude of the following error plays no dominant role for a single axis, the Kv factor still affects the following important characteristics of the axis: S S S Positioning accuracy and stopping control Uniformity of movement Positioning time
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The following relationship applies for these characteristics: The better the axis design, the greater the achievable Kv factor, and the better the axis parameters from the technological viewpoint. The size of the Kv factor is especially affected by the time constants, backlash and spring components in the controlled system. In real applications the Kv factor moves within the following bandwidth: S S S Kv = 0.2...0.5 poor-quality axis Kv = 0.5...1.5 good axis (normal case) Kv = 1.5...2.5 high-quality axis
The MD38 value is input with a resolution of 103, so that the following input value results: Velocity MD38 = 103 Kv = 103 Following error = 103 v [103 MSR/min] s [MSR]
MD 38
Designation Positioning loop amplification
Value/Meaning 0...10,000
Unit [(MSR/min)/MSR]
Drift compensation Thermal conditions will shift the zero error in the control loop during operation. This effect is called drift. In a closed control loop with a proportional-action controller, this results in a temperature-dependent positioning error. You can activate automatic drift compensation with MD37, under which continuous balancing takes place in the positioning control loop. A basic compensation of the zero point error by means of the offet is required for the optimum effect of the drift compensation (see MD44, offset compensation).
MD 37 Designation Servo control signal Value/Meaning 16 = automatic drift compensation active Unit
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Backlash compensation Mechanical drive components as a rule have a certain amount of backlash (free play). Mechanical reversing backlash can be compensated with MD30. In an indirect measuring system (with the encoder on the motor), the mechanical backlash is traveled at each change of direction before any axis movement occurs. The result is positioning errors.
+
Spindle
Backlash
When the position encoder is situated on the machine part to be positioned (e.g. on a saddle - direct arrangement), backlash adversely affects the achievable Kv factor. On the other hand, if the position encoder is attached to the drive motor (indirect arrangement), a high Kv factor can be achieved, but at the cost of position deviations that cannot be detected by the position controller. A backlash amount entered in MD30 is applied as a correction by the position controller as a function of the traveling direction at a given moment, thus achieving an approximate compensation for backlash in positioning. MD31 is used to label the backlash-free or accurate-measurand traveling direction of the axis. If MD31 = 0, the backlash-free direction is the one that matches the direction of axis movement when synchronization is recorded. Depending on MD18, this will correspond to the following association: MD18 = 0, 2, 4, 8: Plus direction is backlash-free MD18 = 1, 3, 5, 9: Minus direction is backlash-free
MD 30 31 Designation Backlash compensation Directional reference of backlash Value/Meaning 0 to 1 000 000 0 = as in reference point approach (not for absolute encoders) 1 = positive 2 = negative [MSR] Unit
The backlash is traversed at a speed of 1% of the maximum possible speed (MD23).
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Other function options

The particulars of backlash compensation can be defined with MD52 and MD53.
MD 52 Function Speed for backlash compensation Value/Description 0 Backlash traversing speed 1 % of MD23 1 to 1 00 Backlash traversing speed in % of MD23 53 Mode for backlash compensation 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. [%] Unit
Note the following carefully: S S S S S Backlash travel is not affected by override, and is uninterruptible. If the interdependencies of the MDs are violated, an error is reported with range violation as its cause. Backlash compensation goes into effect prior to reference point approach. A change in MD30 (backlash) takes effect only after a traversing movement in a backlash-free direction (MD31). In Open-loop control mode, backlash is traversed with the preset voltage rating.
Offset compensation The analog modules in the positioning control loop (D/A converter of the FM354 and closed-loop controller module of the drive) cause a zero error because of operating-voltage and component tolerances. The result is that at an internal digital rotational-speed specification of zero in the FM 354, the drive motor will already be running undesirably. As a rule, drive controllers have adjustment capabilities for balancing. But by setting a voltage offset via MD44 the analog system can be balanced at startup from the FM side.
MD 44 Designation Offset compensation Value/Meaning 1,000...+1,000 [mV] Unit
For calculation of the offset value, see Section 7.3.2, Drive interface. Direction alignment MD19 allows you to align the direction by defining an assignment between the voltage sign of the manipulated signal and the axis movement.
MD 19.1 Designation Direction adjustment Value/Meaning 1 = invert analog value Unit
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Voltage ramp
A rampshaped voltage rise/drop can be defined in MD45 for the voltage output to the drive when the position controller is inactive. This serves to limit acceleration and thus power for the drive controller, and is preferable to setting options that may be available on the drive, since it has no adverse effects on active position control. The voltage ramp is active in the following situations: S S S S S Continuously in Control mode Deceleration on cancelation of the drive enable [AF] (see Section 9.1.1) Deceleration on transition of CPU from RUN to STOP Deceleration on error response Everything Off (see Sections 11.1, Tab. 11-4 and 11-5) Class 3 errors/Nos. 62, 65 and 66 (see Table 11-7)
MD 45 Designation Voltage ramp Value/Meaning 0...10,000,000 [mV/s] Unit
D/A converter
Output of analog voltage setpoint
Velocity assignment and max. voltage setpoint

The manipulated signal calculated by the position controller is available internally on the FM as a velocity setpoint (see position loop gain). To convert this value to the analog actuating signal, a conversion factor (DAC factor) within the FM is necessary. This factor is formed as the quotient of MD43 and MD23. MD23 contains the configured maximum speed of the machine axis, and MD43 contains the voltage setpoint of the actuating signal to be output by the FM 354 for this purpose; as a compromise between the highest possible resolution and adequate close-loop control reserve, this voltage should lie between 8 V and 9.5 V.
Warning This assignment MUST be identical with the setting on the drive!
MD 23 43
Designation Maximum speed Set voltage, max.
Value/Meaning 10...500,000,000 1,000...10,000 [MSR/min] [mV]
Unit
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9.8
Digital inputs/outputs (Read request in the user DB, DBX43.4)
Overview
Four digital inputs and four digital outputs of the FM 354 can be used specifically to a given application. The conventions and parameterization for this purpose are defined in the machine data MD34 to MD36. The signals are processed in the FM cycle. The signal status of the digital inputs and outputs can be recognized by readback (user DB, DBX43.4).
Function parameters
Table 9-13 shows you the functions assigned to each digital I/O.
Table 9-13 MD 34 Function parameters for digital I/Os Data type, bit array/meaning I0 0 1 2 3 4 5 6 35 Digital outputs1) Q0 0 1 2 3 4 5 7 I1 8 9 10 11 12 13 14 Q1 8 9 10 11 12 13 15 I2 16 17 18 19 20 21 22 Q2 16 17 18 19 20 21 23 I3 24 = 25 = 26 = 27 = 28 = External start2) Enable input External block change Set actual value on-the-fly Measurement (inprocess measurement, length measurement2)) 29 = Reference point switch for reference point approach2) 30 = Reversing switch for reference point approach2) Position reached, stop Aaxis movement forwards Axis movement backwards Change M97 Change M98 Start enable Direct output
Designation Digital inputs1)
Q3 24 = 25 = 26 = 27 = 28 = 29 = 31 =
1) see Section 5.3.1, Dependencies 2) Signal lengthw 2@FM cycle
Level adjustment
MD 36 Designation Input adjustment Value/Meaning 8 = I0 inverted 9 = I1 inverted 10 = I2 inverted 11 = I3 inverted Comments Front edge always activates the function
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9.8.1
Function description of digital inputs
External start
The control signals of the axis include the start signal which triggers a positioning operation in Reference point approach, MDI and Automatic modes. A logical OR is established with the External Start digital input and the control signal (ST). External start is connected to digital input I1. Example
ST dig. External start input 1 2 w1 3 Control signal (Start)
Input I1 not inverted (MD36) 1 2 3
Input I1 inverted (MD36)
Minimum signal length at the digital input: w 2@FM cycle
Enable input
The enable input signal must be set, if defined in MD34, for a positioning operation/ movement/output of the axis to take place. 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.
Example
R+ or R Enable 1 2 3 1 2 & 3 Positioning
In the other modes, note the following: If the enable input is still not enabled after a start edge, the start edge is stored internally and waiting for enable is indicated by the checkback signals. When the input is set, movement begins and the stored Start edge is deleted (a Stop likewise deletes the stored Start edge).
9-86
External block change

see Chapter 10
Set actual value on-the-fly

see Chapter 10 and Section 9.3.6
Measurement
see Section 9.3.10
Reference point switch for reference point approach

see Section 9.2.3
Reversal switch for reference point approach

see Section 9.2.3
9.8.2
Function description of digital outputs (Write request in the user DB, DBX39.4)
Output of PEH, FR+, FR, SFG

The following checkback signals: position reached, stop (PEH), axis movement forward (FR+), axis movement in reverse (FR), and enable Start (SFG), are additionally output via digital outputs. The output assignment is parameterized by way of MD35.
Output of change M97 or M98

The change M-function (AMF) checkback signal for the M functions M97 and M98 is output as a digital output. 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 defined in MD35 as direct output, can be used directly by the user program (user DB, DBX39.4) and can also be controlled by the FM 354. Since the same memory is used in the user DB for Write request (user DB, DBX39.4) and Read request (user DB, DBX43.4), the jobs cannot be used simultaneously in the cycle. Note The outputs are subject to deactivation on module errors of error classes with the response Everything Off.
9-87
9.9
Overview
To limit the working range, entries in the machine data (MD21 and MD22) specify the start and stop limit switches. These limit switches are active at synchronization of the axis. If the limit switches are not needed, values lying outside the possible working range should be entered in the machine data (MD21 and M22), or monitoring should be switched off via the user program.
Warning The software limit switches do not replace the hardware limit switches for EMERGENCY STOP responses.
Effect of software limit switches in modes

Jogging 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 mode Movement is stopped, or not even started, as soon as read-in of the set position reveals that the position lies outside the working range. An error is signaled. The following special cases exist: S S Continuous travel () for set actual value on-the-fly (G88 see Chapter 10) Continuous travel (+) for set actual value on-the-fly (G89 see Chapter 10)
Effect of software limit switches in tracking mode

If the actual value is beyond the end position, an error is signaled.
9-88
Response after error

Leaving end position or traveling into working range after error 1. Acknowledge the error message! 2. Travel to the working range with the Jogging, Control, Incremental Relative or MDI mode.
Rotary axis
The end position of MDstart may be greater than MDstop. When traveling into the working range (e.g. end position was previously switched off), the shortest path is always chosen. If both default values are parameterized the software limit switches are 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 5 Designation Process-interrupt generation (data type - bit field) Significance 0 = Position reached 1 = Length measurement completed 3 = Change block on-the-fly 4 = Inprocess Measurement
Hint to the user

You must program the interrupt processing routine in OB40. The prerequisite is that process-interrupt signaling must have been activated as part of the environment definition (see Chapter 5). J
9-89
9-90
Writing Traversing Programs

Chapter Overview
Section 10.1 10.2 10.3 Traversing blocks Program execution and direction of machining Block transitions Section Header
10
Page 10-2 10-16 10-16
Overview
To execute the desired operations of the machine axis (sequence, position, etc.) in Automatic mode, the FM 354 needs certain information. This information is programmed with Parameterize FM 354 (traversing program creation) in the form of a traversing program, based in principle on 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 the amount of memory available (max. 16 Kbytes) and on the length of the individual programs. Program length in bytes: 108 + (20 x no. of traversing blocks)
Program name
Any program can be assigned a name (optional). The program name may have up to 18 characters, and is saved with the program.
Program number
Programs may be numbered from % 1 to % 199.
10-1
Traversing block
A traversing block contains all the data required to perform a machining step.
Program structure
A program consists of several blocks. Each block number occurs only once, and numbers are arranged in ascending order. A sample program structure follows:
/ N G1 G2 G3 5 6 90 91 ... X/t F M1 M2 M3 D L P Start of program = lowest block number
500 000 100 000 10 ... ...
. . .
45 46 2
End of program = M2 or M30
10.1
Traversing blocks
Block structure
The following Figure gives you an overview of the structure of traversing blocks.
/ / N G1 G2 G3 X/t F M1 M2 M3 D L P
N G1 G2 G3
X/t
M1 M2 M3 D L P
Identifier for skipped block Block number G function of first function group G function of second function group G function of third function group Position/dwell time Speed M function of first function group M function of second function group M function of third function group Tool offset number Call a program as a subprogram Number of subprogram runs
see Table 10-1
see Table 10-2
10-2
Skip block /
Program blocks which are not to be executed every time the program runs can be identified as skippable blocks by an oblique / . When the program is being processed, the Skip block control signal can be used to decide whether skippable blocks are to be skipped. The last block may not be skipped.
Block number N
The program is executed in ascending order of block numbers, from 1 to 255, or in descending order if executed in reverse.
G function group 1...3

In each traversing block only one G function may be entered from each G function group. The following figure shows an example.
/ N 10 G1 90 G2 34 G3 43 X/t 100 000 F 400 00 M1 M2 M3 D 10
G functions
Table 10-1 lists the possible G functions and the individual G function groups.
Table 10-1 G No. 041) 87 881) 891) 90 91 30 31 32 .. 39 Dwell time Turn off measuring system shift for Set Actual Value On-the-Fly Continuous travel for () for Set Actual Value On-the-Fly Continuous travel for (+) for Set Actual Value On-the-Fly Absolute measure Increment size 100% override on acceleration/deceleration 10% override on acceleration/deceleration 20% override on acceleration/deceleration .. 90% override on acceleration/deceleration 1 G functions G Function G Function group
1) These G functions take effect only on a block-by-block basis. The other G functions remain active until canceled explicitly.
10-3
Table 10-1 G No. 43 44 501) 60 64
G functions, continued G Function G Function group
Tool offset (+) Tool offset () External block change Block change exact positioning Set actual value on-the-fly, continuous-path mode 3
1) These G functions take effect only on a block-by-block basis. The other G functions remain active until canceled explicitly.
G30, G90 and G64 are the initial settings after the start of the program.
Dwell G04
A traversing block with dwell can only contain M functions and the time parameter apart from this G function. The following applies for dwell time:
Name Dwell time Lower input limit 2 Upper input limit 100 000 Unit ms
Input values are rounded upwards in FM cycle steps (2ms). Dwell times take effect block after block only.
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 deceleration is reached (change block on-the-fly). G60 and G64 are mutually exclusive and self-maintaining. M commands have no effect on G64 operation. (For a detailed description, see Section 10.3).
External block change (G50) with delete residual path

The external block change function causes a block change on-the-fly triggered by a digital input. The fast input must be parameterized with the External block change function by way of machine data item MD34. The function takes effect only on a block-by-block basis (no effect on G60 and G64).
10-4
Example of external block change

The following figures show the program structure and program flow of an example of External block change.
/ N 10 20 F 1 300 1 000 X G1 G2 G3 50 X/t 10 000 12 000 F 1 000 1 300 M1 M2 M3 D
N10
N20
10 000 12 000
E digital input
Notes to the example of external block change

The axis travels until a signal change from 0 to 1 takes place at the digital input. This triggers two reactions: S S A block change on-the-fly, and thus immediate processing of block N20. Storage of the actual position at the time of this signal change to Actual value block change. This position is also the starting position for any subsequent chain-measure programming. 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. If no position is programmed in block N20, movement is braked, the functions programmed in N20 are executed, and processing then moves on to the next block (except if the block contains M0, M2 or M30). If the programmed path in block N20 is less than the deceleration distance, the programmed position is overshot and then positioned by a reversal of direction.
Depending on the situation, N20 is processed as follows: S
If no signal change occurs at the digital input, the target position of N10 is approached, with the following additional response: When the target position is reached, the error message Digital input not actuated is output (see Table 11-5, Class 2 No. 15).
10-5
Set actual value on-the-fly G87, G88, G89

The Set actual value on-the-fly function is programmed and triggered by a digital input; the block change occurs on the fly and the actual value is set to a new dimension (programmed coordinate) at the same time. The digital input must be parameterized 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 10
G1 90
G2
G3
X/t 100 50 300 400
F 400 000 200 000 400 000 400 000
M1
M2
M3
15 89 (88) 20 25 90 87
N10
N15
N20
N25
Reversal of direction
N10
N15
50 100 150 200 250 300 350 400 N20
System of measurement shifted
50 100 150 200 250 300 350 400
digital input
10-6
N25 X System of measurement normal
Notes to the example of set actual value on-the-fly

This changes blocks on-the-fly from N10 to N15, with G89 causing movement in a positive direction and G88 causing movement in a negative direction at the speed programmed in N15. The axis now travels in the specified direction until a positive edge change occurs at the digital input. This triggers the following responses: S S S Block change on-the-fly and immediate processing of block N20 Set actual value on-the-fly to the block position from N15 (50 in the example), and resulting shift of the coordinate system Save current actual value.
The programmed position in block N20 refers to the shifted coordinate system. At the block change from N20 to N25, G87 cancels the shift of the coordinate system 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 the coordinate system in different programs. The coordinate system can be shifted again without previously canceling an existing coordinate system shift. G88, G89 can be programmed multiple times. The shift in each case refers to the original state. The software limit switches are always shifted concurrently. If the signal change of the digital input does not occur, the axis runs until it reaches the limit switch.
Note The G functions G87, G88 and G89 take effect only on a block-by-block basis and must be reselected if necessary.
10-7
Dimensions G90, G91

The traversing movement at a specific point can be described by S S Reference-measure input (absolute measure input) G90 or Incremental input (relative measure input) G91
You can switch back and forth at will between reference-measure 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.
/ N G1 G2 G3 90
X/t
M1 M2 M3 D
20 100 Actual position
Programmed Position
0 Fig. 10-1
10
20
30
40
50
mm
Reference-measure input G90
Note To ensure precise reproduction of the program, the first block should contain reference-measure programming.
10-8
Incremental dimensioning G91

Incremental dimensioning is the method used to specify incremental dimensions that refer to the last actual position.
/ N G1 G2 G3 X/t F 91 30 100 Programmed Position
M1 M2 M3 D
Actual position
0 Fig. 10-2
10
20
30
40
50
mm
Incremental input G91
10-9
Axis as rotary axis

If the axis is operated as a rotary axis, the measuring system must be adjusted in such a way that the measurement scale refers to the full circle (e.g. 0_ and 360_). S Reference-measure input G90 In a full circle with 360_, reference-measure programming (G90) has the peculiarity that there are always two options for reaching the set position.
Option 1 Set position 0_ Actual position 315_ 45_ Option 2 Set position 0_ Actual position 315_ 45_
270_
90_
270_
90_
225_ 180_
135_
225_
135_
180_ with direction R+ specified X/t F M1 M2 M3 D
/ N G1 G2 G3 10 90 Fig. 10-3 Rotary axis
315 100
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 pending when positioning is activated (START). Note The direction (R+) or (R) must be specified sufficiently in advance. A traversing direction cannot be forced on a traversing block that is already active, or on the traversing blocks (up to 4) that have already been calculated in advance in G64 operation. Operation with option 1 or option 2 is at the users discretion. S Incremental input G91 With incremental programming G91, the direction of rotation of the rotary axis is defined by the sign of the position setpoint. Multiple rotations can be programmed by setting a value > 360_ as the position setpoint.
10-10
Acceleration override G30...G39

The acceleration override is used to control acceleration and deceleration during positioning movements. The acceleration and deceleration values are set by machine data. G30 through G39 in the traversing block can be used to achieve a percentage reduction in both values. These functions are modal. G Function 30 31 to 39 90% override for acceleration/deceleration 100% override for acceleration/deceleration 10% override for acceleration/deceleration
Changing the acceleration override in the program prevents block change on-thefly. Consequently G60 response is forced in the preceding block. The acceleration override is turned off by: S S S Mode changes Resetting the axis with a Restart (single command) 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 offset is selected with G43 or G44, as applicable, and the tool offset number D1...D20. Tool offset is turned off with G43 or G44, as applicable, and the tool offset number D0. A total of 20 tool offset storage areas and tool wear storage areas are available. The values are loaded to the module with the Tool offset data data block and are saved permanently. When selected, changed or turned off, the tool offset is not taken into account until the next positioning action. A selected tool offset is maintained in effect until it is either turned off or replaced with a new one. Likewise a mode or program change, or the end of a program, will turn tool offset off.
10-11
Variants in tool offset

Tool offset is made up of two correction-value components: S S Tool length offset The tool length offset is the actual tool length from tool zero to the tool tip. Tool length wear value The tool length wear value allows the change in tool length due to wear to be compensated in two ways: Absolutely: by specifying a fixed 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
Fig. 10-4
Tool offset
Notes to the figure: The tool offset thus consists of the tool length offset and the tool length wear value: D = DL DV DV = DVabs + DVadd D DL
DV
DVabs DVadd
Tool offset Tool length offset (positive or negative) Tool length wear value (positive or negative) Wear, absolute (positive or negative) Wear, additive (positive or negative)DVadd
If the additive wear is modified online, the FM computes the new absolute wear and resets the additive wear to zero.
10-12
DVadd DV
Direction of tool offset

The functions G44 () and G43 (+) correct the position value in such a way that the tool tip reaches the programmed set position. S Negative tool offset G44 As a rule, the tool points to the workpiece in a negative direction. With the infeed adjustment, the positioning value (traversing path) becomes smaller. Referred to the measuring system, the following position is thus approached: Xms = Xset + (D) Xms Position of measuring system Xset Programmed set position D Tool offset S Positive tool offset G43 The positioning value (traversing path) becomes greater with the infeed adjustment. The 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 selected, 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 or positive sign. The plus sign on positive values may be omitted.
Name Position Lower input limit 1,000,000,000 Upper input limit + 1,000,000,000 Unit MSR from MD7
Speed F
The input speed is calculated against the override. If the speed value is numerically greater than the maximum allowed speed, it is limited to the magnitude of the machine data item. Speeds are self-maintaining and need to be re-input only when changed.
Name Speed Lower input limit 10 Upper input limit 500 000 000 Unit MSR from MD7/min
10-13
M functions
Up to three M functions can be programmed in one traversing block, with any assignment of M1, M2 and M3. The output sequence of the M functions is always M1M2M3 (for information about output see Section 9.1). The following figure shows an example.
N 10
G1 90
G2 34
G3 43
X/t 100 000
F 400 00
M1 10
M2 11
M3 12
D 1
Table 10-2 M No. 0 2, 30 1, 3...17 18 19...29, 31...96 97, 98 99
M functions M Function Stop at end of block End of program User functions Endless loop (skip back to start of program) User functions Change signal programmable as digital output User functions 1, 2, 1 2 3 M Function group
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 to be continued.
End of program M2, M30

If M2 or M30 is programmed in a block, then after positioning is complete the M function is output with a subsequent programmed stop and a jump back to the start of the program. The Start edge can restart the program. M2 or M30 is always the last output in the block. If the program is called up as a subprogram, the action skips to the main program. In this case M2 or M30 is not output.
10-14
Infinite loop M18

M18 is always output as the last M function in the block. Two cases are distinguished: S M function M18 is output like any other M function. Only after the block has been processed all the way to the end (including M18) does the axis skip back to the start of the program. If M function M18 is programmed alone in the last block of a traversing program, the M function is not output, and the axis immediately skips back to the start of the program.
Change signal 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 been loaded to the module. Nonstandard offset values have a value 0.
Subprogram call P, L
A block with a subprogram call (P is the number of runs, L is the program number) cannot contain any further information. A maximum of 19 subroutines can be called up in one program. Nesting is not possible.
Name P = Number of subprogram runs Lower input limit 1 Upper input limit 250
10-15
10.2
Program execution and direction of machining
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 S S Commands are self-maintaining (G90, G91, G60, G64, G30...G39) Active tool offset (G43, G44, D0...D20) Change of coordinate systems via G87, G88, G89.
For these reasons, a distinction can be made between forward processing and reverse 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

Case 1 V Ni Ni+1
t M
10-16
Output of M function during positioning

Case 2 V Ni Ni+1 (long block) t M
Output of M function after positioning

Case 3 V Ni
Change block on-the-fly - G64 (standard case)

Changing from one traversing block to the next proceeds without stopping the axis. The acceleration and braking function is calculated 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 acceleration does not begin until the starting point of the block, and deceleration to a lower speed for a following block is initiated as with G60. When the speed of the following block is reached, the residual distance in the current block is processed at the feed rate of the following block.

Ni
t Ni+1
(short block) t
t Target range
10-17
Sample programming (standard case)

The following figure shows a sample program with the programming flow.
/ N 5 10 15 20 25 64 G1 90 G2 G3 64 X/t 10 000 20 000 30 000 40 000 30 000 200 00 150 00 100 00 F 100 00 M1 M2 M3 D
N5
N10
N15 3
N20 4
N25
5 t
1 Block N10 is started at the point of deceleration of N5. 2 N15 is started at the point of deceleration of N10. Acceleration to the higher traversing speed begins when the set position of N10is reached. 3 N20 is started at a lower traversing speed at the braking point of N15. 4 In a change of traversing direction, the axis brakes until it comes to a standstill and waits until the actual value of the encoder has reached the target range. 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, the axis must calculate the point of deceleration. The relevant parameters for this calculation are the residual traversing distance, the deceleration value and the current traversing speed. The point of deceleration is also the earliest possible time for a block change.
10-18
Change block on-the-fly - G64 (deceleration)

There are a number of conditions that may delay or prevent a block change on-thefly. Here a distinction is necessary between the case in which this type of block change is suppressed intentionally, and the case in which the selected function does not permit a block change on-the-fly. S Block change on-the-fly is suppressed: By removing the Enable read-in control signal - this stops program processing at the end of the current block. To continue the program, the enable must be re-input. By output of the M 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).
V 1 V 2 V 3
t M M
t M
1 Since the M output is completed at the point of deceleration, a block change takes place on-the-fly. 2 The M output is not yet complete at the point of deceleration. The axis begins to brake. At the end of the M output, the axis returns to speed (transition on-the-fly from deceleration ramp to acceleration ramp). 3 Axis comes to a complete standstill and waits for the end of M output.
10-19
Influence of M function on block change on-the-fly

Machine data can specify the output time for M functions: S M function is output before or after positioning with a block change M-function output and positioning proceed in alternation. M function output before positioning causes exact-positioning response in the preceding block. M function output after positioning causes exact-positioning response within the block. S M function is output during positioning M-function output and positioning proceed simultaneously. The following figure shows a sample program with M function output during positioning.
/ N 5 10 15 20 60 G1 90 G2 G3 X/t 10 000 20 000 30 000 40 000 F 100 00 M1 10 20 30 40 97 M2 M3 D
V N5 1 N10 N15 N20
4 X 30 000 40 97 40 000
M No. 10
10 000 20
20 000 30
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 proceed until the actual position has reached the programmed position of N5. 3 If two M functions are programmed in a traversing block, the first M function is output depending on position, followed by the second M function. 4 The change signal for M97 or M98 is output with the G64 block transition (digital output) if the actual position has reached the programmed position of the block. The actual position runs behind the set position (difference = overtravel).
10-20
Troubleshooting
Chapter Overview
Section 11.1 11.2 11.3 Error messages Error lists Section Header Error classes and module responses
11
Page 11-3 11-4 11-9
Overview
The FM 354 provides diagnostics for the following: S S I/Os Module processes
This chapter Troubleshooting describes the different types of errors, their cause, effect and elimination.
11-1
Troubleshooting
Error localization
The FM 354 distinguishes between S S Errors which trigger a diagnostic interrupt in the CPU, and Errors which the module reports by way of checkback messages.
In the event of diagnostic interrupt, STATUS LEDs light up in addition.

CPU RAM Diagnostic backup of CPU OB 82 Call SFC 52 Write diagnostic interrupt information POS_DIAG OB 1 POS_CTRL . . . User DB MPI K bus Diagnostic interrupt Callup in user P bus program FM 354 External channel errors
Binary diagnostic interrupt information Other error message
External errors Internal errors SSL Other erDiagrors, opnostic erating backup errors DB-SS error history
OP Parameterize FM 354 PG (STEP 7) Fig. 11-1 Overview of diagnostics/errors STEP 7-Info
SSL System Status List SFC System Function DB-SS Data block for status messages
Error evaluation by software

The following manuals describe how to include diagnostics-capable modules in your user program, and how to evaluate the diagnostic messages: S S Programming manual System Software for S7-300/400; Program Design (OB Types, Diagnostic Interrupt OB 82) Reference manual System Software for S7-300/400; System and Standard Functions
A basic description of the diagnostic system of the S7-300 can be found in the user manual Standard Software for S7 and M7, STEP 7.
11-2
Troubleshooting
11.1
Error classes and module responses
Overview
The FM 354 contains monitoring circuits which are active during startup or during continuous operation. Errors occurring during those times are reported to the system and to the user program. The table below lists the error classes and their meaning.
Table 11-1 Message Error classes, overview Error Class Internal errors Response Significance ...are hardware faults in the module which are discovered by diagnostics routines (e.g. memory errors). (see Section 6.3.4 for diagnostic interrupt data and error list, Table 11-4) ...are errors which can occur due to faulty module connection (e.g. parameters for initialization of module MP station numbers are missing or are incorrect). Everything (see Section 6.3.4 for diagnostic interrupt data and error list, OFF Table 11-4) ...are measurement system errors or errors which can occur by connecting the digital outputs or during operation (operating errors) of the FM 354 (e.g. cable break, incremental value encoder). (see Section 6.3.4 for diagnostic interrupt data and error list, Table 11-4 and 11-5) Feed STOP ... are errors (operator/travel errors) which can occur during operator inputs to the FM 354 (e.g. direction signals R+ and R set at the same time, see Error List, Tables 11-6 and 11-7). ... are errors (data, machine data and traversing program errors) which are detected on interpretation of invalid data (see Error List, Table 11-8).
External errors
External channel errors
Checkback signals
Operator control and travel errors Data errors
Warning!
11-3
Troubleshooting
Error response
Each error message triggers an appropriate response.
Table 11-2 Error response Everything OFF Overview of internal error responses Significance
S S S S S S S S S
Stop movement by way of voltage ramp (MD45) Disable digital outputs Deactivate servo enable SYN is cleared after the error has been acknowledged with Restart No new travel jobs possible Stop movement by controlled deceleration Travel job is canceled and terminated. Measured data acquisition and position control are continued. No new travel jobs possible
Feed STOP
Warning
S Message only S Movement and control of axes not affected
11.2
Error messages
The following approaches to error localization are available for the FM 354: S S Error display by LEDs Error messages to the system and to the user program
Introduction
11.2.1
Fault indication by LED
Status and error displays

The FM 354 features the following status and error displays:
SF DC 5V DIAG
Fig. 11-2
Status and error displays of the FM 354
11-4
Troubleshooting
Significance of the status and error displays

The status and error displays are explained in the order in which they are arranged on the FM 354.
Table 11-3 Display SF (red) LED-ON Status and error displays Significance Group errors Explanations This LED indicates an error condition in the FM 354. Diagnostic interrupt (internal error, external error or external channel error) To eliminate the error see Error List, Table 11-4. 5 V DC (green) Power supply switched on This LED indicates that the hardware is ready for operation. If not illuminated, this may indicate one of the following conditions:
S S S S
Your line voltage is not OK. Load current supply is faulty. Module is incorrectly connected. 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 diagnostic conditions. Diagnostic interrupt (external channel error). To eliminate the error see Error List, Table 11-4. If this LED blinks when the LED SF is simultaneously activated, this indicates a system error. If this occurs, then please consult the appropriate sales department. The exact circumstances which resulted in the error are of major importance in this case.
11-5
Troubleshooting
11.2.2
Diagnostic interrupts
Overview
Internal errors, external errors and external channel errors are indicated to an interrupt-capable system by means of diagnostic interrupts (see diagnostic interrupt data in Tables 11-4, 11-5 and Section 6.3.4). This presupposes that the diagnostic interrupt message was activated at the time of configuration (see Chapter 5). If the system is not interrupt-capable, the diagnostic interrupt information must be read out cyclically with POS_DIAG.
Error Class Internal errors External errors External channel errors Coding Byte-.Bit-No. 0.1 Group error byte 2, 3 Byte-.Bit-No. 0.2 Byte-.Bit-No. 0.2, 0.3 y Group error byte 8 LED SF and DIAG LED SF and DIAG LED SF Message
A diagnostic interrupt is reported by the FM 354 as incoming or outgoing.

Diagnostic interrupt Message to the CPU (precondition: interrupt message activated (see Section 5.2) No OB 82 exists ! CPU switches to STOP OB 82 Enters the diagnostic information in the diagnostic buffer of the CPU (4 bytes) and calls SFC 52 Enters the diagnostic information in the user DB starting at address 70 and calls POS_DIAG OB 1 Calls POS_DIAG Message in the troubleshooting Paradisplay of Parameterize FM 354 Menu: Test > Troubleshooting Entry in diagnostic buffer
Interrupt acknowledgement
If processing is to continue after a diagnostic interrupt, then Restart after the error has been remedied (user DB, DBX37.5). Internal errors cannot be acknowledged. External errors are self-acknowledging.
11-6
Troubleshooting
11.2.3
Error messages in checkback signals
Overview
Operator/travel errors [BF/FS] and data errors/machine data errors/traversing program errors [DF], are communicated to the user by way of checkback signals (call of the POS_CTRL block) and operating errors by means of diagnostic interrupts (see Section 6.3.4). The error-specification is stored in the 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 number (DENR).
Error technology class Operating error Operator errors Travel errors Data error Machine data errors Traversing program errors 1 2 3 4 5 8 DEKL DENR 1...n 1...n 1...n 1...n 1...n 1...n Message Diagnostic interrupt Checkback signals Checkback signals Checkback signals or Data bl k D t block
11-7
Troubleshooting
11.2.4
Message in data block
Overview
Please note the following for direct access to DBs (e.g. using an OP). If data errors/machine data errors/traversing program errors are detected when the parameters are written to the data block (e.g. in the parameterization tool), an error message is stored in the data block. The error-specification is stored in the form of an error number in the corresponding data block (see error list in Table 11-8). The error message occurs 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 window, select the MPI address of your module. 3. You can view the diagnostic buffer in the menu Target system > Module status. or 1. Open your project in the S7 SIMATIC Manager. 2. Select the menu View > Online. 3. In the dialog box, select the FM 354 and the associated program. 4. You can view the diagnostic buffer in the menu Target system > Module status
11-8
Troubleshooting
11.3
Note
Error lists
In the following tables, please note: The module response described under Effect refers to the error-specific module response. The error response described in Table 11-2 occurs in addition.
11.3.1
Diagnostic interrupts
Overview
The diagnostic interrupts are listed according to error class in Tables 11-4, 11-5.
Table 11-4 Byte. Bit 0.1 2.1 (8031) Internal errors Cause Effect Elimination Diagnostic interrupt Error message, error analysis and elimination Error response: Everything Off, as in Table 11-2
SF DC5V DIAG
Message/ Display
Communication disturbance MPI/K-bus communication fault caused by unknown event
S S S S
Check connection Check programming device/CPU Switch module on/off Replace module
2.3 (8033)
Internal time monitoring circuit (Watchdog) Cause Effect
S Pronounced noise conditions on the FM 354 S Errors in the FM 354 S Deactivate entire FM 354 S LED indicators: SF: On
DIAG: Flashing cycle
Elimination
S If this manual is observed, the errors should not occur

However, should this still be the case, please consult the responsible sales department. When doing so, it is vitally important to also report the exact circumstances leading to the error.
S Replace the FM 354

Note: (xxxx) value = Hexadecimal notation in diagnostic buffer
11-9
Troubleshooting
Table 11-4 Byte. Bit 0.1 2.4 (8034)
Diagnostic interrupt, continued Error message, error analysis and elimination Message/ Display
Internal errors Cause Effect Elimination
Error response: Everything Off, as in Table 11-2

SF DC5V DIAG
Internal module power supply failure
S Drastic voltage dip S FM 354 power supply faulty

Deactivate entire FM 354
S Check FM 354 power connection S If FM 354 power supply defective, replace FM 354
Memory for firmware code faulty Replace the FM 354
SF DC5V DIAG
3.2 (8042)
FEPROM error Cause Effect Elimination
3.3 (8043)
RAM errors Cause Effect Elimination Replace the FM 354
S Faulty RAM data memory S Faulty flash-EPROM data memory
3.6 (8046)
Process interrupt lost Cause
S A process interrupt event was detected by the FM 354 and cannot be reported, because the same event has not yet been acknowledged by the user program/CPU.
S Faults on backplane bus

Effect Elimination
S S S S
Incorporate OB40 into user program Check bus connection of the module Deactivate using MD5 process interrupt Switch module on/off Error response: Everything Off, as in Table 11-2
SF DC5V DIAG
0.2 0.6 (8006)
External errors Cause Effect Elimination
Module not parameterized No MPI parameterization data received from the CPU MPI interface is initialized with default values. MPI address = 12 Check parameterization, see S7-300 description
11-10
Troubleshooting
Table 11-4 Byte. Bit
Diagnostic interrupt, continued Error message, error analysis and elimination Message/ Display
0.2, 0.3 External channel errors Error response: Everything Off, as in Table 11-2 8.0 (8090) Cable break, incremental encoder Cause
S S S S
Measurement system cable not plugged in or sheared off Encoder without internode signals Incorrect pin connection Cable too long
SF DC5V DIAG
Effect Elimination
S Check encoder and measurement system cable S Observe limit values S Using the MD20, monitoring can be temporarily skipped, at the
responsibility of the owner/operator.
8.1 (8091)
Error, absolute encoder Cause Telegram traffic between FM 354 and the absolute encoder (SSI) is faulty or is disrupted: S Measurement system cable not plugged in or sheared off S Unauthorized type of encoder (only allowable per MD10) S Encoder incorrectly set (programmable encoder) S Telegram length (MD13, MD14) incorrectly specified S Encoder delivers erroneous values S Noise interference on measurement system cable S Baud rate set too high (MD15)
Effect Elimination
S Check encoder and measurement system cable S Check telegram traffic between encoder and FM 354 S Using the MD20, monitoring can be temporarily skipped, at the
11-11
Troubleshooting
Table 11-4 Byte. Bit 8.2 (8092)
Diagnostic interrupt, continued Error message, error analysis and elimination Erroneous pulses, incremental encoder or zero reference mark missing Cause The pulses generated by the encoder are monitored for missing pulses (Section 9.6.1). This monitoring feature does not include a comparison with the parameter specifications in MD 13.
SF DC5V DIAG
Message/ Display
0.2, 0.3 External channel errors Error response: Everything Off, as in Table 11-2
S Encoder monitoring circuit has discovered erroneous pulses S In reference point approach operating mode, no zero reference
mark came within one encoder revolution after the reference point switch was passed.
S Encoder faulty: does not deliver the specified number of pulses S Interference on the measurement system cable
Effect Elimination
S S S S
Check encoder and measurement system cable Observe limit values Observe rules on shielding and grounding Using the MD20, monitoring can be temporarily skipped, at the responsibility of the owner/operator.
8.3 (8093)
Voltage monitoring, encoder Cause
S Short-circuit in encoder supply cable (5 V incrementally, 24 V

SSI)
S Failure of module internal encoder supply unit

Effect Elimination
S Check connections S Replace FM 354 if encoder cable ok S Using the MD20, monitoring can be temporarily skipped, at the
8.7 (8097)
For operating errors, see Table 11-5
11-12
Troubleshooting
Table 11-5 Cl.
Operating errors No. Error message, error analysis and elimination Error response: Everything Off, as in Table 11-2 Software limit switch, beginning is passed Cause Effect Limit switch passed: in Control or Correction operating mode Diagnostic interrupt i t t Message/ Display
Operating errors 1 (01) 1 (01)
S The limit switch position is passed by the necessary

stopping distance.
S Set actual value is not executed.

Elimination
S Following acknowledgment of the error, it is possible to

traverse to the working range.
S Alter value of software limit switch (MD21) S Switch off monitoring limit switch occasionally!
!
1 (01) 2 (02) Cause Effect
(With the limit switches (MD21/22) disabled, the travel range limits are established by the maximum allowable values for the limit switches). Diagnostic interrupt i t t
Software limit switches, end is passed Limit switch passed: in Control or Correction operating mode
S The limit switch position is passed by the necessary

stopping distance.
S Set actual value is not executed.

Elimination
S Following acknowledgment of the error, it is possible to

!
1 (01) 3 (03) Cause Effect Elimination
(With the limit switches (MD21/22) disabled, the travel range limits are established by the maximum allowable values for the limit switches). Diagnostic interrupt i t t
Beginning of traversing range passed When operating in Control operating mode with soft limits disabled, the traversing range beginning was passed. The limit switch position is passed by the necessary stopping distance. Following acknowledgment of the error, it is possible to traverse to the working range.
Cl. = Detail event class, No. = Detail event number Note: Value (xx) = Hexadecimal notation of the error number
11-13
Troubleshooting
Table 11-5 Cl.
Operating errors, continued No. Error message, error analysis and elimination Error response: Everything Off, as in Table 11-2 Traversing range end passed Cause Effect Elimination When operating in Control operating mode with soft limits disabled, the traversing range beginning was passed. The limit switch position is passed by the necessary stopping distance. Following acknowledgment of the error, it is possible to traverse to the working range. Drive turns in wrong direction (reported only when setpoint voltage is "10 V) Diagnostic interrupt i t t Diagnostic interrupt i t t Message/ Display
Operating errors 1 (01) 4 (04)
1 (01)
11 (0B)
Drive, direction of rotation Cause Effect Elimination
S Check drive S Check or correct MD19 S Following Restart continue working using the user
program Diagnostic interrupt i t t
1 (01)
12 (0C)
Zero speed control range Cause The zero speed control range was exited in the following instances:
S Servo Enable deactivated S On an axis stillstand in the PEH target area S In Open-loop control mode with no traversing command
S Other causes: Same as Direction of rotation, drive,

Class 1/No. 11 Effect Elimination
S Check electrical and mechanical drive disable (terminals, connecting cables, control element functions)
S Match MD26
1 (01) 90...99 System errors (5A...63) (5A 63) Cause Internal errors in the module Effect Elimination Undefined effects possible If this manual is observed, the errors should not occur However, should this still be the case, please consult the responsible sales department. When doing so, it is vitally important to also report the exact circumstances leading to the error. Cl. = Detail event class, No. = Detail event number Note: Value (xx) = Hexadecimal notation of the error number Diagnostic interrupt i t t LED DIAG DIAG blinking
11-14
Troubleshooting
11.3.2
Overview
Error messages
The errors are listed in Tables 11-6...11-8 according to error class.

Table 11-6 Cl. Operator errors No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 Operating mode not allowed Cause Effect Elimination 2 (02) 4 (04) Cause Select an allowed operating mode CBS In the Jogging and Control operating modes, the selected velocity or control level is not 1 or 2. In incremental operation the set value number is not allowed (1 - 100, and 254 permitted). Set operating mode parameters to an allowable value. CBS A travel command was given in the absence of a start enable (start, external start, R+/R) Restore travel command and wait for start enable CBS Synchronization of the axes is necessary in the Incremental, relative, MDI and Automatic operating modes. Execute reference point approach CBS In operating modes Jog, Control or Incremental, relative the direction settings R+/R- are active at the same time. With Reference point operation the direction setting no longer agrees with the startup direction specified in the MD. Correct the direction parameters Incorrect operating mode parameters The operating mode selected is not allowed. CBS Message/ Display
Operator errors 2 (02) 1 (01)
Effect Elimination 2 (02) 5 (05) Cause Effect Elimination 2 (02) 9 (09) Cause Effect Elimination 2 (02) 11 (0B) Cause Direction specification not allowed Axis is not synchronized Start enable missing
Effect Elimination
Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block Note: Value (xx) = Hexadecimal notation of the error number
11-15
Troubleshooting
Table 11-6 Cl.
Operator errors, continued No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 Axis movement not possible Cause Effect Elimination Restore traverse command and switch acknowledge error or Stop to inactive, or give drive enable. CBS The setpoints defined by the operating mode parameters are missing or a change in incremental dimensions occurred when the operating mode started. Parameterize and read in setpoint parameters CBS No program preselected at Start. First preselect program then start. CBS The programmed target was reached in a block with external block change (G50). Check programming (MD34) and connection of digital input. CBS Length measurement and inprocess measurement selected simultaneously No measurement function effective. Reselect one of the two measurement functions. CBS Machining in progress is still active (see Section 7.3.1) Activate machine data not executed Terminate processing, repeat activation CBS MDI block inactive or already executed On-the-fly MDI block is not being processed Delete error message and initiate execution as MDI block. With an unacknowledged error, no drive enable or stop, a traverse command was triggered. CBS Message/ Display
Operator errors 2 (02) 12 (0C)
2 (02)
13 (0D)
Incremental value not in place Cause
Effect Elimination 2 (02) 14 (0E) Cause Effect Elimination 2 (02) 15 (0F) Cause Effect Elimination 2 (02) 16 (10) Cause Effect Elimination 2 (02) 21 (15) Cause Effect Elimination 2 (02) 22 (16) Cause Effect Elimination Measurement function undefined Digital input not activated No program preselected
Activate machine data not allowed
On-the-fly MDI block inoperative
11-16
Troubleshooting
Table 11-7 Cl.
Travel errors No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 Software limit switch, beginning Cause Limit switch approached: in Jog operating 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 because of actual value set. Effect Elimination CBS Message/ Display
Travel errors 3 (03) 1 (01)
S Axis movement is stopped at the limit switch position. S Set actual value is not executed. S Following acknowledgment of the error, it is possible to
!
3 (03) 2 (02) Cause
(With the limit switches (MD21/22) disabled, the travel range limits are established by the maximum allowable values for the limit switches). CBS
Software limit switch, end Limit switch approached: in Jog operating mode, in Automatic operating mode if G88/89, without switching signal from the corresponding digital input. The axis is located to the right of the software limit switch because of actual value set. Effect Elimination
S Axis movement is stopped at the limit switch position. S Set actual value is not executed. S Following acknowledgment of the error, it is possible to
(With the limit switches (MD21/22) disabled, the travel range limits are established by the maximum allowable values for the limit switches).
11-17
Troubleshooting
Table 11-7 Cl.
Travel errors, continued No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 Traversing range beginning approached Cause CBS Message/ Display
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 or from range covered by absolute encoder)
Effect Elimination 3 (03) 4 (04) Cause
S Axis movement is stopped at the traversing range limit. S Set actual value is not executed.
Travel in the opposite direction CBS
Traversing range end approached
S During traversing with soft limit switches disabled, the

traversing range end was approached.
S The axis is located to the left/right of the traversing
range end because of actual value set. (Traversing range: "109 or from range covered by absolute encoder)
S Axis movement is stopped at the traversing range limit. S Set actual value is not executed.
Travel in the opposite direction CBS
Target position not within traversing range
S The position to be approached is outside the working

range limited by the software limit switches.
S The rotary axis programming is specified as a referEffect Elimination
ence value which does not fall within the positive complete circle.
S Correct position to be approached. S Alter value of software limit switch (MD) 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).
11-18
Troubleshooting
Table 11-7 Cl.
Travel errors, continued No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 Target velocity zero Cause Effect Elimination Input an allowable velocity value CBS CBS Message/ Display
S Zero was entered as programmed velocity. S No feed was programmed for positioning.
3 (03)
28 (1C)
M2/M30 missing Cause
S In the last program, block, no M2, M30 or M18 is programmed.
S The last program, block is a skip block.

Effect Elimination 3 (03) 30 (1E) Cause Per causes CBS For traversing with set actual value on the fly (G88, G89), external block change (G50) or measurement, no digital input necessary for that purpose is parameterized. The functions are not started. Parameterize the digital inputs by way of MD34. CBS No tool offset values are available on the FM 354 or tool offsets are accessed and modified when an override is active. Parameterize and read in tool offset values CBS Value is no longer within the range"109 Input a correct value CBS Incorrect M or G commands or incorrect block structure Input a correct MDI block Digital input not parameterized
Tool offset value not in place
Effect Elimination 3 (03) 36 (24) Cause Effect Elimination 3 (03) 37 (25) Cause Effect Elimination MDI-block on the fly, incorrect syntax Set actual value on the fly, incorrect value
11-19
Troubleshooting
Table 11-7 Cl.
Travel errors, continued No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 MDI block on the fly, incorrect velocity Cause Effect Elimination Input a correct MDI block CBS Position or dwell time is outside allowable values. Position: "109 MSR Dwell time: > 100,000 ms Input a correct MDI block CBS Incorrect block syntax Input a correct MDI block CBS Removal of controller enable during Processing in progress Axis is stopped via deceleration ramp MD41 (the Servo Enable is maintained until axis comes to a standstill) CBS Controller ready message canceled whilst processing in progress. Axis is stopped via voltage ramp (MD45) with actual value transfer after axis comes to rest (internally like follow-up mode) Traverse command of the or axis without controller enable (except for Control operating mode) No axis movement or Velocity not within the range between > 0 and max. allowable traverse velocity (500,000,000 MSR/min) CBS Message/ Display
3 (03)
39 (27)
MDI block on the fly, incorrect position or dwell time Cause
Effect Elimin. 3 (03) 40 (28) Cause Effect Elimination 3 (03) 61 (3D) Cause Controller enable missing MDI block on the fly erroneous
Effect
Elimination 3 (03) 62 (3E) Cause
Set controller enable by way of user program Axis started without or Controller ready message No axis movement or
Controller not ready for operation
Effect
Elimination
S Check drive/connecting cables S Analysis of the Controller ready message can be

disabled by MD37!
11-20
Troubleshooting
Table 11-7 Cl.
Travel errors, continued No. Error message, error analysis and elimination Error response : Feed STOP see Table 11-2 PEH target area monitoring Cause Following conclusion of the setpoint value specification to the position controller, the target area is not reached within the specified time. CBS Message/ Display
Effect Elimination 3 (03) 65 (41)
S Check drive S Match MD24, MD25

CBS
No drive movement Cause Effect Elimination
S Axis standstill at maximum drive control signal ("10 V) S on violation of the defined following error limit S Deceleration of the drive via voltage ramp (MD45) S Actual value transfer (internally like follow-up mode) S Check drive/connecting cables S Check controller enable signal between FM 354 and
drive CBS
3 (03)
66 (42)
Following error too great Cause Effect Elimination Excessive following error during axis movement Deceleration of the drive via voltage ramp (MD45)
S Check drive S Check MD23, MD43
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Data not transmitted in appropriate operating mode Data not accepted Transmit data in appropriate operating mode Message/ Display
General data errors 4 (04) 1 (01) Cause Effect Elimination
Data at time of transmission unacceptable
11-21
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Velocity not within the range between > 0 and max. allowable traverse velocity (500,000,000 MSR/min) Velocity does not become effective Input an allowed velocity value CBS or DB Velocity not within the range between > 0 and max. allowable traverse velocity (500,000,000 MSR/min) Velocity does not become effective Input an allowed velocity value CBS or DB Voltage specified does not fall within the range of "10 V Voltage does not become effective Input an allowed voltage value CBS or DB Voltage specified does not fall within the range of "10 V Voltage does not become effective Input an allowed voltage value CBS or DB Incremental value is greater than 109 MSR Original incremental value is retained Input an allowable incremental value CBS or DB Incorrect M or G commands or incorrect block structure Original MDI block is retained Input a correct MDI block CBS or DB Velocity not within the range between > 0 and max. allowable traverse velocity (500,000,000 MSR/min) Original MDI block is retained Input a correct MDI block Velocity level 1 incorrect Cause Effect Elimination Message/ Display
General data errors 4 (04) 2 (02)
4 (04)
3 (03)
Velocity level 2 incorrect Cause Effect Elimination
4 (04)
4 (04)
Voltage level 1 incorrect Cause Effect Elimination
4 (04)
5 (05)
Voltage level 2 incorrect Cause Effect Elimination
4 (04)
6 (06)
Preset incremental value too high Cause Effect Elimination
4 (04)
7 (07)
MDI block, incorrect syntax Cause Effect Elimination
4 (04)
8 (08)
MDI block, incorrect velocity Cause Effect Elimination
11-22
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Position or dwell time falls outside the allowable values Position: "109 MSR Dwell time: > 100,000 ms Original MDI block is retained Input a correct MDI block CBS or DB Value falls outside the range "109 MSR Does not become effective Input a correct value CBS Actual value falls outside the software limit switches or outside or the range "109 MSR DB Set actual value does not become effective Input a correct value CBS or DB Value falls outside the range Input a correct value CBS or DB Output not available for direct output of the user program Output is not executed "109 MSR MDI block, position or dwell time incorrect Cause Message/ Display
Effect Elimination 4 (04) 10 (0A) Cause Effect Elimination 4 (04) 11 (0B) Cause Effect Elimination 4 (04) 12 (0C) Cause Effect Elimin. 4 (04) 13 (0D) Cause Effect Elimination
Zero offset value, offset value incorrect
Set actual value, actual value incorrect
Set reference point value, reference point incorrect Set reference point does not become effective
Digital output not possible
S Correct user program S Correct parameterization of the output assignment within

the MD35 to the desired assignment CBS or DB
4 (04)
14 (0E)
Request application data incorrect Cause Effect Elimination Incorrect request code Old application data are retained Request code 0-6, 16-23 and 25 possible
4 (04)
15 (0F)
Teach In, program number incorrect Cause Effect Elimination The program was not parameterized or read in. Teach In is not executed Parameterize and read in program or correct program number
CBS or DB
11-23
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB The block number in the program selected is not in place. Teach In is not executed Specify correct block number CBS or DB The block number in the program selected is not in place or incorrect block number was selected. Teach In is not executed Specify correct block number CBS or DB Axis is still in motion Teach In is not executed Stop axis and repeat task CBS or DB The data (data blocks) transmitted are unknown to the FM 354 Data not accepted Correct user program CBS or DB Teach In, block number incorrect Cause Effect Elimination Message/ Display
4 (04)
17 (11)
Teach In, dwell time or subprogram-request in block Cause Effect Elimination
4 (04)
18 (12)
Teach In, no axis stoppage Cause Effect Elimination
4 (04)
40 (28)
Transmit non-relevant data Cause Effect Elimination
4 (04)
81 (51) 82 (52) 83 (53) 84 (54) 85 (55)
Programmable modules communication: unauthorized DB type Programmable modules communication: Info 1 incorrect Programmable modules communication: Info 2 incorrect Programmable modules communication: unauthorized task Programmable modules communication: data errors Cause Effect Elimination Incorrect data Task is not executed Correct and retransmit
4 (04)
120 (78)
Measurement system grid deviates Cause Effect Elimination The measurement system in the DBs NC, SM, TO does not agree with MD7. DB does not become effective and is stored non-retentively Correct and retransmit
CBS or DB
4 (04)
121 (79)
Incorrect DB type in the module Cause Effect Elimination An incorrect type of DB has been transmitted into the FM 354 DB does not become effective and is stored non-retentively Delete DB, correct and retransmit
CBS or DB
11-24
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB DB type already exists DB does not become effective and is stored non-retentively Delete corresponding DB prior to transmission CBS or DB NC program number already exists DB does not become effective and is stored non-retentively Prior to transmission, delete corresponding DB with the program number CBS or DB Coding not 0 or 1 DB does not become effective and is stored non-retentively Coding not 0 or 1 CBS or DB The available memory is assigned DB does not become effective and is stored non-retentively Delete unnecessary programs (DBs) or compress memory by way of parametering interface CBS or DB Number of blocks too high DB does not become effective and is stored non-retentively Correct program and retransmit CBS or DB Axis does not come to a stop Parameters/data do not become effective Stop axis CBS or DB DBs which do not belong to the module were transmitted (no identification 354) DB does not become effective and is stored non-retentively Transmit the DBs belonging to the FM 354 DB type or DB no. already exists Cause Effect Elimination Message/ Display
General data errors 4 (04) 122 (7A)
4 (04)
123 (7B)
NC program number already exists Cause Effect Elimination
4 (04)
124 (7C)
Parameter Save incorrect Cause Effect Elimination
4 (04)
125 (7D)
DB memory filed Cause Effect Elimination
4 (04)
126 (7E)
Allowable program length exceeded Cause Effect Elimination
4 (04)
127 (7F)
Writing parameters/data is not possible Cause Effect Elimination
4 (04)
128 (80)
Incorrect module identification Cause Effect Elimination
11-25
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Value range outside "109 Incremental value not effective Transmit correct value CBS "109 or DB Value range outside Incremental value, incorrect value Cause Effect Elimination Message/ Display
4 (04)
130 (82)
Tool offset, incorrect value Cause Effect Elimination Tool offset not effective Transmit correct value
4 (04)
131 (83)
Not possible to insert block Cause Effect Elimination Memory full Function is not executed Delete unnecessary DBs and repeat function
CBS or DB
4 (04)
132 (84)
Not possible to delete block Cause Effect Elimination Block does not exist, no assignment bits (bytes 2 and 3) enabled in block (when data available). Function is not executed Check program and repeat function with correct block number
CBS or DB
4 (04)
144(90) SDB cannot be loeaded Cause Effect Elimination Module not at standstill SDB is rejected Stop module and retry load operation.
CBS or DB
4 (04)
145(91) SDB user data error Cause Effect Elimination SDB contains value error SDB is rejected Generate SDB with parameter assignment tool and retry load operation
CBS or DB
Machine data errors
Error response: Warning see Table 11-2
11-26
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB The measurement system grid (MSR) entered does not agree with the MSR in the other DBs of the module. DB does not become effective and is stored non-retentively Measurement system Cause Effect Elimination Message/ Display
Machine data errors 5 (05) 7 (07)
S Check MSR and correct as necessary S When making correct input, delete the other DBs on the
module before retransmitting. CBS No linear or rotary axis parameterized DB does not become effective and is stored non-retentively Correct and retransmit CBS Impermissible value range or dependency violation (see Section 5.3.1) DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Unacceptable type of encoder DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB or DB or DB
5 (05)
8 (08)
Type of axis Cause Effect Elimination
5 (05)
9 (09)
Rotary axis Cause Effect Elimination
5 (05)
10 (0A)
Encoder type Cause Effect Elimination
5 (05)
11 (0B) 12 (0C) 13 (0D) 14 (0E)
Travel per encoder revolution Distance to go per encoder revolution Increments per encoder revolution Number of revolutions, absolute encoder Cause
S Impermissible value range or S dependency violation on no. 11, 12, 13

(see Section 5.3.1) DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Unacceptable baud rate DB does not become effective and is stored non-retentively Correct and retransmit
Effect Elimination 5 (05) 15 (0F) Cause Effect Elimination
Baud rate, absolute encoder
11-27
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Unacceptable value range DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Unacceptable type of reference point travel DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Direction matching undefined DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Disable hardware monitoring undefined DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Reference point coordinates, absolute encoder adjustment Cause Effect Elimination Message/ Display
Machine data errors 5 (05) 16 (10) 17 (11)
5 (05)
18 (12)
Type of reference point travel Cause Effect Elimination
5 (05)
19 (13)
Direction matching undefined Cause Effect Elimination
5 (05)
20 (14)
Disable hardware monitoring undefined Cause Effect Elimination
5 (05)
21 (15) 22 (16) 23 (17) 24 (18) 25 (19) 26 (1A) 27 (1B) 28 (1C) 29 (1D) 30 (1E)
Software limit switch, begin Software limit switch, end Maximum velocity Target range (PEH) Monitoring time Stoppage area Reference point offset Referencing velocity Reducing velocity Backlash compensation Cause
S Impermissible value range or S dependency violation on no. 21, 22, 28, 29

(see Section 5.3.1) DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Backlash vector reference undefined DB does not become effective and is stored non-retentively Correct and retransmit
Effect Elimination 5 (05) 31 (1F) Cause Effect Elimination
Backlash vector reference
11-28
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Type of output, M-function not defined DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Unacceptable value range DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Inputs undefined or defined more than once DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Outputs undefined or defined more than once DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Input adapter undefined DB does not become effective and is stored non-retentively Correct and retransmit CBS or DB Type of output, M-function Cause Effect Elimination Message/ Display
Machine data errors 5 (05) 32 (20)
5 (05)
33 (21)
Output time, M-function Cause Effect Elimination
5 (05)
34 (22)
Digital inputs Cause Effect Elimination
5 (05)
35 (23)
Digital outputs Cause Effect Elimination
5 (05)
36 (24)
Input adapter Cause Effect Elimination
5 (05)
38 (26) 39 (27) 40 (28) 41 (29) 42 (2A) 43 (2B) 44 (2C) 45 (2D)
Positioning circuit amplification Minimum following error, dynamic Speed-up Slow-down Jerk time Set voltage, max. Offset compensation Voltage ramp Cause Effect Elimination Unacceptable value range DB does not become effective and is stored non-retentively Correct and retransmit
11-29
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error response: Warning see Table 11-2 CBS or DB Message/ Display
Machine data errors 5 (05) 52 (34) 53 (35) 54 (36) 55 (37) 56 (38)
Velocity for backlash compensation Backlash compensation mode Illegal standstill speed for controlling Illegal time-out time for enforced zero-speed detection Illegal response time for the standard diagnosis Cause Effect Elimination Impermissible value range or dependency violation (see Section 5.3.1). DB does not become effective and is stored non-retentively. Correct and retransmit.
5 (05)
96 (60)
Software limit unacceptable Cause With linear axes: Software begin limit switch greater than software limit switch end with rotary axes: Software begin/end limit switches not within rotary axis cycle and not at maximum input value. Effect Elimination DB does not become effective and is stored non-retentively Correct and retransmit
CBS or DB
5 (05)
97 (61)
Limitation, software limit with absolute encoder Cause Effect Elimination Travel distance between software limit switch begin and end is greater than the absolute value range of the encoder. DB does not become effective and is stored non-retentively Correct and retransmit
CBS or DB
5 (05)
99 (63)
Impermissible actual value evaluation factor Cause Impermissible relationship in the assignments for distance per encoder revolution (MD11, 12) and increments per encoder revolution (MD13) (see Section 5.3.1). DB does not become effective and is stored non-retentively. Correct and retransmit.
CBS or DB
Effect Elimination 5 (05) Cause
102 (66) Limitation, software limit for linear axis For encoder resolutions < 1 MSR, the permissible traversing range in the ratio of MSR to increments is limited (e.g. for 0.5 m per enc. pulse to 0.5109 MSR) (see Section 5.3.1). DB does not become effective and is stored non-retentively. Correct and retransmit.
CBS or DB
Effect Elimination
Traversing program errors Error response: Warning see Table 11-2 Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block Note: Value (xx) = Hexadecimal notation of the error number
11-30
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Program selection, subroutine number incorrect Cause the FM 354. Message/ Display CBS DB
Traversing program errors Error response: Warning see Table 11-2 8 (08) 1 (01)
S The subroutine requested in the program is not in place on or S The subprogram called in the program contains another
subprogram call. Nesting is not possible.
Effect Elimination 8 (08) 8 (08)
Program selection is not executed
S Parameterize and read in program, correct as necessary S Select another program

CBS or DB The program was not parameterized, not in place on the FM 354. Program selection is not executed
Program selection, program number not in place Cause Effect Elimination
S Parameterize and read in program, correct as necessary S Select another program

CBS or DB The block number is missing in the program selected Program selection is not executed
8 (08)
9 (09)
Program selection, block number missing Cause Effect Elimination
S Correct program S Select different block number

CBS or DB Block number missing or outside of the number range Program is not stored Correct program CBS or DB Direction specification incorrect Program selection is not executed Correct program selection and repeat. CBS or DB Another program was preselected during a movement Program selection is not executed Use STOP to stop program in progress, or repeat program selection at end of program.
8 (08)
10 (0A)
Program, block number unacceptable Cause Effect Elimination
8 (08)
11 (0B)
Program selection, direction specification incorrect Cause Effect Elimination
8 (08)
12 (0C)
Program selection unacceptable Cause Effect Elimination
11-31
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error, program number Cause Effect Elimination Program numbers in the blocks incorrect Program is not stored Correct program, per cause CBS or DB No block in program Program is not stored Correct program, per cause CBS or DB Block number value range incorrect Program is not stored Correct program CBS or DB Block number not in ascending order Program is not stored Correct program CBS or DB Message/ Display CBS or DB
8 (08)
21 (15)
No block in program Cause Effect Elimination
8 (08)
22 (16)
Error, block number Cause Effect Elimination
8 (08)
23 (17)
Block number sequence incorrect Cause Effect Elimination
8 (08)
24 (18)
G function 1 unacceptable Cause
S The number programmed as G function 1 is not allowed. S In block, other data besides M-functions were programmed with dwell time (G04). Program/block not stored Correct program, per cause
Effect Elimination 8 (08) 25 (19) Cause Effect Elimination
G function 2 unacceptable The number programmed as G function 2 is not allowed. Program/block not stored Correct program, per cause
CBS or DB
11-32
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination G function 3 unacceptable Cause Message/ Display CBS or DB
Traversing program errors Error response: Warning see Table 11-2 8 (08) 26 (1A)
S The number programmed as G function 3 is not allowed. S External block change (G50) was programmed in a block
together with continuous operation for setting actual value on the fly (G88/89).
S A tool offset (G43, G44) was called up without D number. S In selecting a D number, the direction specification is missing for the tool offset (G43, G44). Effect Elimination 8 (08) 27 (1B) Cause Program/block not stored Correct program, per cause CBS or DB
M function unacceptable
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. Program/block not stored Correct program, per cause
Effect Elimination 8 (08) 28 (1C) Cause
Position/dwell time missing
CBS
or S No dwell time specified in block with G04. S Target position missing with external block change (G50). DB S No new actual value programmed for the function continuous operation with setting actual value on the fly (G88/89). Program/block not stored Correct program, per cause CBS or DB The number for tool offset is greater than 20 Program/block not stored Correct program, per cause CBS or DB Subroutine without number of runs Program is not stored Correct program, per cause CBS or DB No velocity was programmed Program/block not stored Correct program, per cause
Effect Elimination 8 (08) 29 (1D) Cause Effect Elimination 8 (08) 30 (1E) Cause Effect Elimination 8 (08) 31 (1F) Cause Effect Elimination
Incorrect D-NO (>20)
Error, subroutine
Velocity missing
11-33
Troubleshooting
Table 11-8 Cl.
General data errors, machine data errors, traversing program errors, continued No. Error message, error analysis and elimination Error, callup subroutine Cause Effect Elimination Block syntax for callup subroutine is incorrect Program is not stored Correct program, per cause CBS or DB Block syntax for invoking a D function is incorrect Program is not stored Correct program, per cause CBS or DB Maximum block number exceeded Program is not stored Correct program, per cause Message/ Display CBS or DB
8 (08)
33 (21)
D function unacceptable Cause Effect Elimination
8 (08)
34 (22)
Incorrect program length Cause Effect Elimination
11-34
Technical Specifications
Overview
This chapter describes the technical data for the FM 354 positioning module. S S S S S S S General technical data Dimensions and weight Load memory Encoder inputs Setpoint output Digital inputs Digital outputs
General technical data

General technical data include: S S S S Electromagnetic compatibility Shipping and storage conditions Ambient mechanical and climate conditions Data on insulation testing, protection class and degree of protection
This information contains standards and test values with which the S7-300 complies, 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 are on record for the FM 354: UL Recognition Mark Underwriters Laboratories (UL) in compliance with UL Standard 508, File E 164110 CSA Certification Mark Canadian Standard Association (CSA) in compliance with Standard C 22.2 No. 142
A-1
FM approval
The FM approval is on record for the FM 354: FM certification in accordance with Factory Mutual Approval Standard Class Number 3611, Class I, Division 2, Group A, B, C, D.
Warning Potential for personal injury and property damage. In areas where there is a risk of explosion, personal injury and property damage may occur if you disconnect plugs while the S7-300 is in operation. In areas where there is a risk of explosion, always cut off power to the S7-300 before disconnecting plugs.
Warning WARNING - NEVER DISCONNECT 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 Electromagnetic Compatibility and the harmonized European standards (EN) which it embodies. The EC Declaration of Conformity in accordance with Article 10 of the EU Guideline referenced above can be found on the Internet at: http://support.automation.siemens.com/WW/view/de/15257461
Application
SIMATIC products are designed for application in an industrial environment.
Application Industry Requirement concerning Noise emission EN 50081-2 : 1993 Noise immunity EN 61000-6-2 : 1999
Observe installation guidelines

SIMATIC products meet the requirements, provided you observe the installation guidelines set forth in the manuals during installation and operation.
A-2
Power ratings
Technical data: Power ratings
Table A-1 Power ratings 20.4...28.8 V 0.35 A 8W 2.2 A 100 mA
Supply voltage Power consumption from 24 V Power loss Startup current Power consumption from 5 V backplane bus
Dimensions and weights

Technical data for dimensions and weights:
Table A-2 Technical data: dimensions and weight H D (mm/in) 80 125 118
Dimensions W 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
Encoder inputs
Technical data for encoder inputs:
Table A-3 Technical data: encoder inputs
Position detection Signal voltages Encoder supply voltage Input frequency and line length for incremental encoder Data transm. rates and line length for absolute enc. (SSI)
S Incremental S Absolute (SSI)

Inputs: 5 V per RS422
S 5.2 V/300 mA S 24 V/300 mA S Max. 1 MHz wih 10 m conductor length shielded S Max. 500 kHz with 35 m conductor length shielded S Max. 1.25 Mbit/s with 10 m conductor length shielded S Max. 125 kbit/s with 100 m conductor length shielded
Drive port
Table A-4 Technical data: setpoint output 10...10 V 3...3 mA
Rated voltage range Output current
D/A converter resolution see Section 4.2.
A-3
Digital inputs
Table A-5 Technical data: digital inputs
Number of inputs Supply voltage Electrical isolation Input voltage Input current Input delay (DI1...4) Connecting a 2-conductor sensor
5 (including controller ready)

24 V DC (allowable range: 20.4...28.8 V) No
S 0 Signal: 3...5 V S 1 Signal: 11...30 V S 0 Signal: 2 mA S 1 Signal: 6...15 mA S 0 1 Signal: typ. 15 s S 1 0 Signal: typ. 150 s
Possible
Digital outputs
Table A-6 Technical data: digital outputs 4 24 V DC (allowable range: 20.4...28.8 V) No
Number of outputs Supply voltage Electrical isolation Output voltage Output current on signal 1
S 0 Signal: Residual current max. 2 mA S 1 Signal: (Power supply 3 V)
40_C Rated value Permissible value range Lamp load 0.5 A (total current 2 A) 5 mA...0.6 A (over power supply range) max. 5 W
60_C Rated value Permissible value range Short circuit protection Switching rate 0.1 A (total current 0.4 A) 5 mA...0.12 A (over power supply) Yes
S Resistive load: max. 100 Hz S Inductive load: max. 0.25 Hz

J
A-4
User Data Block (AW-DB)

Table B-1 Absolute address User data block (AWDB) Variable Data type Comment
B
Module address Reserved Execution started Position Reserved
General addresses 0 2...13.5 13.6 13.7 14.0 14.1 14.2 14.3 14.4...14.7 15.0 15.1 15.2 15.3 15.4 15.5 15.6 15.7 16 17 18 19...21 Checkback signals 22.0 22.1 22.2 22.3 22.4 OT_ERR DATA_ERR BOOL BOOL TST_STAT BOOL Reserved Switch to P bus completed Reserved Operator/traversing error Data error START STOP DIR_M DIR_P ACK_MF READ_EN SKIP_BLK DRV_EN MODE_IN MODE_ TYPE OVERRIDE BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BYTE BYTE BYTE OT_ERR_A BOOL TEST_EN BOOL MODE_BUSY POS_REACHED BOOL BOOL MOD_ADR INT
Control signals Switch to P bus Start-up Reserved Acknowledge operator/traversing error Reserved Start Stop Negative direction Positive direction Acknowledge M function Read-in enable Block skip Drive enable Operating mode Operating mode parameters Override Reserved
B-1
Table B-1 Absolute address 22.5...22.6 22.7 23.0 23.1 23.2 23.3...23.4 23.5 23.6 23.7 24 25.0 25.1 25.2 25.3 25.4 25.5 25.6 25.7 26 27.0...27.3 27.4 27.5 28...31 32...33
User data block (AWDB), continued Variable Data type Reserved PARA ST_ENBLD WORKING WAIT_EI DT_RUN PR_BACK MODE_OUT SYNC MSR_DONE GO_M GO_P ST_SERVO FVAL_DONE POS_RCD NUM_MF STR_MF ACT_POS BOOL BOOL BOOL BOOL BOOL BOOL BYTE BOOL BOOL BOOL BOOL BOOL BOOL BOOL BYTE BOOL DINT Channel parameterizell Start enable Machining in progress Wait for external enable Reserved Dwell in progress Reverse prog. scan Reserved Active operating mode Channel synchronized End of measurement Negative travel Positive travel Servo enable status On-the-fly setting of actual value completed Reserved Position reached. Stop. M function number Reserved M function strobe signal Reserved Actual position Reserved SERVO_EN GAUG_FLY PARK_AX SIM_ON MSR_EN REF_TRIG DI_OFF SSW_DIS BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Controller enable On-the-fly measuring Reserved Parking axis Simulation on Reserved Length measurement Retrigger reference point Enable input disabled Reserved Software limit positions disabled Comment
Initiation signals for single settings 34.0 34.1 34.2...34.5 34.6 34.7 35.0...35.1 35.2 35.3 35.4 35.5 35.6
B-2
Table B-1 Absolute address 35.7
User data block (AWDB), continued Variable Data type Reserved Reserved MD_EN DELDIST_EN SEARCH_F SEARCH_B RESET_AX AVALREM_EN BOOL BOOL BOOL BOOL BOOL BOOL Activate MD Delete residual distance Automatic block advance Automatic block return Reserved Restart Rescind setting of actual value Reserved VLEV_EN CLEV_EN TRG254_EN MDI_EN MDIFLY_EN REFPT_EN AVAL_EN FVAL_EN ZOFF_EN PARCH_EN DIGO_EN PROGS_EN REQAPP_EN TEACHIN_EN BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Speed levels 1, 2 Frequency levels 1, 2 Setpoint for incremental dimension MDI block On-the-fly MDI block Reserved Set reference point Set actual value On-the-fly setting of actual value Zero offset Reserved Modify parameters/data Digital outputs Program selection Request application data Teach-in Reserved OPDAT_EN ACT_BL_EN NXT_BL_EN BLEXT_EN SERVDAT_EN OC_ERR_EN BOOL BOOL BOOL BOOL BOOL BOOL Basic operating data Active NC block Next NC block Actual value block change Service data Operating error no. Comment
Initiation signals for single commands 36 37.0 37.1 37.2 37.3 37.4 37.5 37.6 37.7 Initiation signals for Write requests 38.0 38.1 38.2 38.3 38.4 38.5 38.6 38.7 39.0 39.1 39.2 39.3 39.4 39.5 39.6 39.7 40...41 Initiation signals for Read requests 42.0 42.1 42.2 42.3 42.4 42.5
B-3
Table B-1 Absolute address 42.6...43.2 43.3 43.4 43.5 43.6 43.7 44.0 44.1 44.2...44.4 44.5 44.6 44.7 45.0...45.1 45.2 45.3 45.4 45.5 45.6 45.7 46 47.0 47.1 47.2 47.3 47.4 47.5 47.6 47.7 48.0 48.1 48.2 48.3 48.4 48.5 48.6 48.7 49.0 49.1
User data block (AWDB), continued Variable Data type Reserved PARRD_EN DIGIO_EN OPDAT1_EN APPDAT_EN MSRRD_EN SERVO_D GAUG_FLY_D TRAV_MON_D PARK_AX_D SIM_ON_D MSR_D REF_TRIG_D DI_OFF_D SSW_DIS_D BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Parameter/data Dig. inputs/outputs Additional operating data Application data Read measured values Controller enable On-the-fly measuring Reserved Rotation monitoring Parking axis Simulation on Reserved Length measurement Retrigger reference point Enable input disabled Reserved Software limit positions disabled Reserved Reserved MD_D DELDIST_D SEARCH_F_D SEARCH_B_D RESET_AX_D AVALREM_D BOOL BOOL BOOL BOOL BOOL BOOL Activate MD Delete residual distance Automatic block advance Automatic block return Reserved Restart Rescind setting of actual value Reserved VLEV_D CLEV_D TRG254_D MDI_D MDIFLY_D REFPT_D AVAL_D FVAL_D ZOFF_D BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Speed levels 1, 2 Frequency levels 1, 2 Setpoint for incremental dimension MDI block On-the-fly MDI block Reserved Set reference point Set actual value On-the-fly setting of actual value Zero offset Comment
Ready signals (for Initiation signals, single settings)
Ready signals (for Initiation signals, single commands)
Ready signals (for Initiation signals for Write requests)
B-4
Table B-1 Absolute address 49.2 49.3 49.4 49.5 49.6 49.7 50...51 52.0 52.1 52.2 52.3 52.4 52.5 52.6 52.7 53.0...53.2 53.3 53.4 53.5 53.6 53.7 54.0 54.1 54.2...54.4 54.5 54.6 54.7 55.0...55.1 55.2 55.3 55.4 55.5 55.6 55.7 56 57.0 57.1 57.2
User data block (AWDB), continued Variable Data type Reserved PARCH_D DIGO_D PROGS_D REQAPP_D TEACHIN_D BOOL BOOL BOOL BOOL BOOL Modify parameters/data Digital outputs Program selection Request application data Teach-in Reserved OPDAT_D ACT_BL_D NXT_BL_D BLEXT_D SERVDAT_D OC_ERR_D OT_ERR_D DA_ERR_D PARRD_D DIGIO_D OPDAT1_D APPDAT_D MSRRD_D SERVO_ERR GAUG_FLY_ERR TRAV_MON_ERR PARK_AX_ERR SIM_ON_ERR MSR_ERR REF_TRIG_ERR DI_OFF_ERR SSW_DIS_ERR BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Basic operating data Active NC block Next NC block Actual value block change Service data Operating error read Operator/traversing error read Data error read Reserved Parameter/data Dig. inputs/outputs Additional operating data Application data Read measured values Controller enable On-the-fly measuring Reserved Rotation monitoring Parking axis Simulation on Reserved Length measurement Retrigger reference point Enable input disabled Reserved Software limit positions disabled Reserved Reserved MD_ERR DELDIST_ERR SEARCH_F_ERR BOOL BOOL BOOL Activate MD Delete residual distance Automatic block advance Comment
Ready signals (for Initiation signals for Read requests)
Error signals (for Initiation signals, single settings)
Error signals (for Initiation signals, single commands)
B-5
Table B-1 Absolute address 57.3 57.4 57.5 57.6 57.7 58.0 58.1 58.2 58.3 58.4 58.5 58.6 58.7 59.0 59.1 59.2 59.3 59.4 59.5 59.6 59.7 60...61 62.0 62.1 62.2 62.3 62.4 62.5 62.6 62.7 63.0...63.2 63.3 63.4 63.5 63.6 63.7 64...65
User data block (AWDB), continued Variable SEARCH_B_ERR RESET_AX_ERR AVALREM_ERR Data type BOOL BOOL BOOL Comment Automatic block return Reserved Restart Rescind setting of actual value Reserved VLEV_ERR CLEV_ERR TRG254_ERR MDI_ERR MDIFLY_ERR REFPT_ERR AVAL_ERR FVAL_ERR ZOFF_ERR PARCH_ERR DIGO_ERR PROGS_ERR REQAPP_ERR TEACHIN_ERR BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Speed levels 1, 2 Frequency levels 1, 2 Setpoint for incremental dimension MDI block On-the-fly MDI block Reserved Set reference point Set actual value On-the-fly setting of actual value Zero offset Reserved Modify parameters/data Digital outputs Program selection Request application data Teach-in Reserved OPDAT_ERR ACT_BL_ERR NXT_BL_ERR BLEXT_ERR SERVDAT_ERR OC_ERR_ERR OT_ERR_ERR DA_ERR_ERR PARRD_ERR DIGIO_ERR OPDAT1_ERR APPDAT_ERR MSRRD_ERR BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Basic operating data Active NC block Next NC block Actual value block change Service data Operating error read Operator/traversing error read Data error read Reserved Parameter/data Dig. inputs/outputs Additional operating data Application data Read measured values Reserved
Error signals (for Initiation signals for Write requests)
Error signals (for Initiation signals for Read requests)
B-6
Table B-1 Absolute address
User data block (AWDB), continued Variable Data type Comment
Error messages/status signals from POS_CTRL 66 68.0 68.1 68.2 68.3 68.4...69.0 69.1 69.2...69.7 Diagnostic interrupt data (POS_DIAG) 70.0 70.1 70.2 70.3 70.4...70.5 70.6 70.7 71 72.0 72.1 72.2 72.3 72.4 72.5...73.1 73.2 73.3 73.4...73.5 73.6 73.7 74 75 76 77.0 77.1...78.6 78.7 OC_ERR_EN1 BOOL POS_ID LEN_INFO CHEN_NO CH_ERR_VE1 BYTE BYTE BYTE BOOL HW_INTR_FLT BOOL EPROM_FLT RAM_FLT BOOL BOOL WTCH_DOG_FLT INT_PS_FLT BOOL BOOL COMM_FAULT BOOL MDL_TYPE BYTE NO_CONFIG BOOL MDL_DEFECT INT_FAULT EXT_FAULT PNT_INFO BOOL BOOL BOOL BOOL Module/group errors (coming and going) Internal error/hardware error (group error DBB72, 73) External error External channel error (group error bytes 78) Reserved Module not initialized Reserved Module type class for FM 453 = 08H / Channel information available Reserved Communication error (K bus) Reserved Response from watchdog timer Internal supply voltage to the module failed (NMI) Reserved FEPROM error RAM error Reserved Process interrupt lost Reserved FM pos. ID (74H) Length of the diagnostic information (16) Number of channels (1) Channel error vector Reserved Operating error for channel JOBRESET BOOL JOB_ERR JOBBUSY_WR IMPO_WR JOBBUSY_RD IMPO_RD INT BOOL BOOL BOOL BOOL Error code SFC 58/59 (POS_CTRL) SFB 52/53 (POS_CTRL) Write job active Write request not possible Read job active Read request not possible Reserved Reset status/error Reserved
B-7
Table B-1 Absolute address 79..85 86 87 88...89 90 91 92...93 94 95 96 98 100
User data block (AWDB), continued Variable Data type Reserved OC_ERR_NO OC_REE_CL OT_ERR_NO OT_ERR_CL DA_ERR_NO DA_ERR_CL DIAG_ERR MSRM_ERR BYTE BYTE BYTE BYTE BYTE BYTE INT INT ARRAY [100 ..139] BYTE ZOFF AVAL FVAL REFPT TRG254 VLEVEL_1 VLEVEL_2 CLEVEL_1 CLEVEL_2 MDIB G_1_EN G_2_EN X_T_EN V_EN M_1_EN M_2_EN M_3_EN DINT DINT DINT DINT DWORD DWORD DWORD DWORD DWORD STRUCT BOOL BOOL BOOL BOOL BOOL BOOL BOOL Error number (DS 164) Detail event class Error number (DS 164) Detail event number Reserved Error number (DS 162) Detail event class Error number (DS 162) Detail event number Reserved Error number (DS163) Detail event class Error number (DS163) Detail event number Error code for POS_DIAG (return code SFC 51) Error code for POS_MSRM (return code SFC 59/SFB 52)) Internal, Reserved Comment
Data for the requests 140 144 148 152 156 160 164 168 172 MDI block 176 + 0...+1 + 2.0 + 2.1 + 2.2...+ 2.3 + 2.4 + 2.5...+ 2.7 + 3.0 + 3.1 + 3.2 + 3.3 + 3.4...+ 3.7 MDI block Reserved G function group 1 G function group 2 Reserved Position/ dwell Reserved Speed M function group 1 M function group 2 M function group 3 Reserved Zero offset Set actual value On-the-fly setting of actual value Set reference point Setpoint for incremental dimension Speed level 1 Speed level 2 Frequency level 1 Frequency level 2
B-8
Table B-1 Absolute address +4 +5 + 6...+ 7 +8 + 12 + 16 + 17 + 18 + 19
User data block (AWDB), continued Variable G_1_VAL G_2_VAL X_T_VAL V_VAL M_1_VAL M_2_VAL M_3_VAL Data type BYTE BYTE DINT DINT BYTE BYTE BYTE END_STRUCT Comment G function no. of group 1 G function no. of group 2 Reserved Value for position/dwell Value for speed M function no. of group 1 M function no. of group 2 M function no. of group 3 Reserved
Modify parameter/data 196 +0 +1 +2 +3 +4 PAR_CHAN TYP NUMB COUN JOB DATA STRUCT BYTE BYTE BYTE BYTE ARRAY [200 ..219] BYTE END_STRUCT Digital inputs/outputs (for read and write) 220.0 220.1 220.2 220.3 220.4...7 221.0 221.1 221.2 221.3 221.4...7 On-the-fly MDI block 222 + 0...+ 1 + 2.0 + 2.1 G_1_EN G_2_EN BOOL BOOL MDI_F STRUCT On-the-fly MDI block Reserved G function group 1 G function group 2 D_OUT0 D_OUT1 D_OUT2 D_OUT3 BOOL BOOL BOOL BOOL D_IN0 D_IN1 D_IN2 D_IN3 BOOL BOOL BOOL BOOL Digital input 0 Digital input 1 Digital input 2 Digital input 3 Reserved Digital output 0 Digital output 1 Digital output 2 Digital output 3 Reserved Modify parameter/data DB type Number Quantity Request Data array, structure/data type of Write data as per bytes 1 to 4 of this structure
B-9
Table B-1 Absolute address + 2.2...+ 2.3 + 2.4 + 2.5...+ 2.7 + 3.0 + 3.1 + 3.2 + 3.3 + 3.4...+ 3.7 +4 +5 + 6...+ 7 +8 + 12 + 16 + 17 + 18 + 19
User data block (AWDB), continued Variable Data type Reserved X_T_EN V_EN M_1_EN M_2_EN M_3_EN G_1_VAL G_2_VAL X_T_VAL V_VAL M_1_VAL M_2_VAL M_3_VAL BOOL BOOL BOOL BOOL BOOL BYTE BYTE DINT DINT BYTE BYTE BYTE END_STRUCT Position/dwell Reserved Speed M function group 1 M function group 2 M function group 3 Reserved G function no. of group 1 G function no. of group 2 Reserved Value for position/dwell Value for speed M function no. of group 1 M function no. of group 2 M function no. of group 3 Reserved Comment
Program selection 242 243 244 245 Request for application data 246 247 248 249 Teach-in 250 251 252 TEA_PROG_NO TEA_BLCK_NO FELD2_INTERN BYTE BYTE ARRAY [252...309] BYTE DINT Program number Block number Internal, Reserved CODE_AP1 CODE_AP2 CODE_AP3 CODE_AP4 BYTE BYTE BYTE BYTE Application data 1 Application data 2 Application data 3 Application data 4 PROG_NO BLCK_NO PROG_DIR BYTE BYTE BYTE Program number Block number Direction of processing Reserved
Basic operating data 310 ACT_VAL Actual position
B-10
Table B-1 Absolute address 314 318 322 326 330 334...338
User data block (AWDB), continued Variable SPEED REM_DIST SET_POS SUM_OFST TRAV_SPE Data type DWORD DINT DINT DINT DWORD Actual speed Residual distance Setpoint position Sum of active coordinate offset, tool offset, zero offset Rotational speed Reserved ACT_BL PROG_NO BLCK_NO G_1_EN G_2_EN G_3_EN X_T_EN SR_L_EN SR_N_EN SKIP_EN V_EN M_1_EN M_2_EN M_3_EN TO_EN G_1_VAL G_2_VAL G_3_VAL X_T_VAL V_VAL M_1_VAL M_2_VAL M_3_VAL TO_VAL STRUCT BYTE BYTE BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BYTE BYTE BYTE DINT DINT BYTE BYTE BYTE BYTE END_STRUCT Active NC block Program number Block number G function group 1 G function group 2 G function group 3 Reserved Position/dwell No. of UP calls UP call Block skip Speed M function group 1 M function group 2 M function group 3 Tool offset Reserved G function no. of group 1 G function no. of group 2 G function no. of group 3 Reserved Value for position/dwell Value for speed M function no. of group 1 M function no. of group 2 M function no. of group 3 Tool offset no. Comment
Active NC block 342 +0 +1 + 2.0 + 2.1 + 2.2 + 2.3 + 2.4 + 2.5 + 2.6 + 2.7 + 3.0 + 3.1 + 3.2 + 3.3 + 3.4 + 3.5...+ 3.7 +4 +5 +6 +7 +8 + 12 + 16 + 17 + 18 + 19
B-11
Table B-1 Absolute address
Next NC block 362 +0 +1 + 2.0 + 2.1 + 2.2 + 2.3 + 2.4 + 2.5 + 2.6 + 2.7 + 3.0 + 3.1 + 3.2 + 3.3 + 3.4 + 3.5...+ 3.7 +4 +5 +6 +7 +8 + 12 + 16 + 17 + 18 + 19 X_T_VAL V_VAL M_1_VAL M_2_VAL M_3_VAL TO_VAL DINT DINT BYTE BYTE BYTE BYTE END_STRUCT Application data 382 386 390 394 398 APP1 APP2 APP3 APP4 BLCK_EXT DINT DINT DINT DINT DINT Application data 1 Application data 2 Application data 3 Application data 4 Actual value block change G_1_VAL G_2_VAL G_3_VAL BYTE BYTE BYTE X_T_EN SR_L_EN SR_N_EN SKIP_EN V_EN M_1_EN M_2_EN M_3_EN TO_EN BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL NXT_BL PROG_NO BLCK_NO G_1_EN G_2_EN G_3_EN STRUCT BYTE BYTE BOOL BOOL BOOL Next NC block Program number Block number G function group 1 G function group 2 G function group 3 Reserved Position/dwell No. of UP calls UP call Block skip Speed M function group 1 M function group 2 M function group 3 Tool offset Reserved G function no. of group 1 G function no. of group 2 G function no. of group 3 Reserved Value for position/dwel Value for speed M function no. of group 1 M function no. of group 2 M function no. of group 3 Tool offset no.
Actual value block change
B-12
Table B-1 Absolute address Service data 402 406 410...414 418 422 426 430
OUT_VAL ENC_VAL FOLL_ERR OSC_ERR
DINT DINT DINT DINT
frequency output value pulse output counter Reserved Difference between setpoint and actual position Reserved Setpoint overshoot value/switch adjustment Reserved
Additional operating data 434 435 436 437 438 439 440 441 442.0 442.1 442.2... 442.7 443.0 443.1 443.2 443.3 443.4... 445 Parameter/data 446 +0 +1 +2 +3 +4 PAR_RD TYP NUMB COUN JOB DATA1 STRUCT BYTE BYTE BYTE BYTE ARRAY [450 ..469] BYTE END_STRUCT Parameter/data DB type Number Quantity Request Array, structure/data type according to data, to be read as per bytes 1 to 4 of this structure LIM_FS BOOL LIM_FR LIM_FV BOOL BOOL LIM_SP BOOL OVERRIDE1 PROG_NO1 BLCK_NO1 LOOP_NO1 G90_91 G60_64 G43_44 TO_NO BYTE BYTE BYTE BYTE BYTE BYTE BYTE BYTE Override NC traversing program no. NC block no. UP call counter Active G90/91 Active G60/64 Active G43/44 Active D number Reserved Speed limit Reserved Start/stop frequency limited Frequency value for acceleration limited Reserved Acceleration/deceleration value limited Reserved
B-13
Table B-1 Absolute address 470
User data block (AWDB), continued Variable Data type ARRAY [470...485] BYTE BEGIN_VAL END_VAL LENGTH_VAL USR BITC_0 BITC_1 BITC_2 BITC_3 BITC_4 BITC_5 BITC_6 BITC_7 BITC_8 BITC_9 BITC_10 BITC_13 BITC_14 BITC_15 MD_NO MD_VALUE INC_NO PICT_NO KEY_CODE BITA_0 BITA_1 BITA_2 BITA_3 BITA_4 BITA_5 DINT DINT DWORD STRUCT BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL WORD DINT BYTE WORD WORD BOOL BOOL BOOL BOOL BOOL BOOL Internal, Reserved Comment
Measured values 486 490 494 498 + 0.0 + 0.1 + 0.2 + 0.3 + 0.4 + 0.5 + 0.6 + 0.7 + 1.0 + 1.1 + 1.2 + 1.3...+ 1.4 + 1.5 + 1.6 + 1.7 +2 +4 +8 +9 + 10 + 12 + 14...+15 + 16.0 + 16.1 + 16.2 + 16.3 + 16.4 + 16.5 Initial value or on-the-fly measured value Final value Measured length value Operator control and monitoring Write MD Read MD MDI block transferred Prog. sel. transferred Teach-in transferred Incremental dimension transferred Speed levels transferred Frequency levels transferred MDI block transferred on-the-fly Set actual value transferred Zero offset transferred Reserved Diagnostic interrupt Data error Operator/traversing error MD number MD value Incremental dimension number Reserved Display number Keyboard code Reserved Open-loop control mode Approach to reference point Incremental mode (relative) MDI Auto/single block mode Auto mode
Operator control and monitoring
B-14
Table B-1 Absolute address + 16.6 + 16.7... +17.5 + 17.6 + 17.7
User data block (AWDB), continued Variable BITA_6 Data type BOOL Jog mode Reserved BITA_14 BITA_15 BOOL BOOL END_STRUCT Acknowledge error Acknowledge diagnostic interrupt Comment
B-15
B-16
List of Abbreviations
AS BA BA A/AE BA REF BA SM BA STE BA T BP BR CPU DB DBB DBX DB-MD DB-NC DB-SM DB-SS DB-WK DEKL DENR DP EMC EN ENO EPROM ESD EXE FB
Automation system Mode Automatic/Automatic single block mode Reference point approach mode Incremental approach mode Open-loop control mode Jogging mode Mode parameter Binary result Central Processing Unit of the SIMATIC S7 Data block Data block byte Data block bit Data block 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 External pulse shaper Function block
C-1
List of Abbreviations
FC FEPROM FM HEX HMI I IM I/Q LAD LED MDI MLFB MPI MSR OB OP PG PLC PS PWM Q RFG RPS S7-300 SDB SFC SM SSI STEP 7 STL SZL TF UP
Function Flash EPROM: Read/Write memory Function module Hexadecimal Device for operating and monitoring of a process Input parameter Interface module (SIMATIC S7) Throughput parameter (initialization parameter) Ladder program Light Emitting Diode Manual Data Input Machine-readable order designation Multi Point Interface Measurement 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 for SIMATIC S7 Statement list System status list Technology function User program J
C-2
Index
A
absolute dimensioning, 10-8 absolute encoder alignment, 9-72 absolute encoders, 4-9 absolute encoders (SSI), 9-69 acceleration, 9-75 , 9-76 acceleration override, 10-11 active NC-block, 9-57 actual value block change, 9-58 additional operating data, 9-59 application, A-2 application data, 9-58 request, 9-51 Automatic, 9-10 block advance, 9-33 block return, 9-33 program selection, 9-31 automatic, 9-31 backward processing, 9-32 forward processing, 9-32 Automatic single block, 9-10 automatic single block, 9-36 axis type, 9-61 linear axis, 9-61 rotary axis, 9-62 rotary axis end, 9-62 connecting cables, 4-4 measurement system cable, 4-4 , 4-13 MPI connecting cable, 4-4 setpoint cable, 4-4 , 4-8 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 AWDB, 6-27 CSA certification, A-1
D
data blocks, 5-7 increments, 5-8 , 5-19 machine data, 5-7 , 5-9 status messages, 8-3 , 8-20 system data block, 5-8 tool offset data, 5-8 , 5-20 traversing programs, 5-8 , 5-22 data errors, 11-3 data management, 9-41 deactivate software end position monitoring, 9-43 delete residual path, 9-46 diagnostic buffer, 11-8 Diagnostic data, 6-23 Diagnostic information, 6-23 diagnostic interrupts, 11-6 , 11-9 external channel errors, 11-6 external errors, 11-6 internal errors, 11-6 Operating errors, 11-13 diagnostics/errors (overview), 11-2 Digital inputs, Messen, 9-53 digital inputs, 4-15 , 9-85 , 9-86 , A-4 enable input, 9-86 external block change, 10-4 external start, 9-86 reference point switch for REF, 9-20 reversing switch for REF, 9-21 set actual value onthefly, 9-50 set actual value on-the-fly, 10-6 digital outputs, 4-18 , 9-85 , 9-87 , A-4 direct output, 9-87 dimensions, 10-8
B
backlash compensation, 7-26 , 9-82 basic operating data, 9-56 block change, 10-4
C
CE marking, ii , A-2 change parameters/data, 9-38 checkback signals, 8-23 , 9-2 , 9-6 closedloop control, 2-2 Communication between the CPU and the FM 354, 6-4 configuration, 5-4 configuring the interrupts, 5-5 Connecting an OP, 6-6
Index-1
Index
dimensions of the FM 354, A-3 direction alignment, 9-83 direction of machining, 9-32 Distributed configuration, OB 86, 6-6 drift compensation, 7-26 , 9-81 deactivation, 9-44 drive enable, 9-4 drive time constant, 7-16 , 7-20 drive unit, 4-7 , 7-13 dwell, 10-4
front connector, 1-7 , 4-14 connecting cables, 4-20 wiring the front connector, 4-20 front connectors, 4-4 front-panel elements, 1-7
G
G functions, 10-3
E
EMC guidelines, 4-2 encoder, 7-13 actual encoder value, 9-58 encoder inputs, A-3 encoders, 4-8 , 4-10 , 9-64 absolute encoders, 4-9 , 9-69 connecting the encoders, 4-12 incremental encoders, 4-9 , 9-66 error class, 11-3 external channel errors, 11-3 external errors, 11-3 internal errors, 11-3 error evaluation , 7-9 error list, 11-9 data errors, 11-21 external channel errors, 11-11 external errors, 11-10 internal errors, 11-9 machine data errors, 11-26 Operating errors, 11-13 operator errors, 11-15 travel errors, 11-17 traversing program errors, 11-30 error messages, 11-4 LED indicators, 11-4 Error messages from the FM, 6-21 , 6-40 error response, 11-4 Evaluating a diagnostic interrupt, 6-45 Evaluating a process interrupt, 6-44 Executing mode control, 6-12 , 6-30 external block change, 10-4
I
I/O interface, 4-14 incremental dimensioning, 10-9 incremental encoders, 4-9 , 9-66 measured value synchronization, 9-73 Incremental relative, 9-10 incremental relative, 9-24 , 9-26 increments, 5-19 inprocess measurement, 9-53 Installing the FM 354, 3-3 interfaces, 1-7 , 4-14 I/O interface-interfaces, 4-14 interpolator, 9-75 Interrupt processing, 6-44 Interrupts, 6-44 Evaluating a diagnostic interrupt, 6-45 Evaluating a process interrupt, 6-44 Interrupt processing, 6-44 Lost process interrupts, 6-44 interrupts, 9-89
J
Job request status, 6-15 , 6-33 Jogging, 9-10 , 9-15 jolt filter, 7-21 , 9-76
L
length measurement, 9-54 linear axis, 9-61 Lost process interrupts, 6-44
F
FM approval, A-2 FM cycle, 9-54 , 9-85 , 9-86 , A-3 following error monitoring, 9-78 frequency levels, 9-18
M
M functions, 10-14
Index-2
Index
machine data, 5-9 activation, 7-12 , 9-46 dependencies, 5-16 input limits, 7-3 interdependencies, 7-3 machine data list, 5-11 MDI (Manual Data Input), 9-10 , 9-27 measured values, 9-53 inprocess measurement, 9-53 length measurement, 9-54 measurement, 9-53 mode parameter, 9-18 mode parameter , 9-15 , 9-24 module replacement, 5-8 MPI connection, 1-4
N
next NC-block, 9-57
O
offset compensation, 9-83 OP 07 menu tree, 8-5 OP 17 menu tree, 8-10 Openloop control, 9-10 openloop control, 9-18 Operating control mode, 6-18 , 6-37 operating modes, 9-14 automatic, 9-31 automatic single block, 9-36 incremental relative, 9-24 , 9-26 Jogging, 9-15 MDI, 9-27 openloop control, 9-18 reference point approach, 9-19 operator control and monitoring, 8-1 , 8-3 data blocks, 8-1 user data, 8-1 operator control and travel errors, 11-3 optimization (machine axis), 7-6 position control, 7-16 , 7-19 , 7-21 Override, 9-4 override acceleration override, 10-11 time-override, 9-5 velocity-override, 9-4
P
Parameterizable zero-speed monitoring, 7-28
parameterization, 5-24 parameterizing, 5-1 parameters/data, 9-59 parking axis, 9-44 path resolution, 9-64 ports, 4-5 , 4-8 drive interface, 4-5 drive -port, 1-8 drive-port, 1-7 I/O port, 1-7 , 1-8 measurement system interface, 4-8 SIMATIC bus connector-port, 1-7 , 1-8 POS_CTRL (FC 1) data exchange, 6-12 , 6-30 POS_DIAG (FC 2) read diagnostic interrupt data, 6-22 , 6-41 POS_INIT (FC 0) Initialization, 6-10 , 6-30 POS_MSRM (FC 3) read measured values, 6-25 , 6-41 position approach, 9-77 position control, 9-80 assessment criteria, 7-19 backlash compensation, 9-82 D/A converter, 9-84 direction alignment, 9-83 drift compensation, 9-81 following error, 9-58 , 9-80 interpolator, 9-75 jolt filter, 9-76 offset compensation, 7-14 , 9-83 position approach, 9-77 position control loop gain, 9-58 , 9-80 position controller diagnostics, 7-24 , 9-77 velocity assignment, 9-84 voltage ramp, 9-84 position control , offset compensation, 7-26 Position control circuit, 7-19 position control loop gain, 9-58 , 9-80 position controller, 7-17 , 9-74 positioning, 2-1 , 7-18 approach time, 9-58 , 9-78 assessment criteria, 7-19 positioning accuracy, 9-64 status messages, 9-59 power ratings, A-3 process interrupts, 9-89 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
Index-3
Index
program selection, 9-31 block return, 9-33 Programming the technological functions, 6-1 Communication between the CPU and the FM 354, 6-4 Fundamentals, 6-4 Interface, user data blocks, 6-26 , 6-42 Sample applications, 6-57 Structure of a user program, 6-5 Symbolic programming, 6-27 , 6-43 Testing the user program, 6-6 Writing the user program, 6-7 Putting into operation, with the parameterization tool, 6-8
R
read data active NC-block, 9-57 actual value block change, 9-58 additional operating data, 9-59 application data, 9-58 basic operating data, 9-56 next NC-block, 9-57 parameters/data, 9-59 servicing data, 9-58 readin enable, 9-3 reference point, 9-72 Reference point approach, 9-10 reference point approach, 9-19 reducing velocity, 7-24 referencing velocity, 7-24 reference point coordinates, 7-23 reference point offset, 9-72 reference point switch, 7-23 , 9-20 switch alignment, 7-23 , 9-58 reference point switch , 9-72 reference-point coordinate, 7-26 removing the FM 354, 3-4 Replacing modules, 3-5 restart, 9-47 retrigger reference point, 9-42 reversing switch, 9-21 rotary axis, 9-27 , 9-48 , 9-62 rotary axis end, 9-62
S
safety rules, 4-1 EMERGENCY OFF devices, 4-1 Sample applications, 6-57 service data, 7-9
servicing data, 9-58 servo enable, 9-43 , 9-44 , 9-77 servo ready, 9-77 Set actual value, 9-19 , 9-47 set actual value, 9-49 set actual value on-the-fly, 10-6 set actual value onthefly, 9-50 set actual value onthefly, 9-50 Set actual value on-the-fly, 9-8 set actual value on-the-fly, 10-6 Set breakpoint, 6-6 Set reference point, 7-24 , 7-26 set reference point, 9-52 SIMATIC Manager, 5-4 simulation, 9-45 Single commands, 6-20 , 6-21 , 6-40 automatic block advance/return, 9-33 single commands activate machine data, 9-46 delete residual path, 9-46 restart, 9-47 undo set actual value, 9-47 single functions, 9-42 , 9-45 inprocess measurement, 9-42 length measurement, 9-42 parking axis, 9-44 retrigger reference point, 9-42 servo enable, 9-43 , 9-44 simulation, 9-45 software end position monitoring, 9-43 switch off enable input, 9-43 Single settings, 6-20 , 6-21 , 6-39 , 6-40 slots for the FM 354, 3-2 software limit switches, 7-26 , 9-88 Standard diagnosis for the position controller with actuating signal-Override with parameterizable response time, 7-29 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, 9-7 Starting the axis, 7-13 Startup, 7-6 Status signals, 6-12 , 6-13 , 6-30 , 6-32 Structure of a user program, 6-5 Signal processing, 6-5
Index-4
Index
switch off enable input, 9-43 Symbolic programming, 6-27 , 6-43 synchronization, 9-19 , 9-72 , 9-73 absolute encoder alignment, 9-72 measured value synchronization, 9-73 reference point, 9-72 reference point approach, 9-72 reference point offset, 9-72 reference point switch, 9-72 synchronization point, 9-73 system data, 9-37 change parameters/data, 9-38 measured values, 9-53 set actual value, 9-49 set actual value onthefly, 9-50 set reference point, 9-52 single functions, 9-42 , 9-45 zero offset, 9-47 system data block, 5-8 , 5-25
system of measurement, 9-60
T
Teach in, 9-52 testing (machine axis), 7-6 time-override, 9-5 tool compensation, 10-11 tool offset data, 5-20 Trace, 7-10 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 M functions, 10-14
Index-5
Index
Index-6

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Preface, Contents Product Overview

SIMATIC FM 354 Positioning Module for Servo Drives

6ES7 354-1AH01-8BG0 01/2008 Edition

Information blocks in this manual

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Standards and approvals

Recycling and disposal

Questions regarding this Manual

Siemens Internet address

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 4.2 4.3 4.4 4.5 4.6 4.7

Programming the Technological Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 6.1.1 6.1.2 6.1.3 6.1.4

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Human-machine Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 8.1.1 8.1.2 8.2 8.3

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Writing Traversing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 10.2 10.3 Traversing blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

What can the FM 354 do?

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Where can the FM 354 be used?

The FM 354 in the S7-300 programmable controller

How is the FM 354 linked up with the S7-300?

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

SIMATIC S7-300 CPU

MPI IM SM PS CPU Fig. 1-1

Multi-rack configuration of a SIMATIC S7-300 with FM 354 (example)

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

DIN rail SIMATIC S7-300

System overview (schematic)

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Component DIN rail FM 354 CPU

Power supply (PS) Signal modules (SM) Interface module (IM)

Programming device (PG) Operator panel (OP)

Power section Motor Configuration package

S A manual in PDF format S Getting Started in PDF format

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

System overview of data handling

S Module data S Diagnostic data

User DBx Online data Operating system MPI

Diagnostic/ process interrupt K bus

DBx parame- terization data

DBx parameterization data

Creation of the user program

Human-machine interface Parameterization, testing and diagnostics OP e.g.:

Data storage concept

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

View of the FM 354

Status and error displays

Display for digital I/O modules

I/O port X1 Fig. 1-4 View of the FM353

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0

Type plate of the FM 354

Marks and approvals Module identifier

Overview of module functions

FM 354 Servo Drive Positioning Module 6ES7 354-1AH01-8BG0