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CPU 31xC: Technological functions - Service, Support

1. CPU 31xC Slave CPU 31xC Slave CPU 31xC Slave The configuration required for the different topologies is carried out in the Interface dialog of the parameter assignment screen Note If you edit the ASCII driver with or RS422 multipoint mode or with RS485 operation you must always ensure in your user program that only one node is transmitting data If data are transmitted simultaneously the message frame is corrupted CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 275 Point to point communication 6 3 Parameter configuration 6 3 5 Basics Transmission Parameter Assignment Data for the 3964 R Procedure In the parameter assignment screen specify the parameters for the 3964 R protocol Below you will find a detailed description of the parameters Note The 3964 R protocol can only be used in four wire operating mode RS 422 Parameters Description Value range Default Baud rate Data transmission rate in bps baud e 300 9600 e 600 e 1200 e 2400 e 4800 e 9600 e 19200 e 38400 Start bit During transmission a start bit is prefixed to each character to 1 fixed value 1 be sent Data bits Number of bits onto which a character is mapped e 7 8 8 Stop bits During transmission the stop bits are appended to every e 4 1 character to be sent this signals the end of a char
2. Parameters Data type Address Description Value range Default instance DB PV_PER WORD 14 PROCESS VARIABLE PERIPHERY W 16 The process variable in the I O format is 0000 connected to the controller at the process variable peripheral input GAIN REAL 16 PROPORTIONAL GAIN The sign 2 0 The proportional gain input sets the specifies the controller gain controller s direction of action e g negative gain for cooling operations Tl TIME 20 RESET TIME T 0 ms or T 20 s The reset time input determines the time 2 CYCLE response of the integrator DEADB_W REAL 24 DEAD BAND WIDTH 100 0 1 0 A dead band is applied to the error The or phys size dead band width input determines the size of the dead band PV_FAC REAL 28 PROCESS VARIABLE FACTOR 1 0 The process variable factor input is multiplied by the process variable The input is used to adapt the process variable range PV_OFF REAL 32 PROCESS VARIABLE OFFSET 0 0 The process variable offset input is added to the process variable The input is used to adapt the process variable range PULSE_TM TIME 36 MINIMUM PULSE TIME 2 CYCLE T 3 s A minimum pulse duration can be assigned integral with the parameter minimum pulse time multiple of Cycle BREAK_TM TIME 40 MINIMUM BREAK TIME 2 CYCLE T 3 s A minimum break duration can be assigned integral with the parameter minimum break time multiple of Cycle MTR_TM TIME 44 MOTOR MAN
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4. 0 L l t gt lt PULSEGEN cycle x PER_TM gt CONT_C cy le Pulse Width Modulation An input variable of 30 and 10 SFB PULSEGEN calls per PER_TM therefore means e One at the QPOS output for the first three calls of SFB PULSEGEN 30 of 10 calls e Zero at the QPOS output for seven further calls of SFB PULSEGEN 70 of 10 calls Block Diagram POS P_ON NEG_P_ON SYN_ON STEP3_ON MAN_ON ST2BI_ON 4 we QPOS P ses QNEG_P PER_TM P_B_TM RATIOFAC CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 385 Controlling 7 5 Description of Functions Accuracy of the Manipulated Value In this example the Sampling rate of 1 10 CONT_C calls to PULSEGEN calls reduces the accuracy of the manipulated value to 10 that is default input values INV can only be imaged on output QPOS in a 10 pitch The accuracy is increased as the number of SFB PULSEGEN calls per CONT_C call is increased For example if PULSEGEN is called 100 times more frequently than CONT_C the resolution of the manipulated value range will reach 1 recommended resolution lt 5 Note The call ratio must be programmed by the user Automatic Synchronization 386 It is possible to synchronize the pulse output automatically with the block that updates the input variable INV for example CONT_C This ensures that a change in
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7. cee 224 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 1 Table of contents 12 5 7 4 Function Blocks for Pulse Width Modulation cccccccececceceeeeeeeeeeeaeceeeeeeesecencaeeeeeeeeeeeeaees 5 7 5 Gate Function of Pulse Width Modulation cccccceceeeeeeeeceeeeeeeeeeeeceaeeeeeeeeeseeenceeeeeteeteees 5 7 6 Setting the Parameters for the Pulse Train ccccceceeeeeeeeeeeeeeeeesesenaeeeeeeeeeseeeeneeeeeeeeteees 5 7 7 Reactions of the Pulse Width Modulation Output 5 7 8 Pulse Width Modulation and Hardware Interrupt 5 8 Error Handling and interrupts ssaa a a KAA AA aA 5 8 1 Enor DIS Play esea a A asdes dvanpeenedheedeeetsadeestaaede cada 5 8 2 Error Messages at the System Function Block SFB 0 cccceeeeeeeeeeeeeneeeeeeneeeeeenaeeeeeeaeeeeeeaas 5 8 3 Configuring Diagnostic IMenupiS ssossrseio a 234 5 8 4 Configuring the Hardware Interrupt ssssesssrsensssrnssesnnanssnnuneennnnnnnnaantnnaanannaatennannannaannnnaaaannan nna 5 9 Installation of Examples cecceeeecceceeeeeeeeeeaeeceeeee ees ceaeaeeeeeeeeeseaaaeaeeeeeeesecsncaeeeeeeeeeseciaeeseeees 5 10 SPECMCAUONS coisa eo aa caten ad A E E N E O sarge tend 239 510I FUNCIONS enida a ae aa a a a a a aa a a a a aa 5 10 2 Incremental encoders sssrini aaa aaaea aai aaa ia aA 5 10 3 SEMO LiStS iineoae a a eae a aaa a a a aa 5 10 4 Module Parameters OVerVvieW 0 ccce
8. LMNS_ON BOOL 0 3 MANIPULATED SIGNALS ON The actuating signal processing is switched to manual at the manual actuating signals on input TRUE LMNUP BOOL 0 4 MANIPULATED SIGNALS UP With manual actuating value signals the output signal QLMNUP is set at the input actuating signals up FALSE LMNDN BOOL 0 5 MANIPULATED SIGNALS DOWN With manual actuating value signals the output signal QLMNDN is set at the input actuating signals down FALSE PVPER_ON BOOL 0 6 PROCESS VARIABLE PERIPHERY ON If the If the process variable is read from the I Os input PV_PER must be connected to the peripherals and input PROCESS VARIABLE PERIPHERY ON must be set FALSE CYCLE TIME SAMPLE TIME The time between the block calls must be constant The sampling time input specifies the time between block calls 2 20ms T 1 s SP_INT REAL INTERNAL SETPOINT The internal setpoint input is used to specify a setpoint 100 0 100 0 or phys size 0 0 PV_IN REAL PROCESS VARIABLE IN An initialization value can be set at the Process variable in input or an external process variable in floating point format can be connected 100 0 100 0 or phys size 0 0 382 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions
9. Parameters Value range Default Missing pulse zero mark e Yes No e No Traversing range e Yes No e No Working range for linear axes e Yes No e No Actual value e Yes No e No Target approach e Yes No e No Target range e Yes No e No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 3 Integration into the user program 4 3 Integration into the user program Procedure Calling the SFB Instance DB The positioning functions are controlled in your user program Call the system function block SFB DIGITAL SFB 46 The SFB is found in the Standard Library under System Function Blocks gt Blocks The chapter below helps you to design a user program for your application Call the SFB with a corresponding instance DB Example CALL SFB 46 DB22 SFB DIGITAL SFB 46 J LADDR CHANNEL WORKING POS RCD DATEN MRS_DONE START SASI aha ACT_POS Ra MODE_OUT WORD ERR stop ERRA ST_ENBLD ERROR _ MODE_IN STATUS TARGET SPEED Note You must not call an SFB you have configured in your program in another program section under another priority class because the SFB must not interrupt itself Example It is not allowed to call an SFB both in OB1 and in the interrupt OB The SFB parameters are stored in the instance
10. When zero mark monitoring is enabled the CPU monitors consistency of the pulse difference between two successive zero mark signals encoder signal N If you have configured an encoder whose pulses per revolution cannot be divided by 10 or 16 zero mark monitoring is automatically switched off irrespective of the setting in the parameter assignment screen Note The minimum pulse width of the zero mark signal is 8 33 us equal to a maximum frequency of 60 kHz When you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period This reduces the maximum frequency for zero mark monitoring to 30 kHz Not recognized is e Incorrectly assigned number of increments per encoder revolution e Failure of the zero mark signal Synchronization is canceled and the run is aborted when this monitoring responds CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 113 Positioning with digital outputs 4 2 Parameter configuration 4 2 7 Configuring the Diagnostics Diagnostic Interrupts for Monitoring The responding monitoring feature can trigger a diagnostic interrupt Diagnostic Interrupt Enable 114 Requirement In the Basic Parameters screen enable diagnostic interrupt and switch on the respective monitoring facility in the Drive Axis and Encoder screens
11. ERRA ST_ENBLD ERROR MODELIN TARGET STATUS SPEED Note You must not call an SFB you have configured in your program in another program section under another priority class because the SFB must not interrupt itself Example It is not allowed to call the same SFB both in OB1 and in the interrupt OB The SFB parameters are stored in the instance DB These parameter are described in Section Basic Configuration of the SFB ANALOG SFB 44 Page 48 You can access these parameters via e DB number and absolute address in the DB e DB number and symbolic address in the DB The main parameters for the function are also interconnected to the block You can assign the input parameters values directly at the SFB or you can evaluate the output parameters CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 41 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 1 Positioning with Analog Output Procedure Overview A permanently assigned analog output analog output 0 controls the drive with a voltage voltage signal of between 10 V or 0 to 10 V with an additional digital output CONV_DIR or with a current current signal of 20 mA or 0 to 20 mA with additional digital output CONV_DIR Position feedback is realized via an asymmetric 24 V incremental encoder that is equipped with two signals w
12. e ERROR FALSE The STATUS value is OOOOH Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information about the type of error for error numbers see Section Messages Page 351 0 to FFFF hex 284 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions Parameter RD_1 Declaration Datatype Description Value range Default IN_OUT ANY Receive parameters CPU specific 0 Here you specify e Number of the DB in which the received data are to be stored e The data byte number as of which received data are to be stored e g DB 20 from byte 5 gt DB20 DBB5 LEN IN_OUT INT Output of the data length number of bytes 0 to 1024 0 Offset for parameter RD_1 may not be greater than 8190 for CPU 313C PtP or 314C PtP An error message will be returned if this limit is violated Data consistency 6 5 1 4 Basics Data consistency is limited to 206 bytes You must note the following points for the transmission of consistent data with a length of more than 206 bytes Do not access the receive DB unless all data have been received NDR TRUE Then lock the receive DB until EN_R FALSE you have processed the data Clearing the Receive Buffer with SFB 62 RES_RCVB
13. 00H 00H a ooo Error number 00H a 1st data byte a 2nd data byte oo oo 2nd data byte End delimiter 10H aeoo o uao End delimiter 03H a Only with block check aeo Pos acknowledgement 10H STX DLE Byte Byte Byte Byte Byte Byte Byte Byte Byte 10 Byte O 0 NO O e ON DLE EXT BCC DLE STX DLE Byte Byte Byte Byte AUN ao Byte Byte oO n Byte DLE EXT BCC DLE Communication peer Connection establishment Frame Head ee Connection termination Connection setup Response frame header User data Connection termination CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Fetching Data The FETCH request is executed in the following sequence 1 Active partner Transmits a SEND message frame This contains the header 2 Passive partner Receives the message frame verifies the header fetches the data from the CPU and acknowledges with a response message frame This frame contains the data 3 Active partner Receives the response message frame 4 It sends a sequential FETCH message frame if the user data length exceeds 128 bytes This contains the header bytes 1 to 4 5 Passive partner Receives the sequential FETCH message frame verifies the header fetches the data from the CPU and acknowledges with a sequential response me
14. All values are specified in pulses Project design Via parameter assignment screens CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 19 Positioning 2 3 Function scope 2 3 Function scope Overview e Operating modes Jog mode Reference Point Approach Relative incremental approach Absolute incremental approach e Additional functions Set reference point Deleting the distance to go Length measurement 2 4 Components for Positioning Control Basic Design The view below shows the components for controlled positioning Supply system CPU 300C EMERGENCY STOP switch ia Safety Power section device l r Machining stations Motion __ ___P ieee eal GA erode Motor Mechanical transmission elements Hardware limit switch CPU 31xC Technological functions 20 Operating Instructions 03 2011 A5E00105484 05 Positioning 2 4 Components for Positioning Control e The CPU uses the outputs to control the converter e The converter processes the positioning signal and controls the motor e When a safety device Emergency Off switch or hardware limit switch is actuated the converter switches off the motor e The motor is controlled through the converter and
15. Control mode 1 Rapid speed Creep speed Position Plus Minus Plus Minus reached direction direction direction direction POS_RCD QO 1 1 0 0 0 Q1 0 0 0 0 1 Q2 1 0 1 0 0 Q3 0 1 0 1 0 Control mode 3 Control mode 3 Rapid speed Creep speed Position Plus Minus Plus Minus reached direction direction direction direction POS_RCD QO 1 1 0 0 Q1 1 1 1 1 Q2 1 0 1 0 Q3 0 1 0 1 Control mode 4 Control mode 4 Rapid speed Creep speed Position Plus Minus Plus Minus reached direction direction direction direction POS_RCD QO 1 0 0 0 Q1 1 0 1 0 Q2 0 1 0 0 Q3 0 1 0 1 Parameters Value range Default Target range 000 pulses The CPU rounds up odd values 0 up to and including 200 000 50 The target range is arranged symmetrically around the target When the value is 0 POS_RCD is not set to TRUE until the target has been overrun or reached to the accuracy of a pulse The target range is limited e tothe rotary axis range of rotary axes e to the working range of linear axes CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration Monitoring Time Parameter Parameters Value range Default Monitoring time 0 to 100000 ms 2000 e 0 No monitoring Rounded up by the CPU in 4 ms steps The CPU uses this monitoring time to monitor e actual value of the position e target approach Actual val
16. Count value too high 01 42H 01 FFH Invalid job ID Remedy Refer to the online help or user manual for information on valid values Event class 02 02HH Measuring frequency configuration error SFB parameter SFB 48 Event No 02 21H Event Text Integration time too low Integration time too high Frequency low limit too low Frequency low limit too high Frequency high limit too low Frequency high limit too high Invalid job number Remedy Refer to the online help or user manual for information on valid values SFB 49 Event class 04 04H Pulse width modulation parameter assignment error in the SFB parameters Event No 04 11H Event Text Period too short Period too long On delay too short On delay too long Minimum pulse width too short Minimum pulse width too long Invalid job number Remedy Refer to the online help or user manual for information on valid values CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 243 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications System error 244 Event class 128 08H Configuration error in global SFB parameters Event No Event Text Remedy 80 01H Wrong operating mode or In HW Config specify the correct operati
17. DEL End delimiter 03H EXT Only with block check BCC Pos acknowledgement DEL 10H Continuation response frame Start character 02H P STX Pos acknowledgement __ DEL 10H Continuation response frame FFH 1st Byte 00H __ _ 2nd Byte 00H 3rd Byte Error number 00H lt 4th Byte End delimiter 10H lt lt DEL End delimiter 03H e EXT Only with block check BCC Pos acknowledgement __ DEL 10H CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Communication partner Connection setup Frame header User data Connection termination Connection setup Response frame header Connection termination 335 Point to point communication 6 9 Protocol Description 6 9 3 3 Procedure 336 Fetching Data with RK 512 The picture below shows the data transmission sequence when fetching data via response message frame with RK 512 computer connection CPU31xC FETCH frame Start character 02H Pos acknowledgement 10H 00H 00H FETCH request 45H Data block 44H Data source DB100 64H DW100 64H Length 00H 50 DW 32H No KM FFH CPU 1 only 1FH End delimiter 10H End delimiter 03H Only with block check Ss Pos acknowledgement 10H Response frame with data Start character 02H Pos acknowledgement 10H 00H S
18. eeeeeeneeeeeeeneeeeeeneeeeeenaeeeeeeaas Positioning with digital OUtDUtS iectesessccscsesseteteetesersts eee ceesved en ses seedeeeeecentead ee deeeinee debi eceereesReeeeeeeeeiteneasees 95 4 1 Ts Eee ee ac eee a a oe eee ee Oe ene te eer verte ts 95 4 1 1 Important Safety RUES 2 42 1 ieee ives e eae ec aie 95 4 1 2 Wiring RUGS 2 32 nc sess epic ae dosed coy iadaa enscesensdnnedsaedace chislbaadcecasshsidsacedeae ss aai aaka EAEan aia 96 4 1 3 Terminals for Positioning with Digital Outputs 0 00 0 ec e ee eeee ee eeeete ee ee tates ee taeeeersaeeeertaeeeeee 97 4 1 4 Connecting Components sssrini ane aa aAa aan ENa E aea aeai 99 4 1 5 Circuit Breaker for Digital Outputs aeseseeeessecesernieseireerrunesterecarrnueetdnnaarinnastinnedennndateaadanenanaan 4 2 Parameter configuration isisisi sne sanige a a aa aa i a a a a aaa 4 2 1 Basics of Parameter Configuration ccececeeceeeceeeeeeeeeceeaeceeeeeeeseccaeceeeeesesensaeaeeeeeeeseteeaeas 4 2 2 Configuration with the Parameter Assignment Screen ssesssssrrssesresssrrsssrrrssrtrrssrirnssrrnnnsees 4 2 3 B sic par metefS aiscin api oada aaa aaa iaaa aaa eaaa iaaa aiaa 4 2 4 Drive PAFAMELEMS sssi inersia aa a a aaa a o aa a aaaea 4 2 5 AXIS Parameters scinni aa a a aa aa AE A E 4 2 6 Encoder Parameters iie aciisdenvasdecsessetacens a a a a a a a aa a aaaea 4 2 7 Configuring the Diagnostics 5 sieceze ssctecia sees cces dagneddus NEE AE 4 3 Integration into the user program
19. 0 Direction Signal CONV_DIR In control mode Voltage 0 to 10 V or current 0 to 20 mA and direction signal the 24 V digital output CONV_DIR supplies direction information e Run in plus direction forward DO switched off e Run in minus direction reversed DO switched on CPU 31xC Technological functions 44 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Off Delay when Canceling a Run In the parameter assignment screens in the Off delay parameter you can configure the delay time only active when a run is aborted to be active between the cancellation of a run and reset of the digital output CONV_EN This ensures that the axis is slow enough at the time the output is reset to enable the brake to absorb the kinetic energy of the axis Speed V set Cancel run Distance WORKING Output CONV_EN Cut off delay s Working range Determine the working range with the help of the software limit switch coordinates A run may never exceed the working range of a synchronized linear axis You must always specify the run targets according to the working range After an axis has overrun the working range you can only return it in jog mode A Target Target range Software limit switch Speed gt Working range gt Distance CPU 31xC Technological function
20. 5 x 108 to 5 x Target in pulses 108 Rotary axis 0 to end of rotary axis 1 SPEED BOOL DINT 12 0 Two speed stages for TRUE FALSE FALSE rapid creep speed TRUE Rapid speed FALSE Creep speed WORKING OUT BOOL 14 0 Run is busy TRUE FALSE FALSE POS_RCD OUT BOOL 14 1 Position reached TRUE FALSE FALSE MSR_ OUT BOOL 14 2 End of length TRUE FALSE FALSE DONE measurement CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 163 Positioning with digital outputs 4 8 Specifications Parameters Declarati Data Type Address Description Range of values Default on Instance DB SYNC OUT BOOL 14 3 Axis is synchronized TRUE FALSE FALSE ACT_POS OUT DINT 16 Actual position value 5x108to 5x O 108 pulses MODE_OUT OUT INT 20 Enabled set operating 0 1 3 4 5 0 mode ERR OUT WORD 22 External error Every bit 0 Bit 2 missing pulse Oor1 monitoring Bit 11 Traversing range monitoring always 1 Bit 12 Working range monitoring Bit 13 actual value monitoring Bit 14 target approach monitoring Bit 15 Target range monitoring The other bits are reserved ST_ENBLD OUT BOOL 24 0 Start enable TRUE FALSE TRUE ERROR OUT BOOL 24 1 Run start error TRUE FALSE FALSE resume error STATUS OUT WORD 26 0 Error ID 0 to FFFF hex 0 CHGDIFF_P STAT DINT 28 Changeover difference 0 to 108 1000 plus Pulses CUTOFF DIFF_P STAT DINT 32 Cut
21. If the corresponding OB is not loaded the CPU switches to STOP when an interrupt is triggered The CPU switches on the SF LED The error is reported in the diagnostics buffer of the CPU as incoming An error is not indicated as outgoing until all pending errors are cleared CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output How a Diagnostic Interrupt is Evaluated in the User Program 3 7 Installation of Examples After a diagnostic interrupt is triggered you can evaluate OB 82 to check which diagnostic interrupt is pending If the module address of the Positioning submodule was entered in OB 82 byte 6 7 OB 82_MDL_ADDR the diagnostic interrupt was triggered by the positioning function of your CPU Bit 0 of byte 8 in OB 82 bit O Faulty module is set as long as any errors are queued In OB 82 bit 0 of byte 8 will be reset after all errors have been reported outgoing You can determine the precise error cause by evaluating data record 1 byte 8 and 9 To do this you must call SFC 59 read data record Acknowledge the error with ERR_A Data record 1 byte 8 Description JOB_STAT ERR Bit 0 not used Bit 1 not used Bit 2 Missing pulse X Bit 3 not used Bit 4 not used Bit 5 not used Bit 6 not used Bit 7 not used subsequent errors trigger an incoming and then automaticall
22. Job Delete distance to go The distance to go difference between target and actual value will be deleted The run parameters are interpreted again at the start of a Relative incremental approach and the axis moves to the current actual position value 4 4 7 Specifying the Reference Point Description You can also use the Set reference point request to synchronize the axis without performing a reference point approach After the job has been executed the actual position coordinate has the value you have assigned via the JOB_VAL parameter e Linear axis The reference point coordinate must lie within the working range including the software limit switches e Rotary axis The reference point coordinate must lie within the range from 0 to End of rotary axis 1 This does not change the reference point coordinates you have entered in the parameter assignment screens 138 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Example of Setting the Reference Point e The actual position value is 100 The software limit switches SLSS SLSE are at the positions 400 and 400 working range e The Set reference point request is executed with the value JOB_VAL 300 e The actual value is then to coordinate 300 The software limit switches and the working range have the same coord
23. Job errors can only occur during the interpretation execution of a job When an error is detected output parameter JOB_ERR is set to TRUE The error cause is indicated at the JOB_STAT parameter The possible error numbers can be found in section CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 149 Positioning with digital outputs 4 6 Error Handling and Interrupts External Error ERR The system monitors the run the traversing range and the connected I O Prerequisite is here that you have enabled monitoring in the Drive Axis and Encoder parameter assignment screens An external error is signaled when the monitoring responds External errors can occur at any time regardless of the started functions You must acknowledge external errors with ERR_A positive edge External errors are indicated at the SFB parameter ERR WORD by setting a bit Monitoring ERR Bit in ERR WORD Missing pulse zero mark 0004 hex 2 Traversing range 0800 hex 11 Working range 1000 hex 12 Actual value 2000 hex 13 Target approach 4000 hex 14 Target range 8000 hex 15 The detection of an external error incoming and outgoing can also trigger a diagnostic interrupt see Section Configuring and Evaluating Diagnostic Interrupts Page 152 System error A system error is indicated with BIE FALSE A system error is triggered by e Read write access errors at the
24. Step control with SFB 42 CONT_S Controlling output Counting 205 Frequency counting 219 Pulse width modulation 231 Controlling with SFB 41 372 CONV_DIR 44 CONV_ EN 44 44 Count direction mpa hag 162 Adapting 73 Select 146 Count once Description 187 Counter application Components Counting Connecting components 174 Function blocks 199 Function scope Functions Gate function Pin assignment Specifications 239 Terminology Counting direction Counting frequencies 167 Counting modes CPU Supported functions CPU 314C 2 DP PNDP PtP front connector 97 Creating a control Creep bee Adapting edi wad speed 33 89 Current operand Symbolic addressing Cut off difference 43 re Can it 124 Cut off point 43 Cut off eaters CUTOFFDIFF_M CUTOFFDIFF_P CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Index D Data bits 267 276 Data con STE 283 285 290 294 Data flow control Point to point communication Data operands Addressing 302 Data transmission format Point to point communication Deactivating Positioning with digital outputs ee positioning DECEL Default A 279 of the receive line 272 279 Deleting the distance to go Positioning with analog output 69 Positioning with peic outputs Diagnostic interrupt 80 152 Enabling a 114 Evaluation Use 234 Diagnostics Controlling 393 ane BO DIGITAL 121 Direct
25. With the SFB you clear the entire receive buffer of the CPU All stored message frames are deleted A message frame coming in when RES_RCVB is being called is saved RES_RCVB REQ DONE IR ERROR LADDR STATUS The request is activated after the block call and at a positive edge on control input REQ The request can run across several calls program cycles You must call the SFB with R Reset FALSE to enable it to process the request Ata positive edge on control input R the clearing process is canceled and the SFB is set to the initial state A canceled request is concluded with an error message STATUS output You enter the submodule I O address you have specified in HW Config in LADDR Either NDR is set to TRUE if the request was closed without error or ERROR is set to TRUE if the request was terminated with error STATUS displays the corresponding event number if an error or warning has occurred see Section Page 351 DONE or ERROR STATUS is also output in the event of a RESET of the SFB R TRUE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 285 Point to point communication 6 5 Communication Functions The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to ST
26. You can operate both a synchronized SYNC TRUE and a non synchronized SYNC FALSE axis in jog mode Starting Stopping the Run You start the drive by setting control bit DIR_P or DIR_M At every SFB call these two control bits DIR_P and DIR_M are evaluated to check for logical level changes If both control bits are FALSE the run is ramped down If both control bits are TRUE the run is also ramped down The axis moves in the corresponding direction when one of the control bits is set to TRUE Procedure 1 Configure the following SFB input parameters as specified in the Setting column Parameter Data type Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Jog mode into plus TRUE FALSE FALSE DIR_P direction positive edge or DIR_M BOOL 4 3 Jog mode into minus TRUE FALSE FALSE DIR M direction positive edge TRUE MODE_IN INT 6 Operating mode 1 Jog 0 1 3 4 5 1 1 mode 2 Call the SFB CPU 31xC Technological functions 52 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 16 0 Run is busy TRUE FALSE FALSE ACT_POS DINT 18 Current actual position v
27. y an outgoing interrupt Data record 1 byte 9 Description JOB_STAT ERR Bit 0 Configuration error X Bit 1 not used Bit 2 not used Bit 3 Traversing range monitoring X X Bit 4 Working range monitoring X X Bit 5 Actual value monitoring X X Bit 6 Target approach monitoring X X Bit 7 Target range monitoring X X subsequent errors trigger an incoming and then automatically an outgoing interrupt 3 7 Installation of Examples Using Examples The examples program and description are found on the CD ROM included in your documentation You can also download them from the Internet The project consists of several commented S7 programs of various complexity and aim The Readme wri on the CD describes how to install the samples After they are installed the examples are stored in the catalog STEP7 EXAMPLES ZDt26_03_TF 31xC_Pos CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 81 Positioning with Analog Output 3 8 Specitications 3 8 3 8 1 Connectable Incremental Encoders Specifications Incremental encoders Asymmetrical 24 V incremental encoders which have two pulse tracks with an electrical phase difference of 90 with or without zero mark are supported Encoder inputs Encoder signal A B Pulse width min pulse pause min 8 us Input frequency max 60 kHz Cable length max at max input fre
28. 6 5 Communication Functions 6 5 2 RK 512 Communication Functions 6 5 2 1 Communication Functions for the RK 512 Computer Connection Basics Overview The following functions are provided for the RK 512 protocol Block Description SFB 63 SEND_RK Send the whole or part area of a data block to a communication partner SFB 64 FETCH_RK Send the whole or partial area of a data block to a communication partner SFB 65 SERVE_RK e Receive data from a communication partner and save it in a DB e Provide data for a communication partner Parallel Processing of Requests SEND FETCH jobs must not be activated simultaneously in the user program i e a FETCH job cannot be started if a SEND job is not yet closed SYNC_DB For the initialization at setup and for synchronizing operations between the SFBs all SFBs you are using for RK512 communication require a common data area You determine the DB number via the parameter SYNC_DB The DB number must be identical for all SFBs in your user program The DB must have a minimum length of 240 bytes Interprocessor communication flag CPU 31xC Technological functions The functionality of interprocessor communication flags known in SIMATIC S5 is supported by SFB SERVE_RK SFB 65 in order to coordinate data processing in the CPU and asynchronous overwriting when receiving or providing data Operating Instructions 03 2011 A5E00105484 05 287 Point to point communicati
29. CF BYT _ 4__ Le Oa ay or ee re A R_CFLBIT fof nnn R_TYPE DB Se DB100 ae R_DBNO Zz DoS DB101 CO R_OFFSET a lt Sak DB102 Uses memory bit to read the DB S DB103 SS i i A Interprocessor communication flag neas Eee CPU 31xC Technological functions 300 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions 6 5 2 6 Example SEND_RK with Interprocessor Communication Flag Procedure In this example the communication partner transmits data to DB101 on your CPU 1 2 Data Consistency On your CPU set the interprocessor communication flag 100 6 to FALSE At your communication partner specify the interprocessor communication flag 100 6 parameter R_CF_BYT R_CF_BIT with the SEND request The interprocessor communication flag is sent to your CPU in the RK 512 message frame header Before it processes the request your CPU checks the interprocessor communication flag specified in the RK 512 message frame header The request is only processed if the interprocessor communication flag status on your CPU is FALSE If the interprocessor communication flag status is TRUE the error message 32 hex is returned to the communication partner in the response message frame Once the data has been transferred to DB101 SFB SERVE sets the status of the interprocessor communication flag 100 6 on your CPU to TRUE and the flag byte and bit are output on SFB SER
30. CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 159 Positioning with digital outputs 4 8 Specifications 4 8 3 Module Parameters of the Parameter Assignment Screen Overview Introduction The following tables provide an overview of the module parameters that can be set in the parameter assignment screens Basic parameters Parameter Value range Default Interrupt selection e None None e Diagnostic Drive parameters Table 4 2 Control Mode Parameter Parameter Value range Default Control mode 1 4 1 Table 4 3 Meaning of the Control Modes Output Control mode 1 2 3 4 Qo Rapid traverse Rapid traverse Rapid traverse Rapid traverse Creep speed plus Q1 Creep speed Position reached Creep speed Creep speed plus Q2 Travel plus Travel plus Travel plus Rapid traverse minus Q3 Travel minus Travel minus Travel minus Creep speed minus CPU 31xC Technological functions 160 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 8 Specifications Table 4 4 Additional Drive Parameters Parameter Value range Default Target range 0 up to and including 200 000 000 pulses 50 The CPU rounds up odd values Monitoring time e Qto 100000 ms 2000 e 0 No monitoring Rounded up by the CPU in 4 ms steps Actual value monitoring e Yes Yes e No Target ap
31. Declaration Data type Description Value range Default SYNC_DB_ IN INT Number of the DB in which the common data CPU specific 0 for the synchronization of the RK SFBs is zero is not stored minimum length is 240 bytes allowed REQ IN BOOL Initiates job on positive edge TRUE FALSE FALSE R IN BOOL Job is aborted TRUE FALSE FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config R_CPU IN INT CPU no of the partner CPU 0to4 1 only for multiprocessor mode R_TYPE IN CHAR Address type on the partner CPU D X M E D e D Data block APL e X Expanded date block e M Memory bit e E Inputs e A Outputs e Z Counter e T Timer R_DBNO IN INT Data block number on the partner CPU 0 to 255 0 R_OFFSET IN INT Data byte number on the partner CPU See the Table 0 Parameter in the FB for data source Partner CPU R_CF_BYT IN INT Interprocessor communication flag byte on 0 to 255 255 partner CPU 255 means no interprocessor communication flag R_CF_BIT IN INT Interprocessor communication flag bit on 0to7 0 partner CPU DONE OUT BOOL Job completed without errors TRUE FALSE FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 361 Point to point communication 6 10 Specitications Parameters Declaration Data type
32. Generating a hardware interrupt on each counting edge results in high CPU utilization at higher counting frequencies Pulse duration With the setting Characteristics of the 0to510 ms 0 output Pulse at comparison value you can specify the pulse duration for the output signal Only even values are possible Assignment of You can select whether the count value Count value Count value input data or the period can be read at a maximum period counting frequency of 1 kHz in the input data data of the Count submodule If the maximum counting frequency is greater than 1 kHz only Count value is possible Time base You can specify whether the period is to 125 ns 125 ns be measured in units of 125 nsor1 Us 4 ys at a maximum counting frequency of 1 kHz If the maximum counting frequency is greater than 1 kHz the period is not measured Hardware A hardware interrupt is generated when e Yes No interrupt the hardware gate opens while the lt N HW gate opening software gate is open G Hardware A hardware interrupt is generated when e Yes No interrupt the hardware gate closes while the lt N HW gate closing software gate is open S Hardware A hardware interrupt is generated on e Yes No interrupt reaching the comparator No On reaching the comparator Hardware A hardware interrupt is generated on e Yes No interrupt overflow exceeding the high counting atts Overflow limit Hardware A hardware interrupt is generated on
33. R_TYPE IN CHAR Address type on the partner CPU capital D X M E D letters only A ZT e D Data block e X Expanded date block e M Memory bit e E Inputs e A Outputs e Z Counters e T Timers R_DBNO IN INT Data block number on partner CPU 0 to 255 R_OFFSET IN INT Data byte number on partner CPU See the Table Parameters in the FB for data source Partner CPU R_CF_BYT IN INT Interprocessor communication flag byte on 0 to 255 255 partner CPU 255 means no interprocessor communication flag R_CF_BIT IN INT Interprocessor communication flag bit on 0 to7 0 partner CPU CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 293 Point to point communication 6 5 Communication Functions Parameters DONE Declaration OUT Data type BOOL Description Status parameter set only for the duration of one call e FALSE The job has not yet been started or is still being executed e TRUE The job has been completed without errors Value range TRUE FALSE Default FALSE ERROR OUT BOOL Status parameter set only for the duration of one call Job completed with error TRUE FALSE FALSE STATUS OUT WORD Status parameter Set only for the duration of one call In order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significa
34. Send SIX W 14 Y Start T oz x 1 4 I T gt Tovz Character PES T DLE STX or a DLE faulty Character 9 acknowledg ment Priority Low DLE Illegal Send block ae Duplicate DLE if necessary Send NAK l Ad 1 Send DLE ETX Sending 3964 R 3964 Send BCC y Start Ty BCC with 3964 R only x Counter connection retries W Counter transmission retries CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 T gt Tovz Character DLE or faulty Character Wait for DLE acknowledg ment DLE Send complete occurs Tovz 500 ms 3964 R vz 28 Go immediately to initial state if wire break BREAK 327 Point to point communication 6 9 Protocol Description 6 9 2 7 Receiving with 3964 R procedure Receiving with 3964 R procedure part 1 The picture below illustrates the receiving sequence with the 3964 R procedure Character except STX NAK Send request T 2 et STX received Repetition awaited Note NAK i G l Initialization Start T NAKTIM conflict priority low T gt TNAKTIM Buffer free Buffer not free Send DLE Send NAK CPU 31xC Technological functions 328 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Receiving with 3964 R procedure part 2 The picture below i
35. T B and R A R B twisted pair t CPU 31xC Communication partner pe fete i el i 1 A 1 271 i T A R A i 14 i CHF Co ad C a 1 i i 11 it 9 i T B R B i Ett 4 i ay l oa Transmitter i Receiver i l 4_ 1 R A TAL 1 2 ET E aa a pal l 1 a 17 Li RB MB 1 9 Cae lt 1 I Receiver 1s 1 Transmitter 8 1 GND GND in 8 f I mz 7 i i i i i I 1 i i I 1 I 1 I 1 I 1 I 1 1 1 j 1 j 1 I 1 L ee ee eee ee eee ee ee ee ees 1 To ensure interference free data exchange with line lengths gt 50 m you must solder in a terminating resistance of approx 330Q at the receiver end CPU 31xC Technological functions 350 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specitications 6 10 8 Error Messages Basics Every SFB is assigned a STATUS parameter for error diagnostics The STATUS message IDs always have the same significance independent on the used SFB Numbering scheme event class event number The picture below shows the structure of the STATUS parameter Bit No 15 13 12 8 7 0 STATUS Reserve Event class Event number Error number Example The picture below shows the content of the STATUS parameter for the event Request canceled because of restart or reset Event class 05H event no 01H Even
36. TRUE can be used to stop interrupt a run prematurely ERR_A BOOL 4 5 Group error acknowledgment TRUE FALSE FALSE ERR_A is used to acknowledge external errors positive edge SPEED DINT 12 The axis is accelerated to Vsetpoint Creep speed of 1000 Speed change during run is not possible UP to 1 000 000 pulses s Up to the maximum speed CPU 31xC Technological functions 48 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Input parameters not assigned to the block static local data Parameter Data type Address Description Value range Default instance DB ACCEL DINT 30 Acceleration 1 to 100 000 100 Change during run not possible Pulses s2 DECEL DINT 34 Deceleration 1 to 100 000 100 Change during run not possible Pulses s CHGDIFF_P DINT 38 Changeover difference plus 0 to 108 1000 Changeover difference plus defines the Pulses changeover point from which the drive continues its forward run with creep speed CUTOFF DINT 42 Cut off difference plus 0 to 108 100 DIFF_P The Cut off difference plus defines the Pulses cut off point at which the drive is switched off when operating at creep speed in positive direction CHGDIFF_M DINT 46 Changeover difference minus 0 to 108 1000 Changeover difference minus defines Pulses the changeover point from which the drive continues with a reverse run at creep speed CUTO
37. Technological functions Operating Instructions 03 2011 A5E00105484 05 65 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 8 Specifying the Reference Point Description You can also use the Set reference point request to synchronize the axis without performing a reference point approach After the job has been executed t assigned via the JOB_VAL param he actual position coordinate has the value you have eter e Linear axis The reference point coordinate must lie within the working range including the software limit switches e Rotary axis The reference point coordinate must lie within the range from 0 to End of rotary axis 1 This does not change the reference point coordinates you have entered in the parameter assignment screens Example of Setting a Reference Point The following is an example of how to set a reference point e The actual position value is 100 The software limit switches SLSS SLSE are at the positions 400 and 400 working range e The Set reference point request is executed with the value JOB_VAL 300 The actual value is then to coordi nate 300 The software limit switches and the working range have the same coordinates as prior to the job However they are now physically shifted left by 200 SLS ACT SLE SLSS ACT SLSE Old coordinate system 400 100 400 Vv v v Projection of l worki
38. Utilize the whole buffer You can use the whole receive buffer or specify the number e Yes Yes of received message frames you want to buffer e No If you use the entire buffer of 2 048 bytes the number of buffered received frames depends only on the length of the frames Maximum number of You can specify the number of received frames you want to 1to10 10 buffered received buffer in the receive buffer with the setting Do not use entire frames buffer If you assign 1 deactivate the Prevent overwriting parameter and read out received data periodically in the user program a current message frame will always be transferred to the destination data block CPU 31xC Technological functions 278 Operating Instructions 03 2011 A5E00105484 05 Point to point communication Signal assignment for the X27 RS 422 485 interface 6 3 Parameter configuration Parameter Description Value range Default Receive line initial None This setting only makes sense for drivers with bus None R A 5 V state capability R B 0 V R A 5 V R B O V Break detection is possible in this default R A 5V R B 0 V state R A 0 V R B 5 V Break detection is not possible in this R A OV R B 5 V default state The following figure shows the wiring of the receiver to the X27 RS 422 interface R B None R A R A 5 V R B 0 V r ov R B R A R A 0 V R B 5 V s
39. Write minimum pulse duration Time base 0 1 ms Time base 1 ms e 2 to period 2 e 0 to period 2 0 0 2 ms CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 225 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 4 Function Blocks for Pulse Width Modulation Structure The view displays the various function blocks which are described in the following chapters Software gate Hardware gate Gate function On delay Interpulse Pulse duration period Period Minimum pulse duration Pulse duration period Output 226 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 5 Gate Function of Pulse Width Modulation Basics Two gates are available to you for pulse width modulation operations e A software gate SW Gate that is controlled via the user program You can open the software gate at a positive edge at the SFB parameter SW_EN Reset this parameter to close it e A hardware gate HW Gate You can assign the hardware gate in the parameter assignment screens It is controlled via the digital input Hardware gate Internal gate The internal gate is used to start and stop pulse width modulation This internal ga
40. a DLE character transmitted as information character is transferred twice across the send line DLE duplication in order to distinguish it from the DLE control character The receiver cancels this DLE doubling With the 3964 R procedure one communication partner must be assigned a higher priority and the other partner a lower priority If both partners start to establish a connection at the same time the partner with the lower priority will defer its send request CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 319 Point to point communication 6 9 Protocol Description Block Checksum With the 3964 R data transmission protocol data integrity is increased by sending an additional block check character BCC Block Check Character Message frame STX Data DEL ETX BCC E a a a 02H 30H 31H 32H 10H 03H 20H 30 0011 0000 341 0011 0001 XOR 0000 0001 32 0011 0010 XOR 0011 0011 10 0001 0000 XOR 0010 0011 03 0000 0011 XOR 0010 0000 a was BCC 2 0 The block checksum represents the even longitudinal parity XOR linking of all data bytes of a sent or received block Its calculation begins with the first byte of user data first byte of the message frame after the connection setup and ends after the DLE ETX code upon disconnection Note With DLE duplication the DLE code is included twice in the BCC calculation CPU 31xC Techn
41. eect eeeeeee ee eeeeee ee eeeeeeeeeeeeeeeeseeeeeeeseeeaeeeseeaaees 2 2 POSIMIOMING Ove niew jicczet sae docs acctezaes dagtcacis naed Hees atezcuvased ices decadany sau dees aituaced aatdaceadnuaci nndeeaneeaeiadd 2 3 FUNCION SCOP Crni a a tu iea eevee n ede eter adda cea 2 4 Components for Positioning Control 0 0 0 0 cccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeeeeeeseneaeeeseeaeeeseeeeees 3 Positioning with Analog Output eccccccceeeseeeeeeeeeeeeeeeeeeeeesgaeeeeesaaaeeeeeaaaeeeeesaaaeeeesaaaeesenaaaeeseseaaeeeeeeeaeees 3 1 WI enra Laeitus Haedes bees aad eeentneue ce suateae nosy a uacuareues A babes 3 1 1 Important Satety RUES sisikian a eth edede tates R tin ate ates neti ated 3 1 2 Wing RUES oreesa A 3 1 3 Terminals for Positioning with Analog Output 3 1 4 CONNECHNG COMPOMEMS zessnessraens iaa 3 2 Parameter config ratiOM sceite aane ea aie abet aii ak eae 29 3 2 1 Basics of Parameter Configuration cccccccsccsecsecsecseenecreecneenecesecseeceeeectaeeseenecnieeeensenseenaees 29 3 2 2 Configuring Parameters Using the Parameter Assignment Screen 31 3 2 3 Basic arameteTS s lt sceniviciensthacnura aesatesthventarnenitdiiewtneiesqestniieetotevaetdieedesntngedaneEehetnecilderdundeedsenedes 31 3 2 4 Drive Param e lens ys nn acces seen eh anun a E a a ected 32 3 2 5 AXIS parameters nc 2 c 2cctssecec wane dstesetenshaecascthtane odbvedicotaated eki iaaiiai aaide nai Eie kiia isinin Eiin 35 3 2 6 ENCOdGr ParaMmeters
42. instance DB JOB_DONE BOOL 22 0 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 22 1 Faulty job TRUE FALSE FALSE JOB_STAT WORD 24 Job error number 0 to FFFF hex 0 e The job is processed immediately after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e JOB_ERR TRUE if an error occurred The precise error cause is displayed in JOB_STAT e Anew job can be started with JOB_DONE TRUE e Only for read jobs Read the current value from the instance DB parameter JOB_OVAL Parameters Data type Address Description Value range Default instance DB JOB_OVAL _ DINT 28 Output value for read jobs 231 to 231 1 0 JOB_REQ N Request 5 JOB_DONE Job done Permissible Value Range for JOB_VAL Job Valid value range Write low limit e CPU 312C 0 to 9 999 999 mHz The low limit must be less than e CPU 313C CPU 313C 2 DP PtP 0 to 29 999 999 mHz pe CPU 314C 2 DP PN DP PIP 0 to 59 999 999 mHz Write high limit e CPU 312C 1 to 10 000 000 mHz The high limit must be greater e CPU 313C CPU 313C 2 DP PtP 1 to 30 000 000 mHz than the low limit e CPU 314C 2 DP PN DP PtP 1 to 60 000 000 mHz Write integration time e 10to10000ms CPU 31xC Technological functions 216 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 4 Function Blocks of the Freq
43. output contains the proportional component of the manipulated variable 0 0 LMN_ I REAL 84 INTEGRAL COMPONENT The integral component output contains the integral component of the manipulated value 0 0 LMN_D REAL 88 DERIVATIVE COMPONENT The derivative action output contains the derivative action of the manipulated variable 0 0 PV REAL 92 PROCESS VARIABLE The effective process variable is output at the process variable output 0 0 ER REAL 96 ERROR SIGNAL The effective error is output at the error signal output 0 0 378 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 2 Introduction Application Description 7 5 Description of Functions Step Control with SFB 42 CONT_S The SFB FB CONT_S step controller is used on SIMATIC S7 programmable logic controllers to control technical processes with binary manipulated value output signals for integrating actuators During parameter assignment you can activate or deactivate subfunctions of the PI step controller to adapt the controller to the process You can easily do this by using the parameter assignment screen Menu path Start gt Simatic gt STEP 7 gt Assign PID control parameters The online electronic manual is found under Start gt Simatic gt S7 Manuals gt PID Control English You can use the c
44. 03 2011 A5E00105484 05 221 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 2 Controlling Pulse Width Modulation via the User Program Control Functions To control pulse width modulation in the user program use SFB PULSE SFB 49 The following functionalities are available to you e Start stop via software gate SW_EN e Enabling controlling of output DO e Read status bits e Input of the output value e Request for read write access to registers PULSE SFB 49 LADDR CHANNEL SWEN MAN_DO SET_DO OUTP_VAL JOB_REQ JOB_ID JOB_VAL STS_EN STS_STRT STS_DO JOB_DONE JOB_ERR JOB_STAT 222 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Input parameters 5 7 Description of the Pulse Width Modulation Functions Parameters Data type Address Description Value range Default instance DB LADDR WORD 0 Submodule I O address you specified in CPU specific 300 hex HW Config If the and O addresses are not equal the lesser of the two addresses must be specified CHANNEL INT 2 Channel number CPU 312C 0 1 0 CPU 313C 0 2 CPU 313C 2 DP PtP CPU 314C 2 DP PN DP PtP 0 3 SW_EN BOOL 4 0 Software gate TRUE FALSE FALSE Starts s
45. 177 179 Loss of On reaching comparator Overflow 177 Pulse Width Modulation Underflow 177 Use 236 Hardware limit switch Positioning 23 Frequency Measurement Bg Pulse Width Modulation 2 Hysteresis Hysteresis counting modes 206 I O access direct 183 Increment Definition 83 155 Incremental ble PaT Connectable 241 Technical specifications 82 Increments per encoder revolution 38 fra 90 hag 145 162 Indirect parameter assignment Initialization Conflict Input direction B Counting 200 Frequency Measurement Input latch Counting Input pulse A Counting 200 Frequency Measurement Inputs Counters Frequency Measurement Instance DB 41 115 280 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Index Instance DB of the SFB 44 Parameters 92 Instance DB of the SFB 46 Parameters Instance DB of the SFB ANALOG Parameters 92 Instance DB of the SFB DIGITAL Parameters Instance DB access 182 Integrated controlling 3 Integrated help Integration in application Point to point connection 280 Interface hardware 3 Interface X27 RS 422 485 259 Internal gate Counting Frequency Measurement 218 Pulse Width Modulation 227 Interprocessor communication flag Example application Use 300 rte E R 81 89 103 160 176 Interrupting the gate function Counting 201 Interrupts 307 Point to point communicat
46. 17e lell 37 18e 18 6 le 38 19 ij S 19e je 39 20 iie 20e 40 E i I Pin assignment The following pin assignments only apply to connectors relevant for counting frequency measurement and pulse width modulation Note Since they require the same I Os you cannot use the channels 0 and 1 anymore if you utilize the positioning function A WARNING When operating with pulse width modulation the corresponding channel input TrackB Direction must either remain disconnected or be connected to logical 0 CPU 31xC Technological functions 170 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Pin Assignment CPU 312C Connector X1 5 2 Wiring Connection Name Counting Frequency Measurement Pulse Width Modulation address 1 Not connected 2 DI 0 0 Channel 0 Track A Pulse Channel 0 Track A pulse 3 DI 0 1 Channel 0 Track B Direction Channel 0 Track B direction 0 do not use 4 DI 0 2 Channel 0 Hardware Gate Channel 0 Hardware gate Channel 0 Hardware gate 5 DI 0 3 Channel 1 Track A pulse Channel 1 Track A pulse 6 DI 0 4 Channel 1 Track B direction Channel 1 Track B direction 0 do not use 7 DI 0 5 Channel 1 Hardware gate Channel 1 Hardware gate Channel 1 Hardware gate 8 DI 0 6 Chan
47. 26 6 Underflow status TRUE FALSE FALSE Reset with RES_STS 214 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 3 Reading and Writing to the Request Interface for Frequency Measurement Introduction You can use the job interface for reading and writing the frequency registers Requirements The last job must be finished JOB_DONE TRUE Procedure 1 Assign the following input parameters Parameters Datatype Address Description Value range Default instance DB JOB_REQ BOOL 4 3 Job request positive edge TRUE FALSE FALSE JOB_ID WORD 6 Job number 0 Job without function 00 hex Write low limit 01 hex Write high limit 02 hex Write integration time 04 hex Read low limit 81 hex Read high limit 82 hex Read integration time 84 hex JOB_VAL DINT 8 Value for write jobs 231 to 231 4 0 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 215 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions Result The output parameters of the SFB provide the following information Parameters Datatype Address Description Value range Default
48. 32 for missing end code 269 Transmission retries 276 Transmission Times Point to point communication 346 Traversing range 90 109 h11 Monitoring 78 150 Monitoring 78 150 Monitoring 78 Traversing range monitoring b7 Two step control 389 261 U Underflow 477 Using parameter assignment screens W Wiring Controlling of the front connector Positioning Safety Rules heg Wiring connections Positioning 24 Wiring diagram of incremental encoder 83 155 Working range 90 109 h13 161 Monitoring 150 Monitoring 150 Monitoring 78 150 Working range monitoring 38 X X27 RS 422 485 interface Specifications 342 X27 interface Properties 259 XOFF character 267 Z Zero crossing 186 Zero mark signal 55 128 403 Index CPU 31xC Technological functions 404 Operating Instructions 03 2011 A5E00105484 05
49. 33 04H Cut off difference too small The cut off difference must have at least the length of half the target range 33 05H Changeover difference too small The changeover difference must have at least the length of half the target range Event class 52 34H Run start error default target distance Event no Event text Remedy 34 01H Default target out of working range With a linear axis and absolute incremental approach the default target must lie within the range of the software limit switch inclusive 34 02H Incorrect target specification For the rotary axis the specified target must be greater than 0 and less than the end of rotary axis 34 03H Incorrect distance specification With relative incremental approach the distance to be traversed must be positive 34 04H Incorrect distance specification The resulting absolute target coordinate must be greater than 5 x 108 34 05H Incorrect distance specification The resulting absolute target coordinate must be greater than 5 x 108 34 06H Incorrect distance specification The resulting absolute target coordinate must lie within the working range half of the target range CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 8 Specifications Event class 53 35H Run start error traversing distance Event no 35 01H Event Traversing dist
50. 39 DO 1 7 40 3M Ground CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 173 Counting Frequency Measurement and Pulse Duration Modulation 5 2 Wiring 5 2 3 Procedure 174 Connecting Components Switch off the power supply to all components Connect the power supply for the inputs and outputs CPU 312C 24V at X71 pin 13 Ground at X1 pins 12 and 20 CPU 313C 2 DP PtP 24V at X1 pins 1 and 21 Ground at X1 pins 20 and 30 CPU 313C CPU 314C 2 DP PN DP PtP 24V at X2 pins 1 and 21 Ground at X2 pins 20 and 30 3 Connect the encoder and switches to the 24 V power supply 4 Connect the encoder signals and the required switches You can connect bounce free switches 24 V P switching or sensors BERO 2 or 3 wire proximity switches to the digital inputs Hardware gate and Latch Strip the insulation material on the shielded cables and bind the cable shield to the shield connection element Use the shield terminal elements for this CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration 5 3 Parameter configuration 5 3 1 Configuration with the Parameter Assignment Screen Basics You adapt the counting function to your specific application by assigning parameters e You assign the parameters via
51. 4 Error evaluation Calling SFB w Yes Response to system errors Yes STATUS evaluation Evaluate ERR WORD Eliminate problem and acknow ledge with ERR_A TRUE JOB_ERR TRUE i Yes JOB_STAT evaluation CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 79 Positioning with Analog Output 3 6 Error Handling and Interrupts 3 6 3 Configuring and Evaluating Diagnostic Interrupts Basics On occurrence of the following errors you can trigger a diagnostic interrupt Parameter assignment error Module data External error Monitoring The diagnostic interrupt is displayed in the event of incoming as well as outgoing errors In your user program you can immediately respond to errors with the help of a diagnostic interrupt Procedure Enable diagnostic interrupt in the Basic parameters dialog of the parameter assignment screens Inthe Drive Axis and Encoder parameter assignment screens switch on the individual monitoring functions that should trigger a diagnostic interrupt when an error occurs Inthe parameter assignment screen Diagnostics enable diagnostic interrupts for each monitoring facility individually Incorporate the diagnostic interrupt OB OB 82 in your user program Response to an Error with Diagnostic Interrupt 80 Positioning is canceled The CPU operating system calls OB82 in the user program Note
52. 485 two wire operation Full duplex RS 422 four wire PtP communication 272 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration Parameters Receive line default Description None This setting only makes sense with bus capable special drivers Signal R A 5 V Signal R B 0 V Break detection is possible in this default state Not configurable with Full Duplex RS422 four wire Multipoint Master mode and Half Duplex RS485 two wire operation Signal R A 0 V signal R B 5 V This default state corresponds with the idle state no transmitter active Break detection is not possible in this default state Value range e None e Signal R A 5 V signal R B 0 V break detection Signal R A 0 V signal R B 5 V Default Depends on the set operating mode The following view shows the wiring diagram of the receiver on an X27 RS 422 485 interface None R A 5V R B OV R A OV R B 5V CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Io 5V 273 Point to point communication 6 3 Parameter configuration Topology for Using the CPU 274 In RS422 or RS485 operating mode the CPU can be used in various topologies Distinctions are made between connections with e two nodes PtP and e
53. 8 in OB 82 bit 0 Faulty module is set as long as any errors are queued e Bit 0 of byte 8 in OB 82 is reset after all queued errors are reported as outgoing e You can evaluate the bytes 8 and 11 to determine the cause of error OB 82 byte 8 Description Bit 0 Faulty module Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Configuration error OB 82 byte 11 Description Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Hardware interrupt loss Bit 7 Hardware interrupt loss With enabled hardware interrupt the CPU reports the error Lost hardware interrupt if the interrupt triggering event occurs again before the previous interrupt was cleared CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 235 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts 5 8 4 Configuring the Hardware Interrupt Using the Hardware Interrupt You can trigger a hardware interrupt on specific events With the help of the hardware interrupt you can respond immediately to events in your user program Procedure 1 Enable hardware interrupts in the parameter assignment screen Basic parameters Interrupt selection Hardware or diagnostics hardware 2 In the respective Count Frequency counting and Pulse width modulation parameter assignment screen enable the hardware
54. ACTION HOLD The integrator output can be frozen To do this input Integral Action Hold must be set FALSE _ITL_ON BOOL 0 6 INITIALIZATION OF THE INTEGRAL ACTION The output of the integrator can be set at input _ITLVAL To do this input Initialization of the integral action must be set FALSE D_SEL BOOL 0 7 DERIVATIVE ACTION ON The PID algorithm allows On Off switching of individual PID actions The D action is on when the input derivative action on is set FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 375 Controlling 7 5 Description of Functions Parameters Data type Address Description Value range Default Instance DB CYCLE TIME 2 SAMPLE TIME 220 ms T 1 s The time between the block calls must be constant The sampling time input specifies the time between block calls SP_INT REAL 6 INTERNAL SETPOINT 100 0 0 0 100 0 The internal setpoint input is used to or phys specify a setpoint value PV_IN REAL 10 PROCESS VARIABLE IN 100 0 0 0 100 0 An initialization value can be set at the or phys size Process variable in input or an external process variable in floating point format can be connected PV_PER WORD 14 PROCESS VARIABLE PERIPHERY W 16 The process variable in the I O format is 0000 connected to the controlle
55. Activates the data exchange at a positive edge R IN BOOL Control parameter Reset TRUE FALSE FALSE Cancels the request Sending is blocked LADDR IN WORD Submodule I O address you specified in CPU specific 3FF hex HW Config R_CPU IN INT Partner CPU number 0 to 4 1 only for multiprocessor mode R_TYPE IN CHAR Address type on the partner CPU capital D X D letters only D Data block e X Expanded date block R_DBNO IN INT Data block number on partner CPU 0 to 255 R_OFFSET IN INT Data byte number on partner CPU 0 to 510 even values only R_CF_BYT IN INT Interprocessor communication flag byte on 0 to 255 255 partner CPU 255 means no interprocessor communication flag R_CF_BIT IN INT Interprocessor communication flag bit on Oto 7 0 partner CPU DONE OUT BOOL Status parameter set only for the duration TRUE FALSE FALSE of one call e FALSE The job has not yet been started or is still being executed e TRUE The job has been completed without errors CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 289 Point to point communication 6 5 Communication Functions Parameters Declaration Data type Description Value range Default ERROR OUT BOOL Status parameter set only for the duration TRUE FALSE FALSE of one call Job completed with error STATUS OUT WORD Status parameter Set only for the duration 0 to FFFF hex 0 of one call In
56. BEG_VAL STAT DINT 64 Actual position value start 5x 108 to 5x O of length measurement 108pulses END_VAL STAT DINT 68 Actual position value end of 5 x 108 to 5 x O length measurement 108pulses LEN_VAL STAT DINT 72 Measured length 0 to 109 pulses O JOB_REQ STAT BOOL 76 0 Initiates the job positive TRUE FALSE FALSE edge JOB_DONE STAT BOOL 76 1 New job can be started TRUE FALSE TRUE JOB_ERR STAT BOOL 76 2 Faulty job TRUE FALSE FALSE JOB_ID STAT INT 78 Job ID 1 2 0 JOB_STAT STAT WORD 80 Job error ID OtoFFFF hex O JOB_VAL STAT DINT 82 Job parameters for the 5x108to 5x O coordinates of the reference 108pulses point CPU 31xC Technological functions 94 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 1 4 1 1 Wiring Important Safety Rules Adherence to Safety Rules For the safety concept of the system it is imperative to install the switchgear mentioned below and to adapt them to your system e Emergency Off switch which you can use to shut down the entire system e Hardware limit switches that have a direct effect on all drive power units e Motor protection A WARNING Harm to health and damage to assets cannot be excluded if you do not switch off voltage If you wire the front plug of the CPU in live state you risk injury due to the influence of electrical current Always wire the CPU in off voltage state Harm to health and damage to assets due to missing
57. DB These parameter are described in Section Positioning with Digital Outputs Rapid Creep Speed Page 116 You can access these parameters via e DB number and absolute address in the DB e DB number and symbolic address in the DB The essential function parameters are also assigned to the block You can declare input parameters values directly at the SFB or you can evaluate the output parameters CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 115 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs 4 4 Functions for Positioning with Digital Outputs 4 4 1 Positioning with Digital Outputs Rapid Creep Speed Overview Four permanently assigned 24 V digital outputs Q0 Q3 control the drive These digital outputs control the direction and speed stages rapid creep speed depending on the configured type of control Position feedback is realized via an asymmetric 24 V incremental encoder that is equipped with two signal tracks with a 90 phase shift Starting a Run Start the run with START DIR_P or DIR_M depending on the operating mode CPU 31xC Technological functions 116 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Positioning with digital outputs The upper section of the figure below shows the run profile We will simply assume a linear change of the actual speed
58. DINT 18 Current actual position value 5x108to 5x O 108 pulses MODE_OUT INT 22 Active set operating mode 0 1 3 4 5 ERR WORD 24 External error Every bit e Bit 2 missing pulse monitoring Oor1 e Bit 11 traversing range monitoring always 1 e Bit 12 Working range monitoring e Bit 13 actual value monitoring e Bit 14 target approach monitoring e Bit 15 target range monitoring e The other bits are reserved ST_ENBLD BOOL 26 0 The CPU sets Start Enabled if all of the TRUE FALSE TRUE following conditions are met e Faultless parameter assignment PARA TRUE e No STOP pending STOP FALSE e No external error has occurred ERR 0 e Drive Enable is set DRV_EN TRUE e No positioning run active WORKING FALSE Exception Jog mode ERROR BOOL 26 1 Run start resume error TRUE FALSE FALSE STATUS WORD 28 Error ID 0 to FFFF hex 0 CPU 31xC Technological functions 50 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Output parameters not assigned to the block static local data Parameter Data type Address Description Value range Default instance DB PARA BOOL 54 0 Axis is configured TRUE FALSE FALSE DIR BOOL 54 1 Current last sense of direction TRUE FALSE FALSE FALSE Forward plus direction TRUE Reverse minus direction CUTOFF BOOL 54 2 Drive in cu
59. Default Off Reference point coordinate 5 x 108 to 5 x 108 pulses 0 After a STOP RUN transition of the CPU the actual value is set to the value of the reference point coordinate After a reference point approach the reference point is assigned the value of the reference point coordinate The value of the reference point coordinate must lie within the working range including the software limit switches of the linear axis The value of the reference point coordinate of the rotary axis must lie within the range 0 to End of rotary axis 1 Reference Point Location for Reference Point Switch Parameter Parameter Reference point location for reference point switch Value range Plus direction actual values increase Minus direction actual values decrease Default Plus direction This parameter defines the reference point position with reference to the reference point switch Traversing Range Monitoring Parameter Parameter Traversing range monitoring Value range Default Yes set fixed Yes Use traversing range monitoring to check whether the permitted traversing range of 5 x 108 to 5 x 108is exceeded This monitoring function cannot be switched off switched on permanently in the Monitoring parameter Synchronization is canceled and the run is aborted when this monitoring responds CPU 31xC Technological functions Operating Instr
60. FFFF hex O RD_1 IN_OUT ANY Receive parameters CPU specific 0 Here you specify e Number of the DB in which the received data are to be stored e The data byte number as of which received data are to be stored e g DB 20 from byte 5 gt DB20 DBB5 LEN IN_OUT INT Output of the data length number of bytes 0 to 1024 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 359 Point to point communication 6 10 Specitications Parameters of SFB 62 RES_RCVB Parameter Declaration Data type Description Value range Default REQ IN BOOL Initiates job on positive edge TRUE FALSE FALSE R IN BOOL Cancels the request TRUE FALSE FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config DONE OUT BOOL Job completed without errors TRUE FALSE FALSE ERROR OUT BOOL Job completed with error TRUE FALSE FALSE STATUS OUT WORD Error number 0 to FFFF hex O Parameters of SFB 63 SEND_RK Parameters Declaration Data Type Description Range of Default values SYNC_DB_ IN INT Number of the DB in which the common data CPU specific 0 for the synchronization of the RK SFBs is zero is not stored minimum length is 240 bytes allowed REQ IN BOOL Initiates job on positive edge TRUE FALSE FALSE R IN BOOL Job is aborted Sending is blocked TRUE FALSE
61. Functions Information in the Message Frame Header The following table shows the information in the RK 512 message frame header see also Section Data Transmission with the RK 512 Computer Connection Basics Page 330 Source on to target your S7 Message frame header partner CPU automation system local Bytes 3 4 Bytes 5 6 Bytes 7 8 ore Command type Q DBNR Amount in Q Offset Data block Data block ED DB DW Words Expanded data Data block EX DB DW Words block Memory bit Data block EM Byte address Bytes Inputs Data block EE Byte address Bytes Outputs Data block EA Byte address Bytes Counters Data block EZ Counter Words number Timers Data block ET Timer number Words Abbreviations Q DBNR Source data block number Q Offset Source start address CPU 31xC Technological functions 296 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions 6 5 2 4 Receiving Providing Data with SFB 65 SERVE_RK Basics Use this SFB for e Receiving data Data are stored in the data area specified by the partner in the RK 512 message frame header see also Section Data Transmission with the RK 512 Computer Page 330 The SFB must be called when the communication partner executes a Send data job SEND job e Providing data Data are fetched from the data area specified by the partner in the RK 512 message frame header see also Section Page 33
62. Parameter 110 Parameter Value range Default End of rotary axis e 1 to 10 pulses 100 000 The value of End of rotary axis is theoretically the highest possible actual value Its physical position is identical to the start of the rotary axis 0 The highest rotary axis value displayed is Rotary axis end 1 Example End of rotary axis 1 000 The display toggles e with positive rotary direction from 999 to 0 e with negative rotary direction from 0 to 999 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs Length Measurement Parameters 4 2 Parameter contiguration Parameter Value range Length e Off measurement Start End at the positive edge DI e Start End at the negative edge DI e Start with positive edge and end with negative edge e Start with negative edge and end with positive edge Default Off Reference Point Coordinate Parameters Parameter Reference point coordinate Value range 5 x 108 to 5 x 108pulses Default 0 After a STOP RUN transition of the CPU the actual value is set to the value of the reference point coordinate After a reference point approach the reference point is assigned the value of the reference point coordinate The value of the reference point coordinate must lie within the working range including the software limit switches of the linea
63. Prerequisite is here that you have switched on monitoring in the Drive Axis and Encoder parameter assignment screens An external error is signaled when the monitoring responds External errors can occur at any time regardless of the started functions You must acknowledge queued external errors with a positive edge on ERR_A External errors are indicated at the SFB parameter ERR WORD by setting a bit Monitoring ERR Bit in ERR WORD Missing pulse zero mark 0004 hex 2 Traversing range 0800 hex 11 Working range 1000 hex 12 Actual value 2000 hex 13 Target approach 4000 hex 14 Target range 8000 hex 15 The detection of an external error incoming and outgoing can also trigger a diagnostic interrupt see Section Configuring and Evaluating Diagnostic Interrupts Page 8 80 System error A system error is indicated with BIE FALSE A system error is triggered by e Read write access errors at the instance DB e Multiple calls of the SFB CPU 31xC Technological functions 78 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 6 Error Handling and Interrupts 3 6 2 Error Evaluation in the User Program Procedure ai Call the error handling routine Error evaluation see the view N Query the specific error types in successive order If required jump to the error reaction method that is specifically adapted to your application
64. SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge Start enable ST_ENBLD TRUE Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameters Data type Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Reference point TRUE FALSE FALSE DIR_P or approach plus direction DIR_M positive edge TRUE DIR_M BOOL 4 3 Reference point TRUE FALSE FALSE approach minus direction positive edge MODE_IN INT 6 Operating mode 0 1 3 4 5 1 3 3 Reference point approach 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 131 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 14 0 Run is busy TRUE FALSE FALSE SYNC BOOL 14 3 SYNC TRUE Axis is synchronized TRUE FALSE FALSE ACT_POS DINT 16 Actual position value 5x108 to 0 5x108 pulses MODE_OUT INT 20 Enabled set operating mode 0 1 3 4 5 0 WORKING TRUE is set and SYNC FALSE immediately after the
65. STATUS displays the correspo Section Page B51 event number if an error or warning has occurred see NDR or ERROR STATUS are also output in the event of a RESET of SFB R TRUE Parameter LEN 16 00 The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to STOP mode Parameter EN_R Declaration IN BOOL Data type Description Control parameter Enable to receive Receive enable Value range TRUE FALSE Default FALSE R BOOL Control parameter Reset Cancels the request TRUE FALSE FALSE LADDR WORD Submodule I O address you specified in HW Config CPU specific 3FF hex NDR BOOL Status parameter New data ready Request completed without errors data accepted e FALSE The request has not yet been started or is still running e TRUE The request has been completed successfully TRUE FALSE FALSE ERROR OUT BOOL Status parameter Set only for the duration of one call Request completed with errors TRUE FALSE FALSE STATUS OUT WORD Status parameter Set only for the duration of one call In order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significance depending on the ERROR bit
66. SW gate 5 5 10 Reactions of the Counter Output Introduction This section describes the response of the digital output Camparison Value In the CPU you can store a comparison value that is assigned to the digital output to the status bit Status Comparator STS_CMP and to the hardware interrupt You can enable the digital output depending on the count value and comparison value You can specify the comparison value in the parameter assignment screens In your user program you can read JOB_ID 84 hex and write JOB_ID 04 hex them via the request interface of the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 203 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Reaction of the Digital Output You can specify the following response via the parameter assignment screen e No comparison e Count value 2 comparison value e Count value lt comparison value e Pulse at comparison value No comparison The output is switched as a standard output The SFB input parameters CTRL_DO and SET_DO are disabled The status bits STS_DO and STS_CMP status comparator in the IDB remain reset Count Value 2 Comparison or Count Value lt Comparison Value The comparator switches the output when the comparison value is reached Here you must first set the control bit CTRL_DO Status bit STS_CMP shows the result of the compare operation You can o
67. Sending Data 333 Rotary axis 35 109 RS 422 485 Point to point connection RS422 RS422 Operation Point to point communication RS485 RS485 Operation Point to point communication Run Sequence Positioning Positioning with digital outputs 417 401 Index S Safety concept Positioning 23 95 Safety Rules Positioning 23 95 Scope of this manual SEND message frame Sending Data 3964 R procedure ASCII driver 310 RK 512 Sequential FETCH message frame Sequential message frame 331 Sequential SEND message frames Serial cable Connection Serial Data Transmission Point to point communication SERVE_RK 362 Set count value Set reference point Positioning with analog output 66 Positioning with digital outputs SET_DO Counting Frequency counting 219 Pulse width modulation 231 Setting a load value 18 Set value control 367 SFB Error messages Error Messages 232 SFB 41 372 SFB 41 CONT_C Block Diagram SFB 42 379 SFB 42 CONT_S Block Diagram 381 SFB 43 PULSEGEN 384 Automatic Synchronization Error Information 3 Initialization 3 Operating Modes Parameters 3 Three step control 387 Two step control 389 SFB 44 Basic parameters 402 SFB 46 163 Basic parameters 421 SFB 47 251 SFB 48 253 SFB 49 255 SFB ANALOG Basic parameters 48 SFB CONT _C 375 SFB CONT_S SFB COUNT SFB parameters Point to point connection SFB_SERVE_RK 297 Shield connectio
68. TRUE Note the following rules e The comparator switches the output status from 0 to 1 The output can be reset to 0 by the comparator as well as with SET_DO FALSE Comparator operation is retriggered by every incoming count pulse Thus the output is set or reset according to the result of the comparator operation e The comparator switches with SET_DO TRUE from 0 to 1 The output can be reset to 0 by the comparator only with SET_DO FALSE Peculiarites of a Pulse at Comparison Value Configuration Characteristics of the digital output When the digital is set via control bit SET_DO it is reset after the pulse period has expired e When the pulse period 0 and the count is value out of range of the comparison value the output cannot be controlled via SET_DO e When the pulse period 0 and the count value comparison value the output can be controlled via SET_DO Pulse width You can specify a pulse period for adaptation to the actuators you are using The pulse period determines how long the output should be set You can specify it in increments of 2 ms from 0 to 510 ms Please note that the count pulses must be longer than the minimum switching time of the digital output If the pulse period 0 the output is set until the compare condition no longer applies The start of the pulse period is triggered when the corresponding digital output is set The pulse period inaccuracy is lt 1 ms The pulse period is no
69. Value range Default type instance DB JOB_DONE BOOL 66 1 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 66 2 Faulty job TRUE FALSE FALSE JOB_STAT WORD 70 Job error number see Section 0 to FFFF hex 0 Page 156 e The job is processed immediately after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e You must reset the job request JOB_REQ e JOB_ERR TRUE if an error occurred The precise error cause is then indicated in JOB_STAT e Anew job can be started with JOB_DONE TRUE Simultaneous Call of a Job and a Positioning Operation When a positioning operation and a job are initiated simultaneously the job is executed first Positioning is not executed if the job ends with an error A job initiated while a run is busy will be ended with an error CPU 31xC Technological functions 142 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs 4 4 9 Length measurement Description With Length measurement you can determine the length of a work piece The start and stop of length measurement is edge triggered at the digital input Length measurement At the SFB you are given the coordinates for length measurement start and end as well as the measured length With the help of the parameter assignment screens Parameter Length measurement you can switch length measurement
70. a ready made cable You will require the following male connectors for the connecting cables e At CPU 31xC end 15 pin Sub D male connector with screw interlock e At communication partner end 15 pin Sub D male connector with screw interlock Transmitter CPU 31xC Communication partner 2 1 T A T A 1 lt 2 Ca je 9 l T B T B 1 9 C m Receiver R A R B I I i I i Cable type i i i twisted pair l l T LIYCY 3 x 2 x 0 14 i eee T l I b ee 1 To ensure interference free data exchange with line lengths gt 50 m you must solder in a terminating resistance of approx 330Q at the receiver end CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 349 Point to point communication 6 10 Specifications Cable X27 RS422 CPU 31xC CP 544 CP 524 CPU 928B CPU 945 CPU 948 The picture below shows you the cable for RS422 operation between a CPU 31xC and CP 544 CP 524 CPU 928B CPU 945 CPU 948 Siemens does not offer a ready made cable You will require the following male connectors for the connecting cables e At CPU 31xC end 15 pin Sub D male connectors with screw interlock e At communication partner end 15 pin Sub D male connector with screw interlock r I I I I I 1 Q me 1 Q I l o l l I l l l l l 1 l Cable type i LIYCY 3 x 2 x 0 14 i T A
71. across the traversing distance The lower part of the figure shows the corresponding profile of the digital outputs Rapid speed and creep speed are determined by a combination of digital outputs 0 and 1 see Section Page 104 Speed VRapid VCreep Distance Digital output Reversing paint Rapid traverse Cut off point Target range Target Creep speed DEEPO EP SEO PANEI OEE NEEE Distance Cut off difference Direction Changeover difference Direction WORKING POS_RCD e First the target is approached at Vrapia speed e At the reversing point the drive switches to creep speed Vereep e The drive is switched off at the cut off position e The reversing point and cut off point are determined for every target approach using the values specified by you in the parameters Changeover difference and cut off difference The changeover difference and cut off difference can be specified differently for forward Plus direction and reverse Minus direction run e The run is terminated WORKING FALSE when the cut off position is reached At this point of time a new run can be started e The specified target is reached POS_RCD TRUE when the actual position value has reached the target area The Position reached signal is not reset if the actual position value drifts off the target area without a new run having been started CPU 31xC Technological functions Operatin
72. also used to monitor target approach That is the drive must reach the target range within this time after it has reached the cut off point CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 145 Positioning with digital outputs 4 5 Adapting Parameters Count direction Use the Count direction parameter to adapt the direction of path monitoring to the direction of movement of the linear axis Also take the rotary direction of all transmission elements into account for example couplings and gears e Normal means the incrementing count pulses correspond to rising actual position values e Inverted means the incrementing count pulses correspond to descending actual position values 4 5 3 Effect of the SFB Parameters CHGDIFF_P and CHGDIFF_M The parameters CHGDIFF_P Changeover difference in plus direction and CHGDIFF_M Changeover difference in minus direction define the position at which the drive is toggled from rapid to creep speed If the difference is set too high positioning is not optimized over time because creep speed runtime is unnecessarily extended CUTOFFDIFF_P and CUTOFFDIFF_M The parameters CUTOFFDIFF_P Cut off difference in plus direction and CUTOFFDIFF_M Cut off difference in minus direction specify the number pulses to go before the drive is switched off at the target approach Take into consideration that this distance varies according to the lo
73. byte 2nd Data byte nth Data byte End delimiter 10H End delimiter 03H Only with block check Pos acknowledgement 10H Response frame Start character 02H Pos acknowledgement 10H 00H lt _ __ 00H s 00H lt Error number 00H End delimiter 10H End delimiter 03H Only with block check Pos acknowledgement 10H CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 STX DLE 1st Byte 2nd byte 3rd Byte 4th Byte 5th Byte 6th Byte 7th Byte 8th Byte 9th Byte 10th Byte 11th Byte 12th Byte nth Byte DLE ETX BCC DLE STX DLE 1st Byte 2nd byte 3rd Byte 4th Byte DLE ETX BCC DLE Communication partner Connection setup Frame header User data Connection termination Connection S setup Response frame header Connection termination 333 Point to point communication 6 9 Protocol Description Sending data 334 The SEND request is executed in the following sequence e Active partner Transmits a SEND message frame Contains the message frame header and data Passive partner Receives the message frame verifies the header and the data and acknowledges with a response message frame after data have been written to the target block Active partner Receives the response message frame It sends a sequential SEND message frame if the user data length exceeds 128 bytes Passive partner Receives the s
74. canceled request When you reassign interface parameters via the programming device you should ensure that no more requests are active before you start the write operations 05 02H Request not allowed in this operate state e g Configure the device interface device interface is not configured 05 OEH e Invalid frame length e Message frame length is gt 1024 bytes Select a or shorter message frame length e The declared end codes did not occur within the or maximum perils Bie tengis e Add the end codes in the send buffer in an appropriate place 05 13H Data type error DB See the job tables for permitted data types and e Data type unknown or not permitted e g DE combinations e Mismatching source and target data types specified in the SFB 05 15H Incorrect bit number specified for coordination flag Permitted bit numbers 0 to 7 05 16H Specified CPU number too high Permissible CPU no 0 1 2 3 or 4 05 17H Transmission length gt 1024 bytes is too high Split up the request into multiple requests of shorter length 05 1DH Send receive request aborted due to Repeat the communication block call e Communication block reset e New parameter assignment 05 22H A new SEND request was started although the Do not start the new SEND request until the previous previous request is not yet completed request is closed with DONE or ERROR CPU 31xC Technological functions 352 Operating Instructions 03 2011 A5E00105484 05 Poi
75. character Default upon expiration of character delay time on receiving specified for the end criterion After receiving a fixed number of characters Character delay The character delay time defines the 1 to 65 535 ms 4ms maximum permitted time between 2 The shortest character delay consecutively received characters time depends on the baud rate Monitoring time for The character delay time is used as the Baud Character missing end code monitoring time for missing end delimiter 399 delay time This applies to the following settings for 600 ms the end delimiter 1200 130 e On receipt of a fixed character length 2400 65 4800 32 e Upon receipt of the end of text 9600 16 character s 19200 8 38400 4 2 1 Send pause between The end criterion After receiving a fixed e Yes Yes message frames for the number of characters maintains a pause No length of monitoring in transmission equal to the length of the time monitoring time for missing end delimiter between two message frames to allow the partner to synchronize itself recognition of the received message frame Message frame length The byte length of the message frame is 1 to 1024 bytes 1024 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 269 Point to point communication 6 3 Parameter configuration 0 to 7FH Hex With 8 data bits 0 to FFH Hex Pa
76. encoder signals A B N in fixed steps Maximum Frequency Parameter Accompanying signals Parameters Value range Default Max frequency Accompanying 60 kHz 10 kHz signals e 30kHz e 10 kHz e 5kHz e 2kHz e 1kHz You can set the maximum frequency of the length measurement and reference point switch signals in fixed steps CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 33 Positioning with Analog Output 3 2 Parameter configuration Control Mode Parameter Parameters Value range Default Control mode Voltage 10 V or current 20 mA Voltage 10 V or current 20 mA e Voltage 0 to 10 V or current 0 to 20 mA and directional signal The control mode describes how a connected converter is controlled e Voltage 10 V or current 20 mA A positive voltage or current is output for the run in a plus forward direction A negative voltage or current is output for the run in a minus backward direction e Voltage 0 to 10 V or a current of 0 to 20 mA and a direction signal A positive voltage or current is output for run in plus forward direction and the digital output CONV_DIR is switched off A negative voltage or current is output run in minus backward direction and the digital output CONV_DIR is switched off Actual Value Parameter Parameters Value range Default Actual value monitoring e Yes Yes The moving axis must cover a distance o
77. evaluation Here you connect the direction signal or track B of the transducer You can specify the inversion of the directional signal in your parameter assignment screen Note The inputs are not monitored for missing pulses You can save the actual internal value by generating a positive edge at the digital input Latch This gives you the option of event dependent count value evaluation You can output the actual latched value at SFB parameter LATCHVAL at every SFB call After a STOP RUN transition of the CPU LATCHVAL is reset to the start value of the counter You can start the counter via the digital input Hardware gate CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 9 Gate Function of the Counter Basics You have the choice of two gates for controlling your counter e A software gate SW Gate that is controlled via the user program You can open the software gate with a positive edge at the SFB parameter SW_GATE Reset this parameter to close it e A hardware gate HW Gate You can assign the hardware gate in the parameter assignment screens The gate opens with a positive edge and closes with a negative edge at the digital input Hardware gate Internal gate The internal gate represents the logical AND link of the hardware and software gates Count opera
78. external error message is generated when the monitoring facility responds This deactivates the monitoring Monitoring is not switched on again until the start of a new run Maximum Frequency Parameter Position feedback Parameters Value range Default Max frequency Position feedback e 60 kHz 60 kHz e 30 kHz e 10 kHz e 5 kHz e 2kHz e 1kHz You can set the maximum frequency of the position feedback signals encoder signals A B N in fixed steps Maximum Frequency Parameter Accompanying signals Parameters Value range Default Max frequency Accompanying e 60 kHz 10 kHz signals e 30 kHz e 10 kHz e 5kHz e 2kHz e 1kHz You can set the maximum frequency of the length measurement and reference point switch signals in fixed steps CPU 31xC Technological functions 108 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration 4 2 5 Axis Parameters Axis Type Parameter Parameter Value range Default Axis type e Linear axis Linear axis e Rotary axis You can control linear axes as well as rotary axes Description The maximum travel range of a linear axis is mechanically limited Physical start Physical end The rotary axis is not limited by mechanical stops Largest value that can be Start of the rotary axis coordinate 0 displayed end of rotary axis 1 end of rotary axis y Rotati
79. follows Step What to do 1 Locating the cause of error e Reversed polarity of the send receive lines e Are the default settings correct Several default setups might have been carried defaults with different polarity Some default settings are integrated in the device ona permanent basis e Missing or wrong terminating resistors e Reversal of high byte and low byte of the security word e g CRC 2 Procedure e First check the cable connection with the help of the manual Assignment polarity see Section Connecting a Serial Cable Page 263 Default settings see Section Page 266 e The test per test setup 3 Prepare the test setup as simple as possible e Interconnect only 2 nodes e Set RS485 mode 2 wire operation if possible e Use a short connecting cable e Terminating resistors are not required for short distances e Test data transmission in both directions CPU 31xC Technological functions 304 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 6 Commissioning Step What to do Check e Case 1 the line polarity is definitely correct Vary the default settings all options Check the security word e g CRC e Case 2 the default settings are definitely correct Cross link the connections Note for RS422 cross link both line pairs Check the security word e g CRC e Case 3 correct polarity or correct default
80. for the Siemens 6FX 2001 4xxxx Up 24 V HTL incremental encoder CPU Digital input _ gxy 2 socket Siemens 6FX 2003 0CE12 Connection side solder side i Li a 12 pin circular connector i J Shield on Shield on Y p enclosure enclosure Lig 2 Cable 4 x 2 x 0 5 mm2 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 83 Positioning with Analog Output 3 8 Specitications 3 8 2 Error Lists Basics If an error occurs an error ID is output at the SFB parameters STATUS or JOB_STAT The error ID consists of an event class and number Example of an Error List The view below shows the content of the STATUS parameter for the event Incorrect target specified Event class 34H event number 02H 27 20 27 20 STATUS Event Event number class 34H Error number 02H CPU 31xC Technological functions 84 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output Error IDs at SFB Parameter Status 3 8 Specifications Event class 32 20H SFB error Event no 20 02H Event text Incorrect SFB Remedy Use SFB 44 20 04H Incorrect channel number CHANNEL Set channel number 0 Event class 48 30H General run start error Event no 30 01H Event text Run job rejected because of faulty job in the same SFB call Remedy Correct the resp
81. frequency 2 Direct parameter ET hnment Example Direction reversal Frequency counting 2 Direction signal 44 Double evaluation 7p Drive parameters 32 1 E Emergency Off switch Positioning 2 23 Enable power section 44 Encoder parameters 38 72 112 Encoder Parameters Encoders Connectable Technical specications 82 154 End criterion End of text character Fixed message frame length 3 On expiration of character TT End of rotary axis 35 36 36 90 109 1110 End value start value 177 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 End of message recognition for received frames End of text character B16 ERR 78 Error a Diagnosing 306 Locatin 306 ERROR 77 Error diagnostics Point to point communication 306 Error handling peal Controlling Error Handling and 7i E pts 306 Error list example 84 Error Lists JOB_STAT Error messages at the system function block SFB Counting frequency counting pulse width modulation 232 Error Messages at the System Function Block SFB Point to point connection 306 Error numbers Status SFB parameter JOB_STAT SFB parameter 88 159 ERR Word structure Example files Controlling 3 Counting frequency measurement pulse width modulation 239 Point to point communication 309 Positioning with Analog Output 81 Positioning with digital outputs F Failure of a digital
82. gate opening hardware gate opens while the software gate is lt No open CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 181 Counting Frequency Measurement and Pulse Duration Modulation 5 4 Implementing Functions in the User Program 5 4 Implementing Functions in the User Program Procedure Calling the SFB Instance DB 182 The functions are controlled in your user program To do this call the following system function blocks Function SFB Counting SFB COUNT SFB 47 Frequency counting SFB FREQUENC SFB 48 Pulse width modulation SFB PULSE SFB 49 The SFBs are found in the Standard library under System Function Blocks The following sections help you to design a user program for your application You can read the actual count values in Counting mode and the actual frequency values in Frequency counting mode directly via the input address l address set in the Count submodule Call the SFB with a corresponding instance DB Example CALL SFB 47 DB30 The SFB parameters are stored in the instance DB These parameter are described in Sections Controlling the Counter via the User Program Page 19 193 Controlling the Frequency Counter via the User Program Page 212 and Procedure for Pulse Width 221 You can access the parameters via e DB number and absolute address in the DB e DB number and symbolic address in
83. in pulses only positive values allowed Absolute incremental Linear axis approach 5 x 108 to 5 x Target in pulses 108 Rotary axis 0 to end of rotary axis 1 SPEED IN DINT 12 The axis is accelerated to 10 to 1000 V setpoint 1 000 000 pulses s Up to the configured maximum speed at most WORKING OUT BOOL 16 0 Run is busy TRUE FALSE FALSE POS_RCD OUT BOOL 16 1 Position reached TRUE FALSE FALSE MSR_ OUT BOOL 16 2 End of length measurement TRUE FALSE FALSE DONE CPU 31xC Technological functions 92 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 8 Specifications Parameters Declaration Data Address Description Value range Default Type Instance DB SYNC OUT BOOL 16 3 Axis is synchronized TRUE FALSE FALSE ACT_POS OUT DINT 18 Actual position value 5x 108to 5x 0 108pulses MODE_ OUT INT 22 Active set operating mode 0 1 3 4 5 0 OUT ERR OUT WORD 24 External error Every bit 0 Bit 2 missing pulse Oor1 monitoring Bit 11 traversing range monitoring always 1 Bit 12 working range monitoring Bit 13 actual value monitoring Bit 14 target approach monitoring Bit 15 target range monitoring The other bits are reserved ST_ENBLD OUT BOOL 26 0 Start enable TRUE FALSE TRUE ERROR OUT BOOL 26 1 Run start resume error TRUE FALSE FALSE STATUS OUT WORD 28 0 Error ID Oto FFFF hex O ACCEL STAT DINT 30 Acceleration 1 to 100 000 1
84. installation instructions for your CPU CPU 31xC Technological functions 24 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 1 3 Introduction Terminals for Positioning with Analog Output 3 1 Wiring Use the front connectors X1 and X2 of the CPU 314C 2 DP PN DP and PtP to connect the following components e 24 V encoder e Length measurement switch e Reference point switch e Power section X1 X2 SF SIEMENS 1 f 2219 4 11 4 e210 BUSF 2 IIle lel 221H H 2 llel lel l22 0 pyOCsv 3 Ie e23 H 3 ile ll 230 F FRCE 4 Ille 22477 H 4 IIe 24 RUN 5 Ille e251 H 5 e e250 STOP fo 6 IIe ell264 H 6 Ile e260 pz 7 e 270 0 7 Iel i 27 0 STOP 8 Ie e280 H 8 l a 287 MSS 9 e e 29 H 9 llel ell29 F 10e e300 O 10 8 e 30 0 11 Dale een 12 H126 le 3210 13 L 43hKe eI 330 14 Haale elisa 15 H 4514 351 16 L166 lel 3610 17 17l lel 3710 18 H 18e ell 38H 19 Holle lel 39 20 L20 S el 400 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 25 Positioning with Analog Output 3 1 Wiring Descript
85. is TRUE after the first call of the SFB TRUE FALSE FALSE COUNTVAL OUT DINT 14 Actual count value 231 to 231 1 LATCHVAL OUT DINT 18 Actual latch value 231 to 231 1 JOB_DONE OUT BOOL 22 0 New job can be started TRUE FALSE TRUE JOB_ERR OUT BOOL 22 1 Faulty job TRUE FALSE FALSE JOB_STAT OUT WORD 24 Job error number 0 to FFFF hex STS_CMP STAT BOOL 26 3 Comparator status Status bit STS_CMP indicates whether the comparison condition for the comparator is or was met STS_CMP also indicates that the output was set STS_DO TRUE TRUE FALSE FALSE STS_OFLW STAT BOOL 26 5 Overflow status TRUE FALSE FALSE STS_UFLW STAT BOOL 26 6 Underflow status TRUE FALSE FALSE STS_ZP STAT BOOL 26 7 Zero mark status This bit is only set when counting without main counting direction Indicates the zero mark This is also set when the counter is set to 0 or if it starts counting at load value 0 TRUE FALSE FALSE JOB_OVAL STAT DINT 28 Output value for read jobs 231 to 231 1 RES_STS STAT BOOL 32 2 Reset status bits Resets the status bits STS_CMP STS_OFLW STS_UFLW and STS_ZP The SFB must be called twice to reset the status bits TRUE FALSE FALSE Reset with RES_STS 252 C
86. is used to structure a PID controller with pulse output for proportional actuators The online electronic manual is found under Start gt Simatic gt S7 manuals gt PID Control English Application PID two or three step controllers with pulse width modulation can be configured using the SFB PULSEGEN This function is normally used in conjunction with the continuous controller CONT_C CONT_C PULSEGEN LMN IN Le amii J CPU 31xC Technological functions 384 Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions Description The function PULSEGEN transforms the input variable INV LMN of the PID controller by modulating the pulse width into a pulse train with a constant period corresponding to the cycle time at which the input variable is updated and which must be assigned in PER_TM The duration of a pulse per period is proportional to the input variable The cycle configuration in PER_TM is not identical to the processing cycle of the SFB PULSEGEN Rather a PER_TM cycle represents the sum of multiple processing cycles of the SFB PULSEGEN Here the number of SFB PULSEGEN calls per PER_TM cycle represents a measure for the accuracy of the pulse width The minimum manipulated value is here determined in the P_B_TM parameter Inv 100A LMN J 4 i i i i 50 aJ J 4 30 3 m l a 0 t i j QPOSP f
87. long as any errors are queued e Bit 0 of byte 8 in OB 82 is reset after all queued errors are reported as outgoing e Inthe event of a line break in the serial connection the Faulty module Line break External error and Communication error bits in byte 8 are set simultaneously OB 82 byte 8 Bit 0 Description Faulty module Bit 1 Bit 2 External error Bit 3 Bit 4 Bit 5 Line break Bit 6 Bit 7 OB 82 byte 10 Bit 0 Description Bit 1 Communication error Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Hardware Interrupt Loss Bit 7 308 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 8 Installation of Examples 6 8 Installation of Examples Using Examples The examples program and description are found on the CD ROM included in your documentation You can also download them from the Internet The project consists of several commented S7 programs of various complexity and aim The Readme wri on the CD describes how to install the samples After their installation the samples are stored in the catalog STEP7 EXAMPLES ZDt26_01_TF 31xC_PtP 6 9 Protocol Description 6 9 1 Data Transfer with ASCII Driver 6 9 1 1 Data Transfer with ASCII Driver Basics Basics The ASCII driver controls data transfer in PtP communications between the CPU and a commu
88. mA Actual value monitoring e Yes Yes e No Target approach monitoring e Yes No e No Target range monitoring e Yes No e No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 89 Positioning with Analog Output 3 8 Specifications Axis Parameters Parameters Value range Default Axis type Linear axis Linear axis e Rotary axis Software limit switch Software limit switch start 100 000 000 Start End software limit switch end 100 000 000 5 x 108 to 5 x 108pulses End of rotary axis 1 to 10 pulses 100 000 Length measurement e Off Off e Start End at the positive edge DI e Start End at the negative edge DI e Start with positive and end with negative edge e Start with negative and end with positive edge Reference point coordinate 5 x 108 to 5 x 108pulses 0 Reference point location for reference point switch e Plus direction actual values increase e Minus direction actual values decrease Plus direction Encoder parameters 90 Traversing range monitoring Yes set fixed Yes Working range monitoring e Yes Yes e No Parameters Value range Default Increments per encoder 1 to 223 pulses 1000 revolution Count direction e Standard Normal e Inverted Missing pulse zero mark e Yes No monitoring ane CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 P
89. match You should therefore avoid operation in this range Valid value range Default value Start value up to 2147483647 231 1 assignable High count limit 2147483647 231 1 Count value up to 2147483647 23 1 Start value Load value up to 2147483647 231 1 Start value High Counting limit 291 4 Start value Load value Counter value 0o se a a ial pee Underflow Gate starGate stop Gate start Gate stop Time Automatic Automatic CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 189 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 4 Periodic Count Description In this operating mode the CPU performs periodic counts depending on the declared default direction of count e No default direction of count The CPU starts counting at load value The CPU counts up or down On overflow or underflow at the respective count limit the counter jumps to load value and resumes counting from there The count limits are fixed at the maximum count range Valid value range Default value High count limit 2147483647 231 1 Low count limit 2147483648 231 Count value 2147483648 231 to 2147483647 231 1 0 Load value 2147483647 231 1 to 2147483646 231 2 0 Count High f i countingime p AAA A Overflow 2311
90. mode with PLC gt Download to Module The data are now stored in the CPU s system data memory 6 Switch the CPU to RUN mode The online help in the parameter assignment screens offers you support when you assign parameters You have the following options of calling the online help e Press the F1 key in the respective views e Click on the Help button in the various parameter assignment screens CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration 4 2 3 Basic parameters Interrupt Selection Parameter Parameter Value range Default Interrupt selection e None None e Diagnostics Here you can specify whether or not a diagnostic interrupt is to be triggered The diagnostic interrupt is described in Section Configuring and Evaluating Diagnostic Interrupt 152 Page CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 103 Positioning with digital outputs 4 2 Parameter configuration 4 2 4 Drive parameters Control Mode Parameter Parameters Value range Default Control mode 1 4 1 The control mode describes how the 4 digital outputs Q0 to Q3 operate a connected motor via the converter control You can select 4 different control modes The four control modes are shown in the following figure The following figures respectively show the approach in
91. multiple nodes multipoint Here it can be used as e Master or e Slave only RS485 operation With a master slave topology there must be an appropriate message frame in the user program Example The master transmits a message frame containing an address information to all slaves All the slaves listen in and compare the address with their own If the address is the same the addressed slave sends its answer The transmitters of all slaves must be able of switching to high impedance e With a master slave topology in RS422 operation the CPU can only be used in master mode the master s transmitter is interconnected with the receivers of all the slaves the slaves transmitter is interconnected with the master s receiver only the receivers of the master and slave are assigned a default setting All the other slaves operate without default settings CPU 31xC Master HZ e_ gt Slave Slave Slave CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration e Incase of a topology with RS485 operation the send receive cable pairs of all nodes are interconnected only the receiver of a node has a default setting All the other modules operate without default settings CPU 31xC Master He
92. nex e Write hysteresis o9 hex 10 hex e Write pulse duration Redacted 82 hex ead load value 84 hex e Read comparison value 88 hex e Read hysteresis 90 hex e Read pulse duration JOB_VAL DINT 8 Value for write jobs 231 to 231 4 0 2 Call the SFB CPU 31xC Technological functions 196 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB JOB_DONE BOOL 22 0 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 22 1 Faulty job TRUE FALSE FALSE JOB_STAT WORD 24 Job error number 0 to FFFF hex 0 e The job is immediately processed after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e JOB_ERR TRUE if an error occurred The precise error cause is displayed in JOB_STAT e A new job can be started with JOB_DONE TRUE e Only for read jobs Read the current value from the instance DB parameter JOB_OVAL Parameters Data type Address Description Value range Default instance DB JOB_OVAL DINT 28 Output value for read jobs 231 to 231 1 0 JOB_REQ w Request 5 5 JOB_DONE Job done Permissible Value Range for JOB_VAL Count continuously Job Write counter direc
93. next message frame if a new message frame is received before the monitoring time expires CPU 31xC Technological functions 314 Operating Instructions 03 2011 A5E00105484 05 Point to point communication Procedure 6 9 Protocol Description The figure below illustrates a receive operation with the end criterion Fixed character length Wait for character Character arrived 5 Character 2 received with g length check and s ZVZ monitoring xe g ke D og D Frame 5 r co 5 complete o 2 gs lt o2 2E g L Oo ra Enter frame in receive buffer Expiration of monitoring time Error occurred while receiving Wait for assigned amount of characters Enter error in STATUS output of the FB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 315 Point to point communication 6 9 Protocol Description End Criterion End of Text Character 316 When receiving data the end of the message frame is recognized when the declared endof text character s is are received You have the following options e One endoftext character e Two endoftext characters The received data including the endoftext character s are accepted from the CPU If the end code is missing in the received data the character delay time expires during reception and results in a termination of
94. occur if the corresponding information is not taken into account If more than one degree of danger is present the warning notice representing the highest degree of danger will be used A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage Qualified Personnel The product system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation for the specific task in particular its warning notices and safety instructions Qualified personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following AAWARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and components from other manufacturers are used these must be recommended or approved by Siemens Proper transport storage installation assembly commissioning operation and maintenance are required to ensure that the products operate safely and without any problems The permissible ambient conditions must be adhered to The information in the relevant documentation must be observed Trademarks All names identified by are registered trademarks of the Siemens AG The remainin
95. of byte 8 will be reset after all errors have been reported outgoing e You can determine the precise error cause by evaluating data record 1 byte 8 and 9 To do this you must call SFC 59 read data record e Acknowledge the error with ERR_A Data record 1 byte 8 Description JOB_STAT ERR Bit 0 not used Bit 1 not used Bit 2 Missing pulse Xx Bit 3 not used Bit 4 not used Bit 5 not used Bit 6 not used Bit 7 not used Data record 1 byte 9 Description JOB_STAT ERR Bit 0 Configuration error X z Bit 1 not used Bit 2 not used Bit 3 Traversing range monitoring X X Bit 4 Working range monitoring X X Bit 5 Actual value monitoring X X Bit 6 Target approach monitoring X X Bit 7 Target range monitoring X X subsequent errors trigger an incoming and then automatically an outgoing interrupt 4 7 Installation of Examples Using Examples The examples program and description are found on the CD ROM included in your documentation You can also download them from the Internet The project consists of several commented S7 programs of various complexity and aim The Readme wri on the CD describes how to install the samples After installation the examples are stored in the catalog STEP7 EXAMPLES ZDt26_03_TF 31xC_Pos CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 153 Positionin
96. of interference because frequent repetitions reduce user data transmission rates and transmission integrity The disturbance could also be caused however by a malfunction on the part of the communication partner In the event of a BREAK on the receive line receive line interrupted an error message is displayed on the STATUS output of the SFB No retry is started BREAK status is automatically reset after the line is reconnected For all recognized transmission errors a unified error number is reported when a data block is received However the error is only reported following unsuccessful repetitions 6 9 2 5 3964 R Procedure Startup Sequence Procedure 326 The picture below illustrates the startup sequence of the 3964 R procedure Power up after CPU restart or voltage recovery y Evaluate parameter assignment Y Initialize interface Y Send NAK CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 2 6 Procedure Sending with 3964 R Procedure 6 9 Protocol Description The picture below illustrates the sending sequence with 3964 R procedure 2 Send request Send NAK ry Yy W 1 Send NAK Waal bd x gt 6 x 1 k6 lt 4
97. off difference plus 0 to 108 100 Pulses CHGDIFF_M STAT DINT 36 Changeover difference 0 to 108 1000 minus Pulses CUTOFF DIFF_M STAT DINT 40 Cut off difference minus 0 to 108 100 Pulses PARA STAT BOOL 44 0 Axis is configured TRUE FALSE FALSE DIR STAT BOOL 44 1 Current last sense of TRUE FALSE FALSE direction FALSE Forward plus direction TRUE Reverse minus direction CUTOFF STAT BOOL 44 2 Drive in cut off range TRUE FALSE FALSE from cut off position to the start of the next run CPU 31xC Technological functions 164 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 8 Specifications Parameters Declarati Data Type Address Description Range of values Default on Instance DB CHGOVER STAT BOOL 44 3 Drive in changeover TRUE FALSE FALSE range from reaching changeover position to the start of the next run DIST_TO_GO STAT DINT 46 Actual distance to go 5x 108to 5x 0 108 pulses LAST_TRG STAT DINT 50 Last actual target 5x 108to 5x 0 108 pulses BEG_VAL STAT DINT 54 Actual position value 5x108to 5x O start of length 108 pulses measurement END_VAL STAT DINT 58 Actual position value end 5 x 108 to 5x O of length measurement 108 pulses LEN_VAL STAT DINT 62 Measured length O to 10 pulses O JOB_REQ STAT BOOL 66 0 Initiates the job TRUE FALSE FALSE positive edge JOB_DONE STAT BOOL 66 1 New job can be started TRUE FALSE TRUE JOB_ERR S
98. on reaching the e Yes No On reaching comparator ae comparator Hardware interrupt A hardware interrupt is generated on overflow e Yes No Overflow exceeding the high counting limit No Hardware interrupt A hardware interrupt is generated upon underflow low e Yes No Underflow counting limit violated lt No Hardware interrupt You can select whether a hardware interrupt is e Yes No Counting edge generated on each counting edge at a maximum lt No counting frequency of 1 kHz This hardware interrupt cannot be selected if the maximum counting frequency is greater than 1 kHz Generating a hardware interrupt on each counting edge results in high CPU utilization at higher counting frequencies For this reason you should only enable this hardware interrupt when the counting edges are at least 10 ms apart 5 3 4 Frequency measurement Description of Parameters Parameters Description Value range Default Integration time Time window in which the incoming pulses are 10 to 10 000 ms 100 measured Low limit The measured value is compared with the low CPU 312C 0 limit The status bit Underflow STS_UFLW is 0 to 9 999 999 mHz set when the low limit is exceeded The low limit CPU 313C must be less than the high limit CPU 313C 2 DP PtP 0 to 29 999 999 mHz CPU 314C 2 DP PN DP PtP 0 to 59 999 999 mHz High limit The measured value is compared with the high CPU 312C CPU 312C limit The status bit Overflow STS_OFLW is 1 to 10 000
99. parts up to a maximum limit e Count periodically for example for intermittent counting applications You select the operating mode via the parameter assignment screens Maximum Counting Frequency CPU 312C CPU 313C CPU 314C 2 DP PN DP PtP CPU 313C 2 DP PtP 10 kHz 30 kHz 60 kHz Period measurement 184 At a maximum counting frequency of 1 kHz the time between two consecutive counting edges is always measured You can read the measured period directly via the input data I data of the Count submodule or by direct I O access You must specify which input data are assigned You can read either the count value or the period If the maximum counting frequency is greater than 1 kHz the period is not measured and the value is 0 After each parameter assignment a measured period is available after the second counting edge prior to that the value is 0 The period is available as an unsigned 32 bit value in the assigned time base Periods of up to a maximum of 4 294 967 s 49 d 17 h 2 min 47 s can be measured with a time base of 1 ms and periods of up to 536 ms 8 min 56 s with a time base of 125 ns If the counting edges are further apart in time the measured period is incorrect because an overflow has not been taken into account CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Descr
100. plus direction POS_RDC feedback signal Control mode 1 VRapid Checkback signal V Creep POS_RCD TRUE Rapid speed QO Creep speed Q1 Travel plus Q2 Travel minus Q3 Eee Control mode 2 VRapid PESEE Checkback signal POS_RCD TRUE VCreep Rapid creep speed Qo Position reached Travel plus Travel minus CPU 31xC Technological functions 104 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration Control mode 3 VRap Checkback signal POS_RCD TRUE VCreep Rapid speed Qo Creep speed Q1 Travel plus Q2 Travel minus Q3 Control mode 4 VRap Checkback signal VCreep POS_RCD TRUE Rapid speed plus Qo Creep speed plus Q1 Rapid speed minus Q2 Creep speed minus Control mode 1 CPU 31xC Technological functions Control mode 2 Rapid speed Creep speed Position Plus Minus Plus Minus reached direction direction direction direction POS_RCD QO 1 1 0 0 Q1 0 0 1 1 Q2 1 0 1 0 Q3 0 1 0 1 105 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter configuration Control mode 2 Target Range Parameter 106
101. received an interface test device interconnected in the data link 08 06H Character delay time exceeded Partner device faulty or too slow Prove this if gt Two suceessit characteisiwWere not tec ived required using an interface tester interconnected in pa A the data link within character delay time or Only for 3964 R e First character after sending of DLE when establishing the connection was not received within character delay time 08 07H Illegal message frame length Receipt of a zero length message frame is not an A zero length message frame was received error Check why the communication partner is sending message frames without user data 08 08H Only for 3964 R Check whether the connection is seriously disrupted Error in block check character BCC in this case you may also occasionally see error codes Identify the malfunction on the partner device Internally calculated value of BCC does not match possibly by using an interface test device BCC received by partner at end of connection interconnected in the data link 08 09H Only for 3964 R Declare a block waiting time at the communication Waiting time for block repetition has expired partner identical to that in your module Check for malfunctioning of the communication partner possibly by using an interface tester interconnected in the data link 08 0AH There is no free receive buffer available The SFB RCV must be called more frequently No receive bu
102. restart the count you must generate a positive edge at the gate control The counter starts at the load value You can also count beyond the low counting limit In this case however the count value and comparison results do not match You should therefore avoid operation in this range Valid value range Default value End value up to 2147483646 231 1 Configurable Low count limit 2147483648 23 Count value 2147483648 23 to end value 1 0 Load value 2147483648 231 to end value 2 Counter value End value Overflow Load value 0 Low Counting limit 231 Gate startGate stop Gate start Gate stop Time Automatic Automatic CPU 31xC Technological functions 188 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function e Main count direction down The CPU starts counting at the load value The CPU counts up or down When the counter reaches the count value 1 in the negative direction it jumps to the load value start value at the next negative count pulse and the gate is closed automatically To restart the count you must generate a positive edge at the gate control see Section Gate Function of the Counter Page 201 The counter starts at the load value You can also count beyond the high counting limit In this case however the count value and comparison results do not
103. specify the count direction independent of the Main count direction parameter To do this you either apply an appropriate direction signal or you assign the count direction during parameter assignment Main count direction up ee Low Load value End value counting limit Main count direction down en 0 Start value High Load value counting limit CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 185 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Starting Stopping the Counter Use the gate function to start stop and interrupt the counting functions For information on setting up the gate function refer to Section Gate Function of the Counter Page 201 Overflow Zero Crossing Underflow 5 5 2 Description 186 The overflow bit STS_OFLW is set when the high counting limit is exceeded The underflow bit STS_UFLW is set when the low counting limit is fallen below Zero crossing is indicated by setting the zero crossing bit STS_ZP This bit is only set when counting without a main count direction The zero crossing is also indicated when the counter is set to 0 or is counting starting from load value 0 Count continuously In this operating mode the CPU starts counting at 0 or load value e When the up counter reaches the high limit it jumps to the low limit at the next positive count pulse an
104. stop bits 08 11H Character frame error Check the connecting cables of the communication partners or verify that the two devices have matching settings for the baud rate parity and number of stop bits Change your system setup or cable wiring 08 12H With ASCII driver only Reconfigure the communication partner or dispose of More characters were received after the CPU data more rapidly transmitted XOFF 08 14H With ASCII driver only Work with flow control as much as you can Use the A message frame or several message frames have entire receive buffer In your basic parameters set got lost because you have been working without flow the Reaction to CPU STOP parameter to control Continue 08 16H The length of a received message frame was longer Correction required at the partner than the maximum specified length CPU 31xC Technological functions 356 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications Event class 9 09H Response message frame received from interconnection partner with error or error message frame Event no Event Remedy 09 02H Only with RK 512 Check that the partner has the desired data area and Memory access error on partner memory does not that it is big enough or check the parameters of the exist called system function block With SIMATIC S5 as partner Check the length specified in the system function block e
105. the manipulated value manually The step controller operates without a position feedback signal Limiting stop signal can be used to limit pulse output Below you will find a detailed description of the subfunctions Setpoint operation The setpoint is entered in floating point format at the SP_INT input Actual value operation The process variable can be input in the peripheral I O or floating point format The CRP_IN function converts the PV_PER I O value to a floating point format of 100 to 100 according to the following formula 100 27648 Output of CPRLIN PV_PER x CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 379 Controlling 7 5 Description of Functions The PV_NORM function standardizes the output of CRP_IN according to the following formula Output of PV_NORM Output of CPR_IN x PV_FAC PV_OFF PV_FAC has a default of 1 and PV_OFF a default of 0 The variables PV_FAC and PV_OFF are the result of formula conversion as follows PV_OFF Output of PV_NORM Output of CPR_IN x PV_FAC output of PV_NORM PV_OFF PV_FAC Output of CPR_IN Calculating the negative deviation The difference between setpoint and actual value forms the negative deviation To suppress a small constant oscillation due to the manipulated variable quantization for example due to a limited resolution of the manipulated value by the actuator valve a dead band is applied to the error
106. the DB The main parameters for the function are also interconnected to the block You can assign the input parameters directly at the SFB or you can evaluate the output parameters Note For each channel you must always call the SFB with the same instance DB because the instance DB contains the required states for the internal processes of the SFB Write access to the outputs of the instance DB is not allowed CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Program structure The SFB must be called e g OB1 cyclically 1 O Access 5 4 Implementing Functions in the User Program Note You must not call an SFB you have configured in your program in another program section with a different priority class because the SFB must not interrupt itself Example It is not allowed to call the same SFB both in OB1 and in the interrupt OB In counting and frequency counting modes you can read the current count values periods or frequency values depending on the set mode by accessing the I O directly via the input address l address of the Count submodule You have specified the input address of the submodule in HW Config The submodules has an address area of 16 bytes l address Chann Type CPU Comment Value range el n 0 0 DINT 312C Count value 231 to 2
107. the end of text parameters character The end code must be included in the data to be sent Data are only transferred up to the end delimiter even if a greater data length is specified in the SFB e Transmission up to the length specified in the block parameters Data are transferred up to the length declared in the SFB parameters The last character must be the end of text character Transmission up to the length specified in the block parameters and automatically appending the end of text character e Transmission up to the length specified in the block and automatic appending the end of text character Data are transferred up to the length declared in the SFB parameters The end of text character s is are appended automatically that is the end delimiters must not be included in the data to be transferred Depending on the number of end delimiters 1 or 2 characters more than specified in the SFB maximum 1024 bytes are transferred to the partner CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 271 Point to point communication 6 3 Parameter configuration Data Reception Parameter Description Value range Default Clear receive buffer The receive buffer is cleared at power on or transition of the e Yes No during startup CPU from STOP to RUN No Prevent overwriting You can use this parameter to prevent overwriting of data in a e Ye
108. the frame The character delay time is used in this situation as monitoring time An error message is issued and the message frame fragment is discarded If you are working with endoftext characters transmission is not code transparent You must then make sure that the end code s is are not included in the user data of the user Special considerations If the last character in the received message frame is not the endoftext character note the following points e End of text character elsewhere in the message frame All characters including the end of text character are written to the DB The characters appended to the end of text character are Discarded if the monitoring time expires at the end of the message frame Merged with the next message frame if a new message frame is received before the monitoring time expires e End of text characters not included in message frame The message frame is either Discarded if the monitoring time expires at the end of the message frame Merged with the next message frame if a new message frame is received before the monitoring time expires CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Receiving with Block Check Characters In the parameter assignment screens you can select operation with one or two block check character s BCC in addition to the end of text character
109. the input variable is output as quickly as possible as a pulse The pulse generator evaluates the input value INV at intervals corresponding to the period PER_TM and converts the value into a pulse signal of corresponding length Since however INV is usually calculated in a slower cyclic interrupt class the pulse generator should start the conversion of the discrete value into a pulse signal as soon as possible after the updating of INV To allow this the block can synchronize the start of the period using the following procedure If INV changes and if the block call is not in the first or last two call cycles of a period the synchronization is performed The pulse duration is recalculated and in the next cycle is output with a new period LMN INV 30 0 LMN INV 80 0 LMN INV 50 0 Processing of CONT_C gt t i CYCLE of CONT_C etl Period start Se a 4 0 0 0 0 0 0 0 100 WOE ra ja PER_TM is PER_TM Seek Synchronization of No synchronization period start required PULSEGEN detects INV has PULSEGEN detects INV has changed and the call does not changed to 80 0 or 50 0 and the call occur in the first or in the last two does not occur in the first or in the last cycles of the period two cycles of the period i Processing of PULSEGEN Processing of PULSEGEN in the first or in the last two cycles of the period CPU 31xC Technological functions Operating Instructions 03 2011
110. the parameter assignment screens e They are stored in the system memory of the CPU e You can change some of the parameters while the CPU is in RUN mode using the SFB job interface see Section Controlling the Counter via the User Program Page 193 ontrolling the Frequency Counter via the User Program Page 212 or Controlling Pulse idth Modulation via the User Program Page 222 Parameter assignment screens You can assign the module parameters in the parameter assignment screens e Basic parameters e Continuous once only and periodic counting e Frequency counting e Pulse width modulation Those parameter assignment screens are largely self explanatory You can find the description of the parameters in the following sections and in the integrated help for the parameter assignment screens Note If you use channel 0 or channel 1 you can no longer use Positioning technology Requirements Prerequisite for calling the parameter assignment screen is that you have created a project in which you can save your parameter assignment CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 175 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration Procedure Online Help 5 3 2 Interrupt Selection Parameter 176 1 Start the SIMATIC Manager and open HW Config in your project 2 Double click on the Count submodule of your CPU The Prop
111. when run direction is reversed e In Reference point approach mode when the synchronization position is detected or at direction reversal The sequences are analogous to target approach CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 119 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Canceling The run is terminated immediately disregarding the changeover cut off difference All the relevant outputs of the control mode are deactivated immediately Cancellation is possible at any time or at standstill The run is canceled in the following cases e Canceling the drive enable signal DRV_EN FALSE e When the CPU switches to STOP mode e When an external error occurs Exception monitoring of the target approach target range Reactions e A current or interrupted run is terminated immediately WORKING FALSE e The last target LAST_TRG is set to the actual value ACT_POS e A distance to go is deleted that is Relative incremental approach can not be resumed e Position reached POS_RCD will not be set CPU 31xC Technological functions 120 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs 4 4 2 Basic Configuration of SFB DIGITAL SFB 46 Overview of Basic Parameters The parameters which are identical for all operating modes are described in th
112. 0 The SFB must be called when the communication partner executes a Fetch data job FETCH job SERVE_RK SYNC_DB ENR NDR Fh ERROR LADDER STATUS L_TYPE L_DBNO L_OFFSET L_CF_BYT L_CF_BIT LEN The block is ready after it is called with the value TRUE on control input EN_R You can cancel a current transmission via signal status FALSE on parameter EN_R A canceled request is concluded with an error message STATUS output Receiving is disabled as long as the signal status at parameter EN_R is FALSE In the SYNC_DB parameter you specify the DB in which you want to store data common to all SFBs you are using for startup initialization and synchronization routines The DB number must be identical for all SFBs in your user program You must call the SFB with R Reset FALSE to enable it to process the job At a positive edge on control input R a current transmission is canceled and the SFB is reset to the initial state A canceled request is concluded with an error message STATUS output You enter the submodule I O address you have specified in HW Config in LADDR NDR is set to TRUE if the job was closed without errors and ERROR to TRUE if the job was closed with errors If NDR TRUE for one call the block indicates where the data were stored or from where the data were fetched in the parameters L_TYPE L_DBNO and L_OFFSET In addition the par
113. 0 Drive enable TRUE FALSE FALSE TRUE START BOOL 4 1 Run start positive TRUE FALSE FALSE START or edge DIR_P or DIR_P BOOL 4 2 Run in plus direction TRUE FALSE FALSE DIR_M TRUE positive edge DIR_M BOOL 4 3 Run in minus TRUE FALSE FALSE direction positive edge MODE_IN INT 6 Operating mode 5 0 1 3 4 5 1 5 absolute incremental approach TARGET DINT 8 Target in pulses Linear axis 1000 XXXX 5 x 108 to 5 x 108 Rotary axis 0 to end of rotary axis 1 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 63 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 16 0 Run has started TRUE FALSE FALSE POS_RCD BOOL 16 1 Position reached TRUE FALSE FALSE ACT_POS DINT 18 Actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 22 Enabled set operating mode 0 1 3 4 5 0 e WORKING TRUE is set immediately after the run has started WORKING is reset to FALSE at the cut off point POS_RCD TRUE is set when the specified target is reached e You must reset the direction bit DIR_P or DIR_M before you start the next run e f an error occurred when the SFB call was interpreted WORKING FALSE and ERROR will be set to TRUE The precise error ca
114. 0 mHz is output after three measuring intervals Integration time Pulses Direct frequency Averaged frequency Possible measuring ranges with error indication Integration time fmin abs error fmax abs error fmax abs error fmax abs error 10s 0 25 Hz 1 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 1s 2 5 Hz 1 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 0 1s 25 Hz 2 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 0 01s 250 Hz 100 mHz 10 kHz 6 Hz 30 kHz 10 Hz 60 kHz 20 Hz CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 211 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 2 Controlling the Frequency Counter via the User Program Scope of Functions for SFB FREQUENC To control the frequency meter from your user program you use SFB FREQUENC SFB 48 212 The following functionalities are available to you Starting stopping via software gate SW_GATE Enabling controlling the output DO Reading out status bits Reading out the current measured value Jobs for reading and writing the internal frequency count registers LADDR CHANNEL SW_GATE MAN_DO SET_DO JOB_REQ JOB_ID JOB_VAL FREQUENC SFB 48 STS_GATE STS_STRT STS_DO STS_C_DN STS_C_UP MEAS_VAL COUNTVAL JOB_DONE JOB_ERR JOB_STAT CPU 31xC Technologi
115. 00 pulses s2 DECEL STAT DINT 34 Deceleration 1 to 100 000 100 pulses s CHGDIFF_P_ STAT DINT 38 Changeover difference plus 0 to 108 1000 Pulses CUTOFF STAT DINT 42 Cut off difference plus 0 to 108 100 DIFF_P Pulses CHGDIFF_M_ STAT DINT 46 Changeover difference 0 to 108 1000 minus Pulses CUTOFF STAT DINT 50 Cut off difference minus 0 to 108 100 DIFF_M Pulses PARA STAT BOOL 54 0 Axis is configured TRUE FALSE FALSE DIR STAT BOOL 54 1 Current last sense of TRUE FALSE FALSE direction FALSE Forward plus direction TRUE Reverse minus direction CUTOFF STAT BOOL 54 2 Drive in cut off range from TRUE FALSE FALSE cut off position to the start of the next run CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 93 Positioning with Analog Output 3 8 Specitications Parameters Declaration Data Address Description Value range Default Type Instance DB CHGOVER STAT BOOL 54 3 Drive in changeover range TRUE FALSE FALSE from reaching changeover position to the start of the next run RAMP_DN STAT BOOL 54 4 Drive is ramped down TRUE FALSE FALSE from braking point to changeover position RAMP_UP STAT BOOL 54 5 Drive is ramped up from TRUE FALSE FALSE start to reaching end speed DIST_TO_ STAT DINT 56 Actual distance to go 5x108to 5x O GO 108pulses LAST_TRG STAT DINT 60 Last actual target 5x 108to 5x O 108pulses
116. 000 CUTOFF DIFF_P DINT 32 Cut off difference plus The Cut off difference plus defines the cut off position at which the drive is switched off when operating at creep speed in positive direction 0 to 108pulses 100 CHGDIFF_M DINT 36 Changeover difference minus Changeover difference minus defines the changeover position at which the drive is toggled from rapid to creep speed when moving in negative direction 0 to 108pulses 1000 CUTOFF DIFF_M DINT 40 Cut off difference minus The Cut off difference plus defines the cut off position at which the drive is switched off when operating at creep speed in negative direction 0 to 108pulses 100 Rules for the Changeover Cut Off Difference 122 e Positive and negative values can differ e The changeover difference must be greater than equal to the cut off difference e The cut off difference must be greater or equal to half the target range e Select a sufficient distance between the changeover position and the cut off position to ensure that the drive s speed can be reduced to creep speed e Select a sufficient distance between the changeover position and the target to ensure the drive reaches the target area and comes to a standstill there e The distance to be traveled must be at least as high as the cut off difference e Changeover cut off difference are limited to 1 10 of the travel ran
117. 000 mHz 10 000 000 mHz set when the high limit is exceeded The high CPU 313C CPU 313C limit must be greater than the low limit CPU 313C 2 DP PtP CPU 313C 2 DP PtP 1 to 30 000 000 mHz 30 000 000 mHz CPU 314C 2 DP CPU 314C 2 DP PN DP PtP PN DP PtP 1 to 60 000 000 mHz 60 000 000 mHz CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 179 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration Parameters Description Value range Default Maximum counting You can set the maximum frequency of the track frequency A pulse track B direction and hardware gates signals in fixed steps The maximum value is CPU specific CPU 312C 10 5 2 1 kHz 10 kHz CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 30 kHz CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1kHz 60 kHz Output measured if the period of the measured frequency exceeds e Direct Direct value the configured integration time e Averaged e With direct frequency mode the value 0 is output at the end of the integration time e With averaged frequency the last value is distributed across the subsequent measuring intervals without an edge f 2 1 mHz This stretches the integration time Here the last measured value is divided by the number of measurement intervals without edge Signal evaluation e The count and direction signals are connected to the input Pul
118. 05484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 9 Deleting the Distance to Go Description After a target run absolute or relative incremental approach the pending distance to go DIST_TO_GO can be deleted with the job Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE ou have assigned the basic parameters of the SFB as described in Section Basic onfiguration of the SFB ANALOG SFB 44 Page 48 e The last job must be finished JOB_DONE TRUE e The last positioning operation must be ended WORKING FALSE Procedure e Assign the following input parameters accessible via instance DB as specified in the Setting column Parameter Data type Address Description Value range Default Setting instance DB JOB_REQ BOOL 76 0 Job trigger positive edge TRUE FALSE FALSE TRUE JOB_ID INT 78 Job 2 Delete distance to go 1 2 0 2 JOB_VAL DINT 82 None 0 Any e Call the SFB The output parameters of the SFB accessible via instance DB provide the following information Parameter Data type Address Description Value range Default instance DB JOB_DONE BOOL 76 1 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 76 2 Faulty job TRUE FALSE FALSE JOB_STAT WORD 80 Job error ID Oto FFFF hex 0 e The job is immedi
119. 05484 05 309 Point to point communication 6 9 Protocol Description 6 9 1 2 Basics Sending Data with the ASCII Driver In the LEN parameter you specify the number of bytes for user data to be transmitted when you call the SFB for a send operation When you work with the end criterion Expiration of character delay time the ASCII driver also generates a waiting time between two message frames during a send operation You can always call the SFB However the ASCII driver does not start output of data until an interval greater than the configured character delay time has expired since the last transmission of a message frame If you work with the end criterion Fixed character length data are transmitted in sending direction according to the data length declared in the SFB SEND _PTP at the parameter LEN In receiving direction that is in the receive DB the data length is entered as you have entered them via parameter assignment screen at the receiver in the parameter Fixed character length The two parameter settings must be identical in order to ensure error free data traffic When sending data a pause equal to the length of the monitoring time with missing end code is inserted between two message frames to allow partner synchronization recognition of message frame start If some other synchronization method is used the send pause can be deactivated by means of the parameter assignment screen If you work with the e
120. 1 1 no gear Increments per encoder revolution 500 increments revolution 3000 rpm 50 rev s 500 increments rev 2000 pulses rev Revolutions Pulses Pulses Maximum speed 50 x 1 x 2000 100000 s Revolution It is imperative to determine and specify the maximum speed correctly in order to achieve good and reproducible positioning results Creep Speed Reference Speed Monitoring Time Count direction The Creep speed reference speed parameter also refers to the encoder Here the specified maximum speed is converted into an analog voltage For example if the maximum speed is 10000 pulses s and the creep reference speed 1000 pulses s a voltage of 1 V will be output at the analog output The creep reference speed must be high enough to keep the drive moving You must select a time of sufficient length in the Monitoring time parameter to ensure that the drive can supersede the startup holding torque of the axis within the specified time Example The drive starts moving at an analog voltage of 0 5 V Maximum speed 10 000 pulses s 10 V Acceleration 1 000 pulses s2 gt Speed 500 pulses s 0 5 V gt T speed acceleration 500 pulses s 1 000 pulses s 0 5 s i e the drive does not start moving until 0 5 s have expired In this case the monitoring time must be set higher than 0 5 s The monitoring time is also used for target approach monitor
121. 11 A5E00105484 05 39 Positioning with Analog Output 3 2 Parameter configuration 3 2 7 Enabling diagnostic interrupt for monitoring 40 Configuring the Diagnostics The responding monitoring feature can trigger a diagnostic interrupt Requirement You have enabled the diagnostic interrupt in the Basic Parameters screen and activated the respective monitoring in the Drive Axis and Encoder screens Parameter Value range Default Missing pulse zero mark e Yes No e No Traversing range e Yes No e No Working range e Yes No for linear axes No Actual value e Yes No e No Target approach e Yes No e No Target range e Yes No e No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 3 Integration into the user program 3 3 Integration into the user program Procedure Calling the SFB Instance DB The positioning functions are controlled in your user program To do this call the system function block SFB ANALOG SFB 44 The SFB is found in the Standard Library under System Function Blocks gt Blocks The following sections help you to design a user program for your application Call the SFB with a corresponding instance DB Example CALL SFB 44 DB20 ANALOG SFB 44 LADDR CHANNEL WORKING POS_RCD DRV_EN MRS_DONE START SING DRP Pe DIR M WORD ERR STOP
122. 1xC Technological functions 354 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications Event class 8 08H Receive error Event no Event Remedy 08 01H Only for 3964 R A repetition is not an error but it can be an indication Expectation of the first repetition of transmission line disturbances or malfunction of the partner device If the message frame still has not An error was detected when the message frame was Baan ranemitied ater the maximum number ot a i The A he haiti ee eee ea repetitions an error number is output that describes e partner via negative acknowledgment the first error that occurred 08 02H Only for 3964 R Identify the malfunction on the partner device Connect error possibly by using an interface test device interconnected in the data link e In idle mode one or more random codes other than NAK or STX were received or e after an STX was received partner sent more codes without waiting for response DLE After partner power ON e the CPU receives an undefined character while the partner is switched on 08 05H Only for 3964 R Check whether the partner always duplicates the Logical error during receiving DLE in the message frame header and data string or After DLE ived a furth d d the connection goes down via DLE ETX Identify the a th Tere ea AUST lai ese malfunction on the partner device possibly by using otherthan or was
123. 31 1 313C period 313C 2 DP PtP Frequency value 0 to 231 1 314C 2 DP PN DP PtP n 4 1 DINT 312C Count value 231 to 231 1 313C period 313C 2 DP PtP Frequency value 0 to 231 1 314C 2 DP PN DP PtP n 8 2 DINT 313C Count value 231 to 231 1 313C 2 DP PtP period 314C 2 DP PN DP PtP Frequency value 0 to 231 1 312 C Not assigned 0 n 12 3 DINT 314C 2 DP PN DP PtP Count value 231 to 231 1 period Frequency value 0 to 231 1 312C Not assigned 0 313C 313C 2 DP PtP n input address of the Count submodule In the counting mode you must specify whether you are reading the count value or the period In the pulse width modulation mode the entire I O area of the submodule is filled with 0 as of the I address Write access to the Count submodule starting at the Q address is not possible CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 183 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 Counting Description of Function 5 5 1 Basic Terms for Counting Counting modes The counting modes support your counting applications Here the counting signal is captured and evaluated by the CPU You can count up and down You have the choice of the following operating modes e Count continuously for example for position feedback with 24 V incremental encoders e Count once for example for counting
124. 37 667 1334 20 Byte 37 48 74 124 228 430 851 1701 50 Byte 48 71 112 199 368 709 1402 2804 100 Byte 70 105 178 321 605 1176 2323 4642 200 Byte 126 196 336 618 1173 2293 4543 9064 500 Byte 278 445 778 1450 2784 5450 10836 21608 1000 Byte 545 878 1554 2876 5534 10860 21571 43027 6 10 7 Cables Introduction When producing your own cables take into account that you must always use shielded connector enclosures A large surface area of both sides of the cable shielding must be in contact with the connector enclosure and the shielding contact A cauTIoN Never connect the cable shielding to ground Otherwise the interface will be destroyed GND Pin 8 must always be connected on both sides Otherwise the interface might also be destroyed The following pages show you some examples of cables for PtP connections between the CPU and S7 modules or SIMATIC S5 Cable X 27 RS422 CPU 31xC CPU 31xC CP 340 CP 341 CP 440 CP 441 Cables are available in the default lengths 5 m 10 m and 50 m Type Order no X27 RS 422 5 m 6ES7902 3AB00 0AA0 X27 RS 422 10 m 6ES7902 3AC00 0AA0 X27 RS 422 50 m 6ES7902 3AG00 0AA0 The picture below shows you the cable for RS422 operation between a CPU 31xC and CPU 31xC CP 340 CP341 CP 440 CP 441 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 347 Point to point communication 6 10 Specifications You
125. 4C 2 DP 1 channel with 4 channels each for counting Yes analog or digital frequency measurement max 60 kHz output or pulse width modulation 2 5 kHz CPU 314C 2 PN DP 1 channel with 4 channels each for counting Yes analog or digital output frequency measurement max 60 kHz or pulse width modulation 2 5 kHz 1 Only two channels are available when a positioning channel is used Access to I Os Used by Technological Functions Inputs used by the technological functions can always be accessed via the input address of the digital input I O Write access to outputs used by the technological functions is internally locked CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 15 Overview of the Technological Functions CPU 31xC Technological functions 16 Operating Instructions 03 2011 A5E00105484 05 Positioning 2 1 Modes Supported by the Controlled Positioner 2 1 1 Positioning Control with Analog Output Introduction The CPU supports controlled positioning with analog output Properties Controlled positioning with analog output has the following features The drive is controlled via a permanently assigned analog output either with a voltage of 10 V pin 16 or a current of 20 mA pin 17 or with a voltage of 0 to 10 V pin 16 ora current of 0 to 20 mA pin 17 and an additional 24 V digital output as a directional signal X2 pin 29 Contro
126. 5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 12 Hardware Interrupt during Count Operation Setting a Hardware Interrupt You enable hardware interrupts and specify the hardware interrupt triggering events in the parameter assignment screens Opening of the HW gate while the SW gate is closed Closing of the HW gate while the SW gate is open Overflow high counting limit exceeded Underflow low counting limit fallen below Reaching the comparator count value comparison value Counting edge occurred Note Triggering a hardware interrupt on each counting edge results in high CPU utilization at higher counting frequencies If the hardware interrupts in the Count submodule occur faster than they can be processed in the hardware interrupt OB OB 40 this produces the diagnostic Hardware interrupt lost provided the diagnostic interrupt is enabled High counting frequencies can cause the CPU utilization to become so high that your configured scan cycle monitoring time is exceeded or the CPU communication no longer responds or responds very slowly Therefore we recommend that you do not enable the hardware interrupt for each counting edge unless it is certain that the individual edges are at least 10 ms apart CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 209 Counting Frequency Measurement and Pulse Dura
127. 5E00105484 05 229 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions On delay Represents the time interval between the start of the output sequence and the output of the first pulse On delay Time base x specified numeric value If you change the on delay while it is active the new setting is immediately applied e If the new on delay is shorter than the previous one an on delay can be generated once shorter than the previous signal but longer than the new one e The new on delay is used if it is longer than the previous delay time Minimum pulse duration 230 All output low high signals shorter than the minimum pulse width are suppressed Minimum pulse width Time base x specified numeric value If you change the minimum pulse width while a code sequence is output the new value is immediately applied e The output is set to 1 when you apply a change while the signal is low and the interpulse width is shorter than the new minimum pulse width e The interpulse width is output when you apply a change while the signal is low and the width is greater than the new minimum pulse width e The output is set to 0 when you apply a change while the signal is high and the pulse width is shorter than the new minimum pulse width e The pulse is output when you apply a change while the signal is high and the pulse width is longer than the new minimum p
128. 60 SEND_PTP Send the whole or partial area of a data block to a communication partner SFB 61 RCV_PTP Receive data from a communication partner and save it in a DB SFB 62 RES_RCVB Reset the receive buffer of the CPU Sending Data with SFB 60 SEND_PTP With this SFB you transmit a data block from a DB SEND_PTP REQ LADDR SD_1 LEN DONE ERROR STATUS The send process is activated after the block call and at a positive edge on the control input REQ The area of the data to be transmitted is specified in SD_1 DB number and start address and the data block length in LEN You must call the SFB with R Reset FALSE to enable it to process the job At a positive edge on control input R the current transmission is canceled and the SFB is reset to the initial state A canceled request is concluded with an error message STATUS output You enter the submodule I O address you specified in HW Config with LADDR Either NDR is set to TRUE if the request was closed without error or ERROR is set to TRUE if the request was terminated with error CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 281 Point to point communication 6 5 Communication Functions If the request was run through with DONE TRUE it means that e When using the ASCII driver Data were transmitted to the communication partner However it is not ensured that the data were receive
129. 63 Description of examples showing the various commissioning phases leading to a functional application Getting Started First steps in commissioning CPU 31xC Positioning with analog output Entry ID 48070939 http support automation siemens com WW vie en 48070939 Description of examples showing the various commissioning phases leading to a functional application Getting Started First steps in commissioning CPU 31xC Positioning with digital output Entry ID 48077520 http support automation siemens com WW vie en 48077520 Description of examples showing the various commissioning phases leading to a functional application Getting Started First steps in commissioning CPU 31xC Counting Entry ID 48064324 http support automation siemens com WW vie en 48064324 Description of examples showing the various commissioning phases leading to a functional application Getting Started First steps in commissioning CPU 31xC Point to point connection Entry ID 48064280 http support automation siemens com WW vie en 48064280 Description of examples showing the various commissioning phases leading to a functional application Getting Started First steps in commissioning CPU 31xC Rules Entry ID 48077500 http support automation siemens com WW vie en 48077500 Description of examples showing the various commissioning phases leadin
130. 68 Actual position value end of length 5 x 108 to 5 x 0 measurement 108pulses LEN_VAL DINT 72 Measured length 0 to 109 pulses 0 The figure below shows the signal profile for a length measurement of the type Start End of length measurement at the positive negative edge 1st Measurement 2nd Measurement Digital input Length measurement ay es MSR_DONE BEG_VAL l END_VAL K_ Values of 1st mBasurement XK of 1st measurement Values of 2nd measurement LEN_VAL ZN Note When referencing during a length measurement the change of the actual value is taken into account as follows Example A length measurement is performed between two points with a distance of 100 pulses When referencing during the length measurement the coordinates are shifted by 20 This results in a measured length of 120 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 71 Positioning with Analog Output 3 5 Adapting Parameters 3 5 Adapting Parameters 3 5 1 Important Safety Rules Important Note Please note the following warning points A WARNING Harm to health or damage to assets is to be expected To avoid injury and damage to property please note the following e Install an Emergency Off switch in the area of the control system This is the only possible way for you to ensure that the system can be safely switched off in case of control system f
131. 85 interface The following protocols are available to you e CPU 313C 2 PtP ASCII 3964 R e CPU 314C 2 PtP ASCII 3964 R and RK 512 You can configure the communication mode via the parameter assignment screen You can transfer a maximum of 1 024 bytes Possible rates of transmission are 19 2 kbaud with full duplex and 38 4 kbaud with half duplex CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 257 Point to point communication 6 7 Overview 6 1 2 Communication Partner Examples of Communication Partners 6 1 3 With the serial interface of the CPU it is possible to establish PtP connections to various Siemens modules and third party products Some examples are given below e SIMATIC S5 via 3964 R RK 512 with a corresponding interface module on S5 side e Siemens BDE terminals of the ES2 family via 3964 R driver e MOBY I ASM 420 421 SIM MOBY L ASM 520 and logging station ES 030K via 3964 R driver e SIMOVERT and SIMOREG USS Protocol via the ASCII driver ET 200S SI RS 422 485 with respective protocol adaptation in a STEP 7 program e PCs via the 3964 R protocol development tools are available for programming on PC PRODAVE DOS 64R 6ES5 897 2UD11 for MS DOS PRODAVE WIN 64R 6ES5 897 VD01 for Windows or ASCll drivers e Barcode readers via the 3964 R or ASCII drivers e PLCs of other manufacturers via RK512 the 3964 R or ASCll driver e Additional devices
132. A5E00105484 05 Controlling 7 5 Description of Functions Automatic synchronization can be switched off per SYN_ON FALSE input Note At the start of the new period an image of the old value of INV that is of LMN is blended more or less inaccurately to the pulse signal Operating Modes Depending on the parameters assigned to the pulse generator PID controllers with a three step output or with a bipolar or unipolar two step output can be configured The following table illustrates the setting of the switch combinations for the possible modes Operating mode MAN_ON Switch STEP3_ON ST2BI_ON Three step control FALSE TRUE Any Two step control with bipolar FALSE FALSE TRUE manipulated value range 100 to 100 Two step control with unipolar FALSE FALSE FALSE manipulated value range 0 to 100 Manual mode TRUE Any Any Three step control Three step control can generate three states for the control signal The values of the binary output signals QPOS_P and QNEG P are assigned to the states of the actuator The table shows the example of a temperature control Output Signals Heat Actuator Off Cool QPOS_P TRUE FALSE FALSE QNEG_P FALSE FALSE TRUE Based on the input variable a characteristic curve is used to calculate a pulse duration The form of the characteristic curve is defined by the minimum pulse or minimum break time and the ratio factor T
133. B Basics The parameter ERROR is set to TRUE if an error occurs The STATUS parameter indicates the cause of error The possible error messages are listed in Section Page 351 Note An error message is only output if the ERROR bit job completed with error is set In all other cases the STATUS word is zero If the ERROR bit is set you should therefore copy STATUS to a free data area to display the STATUS CPU 31xC Technological functions 306 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 7 Error Handling and Interrupts 6 7 3 Error IDs in the Response Message Frame Basics If you are working with the RK 512 computer connection and a SEND FETCH message frame error occurs at the communication partner the communication partner returns a response message frame with an error ID in the 4th byte Table of Error IDs In the table below you can find the assignment of the error IDs in the response message frame REATEL to the event classes numbers in STATUS of the communication partner The error IDs in the response message frame are output as hexadecimal values REATEL Error messages Event class Event number OAH 0905H OCH 0301H 0609H O60AH 0902H 10H 0301H 0601H 0604H 12H 0904H 14H 0903H 16H 0602H 0603H 090AH 2AH 090DH 32H 060FH 0909H 34H 090CH 36H 060EH 0908H 6 7 4 Configuring and Evaluating Diagnostic Interrupts Basics You can
134. B 62 RES_RCVB Page 285 The receive buffer is a ring buffer e If multiple message frames are written to the receive buffer The first message frame received is always transmitted to the target block e If you always want to transfer the last received frame to the destination data block you must assign the value 1 for the number of buffered frames and deactivate the overwrite protection Note If continuous reading of received data is interrupted for a while in the user program and new received data are requested the latest message frame may not be entered in the target block until all old frames have been entered Old message frames are the frames in the process of being transferred between the CPU and the partner or already received by the SFB at the time of the interrupt Data Transmission with RK 512 Computer Connection Data Transmission with the RK 512 Computer Connection Basics RK 512 computer connection controls PtP data exchange between the CPU and a communication partner In contrast to 3964 R the RK 512 computer connection offers higher data integrity and superior addressing options Response Message Frame Command frame 330 The RK 512 computer connection responds to every correctly received instruction frame with a response message frame to the CPU This allows the sending station to verify that data were received without error by the CPU or that the data it requires are available on the CPU
135. BYT R_CF_BIT SD1 LEN The send process is activated after the block call and at a positive edge on the control input REQ The memory area in which fetched data are stored is specified in RD_1 DB number and start address and the data block length in LEN In the SFB you also specify the partner area from which data are to be fetched This information is entered in the RK 512 message frame header by the CPU and transferred to Page 330 The area on the partner from which the first byte is to be fetched is specified by the CPU number R_CPU only relevant for multiprocessor communication the data type R_TYPE data blocks expanded data blocks memory bits inputs outputs counters and timers the data block number R_DBNO only relevant for data blocks and expanded data blocks and the offset parameter RLOFFSET The interprocessor communication flag byte and bit on the partner CPU is specified in R_CF_BYT and R_CF_BIT In the SYNC_DB parameter you specify the DB in which you want to store data common to all SFBs you are using for startup initialization and synchronization routines The DB number must be identical for all SFBs in your user program You must call the SFB with R Reset FALSE to enable it to process the request Ata positive edge on control input R the current transmission is canceled and the SFB is reset to the initial state A canceled request is concluded with an error message STATUS outpu
136. B_DONE JOB_ERR JOB_STAT accessible via instance DB provide the following information Parameters Data type Address Description Value range Default instance DB SYNC BOOL 16 3 Axis is synchronized TRUE FALSE FALSE JOB_DONE BOOL 76 1 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 76 2 Faulty job TRUE FALSE FALSE JOB_STAT WORD 80 Job error number see Section 0 to FFFF hex O Page 84 e The job is immediately processed after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e You must reset the job request JOB_REQ e SYNC TRUE if the job was processed without error e JOB_ERR TRUE if an error occurs The precise error cause is then indicated in JOB_STAT e Anew job can be started with JOB_DONE TRUE mas m aree e E SYNC Effects of the job The actual position value will be set to the value of the reference point coordinate and the status signal SYNC is set The working range is shifted physically along the axis All points within the working range maintain their original coordinates but have new physical positions Simultaneous Call of a Job and a Positioning Operation 68 When a positioning operation and a job are initiated simultaneously the job is executed first Positioning is not executed if the job ends with an error A job initiated while a run is busy will be ended with an error CPU 31xC Technological functions Operating Instructions 03 2011 A5E001
137. Block SFB Types of error The SFB indicates the errors listed in the table below Except for system errors all errors are specified in closer detail via an error number which is available as an output parameter in the SFB Type of error Errors are displayed in SFB parameters The error number is displayed in the SFB parameters Operating mode error ERROR TRUE STATUS Job Error JOB_ERR TRUE JOB_STAT External error ERR gt 0 ERR System error BIE FALSE Operating Mode Error ERROR TRUE This error occurs e upon general parameter assignment errors at the SFB e g use of incorrect SFB e at run start resume These errors occur during the interpretation of operating mode parameters When an error is detected output parameter ERROR is set to TRUE The possible error numbers can be found in Section Page 84 The parameter STATUS indicates the cause of error Job Error JOB_ERR TRUE Job errors can only occur during the interpretation execution of a job When an error is detected output parameter JOB_ERR is set to TRUE The possible error numbers can be found in Section Page 84 The error cause is indicated at the JOB_STAT parameter CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 77 Positioning with Analog Output 3 6 Error Handling and Interrupts External error ERR The system monitors the run traversing range and the connected I O
138. CC ASCII Driver Transmission times in ms Transmission rate Bd for 38400 19200 9600 4800 2400 1200 600 300 user data 1 Byte 5 6 7 9 13 23 41 78 10 Byte 7 11 17 28 51 97 190 376 20 Byte 11 17 28 51 97 190 374 744 50 Byte 19 34 62 120 236 465 927 1847 100 Byte 35 64 121 236 466 926 1846 3685 200 Byte 64 120 237 467 927 1845 3686 7363 500 Byte 154 298 586 1160 2309 4607 9204 13398 1000 Byte 305 591 1168 2316 4613 9210 18402 36788 3964 R Procedure Transmission Times in ms Transmission rate Bd for 38400 19200 9600 4800 2400 1200 600 300 user data 1 Byte 8 11 14 22 38 71 137 267 10 Byte 11 16 25 43 80 154 302 601 20 Byte 14 22 36 66 126 246 487 966 50 Byte 23 38 71 136 264 522 1037 2071 100 Byte 38 68 130 250 494 982 1958 3907 200 Byte 67 126 246 482 956 1902 3798 7586 500 Byte 158 303 595 1175 2838 4664 9316 18620 1000 Byte 308 597 1177 2330 4642 9266 18515 37011 CPU 31xC Technological functions 346 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications RK 512 Computer Connection Transmission Times in ms Transmission rate Bd for 38400 19200 9600 4800 2400 1200 600 300 user data 1 Byte 21 29 44 75 134 253 501 1002 10 Byte 33 42 63 101 180 3
139. DP 6ES7313 6CG04 0ABO V3 3 01 CPU 314C 2 PtP 6ES7314 6BH04 0ABO V3 3 01 CPU 314C 2 DP 6ES7314 6CH04 0ABO V3 3 01 CPU 314C 2 PN DP 6ES7314 6EH04 0ABO V3 3 01 Note This documentation package contains a description of all modules available at the time of publication We reserve the right to include separate up to date Product Information on new modules and new releases of existing modules CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Position in the overall documentation structure The documentation listed below is part of the S7 300 documentation package You can also find this on the Internet and the corresponding entry ID Title of documentation Manual CPU 31xC and CPU 31x Technical Specifications Entry ID 12996906 http support automation siemens com WW vie en 12996906 Description Description of e Operating and display elements e Communication e Memory concept e Cycle and response times e Technical specifications Operating Instructions CPU 31xC and CPU 31x Installation Entry ID 13008499 http support automation siemens com WW vie en 13008499 Description of e Configuring e Mounting e Wiring e Addressing e Commissioning e Maintenance and test functions e Diagnostics and troubleshooting Operating Instructions CPU 31xC Technological functions incl CD Entry ID 12429336 http support automation
140. Default FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 213 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions Output parameters Parameters Data type Address Description Value range Default instance DB STS_GATE BOOL 12 0 Internal gate status TRUE FALSE FALSE STS_STRT BOOL 12 1 Status of the hardware gate Start input TRUE FALSE FALSE STS_DO BOOL 12 2 Output status TRUE FALSE FALSE STS_C_DN BOOL 12 3 Status of the down count TRUE FALSE FALSE Always indicates the last count direction The value of STS_C_DN is FALSE after the first call of the SFB STS_C_UP BOOL 12 4 Status of the up count TRUE FALSE FALSE Always indicates the last count direction After the first SFB call STS_C_UP has the value TRUE MEAS_VAL DINT 14 Current frequency value 0 to 231 1 0 COUNTVAL DINT 18 Current count value 231 to 231 1 0 Starts at 0 every time the internal gate opens Output parameters not interconnected to the block static local data Parameters Data type Address Description Value range Default instance DB STS_CMP BOOL 26 3 End of measurement status TRUE FALSE FALSE The measured value is updated after the integration time has expired Here the end of a measurement is signaled via status bit STS_CMP STS_OFLW_ BOOL 26 5 Overflow status TRUE FALSE FALSE STS_UFLW BOOL
141. Description Value range Default ERROR OUT BOOL Job completed with error TRUE FALSE FALSE STATUS OUT WORD Error number 0 to FFFF hex O RD_1 IN_OUT ANY Receive parameter CPU specific 0 Here you specify Number of the DB in which the fetched data are stored e Data byte number as of which the fetched data are stored e g DB 10 from byte 2 gt DB10 DBB2 LEN IN_OUT INT Here you specify the byte length of the 1 to 1024 1 message frame to be fetched A length of two bytes must be declared per time and counter Parameters of SFB 65 SERVE_RK for Receiving Providing Data Parameters Declaration Data type Description Value range Default SYNC_DB_ JIN INT Number of the DB in which the common data CPU specific 0 for the synchronization of the RK SFBs is zero is not stored minimum length is 240 bytes allowed EN_R IN BOOL Request enable TRUE FALSE FALSE R IN BOOL Cancels the request TRUE FALSE FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config L_TYPE OUT CHAR Receiving data D a Type of target area on local CPU capital letters only D Data block Providing data D M E A Type of the source area at local CPU capital Z T letters only D Data block e M Memory bit E Inputs e A Outputs e Z Counters e T Timers L_DBNO OUT INT Data block number on local CPU destination CPU specific 0 zero is not allowed L_OFFSET OU
142. EQ to TRUE The coordinate you have specified is shown as actual position value and the synchronization bit SYNC is set Evaluate JOB_STAT a reported error JOB_ERR TRUE If required correct your specified coordinate and repeat the job for setting the reference CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 147 Positioning with digital outputs 4 5 Adapting Parameters Step What to do s 4 Check the changeover cut off differences e Perform a Relative or absolute incremental approach run at rapid speed towards H the specified target TARGET that is further away from the current position than specified in the changeover difference e Note the individual positioning phases acceleration constant run deceleration target approach Increase the changeover difference until it can be seen that the drive moves 4 towards cut off position at creep speed QO If the configured target range is not reached reduce the cut off difference and repeat the run until the target range is reached m If the configured target range is overrun increase the cut off difference and repeat the run until the target range is not overrun anymore e Now optimize the changeover difference m Reduce the changeover difference without changing the cut off difference and repeat the run You can reduce the changeover difference to a value at which you can hardly notice the drive moving at cr
143. EXAMPLES ZDt26_02_TF 31xC_Cnt 5 10 Specifications 5 10 1 Functions Counting CPU 312C CPU 313C CPU 314C 2 DP CPU 313C 2 DP PtP PN DP PtP Maximum frequency 10 kHz 30 kHz 60 kHz Track A Pulse track B direction hardware gate and latch min pulse width min 48 us 16 us 8 us interpulse width max cable length at 100 m 100 m 50 m max count frequency Counting range 2 147 483 648 231 to 2 147 483 647 231 1 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 239 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Frequency counting Table 5 1 Frequency Range CPU 312C CPU 313C CPU 314C 2 DP CPU 313C 2 DP PtP PN DP PtP Frequency range 0 to 10 kHz 0 to 30 kHz 0 to 60 kHz Track A pulse Track B direction and hardware gate min pulse width min 48 us 16 us 8 us pulse cause max cable length at 100 m 100 m 50 m max count frequency Table 5 2 Possible measuring ranges with error indication Integration time fmin abs error fmax abs error fmax abs error fmax abs error 10s 0 25 Hz 1 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 1s 2 5 Hz 1 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 0 1s 25 Hz 2 mHz 10 kHz 2 Hz 30 kHz 5 Hz 60 kHz 10 Hz 0 01s 250 Hz 100 mHz 10 kHz 6 Hz 30 kHz 10 Hz 60 kHz 20 Hz Pulse Width Modulation 240 Output frequency Specificati
144. Error numbers at SFB Parameter Status 4 8 Specifications Event class 32 20H SFB error Event no Event text Remedy 20 01H Incorrect SFB Use SFB 46 20 04H Incorrect channel number CHANNEL Set channel number 0 Event class 48 30H General run start error Event no Event text Remedy 30 01H Run job rejected because of faulty job in the same Correct the respective JOB parameters SFB call 30 02H It is not allowed to modify MODE_IN while the drive Wait until the current positioning operation has is still in motion ended 30 03H Unknown operating mode MODE_IN Permitted is 1 Jog mode 3 reference point approach 4 relative incremental approach and 5 absolute incremental approach 30 04H Start requests may only be set one at a time Permissible start requests are DIR_P DIR_M or START 30 05H START is only allowed in Absolute incremental Start the run with DIR_P or DIR_M approach mode 30 06H DIR_P or DIR_M is not allowed for a linear axis and Start the run with START in Absolute incremental approach mode 30 07H Axis not synchronized Absolute incremental approach is only possible if the axis is synchronized 30 08H Moving out of working range Run is only allowed into the direction of the working range Event class 49 31H Run start error Start enable Event no Event Remedy 31 01H Start not enabled because the ax
145. FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config R_CPU IN INT CPU number of the partner CPU 0to4 1 only for multiprocessor operation R_TYPE IN CHAR Address type at partner CPU D X D D Data block e X Expanded date block R_DBNO IN INT Data block number at partner CPU 0 to 255 0 R_OFFSET IN INT Data byte number at partner CPU 0 to 510 0 only even values R_CF_BYT IN INT Interprocessor communication flag byte on 0 to 255 255 partner CPU 255 Significance without interprocessor communication flag R_CF_BIT IN INT Interprocessor communication flag bit on the 0to7 0 partner CPU DONE OUT BOOL Job completed without errors TRUE FALSE FALSE ERROR OUT BOOL Job completed with error TRUE FALSE FALSE STATUS OUT WORD Error number 0 to FFFF hex O CPU 31xC Technological functions 360 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications Parameters Declaration Data Type Description Range of Default values SD_1 IN_OUT ANY Send parameters CPU specific 0 Here you specify The number of the DB from which the data are sent e The data byte number from which the data is to be sent e g DB 10 from byte 2 gt DB 10 DBB2 LEN IN_OUT INT Here you specify the byte length of the data 1 to 1024 1 block to be transmitted Parameters of SFB 64 FETCH_RK Parameters
146. FF DINT 50 Cut off difference minus 0 to 108 100 DIFF_M The Cut off difference plus defines the Pulses cut off point at which the drive is switched off when operating at creep speed in negative direction Rules for the Changeover Cut Off Difference CPU 31xC Technological functions e Positive and negative values can differ e When the changeover difference is less than the cut off difference the drive is slowed down to speed setpoint 0 across a linear ramp starting at the braking position e The cut off difference must be greater or equal to half the target range e The changeover difference must be greater or equal to half the target range e Select a sufficient distance between the reversing point and the cut off point to ensure that the drive s speed can be reduced to creep speed e Select a sufficient distance between the reversing point and the target to ensure the drive reaches the target area and comes to a standstill there e The distance to be traveled must be at least as high as the cut off difference e Changeover cut off difference are limited to 1 10 of the traversing range 108 Operating Instructions 03 2011 A5E00105484 05 49 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Output parameters Parameter Data type Address Description Value range Default instance DB WORKING BOOL 16 0 Run is busy TRUE FALSE FALSE ACT_POS
147. GEN 0 ccs ienansseneeemnnenseniaen 384 7 6 Diagnostics Error Hamlin Giisccsceceescccceissecied sep cnectvnnccde teks seed eseucadeasananees ducasedaaneee aatnnseaeauectalyt 7 7 Installation Of EXAMPI S ciccciccecceciuscessecetdedceessaueasess cee ceeusaedaaesetes cecsdadddessaceestensendccsnadeceneavecsoee vanes Ju ee ee ee rT 395 CPU 31xC Technological functions 14 Operating Instructions 03 2011 A5E00105484 05 Overview of the Technological Functions Overview The following technological functions are supported depending on your type of CPU CPU Positioning Counting Point to point Controlli communication ng CPU 312C 2 channels each for counting frequency measurement max 10 kHz or pulse width modulation 2 5 kHz CPU 313C 3 channels each for counting frequency Yes measurement max 30 kHz or pulse width modulation 2 5 kHz CPU 313C 2 PtP 3 channels each for counting frequency ASCII 19 2 kbps Full Yes measurement max 30 kHz or pulse Duplex 38 4 kbps Half width modulation 2 5 kHz Duplex 3964R 38 4 kbps CPU 313C 2 DP 3 channels each for counting frequency Yes measurement max 30 kHz or pulse width modulation 2 5 kHz CPU 314C 2 PtP 1 channel with 4 channels each for counting ASCII 19 2 kbaud full Yes analog or digital frequency measurement max 60 kHz duplex 38 4 kbaud half output or pulse width modulation 2 5 kHz duplex 3964R 38 4 kbaud RK512 38 4 kbps CPU 31
148. IPULATED VALUE 2 CYCLE T 30 s The time required by the actuator to move from limit stop to limit stop is entered at the motor actuating time parameter DISV REAL 48 DISTURBANCE VARIABLE 100 0 0 0 For disturbance compensation the 100 0 disturbance variable is connected to the input disturbance variable or phys size 1 Parameter in the setpoint and process variable channel with the same unit 2 Parameter in the manipulated value channel with the same unit CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 383 Controlling 7 5 Description of Functions The table below contains the output parameters of SFB 42 CONT_S Parameters Data type Address Description Value range Default instance DB QLMNUP BOOL 52 0 MANIPULATED SIGNALS UP FALSE If the output actuating signal up is set the control valve is opened QLMNDN BOOL 52 1 MANIPULATED SIGNALS DOWN FALSE If the output actuating signal down is set the control valve is opened PV REAL 54 PROCESS VARIABLE 0 0 The effective process variable is output at the process variable output ER REAL 58 ERROR SIGNAL 0 0 The effective error is output at the error signal output 7 5 3 Generating Pulses with SFB 43 PULSEGEN Introduction SFB PULSEGEN pulse generator
149. Incorrect area at status word or e Data area does not exist except DB DX or e Data area too short except DB DX 09 03H Only with RK 512 Check whether the desired data area DB DX access error at the partner DB DX does not e exists on the partner and whether it is of exist or is too short sufficient With SIMATIC S5 as partner e size or check the parameters of the called SFB DB DX does not exist or e Check the length specified in the system function e DB DX too short or block e Illegal DB DX number Permissible source range exceeded with FETCH request 09 04H Only with RK 512 Faulty partner behavior because the CPU never Partner reports Illegal request type outputs a system command 09 05H Only with RK 512 Check whether the partner can transmit the Error at the partner or SIMATIC S5 as partner requested data type e Illegal type of source target or e Check the structure of the partner hardware memory error at the partner station or Set the mode selector switch of the partner e CP CPU communication error at the partner or station to RUN e the partner station is in STOP state 09 08H Only with RK 512 This error occurs at the restart of your own Partner detects synchronous error programmable controller or of the partner This M F represents normal system startup behavior You do CS52Je Tame ate ah SION not need to correct anything The error is also conceivable during operation as a consequence of previou
150. Instruction frames are either SEND or FETCH message frames CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description SEND Message Frame When transmitting a SEND message frame the CPU transmits an instruction frame including user data The communication partner responds with a response message frame that contains no user data FETCH Message Frame When transmitting a FETCH message frame the CPU transmits an instruction frame that contains no user data The communication partner responds with a response message frame that includes user data Sequential Message Frame With SEND and FETCH message frames sequential message frames are transmitted automatically if the data length exceeds 128 bytes Message Frame Header With RK 512 computer connection every message frame is initialized with a header It can contain message frame IDs information on data source and destination as well as an error number The table below shows the structure of the instruction frame header Byte Description 1 Message frame ID in instruction frames 00H for sequential instruction frames FFH Message frame ID 00H 3 e A 41H SEND request with target DB O 4FH SEND request with target DX e E 45H FETCH request 4 Data to be transferred are fetched from a only D possible for sending D 44H Data block X 58H expanded
151. LSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 253 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Parameters Declaration Data type Address Description Value range Default instance DB STS_C_DN_ OUT BOOL 12 3 Down direction status TRUE FALSE FALSE The last count direction is always displayed The value of STS_C_DN is FALSE after the first call of the SFB STS_C_UP OUT BOOL 12 4 Up direction status TRUE FALSE FALSE The last count direction is always displayed The value of STS_C_UP is TRUE after the first call of the SFB MEAS_VAL_ OUT DINT 14 Actual value of the to 231 1 0 frequency COUNTVAL OUT DINT 18 Actual count value 231 t0231 1 0 Starts at 0 every time the internal gate opens JOB_DONE OUT BOOL 22 0 New job can be started TRUE FALSE TRUE JOB_ERR OUT BOOL 22 1 Faulty job TRUE FALSE FALSE JOB_STAT OUT WORD 24 Job error number 0 to FFFF hex 0 STS_CMP STAT BOOL 26 3 End of measurement TRUEFALSE FALSE status The measurement value is updated on every expiration of the integration time Here the end of a measurement is reported via status bit STS_CMP STS_OFLW STAT BOOL 26 5 Overflow status TRUE FALSE FALSE STS_UFLW STAT BOOL 26 6 Underflow status TRUE FALSE FALSE JOB_OVAL STAT DINT 28 Output value for read jobs 231 to 231 1 0 RES_STS STAT BOOL 32 2 Reset status
152. Load value Yet Ad aaa a e N a woe eee hee fine Ne eee Zero crossing Low counting limit p A A aA e a Underflow 231 Gate start Time Gate stop CPU 31xC Technological functions 190 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function e Up count as default The CPU starts counting at load value The CPU counts up or down When the counter reaches the end value 1 operating in positive direction it jumps to load value at the next positive count pulse and resumes counting from there You can also exceed the lower count limit In this case however the count value and compare results mismatch You should therefore avoid operation in this range Valid value range Default value End value up to 2147483647 231 1 assignable Low count limit 2147483648 231 Count value 2147483648 231 to end value 1 Load value 2147483648 231 to end value 2 Count End value a es ee ns te hot Overflow Load value ____ VARPEN SO OA See eee g mhe N Seater reas eee LOWS estes A late tt cote ee te cae eee Seon Meese sees Saleen counting limit 931 Gate start Gate stop Time CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 191 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Funct
153. Memory bit e E Inputs e A Outputs e Z Counters e T Timers D M E A 2 T L_DBNO OUT INT Data block number on local CPU CPU specific L_OFFSET OUT INT Data byte number on local CPU 0 510 L_CF_BYT OUT INT Interprocessor communication flag byte on local CPU 255 means no interprocessor communication flag 0 to 255 L_CF_BIT OUT INT Interprocessor communication flag bit on local CPU Oto 7 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 299 Point to point communication 6 5 Communication Functions 6 5 2 5 Basics Example Use of Interprocessor Communication Flags You can block and enable SEND FETCH requests of your communication partner via interprocessor communication flag This prevents overwriting and reading of data which are not yet processed You can specify an interprocessor communication flag for every request Communication partner Your CPU SEND_RK Uses memory bit to write to the DB Access to the data can be blocked with interprocessor RCF BYT y sjos ee E eee communication flag bits R_CF_BIT I e ei se N TRUE FALSE aes pee SERVE_RK gt a Interprocessor communication flag R_OFFSET gt LCF BYT oeM oe L_CF_BIT Assignment of L_TYPE DB memory bit FETCH_RK A L_DBNO 5 to DB L_OFFSET C R
154. N 1 i LMNLIMIT LMN_NORM CRPLOUT Gene e m D een tC LMN_PER LMN_HLM LMN_FAC LMN_LLM LMN_OFF 374 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions Parameters of SFB 41 The table below contains the input parameters of SFB 41 CONT_C Parameters COM_RST Data type BOOL Address Instance DB 0 0 Description COMPLETE RESTART The block has an initialization routine that is processed when the input COM_RST is set Value range TRUE restart FALSE controller operation Default FALSE MAN_ON BOOL 0 1 MANUAL VALUE ON If the input manual value on is set the control loop is interrupted A manual value is set as the manipulated value TRUE PVPER_ON BOOL 0 2 PROCESS VARIABLE PERIPHERY ON If the If the process variable is read from the I Os input PV_PER must be connected to the peripherals and input PROCESS VARIABLE PERIPHERY ON must be set FALSE P_SEL BOOL 0 3 PROPORTIONAL ACTION ON The PID algorithm allows On Off switching of individual PID actions The P action is on when the input proportional action on is set TRUE I_SEL BOOL 0 4 INTEGRAL ACTION ON The PID algorithm allows On Off switching of individual PID actions The I action is on when the input integral action on is set TRUE INT_HOLD BOOL 0 5 INTEGRAL
155. OP mode Parameter REQ Declaration IN Data type BOOL Description Control parameter Request Activates the request at a positive edge Value range TRUE FALSE Default FALSE R BOOL Control parameter Reset Cancels the request TRUE FALSE FALSE LADDR WORD Submodule I O address you specified in HW Config CPU specific 3FF hex DONE BOOL Status parameter set only for the duration of one call e FALSE The job has not yet been started or is still being executed e TRUE The job has been completed without errors TRUE FALSE FALSE ERROR OUT BOOL Status parameter set only for the duration of one call Job completed with error TRUE FALSE FALSE STATUS OUT WORD Status parameter set only for the duration of one call In order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significance depending on the ERROR bit e ERROR FALSE The STATUS value is 0000H Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information about the type of error for error numbers see Section Error 0 to FFFF hex Messages Page 351 286 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication
156. OUT WORD Status parameter Set only for the duration of one call In order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significance depending on the ERROR bit e ERROR FALSE The STATUS value is OOOOH Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information about the 35 of error see Page 351 0 to FFFF hex 282 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions Parameter SD_1 Declaration Datatype Description Value range Default IN_OUT ANY Send parameters CPU specific 0 Here you specify e The number of the DB from which the data are sent e Data byte number as of which the data are to be sent e g DB 10 from byte 2 gt DB10 DBB2 LEN IN_OUT INT Here you specify the length of the data block 1 to 1024 1 to be transmitted in bytes Length is specified here indirectly Offset for parameter SD_1 may not be greater than 8190 for CPU 313C PtP or 314C PtP An error message will be returned if this limit is violated Data consistency 6 5 1 3 Basics Data consistency is limited to 206 bytes You must note the following points for the transmission of consistent data with a le
157. P PtP 30 10 5 2 1 kHz 30 kHz ate 9 CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 60 kHz Max frequency CPU 312C 10 5 2 1 kHz 10 kHz Latch CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 10 kHz CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 10 kHz Signal evaluation e The counting and direction signals Pulse direction Pulse direction are connected to the input Rotary encoder single e A rotary encoder is connected to the Rotary encoder double input single double or quadruple Rotary encoder quadruple evaluation HW gate e Yes e Yes No Gate control via SW and HW gates No e No Gate control via SW gate only Inverted count e Yes e Yes No direction Inverted Direction input signal No e No Direction input signal is not inverted CPU 31xC Technological functions 246 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specifications Parameter Characteristics of the output Description The output and the Comparator STS_CMP status bit are set dependent on this parameter Value range No comparison Count value 2 comparison value Count value lt comparison value Pulse at comparison value Default No comparison Counting edge edge at a maximum counting frequency of 1 kHz This hardware interrupt cannot be selected if the maximum counting frequency is greater than 1 kHz
158. PU 31xC Technological functions 60 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 16 0 Run is busy TRUE FALSE FALSE POS_RCD BOOL 16 1 Position reached TRUE FALSE FALSE ACT_POS DINT 18 Actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 22 Enabled set operating mode 0 1 3 4 5 0 WORKING TRUE is set immediately after the run has started WORKING is reset to FALSE at the cut off point POS_RCD is set to TRUE when the specified target is reached You must reset the direction bit DIR_P or DIR_M before you start the next run If an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRUE The precise error cause is then indicated with the STATUS parameter see Section Page 84 i DIR_M DIR_P eh E ST_ENBLD WORKING POS_RCD set creep gt Distance CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 61 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Interrupting a Run and Target Range not Reached When arun is stopped with STOP TRUE and if the cut off range has not been reached distance to go is
159. PU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specifications Parameters of SFB48 FREQUENC Parameters Declaration Data type Address Description Value range Default instance DB LADDR IN WORD 0 Submodule I O address CPU specific hex you specified in HW Config If the and O addresses are not equal the lesser of the two addresses must be specified CHANNEL IN INT 2 Channel number 0 e CPU 312C 0 1 e CPU 313C 0 2 CPU 313C 2 DP PtP e CPU 314C 2 DP 0 3 PN DP PtP SW_GATE IN BOOL 4 0 Software gate TRUE FALSE FALSE For starting stopping frequency measurements MAN_DO IN BOOL 4 1 Enable manual output TRUE FALSE FALSE control SET_DO IN BOOL 4 2 Control output TRUE FALSE FALSE JOB_REQ IN BOOL 4 3 Job trigger positive edge TRUE FALSE FALSE JOB_ID IN WORD 6 Job number 0 e Job without function 00 hex e Write the lower limit 01 hex e Write the high limit 02 hex e Write the integration 04 hex time e Read low limit 81 hex Read high limit 82 hex Read integration time 84 hex JOB_VAL IN DINT 8 Value for write jobs 231 to 231 1 0 STS_GATE OUT BOOL 12 0 Internal gate status TRUE FALSE FALSE STS_STRT OUT BOOL 12 1 Status of the hardware gate TRUE FALSE FALSE Start input STS_DO OUT BOOL 12 2 Output status TRUE FALSE FA
160. Program Structure The SFB is processed asynchronously To process the SFB completely it must be called as frequently as necessary until it is ended with or without an error Note You must not call an SFB you have configured in your program in another program section with a different priority class because the SFB must not interrupt itself Example It is not allowed to call an SFB both in OB1 and in the interrupt OB Classification of the SFB Parameters 280 The parameters of the SFBs can be split into four classes according to their function e Control parameters are used to activate a block e Send parameters point to the data areas that are to be transmitted to the remote partner e Receive parameters point to the data areas in which the data received from the remote partner are entered e Status parameters are used to monitor whether the block has completed its task without errors or to analyze the errors that occurred Status parameters are set for the duration of one call only CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 6 5 1 6 5 1 1 Overview 6 5 1 2 Basics 6 5 Communication Functions Communication Functions Communication Functions for ASCII 3964 R Communication Functions for ASCII 3964 R Basics The following functions are provided for the ASCII and 3964 protocols Block Description SFB
161. RUE You have assigned the basic parameters of the SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge Start enable ST_ENBLD TRUE You can operate both a synchronized SYNC TRUE and a non synchronized SYNC FALSE axis in jog mode Starting Stopping the Run You start the drive by setting control bit DIR_P or DIR_M At every SFB call these two control bits DIR_P and DIR_M are evaluated to check for logical level changes If both control bits are FALSE the run is ramped down If both control bits are TRUE the run is also ramped down The axis moves in the corresponding direction when one of the control bits is set to TRUE Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameter Datatype Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Jog mode into plus direction TRUE FALSE FALSE DIR_P or positive edge DIR_M DIR_M BOOL 4 3 Jog mode into minus TRUE FALSE FALSE TRUE direction positive edge MODE_IN INT 6 Operating mode 1 Jog 0 1 3 4 5 1 1 mode 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 125 Positioning with digital outputs 4 4 Fun
162. SIEMENS SIMATIC 7 300 CPU 31xC Technological functions Operating Instructions This manual is part of the documentation package with the order number 6ES7398 8FA10 8BAO 03 2011 A5E00105484 05 Preface Technological Functions Oo lt o lt Q D N Positioning Positioning with Analog Output OO Positioning with digital outputs A Counting Frequency Measurement and Pulse 5 Duration Modulation 6 Point to point communication Controlling Legal information Warning notice system This manual contains notices you have to observe in order to ensure your personal safety as well as to prevent damage to property The notices referring to your personal safety are highlighted in the manual by a safety alert symbol notices referring only to property damage have no safety alert symbol These notices shown below are graded according to the degree of danger indicates that death or severe personal injury will result if proper precautions are not taken AAWARNING indicates that death or severe personal injury may result if proper precautions are not taken CAUTION with a safety alert symbol indicates that minor personal injury can result if proper precautions are not taken CAUTION without a safety alert symbol indicates that property damage can result if proper precautions are not taken NOTICE indicates that an unintended result or situation can
163. SiCs ccccccccce cece eects cre eeeneeneceseeeeesaseseeeenaeeseeaeel 309 6 9 1 2 Sending Data with the ASCII Driver cece cece eens arnai iiai aia eati 310 6 9 1 3 Receiving Data Using the ASCII Driver cc eeeeecceeeeeeneeeeeenneeeeeeaeeeeeeaeeeeeeaeeesesnaeeeeeenaeeeenaaes 312 6 9 1 4 Data Flow Control Handshaking 0cccccccccccscesecseceetecneeceenecnseceeneseeceseseeesseeseeteenieeseeneel 318 6 9 2 Data Transfer with the 3964 R Procedure ccecceecceeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeeeeeeseeeaeeeeeenaees 319 6 9 2 1 Data Transfer with the 3964 R Procedure Basics ccccceeeeeneeeeeeeeeeeeeeneeeeeeaeeeeeenaeeeeeeaas 319 6 9 2 2 Sending Data with 3964 R cccceeeeeeeeeeenneeeeeeeneee ee eeaeeeeeeeaeeeeesaaeeeeeeaeeeeesaeeeseeaeeeeeeieeeeeeeaas 321 6 9 2 3 Receiving Data with 39G64 R c c cceeiieti ti venetiasedeet dete deveci belt aaeeetiasenciaeeeuamesniaeieesied 322 6 9 2 4 Error Handling for Sending and Receiving with the 3964 R Procedure 3 6 9 2 5 3964 R Procedure Startup Sequence cececeeececeee eect eeeeeeceneeeceaeeesaaeeeceeeseeeeseaeeeeieeteeeeees 326 6 9 2 6 Sending with 3964 R Procedure c ccccccceceeeceeseeeeeeeesaeeeeeaeceeeeeseaeeesaeeeeeeeseeeeeseaeeesieeeeeeeee 327 6 9 2 7 Receiving with 3964 R procedure ccccccccceeceeseeeeeeeeceaeeeeeeececeeeceaeeesaaeeeeeeeseeeeeseaeessieeeeeeees 328 6 9 3 Data Transmission with RK 512 Computer Connectio
164. Start the parameter assignment screens with SIMATIC STEP7 PID Control Parameter Assignment 2 Open your project with File gt Open under PID Control and select your instance DB 3 Set your parameters 4 Save the parameters located in the instance DB and load the program to your CPU Integrated help The integrated help on parameter assignment screens offers you support when you assign parameters You can call up the integrated help in one of the following ways e Using the menu command Help gt Help topics e By pressing F1 in the respective areas CPU 31xC Technological functions 370 Operating Instructions 03 2011 A5E00105484 05 Controlling 7 4 Implementing Controlling in the User Program 7 4 Implementing Controlling in the User Program Overview In the table below you can find an overview of the controlling functions of the module and of their assigned SFBs Function SFB Continuous controller SFB CONT_C SFB 41 Step controller SFB CONT_S SFB 42 Pulse width modulation SFB PULSEGEN SFB 43 The SFBs are found in the Standard library under System Function Blocks The following sections help you to design a user program for your application Calling the SFB Call the SFB with a corresponding instance DB Example CALL SFB 41 DB 30 Instance DB The SFB parameters are stored in the instance DB These parameter are described in Section Continuous Controlling with SFB 41 CON
165. Structure and Contents of the Response Message Frame 332 After the instruction frame is transmitted RK 512 expects the response message frame of the communication partner within the monitoring time The length of this monitoring time is 20 s The response message frame consists of 4 bytes and contains job processing information You can find structure and content of the response message frame in the table below Byte 1 Description Message frame ID for response message frames 00H for sequential response message frames FFH Message frame ID 00H Assigned value 00H Error number of the communication partner in the response message frame e OOH if no error has occurred during transmission e gt 00H error number An error number in the response message frame automatically generates an event ID at the STATUS output of the SFBs CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 3 2 Procedure Sending Data with RK 512 6 9 Protocol Description The picture below shows the data transmission sequence when sending a response message frame using RK 512 computer connection CPU 31xC SEND frame Start character 02H Pos acknowledgement 10H 00H 00H SEND request 41H Data block 44H Data destination DB10 OAH DW01 01H Length 00H 50 EW 32H No KM FFH CPU1 only 1FH lt 1st Data
166. T INT Data byte number at local CPU destination 0 510 0 CPU 31xC Technological functions 362 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications Parameters Declaration Data type Description Value range Default L_CF_BYT OUT INT Interprocessor communication flag byte at 0 to 255 0 local CPU 255 means no interprocessor communication flag L_CF_BIT OUT INT Interprocessor communication flag bit at local 0 to 7 0 CPU NDR OUT BOOL Job completed without errors TRUE FALSE FALSE ERROR OUT BOOL Job completed with errors TRUE FALSE FALSE STATUS OUT WORD Error number 0 to FFFF hex 0 LEN IN_OUT INT Message frame length in bytes 0 to 1024 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 363 Point to point communication 6 10 Specifications CPU 31xC Technological functions 364 Operating Instructions 03 2011 A5E00105484 05 Controlling r 7 1 Overview 7 1 1 Concept of Integrated Controlling Overview Basic Functions Applications The following SFBs are available to you for controlling with the CPU 313C CPU 313C 2 DP PtP and CPU 314C 2 DP PN DP PTP e SFB 41 for continuous control CONT_C e SFB 42 for step control CONT_S e SFB 43 for pulse width modulation PULSEGEN The SFBs are compatible to FBs 41 through 43 This software control block solution offers full cont
167. TAT BOOL 66 2 Faulty job TRUE FALSE FALSE JOB_ID STAT INT 68 Job ID 1 2 0 JOB_STAT STAT WORD 70 Job error ID 0 to FFFF hex 0 JOB_VAL STAT DINT 72 Job parameters for the 5x108to 5x 0 coordinates of the reference point 108 pulses CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 165 Positioning with digital outputs 4 8 Specifications CPU 31xC Technological functions 166 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 1 Overviews 5 1 1 Operating Modes and Properties Overview Operating modes of the CPUs e Counting e Frequency counting e Pulse width modulation output of a pulse train Overview of CPU Properties e Number of channels CPU 312C 2 channels CPU 313C 3 channels CPU 313C 2 DP PtP 3 channels CPU 314C 2 DP PN DP PtP 4 channels Note You have only 2 channels channels 2 and 3 available when using a positioning function e Counting frequency CPU 312C max 10 kHz CPU 313C max 30 kHz CPU 313C 2 DP PtP max 30 kHz CPU 314C 2 DP PN DP PtP max 60 kHz e Signals the CPU counts 24 V incremental encoder with two tracks rotary encoders with a 90 phase shift 24 V pulse encoder with direction level 24V initiator e g BERO or light barrier e Configuration Via parameter assignment screens 1 Four fold ev
168. TATUS Closing the Connection when Receiving Data When the 3964 procedure detects the DLE ETX string it cancels the receiving operation and transmits a DLE to the communication partner if the block was received without errors If an error has occurred when receiving data it transmits an NAK A retry is then expected The 3964 R procedure stops receiving when it detects the character string DLE ETX BCC It compares the received BCC with the internally calculated longitudinal parity If the BCC is correct and no other receive errors have occurred 3964 R sends a DLE and returns to idle mode If the BCC is faulty or a different receive error occurs an NAK is sent to the communication partner A retry is then expected CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 323 Point to point communication 6 9 Protocol Description 6 9 2 4 Error Handling for Sending and Receiving with the 3964 R Procedure Handling Corrupted Data 324 The view below shows how corrupted data are handled with 3964 R Communication partner Receive data CPU 31xC Start character 02H o STX Connection Pos acknowledgement a DLE 7 setup 10H 1st Data byte __ 1st Byte User data nth Data byte E nth Byte End delimiter 10H DLE End delimiter 03H ETX Connection 3964R only n BCC ___ termination Neg feedback 15H NAK 7 Connection retry H Aft
169. T_C Page 372 You can access the parameters via e DB number and offset address e DB number and symbolic address in the DB Program Structure The SFBs must be called in the restart OBs and in the time out interrupt OBs Scheme OB100 Call SFB 41 42 43 OB35 Call FB 41 42 43 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 371 Controlling 7 5 Description of Functions 7 5 7 5 1 Introduction Application Description 372 Description of Functions Continuous Controlling with SFB 41 CONT_C The SFB CONT_C continuous controller serves for controlling technical processes with continuous I O variables on SIMATIC S7 automation system You can switch partial actions of the PID controller on or off via parameters thus adapting it to the controlled system You can easily do this by using the parameter assignment screen Menu path Start gt Simatic gt STEP 7 gt Assign PID control parameters The online electronic manual is found under Start gt Simatic gt S7 Manuals gt PID Control English You can use the controller as a single PID fixed setpoint controller or in multiple control loops as cascade blending or ratio controls The functions of the controller are based on the PID control algorithm of the sampling controller with an analog output signal if necessary including a pulse shaper stage to generate pulse width modulated output signals for two or three step c
170. The characters one or two appended to the end of text character are also written to the receive DB You must calculate the block check character directly in the user program The figure below illustrates a receive operation with the end criterion Endoftext character __ Wait for characters Characters arrived Characters received with end check and ZVZ monitoring Error occurred while Frame receiving complete Wait for valid end delimiter Enter frame in receive buffer Frame end criterion detected error entered Frame buffered Expiration of monitoring time Enter error in STATUS output of the FB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 317 Point to point communication 6 9 Protocol Description Receive Buffer of the CPU 6 9 1 4 Basics Procedure 318 The receive buffer is 2048 bytes In you configuration you can choose to prevent overwriting of data in the buffer You can also specify the value range 1 to 10 for the number of buffered received frames or use the entire receive buffer You can clear the receive buffer at startup You specify this either in the parameter assignment screen or by calling the SFB RES_RCV see Section Clearing the Receive Buffer with SFB 62 RES_RCVB Page 285 The receive buffer is a ring buffer e f multiple message frames are writ
171. V P switching or contactless sensors BEROs 2 or 3 wire proximity switches to the digital inputs Length measurement and Reference point switch Connect the power section to the power supply 6 Use shielded cables to connect the signal cables of the power section X1 pin 16 or 17 and pin 20 and X2 pin 28 If you are controlling your power section with a voltage of 0 to 10 V pin 16 or a current of 0 to 20 mA pin 17 and an additional 24 V digital output for the direction signal also connect the corresponding power section input with the 24 V digital output CONV_DIR X2 pin 29 Strip the insulation material on the shielded cables and bind the cable shield to the shield connection element Use the shield terminal elements for this Note The CPU does not detect the failure of a digital input You can detect an encoder failure by activating the actual value monitoring see Page 32 Such a failure might have the following causes e Digital input failure e Wire break e Faulty encoder e Faulty power section CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration 3 2 Parameter configuration 3 2 1 Basics of Parameter Configuration Basics You can adapt the parameters for the positioning function to your specific application You can assign the parameters with two parameter types e Module parameters These are bas
172. VE for the duration of one call if NDR TRUE You can recognize that the request is completed and that the transmitted data are ready for processing when you evaluate the interprocessor communication flag interprocessor communication flag 100 6 TRUE in your user program After having edited the data in your user program you must reset the interprocessor communication flag 100 6 to FALSE This allows your communication partner to repeat execution of the request without error Data consistency is limited to 128 bytes You must note the following points for the transmission of consistent data with a length of more than 128 bytes Use the interprocessor communication flag function Do not access the data until all data have been transmitted evaluation of the interprocessor communication flag specified for this request the interprocessor communication flag is active at the SFB for the duration of one call if NDR TRUE Do not reset the interprocessor communication flag status to FALSE until you have edited the data CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 301 Point to point communication 6 5 Communication Functions 6 5 3 Information for programming of system function blocks Introduction This chapter addresses all users who upgrade SIMATIC S5 to SIMATIC S7 The following sections explain the points you have to take into account when programming FBs in STEP 7 Addressing D
173. Yes No monitoring echo Parameter Value range Default Missing pulse zero mark e Yes No e No Traversing range e Yes No e No Working range e Yes No for linear axes lt No Actual value e Yes No e No Target approach e Yes No e No Target range e Yes No e No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 8 Specifications 4 8 4 Parameters for Instance DB of the SFB DIGITAL SFB 46 Overview Parameters Declarati Data Type Address Description Range of values Default on Instance DB LADDR IN WORD 0 Submodule I O address CPU specific 310 hex you specified in HW Config If the I O addresses are not equal you must specify the lower one of both CHANNEL IN INT 2 Channel number 0 0 DRV_EN IN BOOL 4 0 Drive enable TRUE FALSE FALSE START IN BOOL 4 1 Run start positive edge TRUE FALSE FALSE DIR_P IN BOOL 4 2 Run in plus direction TRUE FALSE FALSE positive edge DIR_M IN BOOL 4 3 Run in minus direction TRUE FALSE FALSE positive edge STOP IN BOOL 4 4 Stop run TRUE FALSE FALSE ERR_A IN BOOL 4 5 Group error TRUE FALSE FALSE acknowledgment ERR_A is used to acknowledge external errors positive edge MODE_IN IN INT 6 Operating mode 0 1 3 4 5 1 TARGET IN DINT 8 Relative incremental 0 to 109 1000 approach Distance in pulses only positive values allowed Absolute incremental Linear axis approach
174. _W c ER PV_FAC PV PV_OFF LMNLIMIT LMNR_HS __ P INT LMNR_LS Fa S LMNR_SIM re LMNRS_ON 100 0 LMNRSVAL 0 0 LMNDN LSEOUT Lg QLMNUP ea THREE_ST AND g adaptiv OO LMNDN IE O N Q A sie a 0 PULSE_TM 100 0 MTR_TM TM BREAK_TM 0 0 oN i 1 100 0 9 O 00 LMNS_ON OR 1 MTR_TM X L ap INT J 00 4 7 0 Pa A 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 381 Controlling 7 5 Description of Functions Parameters of SFB 42 The table below contains the input parameters of SFB 42 CONT_S Parameters COM_RST Data type BOOL Address instance DB 0 0 Description COMPLETE RESTART The block has an initialization routine that is processed when the input COM_RST is set Value range TRUE restart FALSE controller operation Default FALSE LMNR_HS BOOL 0 1 HIGH LIMIT SIGNAL OF REPEATED MANIPULATED VALUE The signal Control valve at high limit stop is interconnected at input High limit signal of repeated manipulated value LANR_HS TRUE means The control valve is at high limit stop FALSE LMNR_LS BOOL 0 2 LOW LIMIT SIGNAL OF REPEATED MANIPULATED VALUE The signal Control valve at low limit stop is interconnected at the input Low limit signal of repeated manipulated value LMNR_LS TRUE means The control valve is at low limit stop FALSE
175. acter e 2 Parity A sequence of information bits can be extended to include None Even another bit the parity bit The addition of its value 0 or 1 brings Odd the value of all the bits up to a defined state This increases the data reliability e Even If none is specified for parity no parity bit is sent It is not possible to specify none if 7 data bits are set Priority A partner has high priority if its send request takes precedence e Low High over the send request of the other partner A partner has low e High priority if its send request must wait until the send request of the 9 other partner has been dealt with With the 3964 R protocol you must assign different priorities for the two communication partners that is one partner is assigned high priority the other low priority CPU 31xC Technological functions 276 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration Default 3964 R with standard values and block check Character delay 220 ms Acknowledgment delay 2000 ms Connection retries 6 Transmission retries 6 Parameter Description Message frame parameter 3964 R with standard values and block check The protocol parameters are set to default values The CPU stops receiving when it detects the character string DLE ETX BCC It compares the received block check character BCC with the internally calculated longitudinal parity If the bloc
176. ad on the drive The drive is switched off at a speed higher than creep speed if the changeover cut off difference is too low The result is inexact positioning The difference of changeover cut off difference for the respective direction should at least be proportional to the distance the drive actually requires to reach creep speed Here you must also take into account the load on the drive CPU 31xC Technological functions 146 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 5 Adapting Parameters 4 5 4 Checking the Monitoring Time Requirements e Your system is wired correctly e The positioning submodule is configured the parameters have been assigned and the project is loaded e For example you have loaded the provided sample program Digital 1 Getting started e The CPU is in RUN state Checklist Step What to do s 1 Verify the wiring e Verify correct wiring of the outputs a e Verify correct wiring of the encoder inputs m 2 Check the axis motion e Jog the drive at creep speed in plus or minus direction J The actual sense of direction DIR must correspond with the specified direction If this is not the case change the module parameter Count direction 3 Synchronize the axis e Select the job Set reference JOB_ID 1 a Enter the desired coordinate at the actual axis position as JOB_VAL e g 0 pulses Execute synchronization by setting JOB_R
177. aeeeeee 5 5 Counting Description Of FUNCTION 02 0 0 cceeeceeenecee cece ee eeeeceaeaeceeeeeeesecaaeaeeeeeeesesenaeaeeeeeeeeeeseaeess 5 5 1 Basic Terms for Counting eccceeiccscestensascdenacnedaden sas tncnaacadeduancacedaaacaseinn cncaccnamaasagdacdendeaaaascndectadeueds 5 5 2 COUNT COMLINUOUSIY sses tanattes vantastel vaadveluetann a tees E a a E aA a 5 5 3 single Cycle COUN as S ieeeeat needeon Mads apie deer aivde dane 5 5 4 Periodic COUN stcteesas eases vada cwecaaeitn was tnbdedes sabdelesnndcdeadasad ate saa a a e a a a eaaa aA 5 5 5 Controlling the Counter via the User Program ssseesssresssrsssesrneersnnantenneerannaneennadnnnnaatennaenannaad 5 5 6 Reading and Writing to the Request Interface for the CoUntel e ec eeeeeeeeeeeeeeteeneeeeeeeeeees 196 5 5 7 507010 1115 al serene ee eee PEER re net E sCre cee tren eee Cerrone tee E 199 5 5 8 Counter INPUTS seniii iaai a eaa a ERa aa a Eaa a eaa ERE 200 5 5 9 Gate Function of the COUME sisse aenean aa Ea EASAN E EEE aiT EAA EE EA 201 5 5 10 Reactions of the Counter Output 0 0 0 ccc eee ect cneeceeene cree ceeenecnsecaeenesnsecsaeeesesessaeesaeeeniseaeeeeel 203 5 5 11 Effect of Hysteresis on the Counter Modes ccccccccssecseeee ene cneeneeneceeeeeeeeaecseeestaseseeneel 206 5 5 12 Hardware Interrupt during Count Operation 0 ccccccceceeeeceeceeeeeeeeeceecaeeeeeeeeeseceaeaeeeeeeeeeeeeaees 2 5 6 Description of the Frequency Measurement Functions
178. after XOFF 20 ms to 65530 ms in 10 ms steps e Number of message frames to be buffered 1 to 10 utilizing the complete buffer e Prevent overwriting Yes No e end of message recognition for a received message frame on expiration of character delay time on receipt of endoftext character s on receipt of a fixed number of characters ASCII driver end of message recognition on expiration of the character delay time Parameters No further parameter assignment necessary End of message is recognized when the declared character delay time expires ASCII driver with end of message recognition via configurable end of text characters Parameters Configurable also e Number of end of text characters 1 2 e Hex code for the first second end code e Number of BCC characters 1 2 ASCII driver with end of message recognition via configured character length Parameters Parameters can also be set for e Character length 1 to 1024 bytes CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 343 Point to point communication 6 10 Specitications 6 10 3 Specifications of the 3964 R Procedure Overview The table below shows you the specifications of the 3964 R procedure 3964 R procedure with default values Maximum message frame 1024 Byte length Parameters Configurable With without block check character Priority low high Transmitti
179. ailure e Install Hardware limit switches which affect the drive converters of all drives directly e Make sure that no one has access to system areas in which moving parts exist e Parallel control and monitoring via your program and STEP7 interface can cause conflicts which result in indefinite effects 3 5 2 Determining the Module Parameters and Their Effects Increments per encoder revolution Maximum speed 72 The Increments per encoder revolution parameter of the connected incremental encoder is found on its rating plate or in the specifications sheet The technology evaluates the encoder signals in quadruple mode Four pulses represent one encoder increment All distance specifications are referenced to pulse units You must calculate the Maximum speed parameter Prerequisite is that you know the rated speed of the drive with 10 V at the analog output You can find this information in the technical specification of your drive If the encoder is mounted to the motor via a gear you must take the gear ratio into account because the maximum speed is referenced to the encoder Maximum speed pulses s Rated speed of the drive rev s x gear ratio x increments per encoder revolution increments revolution x 4 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 5 Adapting Parameters Example Rated speed of the drive 3000 rpm Transmission ratio
180. aluation of the two signals produces the internal 4 fold counting frequency CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 167 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Overviews 5 1 2 Scope of Functions Overview Counting e Counting modes Count continuously Count once Count periodically e Gate function For starting stopping and interrupting the counting functions e Latch function You can use this function to save the current internal count value at the positive edge on the digital input e Comparator You can store a comparison value in the CPU Depending on the count value and comparison value you can activate a digital output or generate a hardware interrupt e Hysteresis You can specify a hysteresis for the digital output This prevents the digital output from dithering at every small jitter of the encoder signal when the count value lies within the comparison value range e Hardware interrupts e Period measurement You can measure the period of the counting signal up to a maximum counting frequency of 1 kHz Frequency Counting e Gate function Use the gate function to start and stop the frequency measurement e High low limit You can specify a high and low limit for frequency monitoring You can activate a digital input and or generate a hardware interrupt when one of the limits is reached e Hardware interrupts Pulse Width Mo
181. alue 5 x 108 to 5 x 108 0 pulses MODE_OUT INT 22 Active set operating mode 0 1 3 4 5 0 WORKING TRUE is set immediately after the run has started When you reset the direction bits DIR_P or DIR_M or set STOP TRUE the run is terminated WORKING FALSE If an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRUE The precise error cause is then indicated with the STATUS parameter see Error Lists Page 84 In jog mode ST_ENBLD is always set to TRUE Position reached POS_RCD will not be set ST_ENBLD E DIR_M DIR_P ee S Ss E E WORKING set Pate EEE E a a o 1 1 1 1 Distance CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 53 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 4 Description Reference Point Approach After the CPU is switched on position value ACT_POS is not referenced to the mechanical position of the axis In order to assign a reproducible encoder value to the physical position a reference synchronization must be established between the axis position and the encoder value The synchronization is carried out by assigning a position value to a known position reference point of the axis Reference Point Switch and Reference Point 54 You require a reference point switch and a reference point at the axis to be able to perform a r
182. alue range Default Axis type e Linear axis Linear axis e Rotary axis You can control linear axes as well as rotary axes The maximum travel range of a linear axis is mechanically limited Physical start Physical end The rotary axis is not limited by mechanical stops Maximum displayable value End of rotary axis 1 Start of rotary axis coordinate 0 End of rotary axis Rotation of the rotary axis starts at the Zero coordinate and terminates at the coordinate End of rotary axis 1 The Zero coordinate is physically identical 0 to the End of rotary axis The actual position value display is toggled at this point It is always displayed with a positive value CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 35 Positioning with Analog Output 3 2 Parameter configuration Parameters for software limit switch start end Parameters Software limit switch start end Value range Software limit switch Start Software limit switch End 5 x 108 to 5 x 108 pulses Default 100 000 000 100 000 000 Software limit switches are only used for linear axes These software limit switches limit the working range The software limit switches belong to the working range The software limit switches are monitored if the axis is synchronized and working range monitoring is switched on The axis is not initially synchronized after every STOP RUN tra
183. ameters L_CF_BYT and L_CF_BIT and the length LEN of the corresponding request are shown for the duration of one call STATUS displays the corresponding event number if an error or warning has occurred see Section Page 351 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 297 Point to point communication 6 5 Communication Functions NDR or ERROR STATUS is also output in the event of a RESET of SFB R TRUE Parameter LEN 16 00 The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to STOP mode Parameter SYNC_DB Declaration IN Data type INT Description Number of the DB in which the common data for the synchronization of the RK SFBs are stored minimum length is 240 bytes Value range CPU specific zero is not allowed Default EN_R BOOL Control parameter Enable to receive Request enable TRUE FALSE FALSE LADDR BOOL WORD Control parameter Reset Cancels the request Submodule I O address you specified in HW Config TRUE FALSE CPU specific FALSE 3FF hex NDR BOOL Status parameter New data ready Set only for the duration of one call Request completed without errors e FALSE The request has not yet been started or is still r
184. ance too long Remedy The target coordinate actual distance to go must be greater than equal to 5 x 108 35 02H Traversing distance too long The target coordinate actual distance to go must be less than equal to 5 x 108 35 03H Traversing distance too short The traversing distance in the plus direction must be greater than the specified cut off difference for the plus direction 35 04H Traversing distance too short The traversing distance in the minus direction must be greater than the specified cut off difference for the minus direction 35 05H Traversing distance too short or the limit switch has already been overrun in plus direction The last approachable target in the plus direction working range traversing range limits is too close to the actual position 35 06H Traversing distance too short or the limit switch has already been overrun in minus direction The last approachable target in the minus direction working range traversing range limits is too close to the actual position CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 87 Positioning with Analog Output 3 8 Specitications Error numbers at SFB Parameter JOB_STAT Event class 64 40H General job execution error Event no 40 01H Event Axis not configured Remedy Configure the Position submodule via HW Config 40 02H Job no
185. anded Data Blocks Note the following special features for Fetching Data from DBs and expanded DBs e RK 512 only allows you to fetch an even number of data If you specify an odd number of data as length LEN an extra byte is always transmitted However the correct data length is entered in the destination DB e RK 512 only allows you to specify an even offset If you specify an odd offset the data are stored on the partner as of the next smaller even offset Example Offset is 7 data are fetched as of byte 6 Special Feature for Timers and Counters When fetching timers and counters from the communication partner you must remember that two bytes are fetched per timer and counter For example if you want to fetch 10 counters you must declare a length of 20 Parameters in the SFB for the Data Source Partner CPU The following table lists the data types that can be transmitted Source on partner CPU R_TYPE R_DBNO R_OFFSET in bytes Data block D 0 255 0 510 Expanded data block X 0 255 0 510 Memory bit M Irrelevant 0 255 Inputs E Irrelevant 0 255 Outputs A Irrelevant 0 255 Counters Z Irrelevant 0 255 Timers T Irrelevant 0 255 Only even values make sense This value is specified by the partner CPU CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 295 Point to point communication 6 5 Communication
186. applies the process variable PV1 to the setpoint SP1 and adjusts SP2 in sucha way that the target is reached as fast as possible and without overshooting Master controller Slave controller Disturbance value SP1 Controller 1 SR LMN PV2 gt AASI Controller 2 Process 2 Process 1 Auxilary control logo Main control logo PV1 Closed loop controls Process Blending control The blending control represents a control structure in which the setpoint for the total quantity SP is calculated as percentage for the desired quantities of the individual controlled components Here the sum of the blending factors FAC must be 1 SP1 SP1 LMN1 PV1 gt FAC1 O Controller 11 Process 1 y y A SP4 LMN4 PV4 FAC4 A gt Controller 4 Process 4 1 7 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 367 Controlling 7 1 Overview Ratio control e Single Loop Ratio Controller A single loop ratio control for example is used in cases where the ratio between two process variables is more important than the absolute values of the process variable e g speed control SP gt O Controller Ratio LMN gt Process lev Quotient pva e Multiple Loop Ratio Controller With mult
187. are stored in the work memory of the CPU You can modify these parameters in the user program while the CPU is in RUN state CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 101 Positioning with digital outputs 4 2 Parameter configuration Parameter assignment screens 4 2 2 Requirements Procedure Online Help 102 You can assign the module parameters in the parameter assignment screens e General e Addresses e Basic parameters e Drive e Axis e Encoders e Diagnostics The parameter assignment screens are self explanatory You can find the description of the parameters in the following sections and in the integrated help for the parameter assignment screens Note You cannot assign parameters for the positioning technology if you have assigned channel 0 or channel 1 for the counting technology Configuration with the Parameter Assignment Screen Prerequisite for calling the parameter assignment screen is that you have created a project in which you can save your parameters 1 Start the SIMATIC Manager and call HW Config in your project 2 Double click on the Positioning submodule of your CPU The Properties dialog box opens 3 Assign the parameters to the Positioning submodule and exit the parameter assignment screen with OK 4 Save your project in HW Config with Station gt Save and Compile 5 Download the parameter data to your CPU in STOP
188. arget LAST_TRG Starting point is not the actual position but rather the last specified target LAST_TRG This prevents cumulative positioning inaccuracy The actual target is indicated at the parameter LAST_TRG after positioning has started Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE ou have assig of the SFB as described in Section Basic onfiguration of SFB DIGITAL SFB 46 Page 121 e No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge e Start enable ST_ENBLD TRUE e A Relative incremental approach is possible with a synchronized SYNC TRUE and also with a non synchronized SYNC FALSE axis Specifying the Traversing Distance When specifying the traversing distance of linear axes note the following e The traversing distance must be greater than or equal to the cut off difference e Anew run is not started if the traversing distance is less than equal to half of the target range The mode is terminated immediately without an error e The target range must lie within the working range Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameters Datatype Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Run in pl
189. ata operands in DBs are addressed byte wise in STEP 7 in contrast in STEP 5 addressing by words You therefore have to convert the addresses of the data operands DW n DL n DR n STEPS 45 I44 13 12 141 holo 8s izilels5 4 3 12 4 0 DW 2n DBB 2n DBB 2n 1 STEP 7 e 5 i4 3 2 1 lol7 le 5 4 13 2 1 o Otherwise than in STEP 5 the data word address is duplicated in STEP 7 It is no longer divided into a low and a high data byte The bits are always numbered from 0 through 7 Examples Conversion of STEP 5 data operands left table column into STEP 7 data operands right table column STEP 5 STEP 7 DW10 DBW20 DL10 DBB20 DR10 DBB21 D10 0 DBX21 0 D10 8 DBX20 0 D255 7 DBX511 7 CPU 31xC Technological functions 302 Operating Instructions 03 2011 A5E00105484 05 Point to point communication Assigning the Block Parameters 6 5 Communication Functions Direct Indirect Parameter Assignment Indirect parameter assignment as under STEP 5 passing of the parameters in the currently opened DB is not possible with STEP 7 blocks You can declare constants as well a variables in all block parameters A differentiation between direct and indirect parameter assignment is ther
190. ately processed after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e You must reset the job request JOB_REQ e JOB_ERR TRUE if an error occurs The precise error cause is then indicated in JOB_STAT e A new job can be started with JOB_DONE TRUE Simultaneous Call of a Job and a Positioning Operation When a positioning operation and a job are initiated simultaneously the job is executed first Positioning is not executed if the job ends with an error A job initiated while a run is busy will be ended with an error CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 69 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 10 Description Requirements 70 Length measurement With Length measurement you can determine the length of a work piece The start and stop of length measurement is edge triggered at the digital input Length measurement At the SFB you are given the coordinates for length measurement start and end as well as the measured length With the help of the parameter assignment screens Parameter Length measurement you can switch length measurement on and off and also determine the type of edge Off Start end at the positive edge Start end at the negative edge Start with positive edge and end with negative edge Start with negative edge and end with positive edge You have assigned the mod
191. axis motion e In Jog mode move into plus and minus direction at creep speed see module a parameters The actual sense of direction DIR must correspond with the specified direction If this is not the case change the module parameter Count direction 3 Synchronize the axis e Select the job Set reference JOB_ID 1 a Enter the desired coordinate at the actual axis position as JOB_VAL e g 0 pulses Execute synchronization by setting JOB_REQ to TRUE The coordinate you have specified is shown as actual position value and the synchronization bit SYNC is set Evaluate JOB_STAT a reported error JOB_ERR TRUE If required correct your specified coordinate and repeat the job for setting the reference CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 75 Positioning with Analog Output 3 5 Adapting Parameters Step What to do J 4 Check the changeover cut off differences e In Absolute relative incremental approach mode approach the specified target a TARGET that is further away from the actual position than the configured changeover difference Here select a speed SPEED that is adapted to your application and higher than creep speed Creep speed lt SPEED lt maximum speed e Note the individual positioning phases acceleration constant run deceleration target approach Increase the changeover difference to run the drive to the c
192. below the low limit e Frequency above the high limit No comparison The output is switched as a standard output The SFB input parameters MAN_DO and SET_DO are ineffective Status bit STS_DO remains reset All other settings You can control the output either manually or with the comparator e Manual control Set the SFB parameter MAN_DO to switch over to manual control mode You can then control the output with SET_DO e Control via the comparator The comparator performs control when MAN_DO FALSE The comparator monitors the frequency for the high and low limit values The comparator switches the output when the comparison condition is reached Bit STS_UFLW is set if the current frequency falls below the low limit Bit STS_OFLW is set if the current frequency exceeds the high limit You must use control bit RES_STS to reset these bits If the frequency is still or again outside the limits after the measured value is reset the respective status bit is set once again Note You must call the SFB twice to reset the status bits with RES_STS CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 219 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 8 Frequency Measurement and Hardware Interrupt Setting a Hardware Interrutpt Enable hardware interrupts in the parameter assignment screens and specify the hardware interrupt
193. bits TRUE FALSE FALSE Resets the status bits STS_CMP STS_OFLW and STS_UFLW The SFB must be called twice to reset the status bits Reset with RES_STS CPU 31xC Technological functions 254 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Parameters of SFB 49 PULSE 5 10 Specifications Parameters Declaration Data type Address Description Value range Default instance DB LADDR IN WORD 0 Submodule I O address CPU specific hex you specified in HW Config If the and O addresses are not equal the lesser of the two addresses must be specified CHANNEL IN INT 2 Channel number 0 e CPU 312C 0 3 e CPU 313C 0 2 CPU 313C 2 DP PtP e CPU 314C 2 DP 0 3 PN DP PtP SW_EN IN BOOL 4 0 Software gate TRUE FALSE FALSE Starts stops data output MAN_DO IN BOOL 4 1 Enable manual output TRUE FALSE FALSE control SET_DO IN BOOL 4 2 Control output TRUE FALSE FALSE OUTP_VAL IN INT 6 Specifying the output value 0 default 0 to 1000 in per mil 0 to 27648 e as S7 analog value If you specify a value gt 1 000 or 27 648 the CPU limits it to 1 000 or 27 648 JOB_REQ IN BOOL 8 0 Job trigger positive edge TRUE FALSE FALSE JOB_ID IN WORD 10 Job number 0 Job without function 00 hex e Write the period length 01 hex Write the on delay 02 hex Write the minimum 04 hex pulse wid
194. cal functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Input parameters 5 6 Description of the Frequency Measurement Functions Parameters Data type Address Description Value range Default instance DB LADDR WORD 0 Submodule I O address you specified in CPU specific 300 hex HW Config If the and O addresses are not equal the lesser of the two addresses must be specified CHANNEL INT 2 Channel number 0 CPU 312C 0 1 CPU 313C 0 2 CPU 313C 2 DP PtP CPU 314C 2 DP PN DP PtP 0 3 SW_GATE BOOL 4 0 Software gate TRUE FALSE FALSE For starting stopping frequency measurement MAN_DO BOOL 4 1 Enable manual control of the output TRUE FALSE FALSE SET_DO BOOL 4 2 Control output TRUE FALSE FALSE Note If you have set the Characteristics of the output parameter to No comparison via the parameter assignment screen the following applies e The output is switched as a standard output e The SFB input parameters MAN_DO and SET_DO are ineffective e Status bit STS_DO remains reset Input parameters not interconnected to the block static local data Parameters RES_STS Data type BOOL Address instance DB 32 2 Description Reset status bits Resets the status bits STS_CMP STS_OFLW and STS_UFLW The SFB must be called twice to reset the status bits Value range TRUE FALSE
195. carded full STOP Discarded Discarded XON XOFF Continue Saving Saving Flow control is activated Flow control is activated when buffer is full when buffer is full STOP No more data can be No more data can be received because flow received because flow control is activated control is activated CPU 31xC Technological functions 266 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 4 Basics Transmission 6 3 Parameter configuration Parameter Assignment Data for the ASCII Driver In the parameter assignment screen declare the parameters for the ASCII driver Below you will find a detailed description of the parameters Note The ASCII driver can be used for four wire operation RS 422 as well as for two wire operation RS 485 Parameters Description Value range Default Baud rate Data transmission rate in bps baud e 300 9600 38400 bps for half duplex only 600 e 1200 e 2400 e 4800 e 9600 e 19200 e 38400 Start bit During transmission a start bit is prefixed to each 1 fixed value 1 character to be sent Data bits Number of bits onto which a character is 7 8 mapped Me Stop bits During transmission the stop bits are appended e 41 1 to every character to be sent this signals the end 2 of a character Parity A sequence of information bits can be extended e None Even to include another bit the parity bit The addition Odd o
196. ce within the acknowledgment delay time interconnected in the data link CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 353 Point to point communication 6 10 Specitications Event class 7 07H Cancellation at partner During the current send operation one or more characters were received from the partner Send error Event no Event Remedy 07 04H With 3964 R only Check whether the partner also indicates errors perhaps because not all sent data arrived e g break in the send line fatal errors are pending or the partner device has malfunctioned Prove this if required using an interface tester interconnected in the data link 07 05H With 3964 R only Check whether the partner also indicates errors Negative acknowledgment when sending perhaps because not all sent data was received e g break of the send line or fatal errors are pending or malfunctioning of the partner device Prove this if required using an interface tester interconnected in the data link 07 06H With 3964 R only Check whether the partner also indicates errors End of connection error perhaps because not all sent data arrived e g break in the send line fatal errors are pending or the e Partner rejected message frame at end of partner device has malfunctioned Prove this if connection with NAK or a random string except required u
197. ceeccceeeseeeeeeeeeeeeeeeseeeeeeeseeeeeeseeeeeeeseeeeeeeseeeeeeeseeaeeeteeaees 5 10 5 Instance IDBs 0f the SEBS isien a aaa aa aa a a E a aaa Point to point communication eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaaeeeeeeeeesccaaaaeeeeeeeeessecaaaeeeeeeeeesseceeeeeeeneeeegs 6 1 WW CTI QW hes etc col sti E E ceuet ree cach arava deena cache atest 257 6 1 1 Product Description inertie ainia e a E a a a a a 6 1 2 Comm nication PartN r sissa aaa aa iaaa aa a aaa aa 6 1 3 Components for PtP COMMUNICATION cececeeeece cece cece eeeeceaeaeeeeeeeseecaaeceeeeeeesecesaeeeeeeeeneee 6 1 4 Properties of the RS422 485 Interface 6 1 5 Serial Transmission of a Charactel cccccccceccseceeceeceeeeeeececaeeeeeeeeesesecaaeaeeeeeeeseeennieeeeeeeeteeas 6 2 WING eea e a e aaa eE Ea E e N a AS 6 2 1 Wiring RUES siasa a i E aaea A aed A duc dee A aR 6 2 2 Connecting a Serial Cable cccceceeeeccecceeeeeeceeeeneae cece eeeececaaeaeeeeeeesescaaeeeeeeeeeseeeenieeeeeeseteees 6 3 Parameter COMPQUPALION ss irese S S 6 3 1 Parameter YPS eiio a A AE R A BE A Madebas tadndyeashend 6 3 2 Configuration with the Parameter Assignment Screen cccceeeeeeeeeeeeeeeeeeeeeneeeeeteaeeeeetnaeeeeees 6 3 3 B sic parameters nionean ti aana aa aaaea aaa aaa a aa 6 3 4 Parameter Assignment Data for the ASCII Driver eeccceeeeeneeeeeenneeeeeeeaeeeeeeaeeeeeeaeeeeeenas 6 3 5 Parameter Assignment Data for the 3964 R ProCedure eeeccc
198. communication 319 Priority 3 Procedure 35S Receiving 328 Receivin ata 822 Sending B27 Sending Data 321 Specifications 344 Startup with default values A Absolute incremental approach Positioning with analog output Positioning with digital outputs ACCEL Acknowledgment Actual value 4 Monitoring Monitoring 78 Monitoring 78 tee Actual value monitoring Adapting poan Eat Safety Rules Addressing of data AA ds Applications Point to point communication 257 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Approvals ASCII driver Data flow control Parameters Point to point communication 309 Receive buffer 318 Receiving data 312 Sending Data 310 Specifications 3 Assignment of input data Asymmetric output signals 82 Asynchronous Data ei Point to point communication 260 Averaged frequenc B11 Axis parameters 35 ien Axis Parameters Axis type 35 90 B Basic Functions 365 Basic parameters p 31 103 176 BCC Block Check Character Bi et eal data exchange BIE Blending Sh B Block Checksum Point to point communication Buffered received frames 3964 R procedure Buffered received message frames C Cable shield 2 Cable shielding Point to point communication 347 Cables Point to point communication Camparison Value Counting Canceling Positioning with digital outputs 419 Canceling posi
199. comparison value e Pulse duration 0 The hysteresis is activated when the comparison conditions are reached When the hysteresis is active the comparison result remains unchanged The hysteresis is no longer active when the count value exits the hysteresis range Count value aa No Or NWHA CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 207 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Effect when Pulse at Comparison Value and Pulse Duration Unequal to Zero 208 The example in the figure below demonstrates the hysteresis action The diagram shows the differences in the output behavior when hysteresis values of 0 switched off and 3 are assigned The comparison value for this example 5 The counter is configured as follows e No main count direction e Pulse on reaching the comparison value e Pulse duration gt 0 When the comparison conditions are reached the hysteresis is activated and a pulse of the assigned duration is output The hysteresis is no longer active when the count value exits the hysteresis range The CPU memorizes the count direction when the hysteresis is active A pulse is output if the count value exits the hysteresis range in the direction of the memorized count direction Count value OFNWHUDNO CPU 31xC Technological functions Operating Instructions 03 2011 A
200. ctions for Positioning with Digital Outputs Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 14 0 Traverse running TRUE FALSE FALSE ACT_POS DINT 16 Current actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 20 Active set operating mode 0 1 3 4 5 0 e WORKING TRUE is set immediately after the run has started When you reset the direction bits DIR_P or DIR_M or set STOP TRUE the run is terminated WORKING FALSE e f an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRUE The precise error cause is then indicated with the STATUS parameter see Section Page 156 e Injog mode ST_ENBLD is always set to TRUE e Position reached POS_RCD will not be set ST_ENBLD al DIR_M DIR_P E ees WORKING i p Distance CPU 31xC Technological functions 126 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 4 4 4 4 1 Description 4 4 Functions for Positioning with Digital Outputs Reference Point Approach Reference Point Approach Operation Principle After the CPU is switched on position value ACT_POS is not referenced to the mechanical position of the axis In order to assign a reproducible encoder value to the physical position a reference synchronization mus
201. cut off difference must have at least the length of half the target range Event class 52 34H Run start error default target distance Event no Event Remedy 34 01H Default target out of working range With a linear axis and absolute incremental approach the default target must lie within the range of the software limit switch inclusive 34 02H Incorrect target specification For the rotary axis the specified target must be greater than 0 and less than the end of rotary axis 34 03H Incorrect distance specification With relative incremental approach the distance to be traversed must be positive 34 04H Incorrect distance specification The resulting absolute target coordinate must be greater than 5 x 108 34 05H Incorrect distance specification The resulting absolute target coordinate must be greater than 5 x 108 34 06H Incorrect distance specification The resulting absolute target coordinate must lie within the working range half of the target range Event class 53 35H Run start error traversing distance Event no Event Remedy 35 01H Traversing distance too long The target coordinate actual distance to go must be greater than equal to 5 x 108 35 02H Traversing distance too long The target coordinate actual distance to go must be less than equal to 5 x 108 35 03H Traversing distance too short The traversing distance into plu
202. d WORKING is reset to FALSE at the cut off point POS_RCD TRUE is set when the specified target is reached You must reset the direction bit DIR_P or DIR_M before you start the next run If an error occurred when the SFB call was interpreted WORKING FALSE and ERROR will be set to TRUE The precise error cause is then indicated with the STATUS parameter see Section Page 84 ST_ENBLD DIR_M DIR_P eee ey Sees woane T o o POS_RCD f z Distance CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 137 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Stopping a Run and Target Range not Reached When arun is stopped with STOP TRUE and if the cut off range has not been reached distance to go is greater than the cut off difference you have the following options depending on the subsequent operating mode job Option Starting a new Absolute incremental approach Response The axis moves to the specified absolute target Continuing the run into the same direction with Relative incremental approach mode Run parameters will not be interpreted The axis travels to the target point of the stopped run LAST_TRG Continuing the run into the reverse direction with Relative incremental approach mode Run parameters will not be interpreted The axis moves to the starting point of the stopped run
203. d by the communication partner e When using the 3964 R protocol Data was transmitted to the communication partner a positive acknowledgment was returned However it is not ensured that the data were also passed to the partner CPU event number if an error or warning has occurred see STATUS displays the correspondin Section Page 351 DONE or ERROR STATUS is also output in the event of a RESET of the SFB R TRUE The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to STOP mode Parameter REQ Declaration Data type BOOL Description Control parameter Request Activates data exchange at a positive edge Value range TRUE FALSE Default FALSE R BOOL Control parameter Reset Cancels the request Sending is blocked TRUE FALSE FALSE LADDR WORD Submodule I O address you specified in HW Config CPU specific 3FF hex DONE BOOL Status parameter Set only for the duration of one call e FALSE The request has not yet been started or is still being executed e TRUE The request has been completed without error TRUE FALSE FALSE ERROR OUT BOOL Status parameter set only for the duration of one call Request completed with errors TRUE FALSE FALSE STATUS
204. d resumes the count from there e When the down counter reaches the low limit it jumps to the high limit at the next negative count pulse and resumes the count from there e The count limits are set to maximum range Valid value range Default value High count limit 2147483647 231 1 Low count limit 2147483648 231 Count value 2147483648 231 to 2147483647 231 1 Load value 2147483647 231 1 to 2147483646 231 2 0 Count High counting limit er ee Overflow 231 4 Load value 0 Zero crossing ee eae a Se ee ee Le Underflow counting limit 231 Gate start Gate stop Time CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 3 Single Cycle Count Description In this operating mode the CPU counts once depending on the assigned main count direction e No main count direction The CPU counts once starting from the load value The CPU counts up or down The counting limits are set to the maximum counting range On overflow or underflow at the counting limits the counter jumps to the respective opposite counting limit and the gate is closed automatically To restart the count you must generate a positive edge at the gate control With stopping gate control the count resumes at the current count Wi
205. data block E 45H Input bytes A 41H Output bytes e M 4DH Memory bytes T 54H Time cells e Z SAH Counter cells Data target with SEND job or data source with FETCH job e g byte 5 DB no byte 6 DW no High byte length Length of data to be transmitted in bytes or word format depending on the type 8 Low byte length Length of data to be transmitted in bytes or word format depending on the type 9 Byte number of the interprocessor communication flag if you have not specified an interprocessor communication flag the value FFh is entered here CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 331 Point to point communication 6 9 Protocol Description Byte 10 Description e Bits 0 to 3 If you have not specified an interprocessor communication flag the value FH is entered here e Bits 4 to 7 CPU number 1 through 4 if you have not specified a CPU number number 0 but rather an interprocessor communication flag the value OH is entered here if you have not specified a CPU number or an interprocessor communication flag the value FH is entered here RK 512 addressing describes the data source and destination with word limits Conversion to byte address is executed automatically in SIMATIC S7 Bytes 3 and 4 contain ASCII characters The sequential instruction frame header consists only of the bytes 1 to 4
206. direction This means you can send and receive data at the same time Full Duplex operation e In RS485 mode data are transmitted across a two wire serial cable two wire operation The two wires differential signal are available alternately for the send and receive direction This means you can either send or receive data at a given time Half Duplex operation After a send operation the cable is immediately switched over to receive mode transmitter is switched to high impedance The operating mode is selected via the parameter assignment screen Properties The X27 RS422 485 interface has the following properties and meets the following requirements e Type Differential voltage interface e Front connector 15 pin Sub D female connector with screw interlock e Max transmission rate 38 4 kbps Half Duplex e Standard DIN 66259 Part 1 and 3 EIA RS 422 485 CCITT V 11 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 259 Point to point communication 6 7 Overview 6 1 5 Serial Transmission of a Character Basics There are various networking alternatives for the transfer of data between two or more communication partners The PtP connection between two communication partners is the simplest way of information exchange Data are transmitted serial in a PtP communication Serial Data Transmission With serial transmission the individual bits of each informati
207. drives the axis e The encoder feeds back position and direction information e You can control rotary or linear axes as mechanical transmission elements e Use the PG PC to configure the CPU in the parameter assignment screens for the technological functions of the CPU to program CPU SFBs which you can implement directly in your user program atart CPU operation and test it with the help of the standard STEP 7 user interface monitoring functions and variable table CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 21 Positioning 2 4 Components for Positioning Control CPU 31xC Technological functions 22 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 3 1 3 1 1 Wiring Important Safety Rules Adherence to Safety Rules For the safety concept of the system it is imperative to install the switchgear mentioned below and to adapt them to your system e The Emergency Off switch You can use this to switch off the entire system e Hardware limit switches that have a direct effect on all drive power units e Motor protection A WARNING Harm to health and damage to assets cannot be excluded if you do not switch off voltage If you wire the front plug of the CPU in live state you risk injury due to the influence of electrical current Always wire the CPU in off voltage state Harm to health and damage to assets due to missin
208. dulation PWM e Gate function Use the gate function to start and stop pulse width modulation e Hardware interrupts CPU 31xC Technological functions 168 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 2 Wiring 5 1 3 Components of a Counter Application Overview Overview The counting functions counting frequency counting and pulse width modulation are integrated in the CPU The encoder or a bounce free switch supplies the count pulses Use the PG PC to e Assign the CPU parameters using the parameter assignment screens for the technological functions of the CPU e Program CPU SFBs which you can integrate directly in your user program e Commission and test the CPU with the help of the standard STEP7 interface monitoring functions and variable table 5 2 Wiring 5 2 1 Wiring Rules Connecting Cables Shielding e The encoder cables must be shielded e The cables for the digital I O must be shielded if their length exceeds 100 m e The cable shielding must be terminated on both ends e Flexible cable cross section 0 25 mm to 1 5 mm2 e Cable sleeves are not required Should you still decide to do so use cable sleeves without insulating collar DIN 46228 Shape A short version Shielding termination element You can use this shielding termination element for easy shielded cable to ground connections due to the direct contact of the shieldi
209. e Continuous Off AI a OE E OE P_B_TM 100 0 0 0 100 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 389 Error Information 7 5 Description of Functions Two step control with unipolar manipulated value range 0 to 100 Duration of pos pulse PER_TM PER_TM P_B_TM The negated output signal is available at QNEG _P if the connection of the two step controller 100 0 in the control loop requires a logically inverted binary signal for the actuating pulses Pulse Actuator On Actuator Off QPOS_P TRUE FALSE QNEG_P FALSE TRUE Manual Mode with Two or Three Step Control In manual mode MAN_ON TRUE the binary outputs of the three step or two step controller can be set using the signals POS_P_ON and NEG_P_ON regardless of INV POS_P_ON NEG_P_ON QPOS_P QNEG_P Three step control FALSE FALSE FALSE FALSE TRUE FALSE TRUE FALSE FALSE TRUE FALSE TRUE TRUE TRUE FALSE FALSE Two step control FALSE Any FALSE TRUE TRUE Any TRUE FALSE The SFB PULSEGEN has an initialization routine that is run through when the input parameter COM_RST TRUE is set All the signal outputs are set to zero A parameter check is carried out via the Parameter Assignment Tool CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling Parameters of SFB 43 7 5 Descript
210. e couplings and gears e Normal incrementing count pulses ascending actual values e Inverted incrementing count pulses descending actual values CPU 31xC Technological functions 38 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration Missing Pulse Zero Mark Monitoring Parameter Parameter Value range Default Missing pulse Zero mark monitoring e Yes No e No When zero mark monitoring is enabled the CPU monitors consistency of the pulse difference between two successive zero mark signals encoder signal N If you have configured an encoder whose pulses per revolution cannot be divided by 10 or 16 zero mark monitoring is automatically switched off irrespective of the setting in the parameter assignment screen Note The minimum pulse width of the zero mark signal is 8 33 us corresponds to the maximum frequency of 60 kHz If you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period This reduces the maximum frequency for zero mark monitoring to 30 kHz Not recognized is e Incorrectly assigned number of increments per encoder revolution e Failure of the zero mark signal Synchronization is canceled and the run is aborted when this monitoring responds CPU 31xC Technological functions Operating Instructions 03 20
211. e Yes No interrupt underflow low counting limit is fallen a Underflow below Hardware You can select whether a hardware e Yes No interrupt interrupt is generated on each counting No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 247 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Frequency counting is exceeded The high limit must be greater than the low limit CPU 313C 2 DP PtP 1 to 30 000 000 mHz CPU 314C 2 DP PN DP PtP 1 to 60 000 000 mHz Parameter Description Value range Default Integration time Time window in which the incoming 1 to 10 000 ms 100 pulses are measured Low limit The measured value is compared with CPU 312C 0 the low limit The status bit Underflow 0 to 9 999 999 mHz STS_UFLW is set when the low limit is CPU 313C fallen below The low limit must be less CPU 313C 2 DP PtP than the high limit 0 to 29 999 999 mHz CPU 314C 2 DP PN DP PtP 0 to 59 999 999 mHz High limit The measured value is compared to the CPU 312C CPU 312C high limit The status bit Overflow 1 to 10 000 000 mHz 10 000 000 mHz STS_OFLW is set when the high limit CPU 313C CPU 313C CPU 313C 2 DP PtP 30 000 000 mHz CPU 314C 2 DP PN DP PtP 60 000 000 mHz value exceeds the assigned integration time e With direct frequency the value 0 is output at the end of the integration time e Wit
212. e digital input Hardware gate Internal gate The internal gate represents a logical AND link of the HW gate and the SW gate The measuring cycle is only active if both the HW gates AND the SW gates are open The status bit STS_GATE Status internal gate displays this status Only the SW gate setting is relevant if you have not configured a HW gate Controlling the gate via SW gate only The measurement starts stops when the HW gate opens closes Controlling the gate via SW and HW gates Measurement starts when both gates are open The measurement stops when one of the gates closes CPU 31xC Technological functions 218 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 7 Reactions of the Frequency Measurement Output Low High Limit In the CPU you can store a low limit and a high limit that is assigned to the digital output and to the hardware interrupt You can enable the digital output depending on the count value and the low high limit You can set the limit values in the parameter assignment screen and write JOB_ID 01 02 hex and read JOB_ID 81 82 hex the limit values in the user program via the job interface of the SFB Characteristics of the Digital Output You can specify the following behavior in the parameter assignment screens e No comparison e Frequency outside the limits e Frequency
213. e discarded 3 The CPU transmits the XON character once a message frame has been fetched from the receive buffer and when the receive buffer is ready to receive data 4 The CPU interrupts data transfer when it receives the XOFF character If no XON is received within a specific configured time the send operation is canceled and a corresponding error message is generated 0708H at the STATUS output of the SFBs CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description 6 9 2 Data Transfer with the 3964 R Procedure 6 9 2 1 Data Transfer with the 3964 R Procedure Basics Basics The 3964 R procedure controls data transfer in a PtP communication between the CPU and a communication partner Control character For data transfer the 3964R computer connection appends control characters to the user data These control characters allow the communication partner to verify that the data have arrived complete and without errors The 3964 R procedure analyzes the following control codes Priority STX Start of Text start of the string to be transmitted DLE Data Link Escape data transmission switchover or positive acknowledgment ETX End of Text end of the string to be transmitted BCC Block Check Character only for 3964 R Block check character NAK Negative Acknowledgement Note When the connection is being established and shut down
214. e installation instructions for your CPU CPU 31xC Technological functions 96 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 1 Wiring 4 1 3 Terminals for Positioning with Digital Outputs Overview Use front connector X2 of the CPU 314C 2 DP PN DP PtP to connect the following components e 24V encoder e Length measurement switches e Reference point switch e Converter circuit breaker x1 X2 J FSF SIEMENS 1 P A210 A 14 210 p BUSF 2 IIe lel 2210 H 2 lel 220 PyDCSV 3 IIe i231 H 3 Ile 230 RJFRCE 4 IIe eli24H H 4 ie 241 HRUN 5 III 251 H 5 lle 250 LISTOP fo 6 ile lell26 H H 6 lle 260 B 7 e lell27 H H 7 IIe 270 STOF 8 Ille e281 1 8 ie 280 MEES llel Iel29H H lle 290 10Ile 30 1 10 lle 301 11 H116 alls 12 121e ll 32 13 13e lell 33 14 Haale lell 34 15e ibe leli35 16 16 lell36 17 llf H17 lell37 18 lle H 18 llel lel B84 19l ieg leli39 20 L120 bll40 LI Description of Pin Assignment The following pin out only relates to connections relevant to the position m
215. e precise error cause is then indicated with the STATUS parameter Position reached POS_RCD will not be set steno lo ST DIR_M DIR_P ee es ee S WORKING SYNC distance oN Reference point switch Reference point zero mark What the Operating Mode Affects A possibly existing synchronization is cleared SYNC FALSE at the start of the reference point approach At the positive edge of the reference point zero mark the actual position is set to the value of the reference point coordinate and the feedback signal SYNC is set The working range is determined at the axis All points within the working range maintain their original coordinates but have new physical positions CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 59 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 6 Description Relative incremental approach mode In Relative incremental approach mode the drive moves into a specified direction by a relative distance starting at the last target LAST_TRG Starting point is not the actual position but rather the last specified target LAST_TRG As a result the positioning accuracies do not add up The actual target is indicated at the parameter LAST_TRG after positioning has started Requirements e You have assigned the module parameters via parameter assignment screens and dow
216. e range LMN_LLM 100 0 or phys value Default 100 0 LMN_LLM REAL 44 MANIPULATED VALUE LOW LIMIT The manipulated value is always limited to an high and low limit The manipulated value low limit input specifies the low limit 100 0 LMN_HLM or phys value 0 0 PV_FAC REAL 48 PROCESS VARIABLE FACTOR The process variable factor input is multiplied by the process variable The input is used to adapt the process variable range 1 0 PV_OFF REAL 52 PROCESS VARIABLE OFFSET The process variable offset input is added to the process variable The input is used to adapt the process variable range 0 0 LMN_FAC REAL 56 MANIPULATED VALUE FACTOR The manipulated value factor input is multiplied by the manipulated value The input is used to adapt the manipulated value range 1 0 LMN_OFF REAL 60 MANIPULATED VALUE OFFSET The input manipulated value offset is added to the manipulated value The input is used to adapt the manipulated variable range 0 0 LITLVAL REAL 64 INITIALIZATION VALUE OF THE INTEGRAL ACTION The output of the integrator can be set at input _ITL_ON The initialization value is indicated at the input Initialization value of the integral action 100 0 100 0 or phys size 0 0 DISV REAL 68 DISTURBANCE VARIABLE For feed forward control the disturbance variable is connected to input di
217. e target e The traversing distance must be greater than or equal to the cut off difference e Anew run is not started if the traversing distance is less than equal to half of the target range This mode is terminated instantaneously and without error e The target range for a linear axis must lie within the working range for a rotary axis it must lie between 0 and End of rotary axis 1 CPU 31xC Technological functions 62 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Run Start e The linear axis is always started with START TRUE e You must specify the sense of direction of rotary axes DIR_P TRUE Run in plus direction DIR_M TRUE Run in minus direction START TRUE The axis approaches the target along the shortest possible distance The CPU calculates the sense of direction taking into account the actual distance to go the actual value and the target Run is started in reverse direction if the shortest distance is less than equal to the cut off difference and greater than equal to half of the target range If the travel difference is equal in both directions the axis moves in the plus direction Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameters Data type Address Description Value range Default Setting instance DB DRV_EN BOOL 4
218. e time base to specify the resolution and value range of the on delay period and minimum pulse width Output format In the output format parameter declare the range of the output value 228 Output format Value range Per mil 0 to 1000 S7 analog value 0 to 27648 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Output value Period 5 7 Description of the Pulse Width Modulation Functions Declare the output value as input parameter OUTP_VAL at the SFB The CPU uses this specified output value to calculate the pulse width Output format Pulse width Per mil Output value 1000 x period S7 analog value Output value 27648 x period If you change the output value during the pulse output sequence the CPU immediately calculates the new period and switches the output accordingly This can be used to extend or reduce the length of one period e If you change it when the signal is low and the new output value is lower than the old one the length of the period is extended in one cycle because the new Interpulse period is now longer e If you change it when the signal is low and the new output value is greater than the old one the length of the period is reduced in one cycle because the new interpulse period is now shorter e If you change it when the signal is high and the new output value i
219. ective JOB parameters 30 02H It is not allowed to modify MODE_IN while the drive is still in motion Wait until the current positioning operation has ended 30 03H Unknown operating mode MODE_IN The following is permitted 1 jog mode 3 reference point approach 4 relative incremental approach and 5 absolute incremental approach 30 04H Start requests may only be set one ata time Permissible start requests are DIR_P DIR_M or START 30 05H START is only allowed in Absolute incremental approach mode Start the run with DIR_P or DIR_M 30 06H DIR_P or DIR_M is not allowed for a linear axis and in Absolute incremental approach mode Start the run with START 30 07H Axis not synchronized Absolute incremental approach is only possible if the axis is synchronized 30 08H Moving out of working range Run is only allowed into the direction of the working range Event class 49 31H Run start error Start enable Event no 31 01H Event text Start not enabled because the axis is not configured Remedy Configure the Position submodule via HW Config 31 02H Start not enabled because drive enable is not set Set Start enable at the SFB DRV_EN TRUE 31 03H Start not enabled because STOP is set Clear the STOP at the SFB STOP FALSE 31 04H Start not enabled because the axis currently p
220. ed when the monitoring responds Monitoring is switched off when you acknowledge the external error ERR_A positive acknowledgment Monitoring is not switched on again until the start of a new run Response of the CPU to errors The run is canceled CPU 31xC Technological functions 46 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Terminating a Run There are three different ways to terminate a run e Target approach e Deactivating e Canceling Target approach Target approach stands for automatic run termination when the specified target is reached In order to reach a specified target target approach is carried out in the operating modes Relative and absolute incremental approach Deactivating The drive is deactivated in the following cases e In all operating modes when STOP TRUE before the target is reached e In Jog mode when stopping and when run direction is reversed e In Reference point approach mode when the synchronization position is detected or at direction reversal When deactivating the speed is reduced over a linear ramp to the speed setpoint 0 Canceling The run is terminated immediately disregarding the changeover cut off difference The analog output is switched directly to speed setpoint 0 Cancellation is possible at any time or at standstill The run is canceled in the following cases e Cancel
221. eed to be changed during operation are located in the instance DB of the system function block SFB The SFB parameters are described in Section ommunication Functions for ASCII 3964 R Basics Page 281 You assign these parameters offline in the DB Editor or online in the user program They are stored in the work memory of the CPU You can change these parameters from the user program while the CPU is in RUN mode CPU 31xC Technological functions 264 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration 6 3 2 Configuration with the Parameter Assignment Screen Introduction You can customize the protocol parameters with the help of the parameter assignment screens Those parameter assignment screens are widely self explanatory You can find the description of the parameters in the following chapters and in the help integrated in the parameter assignment screens Requirements Prerequisite for calling the parameter assignment screen is that you have created a project in which you can save your parameters Procedure 1 Start the SIMATIC Manager and call HW Config in your project 2 Double click on the PtP submodule of your CPU The Properties dialog box opens 3 Edit the parameters for the PtP submodule and close the parameter assignment screen with OK 4 Save your project in HW Config with Station gt Save and Compile 5 Download the parameter da
222. eeeeeeeeceeeeeeeeeeneeeeeenaeeeeeeaas 6 3 6 Parameter Assignment Data for RK 512 Communication 0 cc ceeeeeeeeeeeeeeeeeenteeeeeeneeeeeeaas 6 4 Implementing the Connection in the User Program ccccccccceeeeceeceeeeeeeeeeceeeeeeeeesecsnaeeneees 6 5 COMMUNICATION FUNCTIONS 4 siccdcuatithccesnansdvis candi ives aaia a aa a a coanwdea rade a Eaa 6 5 1 Communication Functions for ASCII 3964 R eecceeeeeeeeeeeeeeeeeeeeeneeeeetaeeeeesaeeeeetaeeeeesaeeeeee 6 5 1 1 Communication Functions for ASCII 3964 R Basics 0 0 0 0 eeceeeeeeeeeeeeneeeeteeeeeeeteeneeeeeeenaees 6 5 1 2 Sending Data with SFB 60 SEND_PTP cccccccccessececseceeesseeeeeeseeeeeeeseeeeeeeseneseesseesaeesseeaaees 6 5 1 3 Receiving Data with SFB 61 RCV_PTP ooo cceccececeeeeeesseeeeesceeeeeesseeeeeesseneeeesseeaeesseeeaees 6 5 1 4 Clearing the Receive Buffer with SFB 62 RES_RCOVB o oo eccccceeseeeeeeeeeeeseeeeeeeeeneeeeeeenaees 6 5 2 RK 512 Communication Functions cccceceeeseeeeeeeeeeeeeeeaeceeeeeeesecacaeeeeeeeseseceaeaeeeeeeeseteenaees 6 5 2 1 Communication Functions for the RK 512 Computer Connection Basics 6 5 2 2 Sending data with SFB 63 SEND_RKY ooo ccceccececceeeeeeseeeeeeeseeeeeesseeeeeesseeeaeesseesaeesseeeaees 6 5 2 3 Fetching Data with SFB 64 FETCH_RK cccccccceccceseeceeeeceeeeeeeseeeeeeeseeeeeeeseeeeeessessaeesseeaaees 6 5 2 4 Receiving Providing Data with SFB 65 SERVE_RK cceeseeeceeceeeee
223. eeeeeeeseeeeeeeeeeaeeeeeeeaees 6 5 2 5 Example Use of Interprocessor Communication Flags ccccceceeeeeeeececeeeeeeeseeseaeeneees 6 5 2 6 Example SEND_RK with Interprocessor Communication Flag s eceeceeeeeeeeeeteeeeeeees CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Table of contents 6 5 3 Information for programming of system function blocks 6 6 COMMISSIONING wise Gite ahetes Vineet ead nied ieee need ieee 6 6 1 Commissioning the Interface Hardwatre cccceccceeeeseeeeeeeeneeeeeeaeeeeeeaeeeeeeaeeeeeeaeeeseeneeeeeeaas 6 7 Error Handling and IMmterrupts enerci AEEA 6 7 1 Error locating And diAQnOStiCs ecececeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeseeeeeeeseeeeeeeseneeeeeseeeaeeeeeeaaees 6 7 2 Error Messages at the System Function Block SFB ccececeeeeeeeeeeeeeeeeeeseeeeeeeseeaeeeeeenaees 6 7 3 Error IDs in the Response Message Frame cceceeeeseeeceeeseeneeeeseeeeeeeseeeeeeeseneeeeeseeeaeeeseenaees 6 7 4 Configuring and Evaluating Diagnostic InterrUpts ec eceeeeeeeneeeeeeenaeeeeeeaeeeeeeaeeeeeeaeeeeeeaas 6 8 Installation Of Example S sosanna a A a ola AA adel nati 6 9 Pr tocol D sriptiOr iiiar sates shstacedseuadeastendstepeadag csteotdaeesencanersseeinestvetuneteteddarssbeceetreiaated 309 6 9 1 Data Transfer with ASCINDriVe ai cerner de ain a AREE T E A iE E EEEa 309 6 9 1 1 Data Transfer with ASCII Driver Ba
224. eep speed that is it is definitely moving at creep speed when reaching the cut off point Positioning accuracy remains unchanged as long as the drive is switched off at creep speed A further reduction of the cut off difference does not make sense CPU 31xC Technological functions 148 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 6 4 6 1 Overview 4 6 Error Handling and Interrupts Error Handling and Interrupts Error Messages at the System Function Block SFB The SFB indicates the errors listed in the table below Except for system errors all errors are specified in closer detail via an error number which is available as an output parameter in the SFB Type of error Errors are displayed via SFB The error number is displayed in the parameters SFB parameters Operating mode error ERROR TRUE STATUS Job error JOB_ERR TRUE JOB_STAT External error ERR gt 0 ERR System error BIE FALSE Operating Mode Error ERROR TRUE This error occurs e upon general parameter assignment errors at the SFB e g use of incorrect SFB e at run start resume These errors occur during the interpretation of operating mode parameters When an error is detected output parameter ERROR is set to TRUE The STATUS parameter indicates the cause of error The possible error numbers can be found in Section Page 156 Job Error JOB_ERR TRUE
225. eference point approach e You require the reference point switch to ensure that the reference signal always has the same reference point zero mark and for changing over to reference point approach speed You can use a BERO switch for example The signal length of the reference point switch must be high enough for the axis to reach reference point approach speed before it moves out of range of the reference point switch e Reference point is the next encoder zero mark after leaving the reference point switch The axis is synchronized at the reference point and the feedback signal SYNC is set to TRUE The reference point is assigned the reference coordinates you have specified via parameter assignment screens A reference point approach must always be started in the direction of the reference point switch Otherwise the axis travels into range limits because it is not synchronized and thus software limit switches do not exist By starting the reference point approach at the reference point switch you always ensure that the axis is starts into the direction of the switch see Example 3 Note For rotary axes Because of the required reproducibility of the reference point the corresponding zero mark of the encoder must always be at the same physical position Therefore the End of rotary axis value and the number of Increments per encoder revolution must represent a proportional integral Example Four encoder revolutions are proport
226. efore no longer required in STEP 7 The parameter LEN for SFB 60 63 and 64 forms an exception parameters can only be assigned indirectly Example of Direct Parameter Assignment Call of SFB 60 SEND_PTP according to Direct parameter assignment initiate SEND initiate RESET I O address End without error End with error Status word Data block DB 11 As of data byte DBB O Length is indirectly assigned parameters Example of Symbolic Addressing of the Current Operand Call of SFB 60 SEND_PTP with symbolic addressing of the current operands STL Network 1 CALL SFB 60 DB10 REQ M 0 6 R M 5 0 LADDR 336 DONE M 26 0 ERROR M 26 1 STATUS MW 27 SD 1 P DB11 DBX0 0 LEN DB10 DBW20 STL Network 1 CALL SFB 60 DB10 REQ SEND_REQ R SEND_R LADDR BGADR DONE SEND_DONE ERROR SEND _ERROR STATUS SEND STATUS SD_1 QUELLZEIGER LEN CPU_DB SEND_ LAE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 initiate SEND initiate RESET I O address End without error End with error Status word ANY pointer to target area Message frame length 303 Point to point communication 6 6 Commissioning 6 6 Commissioning 6 6 1 Commissioning the Interface Hardware Procedure You should test the connection if a communication cannot be established to the partner device after the configuration has been completed Proceed as
227. ent situations for a reference point approach are determined by the direction of the run start and by the position of the reference point Example 1 e Start direction plus e Reference point location for reference point switch in plus direction Zero marks of position encoder Reference point switch point switch Speed VRapid coeur clea aaa aR Ve reep es eer eee emerge foe Starting position Reference point Distance Positive travel direction The reference point switch is approached at rapid traverse The drive is then toggled to creep speed After it has left the reference point switch the drive is switched off at the next encoder zero mark CPU 31xC Technological functions 128 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Example 2 e Start direction plus e Reference point approach for reference point switch in minus direction Zero marks of position encoder I Co Reference point switch I i 1 i 1 i Speed l i i 1 I VRapid ooo VCreep Starting position Reference point Distance Positive travel direction The reference point switch is approached at rapid traverse Then the drive is switched to creep speed and the direction is reversed After it has left the reference point switch the drive is switched off at the next encoder zero mark CPU 31xC Technological funct
228. equential SEND message frame verifies the header and the data and acknowledges with a sequential response message frame after the data have been written to the target block Note If the SEND message frame was not received without error by the CPU or if an error has occurred in the message frame header the communication partner enters an error number in byte 4 of the response message frame In the case of protocol errors there will be no entry in the response message frame CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication Sequential SEND Message Frames 6 9 Protocol Description A sequential SEND message frame is started if the data length exceeds 128 bytes The sequence corresponds with that of the SEND message frame Bytes sent in excess of 128 bytes are automatically transmitted in one or multiple sequential message frames The picture below shows the data transmission sequence when sending a sequential SEND message frame with a sequential response message frame CPU 31xC Continuation SEND frame Start character 02H STX Pos acknowledgement DEL 10H Continuation frame FFH _ 1st Byte 00H _________ 2nd Byte SEND request 41H ____ _ 3rd By te Data block 44H 4th Byte 129th Data byte _ 5th Byte 130th Data byte 6th By te nth Data byte ______ _ nth Byte End delimiter 10H
229. er comparison e Count value 2 comparison value e Count value lt comparison value e Pulse at comparison value Pulse duration With the setting Characteristics of the output Pulse at O to 510 ms 0 comparison value you can specify the pulse duration for the output signal Only even values are possible Assignment of input You can select whether the count value or the period Count value Count value data can be read at a maximum counting frequency of 1 KHZ Period in the input data data of the Count submodule If the maximum counting frequency is greater than 1 kHz only Count value is possible Time base You can specify whether the period is to be measured in 125 ns 125 ns units of 125 ns or 1 us at a maximum counting 1 us frequency of 1 kHz If the maximum counting frequency is greater than 1 kHz the period is not measured Hardware interrupt A hardware interrupt is generated when the hardware e Yes No HW gate opening gate opens while the software gate is open ene Hardware interrupt A hardware interrupt is generated when the hardware e Yes No HW gate closing gate closes while the software gate is open ZoNa CPU 31xC Technological functions 178 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration Parameters Description Value range Default Hardware interrupt A hardware interrupt is generated
230. er receiving the DLE ETC and BCC the CPU compares the BCC of the communication partner with its internally calculated value If the BCC is correct and if no other receive error has occurred the CPU responds with DLE Otherwise it responds with NAK and a retry within the block check time If the block cannot be received within the configured number of attempts or if no further attempt is made within the block check time it cancels the receive operation CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication Initialization Conflict 6 9 Protocol Description The figure below illustrates data flow when an initialization conflict has occurred CPU 31xC low priority Start character 02H Start character 02H Pos acknowledgement ____ 10H 1st Data byte aan 2nd Data byte nth Data byte e End delimiter 10H lt ___ End delimiter 03H 3964R only a Pos acknowledgement 10H 2nd Connection attempt Start character 02H Pos acknowledgement 10H STX STX DLE ist Byte 2nd Byte nth Byte DLE ETX BCC DLE STX DLE Communication partner high priority Connection setup User data Connection termination Connection setup There is an initialization conflict if a device responds to the communication partner s send request code STX within the acknowledgment delay time ADT by sending t
231. er signal A 3 DI 0 1 Encoder signal B 4 DI 0 2 Encoder signal N 5 DI 0 3 Length measurement 6 DI 0 4 Reference point switch 7 DI 0 5 8 DI 0 6 9 DI 0 7 10 Not connected 11 Not connected 12 DI 1 0 13 DI 1 1 14 DI 1 2 15 DI 1 3 16 DI 1 4 17 DI 1 5 18 DI 1 6 19 DI 1 7 20 1M Chassis ground 21 2L 24 V power supply for the outputs 22 DO 0 0 23 DO 0 1 24 DO 0 2 25 DO 0 3 26 DO 0 4 27 DO 0 5 28 DO 0 6 CONV_EN Enable power section 29 DO 0 7 CONV_DIR Direction signal 30 2M Chassis ground 31 3 L 24 V power supply for the outputs 32 DO 1 0 33 DO 1 1 34 DO 1 2 35 DO 1 3 36 DO 1 4 37 DO 1 5 38 DO 1 6 39 DO 1 7 40 3M Chassis ground This output is only used for control mode Voltage 0 to 10 V or current 0 to 20 mA and direction signal CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 27 Positioning with Analog Output 3 1 Wiring 3 1 4 Procedure 28 Connecting Components Switch off the power supply to all components Connect the power supply for the inputs and outputs 24V at X2 pins 1 21 and 31 Ground at X1 pin 30 and X2 pins 20 30 and 40 3 Connect the 24 V encoder and switches to the 24 V power supply 4 Connect the encoder signals and the required switches X2 pins 2 to 6 and pin 20 You can connect bounce free switches 24
232. er the reversing point is reached the run is continued at creep speed Vcreep e The drive is switched off at the cut off point e The changeover point and cut off point for every target to be approached is determined by the values of the changeover difference and cut off difference you have specified in your parameters The changeover difference and cut off difference can be specified differently for forward Plus direction and reverse Minus direction run e The run is terminated WORKING FALSE when the cut off point is reached At this point of time a new run can be started e The specified target is reached POS_RCD TRUE when the actual position value has reached the target area The Position reached signal is not reset if the actual position value drifts off the target area without a new run having been started e Ifthe changeover difference is less than the cut off difference the speed is reduced along a linear ramp until the speed setpoint 0 starting at the braking point Enable power section CONV_EN The digital output CONV_EN is used to enable and disable the power section or to control a brake The output is set at the start and reset at the end of a run at the cut off point or when speed setpoint 0 When using the digital output to control a brake you must take into account that the brake must absorb the kinetic energy of the drive at the time the output is reset at the cut off point or when the speed setpoint
233. erforms a positioning run WORKING TRUE Wait until the current positioning operation is terminated 31 05H Start not enabled because at least one pending error has not been acknowledged First eliminate and acknowledge all external errors then restart the run CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 85 Positioning with Analog Output 3 8 Specitications Event class 50 32H Run start error speed acceleration Event no 32 02H Event text Incorrect speed specification SPEED Remedy The specified speed is outside the permissible range for the creep speed of up to 1000000 pulses s but does not exceed the assigned maximum speed 32 03H Incorrect acceleration specification ACCEL The specified acceleration value is outside the permissible range of 1 to 100000 pulses s2 32 04H Incorrect deceleration specification DECEL The specified deceleration value is outside the permissible range of 1 to 100000 pulses s2 32 06H Incorrect speed specification SPEED The specified speed value must be greater than equal to the assigned reference frequency Event class 51 33H Run start error Changeover cut off differences Event no Event text Remedy 33 01H Changeover cut off differences greater Specify a changeover cut off difference of than 108 are not permitted maximum 108
234. ers Data type Address Description Value range Default instance DB STS_CMP BOOL 26 3 Comparator status TRUE FALSE FALSE Status bit STS_CMP indicates whether the comparison condition for the comparator is or was met STS_CMP also indicates that the output was set STS_DO TRUE STS_OFLW BOOL 26 5 Overflow status TRUE FALSE FALSE STS_UFLW BOOL 26 6 Underflow status TRUE FALSE FALSE STS_ZP BOOL 26 7 Zero mark status TRUE FALSE FALSE This bit is only set when counting without a main count direction Indicates a zero crossing This is also set when the counter is set to 0 or if it starts counting at load value 0 Reset with RES_STS CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 195 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 6 Reading and Writing to the Request Interface for the Counter Description To read write count registers you can use the job interface Requirements The last job must be finished JOB_DONE TRUE Procedure 1 Assign the following input parameters Parameters Data type Address Description Value range Default instance DB JOB_REQ BOOL 4 3 Job request positive edge TRUE FALSE FALSE JOB_ID WORD 6 Job number 0 e Job without function 00 hex e Write count value 01 hex e Write load value 02 hex e Write comparison value oa
235. erties dialog box opens 3 Assign the parameters for the Count submodule and close the parameter assignment screen with OK 4 Save your project in HW Config with Station gt Save and Compile 5 Download the parameter assignment data to the CPU when it is in STOP mode with PLC gt Download to Module The data are now stored in the CPU s system data memory 6 Start the CPU The online help in the parameter assignment screens offers you support when you assign parameters You have the following options of calling the online help e Press the F1 key in the respective views e Click on the Help button in the various parameter assignment screens Basic parameters Parameters Interrupt selection Description Here you can select which interrupts should trigger the technological operation Value range None Diagnostics Process Diagnostics and Process Default None CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 3 3 Description of Parameters 5 3 Parameter configuration Continuous Single and Periodic Counting Parameters Parameters Description Value range Default Main count direction e None No restriction of the counting range None None e Up Restricts the counting range in the up direction Up not with Counter starts at 0 or the load value and counts in con
236. erview Control System Analysis The static response gain and dynamic properties lag dead time integration constant etc of the controlling system are a decisive factor for the layout and design of the controller and for the dimensions of its static P action and dynamic I and D action parameters Precise knowledge about the type and characteristics of the controlling system is therefore imperative The optional software package PID Self Tuner is available to facilitate control optimization Controller Selection The properties of controlling systems are given by technical process machine circumstances and can hardly be influenced Therefore to achieve good controlling results and to adapt it to the recovery behavior of the system you must select the most suitable type of system controller Creating the Controls You can create the controls ranging from the structure and parameter assignment to the time oriented call by the system program widely without programming effort However STEP 7 know how is required Online Help The STEP 7 Online Help also offers you information on the respective SFBs Additional Information The integrated control is part of the standard control For additional information on the topic standard controls refer to e Standard PID Control SIMATIC S7 Manual and configuration package with ready to use controller structures and comfortable parameter assignment screens e Modular PID Co
237. eseeaeeesesaeeeeeeaas 4 5 2 Determining the Module Parameters and Their Effects 4 5 3 Effect of the SFB Parameters 2 c ncscicesensticecsntantedeaessiiereneteectancsbcesaendteeanatttseanehenedve cttdecenteee 146 4 5 4 Checking the Monitoring Time 0 ececeeeeceee eee eneee ee ee enne ee ee eaeee reii sinan eiT EEE 4 6 Error Handling and Interrupts ussen aaa ESNE EA vine tags indice dyes enee 4 6 1 Error Messages at the System Function Block SFB 4 6 2 Error Evaluation in the User Program cccceeeeseceeeeeeeeeeeeeeceeeeeeaeeeeeeaaeeeeeeaeeeeeenaeeeeeenaeeeeneaes 4 6 3 Configuring and Evaluating Diagnostic Interrupts ccc eeeeeeeeeeeee ee ee eeneeeeeeeeeeeetaeeeeeeneeeeee CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Table of contents 4 7 Installation of Examples ies id eaccceiccapothe Madateatigiaaiadiaeaaganiaie a EEA S N T 4 8 SPCCIICAUONS sieneen aaa a E tad dtadeaseawilanshccevshwaasltanagadcesaysayduananddeesadiaeltanad aa aa aa 4 8 1 Incremental encoders ie cccicciaccetadeccaas deneuaaas cxdaneatecsscanediae a a aa aaa a a aaa 4 8 2 Error Lists iehoninaane a entanacvaiabves eanacdenvertunen E A EAE A tanaedeeed 4 8 3 Module Parameters of the Parameter Assignment Screen Overview 4 8 4 Parameters for Instance DB of the SFB DIGITAL SFB 46 eccceeeeeeeeeeeeeeeeeteeeeeeeeeeeaees 5 Counting Frequency Measurement and Pulse Duration Modulation
238. ex 82 hex e Read on delay 83 hex e Read minimum pulse duration JOB_VAL DINT 12 Value for write jobs 231 to 231 4 0 2 Call the SFB CPU 31xC Technological functions 224 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB JOB_DONE BOOL 16 3 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 16 4 Faulty job TRUE FALSE FALSE JOB_STAT WORD 18 Job error number Oto FFFF hex O e The job is processed immediately after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e JOB_ERR TRUE if an error occurred The precise error cause is displayed in JOB_STAT e A new job can be started with JOB_DONE TRUE e Only for read jobs Read the current value from the instance DB parameter JOB_OVAL Parameters Data type Address Description Value range Default instance DB JOB_OVAL DINT 20 Output value for read jobs 231 to 231 1 0 JOB_REQ E Request i 5 JOB_DONE Job done Permissible value range for JOB_VAL Job Write period Valid value range Time base 0 1 ms Time base 1 ms 4to 65535 e 1 to 65535 Write on delay 0 to 65535
239. exceeded This monitoring function cannot be switched off switched on permanently in the Monitoring parameter Response of the CPU to errors Cancel synchronization cancel the run Working range The CPU uses traversing range monitoring to check whether the actual value is out of range of the software limit switches This facility cannot be switched on for monitoring rotary axis positioning This monitoring only affects a synchronized axis The coordinates of the software limit switches themselves belong to the working range Response of the CPU to errors The run is canceled Actual value The moving axis must cover a distance of least one pulse in specified direction within the monitoring time Actual value monitoring is switched on at the start of a run It remains active until the cut off point is reached Actual value monitoring is switched off when the monitoring time is set to 0 The run is canceled when the monitoring responds Response of the CPU to errors The run is canceled Target approach After it has reached cut off point the axis must reach the target range within the monitoring time Target approach monitoring is switched off when the monitoring time is set to 0 Response of the CPU to errors The run is canceled Target range After the target range has been reached the CPU monitors the drive to check whether it stays at or drifts off the approached target position An external error message is generat
240. f its value 0 or 1 brings the value of all the bits up to a defined status Thus the data integrity is Even enhanced If none is specified for parity no parity bit is sent It is not possible to specify none if 7 data bits are set CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 267 Point to point communication 6 3 Parameter configuration XOFF character when transmitting The CPU interrupts data transfer when it receives the XOFF character If no XON is received within a specific configured time the send operation is canceled and a corresponding error message is generated 0708n at the STATUS output of the SFBs in 10 ms increments Parameters Description Value range Default Data flow control Defines the method to be used for data flow e None None cay XON XOFF Flow control is only possible in Full Duplex RS 422 four wire PtP operation You can avoid the loss of data transmitted by devices operating at different speeds by switching on software data flow control via XON XOFF XON character Code for XON character e With 7 data bits 11H DC1 The CPU transmits the XON character once it is 0 to 7FH Hex set to the operating mode with flow control e With 8 data bits The CPU transmits the XON character after the 0 to FFH Hex message frame has been fetched and after the receive buffer is ready to receive again XOFF character Code fo
241. f least one pulse in specified direction within the monitoring time Actual value monitoring is switched on at the start of a run It remains active until the cut off position is reached Actual value monitoring is switched off when the monitoring time is set to 0 The run is canceled when the monitoring facility responds The CPU does not detect the failure of a digital input You can enable actual value monitoring for indirect detection of encoder or drive failure Target Approach Monitoring Parameter 34 Parameters Value range Default Target approach monitoring e Yes No e No The axis must reach the target range within the monitoring time after it has reached the cut off position Target approach monitoring is switched off when the monitoring time is set to 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration Target Range Monitoring Parameter Parameters Value range Default Target range monitoring e Yes No e No After the target range has been reached the drive is monitored to check whether it remains at the approached target position or drifts off An external error message is generated when the monitoring facility responds This deactivates the monitoring Monitoring is not switched on again until the start of a new run 3 2 5 Axis parameters Axis Type Parameter Parameter V
242. factor lt 1 means that the threshold value for negative pulses is multiplied by the ratio factor Ratio Factor lt 1 The pulse period on the negative pulse output is reduced by the ratio factor that is calculated with the input value multiplied by the pulse period INV 100 x PER_TM Positive pulse duration INV Negative pulse duration x PER_TM x RATIOFAC CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions The following figure shows the asymmetric curve of the three step controller ratio factor 0 5 Duration of pos pulse el a ees PER_TM P_B_TM pressing 200 100 eae een i eee _PER_TM P_B_TM ie alc tc a AO Patina toe PER_TM Duration of neg pulse Ratio factor gt 1 The pulse duration on the positive pulse output calculated from the input variable times the period is reduced by the ratio factor Negative pulse duration x PER_TM 100 INV PER_T x 100 RATIOFAC Positive pulse duration Two step control With the two step control only the positive pulse output QPOS_P of PULSEGEN is connected to the I O actuator Depending on the manipulated value range being used the two step controller has a bipolar or a unipolar manipulated value range Two step control with bipolar manipulated value range 100 to 100 Duration of pos pulse Continuous On PERTM oo PER_TM P_BTM_ go
243. ffer space available for receiving data CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 355 Point to point communication 6 10 Specifications Event class 8 08H Receive error Event no Event Remedy 08 0CH Transmission error Disturbances on the transmission line cause A transmission error parity stop bit overflow message frame repetitions thus lowering user data throughput The risk of undetected error increases error was detected ee Baia sens Change your system setup or cable wiring pee R Check the connecting cables of the communication e Ifa corrupted character is received in idle mode partners or verify that the two devices have matching the error is reported immediately so that settings for the baud rate parity and number of stop disturbances on the transmission line can be bits detected early Only for 3964 R e If this happens during send or receive operations repetition is started 08 0DH BREAK Reconnect or switch on partner Receive line to partner is interrupted 08 0OEH Receive buffer overflow with disabled flow control The receive SFB must be called more frequently in the user program or communication must be configured with flow control 08 10H Parity error Check the connecting cables of the communication partners or verify that the two devices have matching settings for the baud rate parity and number of
244. g Components Procedure 1 Switch off the power supply to all components 2 Connect the voltage supply for the digital inputs and outputs 24V at X2 pins 1 21 and 31 Ground to X2 pins 20 30 and 40 3 Connect the 24 V encoder and switches to the 24 V power supply 4 Connect the encoder signals and the required switches X2 pins 2 to 6 and pin 20 You can connect bounce free switches 24 V P action or non contact sensors BERO 2 or 3 wire proximity switches to the digital inputs Length measurement and Reference point switch 5 Connect the power section to the power supply 6 Connect the power section cables X2 pins 32 to 35 and pin 40 7 Strip the insulation material on the shielded cables and bind the cable shield to the shield connection element Use the shield terminal elements for this Note The CPU does not detect the failure of a digital input You can detect an encoder failure by activating the actual value monitoring see Page 104 Such a failure might have the following causes e Digital input failure e Wire break e Faulty encoder e Faulty power section CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 99 Positioning with digital outputs 4 1 Wiring 4 1 5 Description 100 Circuit Breaker for Digital Outputs CPU 314C 2 DP PN DP PtP has 4 digital outputs for the positioning mode The power section is controlled via the digital outputs T
245. g Instructions 03 2011 A5E00105484 05 117 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Working range Determine the working range with the help of the software limit switch coordinates A run may never exceed the working range of a synchronized linear axis You must always specify the run targets according to the working range After an axis has overrun the working range you can only return it in jog mode A Target Target range Software limit switch Speed gt Distance Working range gt Monitoring functions The parameter assignment screens help you to enable various monitoring functions individually When one of the monitoring functions responds the run is canceled with external error acknowledge with ERR_A Monitoring Missing pulse zero mark Description When zero mark monitoring is enabled the CPU checks the consistency of the pulse difference between two successive zero mark signals If you have configured an encoder whose pulses per revolution cannot be divided by 10 or 16 zero mark monitoring is automatically switched off irrespective of the setting in the parameter assignment screen The minimum pulse width of the zero mark signal is 8 33 us corresponds to the maximum frequency of 60 kHz When you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND
246. g safety devices If no Emergency Off Switch is installed damage can be caused by connected aggregates Install an Emergency Off switch that enables you to switch off all connected drives Note Direct connection of inductive loads e g relays and contactors is possible without auxiliary circuitry If it is possible to switch off SIMATIC output current circuits via additionally installed auxiliary contacts e g relay contacts you must install additional surge voltage suppression elements across the coils of the inductive loads CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 23 Positioning with Analog Output 3 1 Wiring 3 1 2 Wiring Rules Connecting Cables Shielding e The cables for the analog outputs and the 24 V encoder must be shielded e The cables for the digital I O must be shielded if their length exceeds 100 m e The cable shielding must be terminated on both ends e Flexible cable cross section 0 25 mm to 1 5 mm2 e Cable sleeves are not required Should you still decide to do so use cable sleeves without insulating collar DIN 46228 Shape A short version Shielding termination element You can use this shielding termination element for easy shielded cable to ground connections due to the direct contact of the shielding termination element to the profile rail Additional Information For additional information refer to the CPU Data manual and to the
247. g to a functional application CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Preface Title of documentation Getting Started CPU315 2 PN DP 317 2 PN DP 319 3 PN DP Configuring the PROFINET interface Entry ID 48080216 http support automation siemens com WW vie en 48080216 Description Description of examples showing the various commissioning phases leading to a functional application Getting Started CPU 317 2 PN DP Configuring an ET 200S as PROFINET IO device Entry ID 19290251 http support automation siemens com WW vie en 19290251 Description of examples showing the various commissioning phases leading to a functional application Reference manual System and standard functions for S7 300 400 volume 1 2 Entry ID 1214574 http support automation siemens com WW vie Overview of objects included in the operating systems for S7 300 and S7 400 CPUs e OBs e SFCs e SFBs e IEC functions e Diagnostics data e System status list SSL e Events This manual is part of the STEP 7 reference information You can also find the description in the STEP 7 Online Help Manual Programming with STEP 7 Entry ID 18652056 http support automation siemens com WW vie en 18652056 This manual provides a complete overview of programming with STEP 7 This manual is part of the STEP 7 basic information Yo
248. g trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described Since variance cannot be precluded entirely we cannot guarantee full consistency However the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions Siemens AG A5E00105484 05 Copyright Siemens AG 2011 Industry Sector 04 2011 Technical data subject to change Postfach 48 48 90026 NURNBERG GERMANY Preface Purpose of the Manual This manual provides you with a complete overview of the integrated technological functions of the CPUs 31xC It is aimed at persons involved in implementing control tasks with technological functions based on SIMATIC automation systems Experience Required To understand the manual you should have general experience of automation engineering Scope of this Manual This manual is valid for the following CPUs with the following hardware and software versions CPU Convention Order no as of Version The following CPUs Firmware Hardware are described in this manual CPU 312C CPU 31xC 6ES7312 5BF04 0ABO V3 3 01 CPU 313C 6ES7313 5BG04 0ABO V3 3 01 CPU 313C 2 PtP 6ES7313 6BG04 0AB0 V3 3 01 CPU 313C 2
249. g with digital outputs 4 8 Specifications 4 8 Specifications 4 8 1 Incremental encoders Connectable Incremental Encoders Signal Evaluation 154 Supported are asymmetrical 24 V incremental encoders which have two pulse tracks with an electrical phase difference of 90 with without zero mark Inputs for encoder Pulse width min Input frequency max Cable length max at max zero mark signal connection pulse pause min input frequency Encoder signal A B 8 us 60 kHz 50m Encoder signal N 8 us 60 kHz 30 kHz 50 m 1 If you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period In order to maintain the minimum pulse width the maximum counting frequency must be reduced to 30 kHz The view shows the signal profile of encoders with asymmetrical output signals The CPU internally generates a logical AND link of the zero mark signal and the A and B track signals For referencing the CPU uses the positive edge at the zero mark The CPU counts in positive direction if the signal A transition leads signal B CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 8 Specifications Increments An increment identifies a signal period of the two encoder track signals A and B This value is specified on t
250. ge 108 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs Output Parameters 4 4 Functions for Positioning with Digital Outputs Parameter WORKING Data type BOOL Address instance DB 14 0 Description Traverse running Value range Default TRUE FALSE FALSE ACT_POS DINT 16 Actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 20 Enabled set operating mode 0 1 3 4 5 ERR WORD 22 External error Bit 2 missing pulse monitoring Bit 11 traversing range monitoring always 1 Bit 12 Working range monitoring Bit 13 actual value monitoring Bit 14 target approach monitoring Bit 15 target range monitoring The other bits are reserved Every bit Oor1 ST_ENBLD BOOL 24 0 The CPU sets Start Enabled if all of the following conditions are met Faultless parameter assignment PARA TRUE No STOP pending STOP FALSE No external error has occurred ERR 0 Drive Enable is set DRV_EN TRUE No positioning run active WORKING FALSE Exception Jog mode TRUE FALSE TRUE ERROR BOOL 24 1 Run start resume error TRUE FALSE FALSE STATUS WORD 26 Error number 0 to FFFF hex 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 123 Positioning with digital output
251. greater than the cut off difference you have the following options depending on the subsequent operating mode job Option Response Continuing the run into the same Run parameters will not be interpreted The axis travels to the direction target point of the stopped run LAST_TRG Continuing the run in opposite Run parameters will not be interpreted The axis moves to the direction starting point of the stopped run Starting a new Absolute The axis moves to the specified absolute target incremental approach Job Delete distance to go The distance to go difference between target and actual value will be deleted The run parameters are interpreted again at the start of a subsequent Relative incremental approach and the axis moves to the current actual position value 3 4 7 Absolute incremental approach mode Description In Absolute incremental approach mode you approach absolute target positions Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE e You have assigned the basic parameters of the SFB as described in Section onfiguration of the SEB ANALOG SFB 44 Page 48 e No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge e Start is enabled ST_ENBLD TRUE e The axis is synchronized SYNC TRUE Specifying the Target Note the following when you specify th
252. h averaged frequency the last value is distributed across the subsequent measuring intervals without an edge f 2 1 mHz This prolongs the integration time Here the last measured value is divided by the number of measuring intervals without an edge e Averaged Maximum counting CPU 312C 10 5 2 1 kHz 10 kHz frequency CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 30 kHz CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 60 kHz Output measured If the period of the measured frequency e Direct Direct Signal evaluation e The count and direction signals are connected to the input e Arotary encoder with single evaluation is connected to the input e Pulse direction e Rotary encoder single Pulse direction Inverted count e Yes e Yes No direction Inverted Direction input signal No e No Direction input signal is not inverted CPU 31xC Technological functions 248 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specifications Parameter HW gate Description e Yes Gate control via SW and HW gates e No Gate control via SW gate only Value range Yes No Default No Characteristics of The measured value is compared with No comparison No comparison the output the high and low limits The output is Fe s PES switched depending on this parameter OQutside the limits e Bel
253. h electrical heating and water cooling to be compensated 10 0 1 0 STEP3_ON BOOL 16 0 THREE STEP CONTROL ON The three step control on input parameter activates this mode In three step control both output signals are active TRUE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 391 Controlling 7 5 Description of Functions Parameter ST2BI_ON Data type BOOL Address instance DB 16 1 Description TWO STEP CONTROL FOR BIPOLAR MANIPULATED VALUE RANGE ON With the input parameter two step control for bipolar manipulated value range on you can select between the modes control for bipolar manipulated value and two step control for unipolar manipulated value range Here STEP3_ON FALSE Value range Default FALSE MAN_ON BOOL 16 2 MANUAL MODE ON By setting the input parameter manual mode on the output signals can be set manually FALSE POS_P_ON BOOL 16 3 POSITIVE MODE ON In the manual mode with three step control the output signal QPOS_P can be operated at the input parameter Positive pulse On In the manual mode with two step control QNEG_P is always set inversely to QPOS_P FALSE NEG_P_ON BOOL 16 4 NEGATIVE PULSE ON For manual mode three step control the output signal QNEG_P can be controlled at the input parameter Negative pulse on In the manual
254. he SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge Start enable ST_ENBLD TRUE The axis is synchronized SYNC TRUE Specifying the Target Note the following when you specify the target The traversing distance must be greater than or equal to the cut off difference A new run is not started if the traversing distance is less than equal to half of the target range The mode is terminated immediately without an error The target range for a linear axis must lie within the working range for a rotary axis it must lie between 0 and End of rotary axis 1 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 135 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Run Start e The linear axis is always started with START TRUE e You must specify the sense of direction of rotary axes DIR_P TRUE Run in plus direction DIR_M TRUE Run in minus direction START TRUE The axis approaches the target along the shortest possible distance The CPU calculates the sense of direction taking into account the actual distance to go the actual value and the target Run is started in reverse direction if the shortest distance is less than equal to the cut off difference and greate
255. he code STX instead of the acknowledgment DLE or NAK Both devices request to send The device with the lower priority defers its send request and responds with the code DLE The device with the higher priority sends its data as described above Once the connection is closed the lower priority device can execute its send request To resolve initialization conflicts you must configure different priorities for the communication partners CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 325 Point to point communication 6 9 Protocol Description Procedure Error The procedure recognizes errors caused by faulty operation of the communication partner as well as errors caused by line disturbance In both cases the procedure will retry to send receive the data block correctly If this is not possible within the maximum set number of transmission attempts or if a new error status occurs the procedure cancels the send or receive process It generates the error ID of the first recognized error and then returns to idle mode These error messages are displayed on the SFB STATUS output If the STATUS output of the SFB indicates a frequent repetitive send and receive attempt error occasional disruptions of data transmission can be assumed However the large number of transmission attempts will compensate for this situation In this case you are advised to check the communication link for possible sources
256. he function of the digital outputs depends on the control mode used see Section Page 104 Select the control mode in the configuration software Output Control mode 1 2 3 4 QO Rapid speed Rapid Creep speed Rapid speed Rapid speed plus Q1 Creep speed Position reached Creep speed Creep speed plus Q2 Run plus Run plus Run plus Rapid speed minus Q3 Run minus Run minus Run minus Creep speed minus The figure below shows you the control and power circuits of a power section The functions of the digital outputs correspond with control mode 1 NC switch of K4 7 K3 Control circuit Digital outputs of the CPU X2 32 X2 33 Qo Q1 Load circuit L1 L2 L3 X2 34 X2 35 l Q2 Q3 l oe K2 K3 a K2 K1 K3 K4 K1 l M e e e of e2 offi Kt 5 eyy K1 Direction plus K2 Direction minus K3 Rapid traverse K4 Creep speed ae ur E1 Hardware limit switch minus E2 Hardware limit switch plus pole changing motor CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration Operating Principle of the Circuit Breaker The contactors K1 and K2 cont
257. he normal value for the ratio factor is 1 The doglegs in the curves are caused by the minimum pulse or minimum break times CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 387 Controlling 7 5 Description of Functions 388 Minimum pulse or minimum break time A correctly assigned minimum pulse or minimum break time P_B_TM can prevent short on off times that reduce the working life of switching elements and actuators Note Small absolute values at the input variable LMN that could otherwise generate a pulse duration shorter than P_B_TM are suppressed Large input values that would generate a pulse duration of longer than PER_TM P_B_TM are set to 100 or 100 The duration of the positive or negative pulses is calculated from the input variable in multiplied by the period Pulse duration iM x PER_TM 100 The following figure shows a symmetrical curve of a three step controller ratio factor 1 Duration of Continuous On PER TM __ POS pulse PER_TM P_B_TM 100 i 100 Continuous Off Duration of neg pulse Using the ratio factor RATIOFAC the ratio of the duration of positive to negative pulses can be changed With thermal processes for example this can be used to take into consideration the different time constants for heating and cooling actuators The ratio factor also influences the minimum pulse or minimum break time A ratio
258. he rating plate of the encoder and or in the technical specifications for the encoder Signal period increment Pulses Quadruple evaluation Pulses The CPU evaluates all 4 edges of the track signals A and B see the view with every increment quadruple evaluation i e one encoder increment is proportional to four pulses Wiring Diagram of the Incremental Encoder Siemens 6FX 2001 4 Up 24 V HTL The figure below shows the wiring diagram of the incremental encoder Siemens 6FX 2001 4xxxx Up 24 V HTL CPU Digital input Encoder nt i socket Siemens 6FX 2003 0CE12 Connection side solder side i Li 12 pin circular connector i J Shield on Shield on VT p enclosure enclosure L___i 2 Cable 4 x 2 x 0 5 mm2 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 155 Positioning with digital outputs 4 8 Specifications 4 8 2 Error Lists Basics If an error occurs an error ID is output at the SFB parameters STATUS or JOB_STAT The error number consists of an event class and number Example The view below shows the content of the STATUS parameter for the event Incorrect target specified Event class 34H Event number 02H 27 20 27 20 STATUS Event Event number class 34H Error number 02H CPU 31xC Technological functions 156 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs
259. her resolution with multiple evaluation In the parameter assignment screens you can specify single double or quadruple evaluation of the tracks Multiple evaluation is only possible for asymmetric 24 V incremental encoders equipped with two tracks A and B that have a 90 phase shift Single evaluation In single evaluation mode only one edge of track A is evaluated that is up count pulses are measured on a positive edge on A and low level on B and down count pulses are measured on a positive edge on A and high level on B Signal A o t tooo Signal B Count pulses up Count pulses down Up Down Double evaluation In double evaluation mode the positive and negative edge of track A are evaluated The level of track B determines whether up or down count pulses are generated Signal A i w 4 fto Signal B Count pulses up Count pulses down Up Down CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 241 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Quadruple evaluation In quadruple evaluation mode the positive and negative edges of tracks A and B are evaluated The logical levels of tracks A and B determine whether up or down count pulses are generated Signal A Signal B Coun
260. heral I O format The CPR_OUT function converts the floating point value LMN to a peripheral value according to the following formula 2764 100 LMN_PER LMN x Error Value Blending Error Value Blending A disturbance variable can be fed forward at the DISV input CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 373 Controlling 7 5 Description of Functions Initialization The SFB CONT_C has an initialization routine that is run through when the input parameter COM_RST TRUE is set During initialization the integrator is set internally to the initialization value _ITVAL When it is called in a cyclic interrupt priority class it then continues to work starting at this value All other outputs are set to their default values Error Information A parameter check is carried out via the Parameter Assignment Tool Block Diagram CONT_C SP_INT PVPER_ON PV_IN DEADBAND GAIN 0 L Lai xX CRP_IN PV_NORM 4 PV_PER 4 ae DEADB_W ER PV_FAC PV PV_OFF P_SEL 1 LMN_P 0 0 INT 0 I_SEL DISV 1 o x A A TI INT HoLD 0 e _ITL_ON I_ITLVAL LMN_I DIF 1 0 0 TD TM_LAG o on LMN_D m gt QLMN_HLM gt QLMN_LLM MAN_ON LMN MA
261. i acceso eee a a ee eee ee eel 38 3 2 7 Configuring the Diagnostics 0 cc eceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeesaeeeeeseeeeeeseeeeeeeseneaeeeseeeaeerseeaaees 40 3 3 Integration into the user PrOQraM eeeeceeeeeteeeeeeeeteeeeeeeeeeeeeaaeeeeeeaaeeeeeeaaeeeeetaeeeeeeaeeeeeeaeeeseaaas 3 4 Functions for Positioning with Analog OUtpUt eee eeeeeeeeeene eter entree ee teeee settee eetaeeeeeeaeeeeee 3 4 1 Positioning with Analog Output Procedure eeeceeeeeeeneeeeeeeeeeeeeteneeeeetaeeeeesaeeeeetiaeeeeeeneeeeeaa 3 4 2 Basic Configuration of the SFB ANALOG SFB 44 0 cccceccceeecceeeeeeeseaeeeeeeeteeeeeeeaeeeseaeeeeeeeeeaees 3 4 3 VOC MOTO Sass a a a ce tec et taser E EE AO cence sar gata EA 3 4 4 Reference Point Approacisss ceisessdscsiecelicscectaadasincascey a a aE E daaa 3 4 5 Reference Point Approach Procedure cccccceeeeeeeecceceeeeeeeeececaeeeeeeeeeseceacaeeeeeeeseseesaaeeneess 3 4 6 Relative incremental approach mode cccccceceeeeeeeeceeceeeeeeeeecacaeeeeeeeeeseccaeaeeeeeeeseeensicaeeneess 3 4 7 Absolute incremental approach mode cccccceeeeeececceeeeeeeeeeeeaeeeeeeeeeseeeeaeeeeeeeeeseseenieeeeeeeeetee 3 4 8 Specifying the Reference PoINt 2 cccccciecectcneeeeceecnee cenieni E E E EEE EEE 3 4 9 Deleting the Distance to G0 sssssseessssiessetrstttttttttt ttti ttnt ee EAn EAEAN EE ANAE EE ENNE EE EASE EEEn AEE Enan Ennan E E 34 10 Length measurement sirseni
262. ic settings that are specified once and no longer changed while the process is running The parameters are described in this section You assign these parameters in the parameter assignment screens in HW Config They are stored in the system memory of the CPU You cannot modify these parameters when the CPU is in RUN mode e SFB parameters Parameters that need to be changed during operation are located in the instance DB of the system function block SFB The SFB parameters are described in Section Positioning with Analog Output Procedure Page 42 You assign these parameters offline in the DB Editor or online in the user program They are stored in the work memory of the CPU You can modify these parameters in the user program while the CPU is in RUN state CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 29 Positioning with Analog Output 3 2 Parameter configuration Parameter assignment screens 30 You can assign the module parameters in the parameter assignment screens General Addresses Basic parameters Drive Axis Encoder Diagnostics The parameter assignment screens are self explanatory You can find the description of the parameters in the following sections and in the integrated help in the parameter assignment screens Note You cannot assign parameters for the positioning technology if you have assigned channel 0 or channel 1 for the counti
263. id E V Creep Distance CPU 31xC Technological functions 134 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Stopping a run and target range not reached When a run is stopped with STOP TRUE and if the cut off range has not been reached distance to go is greater than the cut off difference you have the following options depending on the subsequent operating mode job Option Response Continuing the run into the same direction Run parameters will not be interpreted The axis travels to the target point of the stopped run LAST_TRG Continuing the run in opposite direction Run parameters will not be interpreted The axis moves to the starting point of the stopped run Starting a new Absolute incremental approach The axis moves to the specified absolute target Job Delete distance to go The distance to go difference between target and actual value will be deleted The run parameters are interpreted again at the start of a Relative incremental approach and the axis moves to the current actual position value 4 4 6 Absolute incremental approach mode Description In Absolute incremental approach mode you approach absolute target positions Requirements You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE You have assigned the basic parameters of t
264. igh limit low limit of the frequency Bit 3 Channel 2 End of measurement Bit 4 Channel 3 HW gate opening Bit 5 Channel 3 HW gate closing Bit 6 Channel 3 Violation of the high limit low limit of the frequency Bit 7 Channel 3 End of measurement OB 40 Bytes 10 and 11 Not Pulse width modulation assigned OB 40 byte 8 Description Bit 0 Channel 0 HW gate opening Bit 1 Channel 0 Bit 2 Channel 0 Bit 3 Channel 0 Bit 4 Channel 1 HW gate opening Bit 5 Channel 1 Bit 6 Channel 1 Bit 7 Channel 1 OB 40 byte 9 Description Bit 0 Channel 2 HW gate opening Bit 1 Channel 2 Bit 2 Channel 2 Bit 3 Channel 2 Bit 4 Channel 3 HW gate opening Bit 5 Channel 3 Bit 6 Channel 3 Bit 7 Channel 3 OB 40 Bytes 10 and 11 Not assigned CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 9 Installation of Examples 5 9 Installation of Examples Using Examples The examples program and description are found on the CD ROM included in your documentation You can also download them from the Internet The project consists of several commented S7 programs of various complexity and aim The Readme wri on the CD describes how to install the samples After the installation the samples are stored in the catalog STEP7
265. inates as prior to the job However they are now physically shifted left by 200 SLS ACT SLE SLSS ACT SLSE Old coordinate system 400 100 400 v v v Oloo 400 I Projection of working range xis by Reference point i set to 300 Ed TT TT ee en a ee 400 0 300 A AA SLSS ACT SLSE New coordinate system 400 300 400 Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE e You have assigned the basic parameters of the SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 e The last job must be finished JOB_DONE TRUE e The last positioning operation must be ended WORKING FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 139 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Procedure 1 Assign the following input parameters accessible via instance DB as specified in the Setting column Parameter Data type Address Description Value range Default Setting instance DB JOB_REQ BOOL 66 0 Job request positive edge TRUE FALSE FALSE TRUE JOB_ID INT 68 Job 1 2 0 1 1 Set reference point JOB_VAL DINT 72 Job parameters for the 5 x 108 to 5 x 0 XXXX coordinates of the 108pulses reference poi
266. ing This means the drive must reach the target range within this time after reaching the cut off position Use the Count direction parameter to adapt the direction of path monitoring to the direction of movement of the linear axis Also take the direction of rotation of all transmission elements into account for example couplings and gears e Standard means the incrementing count pulses correspond to rising actual position values e Inverted means the incrementing count pulses correspond to descending actual position values CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 73 Positioning with Analog Output 3 5 Adapting Parameters 3 5 3 Effect of the SFB Parameters ACCEL and DECEL In the ACCEL acceleration and DECEL deceleration parameters declare the acceleration deceleration speed values for the drive Example At a wanted traversing speed of 10 000 pulses s and acceleration of 1 000 pulses s2 it takes 10 s to reach the speed setpoint of 10 000 pulses s CHGDIFF_P and CHGDIFF_M The CHGDIFF_P changeover difference in plus direction and CHGDIFF_M changeover difference in minus direction parameters define the changeover position as of which the drive runs at creep speed If the difference is set too high positioning is not optimized over time because creep speed runtime is unnecessarily extended CUTOFFDIFF_P and CUTOFFDIFF_M 74 The parameters CUTOFFDIFF_P Cu
267. ing Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 9 Parameters of the SFBs Parameters of SFB 60 SEND_PTP 6 10 Specifications Parameter Declaration Data type Description Value range Default REQ IN BOOL Initiates request at positive edge TRUE FALSE FALSE R IN BOOL Cancels the request Sending is locked TRUE FALSE FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config DONE OUT BOOL Job completed without errors TRUE FALSE FALSE ERROR OUT BOOL Job completed with errors TRUE FALSE FALSE STATUS OUT WORD Error number 0 to FFFF hex O SD_1 IN_OUT ANY Send parameters CPU specific 0 Here you specify e The number of the DB from which the data are sent e The data byte number starting from which data will be transmitted e g DB 10 from byte 2 gt DB10 DBB2 LEN IN_OUT INT Here you specify the byte length of the data 1 to 1024 1 block to be transmitted Parameters of the SFB 61 RCV_PTP Parameter Declaration Data type Description Value range Default EN_R IN BOOL Receive enable TRUE FALSE FALSE R IN BOOL Cancels the request TRUE FALSE FALSE LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config NDR OUT BOOL Job completed without errors TRUE FALSE FALSE ERROR OUT BOOL Job completed with errors TRUE FALSE FALSE STATUS OUT WORD Error number 0 to
268. ing the drive enable signal DRV_EN FALSE e When the CPU switches to STOP mode e When an external error occurs Exception monitoring of the target approach target range Results of a cancellation e A current or stopped run is terminated immediately WORKING FALSE e The last target LAST_TRG is set to the actual value ACT_POS e A distance to go is deleted that is Relative incremental approach can not be resumed e Position reached POS_RCD will not be set e The digital output CONV_EN Enable power section is reset with off delay CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 47 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 2 Basic Configuration of the SFB ANALOG SFB 44 Overview of Basic Parameters The parameters which are identical for all operating modes are described in this section Operating mode specific parameters are described under the specific modes Assign the following SFB input parameters according to your application Input parameters Parameter Data type Address Description Value range Default instance DB LADDR WORD 0 Submodule I O address you specified in CPU specific 310 hex HW Config If the input and output addresses are not the same you must specify the lower one of both CHANNEL INT 2 Channel number 0 0 STOP BOOL 4 4 Stops the run TRUE FALSE FALSE STOP
269. input Positioning 28 FETCH message frame FETCH_RK 292 Fetching Data _ RK 512 3 Filter ee of HW gate Fixed message frame length Four wire operation 261 272 Frequency counting Connecting components Function scope 397 Index Frequency Measurement Gate function 218 Pin assignment 170 Specifications 2 Frequency measurement procedure Frequency range 210 Frequency Range Frequency Measurement Front connector CPU 314C 2 DP PtP 25 Wiring Front connector for CPUs with two connectors 170 Front connector X2 CPU 313C CPU 314C 2 DP PN DP PtP 17397 CPU 314C 2 DP PN DP PtP 17397 Full duplex 272 Full duplex operation Point to point communication Function blocks Counting Frequency Measurement Pulse Width Modulation Functions Counting Frequency counting Pulse Width Modulation G Gate control Counting Pulse Width Modulation Gate function 201 Counting 201 Frequency Measurement Pulse Width Modulation re Generating pulses 384 with SFB 43 PULSEGEN Generating Pulses with SFB 43 PULSEGEN H Half duplex Half duplex operation Point to point communication Handshaking Point to point communication Hardware Gate Counting Frequency Measurement 398 Pulse Width Modulation Hardware interrupt Closing the HW gate Counting 209177 Counting edge 177177 Counting edge End of measurement 179 Evaluation Frequency Measurement HW gate closing 179 HW gate opening
270. instance DB e Multiple calls of the SFB CPU 31xC Technological functions 150 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 6 Error Handling and Interrupts 4 6 2 Error Evaluation in the User Program Procedure 1 Call the error handling routine Error evaluation see the view 2 Query the specific error types in successive order 3 If required jump to the error reaction method that is specifically adapted to your application Error evaluation Call SFB No Response to system error Evaluate STATUS _ No Yes ERR WORD evaluation Correct error and acknowledged with ERR_A TRUE JOB_ERR TRUE Evaluate JOB_STAT 4 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 151 Positioning with digital outputs 4 6 Error Handling and Interrupts 4 6 3 Configuring and Evaluating Diagnostic Interrupts Basics On occurrence of the following errors you can trigger a diagnostic interrupt Parameter assignment error Module data External error Monitoring The diagnostic interrupt is displayed in the event of incoming as well as outgoing errors In your user program you can immediately respond to errors with the help of a diagnostic interrupt Procedure Enable diagnostic interrupt in the Basic parameters dialog of the parameter as
271. interrupt triggering events 3 Integrate the hardware interrupt OB OB 40 in your user program Response to a Hardware Interrupt The CPU operating system calls OB 40 in the user program Note If the corresponding OB is not loaded the CPU switches to STOP when an interrupt is triggered Evaluation of a Hardware Interrupt in the User Program After a hardware interrupt is triggered you can evaluate OB 40 to check which hardware interrupt is pending e Ifthe address of your submodule is entered in OB 40 bytes 6 7 OB 40_MDL_ADDR the hardware interrupt was triggered by the counter in your CPU e To determine the precise cause evaluate bytes 8 to 11 of DWord OB 40_POINT_ADDR CPU 31xC Technological functions 236 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts Counting OB 40 byte 8 Description Bit 0 Channel 0 HW gate opening Bit 1 Channel 0 HW gate closing Bit 2 Channel 0 Overflow Underflow Bit 3 Channel 0 Comparator has responded Bit 4 Channel 1 HW gate opening Bit 5 Channel 1 HW gate closing Bit 6 Channel 1 Overflow Underflow Bit 7 Channel 1 Comparator has responded OB 40 byte 9 Description Bit 0 Channel 2 HW gate opening Bit 1 Channel 2 HW gate closing Bit 2 Channel 2 Overflow Underflo
272. ion 6 2 Wiring Character delay time The following picture illustrates the maximum permissible time interval between two received characters of a message character delay time Signal nth character n 1 th character Time t 6 2 Wiring 6 2 1 Wiring Rules Connecting cable e The cables must be shielded e The cable shields must be terminated on both ends Shield connection element You can use the shield connection element to connect all shielded cables to ground via direct connection to mounting rail Additional Information For additional information refer to the CPU Data Manual and to the Installation Manual for your CPU CPU 31xC Technological functions 262 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 2 2 Pin Assignment Connecting a Serial Cable 6 2 Wiring The table below shows the pin assignment of the 15 pin Sub D socket on the front panel of the CPU Socket RS 422 485 front view Pin Designation Input Description Output 1 z 5 z 2 T A Output Transmit data Four wire operation 3 z 4 R A Input Receive data Four wire operation R A T A Input output Receive transmit data Two wire operation 5 z 6 2 7 z 8 GND Functional ground floating 9 T B Output Transmit data Four wire operation 10 11 R B Input Receive data Four wire operati
273. ion 192 e Down count as default The CPU starts counting at load value The CPU counts up or down When the counter reaches the value 1 operating in negative direction it jumps to load value start value at the next negative count pulse and resumes counting from there You can also exceed the high count limit In this case however the count value and compare results mismatch You should therefore avoid operation in this range Valid value range Default value Start value up to 2147483647 231 1 assignable High count limit 2147483647 231 1 Count value up to 2147483647 23 1 Start value Load value up to 2147483647 231 1 Start value Count High counting limit A i ot Start value Load vae N J No ee oe ee ee ee eee eee Underflow Gate start Gate stop Time CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 5 Controlling the Counter via the User Program Description 5 5 Counting Description of Function To control the counter from the user program use SFB COUNT SFB 47 The following functionalities are available to you Start stop the counter via software gate SW_GATE Enabling controlling the output DO Reading out status bits Reading the current count value and the latch value Jobs for reading writing the internal co
274. ion Pos acknowledgement DLE setup 10H Continuation response frame FFH 1 Byte Response 00H 2 Bye frame 00H 3 Byte __ header Error number OOH 4 Byte 129th Data byte 5 Byte 130th Data byt q PRAGE 6 Byte User data nth Data byte n Byte End delimiter 10H e DLE End delimiter 03H _ ETX Connection Only with block check nenn BCC y termination Pos acknowledgement _ DLE C 10H CPU 31xC Technological functions 338 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Pseudo Full Duplex Mode Pseudo Full Duplex means The partners can send instruction and response message frames at any time even if the other partner is currently sending The maximum nesting depth for instruction and response message frames is 1 Another instruction frame therefore cannot be processed until the previous one has been answered with a response message frame Under certain circumstances if both partners request to send it is possible to transmit a SEND message frame prior to the response message frame In the picture below the sequential response message frame responding to the first SEND message frame is not sent until the partner has transmitted the SEND message frame CPU 31xC Communication partner SEND frame __ gt q H4H44 Response frame 1st Contin
275. ion 307 Inverted count direction 477 J Job Deleting the distance to go 69 Job error 149 232 Job Error 77 Job interface Counting Frequency counting 215 Pulse width modulation 224 JOB interface Counting Job numbers Counting Frequency counting 215 Pulse width modulation 224 JOB_ERR 77 BID Counting 196 Frequency counting 215 Pulse width modulation 224 JOB_STAT SFB parameter Error numbers 88 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 JOB_VAL value range Counting Frequency counting Pulse width modulation Jog mode Positioning with Analog Output Positioning with digital outputs L Latch function 200 Length measurement b7 90 Positioning with analog output saran a with digital outputs Linear axis 35 Low limit M Main count direction h77 Down Up Master Point to point communication max count frequency max counting frequency accompanying signals 160 max counting frequency position feedback 160 Max frequency Accompanying signals Accompanying signals 89 Counting signals HW gate Latch Position feedback 108 Max frequency Accompanying signals Position feedback Maximum counting frequency CPUs Maximum speed 32 89 Calculating Measurement error Frequency Measurement Measuring error Frequency counting Message Frame Header Structure of the RK 512 instruction frame Message frame length Minimum number
276. ion of Functions The table below contains the input parameters of SFB 43 PULSEGEN Parameter INV Data type REAL Address instance DB 0 Description INPUT VARIABLE An analog manipulated value is assigned to the input parameter input variable Value range e For three step control with RATIOFAC lt 1 100 RATIOFAC to 100 e For three step control with RATIOFAC gt 1 100 to 100 RATIOFAC e With bipolar two step control 100 to 100 e With unipolar two step control to 100 Default 0 0 PER_TM TIME PERIOD TIME The constant period of pulse width modulation is input with the period time input parameter This corresponds with the sampling time of the controller The ratio between the sampling time of the pulse generator and the sampling time of the controller determines the accuracy of pulse width modulation 2 20 CYCLE of SFB 43 corresponds to sampling time SFB 41 T 1 s P_B_TM TIME MINIMUM PULSE BREAK TIME A minimum pulse or minimum break time can be assigned at the input parameters minimum pulse or minimum break time 2 CYCLE T 50 ms RATIOFAC REAL 12 RATIO FACTOR The input parameter ratio factor can be used to change the ratio of the duration of negative to positive pulses In a thermal process for example this would allow different time constants for heating and cooling e g process wit
277. ion of Pin Assignment 26 Then following connector pin assignments only refers to connections relevant to the positioning mode Note Since they partially use the same inputs you cannot use counters 0 and 1 when you utilize the positioning function Table 3 1 Pin Assignment for Connector X1 Connection Name Address Function 1 Not connected 2 AI 0 V 3 AlO I 4 Al 0 C 5 Al 1 V 6 Al 1 I 7 Al 1 C 8 Al 2 V 9 Al 2 I 10 Al 2 C 11 Al 3 V 12 Al 3 I 13 Al 3 C 14 AI R_P 15 AI R_N 16 AO 0 V Voltage output of the power section 17 AO 0 I Current output of the power section 18 AO 1 V 19 AO 1 I 20 Mana Analog ground 21 Not connected 22 DI 2 0 23 DI 2 1 24 DI 2 2 25 DI 2 3 26 DI 2 4 27 DI 2 5 28 DI 2 6 29 DI 2 7 30 4M Chassis ground I Current input out C Common input V Voltage input output put CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 1 Wiring Table 3 2 Pin Assignment for Connector X2 Connection Name Address Function 1 1L 24 V power supply for the inputs 2 DI 0 0 Encod
278. ional to one revolution of the end of the rotary axis In this case the zero marks lie at 90 180 270 and 360 degrees The minimum pulse width of the zero mark signal is 8 33 us corresponds to the maximum frequency of 60 kHz When you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period This reduces the maximum counting frequency to 30 kHz during referencing CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Reference Point Position With regard to the reference point position Zero mark signal during a reference point approach you must distinguish between e The reference point position is referenced to the reference point switch in plus direction e The reference point position is referenced to the reference point switch in minus direction Make this setting via parameter assignment screens in the parameter Reference point location for reference point switch The different situations for a reference point approach are determined by the direction of the run start and by the position of the reference point Example 1 e Start direction plus e Reference point approach to reference point switch in plus direction Zero marks of position encoder Reference point switch Starting pos
279. ions Operating Instructions 03 2011 A5E00105484 05 129 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Example 3 e Start position is at the reference point switch e Start direction minus e Reference point approach for reference point switch in plus direction Zero marks of position encoder Reference point switch Speed OESTE yc es sa Starting position Reference point Distance Positive travel direction Carried out at creep speed Run is executed towards the direction you have assigned in the parameter assignment screens with the Reference point location for reference point switch parameter irrespective of the direction specified at the SFB After it has left the reference point switch the drive is switched off at the next encoder zero mark CPU 31xC Technological functions 130 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 4 2 4 4 Functions for Positioning with Digital Outputs Reference Point Approach Procedure Prerequisite for Reference Point Approach Encoder with zero mark or when using an encoder without zero mark a switch for the reference point signal You have connected the reference point switch connector X2 pin 6 You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE You have assigned the basic parameters of the
280. iple loop ratio controlling the ratio between the two process variables PV1 and PV2 is held constant Here the setpoint for the 2nd control loop is calculated with the process value of the 1st control loop With dynamic changes of the process variable x1 it is also ensured that the specified ratio is maintained SP LMN1 PV1 Controller 1 Process 1 in y Factor y LMN2 PV2 I Controller 2 Process 2 py Two step control A two step control can only acquire two output states e g On Off A typical control is pulse width modulation for a heating system via relay output Three step control The three step control can acquire only three discrete output states Here we must differentiate between pulse width modulation e g heating and cooling Heating Off Cooling and step controlling with integrated actuators e g Right Stop Left 368 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 2 Wiring 7 2 Wiring 7 2 1 Wiring Rules Basics Integrated I Os do not exist for the controller For the input and output you must use the free I Os of the CPU or add on I O modules Connecting cables e The cables for the digital I O must be shielded if their length exceeds 100 m e The cable shielding must be terminated on both ends e Flexible cable cross sections 0 25 to 1 5 mm2 e Cable sleeves are not required Should
281. iption of Function Count Value Load Value You can assign a default value to the counter This allows you to e Set the count value directly The count value is then applied immediately e Set the load value The load value is then applied as the new count value when specific events occur depending on the set operating mode Main count direction You can limit the counting range by specifying the main count direction This specifies which counting limit applies as the start or end values in the operating modes Count once and Count periodically You select the main count direction in the parameter assignment screens e No main count direction The entire counting range is available to you with this setting Low counting limit 2 147 483 648 231 High counting limit 2 147 483 647 231 1 e Main count direction up With main count direction up you limit the counting range in the up direction The counter starts at 0 or the load value and counts in the positive direction until it reaches the assigned end value 1 It then jumps back to the load value at the next positive encoder pulse e Main count direction down With main count direction down you limit the counting range in the down direction The counter starts at the assigned start value or load value and counts in the negative direction until it reaches the value 1 It then jumps back to the start value at the next negative encoder pulse You
282. is always set inversely to QPOS_P QNEG_P BOOL 22 1 OUTPUT NEGATIVE PULSE FALSE The output parameter output negative pulse is set when a pulse is to be output In three step control this is always the negative pulse With two step control QNEG _P is always set inversely to QPOS_P 7 6 Diagnostics Error Handling Basics A parameter check is carried out via the parameter assignment tool Senseless parameters are not checked if parameters are changed in the user program You will not receive an error information in such cases 7 7 Installation of Examples Using Examples CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 The examples program and description are found on the CD ROM included in your documentation You can also download them from the Internet The project consists of several commented S7 programs of various complexity and aim The Readme wri on the CD describes how to install the samples After installation the samples can be found in the catalog STEP7 EXAMPLES ZDt26_04_TF 31xC_PID 393 Controlling 7 7 Installation of Examples CPU 31xC Technological functions 394 Operating Instructions 03 2011 A5E00105484 05 Index Status SFB parameter Error numbers 3 3964 procedure Receive buffer 3964 R procedure Assignable 276 Block check character 320 Control character 319 Handling corrupted data Initialization Conflict Parameters 276 Point to point
283. is is not configured Configure the Position submodule via HW Config 31 02H Start not enabled because drive enable is not set Set Start enable at the SFB DRV_EN TRUE 31 03H Start not enabled because STOP is set Clear the STOP at the SFB STOP FALSE 31 04H Start not enabled because the axis currently Wait until the current positioning operation is performs a positioning run WORKING TRUE terminated 31 05H Start not enabled because at least one pending error First eliminate and acknowledge all external errors has not been acknowledged then restart the run Event class 50 32H Run start error speed acceleration Event no 32 01H Event Incorrect speed specification SPEED Remedy Only Creep speed 0 and Rapid traverse 1 is allowed when positioning with digital outputs CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 157 Positioning with digital outputs 4 8 Specifications Event class 51 33H Run start error Changeover switch off difference Event no Event Remedy 33 01H Changeover cut off differences greater than 108 are Specify a changeover cut off difference of maximum not permitted 108 33 03H A changeover difference less than the cut off The changeover difference must be greater difference is not allowed than equal to the cut off difference 33 04H Cut off difference too small The
284. is section Operating mode specific parameters are described under the specific modes Configure the following SFB input parameters according to your application Input parameters Parameter Data type Address Description Value range Default instance DB LADDR WORD 0 Submodule I O address you specified in CPU specific 310 hex HW Config If the and O addresses are not equal the lesser of the two addresses must be specified CHANNEL INT 2 Channel number 0 0 STOP BOOL 4 4 STOP the run TRUE FALSE FALSE STOP TRUE can be used to stop interrupt a run prematurely ERR_A BOOL 4 5 Group error acknowledgment TRUE FALSE FALSE External errors are acknowledged with ERR_A positive edge SPEED BOOL 12 0 Two speed stages for TRUE FALSE FALSE rapid creep speed TRUE Rapid speed FALSE Creep speed Speed change during run is not possible CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 121 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Input Parameters not Assigned to the Block Static Local Data Parameter CHGDIFF_P Data type DINT Address instance DB 28 Description Changeover difference plus Changeover difference plus defines the changeover position at which the drive moving in positive direction is toggled from rapid to creep speed Value range 0 to 108pulses Default 1
285. ission is canceled and the SFB is set to the initial state A canceled request is concluded with an error message STATUS output You enter the submodule I O address you have specified in HW Config in LADDR Either NDR is set to TRUE if the request was closed without error or ERROR is set to TRUE if the request was terminated with error If the request was run through with DONE TRUE this means that the data were transmitted to the communication partner and positively acknowledged and the data were passed to the partner CPU CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication STATUS displays the correspo Section Page 351 DONE or ERROR STATUS is also output in the event of a RESET of the SFB R TRUE The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE 6 5 Communication Functions nding event number if an error or warning has occurred see Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to STOP mode Parameters Declaration Data type Description Value range Default SYNC_DB IN INT Number of the DB in which the common CPU specific 0 data for the synchronization of the RK zero is not SFBs is stored minimum length is allowed 240 bytes REQ IN BOOL Control parameter Request TRUE FALSE FALSE
286. ith a 90 phase shift Digital output CONV_EN is used to enable and switch off the power section and or to control a brake Starting a Run Start the run with START DIR_P or DIR_M depending on the operating mode CPU 31xC Technological functions 42 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Positioning with Analog Output The upper section of the figure below shows the run profile We will simply assume a linear change of the actual speed across the traversing distance The lower section of the view shows the corresponding voltage current profile at the analog output Speed 4 Vet Creep Distance Analog output f Brdke application point Cut off point 4 Wa Reversing point Voltage i current Target range ar Target Start Distance Cuttoff at Direction ee difference Direction Acceleration Deceleration RAMP_UP l RAMP_DN l WORKING POS_RCD Output CONV_EN i Sa CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 43 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output e Following the ramp up phase RAMP_UP the target is initially approached with the speed Vset e At the braking point calculated by the CPU a ramp down RAMP_DN phase is activated up the reversing point e Immediately aft
287. ition Reference point Dis tance Positive travel direction The run towards the reference point switch is executed at speed Vset specified in the SPEED parameter The speed is then reduced to reference run speed Vref After the reference point switch is exited the speed is switched to zero at the next zero mark of the encoder CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 55 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Example 2 e Start direction plus e Reference point approach to reference point switch in minus direction Zero marks of position encoder Speed I f Reference point switch f 1 1 I I I l Vset VRef Starting position Reference point Distance Positive travel direction The run towards the reference point switch is executed at speed Vset specified in the SPEED parameter The speed is reduced to zero the direction reversed and motion resumed at reference speed Vref After the reference point switch is exited the speed is switched to zero at the next zero mark of the encoder CPU 31xC Technological functions 56 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Example 3 e Start position is at the reference point switch e Start direction minus e Reference point approach to reference point switch in plu
288. k check character is correct and no other receive error has occurred it transmits the DLE character on error it transmits the NAK character to the communication partner Assignable message frame parameter 3964 R with block check The protocol parameters are freely programmable The CPU stops receiving when it detects the character string DLE ETX BCC It compares the received block check character BCC with the internally calculated longitudinal parity If the block check character is correct and no other receive error has occurred it transmits the DLE character on error it transmits the NAK character to the communication partner Message frame parameter 3964 with standard values and without block check The protocol parameters are set to default values When the CPU detects a DLE ETX string it stops receiving and sends a DLE to the communication partner if the block was received without errors or NAK with error Assignable message frame parameter 3964 without block The protocol parameters are freely programmable When the CPU detects a DLE ETX string it stops check receiving and sends a DLE to the communication partner if the block was received without errors or NAK with error Parameter Description Value range Default Character delay The character delay defines the permitted 20 ms to 65530 ms in 10 ms 220 ms maximum time interval between two increments received characters of a message fra
289. l value monitoring is switched off when the monitoring time is set to 0 The run is canceled when the monitoring responds Response of the CPU to errors The run is canceled Target approach The axis must reach the target range within the monitoring time after it has reached the cut off position Target approach monitoring is switched off when the set monitoring time is 0 Response of the CPU to errors The run is canceled the outputs are switched off Target range After the target range has been reached the CPU monitors the drive to check whether it stays at or drifts off the approached target position An external error message is generated when the monitoring function responds Monitoring is switched off when you acknowledge the external error with ERR_A positive edge Monitoring is not switched on again until the start of a new run Response of the CPU to errors The run is canceled Terminating a Run Target approach Deactivating There are three different ways to terminate a run e Target approach e Deactivating e Canceling Home run stands for automatic run termination when the specified target is reached In order to reach a specified target home run is carried out in the operating modes Relative and absolute incremental approach The drive is gradually shut off in the following cases e In all operating modes when STOP TRUE before the target is reached e In Jog mode when stopping and
290. le output TRUE FALSE FALSE SET_DO IN BOOL 4 2 Control output TRUE FALSE FALSE JOB_REQ IN BOOL 4 3 Initiates the job positive TRUE FALSE FALSE edge JOB_ID IN WORD 6 Job number 0 e Job without function 00 hex e Write the count value 01 hex e Write load value 02 hex e Write the comparison 04 hex value e Write the hysteresis 08 hex e Write the pulse width 10 hex Read load value 82 hex Read comparison value 84 hex e Read hysteresis 88 hex Read pulse width 90 hex JOB_VAL IN DINT 8 Value for write jobs 231 to 231 1 0 STS_GATE OUT BOOL 12 0 Internal gate status TRUE FALSE FALSE STS_STRT OUT BOOL 12 1 Status of the hardware gate TRUE FALSE FALSE Start input STS_LTCH OUT BOOL 12 2 Status of the latch input TRUE FALSE FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 251 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Parameters STS_DO Declaration OUT Data type BOOL Address instance DB 12 3 Description Output status Value range TRUE FALSE Default FALSE STS_C_DN OUT BOOL 12 4 Down direction status The last count direction is always displayed The value of STS_C_DN is FALSE after the first call of the SFB TRUE FALSE FALSE STS_C_UP OUT BOOL 12 5 Up direction status The last count direction is always displayed The value of STS_C_UP
291. lling a brake or enabling a drive via a permanently assigned 24 V digital output X2 pin 28 Connectable are for example servo drive motors via converter or asynchronous motors via frequency converter A 24 V encoder is used for incremental position feedback The run is performed with the help of a specifiable acceleration and deceleration ramp First the axis is accelerated up to a specified speed At a defined distance from the target the axis is decelerated to a lower speed creep speed The drive is de energized at a specified distance just before the axis reaches the target The CPU can monitor the target approach during the process You specify the speed deceleration and target approach differences in your parameters CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 17 Positioning 2 1 Modes Supported by the Controlled Positioner 2 1 2 Controlled Positioning with Digital Outputs Introduction The CPU supports controlled positioning with digital outputs rapid creep speed control Properties Controlled positioning with digital outputs rapid creep speed control has the following features e The drive is controlled via four permanently assigned 24 V digital outputs These digital outputs control the direction and speed stages rapid creep speed depending on the configured type of control e Connectable are multiple speed pole switching motors via contactor combinations o
292. llustrates the receiving sequence with the 3964 R procedure Start T Correct Note NAK Character ry except DLE Wait for character receipt Faulty character T gt T wz Start T zz Duplicate DLE Note T gt T az gt A Characters except ETX DLE Els 3964 R 3964 Start T zyz T T ZVZ BCC incorrect e JTBCC NAK noted Y y Send DLE Send NAK Initialization conflict Receipt complete W gt 5 noted priority he W lt 5 low ve Note repetition awaited Note T Start lock lt Block Times T 220 ms T 4s ZVZ 3 Block p W Counter transmission retries BCC with 3964 R only Go immediately to initial state if wire break BREAK occurs CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 329 Point to point communication 6 9 Protocol Description Receive buffer of the CPU 6 9 3 6 9 3 1 Introduction The receive buffer is 2048 bytes In your parameter assignment you can choose to prevent data in the buffer being overwritten You can also specify the value range 1 to 10 for the number of buffered received frames or use the entire receive buffer You can clear the receive buffer upon startup You specify this either in the parameter assignment screen or by calling the SFB RES_RCV see section Clearing the Receive Buffer ith SF
293. me The shortest character delay depends on the baud rate 300 bps 60 ms 600 bps 40 ms 1200 bps 30 ms 2400 to 38400 bps 20 ms Acknowledgment delay The acknowledgment delay determines 20 ms to 65530 ms in 10 ms 2000 ms the maximum permitted time delay for the partner to send an acknowledgment when increments The shortest 550 ms with 3964 without block the connection is established time acknowledgment delay check between STX and acknowledgment DLE depends on the baud rate of the partner or closed time between 300 bos 60 DLE ETX BCC and the DLE pea Bee to a acknowledgment of the partner 4200 bps 30 ms 2400 to 38400 bps 20 ms Connection retries The parameter defines the maximum 1 to 255 6 number of attempts of the CPU to establish a connection Transmission retries The parameter defines the maximum 1 to 255 6 number of attempts to transfer a message frame including the first one in the event of errors CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 277 Point to point communication 6 3 Parameter configuration Data reception Parameters Description Value range Default Clearing the receive The receive buffer is cleared at power on or transition of the e Yes No buffer at startup CPU from STOP to RUN No Prevent overwriting You can use this parameter to prevent overwriting of data ina e Yes Yes full receive buffer e No
294. me received Data passed to the CPU or fetched from the CPU Error occured Send response frame Send response frame without with error message error message gt Partner request complete Other subblocks All data are transmitted remain y Start T REA T gt Tre Or faulty command diagram arrived Wait for continuation frame Error cancellation Continuation command frame arrived Response frame monitoring time Trea 108 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 341 Point to point communication 6 10 Specitications 6 10 6 10 1 Overview Specifications General Specifications In the table below you can find general specifications For additional technical specifications relating to SIMATIC S7 300 refer to the S7 300 Automation Systems Module Data reference manual and to the S7 300 Automation System Assembly Installation Manual e E lectro M agnetic C ompatibility e Transportation and Storage Conditions e Mechanical and ambient climatic conditions e Information on insulation testing safety class and degrees of protection e Approvals Technical specifications Available protocol drivers ASCII driver 3964 R procedure RK 512 Transmission speed with 300 600 1200 2400 4800 9600 19200 38400 baud 3964 R procedure and RK 512 Transmission speed
295. mode with two step control QNEG_P is always set inversely to QPOS_P FALSE SYN_ON BOOL 16 5 SYNCHRONIZATION ON By setting the input parameter synchronization on it is possible to synchronize automatically with the block that updates the input variable INV This ensures that a changing input variable is output as a pulse as quickly as possible Condition PER_TM Sampling time of the SFB 41 TRUE COM_RST BOOL 16 6 COMPLETE RESTART The block has an initialization routine that is processed when the input COM_RST is set TRUE restart FALSE controller operation FALSE CYCLE TIME SAMPLE TIME The time between the block calls must be constant The sampling time input specifies the time between block calls 220 ms T 10 ms Note The values of the input parameters are not limited in the block There is no parameter check CPU 31xC Technological functions 392 Operating Instructions 03 2011 A5E00105484 05 Controlling The table below contains the output parameters of SFB 43 PULSEGEN 7 6 Diagnostics Error Handling Parameter Data type Address Description Value range Default instance DB QPOS_P BOOL 22 0 OUTPUT POSITIVE PULSE FALSE The output parameter output positive pulse is set when a pulse is to be output In three step control this is always the positive pulse With two step control QNEG P
296. mplete ters se Z ZVZ expired oO x oO L Oo Enter frame in receive buffer Enter error in STATUS output of the FB End Criterion Fixed Character Length When receiving data the end of the message frame is recognized after the declared number of characters have arrived The received data are accepted by the CPU If the character delay time expires before the declared number of characters has been reached the receive operation is closed The character delay time is used in this situation as monitoring time An error message is generated and the message frame fragment is discarded CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 313 Point to point communication 6 9 Protocol Description Special Considerations If the character length does not conform with the configured fixed length note the following e The length of the received characters is greater than the configured fixed length All characters received after the configured fixed character length is reached are either Discarded if the monitoring time expires at the end of the message frame Merged with the next message frame if a new message frame is received before the monitoring time expires e The length of the received characters is less than the configured fixed length The message frame is either Discarded if the monitoring time expires at the end of the message frame Merged with the
297. ms to 65530 ms in 10 ms steps Number of attempts to connect 1 to 255 Number of transmission attempts 1 to 255 Receive line default None R A 5V R B OV R A OV R B 5V Minimum number of CPU cycles The table below describes the minimum number of CPU cycles SFB calls required to process a request Operating Instructions 03 2011 A5E00105484 05 Block Name Number of CPU cycles for processing Completion without Completion with error RESET RESTART error SFB 60 SEND_PTP 22 22 23 SFB 61 RCV_PTP 22 22 23 SFB 62 RES_RCVB 22 2 23 SFB 63 SEND_RK 22 2 23 SFB 64 FETCH_RK 22 2 23 SFB 65 SERVE_RK 22 22 23 345 Point to point communication 6 10 Specitications 6 10 6 Transmission Times Overview The tables below contain the measured transmission times dependent on the communication protocol selected Two CPU 314C 2 PtP were interconnected for this measurement Measured was the time expiring on the communication link between the appearance of the first character in the first message frame and the first character of the successive message frame With the ASCII driver measurement is based upon the fastest protocol version end of message recognition with one end of text character and no software flow control Measurement was carried out with the respective default settings with the 3964 R procedure and RK 512 computer connection i e default values with B
298. n cccccccccesecseesecntecreeeeenteeeeeseeeenes 330 6 9 3 1 Data Transmission with the RK 512 Computer Connection Basics ccccccccceeete eee 330 6 9 3 2 Sending Data with RK 512 0 eee e cece ee enne eect eee ee ee eaaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaeeeseeaeeeeeeeeeeeeeaas 6 9 3 3 Fetching Data with RK 912 3 ccccccceccceeeieecctecteecs lac tactvteg i eena EEEE Fancestvease ei EEEE EEE 336 6 9 3 4 RK 512 Sequence for Requests ccccceceeeeeeeeeeceeeeeeeeeceeeaeceeeeeeesecacaeeeeeeeeeseceaaeeeeeeeseseaeees 340 6 10 SPOCIICALONS ssn eian cadet cus E I EA tiadiee R ted 342 6 10 1 General Specifications nsise naisi aeaa a eaaa aiaia eian EEA 342 6 10 2 Specifications of the ASCII Driver cece ect cce eects cree ceeenecneecaeeneenseceeeeeesesaeesesesnaenaaeneel 343 6 10 3 Specifications of the 3964 R Procedure eeeecceeeeeeeeeeeeeeneeeeeeeaeeeeeeaeeeeeenaeeeseeaeeeeeenaeeeeeeaas 344 6 10 4 Specifications of the RK 512 Computer Connection ccccceceeeeeeceeceeeeeeeteneneaeeeeeeeeeeenaees 345 6 10 5 Minimum number of CPU CYyCI S ccccccccceececeteeceeenecneeeseenecnseeseeneeesecaseeseesteeesesteenaseaseaeel 345 6 10 6 Transmission TUNICS ices cheeses casas tudes E O R 346 GVO 0 CADIS crean eel sete cae cua edad bash atts a aaa Ea tale aN E N e EnA 347 6 10 97 Error MGSSAQCS y cio 70 scheaks sedae ec a a O E tea indi E E 351 6 109 Parameters of the SFBS i siete isccuths rec
299. n 0 and greater than equal to the end of rotary axis External error ERR External errors are indicated at the SFB parameter ERR WORD by setting a bit Monitoring ERR Bit in ERR WORD Missing pulse zero mark 0004 hex 2 Traversing range 0800 hex 11 Working range 1000 hex 12 Actual value 2000 hex 13 Target approach 4000 hex 14 Target range 8000 hex 15 88 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 8 3 Basic parameters Drive parameters 3 8 Specifications Module Parameters of the Parameter Assignment Screen Overview Parameters Range of values Default Interrupt selection e None None e Diagnostics Parameters Value range Default Target range 0 to 200 000 000 pulses 50 The CPU rounds up odd values Monitoring time e Oto 100000 ms 2000 e 0 No monitoring Rounded up by the CPU in 4 ms steps Maximum speed 10 to 1 000 000 pulses s 1000 Creep 10 up to the configured 100 Reference speed maximum speed Off delay 0 to 100 000 ms 1000 Rounded to a 4 ms process cycle Max frequency Position 60 30 10 5 2 1 kHz 60 kHz feedback Max frequency Accompanying 60 30 10 5 2 1 kHz 10 kHz signals Control mode e Voltage 10 V or current 20 mA e Voltage of 0 to 10 V or current of 0 to 20 mA and direction signal Voltage 10 V or current 20
300. n O do not use 10 Not connected 11 Not connected 12 DI 1 0 Channel 2 Hardware gate Channel 2 Hardware gate Channel 2 Hardware gate 13 DI 1 1 14 DI 1 2 15 DI 1 3 16 DI 1 4 Channel 0 Latch 17 DI 1 5 Channel 1 Latch 18 DI 1 6 Channel 2 Latch 19 DI 1 7 20 1M Ground 21 2 L 24 V power supply for the outputs 22 DO 0 0 Channel 0 Output Channel 0 Output Channel 0 Output 23 DO 0 1 Channel 1 Output Channel 1 Output Channel 1 Output 24 DO 0 2 Channel 2 Output Channel 2 Output Channel 2 Output 25 DO 0 3 26 DO 0 4 27 DO 0 5 28 DO 0 6 29 DO 0 7 30 2M Ground 31 3 L 24 V power supply for the outputs 32 DO 1 0 33 DO 1 1 34 DO 1 2 35 DO 1 3 36 DO 1 4 37 DO 1 5 38 DO 1 6 39 DO 1 7 40 3M Ground CPU 31xC Technological functions 172 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Pin assignment CPU314C 2 DP PN DP PtP connector X2 5 2 Wiring Connection Name Counting Frequency measurement Pulse width modulation address 1 1L 24 V power supply for the inputs 2 DI 0 0 Channel 0 Track A pulse Channel 0 Track A pulse 3 DI 0 1 Channel 0 Track B direction Channel 0 Track B direction 0 do not use 4 DI 0 2 Channel 0 Hard
301. n element Shielding Positioning 24 96 Safety Rules 169 Shielding termination element 169 Signal evaluation 179 Signal Evaluation Asymmetric output Single evaluation 80154 Slave Point to point communication SLSE 36 109 SLSS 36 109 Software gate Counting Frequency Measurement Specifications Counting frequency measurement pulse width modulation 239 Start bit 267 276 STATUS Numbering scheme 351 Status bit STS_CMP 204 Step Control with SFB 42 CONT_S CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Index Stop bits 267 STS_CMP status bit SW gate Counting Frequency Measurement Bg Pulse Width Modulation 2 Switching controller Symbolic addressing current operand System error 78 System function block Error messages T7 System function blocks SFB 41 CONT_C 375 SFB 42 CONT_S 382 SFB 65 SERVE_RK Target approach 32 34 Actual value 32 89 Monitoring Monitoring Monitoring Target range Monitoring Monitoring Monitoring Target range monitoring Technical specifications 82 154 Technological functions Support CPUs Term definitions Counting Terminating a Run Positioning Positioning with digital outputs Terminology Counting Three step control 387 Time base 477 Pulse Width Modulation CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Time monitoring
302. n time a value of 0 or the average value is returned as the measured depending on the parameter assignment The value 1 is returned up to the end of the first integration time CPU 312C CPU 313C CPU 313C 2 DP PtP CPU 314C 2 DP PN DP PtP 0 to 10 kHz 0 to 30 kHz 0 to 60 kHz CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions Direction reversal If a direction reversal occurs within an integration time the measured value is indeterminate for this measuring period You can react to possible process irregularities by evaluating the status bits STS C UP STS C_DN for direction see Section Controlling the Frequency ounter via the User Program Page 212 Direct Averaged Frequency Value The measured frequency is displayed at the end of the integration time f 2 1 mHz if the period of the measured frequency exceeds the assigned integration time e With direct frequency the value 0 is output at the end of the integration time e With averaged frequency the last value is distributed across the subsequent measuring intervals without a positive edge f 2 1 mHz This prolongs the integration time In this case the last measured value is divided by the number of measuring intervals without a positive edge Example If the last measured value was 12 000 mHz the value 400
303. nce depending on the ERROR bit e ERROR FALSE The STATUS value is OOOOH Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information relating to the type of error 0 to FFFF hex RD_1 IN_OUT ANY Receive parameters Here you specify e Number of the DB in which the fetched data are stored e Data byte number as of which the fetched data are stored e g DB 10 from byte 2 gt DB10 DBB2 CPU specific LEN IN_OUT INT Here you specify the byte length of the message frame to be fetched Length is specified here indirectly A length of two bytes must be specified per timer and counter 1 to 1024 Offset for parameter RD_1 may not be greater than 8190 for CPU 313C PtP or 314C PtP An error message will be returned if this limit is violated Data consistency 294 Data consistency is limited to 128 bytes You must note the following points for the transmission of consistent data with a length of more than 128 bytes You must not write to the currently used section of the receive area RD_1 until the transmission process has ended This is the case when the status parameter DONE TRUE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions Special Features of Exp
304. nd of text character criterion you have three options 1 Transmission including the end of text character The end code must be included in the data to be sent Data are only transferred up to the end code even if a greater data length is specified in the SFB 2 Transmission up to the length specified in the SFB parameters Data are transferred up to the length declared in the SFB parameters The last character must be the end of text character 3 Transfer of data up to the length configured in the SFB parameters and automatically appending the end code s Data are transferred up to the length declared in the SFB parameters The end of text character s is are appended automatically that is the end code must not be included in the data to be transferred Depending on the number of end delimiters 1 or 2 characters more than specified in the SFB maximum 1024 bytes are transferred to the partner Note When configuring XON XOFF flow control user data must not contain any of the configured XON or XOFF characters Default settings are DC1 11H for XON and DC3 13H for XOFF Transmission of Block Check Characters 310 If you want to ensure data integrity using one or two block check character s BCC you must use the setting Sending up to the length declared in the SFB parameters in the end criterion End of text characters You can then append one two additional block check character s to the sent end of text charac
305. nel 0 Latch 9 DI 0 7 Channel 1 Latch 10 DI 1 0 11 DI 1 1 12 2M Chassis ground 13 1L 24 V power supply for the outputs 14 DO 0 0 Channel 0 Output Channel 0 Output Channel 0 Output 15 DO 0 1 Channel 1 Output Channel 1 Output Channel 1 Output 16 DO 0 2 17 DO 0 3 18 DO 0 4 19 DO 0 5 20 1M Ground CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 171 Counting Frequency Measurement and Pulse Duration Modulation 5 2 Wiring Pin assignment CPU 313C connector X2 or CPU 313C 2 DP PtP connector X1 Connection Name Counting Frequency counting Pulse width modulation address 1 1L 24 V power supply for the inputs 2 DI 0 0 Channel 0 Track A pulse Channel 0 Track A pulse 3 DI 0 1 Channel 0 Track B direction Channel 0 Track B direction O do not use 4 DI 0 2 Channel 0 Hardware gate Channel 0 Hardware gate Channel 0 Hardware gate 5 DI 0 3 Channel 1 Track A pulse Channel 1 Track A pulse 6 DI 0 4 Channel 1 Track B direction Channel 1 Track B direction 0 do not use 7 DI 0 5 Channel 1 Hardware gate Channel 1 Hardware gate Channel 1 Hardware gate 8 DI 0 6 Channel 2 Track A pulse Channel 2 Track A pulse 9 DI 0 7 Channel 2 Track B direction Channel 2 Track B directio
306. ng parameter assignment error mode or use an SFB that matches the set mode 80 09H Invalid channel number Valid channel numbers e CPU 312C 0 1 e CPU 313C CPU 313C 2 DP PtP 0 2 e CPU 314C 2 DP PN DP PtP 0 3 On system error the BIE bit is set to FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specifications 5 10 4 Module Parameters Overview Introduction The following tables provide an overview of the module parameters that can be set in the parameter assignment screens Basic parameters Parameter Description Value range Default Interrupt selection Here you can select which interrupts e None None the technological function should e Diagnostic trigger e Hardware e Diagnostic and hardware Continuous once only and periodic counting Parameter Description Value range Default Main count None No restriction of the counting None None director range e Up not with continuous e Up Restricts the counting range in counting the up direction Counter starts atO Down not with continuous or the load value and counts in the counting positive direction up to the assigned end value 1 It then jumps back to the load value at the next positive encoder pulse e Down Restricts the counting range in the down direction Counter starts at the assigned start
307. ng range xis by Reference point set to 300 T TT i a5 A oe en 400 400 0 300 A Aa 400 300 400 SLSS ACT SLSE New coordinate system 66 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE e You have assigned the basic parameters of the SFB as described in Section onfiguration of the SFB ANALOG SFB 44 Page 48 e The last job must be finished JOB_DONE TRUE e The last positioning operation must be ended WORKING FALSE Procedure 1 Assign the following input parameters accessible via instance DB as specified in the Setting column Parameter Data type Address Description Value range Default Setting instance DB JOB_REQ BOOL 76 0 Job trigger positive TRUE FALSE FALSE TRUE edge JOB_ID INT 78 Job 1 Set reference 1 2 0 1 point JOB_VAL DINT 82 Job parameters for the 5 x 108 to 5 x 0 XXXX coordinates of the 108pulses reference point 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 67 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Result The output parameters of SFB JO
308. ng technology Note You can only configure positioning with analog output mode after you have disabled output 0 in submodule AI5 AO2 In this case you can no longer direct access this output via the user program CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration 3 2 2 Configuring Parameters Using the Parameter Assignment Screen Requirements Prerequisite for calling the parameter assignment screen is that you have created a project in which you can save your parameters 1 Start the SIMATIC Manager and call HW Config in your project 2 Double click on the submodule Al 5 AO 2 of your CPU Set the output status of analog 3 Double click on the Positioning submodule of your CPU The Properties dialog box 4 Assign the parameters to the Positioning submodule and exit the parameter assignment 5 Save your project in HW Config with Station gt Save and Compile 6 Download the parameter data to your CPU in STOP mode with PLC gt Download to Module The data are now stored in the CPU s system data memory 7 Switch the CPU to RUN mode The online help in the parameter assignment screens offers you support when you assign parameters You have the following options of calling the online help e Press the F1 key in the respective views e Click on the Help button in the various parameter assignment screen
309. ng termination element to the profile rail A WARNING Harm to health and damage to assets cannot be excluded if you do not switch off voltage If you wire the front plug on the live module you run the risk of injury as a result of electrical current Always wire the module off voltage state Additional Information For additional information refer to the CPU Data manual and to the installation instructions for your CPU CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 169 Counting Frequency Measurement and Pulse Duration Modulation 5 2 Wiring 5 2 2 Pin Assignment Basic Arrangement of the Connector Based on the CPU 314C 2 DP PN DP PtP the view below shows the principal plug arrangement for CPUs with two connectors X1 and X2 X1 X2 PSF SIEMENS 1 F 210 p 16 210 ee 2 IIe 22H F 2 s 2201 RyDCSV 3 Ife 231 H 3 i 93h RJFROE 4 Ile 24H H 4 lle 2410 FRUN 5 Ilol 25H H 5 llel 25H EISTOP ffo 6 IIlle 26H H 6 Ile 260 fie 7 ie 2709 H 7 lle 270 8 ijel 28 1 8 9 2814 MRES 9 fe 29H H 9 le 29H 10 2 300 D 10 8 300 11 14 tile e31 12 Ie 12 II e lel 32 131e 13e lell33 14lllle 14llle lel 34 15141 15 9 eH 35 16 IIe 166 je 36 17 I e
310. ngth of more than 206 bytes Do not write to the currently used section of the send area SD_1 until the transmission process is complete This is the case when the status parameter DONE TRUE Receiving Data with SFB 61 RCV_PTP You receive data with this SFB and save them to a data block RCV_PTP EN_R NDR R ERROR LADDR STATUS rb1 LEN The block is ready to receive data after it is called with the value TRUE on control input EN_R You can cancel a current transmission via signal status FALSE on parameter EN_R A canceled request is concluded with an error message STATUS output Receiving is locked as long as the signal status at parameter EN_R is FALSE The receive area is specified in RD_1 DB number and start address and the data block length in LEN You must call the SFB with R Reset FALSE to enable it to process the request Ata positive edge on control input R a current transmission is canceled and the SFB is reset to the initial state A canceled request is concluded with an error message STATUS output You enter the submodule I O address you have specified in HW Config in LADDR Either NDR is set to TRUE if the request was closed without error or ERROR is set to TRUE if the request was terminated with error CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 283 Point to point communication 6 5 Communication Functions
311. nication Functions Special Features for Sending Data Note the following special features for Sending Data e RK 512 allows only the transmission of an even data length If you specify an odd data length LEN an additional 0 filler byte is appended to the transmitted data e RK 512 only allows you to specify an even offset If you specify an odd offset the data are stored on the partner as of the next smaller even offset Example Offset is 7 data are written as of byte 6 Information in the Message Frame Header The following table shows the information in the RK 512 message frame header Source on your S7 To the target Message frame header automation system partner CPU Bytes 3 4 Bytes 5 6 Bytes 7 8 local CPU Command type Z DBNR Z offset Amount in Data block Data block AD DB DW Words Data block Expanded data AD DB DW Words block Abbreviations Z DBNR Destination data block number Z Offset Destination start address DW Offset in words CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 291 Point to point communication 6 5 Communication Functions 6 5 2 3 Fetching Data with SFB 64 FETCH_RK Basics With this SFB you fetch a data block from a partner and save the data to a DB FETCH_RK SYNC_DB REQ R LADDER STATUS DONE ERROR M R_CPU R_TYPE R_DBNO R_OFFSET R_CF_
312. nication partner This provides an open structure for the message frames since the S7 user passes the complete send message frame to the PtP interface For the receiving direction the end criterion of a message frame must be declared in the parameters The structure of the send message frames may differ from that of the receive message frames The ASCII driver allows an open structure of data all printable ASCII characters as well as all other characters from 00 through FFh with 8 data bit character frames or from 00 through 7Fh with 7 data bit character frames to be sent and received Operation is possible with RS422 and RS485 RS422 Operation In RS422 mode data are transmitted across a four wire serial cable four wire operation Two conductors differential signal are available for the send direction and two for the receive direction This means you can send and receive data at the same time Full Duplex operation RS485 Operation In RS485 mode data are transmitted across a two wire serial cable two wire operation The two wires differential signal are available alternately for the send and receive direction This means you can either send or receive data at a given time Half Duplex operation After a send operation the cable is immediately switched over to receive mode transmitter is switched to high impedance The maximum toggle time is 1 ms CPU 31xC Technological functions Operating Instructions 03 2011 A5E001
313. nloaded them to the CPU PARA TRUE he SFB as described in Section Page 48 enfisuration of the SFB ANALOG SFB 44 e No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge e Start is enabled ST_ENBLD TRUE e A Relative incremental approach is possible with a synchronized SYNC TRUE and also with a non synchronized SYNC FALSE axis Specifying the Traversing Distance When specifying the traversing distance of linear axes note the following e The traversing distance must be greater than or equal to the cut off difference e Anew run is not started if the traversing distance is less than equal to half of the target range This mode is terminated immediately without an error e The target range must lie within the working range Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameters Data type Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Run in plus direction TRUE FALSE FALSE DIR_P or positive edge DIR M DIR_M BOOL 4 3 Run in minus direction TRUE FALSE FALSE TRUE positive edge MODE_IN INT 6 Operating mode 4 0 1 3 4 5 1 4 Relative incremental approach TARGET DINT 8 Distance in pulses only O to 109 1000 XXXX positive values allowed Pulses 2 Call the SFB C
314. nly reset this status bit after all compare conditions are no longer relevant Pulse at comparison value When the count value reaches the comparison value the comparator enables the output for the duration of the specified pulse period If you have configured a default direction of count the output is only enabled after the value specified for the default direction has been reached Here you must first set the control bit CTRL_DO The status of bit STS_DO is always identical to the status of the digital output Status bit STS_CMP shows the result of the compare operation You can only reset this status bit after the pulse period has expired Status Bit STS_CMP The status bit STS_CMP indicates whether the corresponding output is enabled or was enabled You must reset this status bit with RES_STS If the output is still enabled the corresponding bit is reset and immediately set again This status bit is also set if the disabled output CTRL_DO FALSE is enabled with SET_DO Note You must call the SFB twice to reset the status bits with RES_STS CPU 31xC Technological functions 204 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Controlling the Outputs and the Comparators Simultaneously If you have selected a comparison function for the output you can control the output simultaneously with SET_DO Condition CTRL_DO
315. nological functions 260 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 7 Overview Declarations Apart from the start and stop bits serial data transmission between the two communication partners requires additional declarations These include e the transmission rate baud rate e the character delay time and if required the acknowledgment delay time e the parity e the number of data bits e the number of stop bits Character frame Data are transmitted in a character frame via serial interface Two data formats are available for every character frame Operation with 7 Data bits and no parity bit is not supported You can configure the desired data transmission format in the parameter configuration tool Note The character frame with 7 data bits and no parity is not supported The following exemplary view illustrates the two data formats of the 10 bit character frame 7 data bits 1 start bit 7 data bits 1 parity bit 1 stop bit Signal status 1 N o Signal status 0 1 start bit 7 data bits 1 parity bit 1 stop bit 8 data bits 1 start bit 8 data bits 1 stop bit Signal status 1 N o Signal status 0 1 start bit 1 stop bit 8 data bits CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 261 Point to point communicat
316. nsition of the CPU The value of Software Limit Switch Start SLSS must always be less than the value of Software Limit Switch End SLSE The working range must lie within the traversing range This traversing range represents the value range the CPU can process SLSS Axis Working range SLSS Software limit switch Start SLSE Software limit switch End End of Rotary Axis Parameter 36 lt _____ __ Traversing range _ gt Parameter End of rotary axis Value range 1 to 10 pulses Default 100 000 The value of End of rotary axis is theoretically the highest possible actual value Its physical position is identical to the start of the rotary axis 0 The highest displayed rotary axis value is End of rotary axis 1 Example End of rotary axis 1 000 The display toggles e with positive rotary direction from 999 to 0 e with negative rotary direction from 0 to 999 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration Length Measurement and Reference Point Coordinate Parameters Parameter Length measurement Value range Off Start End at the positive edge DI Start End at the negative edge DI Start with positive edge and end with negative edge Start with negative edge and end with positive edge
317. nt 2 Call the SFB Result The output parameters of SFB JOB_DONE JOB_ERR JOB_STAT accessible via instance DB provide the following information Parameter Data type Address Description Value range Default instance DB SYNC BOOL 14 3 Axis is synchronized TRUE FALSE FALSE JOB_DONE BOOL 66 1 New job can be started TRUE FALSE TRUE JOB_ERR BOOL 66 2 Faulty job TRUE FALSE FALSE JOB_STAT WORD 70 Job error number see Section 0 to FFFF hex 0 Page 156 e The job is immediately processed after the SFB is called JOB_DONE is set to FALSE for the duration of one SFB cycle e You must reset the job request JOB_REQ e SYNC TRUE if the job was processed without error e JOB_ERR TRUE if an error occurred The precise error cause is then indicated in JOB_STAT e Anew job can be started with JOB_DONE TRUE wne A JOB_DONE SYNC CPU 31xC Technological functions 140 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Effects of the job e The actual position value will be set to the value of the reference point coordinate and the status signal SYNC is set e The working range is shifted physically along the axis e All points within the working range maintain their original coordinates but have new physical positions Simultaneous Call of a Job and a Positioning Operation When a positioning operation and a job are initiated simul
318. nt Based Entry ID 22762278 aioe http support automation siemens com WW vie Jen 22762278 Function manual Description of the system property Isochronous Isochronous mode mode Entry ID 15218045 http support automation siemens com WW vie en 1521804 System manual Description of Communication with SIMATIC e Principles Entry ID 1254686 e Services http support automation siemens com WW vie en 1254686 e Networks e Communication functions e Connecting PGs OPs Engineering and configuring in STEP 7 Service amp Support on the Internet Information on the following topics can be found on the Internet hto ihuw siemens com automation servce e Contacts for SIMATIC e Contacts for SIMATIC NET http Awww siemens com simatic net CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 7 Preface CPU 31xC Technological functions 8 Operating Instructions 03 2011 A5E00105484 05 Table of contents Preface Overview of the Technological Functions cecccceeeeeeeeeeeeeneeeeeeeaeeeeeeeaaeeeeeeaaeeeeeaaaeeeessaaeeeeeeneeeeeneaaes 2 POSITIONING 555552028 arraso aaae aE Sines ae eee et ees ae deine ees 2 1 Modes Supported by the Controlled Positioner 2 1 1 Positioning Control with Analog Output eee eeeeeee ee eene ee ee ene ee erent ee ee eeaeee ee taeeeeetaeeeeeenaeeeeeea 2 1 2 Controlled Positioning with Digital Outputs 000 0
319. nt to point communication 6 10 Specifications Event class 6 06H Error when processing a partner request only with RK512 Event no Event Remedy 06 01H Error in 1st command byte not 00 or FFH Basic header structure error on partner Check for malfunction on partner device possibly by using an interface test device interconnected in the data link 06 02H Error in 3rd command byte not A 0 or E Basic header structure error on partner Check for malfunction on partner device possibly by using an interface test device interconnected in the data link 06 03H Error in 3rd command byte in the case of Basic header structure error on partner Check for continuation message frames command not as for malfunction on partner device possibly by using an 1st message frame interface test device interconnected in the data link 06 04H Error in 4th command byte command letter Basic header structure error at the partner or an incorrect illegal command combination was requested Check the permissible commands Check for malfunction on partner device possibly by using an interface test device interconnected in the data link 06 06H Error in 5th command byte DB number not Refer to the request tables for permissible DB permissible numbers start addresses or lengths 06 07H Error in 5th or 6th command byte start address too Refer to the request tables for permissible DB high numbers star
320. nterrupt You can trigger a hardware interrupt on specific events 5 8 2 Error Messages at the System Function Block SFB Overview The SFB indicates the errors listed in the table below Type of error Errors are displayed via SFB The error number is displayed in the parameters SFB parameters Job error JOB_ERR TRUE JOB_STAT System error BIE FALSE JOB_STAT Job errors occur during job interpretation execution The JOB_ERR parameter is set to TRUE when an error occurs A system error is triggered in the case of a basic parameter assignment error e g Incorrect operating mode The system error is indicated with BIE FALSE Parameter JOB_STAT describes the cause of error in closer detail The possible error numbers are listed in Section Page 243 CPU 31xC Technological functions 232 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Error evaluation Call SFB BIE FALSE or JOB_ERR TRUE No JOB_STAT Evaluate End CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 5 8 Error Handling and Interrupts 233 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts 5 8 3 Configuring Diagnostic Interrupts Using the Diagnostic Interrupt When errors occur for example e parameter assignment errors module data and e Loss of hard
321. ntrol SIMATIC S7 Manual and configuration package including a flexible controller kit that is also suitable for complex tasks e Controlling with SIMATIC by Jurgen Muller Practical manual for controlling with SIMATIC S7 and SIMATIC PCS7 e PID Self Tuner SIMATIC S7 Manual and software package for Online self optimization of PID controllers e FM 355 FM 455 is a self sufficient back up controller module that does not impose a load on the CPU CPU 31xC Technological functions 366 Operating Instructions 03 2011 A5E00105484 05 Controlling 7 1 Overview 7 1 2 Basics Continuous Switching Controller The continuous controller outputs a linear analog value The switching controller outputs a binary digital value Set value control Set value control is considered as control with a fixed only occasionally modified reference variable This regulates deviations in the process Cascade control The cascade control represents a series connection of controllers The first controller master controller determines the setpoint for the series slave controllers or influences their setpoints according to the actual error of the process variable The controlling performance of a cascade control can be improved with additional process variables For this purpose an auxiliary process variable PV2 acquired from a suitable point is blended to the master process variable output of master controller SP2 The master controller
322. ode Note Since they partially use the same inputs you cannot use the counters 0 and 1 when you utilize the positioning function CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 97 Positioning with digital outputs 4 1 Wiring 98 Table 4 1 Pin Assignment for Connector X2 Connection Name Address Function 1 1 L 24 V power supply for the inputs 2 DI 0 0 Encoder signal A 3 DI 0 1 Encoder signal B 4 DI 0 2 Encoder signal N 5 DI 0 3 Length measurement 6 DI 0 4 Reference point switch 7 DI 0 5 8 DI 0 6 9 DI 0 7 10 Not connected 11 Not connected 12 DI 1 0 13 DI 1 1 14 DI 1 2 15 DI 1 3 16 DI 1 4 17 DI 1 5 18 DI 1 6 19 DI 1 7 20 1M Chassis ground 21 2L 24 V power supply for the outputs 22 DO 0 0 23 DO 0 1 24 DO 0 2 25 DO 0 3 26 DO 0 4 27 DO 0 5 28 DO 0 6 29 DO 0 7 30 2M Ground 31 3 L 24 V power supply for the outputs 32 DO 1 0 Digital output QO 33 DO 1 1 Digital output Q1 34 DO 1 2 Digital output Q2 35 DO 1 3 Digital output Q3 36 DO 1 4 37 DO 1 5 38 DO 1 6 39 DO 1 7 40 3M Ground CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 1 Wiring 4 1 4 Connectin
323. of CPU cycles Point to point communication 3 Minimum pulse duration iz 399 Index Minimum pulse width Pulse Width Modulation 230 Missing pulse zero mark 39 46 90 13 118 Monitoring 78 Monitoring 78 150 Monitoring 78 Missing pulse zero mark monitoring 39 Module parameters 3 Pag Counting 245 Counting function Frequency counting 248 Frequency Measurement 179 264 Point to point connection Positioning 29 Pulse width modulation 181 Via parameter assignment screen 89 Monitoring Actual value 34 Missing pulse zero mark Target approach 32 34 Target range 32 160 Traversing range 90 109 Working range 90 109 Monitoring functions 46 Positioning with digital outputs 118 Monitoring time 107 160 Adapting 73 Select 145 Motor protection Positioning 23 Multipoint Point to point communication O Off delay 33 89 Positioning 4 On delay Pulse Width Modulation On delay Online Help 2 Parameter assignment screen 31 102 Operating mode Absolute incremental approach 62 Jog mode 52 425 Length measurement 70 143 Reference point approach 127 Reference Point Approach 54 Relative incremental approach 60 Operating mode error 77 Operating modes of the CPUs 167 Output 400 Counting Frequency Measurement ig Pulse width modulation 231 Output format Pulse Width Modulation 228 Output of the measured value Output reaction O
324. of the required reproducibility of the reference point the corresponding zero mark of the encoder must always be at the same physical position Therefore the End of rotary axis value and the number of Increments per encoder revolution must represent a proportional integral Example Four encoder revolutions are proportional to one revolution of the end of the rotary axis In this case the zero marks lie at 90 180 270 and 360 degrees The minimum pulse width of the zero mark signal is 8 33 us corresponds to the maximum frequency of 60 kHz When you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period This reduces the maximum counting frequency to 30 kHz during referencing CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 127 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Reference Point Position With regard to the reference point position Zero mark signal during a reference point approach you must distinguish between e The reference point position is referenced to the reference point switch in plus direction e The reference point position is referenced to the reference point switch in minus direction Make this setting via parameter assignment screens in the parameter Reference point location for reference point switch The differ
325. of working range Remedy With a linear axis the reference point coordinate must not exceed the working range limits 41 02H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual distance to go must still be greater than equal to 5 x 108 41 03H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual distance to go must still be less than equal to 5 x 108 41 04H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual difference to the starting point of the run must still be greater than equal to 5 x 108 41 05H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual difference to the starting point of the run must still be less than equal to 5 x 108 41 06H Reference point coordinate out of rotary axis range With a rotary axis the reference point coordinate must not be less than 0 and greater than equal to the end of rotary axis External Error ERR External errors are indicated at the SFB parameter ERR WORD by setting a bit Monitoring ERR Bit in ERR WORD Missing pulse zero mark 0004 hex 2 Traversing range 0800 hex 11 Working range 1000 hex 12 Actual value 2000 hex 13 Target approach 4000 hex 14 Target range 8000 hex 15
326. ological functions 320 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description 6 9 2 2 Sending Data with 3964 R Procedure The figure below illustrates the data flow when data are sent with the 3964 R procedure CPU 31xC ere Communication partner Start character 02H STX Connection Pos acknowledgement DLE setup 10H 1st Data byte st Byte 2nd Data byte _ 2nd Byte gt User data nth Data byte nth Byte End delimiter 10H DLE End delimiter 03H ETX Connection 3964R only BCC pO termination Pos acknowledgement DLE 10H Establishing a Connection during Data Transfer To establish the connection the 3964 R procedure sends the control character STX If the communication partner responds with the DLE character before the acknowledgment delay time ADT has expired the procedure switches to send mode If the communication partner returns NAK or any other control code except for DLE or STX or if the acknowledgment delay time expires without a response the procedure retries to connect After the declared number of unsuccessful attempts to connect the procedure aborts the attempt to set up a connection and transmits an NAK to the communication partner The CPU reports the error to the SFB SEND_PTP Output parameter STATUS Sending Data After the connection is successfully established
327. on 6 5 Communication Functions 6 5 2 2 Basics 288 Sending data with SFB 63 SEND_RK With this SFB you transmit a data block from a DB SEND_RK SYNC_DB REQ R LADDER STATUS DONE ERROR R_CPU R_TYPE R_DBNO R_OFFSET R_CF_BYT R_CF_BIT SD1 LEN The send process is activated after the block call and at a positive edge on the control input REQ The area of the data to be transmitted is specified in SD_1 DB number and start address and the data block length in LEN In the SFB you also specify the receive area on the partner This information is entered in the message frame header by the CPU and transferred to the partner The destination is specified by the CPU number R_CPU only relevant for multiprocessor communication the data type R_TYPE data blocks DB and expanded data blocks DX the data block number R_DBNO and the offset RLOFFSET In R_CF_BYT and R_CF_BIT you specify the interprocessor communication flag byte and bit on the partner CPU In the SYNC_DB parameter you specify the DB in which you want to store data common to all SFBs you are using for startup initialization and synchronization routines The DB number must be identical for all SFBs in your user program You must call the SFB with R Reset FALSE to enable it to process the job At a positive edge on control input R the current transm
328. on R B T B Input output Receive transmit data Two wire operation 12 13 14 15 When fabricating your own cables take into account that you must always use shielded connector enclosures Both ends of the cable shield must be connected to the connector enclosure and the shield cable over a large surface area Axcaution Never connect the cable shield to ground because this can destroy the interface GND Pin 8 must always be connected on both sides to avoid destruction of the interface The connecting cables for various communication partners are described in Section Page 347 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 263 Point to point communication 6 3 Parameter configuration 6 3 Parameter configuration 6 3 1 Parameter types Basics In the parameter assignment screen you can adapt the serial communication to your specific application You can assign the parameters with two parameter types e Module parameters These are basic settings that are specified once and no longer changed while the process is running These parameters are described in this section You assign the parameters via the parameter assignment screens They are stored in the system memory of the CPU Note It is not possible to change the parameters while the CPU is in RUN mode e SFB parameters Parameters that n
329. on and off and also determine the type of edge Requirements Off Start end at the positive edge Start end at the negative edge Start with positive edge and end with negative edge Start with negative edge and end with positive edge You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE You have assigned the basic parameters of the SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 You have connected a bounce free switch to the digital input Length measurement connector X2 pin 5 Length measurement is possible with synchronized SYNC TRUE as well as non synchronized SYNC FALSE axis CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 143 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Procedure e An edge at the digital input starts length measurement e MSR_DONE is reset at the start of length measurement e MSR_DONE TRUE is set at the end of the length measurement e The SFB then outputs the following values Start of length measurement BEG_VAL End of length measurement END_VAL Measured length LEN_VAL At the end of one length measurement until the end of the next length measurement the values are available at the block The output parameters of the SFB BEG_VAL END_VAL LEN_VAL are accessible
330. on byte are transmitted bit wise in a fixed order Data exchange with the communication partner is handled automatically via the serial interface For this operation the CPU is equipped with three different drivers e ASCII driver 3964 R procedure e RK 512 Half Duplex Full Duplex For data transmission we differentiate between e Half Duplex ASCII driver 3964 R protocol RK 512 Data exchange alternates between the communication partners in both directions Half Duplex means that either a transmit or a receive operation is carried out at one time Single data flow control characters can here form the exception e g XON XOFF These can also be transmitted received during send receive operation e Full Duplex ASCII Driver Data is exchanged simultaneously between the communication partners Data can therefore be sent and received at one time Every communication partner must be capable of operating a simultaneous transmitter and receiver unit RS 485 mode 2 wire allows only Half Duplex operation via ASCII driver without flow control Asynchronous Data Transmission Serial data are transmitted asynchronously The so called time base synchronism a fixed timing code used in the transmission of a fixed character string is only upheld during transmission of a character Each character to be sent is preceded by a synchronization impulse or start bit The end of the character transmission is signaled by the stop bit CPU 31xC Tech
331. on of the rotary axis starts at the Zero coordinate and terminates at the coordinate End of rotary axis 1 The Zero coordinate is physically identical 0 to the End of rotary axis The actual position value display is toggled at this point It is always displayed with a positive value CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 109 Positioning with digital outputs 4 2 Parameter configuration Parameters for software limit switch start end Parameters Value range Default Software limit switch start Software limit switch Start 100 000 000 end Software limit switch End 100 000 000 e 5x 108 to 5 x 108pulses Software limit switches are only used for linear axes These software limit switches limit the working range The software limit switches belong to the working range The software limit switches are monitored if the axis is synchronized and working range monitoring is switched on The axis is not initially synchronized after every STOP RUN transition of the CPU The value of Software Limit Switch Start SLSS must always be less than the value of Software Limit Switch End SLSE The working range must lie within the traversing range This traversing range represents the value range the CPU can process Working range sie Traversing range SLSS Software limit switch Start SLSE Software limit switch End End of Rotary Axis
332. on rate 300 600 1200 2400 4800 9600 19200 38400 baud Character frame 10 11 or 12 bits Receive line default none R A 5V R B OV R A OV R B 5V Number of message frames to be buffered 1 to 10 utilizing the complete buffer Programmable with 3964 R procedure Maximum message frame 1024 Byte length Parameters Configurable With without block check character Priority low high Transmittion rate 300 600 1200 2400 4800 9600 19200 38400 baud Character frame 10 11 or 12 bits Character delay time 20 ms to 65530 ms in 10 ms steps Acknowledgment delay time 20 ms to 65530 ms in 10 ms steps Number of attempts to connect 1 to 255 Number of attempts to transmit 1 to 255 Receive line default none R A 5V R B OV R A 0V R B 5V 344 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 4 Overview 6 10 5 Overview CPU 31xC Technological functions Specifications of the RK 512 Computer Connection 6 10 Specifications The table below shows you the specifications of RK 512 computer connection Maximum message frame length RK 512 computer connection 1024 Byte Parameters Configurable Transmission rate 300 600 1200 2400 4800 9600 19200 38400 baud Character frame 10 11 or 12 bits Character delay time 20 ms to 65530 ms in 10 ms steps Acknowledgment delay time 20
333. ons of the Pulse Train 0 to 2 5 kHz Minimum pulse width 200 ys Pulse pause accuracy Accuracy of the ON delay Pulse duration x 100 ppm 100 us ppm Parts per million 0 to 250 us The accuracy of the pulse pause can only be maintained if a maximum of one other parameter is changed in addition to the modify value during the same pulse width pause If several parameters are modified the pulse width pause may have a one time longer or shorter length than the stated accuracy CPU 312C CPU 313C CPU 314C 2 DP CPU 313C 2 DP PtP PN DP PtP Filter frequency 10 kHz 30 kHz 60 kHz Hardware gate min pulse width 48 us 16 us 8 us max cable length 100 m 100 m 50m CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specifications 5 10 2 Incremental encoders Connectable Incremental Encoders Asymmetric 24 V incremental encoders with two pulses with an electrical phase difference of 90 are supported Signal Evaluation Increments An increment designates a signal period of the two encoder tracks A and B This value is specified on the rating plate of the encoder and or in the technical specifications for the encoder Edges at Tracks A and B The CPU can count the edges of the tracks Normally the CPU evaluates only the edge at track A single evaluation You can achieve a hig
334. ontroller as a PI fixed setpoint controller or in secondary control loops in cascade blending or ratio controllers however not as the primary controller The functions of the controller are based on the PI control algorithm of the sampling controller supplemented by the functions for generating the binary output signal from the analog actuating signal The action of the controller can be switched off with TI T 0 ms The block can therefore be used as P controller Since the controller works without any position feedback signal the internally calculated manipulated variable will not exactly match the signal control element position An adjustment is made if the manipulated variable ER GAIN is negative The controller then sets the output QLMNDN manipulated value signal low until LMNR_LS low limit of the position feedback signal is set The controller can also be used as a secondary actuator in a controller cascade The setpoint input SP_INT is used to assign the control element position In this case the actual value input and the parameter TI integration time must be set to zero Fields of application include temperature control via a motor operated valve flap In this case to close the valve completely the manipulated variable ER GAIN should have a negative setting Apart from the functions in the process value channel the SFB implements a complete PI controller with a digital manipulated value output and the option of influencing
335. ontrollers with proportional actuators Apart from the functions in the setpoint and process variable channels the SFB FB implements a complete PID controller with continuous manipulated variable output and the option of influencing the manipulated value manually Below you will find a detailed description of the subfunctions Setpoint operation The setpoint is entered in floating point format at the SP_INT input Process value channel The actual value can be input in the peripheral I O or floating point format The CRP_IN function converts the PV_PER I O value to a floating point format of 100 to 100 in accordance with the following formula 100 27648 Output of CPR_IN PV_PERx The PV_NORM function standardizes the output of CRP_IN according to the following formula Output of PV_NORM output of CPR_IN x PV_FAC PV_OFF PV_FAC has a default of 1 and PV_OFF a default of 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions The variables PV_FAC and PV_OFF are the result of formula conversion as follows PV_OFF output of PV_NORM output of CPR_IN x PV_FAC output of PV_NORM PV_OFF PV_FAC Output of CPR_IN Conversion to percentage value is not imperative If the setpoint is to be determined physically the actual value can also be converted to this physical value Calculating the negative deviation The difference bet
336. operation the pulse width is reduced by half to 25 of the period This reduces the maximum frequency for zero mark monitoring to 30 kHz Not recognized is e Incorrectly assigned number of increments per encoder revolution e Failure of the zero mark signal Response of the CPU to errors Cancel synchronization cancel the run Traversing range The CPU uses traversing range monitoring to check whether the permitted traversing range of 5 x 108 to 5 x 108 is exceeded This monitoring feature cannot be switched off switched on permanently in the Monitoring parameter 118 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Monitoring Working range Description The CPU uses traversing range monitoring to check whether the actual value is out of range of the software limit switches This facility cannot be switched on for monitoring rotary axis positioning This monitoring only affects a synchronized axis The coordinates of the software limit switches themselves belong to the working range Response of the CPU to errors The run is canceled Actual value Within the monitoring time the axis must travel into the specified direction by at least one pulse Actual value monitoring is switched on at the start of a run and remains active until the cut off position has been reached Actua
337. order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significance depending on the ERROR bit e ERROR FALSE The STATUS value is 0000H Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information about the type of error for error numbers see Section Page 351 SD_1 IN_OUT ANY Send parameters CPU specific 0 Here you specify e The number of the DB from which the data are sent e The data byte number from which the data is to be sent e g DB 10 from byte 2 gt DB10 DBB2 LEN IN_OUT INT Here you specify the length of the data 1 to 1024 1 block to be transmitted in bytes Length is specified here indirectly Offset for parameter SD_1 may not be greater than 8190 for CPU 313C PtP or 314C PtP An error message will be returned if this limit is violated Data consistency Data consistency is limited to 128 bytes You must note the following points for the transmission of consistent data with a length of more than 128 bytes Do not write to the currently used section of the send area SD_1 until the transmission process is complete This is the case when the status parameter DONE TRUE CPU 31xC Technological functions 290 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Commu
338. ositioning with Analog Output 3 8 Specifications Diagnostic Parameters Parameters Value range Default Missing pulse zero mark e Yes No e No Traversing range e Yes No e No Working range e Yes No for linear axes lt No Actual value e Yes No e No Target approach e Yes No e No Target range e Yes No e No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 91 Positioning with Analog Output 3 8 Specitications 3 8 4 Parameters for Instance DB of the SFB ANALOG SFB44 Overview Parameters Declaration Data Address Description Value range Default Type Instance DB LADDR IN WORD 0 Submodule I O address you CPU specific 310 hex specified in HW Config If the I O addresses are not equal you must specify the lower one of both CHANNEL IN INT 2 Channel number 0 0 DRV_EN IN BOOL 4 0 Drive enable TRUE FALSE FALSE START IN BOOL 4 1 Start run TRUE FALSE FALSE positive edge DIR_P IN BOOL 4 2 Run in plus direction TRUE FALSE FALSE positive edge DIR_M IN BOOL 4 3 Run in minus direction TRUE FALSE FALSE positive edge STOP IN BOOL 4 4 Stop run TRUE FALSE FALSE ERR_A IN BOOL 4 5 Group error TRUE FALSE acknowledgment ERR_A is used to acknowledge external errors positive edge MODE_IN IN INT 6 Operating mode 0 1 3 4 5 1 TARGET IN DINT 8 Relative incremental 0 to 109 1000 approach Distance
339. ow the low limit e Above the high limit Hardware A hardware interrupt is generated when e Yes No interrupt the hardware gate opens while the lt N HW gate opening software gate is open S Hardware A hardware interrupt is generated when e Yes No interrupt the hardware gate closes while the lt No HW gate closing software gate is open Hardware A hardware interrupt is generated at the e Yes No interrupt end of measurement No End of measurement Hardware A hardware interrupt is generated when e Yes No interrupt the low limit is fallen below lt No Low limit exceeded Hardware A hardware interrupt is generated when e Yes No interrupt the high limit is exceeded No High limit exceeded CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 249 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Pulse Width Modulation Parameter Description Value range Default Output format Output format e Permil Per mil e 7 analog value Time base Time base for e 0 1ms e 0O1ms e On delay e 10ms e Period e Minimum pulse duration On delay Time interval between the start of the 0 65535 0 output sequence and pulse output Period Defines the length of the output e Time base 0 1 ms 20 000 sequence in terms of pulse duration 4 to 65535 and interpulse period e Time base 1 ms 1 to 65535 Minimum pulse Output p
340. proach monitoring e Yes No e No Target range monitoring e Yes No e No Max frequency Position 60 30 10 5 2 1 kHz 60 kHz feedback Max frequency Accompanying 60 30 10 5 2 1 kHz 10 kHz signals Axis Parameters Parameter Value range Default Axis type e Linear axis Linear axis e Rotary axis Software limit switch start Software limit switch Start 100 000 000 end Software limit switch End 5 x 108 to 5 x 108pulses 100 000 000 coordinate End of rotary axis 1 to 10 pulses 100 000 Length measurement Off Off e Start End at the positive edge DI e Start End at the negative edge DI e Start with positive edge and end with negative edge e Start with negative edge and end with positive edge Reference point 5 x 108 to 5 x 108pulses 0 Reference point location for reference point switch e Plus direction actual values increase e Minus direction actual values decrease Plus direction Monitoring Yes set fixed Yes Traversing range Monitoring e Yes Yes Working range No CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 161 Positioning with digital outputs 4 8 Specifications Encoder Parameters Diagnostic parameters 162 Parameter Value range Default Increments per encoder 1 to 223 pulses 1000 revolution Count direction e Normal Normal e Inverted Missing pulse zero mark e
341. pts to send the data block the procedure cancels the operation and transmits NAK to the communication partner The error is displayed at SFB SEND_PTP output parameter STATUS 6 9 2 3 Receiving Data with 3964 R Procedure The figure below illustrates the data flow when data are received with the 3964 R procedure Communication partner Connection setup User data Connection termination STX DLE ist Byte 2nd Byte nth Byte DLE ETX BCC DLE CPU 31xC Start character 02H Pos acknowledgement 10H 1st Data byte 2nd Data byte nth Data byte End delimiter 10H End delimiter 03H 3964R only Pos acknowledgement 10H Note When ready for operation the 3964 R procedure transmits the NAK character once to switch the communication partner to idle state 322 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Establishing a Connection when Receiving Data Receiving Data In idle mode when there is no send request to be processed the procedure waits for the communication partner to establish the connection If no empty receive buffer is available when attempting to establish a connection via STX a waiting time of 400 ms is started If there is still no empty receive buffer after this time has expired the STATUS output of the SFB displays the error The procedure transmits an NAK charac
342. quency 50m Encoder signal N zero mark signal 8 us 60 kHz 30 kHz 50 m 1 If you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period In order to maintain the minimum pulse width the maximum counting frequency must be reduced to 30 kHz Signal Evaluation 82 The figure below shows the signal profile of encoders with asymmetric output signals The CPU internally generates a logical AND link of the zero mark signal and the A and B track signals For referencing the CPU uses the positive edge at the zero mark The CPU counts in positive direction if the signal A transition leads signal B CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 8 Specifications Increments An increment identifies a signal period of the two encoder track signals A and B This value is specified on the rating plate of the encoder and or in the specifications for the encoder Signal period increment Pulses Quadruple evaluation Pulses The CPU evaluates all 4 edges of the track signals A and B see the view with every increment quadruple evaluation i e one encoder increment is proportional to four pulses Wiring Diagram of the Incremental Encoder Siemens 6FX 2001 4 Up 24 V HTL The figure below shows the wiring diagram
343. r asynchronous motors via frequency converter with a fixed speed setting e A24V encoder is used for incremental position feedback e First the target is approached with a specified rapid speed Within a defined distance to the target speed is reduced to a lower creep speed The drive is de energized at a specified distance just before the axis reaches the target The CPU can monitor the target approach during the process e You declare the speed deceleration and target approach differences in your parameters CPU 31xC Technological functions 18 Operating Instructions 03 2011 A5E00105484 05 Positioning 2 2 Overview 2 2 Positioning Overview Positioning Overview Number of axes CPU 314C 2 DP PN DP PtP 1 Axis Note You now only have counting channels available to you when using a positioning function channel 2 and 3 Axis types Linear axis Rotary axis Typically used drives motors Asynchronous motors with pole switching via contactor combination Asynchronous motors with frequency converter Servo drive motors with converter Distance measuring systems Incremental encoders 24 V asymmetric two tracks with phase difference of 90 degrees with or without zero mark Monitoring functions can be individually activated Missing pulse zero mark Traversing range Working range Actual value Target approach Target range System of units
344. r XOFF character e With 7 data bits 13H DC3 When the declared number of message frames 0 to 7FH Hex a pa E are peri vane es receive With 8 data bits uffer overflows size of the receive buffer 0 to FFH H 2048 bytes the CPU transmits the XOFF O Ree character If the communication partner nonetheless continues to transmit data an error message is generated when the receive buffer overflows Data received in the last message frame are discarded Wait for XON after The time the CPU has to wait for the XON 20 to 65 530 ms 20000 ms 268 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration End of text character Parameters End of message recognition for received frames Description Defines which criterion signals the end of message frames e Upon expiration of character delay time The message frame has neither a fixed length nor a defined endoftext character the end of the message is defined by a pause on the line expiration of character delay time e Receiving a fixed number of characters The length of the received message frames is always identical e Receiving the end of text character s The end of the message frame is marked by one or two defined endof text characters Value range e on expiration of character delay time e on receipt of a fixed number of characters e onreceipt of endoftext
345. r a change The new hysteresis range is applied when the next comparison value is reached Effect when Counter value 2 Comparison value or Counter value 2 Comparison value The example in the figure below demonstrates the hysteresis action The diagram shows the differences in the output behavior when hysteresis values of 0 switched off and 3 are assigned The comparison value for this example 5 The counter is configured as follows e Main count direction up e Output Switch on if counter value 2 comparison value The hysteresis is enabled when the comparison value is reached When the hysteresis is active the comparison result remains unchanged The hysteresis is disabled when the count value exits the hysteresis range The comparator then resumes switching according to its comparison conditions Count value OFNWKADNO CPU 31xC Technological functions 206 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Effect when Pulse at Comparison Value and Pulse Duration Equal to Zero The example in the figure below demonstrates the hysteresis action The diagram shows the differences in the output behavior when hysteresis values of 0 switched off and 3 are assigned The comparison value for this example 5 The counter is configured as follows e No main count direction e Pulse on reaching the
346. r at the process variable peripheral input MAN REAL 16 MANUAL VALUE 100 0 0 0 The manual value input is used to set a 100 0 manual default value by means of operator or phys control monitoring functions value GAIN REAL 20 PROPORTIONAL GAIN The sign 2 0 The proportional gain input sets the specifies Ine controller gain controller s direction of action e g negative gain for cooling operations Tl TIME 24 RESET TIME 2 CYCLE T 20 s The reset time input determines the time response of the integrator TD TIME 28 DERIVATIVE TIME 2 CYCLE T 10 s The derivative time input determines the time response of the derivative unit TM_LAG TIME 32 TIME LAG OF THE DERIVATIVE 2 CYCLE 2 T 2 s ACTION delay time of the D action Recommende The algorithm of the D action includes a d 1 5 TD time lag which can be assigned to the Time lag of the derivative action input DEADB_W REAL 36 DEAD BAND WIDTH 20 0 0 0 A dead band is applied to the error The or phys size dead band width input determines the size of the dead band CPU 31xC Technological functions 376 Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions Address Instance DB REAL 40 Parameters Data type LMN_HLM Description MANIPULATED VALUE HIGH LIMIT The manipulated value is always limited to an high and low limit The manipulated value high limit input specifies the high limit Valu
347. r axis The value of the reference point coordinate of the rotary axis must lie within the range 0 to End of rotary axis 1 Reference Point Location for Reference Point Switch Parameter Reference point location for reference point switch Value range e Plus direction actual values increase e Minus direction actual values decrease Default Plus direction This parameter defines the reference point position with reference to the reference point switch Traversing Range Monitoring Parameter Parameter Value range Traversing range monitoring Yes set fixed Default Yes Use traversing range monitoring to check whether the permitted traversing range of 5 x 108 to 5 x 108is exceeded This monitoring feature cannot be switched off switched on permanently in the Monitoring parameter Synchronization is canceled and the run is aborted when this monitoring responds CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 111 Positioning with digital outputs 4 2 Parameter configuration Parameter Working range monitoring only with linear axis Parameter Value range Default Working range monitoring only e Yes Yes with linear axis NG Here you can specify whether to monitor the working range of the linear axis In this case the actual position value is monitored to check whether it is out of range of the sof
348. r than equal to half of the target range If the travel difference is equal in both directions the axis moves in the plus direction Procedure 1 Assign the following input parameters of the SFB as specified in the Setting column Parameters Datatype Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE START BOOL 4 1 Run start positive edge TRUE FALSE FALSE START or DIR_P BOOL 4 2 Run in plus direction TRUE FALSE FALSE DIR_P or positive edge ae 7 DIR_M BOOL 4 3 Run in minus direction TRUE FALSE FALSE positive edge MODE_IN INT 6 Operating mode 5 0 1 3 4 5 1 5 Absolute incremental approach TARGET DINT 8 Target in pulses Linear axis 1000 XXXX 5 x 108 to 5 x 108 Rotary axis 0 to end of rotary axis 1 2 Call the SFB CPU 31xC Technological functions 136 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 14 0 Run has started TRUE FALSE FALSE POS_RCD BOOL 14 1 Position reached TRUE FALSE FALSE ACT_POS DINT 16 Actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 20 Enabled set operating mode 0 1 3 4 5 0 WORKING TRUE is set immediately after the run has starte
349. rameter how the CPU should respond when the SW gate opens e Gate control via SW gate Cancel count configuration Action Response SW gate 0 gt 1 Start at load value e Gate control via SW gate Interrupt count configuration Action Response SW gate 0 gt 1 Resume at actual count value CPU 31xC Technological functions 202 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Controlling the gate via SW and HW gates In the parameter assignment screens specify in the Gate function parameter how the CPU should respond when the SW and HW gates open e Controlling the gate via SW and HW gates Cancel count configuration Requirements Action Response HW gate open SW gate 0 gt 1 Resume at current count value SW gate open HW gate 0 gt 1 Start at load value e Controlling the gate via SW and HW gates Interrupt count configuration Requirement Action Response HW gate open SW gate 0 gt 1 Resume at current count value SW gate open HW gate 0 gt 1 Resume at current count value Gate Control via SW and HW Gates in Single Count Mode After the internal gate was closed automatically it can only be reopened by e a positive edge generated at the HW gate while the SW is open or e a positive edge generated at the HW gate with subsequent opening of the
350. rameters Description Value range Default End of text character One or two end of text characters canbe e 4 End of text character 1 End of text used As an option one or two additional character e 1 end of text character characters are received following the end of text character You can for with 1 BCCs example use these characters to include 1 end of text character a block check character BCC in with 2 BCCs transmission e 1 and 2nd end of text The calculation at the transmitter and the character evaluation of the block check character at the receiver must be done in the user se Tand 2nd end of text program itself character with 1 BCC e 1 and 2nd end of text character with 2 BCCs Endoftext character 1 First end code e With 7 data bits 03H ETX 0 to 7FH Hex e With 8 data bits 0 to FFH Hex Endoftext character 2 Second end code if selected e With 7 data bits 0 270 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 3 Parameter configuration Parameters Description Value range Default Transmitting with end You can include an end of text character e Transmission including the Transmission of text character in the transmission with the end criterion end of text character including the end On receiving the end of text T eae h of text character character s ransmission up to the length specified in the block e Transmission including
351. rface test device interconnected in the data link Event class 10 OAH Errors in the response message frame of the partner that have been detected by the CPU No response message frame received from partner within monitoring time Event no Event Remedy 0A 02H Only with RK 512 Check for malfunction of the partner device possibly Error in the structure of the received response by using interface test device interconnected in the message frame data link 1st byte not OOH or FFH 0A 03H Only with RK 512 Check for malfunction of the partner device possibly Received response message frame has too many or by using interface test device interconnected in the too few data data link 0A 05H Only with RK 512 Is the partner a slow device This error is also often displayed as a consequence of a previous error For example procedure receive errors event class 8 can be displayed after a FETCH message frame was sent Reason The response message frame could not be received because of disturbances The monitoring time expires This error also possibly occurs if the partner is restarted before it could respond to the last received FETCH message frame Event class 11 OBH Warnings Event no Event Remedy 0B 01H Receive buffer filled with more than 2 3 of its capacity Call the receive block more often to avoid receive buffer overflow CPU 31xC Technological functions 358 Operat
352. rol the operating direction of the motor They are interlocked by the NC contacts K2 and K1 The hardware limit switches E1 and E2 represent the minus plus limit switches The motor is switched off when it overruns one of these limit switches The contactors K3 rapid speed and K4 creep speed toggle the motor speed They are interlocked by the NC contacts K4 and K3 caution Damage to assets can occur A short circuit in the power network can occur if the power contactors are not interlocked The power contactor interlock is shown in the figure above 4 2 Parameter configuration 4 2 1 Basics of Parameter Configuration Basics You can adapt the parameters for the positioning function to your specific application You can assign the parameters with two parameter types e Module parameters These are basic settings that are specified once and no longer changed while the process is running These parameters are described in this section You assign these parameters in the parameter assignment screens in HW Config They are stored in the system memory of the CPU You cannot modify these parameters when the CPU is in RUN mode e SFB parameters Parameters that need to be changed during operation are located in the instance DB of the system function block SFB The SFB parameters are described in Section oe ar You assign these parameters offline in the DB Editor or online in the user program They
353. roller functionality in every block Data required for periodic calculation are stored in the assigned DBs Instance DBs This allows you multiple calls of the SFBs SFB PULSEGEN in combination with SFB CONT_C used to obtain a controller with pulse output for proportional actuators e g for heating and cooling aggregates A controller created with the help of SFBs consists of a number of units you can configure Functions for preparing setpoint and actual values as well as for post processing the calculated manipulated variable are integrated in addition to the actual controller with its PID algorithm Principally the controls created with the two control blocks are neutral related to the field of application The controlling efficiency and therefore processing speed depends exclusively on the performance of the CPU you are using With the given CPU a compromise must be found between the number of controllers and the processing frequency required for the controllers The faster the connected control circuits are that is the more often the manipulated values have to be calculated per time unit the lower the number of installable controllers There are no restrictions with regard to the type of controllable processes Slow temperatures filling levels etc as well as fast controlling systems flow speed etc can be controlled CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 365 Controlling 7 1 Ov
354. rs not interconnected to the block static local data Parameters Data type Address Description Value range Default instance DB RES_STS BOOL 32 2 Reset status bits TRUE FALSE FALSE Resets the status bits STS_CMP STS_OFLW STS_UFLW and STS_ZP The SFB must be called twice to reset the status bits CPU 31xC Technological functions 194 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation Output parameters 5 5 Counting Description of Function Parameters Data type Address Description Value range Default instance DB STS_GATE BOOL 12 0 Status of the internal gate TRUE FALSE FALSE STS_STRT BOOL 12 1 Status of the hardware gate Start input TRUE FALSE FALSE STS_LTCH BOOL 12 2 Status of the latch input TRUE FALSE FALSE STS_DO BOOL 12 3 Output status TRUE FALSE FALSE STS_C_DN BOOL 12 4 Status of the down count TRUE FALSE FALSE Always indicates the last count direction After the first SFB call STS_C_DN has the value FALSE STS_C_UP BOOL 12 5 Status of the up count TRUE FALSE FALSE Always indicates the last count direction After the first SFB call STS_C_UP has the value TRUE COUNTVAL DINT 14 Current count value 231 to 231 1 O LATCHVAL DINT 18 Current latch value 231 to 2351 1 O Output parameters not interconnected to the block static local data Paramet
355. run has started The status of WORKING is reset to FALSE after the reference point has been reached SYNC TRUE if executed without error You must reset the direction bit DIR_P or DIR_M before you start the next run If an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRU he precise error cause is then indicated with the STATUS parameter see Section Page 156 Position reached POS_RCD will not be set T lt A DIR_M DIR_P S Ss a WORKING SYNC i V Rapid V Creep gt Distance mi Reference Reference point point switch zero mark What the Operating Mode Affects 132 A possibly existing synchronization is cleared SYNC FALSE at the start of the reference point approach At the positive edge of the reference point zero mark the actual position is set to the value of the reference point coordinate and the feedback signal SYNC is set The working range is determined at the axis All points within the working range maintain their original coordinates but have new physical positions CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 5 Description 4 4 Functions for Positioning with Digital Outputs Relative incremental approach mode In Relative incremental approach mode the drive moves into a specified direction by a relative distance starting at the last t
356. rwriting 3964 R procedure Priority Procedure for frequency measurement Program structure 183 280 Properties of the CPUs Pseudo Full Duplex Mode Point to point communication Pulse Pulse at comparison value 204 Pulse duration 17 Pulse parameter Pulse Width Modulation Pulse Width Modulation Pin assignment Specifications 240 PULSEGEN 384 Pulse width modulation Connecting components 174 Function scope 101 Q Quadruple evaluation CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 R Ratio control 368 RCV_PTP 359 Receive buffer 330 Point to point communication Receiving data ASCII driver Receiving Data 3964 R procedure Reference point 12 Reference point approach Positioning with digital outputs h27 Procedure 131 Reference Point Approach Positioning with Analog Output Procedure Reference point coordinate 87 90 hog Reference point location for reference point switch 37 90 109 111 161 Reference point switch 54 Reference speed Adapting Relative incremental approach Positioning with Analog Output 60 Positioning with digital outputs 133 Request Set reference point 66 RES_RCVB 360 Response message frame Reversing point 43 K 512 CPU requests 340 Partner requests 341 RK 512 computer connection Command frame 330 3 Fetching Data 336 Parameters 2 Point to point communication 330 Response Message Frame 330 332
357. s 4 4 Functions for Positioning with Digital Outputs Output Parameters not Assigned to the Block Static Local Data Parameter Datatype Address Description Value range Default instance DB PARA BOOL 44 0 Axis is configured TRUE FALSE FALSE DIR BOOL 44 1 Current last sense of direction TRUE FALSE FALSE FALSE Forward plus direction TRUE Reverse minus direction CUTOFF BOOL 44 2 Drive in cut off range from cut off TRUE FALSE FALSE position to the start of the next run CHGOVER BOOL 44 3 Drive in changeover range from TRUE FALSE FALSE reaching changeover position to the start of the next run DIST_TO_GO DINT 46 Actual distance to go 5 x 108 to 5 x 0 108pulses LAST_TRG DINT 50 Last actual target 5 x 108 to 5 x 0 8 e Absolute incremental approach 10 pulses At run start LAST_TRG actual absolute target TARGET e Relative incremental approach The distance at run start is the distance specified in LAST_TRG LAST_TRG of the previous run TARGET CPU 31xC Technological functions 124 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 4 3 Description 4 4 Functions for Positioning with Digital Outputs Jog Mode In Jog mode you can run the drive into plus or minus direction A target is not specified Requirements You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA T
358. s Procedure output AO 0 to disabled opens screen with OK Online Help 3 2 3 Basic parameters Interrupt Selection Parameter Parameter Interrupt selection Value range None e Diagnostics Default None Here you can specify whether or not a diagnostic interrupt is to be triqqered The diagnostic interrupt is described in Section CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 onfiguring and Evaluating Diagnostic Interrupts Page 80 31 Positioning with Analog Output 3 2 Parameter configuration 3 2 4 Drive parameters Target Range Parameter Parameter Value range Default Target range 0 to 200 000 000 pulses 50 The CPU rounds up odd values The target range is arranged symmetrically around the target When the value is 0 POS_RCD is not set to TRUE until the target has been overrun or reached to the accuracy of a pulse The target range is limited e tothe rotary axis range of rotary axes e to the working range of linear axes Monitoring Time Parameter Parameters Value range Default Monitoring time e Oto 100000 ms 2000 e 0 No monitoring Rounded up by the CPU in 4 ms steps The CPU uses this monitoring time to monitor e actual value of the position e target approach Actual value and target approach monitoring is switched off when the value is set to 0 Maximum Speed Parameter Parame
359. s Operating Instructions 03 2011 A5E00105484 05 45 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Monitoring functions The parameter assignment screens help you to enable various monitoring functions individually When one of the monitoring functions responds the run is canceled with external error acknowledge with ERR_A Monitoring Description Missing pulse zero When zero mark monitoring is enabled the CPU checks the consistency of the pulse difference mark between two successive zero mark signals If you have configured an encoder whose pulses per revolution cannot be divided by 10 or 16 zero mark monitoring is automatically switched off irrespective of the setting in the parameter assignment screen The minimum pulse width of the zero mark signal is 8 33 us corresponds to the maximum frequency of 60 kHz If you are using an encoder whose zero mark signal is combined with encoder signals A and B using an AND operation the pulse width is reduced by half to 25 of the period This reduces the frequency for missing pulse monitoring to a maximum of 30 kHz Not recognized is e Incorrectly assigned number of increments per encoder revolution e Failure of the zero mark signal Response of the CPU to errors Cancel synchronization cancel the run Traversing range The CPU uses traversing range monitoring to check whether the permitted traversing range of 5 x 108 to 5 x 108 is
360. s Yes full receive buffer e No Use entire buffer You can use the entire receive buffer or specify the number of e Yes Yes received frames you want to buffer Ne If you use the entire buffer of 2 048 bytes the number of buffered received frames depends only on the length of the frames Maximum number of With the setting Do not use entire buffer you can specify the 1 to 10 10 buffered received number of received frames you want to buffer in the receive frames buffer If you assign 1 deactivate the Prevent overwriting parameter and read out received data periodically in the user program a current message frame is always passed to the destination data block Signal Assignment for the X27 RS 422 485 Interface Parameters Description Value range Default Operating mode Specifies whether the X27 RS 422 485 is to be operated in Full Duplex RS 422 or Half Duplex RS 485 mode e Full duplex RS 422 four wire PtP operating mode Operating mode for four wire PtP communication e Full duplex RS 422 four wire operation Multipoint Master Operating mode for connections capable is master e Half Duplex RS 485 two wire operation PtP communication or connections capable of multipoint two wire operation The CPU can be master or slave of multipoint four wire operation if the CPU Full duplex RS 422 four wire PtP communication Full Duplex RS 422 four wire operation Multipoint Master Half duplex RS
361. s direction Zero marks of position encoder Reference point switch point switch Speed VRef p EPET OIE ae Starting position Reference point Distance Positive travel direction Run is executed at reference run speed Vref Run is executed towards the direction you have assigned in the parameter assignment screens with the Reference point location for reference point switch parameter irrespective of the direction specified at the SFB After the reference point switch is exited the speed is switched to zero at the next zero mark of the encoder CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 57 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 5 Reference Point Approach Procedure Prerequisite for Reference Point Approach e Encoder with zero mark or when using an encoder without zero mark a switch for the reference point signal e You have connected the reference point switch connector X2 pin 6 e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE e You have assigned the basic parameters of the SFB as described e No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge e Start is enabled ST_ENBLD TRUE Procedure 1 Assign the following input parame
362. s direction must be greater than the specified cut off difference for the plus direction 35 04H Traversing distance too short The traversing distance into minus direction must be greater than the specified cut off difference for the minus direction 35 05H Traversing distance too short or the limit switch has The last approachable target into plus direction already been overrun in plus direction working range traversing range limits is too close to the actual position 35 06H Traversing distance too short or the limit switch has The last approachable target into minus direction already been overrun in minus direction working range traversing range limits is too close to the actual position CPU 31xC Technological functions 158 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs Error numbers at the SFB Parameter JOB_STAT 4 8 Specifications Event class 64 40H General job execution error Event no Event Remedy 40 01H Axis not configured Configure the Position submodule via HW Config 40 02H Job not possible because positioning is still running Jobs can only be executed if no positioning run is active Wait until WORKING FALSE and then repeat the job 40 04H Unknown job Check the Job ID and repeat the job Event class 65 41H Error when executing the request to set the reference point Event no 41 01H Event Reference point coordinate out
363. s eriden nir s naNO deesbansedeevina deesbuns caves snteeesbanaeeeesanay 3 5 Adapting Param Clers isniis vsnceveescddths Haceraseanderys addled videeees EEE E indlen ender el 3 5 1 Important Satety RUGS ccs ccedetacsenshexpeseeuisaceatexepiaeyensacdevecnagdeeesansoes exknceeesiaaeceve desaeeeanseeasberedteaae 3 5 2 Determining the Module Parameters and Their Effects 3 5 3 Effect of the SFB Parameters setres neern pisces A 3 5 4 Checking the Monitoring Time serisi aaite saaan RA a RE EE S AA beaewcel eneeen a CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 9 Table of contents 10 3 6 Error Handling and Intenmupts i ccc cacti edal eed EEES 3 6 1 Error Messages at the System Function Block SFB 3 6 2 Error Evaluation in the User Program ccececeeceeceeeceeeeecencaeceeeeeeeseneaeaeeeeeeeseseceeaeeeeeeeseeeeeeas 3 6 3 Configuring and Evaluating Diagnostic Interrupts cececeesecce cece eeeeeeeaeeeeeeeeeseeenaeeeeeeeeneee B 3 7 Installation of EXaMmpleS noa aaa a aaa 8 3 8 Specification Siiri ai aaa ddaa aa aa a a ai aaia 8 3 8 1 Incremental CNCODEMS c 0 0 0 20 csstesnn oot seedaactehesennstteceses ted ehecndnesmenrtalasndeaedccssndudechteadstisedessendanes 82 3 8 2 Error Eistean Pes chtectenh i E Eaa a teach eevee ae eee eve 8 3 8 3 Module Parameters of the Parameter Assignment Screen Overview 89 3 8 4 Parameters for Instance DB of the SFB ANALOG SFB44 o oo
364. s errors Otherwise you can assume a malfunction of the partner device 09 09H Only with RK 512 In the partner program Reset the coordination DB DX locked at the partner by coordination flag memory after the last transmission data was processed e In the program Repeat the request 09 0AH Only with RK 512 Check whether the error is the result of a disturbance Errors in message frame header that are detected by Or Partner malfunction Prove this using an interface the partner 3 command byte in the header is wrong test device interconnected in the data link 09 0CH Only with RK 512 Check whether the error is the result of a disturbance Partner detects incorrect message frame length total length or partner malfunction Prove this using an interface test device interconnected in the data link CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 357 Point to point communication 6 10 Specifications Unknown error number received in the response message frame Event class 9 09H Response message frame received from interconnection partner with error or error message frame Event no Event Remedy 09 ODH Only with RK 512 Restart the partner station or set the mode selector Partner was not yet restarted switch to RUN 09 O0EH Only with RK 512 Check whether the error is the result of a disturbance or partner malfunction Prove this using an inte
365. s lower than the old one the length of the period is extended in one cycle because the new low signal is now longer e If you change it when the signal is high and the new output value is greater than the old one the period remains constant With the period you define the length of the output pulse interpulse sequence Period Time base x specified numeric value The period must be at least twice the length of the minimum pulse width When you change the period while the pulse train is output the CPU immediately calculates the new pulse interpulse period and switches the output accordingly This can be used to extend or reduce the length of one period e If you change it when the signal is low and the new period is shorter than the previous one the period generated is shorter than the previous and longer than the new one e If you change it when the signal is low and the new period is longer than the previous one the period generated is longer than the previous but shorter than the new one e If you change it when the signal is high and the new period is shorter than the previous one a single period is generated that is shorter than the previous but longer than the new one e If you change it when the signal is high and the new period is longer than the previous one a single period is generated that is longer than the previous but shorter than the new one CPU 31xC Technological functions Operating Instructions 03 2011 A
366. safety devices If no Emergency Off Switch is installed damage can be caused by connected aggregates Install an Emergency Off switch that enables you to switch off all connected drives Note Direct connection of inductive loads e g relays and contactors is possible without auxiliary circuitry If it is possible to switch off SIMATIC output current circuits via additionally installed auxiliary contacts e g relay contacts you must install additional surge voltage suppression elements across the coils of the inductive loads CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 95 Positioning with digital outputs 4 1 Wiring 4 1 2 Wiring Rules Connecting Cables Shielding e The cables for the analog outputs and the 24 V encoder must be shielded e The cables for the digital I O must be shielded if their length exceeds 100 m e The cable shielding must be terminated on both ends e Flexible cable cross section 0 25 mm to 1 5 mm2 e Cable sleeves are not required Should you still decide to do so use cable sleeves without insulating collar DIN 46228 Shape A short version Shielding termination element You can use this shielding termination element for easy shielded cable to ground connections due to the direct contact of the shielding termination element to the profile rail Additional Information For additional information refer to the CPU Data manual and to th
367. se Direction Pulse direction Rotary transducer e A rotary transducer with single evaluation is single connected Inverted count e Yes e Yes No direction Inverted Direction input signal e No e No Direction input signal is not inverted HW gate e Yes e Yes No Gate control via the SW and HW gates No The max frequency of the HW gate signal is equivalent to the max counting frequency set e No Gate control via SW gate only Characteristics of the output The measured value is compared with the high and low limits The output is switched depending No comparison No comparison e Out of limits on this parameter e Below the low limit e Above the high limit Hardware A hardware interrupt is generated when the e Yes No interrupt HW gate hardware gate opens while the software gate is No opening open Hardware A hardware interrupt is generated when the e Yes No interrupt Closing hardware gate closes while the software gate is e No the HW gate open Hardware A hardware interrupt is generated at the end of e Yes No interrupt End of measurement i No measurement CPU 31xC Technological functions 180 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration Parameters Description Value range Default Hardware A hardware interrupt is genera
368. selection of the configured end criterion and flow control e With one two end character s Not code transparent e End criterion character delay time or fixed character length code transparent e Code transparent operation is not possible with XON XOFF flow control operation Code transparent means that user data can contain any character combinations without recognition of the end criterion The End Criterion Expiration of the Character Delay Time 312 When receiving data the end of the message frame is recognized on expiration of the character delay time The received data are accepted by the CPU In this case the character delay time must be configured to ensure its expiration between two consecutive message frames However it should be of sufficient length to exclude wrong identification of the end of the message frame whenever the communication partner performs a send pause within a message frame CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description Procedure The figure below illustrates a receive operation with the end criterion On expiration of character delay time Wait for character Character arrived g Character received Error occurred while tiiin 2 receiving 3 montong No ZVZ error E B Wait for ZVZ g Reject received charac 5 L 2 Frame co
369. setting not known Cross link the connections Note for RS422 cross link both line pairs f not OK change the default settings all options with an appropriate attempt to establish communication If not OK change the connections back and change the default settings all options Check the security word e g CRC e When you subsequently reassemble the system do not forget to reconnect the terminating resistors you might have removed previously Additional tips e If available interconnect an interface tester if required an RS422 485 gt V 24 converter to the connecting line e Check the signal level with a measuring device measure signal to GND level on pin 8 e Some devices do not signal reception if data is being received but the CRC security word is not correct e If required replace the CPU to exclude an electrical fault CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 305 Point to point communication 6 7 Error Handling and Interrupts 6 7 Error Handling and Interrupts 6 7 1 Error locating and diagnostics Diagnostics Possibilities You can quickly locate pending errors by using the diagnostic functions The following diagnostic options are available e Error Messages at the System Function Block SFB e With RK512 Error IDs in the Response Message Frame e Diagnostic interrupt 6 7 2 Error Messages at the System Function Block SF
370. siemens com WW vie en 12429336 Description of the specific technological functions e Positioning Counting e Point to point connection e Controlling The CD contains examples for the technological functions Manual 7 300 Automation System Module Data Entry ID 8859629 http support automation siemens com WW vie en 8859629 Description of and technical specifications for the following modules e Signal modules e Power supplies e Interface modules List manual 7 300 CPU and ET 200 CPU instruction list Entry ID 31977679 http support automation siemens com WW vie en 31977679 e List of the CPU instruction set and their execution times e List of the executable blocks OBs SFCs SFBs and their execution times CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Preface Additional information You also require information from the following descriptions Title of documentation Getting Started 7 300 Automation System Getting Started CPU 31x Commissioning Entry ID 15390497 http support automation siemens com WW vie en 1539049 Description Description of examples showing the various commissioning phases leading to a functional application Getting Started 7 300 Automation System Getting Started CPU 31xC Commissioning Entry ID 48077635 http support automation siemens com WW vie en 48077
371. signal DEADBAND If DEADB_W 0 the dead band is switched off PI step algorithm The SFB operates without position feedback The action of the PI algorithm and the assumed position feedback signal are calculated in one integrator INT and compared with the remaining P action as a feedback value The difference is applied to a three step element THREE_ST and a pulse generator PULSEOUT that creates the pulses for the actuator The switching frequency of the controller can be reduced by adapting the threshold on of the three step element Error Value Blending A disturbance variable can be fed forward at the DISV input Initialization The SFB CONT_S has an initialization routine that is run through when the input parameter COM_RST TRUE is set All other outputs are set to their default values Error Information A parameter check is carried out via the Parameter Assignment Tool CPU 31xC Technological functions 380 Operating Instructions 03 2011 A5E00105484 05 Controlling 7 5 Description of Functions CONT_S Block Diagram SP_INT a PVPER_ON GAIN PV_IN DEADBAND Oo Ly Sa X CRP_IN PV_NORM 7 1 PV_PER iy DEADB
372. signment screens Inthe Drive Axis and Encoder parameter assignment screens switch on the individual monitoring functions that should trigger a diagnostic interrupt when an error occurs Inthe parameter assignment screen Diagnostics enable diagnostic interrupts for each monitoring facility individually Incorporate the diagnostic interrupt OB OB 82 in your user program Response to an Error with Diagnostic Interrupt 152 Positioning is canceled The CPU operating system calls OB82 in the user program Note If the corresponding OB is not loaded the CPU switches to STOP when an interrupt is triggered The CPU switches on the SF LED The error is reported in the diagnostics buffer of the CPU as incoming An error is not indicated as outgoing until all pending errors are cleared CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 7 Installation of Examples How a Diagnostic Interrupt is Evaluated in the User Program After a diagnostic interrupt is triggered you can evaluate OB 82 to check which diagnostic interrupt is pending e Ifthe module address of the Positioning submodule was entered in OB 82 byte 6 7 OB 82_MDL_ADDR the diagnostic interrupt was triggered by the positioning function of your CPU e Bit 0 of byte 8 in OB 82 bit 0 Faulty module is set as long as any errors are queued e In OB 82 bit 0
373. sing an interface tester interconnected in for DLE or the data link e Acknowledgment characters DLE received too early 07 07H With 3964 R only Partner device faulty or too slow Prove this if Acknowledgment delay exceeded at end of required using an interface tester interconnected in connection or reply monitoring time exceeded after a the data link send message frame After connection release with DLE ETX no response received from partner within acknowledgment delay time 07 08H With ASCII driver only The communication partner has a fault is too slow or Waiting time for XON has expired is switched off line Check the communication partner or if necessary change the parameter assignment 07 09H With 3964 R only Check the interface cable or the transmission Not possible to connect Number of permitted parameters requests to connect exceeded Also check whether the receive function between CPU and CP is configured correctly at the partner device 07 OAH With 3964 R only Check the interface cable or the transmission Data could not be transmitted The permitted number Parameters of attempts to transfer was exceeded 07 OBH With 3964 R only Change the parameter assignment Initialization conflict cannot be resolved because both partners have high priority 07 OCH With 3964 R only Change the parameter assignment Initialization conflict cannot be resolved because both partners have low priority CPU 3
374. ssage frame that contains further data If there is an error number not equal to 0 in the 4th byte the response message frame does not contain any data If more than 128 bytes are requested the extra bytes are automatically fetched in one or more sequential message frame s Note If the FETCH message frame was not received without error by the CPU or if an error has occurred in the message frame header the communication partner enters an error number in byte 4 of the response message frame In the case of protocol errors there will be no entry in the response message frame CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 337 Point to point communication 6 9 Protocol Description Sequential FETCH Message Frame The picture below shows the data transmission sequence when fetching data with a sequential response message frame CPU 31xC Communication partner Continuation FETCH frame Start character 02H STX Connection Pos acknowledgement DLE setup 10H Continuation frame FFH ___ 1 Byte _ 00H 2 Byte Frame FETCH request 45H 3 Byte header Data block 44H 4 Byte End delimiter 10H DLE End delimiter 03H M ETX Connection Only with block check ae BCC termination Pos acknowledgement DLE 10H Continuation response frame Start character 02H STX Connect
375. sturbance variable 100 0 100 0 or phys size 0 0 1 Parameter in the setpoint and actual value operation with the same unit 2 Parameter in the manipulated variable channel with the same unit The table below contains the output parameters of SFB 41 CONT_C CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 377 Controlling 7 5 Description of Functions Parameter LMN Data type REAL Address instance DB 72 Description MANIPULATED VALUE The effective manipulated value is output in floating point format at the manipulated value output Value range Default 0 0 LMN_PER WORD 76 MANIPULATED VALUE PERIPHERY The manipulated value in the I O format is connected to the controller at the manipulated value periphery output W 16 0000 QLMN_HLM BOOL 78 0 HIGH LIMIT OF MANIPULATED VALUE REACHED The manipulated value is always limited to an high and low limit The output high limit of manipulated value reached indicates that the high limit has been exceeded FALSE QLMN_LLM BOOL 78 1 LOW LIMIT OF MANIPULATED VALUE REACHED The manipulated value is always limited to an high and low limit The output low limit of manipulated value reached indicates that the low limit has been exceeded FALSE LMN_P REAL 80 PROPORTIONALITY COMPONENT The proportional component
376. t You enter the submodule I O address you specified in HW Config with LADDR DONE is set to TRUE if the job was closed without errors and ERROR to TRUE if the job was closed with errors STATUS displays the corresponding event number if an error or warning has occurred CPU 31xC Technological functions 292 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions DONE or ERROR STATUS is also output in the event of a RESET of the SFB R TRUE The binary result BIE is reset if an error has occurred If the block ends without error the status of the binary result is TRUE Note The SFB has no parameter check If it is not programmed correctly the CPU might switch to STOP mode You must program a SERVE_RK SFB on your CPU if data are to be fetched from there Parameters Declaration Data type Description Value range Default SYNC_DB IN INT Number of the DB in which the common data CPU specific 0 for the synchronization of the RK SFBs are zero is not stored minimum length is 240 bytes allowed REQ IN BOOL Control parameter Request TRUE FALSE FALSE Activates data exchange at a positive edge R IN BOOL Control parameter Reset TRUE FALSE FALSE Cancels the request LADDR IN WORD Submodule I O address you specified in HW CPU specific 3FF hex Config R_CPU IN INT CPU no of the partner CPU 0 to 4 1 only for multiprocessor mode
377. t Request cancellation due to restart or reset 4 0o 7 0 2 2 2 2 STATUS Reserve Event class 05h Event number Error number 01h CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 351 Point to point communication 6 10 Specitications Event Classes The tables below give you a description of the various event classes and IDs Event class 3 03H Error in the parameter assignment of the SFBs Event no Event Remedy 03 01H Illegal or missing source target data type Check and if required correct the parameters Illegal range start address length Partner supplying invalid parameters in message The DB is not permitted or does not exist e g DB 0 frame header or Check the parameters create a block if required other illegal or missing source target data type See request tables for valid data types Invalid byte or bit number of the interprocessor Partner supplying wrong parameters in message communication frame header 03 03H Access to area denied Check the parameters Refer to the request tables for permitted start addresses and lengths Otherwise the partner supplies the wrong parameters in the message frame header Event class 5 05H Job processing error Event no Event Remedy 05 01H Current request canceled due to cold restart or reset Repeat the
378. t addresses or lengths 06 09H Error in 9th and 10th command bytes illegal Basic header structure error on partner Find out from coordination flag for this data type or bit number too the request tables when a coordination flag is high permitted 06 O0AH Error in the 10th command byte illegal CPU number Basic header structure error on partner Event class 7 07H Send error Event no Event Remedy 07 01H With 3964 R only A repetition is not an error but it can be an indication Send the first repetition of transmission line disturbances or malfunction of ae the partner device If the message frame still has not An error was detected when transmitting the been transmitted after the maximum number of message frame or repetitions an error number is output that describes e The partner requested a repetition by means of a_ the first error that occurred negative acknowledgment code NAK 07 02H With 3964 R only Check for malfunctioning of the partner device Connect error possibly using an interface test device switched into After STX was sent NAK or any other code except Me ranemissionding for DLE or STX was received 07 03H With 3964 R only The partner device is too slow or not ready to e Acknowledgment delay time exceeded receive or for example there is a break in the send g ae E line Check for malfunctioning of the partner device e After STX was sent partner did not respond possibly by using an interface test devi
379. t be established between the axis position and the encoder value The synchronization is carried out by assigning a position value to a known position reference point of the axis Reference Point Switch and Reference Point You require a reference point switch and a reference point at the axis to be able to perform a reference point approach e You require the reference point switch to ensure that the reference signal always has the same reference point zero mark and for changing over to reference point approach speed You can use a BERO switch for example The signal length of the reference point switch must be high enough for the axis to reach reference point approach speed before it moves out of range of the reference point switch e Reference point is the next encoder zero mark after leaving the reference point switch The axis is synchronized at the reference point and the feedback signal SYNC is set to TRUE The reference point is assigned the reference coordinates you have specified via parameter assignment screens A reference point approach must always be started in the direction of the reference point switch Otherwise the axis travels into range limits because it is not synchronized and thus software limit switches do not exist By starting the reference point approach at the reference point switch you always ensure that the axis is starts into the direction of the switch see Example 3 Note For rotary axes Because
380. t off difference in plus direction and CUTOFFDIFF_M Cut off difference in minus direction specify the pulses to go before the drive is switched off at the target approach Take into consideration that this distance varies according to the load on the drive If you select an insufficiently high difference of changeover cut off difference the drive is switched off at a speed higher than the configured creep speed The result is inexact positioning The difference of changeover cut off difference for the respective direction should at least be proportional to the distance the drive actually requires to reach creep speed Here the required traversing speed forms the base Take the load on the drive into consideration CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 5 Adapting Parameters 3 5 4 Checking the Monitoring Time Requirements e Your system is wired correctly e The positioning submodule is configured the parameters have been assigned and the project is loaded e For example you have loaded the sample program Analog 1 Getting Started which is included in the scope of delivery e The CPU is in RUN Checklist Step What to do 4 1 Verify the wiring e Verify that the outputs are connected correctly Analog output and Enable output a CONV_EN for the converter e Verify that the encoder inputs are connected correctly 2 Check the
381. t off range from cut off TRUE FALSE FALSE point to the start of the next run CHGOVER BOOL 54 3 Drive in changeover range after TRUE FALSE FALSE reaching the reversing point up to the start of the next run RAMP_DN BOOL 54 4 Drive is ramped down starting at TRUE FALSE FALSE the braking point up to the reversing point RAMP_UP BOOL 54 5 Drive is ramped up from start to TRUE FALSE FALSE reaching end speed DIST_TO_GO _ DINT 56 Actual distance to go 5 x 108 to 5 x 0 108 pulses LAST_TRG DINT 60 Last actual target 5 x 108 to 5 x 0 108pulses e Absolute incremental approach At run start LAST_TRG actual absolute target TARGET e Relative incremental approach The distance at run start is the distance specified in LAST_TRG LAST_TRG of the previous run TARGET CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 51 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output 3 4 3 Description Requirements Jog Mode In Jog mode you can run the drive into plus or minus direction A target is not specified You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE You have assigned the basic parameters of the SFB as described No external error ERR has occurred You must acknowledge queued external errors with ERR_A positive edge Start is enabled ST_ENBLD TRUE
382. t possible because positioning is still running Jobs can only be executed if no positioning run is active Wait until WORKING FALSE and then repeat the job 40 04H Unknown job Check the Job ID and repeat the job Event class 65 41H Error when executing the request to set the reference point Event no 41 01H Event Reference point coordinate out of working range Remedy With a linear axis the reference point coordinate must not exceed the working range limits 41 02H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual distance to go must still be greater than equal to 5 x 108 41 03H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual distance to go must still be less than equal to 5 x 108 41 04H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual difference to the starting point of the run must still be greater than equal to 5 x 108 41 05H Incorrect reference point coordinate With a linear axis the specified reference point coordinate actual difference to the starting point of the run must still be less than equal to 5 x 108 41 06H Reference point coordinate out of rotary axis range With a rotary axis the reference point coordinate must not be less tha
383. t pulses up Count pulses down e l to to fe Pe P Up Down Wiring diagram of the incremental encoder Siemens 6FX 2001 4 Up 24 V HTL The figure below shows the wiring diagram for the incremental encoder Siemens 6FX 2001 4xxxx Up 24 V HTL 242 CPU Digital input Encoder A IN Chassis ground 1 1 24V iJ Shield on p enclosure Shield on GJ enclosure 12 pin circular connector socket Siemens 6FX 2003 0CE12 Connection side solder side Cable 4 x 2 x 0 5 mm2 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 3 Error Lists Basics 5 10 Specifications In the table below you can find the description of the error IDs for the SFB output JOB_STAT The error ID consists of an event class and number Job Error Event class 01 01H Counting parameter assignment errors in SFB parameters SFB 47 Event ID 01 21H Event text Compare value too low 01 22H Compare value too high 01 31H Hysteresis too narrow 01 32H Hysteresis too wide 01 41H Pulse width too short Pulse width too long 01 51 L Load value too low L 01 52 Load value too high 01 61H Count value too low 01 62H
384. t retriggered if the comparison value is exceeded and reached again during the output of a pulse You can customize the pulse period in the parameter assignment screens and write JOB_ID 10 hex and read JOB_ID 90 hex access them in the user program via the SFB request interface A change of the pulse period during runtime is not applied until the next pulse CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 205 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 11 Effect of Hysteresis on the Counter Modes Description The encoder might stop at a certain position and then dither around this position In this state the count will fluctuate around a particular value For example if a comparison value lies within this fluctuation range the associated output would switch on and off with the rhythm of these fluctuations The CPU is equipped with an assignable hysteresis to prevent this switching in case of small fluctuations You can select a range from 0 through 255 With settings 0 and 1 the hysteresis is disabled The hysteresis also acts on the zero crossing and the overflow underflow You can specify the hysteresis in the parameter assignment screens and write JOB_ID 08 hex or read JOB_ID 88 hex the hysteresis in the user program via the job interface of the SFB Response to Changes An active hysteresis remains active afte
385. ta to your CPU when it is in STOP mode with PLC gt Download to Module The data are now stored in the CPU s system data memory 6 Start the CPU Online Help You can find support in the integrated help of the parameter assignment screens when you configure parameters You have the following option for calling the Integrated Help e Press the F1 key in the respective views e Click on the Help button in the various parameter assignment screens CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 265 Point to point communication 6 3 Parameter configuration 6 3 3 Basic parameters Description Parameter Description Value range Default Interrupt Here you can specify whether or not a e None None selection diagnostic interrupt is to be triggered Diagnostics Reaction to This parameter influences the storing of e Continue Continue CPU Stop received message frames in the receive e STOP buffer The transmission process is canceled in both cases The message frames stored up to this time are maintained in all cases You can find information in closer detail in the following tables The reaction to CPU Stop depends on whether an operation is carried out with or without data flow control Data flow control Reaction to CPU Stop Message frame just New message frames arriving None Continue Saving Saved until the buffer is Discarded if buffer is full then dis
386. taneously the job is executed first Positioning is not executed if the job ends with an error A job initiated while a run is busy will be ended with an error 4 4 8 Deleting the Distance to Go Description After a target run absolute or relative incremental approach the pending distance to go DIST_TO_GO can be deleted with the job Requirements e You have assigned the module parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE e You have assigned the basic parameters of the SFB as described in Section onfiguration of SFB DIGITAL SFB 46 Page 121 e The last job must be finished JOB_DONE TRUE e The last positioning operation must be ended WORKING FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 141 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Procedure 1 Assign the following SFB input parameters accessible via instance DB as specified in the Setting column Parameter Data type Address Description Value range Default Setting instance DB JOB_REQ BOOL 66 0 Job trigger positive TRUE FALSE FALSE TRUE edge JOB_ID INT 68 Job 2 Delete 1 2 0 2 distance to go JOB_VAL DINT 72 None 0 Any 2 Call the SFB Result The output parameters of the SFB accessible via instance DB provide the following information Parameter Data Address Description
387. te represents a logical AND link of the HW and SW gates The status bit STS_EN indicates the status of the internal gate After it is enabled the on delay starts The pulse train is output on expiration of the on delay time This output sequence runs infinitely when the enable signal is set Controlling the gate via SW gate only Pulse width modulation starts stops when the SW gate opens closes Controlling the gate via SW and HW gates e A start of pulse width modulation is only possible if you open the SW gate in a first step and in the second step generate a positive edge at the HW gate input Requirements Action SW gate open HW gate 0 gt 1 e You can only stop pulse width modulation at the negative edge on the SW gate The HW gate can have any state Requirement Action None any HW gate state SW gate 1 gt 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 227 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 6 Setting the Parameters for the Pulse Train Parameters Their Settings and Control Possibilities duration Parameter Configurable in Parameter Controlled via SFB assignment screen Time base Yes Output format yes Output Value Write Period yes Read Write On delay yes Read write Minimum pulse yes Read write Time base Use th
388. ted when the low e Yes No interrupt limit is exceeded No Exceeding the low limit Hardware A hardware interrupt is generated when the high e Yes No interrupt limit is exceeded lt No Exceeding the high limit 5 3 5 Pulse width modulation Description of parameters Parameter Description Value range Default Output format Output format e Permil Per mil e 7 analog value Time base Time base for e 01ms 0 1 ms e On delay e 1 0 ms e Period e Minimum pulse duration On delay Time interval between the start of the output 0 65535 0 sequence and pulse output Period Defines the length of the output sequence in terms e Time base 0 1 ms 20 000 of pulse duration and interpulse period 4 to 65535 e Time base 1 ms 1 to 65535 Minimum pulse Output pulses interpulse periods shorter than the e Time base 0 1 ms 2 duration minimum pulse duration are suppressed 2 to period 2 With a time base of 1 ms and 0 value the minimum tine base 1 ms pulse duration is set internally to 0 2 ms 0 to period 2 HW gate e Yes e Yes No Gate control via SW and HW gates No e No Gate control via SW gate only Filter frequency of HW You can set the filter frequency of the hardware gate gate signal in fixed steps The maximum value is CPU specific CPU 312C 10 5 2 1 kHz 10 kHz CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 30 kHz CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 60 kHz Hardware interrupt HW A hardware interrupt is generated when the e Yes No
389. ten to the receive buffer Always the first received message frame is transmitted to the target block e If you always want to transfer the last received frame to the destination data block you must assign the value 1 for the number of buffered frames and deactivate the overwrite protection Note If continuous reading of received data is interrupted for a certain time in the user program and new received data are requested it might happen that the old message frame is written to the target block prior to the latest message frame Old message frames are the en route frames between the CPU and the partner at the time of the interrupt or the ones already received by the SFB Data Flow Control Handshaking Handshaking controls data flow between two communication partners Handshaking ensures that data are not lost during the communication between devices operating at different speed The CPU supports the software handshake via XON XOFF Data flow control is realized as follows 1 Once it is configured for operation with flow control the CPU transmits the XON character 2 When the declared number of message frames or 50 characters are received before the receive buffer overflows size of the receive buffer 2048 bytes the CPU transmits the XOFF character If the communication partner nonetheless continues to transmit data an error message is generated when the receive buffer overflows Data received in the last message frame ar
390. ter You must calculate the block check character directly in the user program CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication Sending Data The figure below illustrates a send operation Wait for Send request Request processed Send the user data CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Send request arrived Amount n of data to be sent is available in the LEN parameter of the send request 6 9 Protocol Description 311 Point to point communication 6 9 Protocol Description 6 9 1 3 Basics Receiving Data Using the ASCII Driver For data transmission with the ASCII driver you can choose between three different end criteria The end criterion defines the point at which a message frame has been received completely Configurable end criteria are e Expiration of character delay time The message frame has neither a fixed length nor a defined endoftext character the end of the message is defined by a pause on the line expiration of character delay time e Receiving a fixed number of characters The length of the received message frames is always identical e Receiving the end of text character s The end of the message frame is marked by one or two defined endoftext characters Code transparency The code transparency of the procedure depends on the
391. ter and returns to idle mode Otherwise the procedure transmits a DLE character and receives the data If the idle procedure receives any characters except for STX or NAK it waits for the character delay time to expire and then sends the NAK string The error is displayed on the STATUS output of the SFB After the connection is successfully established incoming user data are written to the receive buffer Of two consecutive DLE characters received only one is stored in the receive buffer After every received character the next character is expected to be received within the character delay time If this interval expires before another character is received an NAK is sent to the communication partner The system program reports the error to the SFB RCV_PTP Output parameter STATUS If transmission errors occur during receiving lost character frame error parity error etc the procedure continues to receive data until the connection goes down Then an NAK is sent to the communication partner A retry is then expected If the block can still not be received without error after the number of retries declared in the static parameter record or if a retry is not started by the communication partner within the specified block check time corresponds with the acknowledgment delay time the procedure cancels the receiving operation The CPU reports the first faulty transmission and the final cancellation to the SFB RCV_PTP Output parameter S
392. ters Value range Default Maximum speed 10 to 1 000 000 pulses s 1000 This parameter is used for setting a proportional relationship between the level at the analog output and the speed The maximum speed specified here is proportional to a level of 10 V or 20 mA at the analog output CPU 31xC Technological functions 32 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 2 Parameter configuration Creep Reference Speed Parameter Parameters Value range Default Creep 10 up to the configured maximum speed 100 reference speed The speed is reduced to creep speed when the braking position is reached The speed is reduced to reference point approach speed when the drive reaches the reference point switch Off Delay Parameter Parameters Value range Default Off delay 0 to 100 000 ms 1000 Rounded up by the CPU in 4 ms steps Off delay between the cancellation of a run and disabling of the converter Digital output CONV_EN When controlling a brake via the digital output CONV_EN you can use this delay to ensure that the axis is slow enough to allow the brake to absorb the kinetic energy Maximum Frequency Parameter Position feedback Parameters Value range Default Max frequency Position e 60kHz 60 kHz feedback 30 kHz e 10 kHz e 5kHz e 2kHz e 1kHz You can set the maximum frequency of the position feedback signals
393. ters of the SFB as specified in the Setting column Parameters Data type Address Description Value range Default Setting instance DB DRV_EN BOOL 4 0 Drive enable TRUE FALSE FALSE TRUE DIR_P BOOL 4 2 Reference point TRUE FALSE FALSE DIR_P or approach plus direction DIR M positive edge TRUE DIR_M BOOL 4 3 Reference point TRUE FALSE FALSE approach minus direction positive edge MODE_IN INT 6 Operating mode 3 0 1 3 4 5 1 3 reference point approach 2 Call the SFB CPU 31xC Technological functions 58 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Result The output parameters of the SFB provide the following information Parameters Data type Address Description Value range Default instance DB WORKING BOOL 16 0 Run is busy TRUE FALSE FALSE SYNC BOOL 16 3 SYNC TRUE Axis is synchronized TRUE FALSE FALSE ACT_POS DINT 18 Actual position value 5x 108to 5x O 108pulses MODE_OUT INT 22 Enabled set operating mode 0 1 3 4 5 0 WORKING TRUE is set and SYNC FALSE immediately after the run has started The status of WORKING is reset to FALSE after the reference point has been reached SYNC TRUE if executed without error You must reset the direction bit DIR_P or DIR_M before you start the next run If an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRUE Th
394. tevetaierientancutis eetive tab aa addin ended alee ened dda 3 7 Controlling ssiri sande s Soa ch cin aaa ca ai ce Satna Seta ode dee en ted Ee aden gy edeaeelcah cen caesaelabchepedadeaaweventneletes 7 1 OVSINI OW 2 secenieegd suet epeedeen bested pwede ca odedde enedvin ipwiedet ienedun at npstdes taped lacs decade yeedeiea neeedel nnadivea inenenet 7 1 1 Concept of Integrated Controlling s sieceesiieeeet inter raaua resto eve teeed era erate 7 1 2 BASICS e cretecus acters igdeeiariiedecaweieeas eens eee E 7 2 WITLI Gers ote va ete dete ced ais Anta vote det end eee ddd fd a tents dutta Gia daves hatdhe de naetvad ad ene ade eters 7 2 1 Winnog RUES oases Sess aiekin r tut oc agaalens ri EE E A E ctadtases deaetune 7 3 Parameter CONMQUIAUIOM seanina ad fee eeeetee advo elk ad ae ee eee 7 3 1 Configuring SFBs with Parameter Assignment Screens ceceeeeeeneeeeeeeneeeeeeenaeeeeeenaeeeeeeaas 7 4 Implementing Controlling in the User Program c ccccecccceeeeeeeeeeeeeeeeeeeseieeeeetaeeeeetiaeeeertiaeeeeee CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 13 Table of contents 7 5 Description Of FUNCUONS irasan Ke eas eee ME ae ee aaa 372 7 5 1 Continuous Controlling with SFB 41 CONT_C oo eee ee ene e erent teseneeernneeeeeteeeenas 372 7 5 2 Step Control with SFB 42 GON 0s sesirhiaraiio rica eniieiseatiia ini teisandineceninisdnatiltiudtiodenntinanded 379 7 5 3 Generating Pulses with SFB 43 PULSE
395. th Read the period length 81 hex Read Rise time delay 82 hex Read the minimum 84 hex pulse width JOB_VAL IN DINT 12 Value for write jobs 231 to 231 4 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 255 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Parameters Declaration Data type Address Description Value range Default instance DB STS_EN OUT BOOL 16 0 Enable status TRUE FALSE FALSE STS_STRT OUT BOOL 16 1 Status of the hardware gate TRUE FALSE FALSE Start input STS_DO OUT BOOL 16 2 Output status TRUE FALSE FALSE JOB_DONE OUT BOOL 16 3 New job can be started TRUE FALSE TRUE JOB_ERR OUT BOOL 16 4 Faulty job TRUE FALSE FALSE JOB_STAT OUT WORD 18 Job error number 0 to FFFF hex 0 JOB_OVAL STAT DINT 20 Output value for read jobs 231 to 231 1 0 CPU 31xC Technological functions 256 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 6 1 6 1 1 Basics Overview Product Description You can use the serial interface with PtP communication to exchange data between programmable logic controllers computers or simple devices Communication between the partner devices runs on the basis of serial asynchronous transmission The integrated serial interface of the CPU 313 314C 2 PtP offers communication access via the X27 RS422 4
396. th canceling gate control the count restarts from the load value Valid value range Default value High count limit 2147483647 231 1 Low count limit 2147483648 231 Count value 2147483648 231 to 2147483647 231 1 Load value 2147483647 231 1 to 2147483646 231 2 0 Counter value Stopping type gate control High counting limit a ey ey ie a ee en Oi Overflow 231 1 Load valse Y N h N a fo 0 Bn Pcie ae eee E Sheree fore ef CE Zero crossing Low Underflow counting limit Time 231 Gate start Gate stop Gate start Gate stop automatic automatic CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 187 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Canceling type gate control Count High counting limit 777177777 e a ee po Overflow 231 4 Load value ANETE ETENE AE AEAEE EOE EERE EE ree EEE A S A eee A ee ees Zero crossing EEA Seen eee See eee ee aE ee AEE AE Ea ET Underflow 231 Gate start Gate stop Gate start Gate stop Time automatically automatically e Main count direction up The CPU starts counting at the load value The CPU counts up or down When the counter reaches the end value 1 in the positive direction it jumps to the load value at the next positive counting pulse and the gate is closed automatically To
397. the data are transferred to the communication partner using the selected transmission parameters The partner monitors the time intervals between the incoming characters The interval between two characters must not exceed the character delay time If the communication partner transmits the NAK during a busy session the procedure aborts the block and retries as described above beginning with connection setup If another character is transmitted the procedure first waits for the character delay time to expire and then sends the NAK character to switch the communication partner to idle state The procedure then restarts the send operation by establishing the connection STX CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 321 Point to point communication 6 9 Protocol Description Shutting down when Sending Once the contents of the buffer have been transmitted the procedure appends the DLE ETX characters and only in the case of 3964 R the block checksum BCC as the end code and then waits for an acknowledgment character If the communication partner sends the DLE within the acknowledgment delay time the data block has been received without errors If the communication partner responds with NAK any other code except DLE a corrupted character or if the acknowledgment delay time expires without a response the procedure restarts to send the data via connection setup STX After the configured attem
398. tinuous counting the positive direction up to the assigned end value Down not with 1 It then jumps back to the load value at the next continuous counting positive encoder pulse e Down Restricts the counting range in the down direction Counter starts at the assigned start value or the load value and counts in the negative direction to 1 It then jumps to start value at the next negative encoder pulse End value End value with main count direction up 2 to 2147483647 2147483647 Start value e Start value with main count direction down 231 1 231 1 Gate function e Cancel the counting operation The count restarts at the load value when the gate is closed and restarted e Stop the counting operation The count is stopped when the gate closes and resumed at the last actual count when the gate opens again e Cancel count e Stop count Cancel count Comparison value The count value is compared with the comparison value 0 See also the Characteristics of the Output parameter e No main count direction 231 to 231 1 e Main count direction up 231 to end value 1 e Main count direction down 1 to 231 1 Hysteresis The hysteresis is used to avoid frequent output 0 to 255 0 switching actions if the count value lies within the range of the comparison value 0 and 1 mean Hysteresis switched off Max frequency You can set the maximum frequency of the track Counting signals A pulse track B direc
399. tion Modulation 5 6 Description of the Frequency Measurement Functions 5 6 5 6 1 Basics Description of the Frequency Measurement Functions Frequency Measurement Procedure In this operating mode the CPU counts the incoming pulses during a specified integration time and outputs them as a frequency value You can set a value for the integration time between 10 ms through 10 000 ms in unter via the User Program Page 212 increments of 1 ms You can set the integration time in the parameter assignment screens or ou can read and write them from your user program see Section Controlling the Frequency Counter via the User Program The calculated frequency value is supplied in mHz units You can read out this value in your user program with the SFB parameter MEAS_VAL Bit STS_CMP is set when a new value is available for a description of the SFB parameters refer to Section Controlling the requency Counter via the User Program Page 212 Integration time n ims n 1ms Count pulses Internal gate Start of frequency End of measurement frequency measurement Measuring Procedure Frequency range 210 The measurement is carried out within the specified integration time The measurement value is updated after the integration time has expired If the period of the measured frequency exceeds the assigned integratio
400. tion and hardware gates signals in HW gate fixed steps The maximum value is CPU specific e CPU 312C 10 5 2 1 kHz 10 kHz e CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 30 kHz e CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 60 kHz CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 177 Counting Frequency Measurement and Pulse Duration Modulation 5 3 Parameter configuration Parameters Description Value range Default Max frequency You can set the maximum frequency of the latch signal Latch in fixed steps The maximum value is CPU specific e CPU 312C 10 5 2 1 kHz 10 kHz e CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 10 kHz e CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 10 kHz Signal evaluation e The counting and direction signals are connected to Pulse direction Pulse the input e Rotary encoder single direction e A rotary encoder is connected to the input single Rotary encoder double or quadruple evaluation double e Rotary encoder quadruple HW gate e Yes e Yes No Gate control via SW and HW gates No e No Gate control via SW gate only Inverted count e Yes e Yes No direction Inverted Direction input signal su No e No Direction input signal is not inverted Characteristics of the The output and the Comparator STS_CMP status bit e No comparison No output are set dependent on this paramet
401. tion is only enabled if the hardware and software gates are open The status bit STS_GATE Status internal gate displays this status The software gate configuration is relevant if you have not specifies the use of a hardware gate Count operation is initiated interrupted resumed and canceled via the internal gate In single count mode the internal gate is closed automatically on overflow underflow at the count limits Canceling and Interrupting Gate Functions In your parameter assignment for the gate functions you can specify count canceling or count interrupting operation for the internal gate e When set to count canceling gate operation the count restarts operation at the load value after the gate was closed and restarted e When set to count interrupting gate operation the count is resumed at the last actual count value after the gate was closed CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 201 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function The profiles below show you the response of count canceling and interrupting gate operations Count Canceling type gate function Load value Gate start Gate stop Gate start Time Count Stopping type gate function Load value Gate start Gate stop Gate start Time Controlling the gate via SW gate only In the parameter assignment screens specify in Gate function pa
402. tioning Cancelling the gate function Counting 395 Index Cascade control 367 Changeover difference 43 48 117 4121 Channels of the CPUs number Character delay 269 276 Character delay time 310 312 Character frame Point to point communication Characteristics of the output Checking the Monitoring Time Checklist 75 147 CHGDIFF_M 74 146 CHGDIFF_P Circuit breaker on digital outputs Operating principle Code transparenc 312 Command frame 330 Commissioning the interface hardware Communication Partner Point to point communication Comparator Controlling the output 219 Comparison value 177 ATT Components Counter application heg Point to point connection 2 Configuring Diagnostic moai Point to point communication 307 Connecting cables Controlling 3 Point to point communication 347 Safety Rules Connecting components Counting frequency counting pulse width modulation 174 Connecting the components Positioning 28 Connection retries Connector X1 26 CPU 312C CPU 313C 2 DP PtP 172 Connector X2 CONT_S Continuous control SFB 41 CONT_C Continuous controller Continuous Count Description Control character 3964 R procedure 319 Control mode 32 34 89 160 Select Control modes for drive 104 396 Control System Analysis Controller Continuous controller Switching controller lt Controller Selection 366 Controlling Continuous with SFB 41 372 Integrated controlling 3
403. tly Valid value range 2147483647 231 1 to 2147483646 231 2 Write load value 2147483647 231 1 to 2147483646 231 2 Write comparison value 2147483648 231 to 2147483647 231 1 Write hysteresis 0 to 255 Write pulse duration Only even values allowed Odd values are automatically rounded 0 to 510 ms CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 197 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 198 Count once Count periodically no main count direction Job Write counter directly Valid value range 2147483647 231 1 to 2147483646 231 2 Write load value 2147483647 231 1 to 2147483646 231 2 Write the comparison value 2147483648 23 to 2147483647 231 1 Write the hysteresis 0 to 255 Write pulse duration Only even values allowed Odd values are automatically rounded 0 to 510 ms Count once Count periodically main count direction up Job End value Valid value range up to 2147483646 231 1 Write counter directly 2147483648 231 to end value 2 Write load value 2147483648 231 to end value 2 Write the comparison value 2147483648 231 to end value 1 Write the hysteresis 0 to 255 Write pulse duration Only even values allowed Odd val
404. to property please note the following e Install an Emergency Off switch in the area of the control system This is the only possible way for you to ensure that the system can be safely switched off in case of control system failure e Install Hardware limit switches which affect the drive converters of all drives directly e Make sure that no one has access to system areas in which moving parts exist e Parallel control and monitoring via your program and STEP 7 interface can cause conflicts the effects of which are not clear 4 5 2 Determining the Module Parameters and Their Effects Increments per encoder revolution Control mode Monitoring time The Increments per encoder revolution parameters of the connected incremental encoder are found on its rating plate or in the specifications sheet The technology evaluates the encoder signals in quadruple mode Four pulses represent one encoder increment All distance specifications are referenced to pulse units The parameter Control mode describes the signals of the four digital outputs that control the drive You must specify this parameter according to your physical control circuit circuit breaker A description of the control modes can be found in Section Page T You must select a time of sufficient length in the Monitoring time parameter to ensure that the drive can supersede the startup holding torque of the axis within the specified time This monitoring time is
405. tops data output MAN_DO BOOL 4 1 Enables manual control of the output TRUE FALSE FALSE SET_DO BOOL 4 2 Control output TRUE FALSE FALSE OUTP_VAL INT 6 0 Specifying the output value default 0 to 1000 0 e in per mil 0 to 27648 e as S7 analog value If you specify a value gt 1 000 or 27 648 the CPU limits it to 1 000 or 27 648 Output parameters Parameter Data Type Address Description Range of values Default instance DB STS_EN BOOL 16 0 Enable status TRUE FALSE FALSE STS_STRT BOOL 16 1 Status of the hardware gate start input TRUE FALSE FALSE STS_DO BOOL 16 2 Output status TRUE FALSE FALSE CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 223 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 3 Reading and Writing to the Request Interface for Pulse Width Modulation Description The job interface is available to you for reading and writing the registers Requirements The last job must be finished JOB_DONE TRUE Procedure 1 Assign the following input parameters Parameters Data type Address Description Value range Default instance DB JOB_REQ BOOL 8 Job trigger positive edge TRUE FALSE FALSE JOB_ID WORD 10 Job number 0 e Job without function 00 hex e Write period 01 hex e Write on delay 02 hex e Write minimum pulse duration Oa hex e Read period pi n
406. trigger a diagnostic interrupt in case of a wire break in the serial connection to the communication partner 080DH The diagnostic interrupt is displayed with incoming and outgoing error events In your user program you can immediately respond to errors with the help of a diagnostic interrupt Procedure 1 Enable diagnostic interrupt in the Basic parameters dialog of the parameter assignment screens 2 Incorporate the diagnostic interrupt OB OB 82 in your user program CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 307 Point to point communication 6 7 Error Handling and Interrupts Response to an Error with Diagnostic Interrupt e Current operation is not influenced by the diagnostic interrupt e The CPU operating system calls OB82 in the user program Note If the corresponding OB is not loaded the CPU switches to STOP when an interrupt is triggered e The CPU switches on the SF LED e The error is displayed in the diagnostic buffer of the CPU as incoming and outgoing event How a Diagnostic Interrupt is Evaluated in the User Program After a diagnostic interrupt is triggered you can evaluate OB 82 to check which diagnostic interrupt is pending e Ifthe address of your submodule is written to OB 82 byte 6 7 OB 82_MDL_ADDR the diagnostic interrupt was triggered by the PtP connection of your CPU e Bit 0 of byte 8 in OB 82 bit O Faulty module is set as
407. triggering events e Opening of the HW gate while the SW gate is open e Closing of the HW gate while the SW gate is open e Exceeding the high limit e Exceeding the low limit e End of measurement CPU 31xC Technological functions 220 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 Description of the Pulse Width Modulation Functions 5 7 1 Procedure for Pulse Width Modulation Basics The CPU converts your specified output value OUTP_VAL into a pulse train with a respective pulse pause ratio Pulse width modulation This pulse train is output at the digital output DO output sequence after the specified ON delay has expired Specifications of the Pulse Train Output frequency 0 to 2 5 kHz Minimum pulse width 200 us Pulse pause accuracy Pulse duration x 100 ppm 100 us Accuracy of the ON delay PPM Parts per million 0 to 250 us The accuracy of the pulse pause can only be maintained if a maximum of one other parameter is changed in addition to the modify value during the same pulse width pause If several parameters are modified the pulse width pause may have a one time longer or shorter length than the stated accuracy Output A DO Period e _ i ir E On Pulse duration Interpulse delay period CPU 31xC Technological functions Operating Instructions
408. tware limit switches This monitoring only affects a synchronized axis The coordinates of the software limit switches themselves belong to the working range The run is canceled when the monitoring responds 4 2 6 Encoder Parameters Overview Parameter Value range Default Increments per encoder revolution 1 to 223 pulses 1000 The Increments per encoder revolution parameter specifies the increments per revolution output at the encoder Refer to the description of your encoder for information on values The CPU evaluates the increments four times one increment corresponds to four pulses see Section Incremental encoders Page 154 Count Direction Parameter Parameter Value range Default Count direction e Normal Normal e Inverted Use the Count direction parameter to adapt the direction of path monitoring to the direction of movement of the linear axis Also take the rotary direction of all transmission elements into account for example couplings and gears e Standard incrementing count pulses ascending actual values e Inverted incrementing count pulses descending actual values CPU 31xC Technological functions 112 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 2 Parameter contiguration Missing Pulse Zero Mark Monitoring Parameter Parameter Value range Default Missing pulse zero mark e Yes No monitoring lt No
409. u can also find the description in the STEP 7 Online Help System manual PROFINET system description Entry ID 19292127 http support automation siemens com WW vie en 19292127 Basic information on PROFINET e Network components e Data exchange and communication e PROFINET IO e Component Based Automation e Application example of PROFINET IO and Component Based Automation Programming manual From PROFIBUS DP to PROFINET IO Entry ID 19289930 http support automation siemens com WW vie en 19289930 Guideline for the transition from PROFIBUS DP to PROFINET IO CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Preface Title of documentation Description Manual Description of SIMATIC NET Twisted Pair and Fiber Optic e Industrial Ethernet networks Networks e Network configuration Entry ID 8763736 http support automation siemens com WW vie en 8763736 e Components e Guidelines for setting up networked automation systems in buildings etc Configuring manual Description of the SIMATIC iMap configuration Configure SIMATIC iMap plants software Entry ID 22762190 http support automation siemens com WW vie Jen 22762190 Configuring manual Descriptions and instructions for creating SIMATIC iMap STEP 7 AddOn create PROFINET components with STEP 7 and for PROFINET components using SIMATIC devices in Compone
410. uation SEND frame p gt lt a ___ SEND frame of partner a st Continuation response frame 2nd Continuation SEND frame pp Response frame p lt l __ 2nd Continuation response frame CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 339 Point to point communication 6 9 Protocol Description 6 9 3 4 RK 512 Sequence for Requests RK 512 CPU Requests In the picture below you can find the sequences of RK 512 computer connection with CPU requests CPU requests Basic setting CPU request CPU command frame StartT pe i Wait T gt T ken for Error abort ni response frame Response frame m H received All data are transmitted Other subblocks remain y CPU request complete Send continua tion command StartT pen T gt T pe Or faulty Response frame received Wait for response frame Error cancellation Continuation response frame lt lt M Response frame monitoring time T kea 108 CPU 31xC Technological functions 340 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 9 Protocol Description RK 512 Partner Requests In the picture below you can find the sequences of the RK 512 procedure initialized by partner requests Partner requests initial state Partner command fra
411. uctions 03 2011 A5E00105484 05 37 Positioning with Analog Output 3 2 Parameter configuration Working Range Monitoring Parameter Parameter Value range Default Working range monitoring e Yes Yes only with linear axis e No Here you can specify whether to monitor the working range of the linear axis In this case the actual position value is monitored to check whether it is out of range of the software limit switches This monitoring only affects a synchronized axis The coordinates of the software limit switches themselves belong to the working range The run is canceled when the monitoring responds 3 2 6 Encoder parameters Increments per Encoder Revolution Parameter Parameter Value range Default Increments per encoder revolution 1 to 223 pulses 1000 The Increments per encoder revolution parameter specifies the increments per revolution output at the encoder Refer to the description of your encoder for information on values The CPU evaluates the increments four times one increment corresponds to four pulses see Incremental encoders Page 82 Count Direction Parameter Parameter Value range Default Count direction e Normal Normal e Inverted Use the Count direction parameter to adapt the direction of path monitoring to the direction of movement of the linear axis Also take the rotary direction of all transmission elements into account for exampl
412. ue and target approach monitoring is switched off when the value is set to 0 Actual Value Parameter Parameters Value range Default Actual value monitoring e Yes Yes e No The moving axis must cover a distance of least one pulse in specified direction within the monitoring time Actual value monitoring is switched on at the start of a run It remains active until the cut off position is reached Actual value monitoring is switched off when the monitoring time is set to 0 The run is canceled when the monitoring facility responds The CPU does not detect the failure of a digital input You can enable actual value monitoring for indirect detection of encoder or drive failure Target Approach Monitoring Parameter Parameters Value range Default Target approach monitoring e Yes No e No The axis must reach the target range within the monitoring time after it has reached the cut off position Target approach monitoring is switched off when the monitoring time is set to 0 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 107 Positioning with digital outputs 4 2 Parameter configuration Target Range Monitoring Parameter Parameters Value range Default Target range monitoring e Yes No e No After the target range has been reached the drive is monitored to check whether it remains at the approached target position or drifts off An
413. uency Counter Structure The view displays the various function blocks which are described in the following chapters Hardware gate Pulse Track A Direction Track B Software gate Gate function Pulse evaluation Measured value Frequency Output CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 217 Counting Frequency Measurement and Pulse Duration Modulation 5 6 Description of the Frequency Measurement Functions 5 6 5 Frequency Counter Inputs Pulse A Here you connect the signal to be measured or track A of the encoder You can connect encoders with single evaluation mode Direction B Here you connect the direction signal or track B of the transducer You can specify the inversion of the directional signal in your parameter assignment screen Note The inputs are not monitored for missing pulses Hardware Gate You can use the digital input Hardware gate to control frequency measurements 5 6 6 Gate Function of the Frequency Measurement Basics Two gates are available to you for frequency measurements e A software gate SW Gate that is controlled via the user program You can open the software gate with a positive edge at the SFB parameter SW_GATE Reset this parameter to close it e A hardware gate HW Gate You can assign the hardware gate in the parameter assignment screens The gate opens with a positive edge and closes with a negative edge at th
414. ues are automatically rounded 0 to 510 ms Count once Count periodically main count direction down Job Write counter directly Valid value range 2 to 2147483647 231 1 Write load value 2 to 2147483647 231 1 Write the comparison value 1 to 2147483647 23 1 Write the hysteresis 0 to 255 Write pulse duration Only even values allowed Odd values are automatically rounded 0 to 510 ms CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 7 Counter FBs Structure The view below shows you the various function blocks as described in the following chapters Speed VRapid Vereep Digital output Distance Rapid traverse Cut off point Target range Target Creep speed Distance Cut off difference Directibn sa e Changeover difference Direction WORKING POS_RCD CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 199 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function 5 5 8 Counter Inputs Pulse A Direction B Latch Hardware Gate 200 Here you connect the count signal or track A of the encoder You can connect encoders with single dual or quadruple
415. ule parameters via parameter assignment screens and downloaded them to the CPU PARA TRUE You have assigned the basic parameters of the SFB as described in Section onfiguration of the SFB ANALOG SFB 44 Page 48 You have connected a bounce free switch to the digital input Length measurement connector X2 pin 5 Length measurement is possible with synchronized SYNC TRUE as well as non synchronized SYNC FALSE axis CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Procedure e An edge at the digital input starts length measurement e MSR_DONE is reset at the start of length measurement e MSR_DONE status is set to TRUE at the end of length measurement e The SFB then outputs the following values Start of length measurement BEG_VAL End of length measurement END_VAL Measured length LEN_VAL At the end of one length measurement until the end of the next length measurement the values are available at the block e The output parameters of the SFB BEG_VAL END_VAL LEN_VAL are accessible via instance DB provide following information Parameter Data type Address Description Value range Default instance DB MSR_DONE BOOL 16 2 End of length measurement TRUE FALSE FALSE BEG_VAL DINT 64 Actual position value start of length 5 x 108 to 5 x 0 measurement 108pulses END_VAL DINT
416. ulse width Period Time base 0 1 ms 4 to 65535 Time base 1 ms 1 to 65535 On delay 0 to 65535 0 to 65535 Minimum pulse duration 2 to period 2 0 to period 2 0 0 2 ms CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 7 Description of the Pulse Width Modulation Functions 5 7 7 Reactions of the Pulse Width Modulation Output Introduction This section describes the characteristics of the digital output You can control the output manually or you can use it to output the pulse train Manual Control Set the SFB parameter MAN_DO to switch over to manual control mode You can then control the output with SET_DO Output of the Pulse Train MAN_DO FALSE can be used to output the pulse train 5 7 8 Pulse Width Modulation and Hardware Interrupt Setting a Hardware Interrutpt Enable hardware interrupts in the parameter assignment screens and specify the hardware interrupt triggering events e Opening of the HW gate while the SW gate is closed CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 231 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts 5 8 Error Handling and Interrupts 5 8 1 Error Display Basics Errors are indicated by e Error Messages at the System Function Block SFB e Diagnostic i
417. ulses interpulse periods shorter e Time base 0 1 ms 2 duration than the minimum pulse duration are 2 to period 2 suppressed 7 i Time base 1 ms With a time base of 1 ms and 0 value 0 to period 2 the minimum pulse duration is set internally to 0 2 ms HW gate e Yes e Yes No Gate control via SW and HW gates No e No Gate control via SW gate only Filter frequency CPU 312C 10 5 2 1 kHz 10 kHz HW gate CPU 313C 313C 2 DP PtP 30 10 5 2 1 kHz 30 kHz CPU 314C 2 DP PN DP PtP 60 30 10 5 2 1 kHz 60 kHz Hardware A hardware interrupt is generated when e Yes No interrupt the hardware gate opens while the oN HW gate opening software gate is open F CPU 31xC Technological functions 250 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 5 Instance DBs of the SFBs Parameters of SFB 47 COUNT 5 10 Specifications Parameters Declaration Data type Address Description Value range Default instance DB LADDR IN WORD 0 Submodule I O address CPU specific 300 hex you specified in HW Config If the I O addresses are not equal you must specify the lower one of both CHANNEL IN INT 2 Channel number 0 e CPU 312C 0 1 e CPU 313C 0 2 CPU 313C 2 DP PtP e CPU 314C 2 DP 0 3 PN DP PtP SW_GATE IN BOOL 4 0 Software gate TRUE FALSE FALSE For counter start stop CTRL_DO IN BOOL 4 1 Enab
418. unning e TRUE The request has been completed successfully TRUE FALSE FALSE ERROR OUT BOOL Status parameter Set only for the duration of one call Request completed with errors TRUE FALSE FALSE STATUS OUT WORD Status parameter Set only for the duration of one call In order to display STATUS you should therefore copy STATUS to a free data area STATUS has the following significance depending on the ERROR bit e ERROR FALSE The STATUS value is 0000H Neither warning nor error lt gt 0000H Warning STATUS supplies detailed information e ERROR TRUE Error pending STATUS supplies detailed information about the type of error for error numbers see Section Page 351 0 to FFFF hex 298 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 5 Communication Functions Parameter LEN Declaration IN_OUT Data type INT Description Message frame length number in bytes Set only for the duration of one call Value range 0 to 1024 Default 0 L_TYPE OUT CHAR L_ parameters are set for the duration of one call only Receiving data Type of target area on local CPU capital letters only D Data block D Providing data Type of the source area on local CPU capital letters only D Data block M
419. unt registers Readout of current period not interconnected to the block available only in the instance DB LADDR CHANNEL SW_GATE CTRL_DO SET_DO JOB_REQ JOB_ID JOB_VAL CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 COUNT SFB 47 STS_GATE STS_STRT STS_LTCH STS_DO STS_C_DN STS_C_UP COUNTVAL LATCHVAL JOB_DONE JOB_ERR JOB_STAT 193 Counting Frequency Measurement and Pulse Duration Modulation 5 5 Counting Description of Function Input parameters Parameter Data type Address Description Value range Default instance DB LADDR WORD 0 Submodule I O address you specified in CPU specific 300 hex HW Config If the I O addresses are not equal you must specify the lower one of both CHANNEL INT 2 Channel number 0 CPU 312C 0 1 CPU 313C 0 2 CPU 313C 2 DP PtP CPU 314C 2 DP PN DP PtP 0 3 SW_GATE BOOL 4 0 Software gate TRUE FALSE FALSE For counter start stop CTRL_DO BOOL 4 1 Enable output TRUE FALSE FALSE SET_DO BOOL 4 2 Output control TRUE FALSE FALSE Note If you have set the Characteristics of the output parameter to No comparison via the parameter assignment screen the following applies e The output is switched as a standard output e The SFB input parameters CTRL_DO and SET_DO are ineffective e The status bits STS_DO and STS_CMP status comparator in the IDB remain reset Input paramete
420. us direction TRUE FALSE FALSE DIR_P or positive edge DIR_M DIR_M BOOL 4 3 Run in minus direction TRUE FALSE _ FALSE TRUE positive edge MODE_IN INT 6 Operating mode 0 1 3 4 5 1 4 4 Relative incremental approach TARGET DINT 8 Distance in pulses only 0 to 109 1000 XXXX positive values allowed 2 Call the SFB CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 133 Positioning with digital outputs 4 4 Functions for Positioning with Digital Outputs Result The output parameters of the SFB provide the following information Parameters Data Address Description Value range Default type instance DB WORKING BOOL 14 0 Run is busy TRUE FALSE FALSE POS_RCD BOOL 14 1 Position reached TRUE FALSE FALSE ACT_POS DINT 16 Actual position value 5 x 108 to 5 x 0 108pulses MODE_OUT INT 20 Enabled set operating mode 0 1 3 4 5 0 e WORKING TRUE is set immediately after the run has started WORKING is reset to FALSE at the cut off point POS_RCD TRUE is set when the specified target is reached e You must reset the direction bit DIR_P or DIR_M before you start the next run e f an error occurred when the SFB call was interpreted WORKING FALSE and ERROR is set to TRUE The precise error cause is then indicated with the STATUS parameter see Section Page 156 ST_ENBLD Po l DIR_M DIR_P _ es WORKING ee D POS_RCD V Rap
421. use is then indicated with the STATUS parameter see Section Page 84 f DIR_M DIR_P es ee Sees ae ST_ENBLD WORKING POS_RCD lt set creep Distance CPU 31xC Technological functions 64 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 4 Functions for Positioning with Analog Output Interrupting a Run and Target Range not Reached When a run is interrupted with STOP TRUE and if the cut off range has not been reached distance to go is greater than the cut off difference you have the following options depending on the subsequent operating mode job Option Start of a new Absolute incremental approach Response The axis moves to the specified absolute target Continuing the run into the same direction with Relative incremental approach mode Run parameters will not be interpreted The axis performs the run to the target of the interrupted run LAST_TRG Continuing the run into the reverse direction with Relative incremental approach mode Run parameters will not be interpreted The axis moves to the starting point of the interrupted run Job Delete distance to go The distance to go difference between target and actual value will be deleted The run parameters are interpreted again at th start of a subsequent Relative incremental approach and the axis moves to the current actual position value e CPU 31xC
422. ut off point at a clearly Q visible creep speed If the configured target range is not reached reduce the cut off difference and g repeat the run until the target range is reached If the configured target range is overrun increase the cut off difference and repeat H the run until the target range is not overrun anymore e Now optimize the changeover difference Reduce the changeover difference without changing the cut off difference and repeat the run You can reduce the changeover difference to a point at which the drive just about moves at a hardly visible creep speed that is it has actually reached creep speed at the cut off position and it is switched off there Positioning accuracy remains unchanged as long as the drive is switched off at creep speed A further reduction of the cut off difference does not make sense 5 Check the maximum speed if poor positioning results e In Jogging mode move into plus and minus direction at maximum speed see J module parameters Measure the frequency e g using the counter submodule of the encoder signal A or Bin 1 s Multiply the measured frequency byte 4 and enter the product as maximum speed in the module parameters CPU 31xC Technological functions 76 Operating Instructions 03 2011 A5E00105484 05 Positioning with Analog Output 3 6 Error Handling and Interrupts 3 6 Error Handling and Interrupts 3 6 1 Error Messages at the System Function
423. utput Value Pulse Width Modulation Overflow 477 Overview Controlling 365 Overview of CPUs and functions P Parameter Parameter assignment Direct 303 Indirect 303 Point to point connection 264 Positioning function 29 101 Parameter assignment data 3964 R procedure ASCII driver RK 512 Parameter assignment screens Point to point communication Positioning 30 Parameter configuration 370 Parameter Configuration 102 Parameters Instance DB of the SFB ANALOG 92 Instance DB of the SFB DIGITAL 163 SFB 41 CONT_C 375 SFB 42 CONT_S 382 SFB 43 PULSEGEN 391 SFB 46 DIGITAL 163 SFB 47 COUNT 251 SFB 48 FREQUENC SFB 49 PULSE Parity 267 Period Pulse Width Modulation Period measurement 184 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Index Periodic Count Description 190 Pin assignment 170 Counting frequency measurement pulse width modulation Positioning with digital outputs Point to Point Point to point communication Positioning Design and components 20 Function scope 20 Parameter types 29 Specifications With analog output overview With digital outputs overview Positioning with digital outputs Mode of operation of the circuit breaker hoa Pin assignment 9 Power section Connecting to digital outputs 100 Power section connection Positioning with digital outputs Prevent overwriting 272 Preventing ove
424. v 4 5V R B R A I 6 3 6 Parameter Assignment Data for RK 512 Communication Basics The parameters are identical to those of the 3964 R protocol because 3964 R represents a partial quantity of the RK 512 communication Exception e The number of bits per character with RK 512 communication is set fixed to 8 e There is no receive buffer no parameters for received data You must specify the parameters for the data target or source in the used system function blocks SFBs CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 279 Point to point communication 6 4 Implementing the Connection in the User Program 6 4 Implementing the Connection in the User Program Procedure Calling the SFB Instance DB You control the serial connection with your user program To do this call the system function blocks SFBs The SFBs are found in the Standard library under System Function Blocks The following sections help you to design a user program for your application Call the SFB with a corresponding instance DB Example CALL SFB 60 DB20 All parameters required for the SFB are stored in the instance DB Note In your user program you must always call each SFB type SEND FETCH RCV with the same instance DB because the states required for the internal SFB processes are stored in this instance DB Access to the data in the instance DB is not permitted
425. value or the load value and counts in the negative direction to 1 It then jumps to start value at the next negative encoder pulse End value e End value with main count direction 2 to 2147483647 2147483647 up 231 A 1 231 1 Start value e Start value with main count direction 2 to 2147483647 2147483647 down 231 1 231 1 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 10 Specitications Parameter Description Value range Default Gate function Cancel the counting operation Cancel count Cancel count The count restarts at the load value Stop count when the gate is closed and restarted e Stop the counting operation The count is stopped when the gate closes and resumed at the last actual count when the gate opens again Comparison value The count value is compared with the 0 comparison value See also the parameter Characteristics of the 231 to 231 4 Output PORE 231 to end value 1 e No main count direction 1 to 231 1 e Main count direction up e Main count direction down Hysteresis The hysteresis is used to avoid frequent 0 to 255 0 output switching actions if the count value lies within the range of the comparison value 0 and 1 mean Hysteresis switched off Max frequency CPU 312C 10 5 2 1 kHz 10 kHz Gee signals CPU 313C 313C 2 D
426. via instance DB provide following information Parameter Data type Address Description Value range Default instance DB MSR_DONE_ BOOL 14 2 End of length measurement TRUE FALSE FALSE BEG_VAL DINT 54 Actual position value start of length 5 x 108 to 5 x 0 measurement 108pulses END_VAL DINT 58 Actual position value end of length 5 x 108 to 5 x 0 measurement 108pulses LEN_VAL DINT 62 Measured length 0 to 109 pulses 0 The figure below shows the signal profile for a length measurement of the type Start End of length measurement at the positive negative edge 1st Measurement 2nd Measurement Digital input Length measurement msppone TP BEG_VAL TENVAL S Valse of tstimpasurement DX Values of and measurement Note When referencing during a length measurement the change of the actual value is taken into account as follows Example A length measurement is performed between two points with a distance of 100 pulses When referencing during the length measurement the coordinates are shifted by 20 This results in a measured length of 120 CPU 31xC Technological functions 144 Operating Instructions 03 2011 A5E00105484 05 Positioning with digital outputs 4 5 Adapting Parameters 4 5 Adapting Parameters 4 5 1 Important Safety Rules Important Note Please note the following warning points WARNING Harm to health or damage to assets is to be expected To avoid injury and damage
427. w Bit 3 Channel 2 Comparator has responded Bit 4 Channel 3 HW gate opening Bit 5 Channel 3 HW gate closing Bit 6 Channel 3 Overflow Underflow Bit 7 Channel 3 Comparator has responded OB 40 byte 10 Description Bit 0 Channel 0 Counting edge occurred Bit 1 Channel 0 Bit 2 Channel 0 Bit 3 Channel 0 Bit 4 Channel 1 Counting edge occurred Bit 5 Channel 1 Bit 6 Channel 1 Bit 7 Channel 1 OB 40 byte 11 Description Bit 0 Channel 2 Counting edge occurred Bit 1 Channel 2 Bit 2 Channel 2 Bit 3 Channel 2 Bit 4 Channel 3 Counting edge occurred Bit 5 Channel 3 Bit 6 Channel 3 Bit 7 Channel 3 CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 237 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts 238 Frequency Measurement OB 40 byte 8 Description Bit 0 Channel 0 HW gate opening Bit 1 Channel 0 HW gate closing Bit 2 Channel 0 Violation of the high limit low limit of the frequency Bit 3 Channel 0 End of measurement Bit 4 Channel 1 HW gate opening Bit 5 Channel 1 HW gate closing Bit 6 Channel 1 Violation of the high limit low limit of the frequency Bit 7 Channel 1 End of measurement OB 40 byte 9 Description Bit 0 Channel 2 HW gate opening Bit 1 Channel 2 HW gate closing Bit 2 Channel 2 Violation of the h
428. ware error signal you can trigger a diagnostic interrupt The diagnostic interrupt is displayed with incoming and outgoing error events In your user program you can immediately respond to errors with the help of a diagnostic interrupt Procedure 1 Enable the diagnostic interrupt in the parameter assignment screen Interrupt selection Diagnostics or diagnostics process 2 Incorporate the diagnostic interrupt OB OB 82 in your user program Response to an Error with Diagnostic Interrupt e Current operation is not influenced by the diagnostic interrupt e The CPU operating system calls OB82 in the user program Note If the corresponding OB is not loaded the CPU switches to STOP when an interrupt is triggered e The CPU switches on the SF LED e The error is reported in the diagnostics buffer of the CPU as incoming An error is not indicated as outgoing until all pending errors are cleared CPU 31xC Technological functions 234 Operating Instructions 03 2011 A5E00105484 05 Counting Frequency Measurement and Pulse Duration Modulation 5 8 Error Handling and Interrupts How a Diagnostic Interrupt is Evaluated in the User Program After a diagnostic interrupt is triggered you can evaluate OB 82 to check which diagnostic interrupt is pending e Ifthe address of your submodule is entered in OB 82 byte 6 7 OB 82_MDL_ADDR the diagnostic interrupt was triggered by a counter in your CPU e Bit 0 of byte
429. ware gate Channel 0 Hardware gate Channel 0 Hardware gate 5 DI 0 3 Channel 1 Track A pulse Channel 1 Track A pulse 6 DI 0 4 Channel 1 Track B direction Channel 1 Track B direction 0 do not use 7 DI 0 5 Channel 1 Hardware gate Channel 1 Hardware gate Channel 1 Hardware gate 8 DI 0 6 Channel 2 Track A pulse Channel 2 Track A pulse 9 DI 0 7 Channel 2 Track B direction Channel 2 Track B direction 0 do not use 10 Not connected 11 Not connected 12 DI 1 0 Channel 2 Hardware gate Channel 2 Hardware gate Channel 2 Hardware gate 13 DI 1 1 Channel 3 Track A pulse Channel 3 Track A pulse 14 DI 1 2 Channel 3 Track B direction Channel 3 Track B direction 0 do not use 15 DI 1 3 Channel 3 Hardware gate Channel 3 Hardware gate Channel 3 Hardware gate 16 DI 1 4 Channel 0 Latch 17 DI 1 5 Channel 1 Latch 18 DI 1 6 Channel 2 Latch 19 DI 1 7 Channel 3 Latch 20 1M Ground 21 2L 24 V power supply for the outputs 22 DO 0 0 Channel 0 Output Channel 0 Output Channel 0 Output 23 DO 0 1 Channel 1 Output Channel 1 Output Channel 1 Output 24 DO 0 2 Channel 2 Output Channel 2 Output Channel 2 Output 25 DO 0 3 Channel 3 Output Channel 3 Output Channel 3 Output 26 DO 0 4 27 DO 0 5 28 DO 0 6 29 DO 0 7 30 2M Ground 31 3 L 24 V power supply for the outputs 32 DO 1 0 33 DO 1 1 34 DO 1 2 35 DO 1 3 36 DO 1 4 37 DO 1 5 38 DO 1 6
430. ween setpoint and actual value forms the negative deviation For the suppression of minor continuous oscillation as a result of manipulated variable quantization e g for pulse width modulation with PULSEGEN the error signal is applied to a dead band DEADBAND If DEADB_W 0 the dead band is switched off PID algorithm The PID algorithm operates as a position algorithm The proportional integral INT and derivative DIF actions are connected in parallel and can be activated or deactivated individually This allows P Pl PD and PID controllers to be configured However stand alone I controllers or D controllers are also possible Manual mode It is possible to switch over between manual and automatic mode In the manual mode the manipulated variable is corrected to a manually selected value The integrator INT is set internally to LMN LMN_P DISV and the derivative unit DIF to 0 and matched internally This means that a switchover to the automatic mode does not cause any sudden change in the manipulated value Manipulated value processing The manipulated value can be limited to a selected value using the LMNLIMIT function Signaling bits indicate when a limit is exceeded by the input variable The LMN_NORM function normalizes the output of LMNLIMIT according to the following formula LMN output of LMNLIMIT x LMN_FAC LMN_OFF Default for LMN_FAC is 1 for LMN_OFF it is 0 The manipulated value is also available in perip
431. will require the following male connectors for the connecting cables e At CPU 31xC side 15 pin Sub D male connector with screw interlock e At communication partner s side 15 pin Sub D male connector with screw interlock 2 4 I I l I I Shield l r e I I l l I l Cable type LIYCY 3 x 2 x 0 14 T A T B and R A R B I J twisted pair I 4 Enclosure shield CP 31xC Communication partner i a I D i oe l 1 re i 1 i 1 2 1 1 T A R A 1 1 l m I i l i IDPH l 9 l 1 T B R B I ii i 11 H oe ___ ___p gt ___1 l Transmitter l i l i l l Receiver 4 4 1 IRA TA 1 o l a s lt l a l ot TE i on R B T B 1 I 9 i i i T i Receiver I I ransmitter 8 1 GND GNDI 8 l i i I I I I I l I I I I I l I I I l I l I l 1 To ensure interference free data exchange with line lengths gt 50 m you must solder in a terminating resistance of approx 330Q at the receiver end Note With the used type of cable the following lengths are possible e max 1200 m at 19200 baud e max 500 m at 38400 baud CPU 31xC Technological functions 348 Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications Cable X 27 RS485 CPU 31xC CPU 31xC CP 340 CP 341 CP 440 CP 441 The picture below shows you the cable for RS485 operation between a CPU 31xC and CPU 31xC CP 340 CP 341 CP 440 CP 441 Siemens does not offer
432. with ASCII 300 600 1200 2400 4800 9600 19200 38400 Half Duplex driver Character frame e Bits per character 7 or 8 Only 8 characters with RK 512 e Start stop bits 1 or 2 e Parity no even odd for 7 bits per character only even or odd configuration possible Specifications of the X27 RS 422 485 Interface 342 The table below shows you the specifications of the X27 RS 422 485 interface RS 422 485 Technical specifications Interface RS 422 or RS 485 15 pin Sub D socket RS 422 signals TXD A RXD A TXD B RXD B GND R T A R T B GND RS 485 signals Fully isolated from the S7 internal power supply backplane bus and the auxiliary 24 VDC supply Max transmission distance 1200 m Max transmission rate 38400 kbps CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 10 Specifications 6 10 2 Specifications of the ASCII Driver Overview The table below shows you the specifications of the ASCII Driver ASCII driver Maximum message frame 1024 Byte length Parameters Configurable Transmittion rate 300 600 1200 2400 4800 9600 19200 baud 38400 baud Half Duplex e Character frame 10 11 or 12 bits e Character delay time 1 ms to 65535 ms in 1 ms steps e Flow control None XON KOFF e XON XOFF characters only with Flow control XON XOFF e Wait for XON
433. with simple protocol structures via the ASCII driver with respective protocol adaptation e Other devices also equipped with 3964 R RK 512 Components for PtP Communication Use of the Components 258 The protocols for the serial connection are integrated in the CPU Your communication partner is connected via the serial interface You use a shielded cable for the connecting cable The connecting cables for various communication partners are described in Section Page As communication partners you can connect devices equipped with an RS422 485 interface that support the respective protocol Use the PG PC to e Assign the CPU parameters using the parameter assignment screens for the technological functions of the CPU e Program CPU SFBs which you can integrate directly in your user program e Commission and test the CPU with the help of the standard STEP 7 interface monitoring functions and variable table CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 Point to point communication 6 7 Overview 6 1 4 Properties of the RS422 485 Interface Definition The X27 RS422 485 interface represents a differential voltage interface for serial data transmission in compliance with the X27 standard e In RS422 mode data are transmitted across a four wire serial cable four wire operation Two conductors differential signal are available for the send direction and two for the receive
434. you still decide to do so use cable sleeves without insulating collar DIN 46228 Shape A short version Shielding termination element You can use the Shielding Termination Element to connect all shielded cables directly to ground via the profile rail WARNING Risk of harm to human beings and damage to assets if the voltage is not switched off If you wire the front plug on the live module you run the risk of injury as a result of electrical current Always wire the module off voltage state Additional Information For additional information refer to the CPU Data manual and to the installation instructions for your CPU CPU 31xC Technological functions Operating Instructions 03 2011 A5E00105484 05 369 Controlling 7 3 Parameter configuration 7 3 Parameter configuration 7 3 1 Configuring SFBs with Parameter Assignment Screens Parameter assignment screens You set the default parameters instance DB for SFBs 41 42 and 43 using the parameter assignment screens PID Control These parameter assignment screens are largely self explanatory You can find the description of the parameters in section Continuous Controlling with SFB 41 CONT_C Page 372 and in the integrated help on parameter assignment screens Procedure Requirement The SFB has already been inserted in the S7 program with the instance DB The SFBs are found in the Standard library under System Function Blocks 1

CPU 31xC: Technological functions - Service, Support

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