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SIMATIC S7-300 FM 354 Servo Drive Positioning Module Manual

1. FM Drive unit xi High side switch or RM P relay contact 9 74 p N 10 RM N gt 19 Lt amm 73 M e g SIMODRIVE 611 Actuation of input controller message by low side switch or relay contact 1 RMP d Switch or RM relay contact 10 fo L 19 mm t gt Fig 4 7 Actuation of the input controller message power supply from the control Figure 4 8 shows examples of how to power the standby signal from the drive unit Actuation of input controller message by high side switch or relay contact EM Drive unit H 9 gt BMCP Gum x RM_N 10 o d e 19 L 20 M Actuation of input controller message by low side switch or relay contact X1 RM P RM N 19 7 20 mw M Lp M Actuation of the input controller message power supply from the drive unit Fig 4 8 FM 354 Servo Drive Positioning Module Wiring the FM 354 4 digital outputs outputs have equal priority Switching functions are allocated to an output DO1 4 number by way of machine data These four outputs are intended fo
2. Wiring the front Figure 4 9 shows you how to install the conductors on the front connector connector and how to relieve the strain with the shield connection element SF DC5V 3 DIAG 0 4 4 2 2 3 I3 RM 10 xi Qo 0 2 i i m i AC 19 19 0 20 oot 21 X2 0 M 4V FM 354 Labeling on inside of front F door Digital outputs Shielding terminal element Digital inputs e g touch probe Fig 4 9 Wiring up the front connector Connecting cables Flexible conductor cross sectional area 0 25 1 5 mm Ferrules are not necessary You can use ferrules without insulating collars per DIN 46228 Shape A long configuration You can connect two lines measuring 0 25 0 75 mm in a single ferrule Note To provide optimum immunity to interference shielded cables should be used to connect touch probes or sensors 4 18 FM 354 Servo Drive Positioning Module Wiring the FM 354 Tools required Procedure for wiring the front connector Shielded cables Shielding terminal element A 3 5 mm 13 inches screwdriver or power screwdriver To wire the terminal strip 1 Strip 6 mm 23 inches of insulation from the cable apply ferrules if any 2 Open the front door Move the front connector into position for wiring while pressing down on the locking e
3. Fig 9 6 Overview of position controller FM 354 Servo Drive Positioning Module 9 69 Description of Functions Interpolator The machine data for acceleration MD40 and deceleration MD41 can be used to adapt the transition response of the command variable defined by the interpolator to the transition response of the controlled system VA c gt 1 MD40 MD41 t v speed a acceleration t time MD Designation Value Meaning Unit 40 Acceleration 0 without ramp 1 100 000 10 MSR s 41 Deceleration MSR stands for measurement system raster see Section 5 3 1 Software limit Software limit switches MD21 and MD22 see Section 9 9 are used to limit switches the working area DID Desio Vaticani Software limit switch start 1000 000 000 lt 1 000 000 000 MSR Software limit switch stop see Section 5 3 1 Dependencies FM 354 Servo Drive Positioning Module 9 70 Description of Functions Jolt filter Basic diagnostics in the position control loop Without jolt limitation the acceleration and deceleration act as abrupt vari ables Jolt limitation allows the break points of a ramp like speed curve to be smoothed out for both acceleration and deceleration This yields particularly soft jolt free acceleration and braking for certain positioning tasks such as conveyin
4. 7 3 2 Checking the drive and encoder 7 3 3 Basic startup of the position controller 7 3 4 Optimizing the position 7 3 5 Realigning the reference point coordinates 7 3 6 Activating position controller diagnostics f Activating the software limit switches drift compensation and backlash Human machine interface 8 1 Standard HMI human machine interface for the OP 07 and the OP 17 8 1 1 Standard user interface for the OP 07 8 1 2 Standard user interface for the OP 17 8 2 Analysis of the user DB by the user program for operator control 8 3 Data block for status messages 55 Description of Functions ssseeeeeee I III 9 1 Control checkback 9 1 1 Control signals eens 9 1 2 Checkback signals 9 1 3 General handling information 9 2 Operating modes cece ect n 9 2 1 Jogging Sed Reb ed LA 9 2 2 Open loop control LL 9 2 3 Reference point approach 9 2 4
5. Set Servo enable ON Start axis Plus or minus direction ea Axis idle No Yes Parameterization MD44 Set offset compensation Set Activate machine data Select Voltage level 2 al Start axis Plus or minus direction be sure there is enough room Axis moving No Yes Is servo enable parameter ization correct No Parameterization MD37 Servo enable Yes Set Activate machine data Check and correct drive actuation No Axis travel direction correct Yes Parameterization MD19 Invert analog value Set Activate machine data Y END Fig 7 5 Drive actuation FM 354 Servo Drive Positioning Module 7 13 Starting up the FM 354 Encoder actuation and traversing You can use the following flow chart to check the encoder actuation and tra versing speed speed Select Mode Control Voltage level 2 Set Voltage level 1 Voltage level 2 oo 1 Umax Set Servo enable ON Umax MD43 Start axis Plus or minus direction be sure there is enough room Read actual position Is direction of position change correct No Yes Parameterization MD19 Reverse direction of measurement Set Activat
6. 12 DINT 32 bit value 2 Byte M function 2 Byte M function 3 Lm Sd Note When the assignment bit byte 2 and byte 3 is not set the associated values must be deleted FM 354 Servo Drive Positioning Module 9 26 Description of Functions Handling by the The table below gives you an overview of how to handle this mode g by gives y user Triggering of movement Type of movement Start as defined by MDI block job no 6 MDI block on the fly transmitted Dy Li block onthi to the FM 354 dobno 16 Note Please see also Section 9 1 3 Control actions Preconditions e The FM 354 has been parameterized e The mode has been selected and confirmed Drive enable AF 1 control signal FC MODE WR e Stop STP 0 control signal FC MODE WR e Servo enable RF 1 FC MODE WR job no 10 e Axis is synchronized Table 9 7 Control actions for MDT mode examples Signal name Level Explanation Transfer MDI block job no When the MDI block has been transferred ST can be initi 6 ated Control signal Start ST Checkback signals e g Travel plus FR The axis cancels the SFG and outputs messages BL and Start enable SFG FR Processing in progress BL When the defined position has been reached the axis enables PEH SFG and checkback signals FR and BL are reset e g Travel plus FR Processing i
7. 6 10 FM 354 Servo Drive Positioning Module Programming the FM 354 6 2 2 Controlling operating Overview Control checkback signals are required in order to control the axis in the indi vidual operating modes The operating modes are described in Section 9 2 The control checkback signals and their handling are described in Section 9 1 The user must enter the control signals in the user DB FC MODE WR trans fers the control signals from the user DB to the FM 354 and transfers the checkback signals from the FM 354 to the user DB Checkback signals Single settings in the user DB starting at address 40 and single commands in user DB starting at address 42 are also required in order to control the FM 354 These are transferred by means of write jobs system data Individual settings Individual commands Length measurement Activate machine data Inprocess measurement Delete distance to go Retrigger reference point Automatic block search backward Deactivate enable input Automatic block search forward Deactivate software end position monitoring Restart Follow up mode Undo set actual value Software end position monitoring Automatic drift compensation Servo enable Parking axis Simulation FM 354 Servo Drive Positioning Module 6 11 Programming the FM 354 Troubleshooting Checkback signals BF FS and DF group error messages Error specification in user
8. maa Measurement 2 system port X3 Drive port X2 I O port X1 Bus connector SIMATIC port Front connec tor Display for digital I O modules Fig 1 4 View of the ports and front panel elements 1 8 FM 354 Servo Drive Positioning Module Product Summary Ports A description of the ports is provided in Table 1 3 Table 1 3 Ports Bus connector Back connector to continue the S7 LAN from module to SIMATIC port module Drive port 9 pin male sub D connector X2 to connect the drive unit Measurement system port 15 pin female sub D connector X3 to connect the en coder I O port 20 pin male front connector X1 to connect the load power supply and for digital input and output wiring LED indicators Twelve LEDs are arranged on the front panel of the FM 354 Table 1 4 de scribes these LEDs and what they mean Table 1 4 Status and error displays LED Significance SF red This LED indicates an error condition in the FM 354 Group error see Troubleshooting Chapter 11 5 V DC green This LED indicates that the hardware is ready for operation Logic power supply is ON DIAG yellow This LED indicates the various diagnostic conditions Diagnostics see Troubleshooting Chapter 11 10 13 green Digi These LEDs indicate which input is ON tal inputs QO Q3 green These LEDs indicate which output is ON D
9. 21 MD22 check SERRE NOW Remi stare ie 0 MD21 109 MD22 109 3 13 MD22 MD21 lt UMWEG 0 lt MD21 lt MD9 MD22 MD21 MD14 UMWEG 0 lt MD22 lt MD9 MD21 MD22 MD28 check Permissible velocity 10 lt MD28 MD23 MD29 check MD10 Permissible velocity 3 4 13 14 any not used 0 1 10 lt MD29 lt MD23 MD31 check MD30 MD10 Permissible directional reference of backlash 0 0 0 1 3 4 13 14 1 2 MD34 check Permissible BYTEO MD34 z BYTE1 MD34 z BYTE2 MD34 z BYTE3 MD34 MD35 check Permissible BYTE0 MD35 amp 0x7F BYTE1 MD35 amp 0x7F BYTE2 MD35 amp 0x7F BYTE3 MD35 amp 0x7F FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 5 3 2 Increments DB structure Table 5 6 gives you a general view of the structure of the Increments data block DB SM Table 5 6 DB structure increments Variable type Value Significance of the variables 0 WORD Rack slot Module address 2 WORD DB No 1000 As in DB header wow ie o 8 WORD Error No from FM With MMI services 10 WORD Channel number 2 STRING SM DB identifier type 2 ASCII characters Module identifier FM 354 Version number block number DB structure Measurement system grid per MD7 Unit of measurement Parameter DB backup Job via MMI m vom Tie LLL DWORD Increment 1 36 DWORD 0 109 Increment 2 see Section
10. 1 8 1 3 Overview of module 1 11 Basic Principles of Positioning 2 1 Installing and Removing the FM 354 3 1 3 1 Installing the 854 tatoo rate rada 3 2 3 2 Removing the FM 354 00 ccc ete eens 3 3 3 3 Module replacement 3 4 EE po FM 354 NOR RENT 4 1 Wiring amt FM b ER A eR ha UE Dea 4 2 4 2 Description of the drive interface 4 4 4 3 Connecting the drive 4 6 4 4 Description of the measurement system interface 4 7 4 5 Connecting the encoders 4 11 4 6 Description of the I O interface 4 13 4 7 Wiring up the front connector 4 18 5 Defining Parameters of the FM 354 5 1 5 1 Installing Parameterize FM 354 5 2 5 2 Getting started with Parameterize FM 354 5 3 5 3 Parameter data degeret RI 5 3 1 Machine data 0 cece cece eet n 5 3 2 InCrements sdraio 5 3 3 Tool offset data sec RR er ea dealin Reames 5 3 4 Traversing programs 5 4 Parameterization with Parameterize FM
11. Deo ating FM 354 Servo Drive Positioning Module 9 78 Description of Functions 9 8 Digital inputs outputs Overview Function parame ters Four digital inputs and four digital outputs of the FM 354 can be used specifi cally to a given application The conventions and parameterization for this purpose are defined in the ma chine data MD34 to MD36 The signals are processed in the FM cycle The signal status of the digital inputs and outputs can be recognized by read back job no 101 Table 9 13 shows you the functions assigned to each digital I O Table 9 13 Function parameters for digital I Os MD Designation Data type bit array meaning 34 Digital inputs l0 n D B 0 8 16 24 External start 1 9 17 25 Enable input 2 10 18 26 External block change 3 11 19 27 Set actual value on the fly 4 12 20 28 Measurement inprocess measurement length measurement 5 13 21 29 Reference point switch for reference point approach 6 14 22 30 Reversing switch for reference point approach 35 Digital outputs Q0 QI Q2 Q3 0 8 16 24 Position reached stop 1 9 17 25 Aaxis movement forwards 2 10 18 26 Axis movement backwards 3 11 19 27 2 Change M97 4 12 20 28 Change M98 5 13 21 29 Start enable 7 15 23 31 Direct output 1 see Section 5 3 1 Dependencies 2 Signal length 2 FM cycle Level adjustment MD Designation Value Meaning Comments Input adjustmen
12. Yes gt Start axis Direction as in MD31 pos Zero gauge on machine part to be itioned Start axis Direction opposite to MD31 Read traveled distance on gauge Determine backla Backlash Incremen sh value t measured distance Further testing for checking or to take mean Initial backlash value MD30 0 see Table 7 3 DB increments value 3 e g 100 MSR see Table 7 2 Gauge e g dial gauge or laser gauge Please note Negative backlash values may occur during repeat tests if there is overcompensation V 2 No Further testing at another position to V take mean No Yes Select e Take the mean for all partial Mode jogging resulte Speed level 2 OVER 100 Parameterization Start axis MD30 Add backlash to value in hi effect to date with correct sign Move to new measuring position Yes Check for efficacy of correction V m Set No Acti hi ctivate machine data END Fig 7 15 Determination of backlash and activation of backlash compensation 7 26 FM 354 Servo Drive Positioning Module Human machine interface Summary Operator control and monitoring of FM data signals on the CPU 314 In this chapter you ll find an overview of the operator control and monitoring capabilities offered by the FM 354 For operator control and monitoring of th
13. FALSE Reserved 34 0 6 0 WORD6 WORD W 16 0 Reserved 36 0 8 0 DWORD8 DWORD DW 16 0 Reserved 12 0 END_STRUCT FM 354 Servo Drive Positioning Module 6 27 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso Em lute ag 29916 Dee Variable Data type Initial p address ration value Single functions FC MODE WR job no 10 40 0 stat SINGLE STRUCT Single functions FUNCTIONS GAUG FLY Inprocess measurement 3 pa poses Reserved wma sex rist eme BITO 4 Reserved PARK AX Parking axis SIM ON Simulation on Comments 0 Reserved BITI 1 Reserved MSR Linear measurement REFTRIG Retrigger reference point DI EN Switch off enable input FOLLOWUP Follow up mode SSW DIS SW Switch off SW end position monitoring 17 DRIFTOFF BOOL Switch off automatic drift compensation 2 0 END_STRUCT Single commands FC MODE_WR job no 11 42 0 stat SINGLE _ STRUCT Single commands COMMANDS 42 0 0 0 BITO 0 BOOL Reserved fer per emi eer qms BITO 2 Reserved EE Reserved fe er ema eer BITO 5 Reserved j Reserved fer p r ema ser reni 43 0 1 0 MDATA EN BOOL FALSE Activate MD 43 1 1 1 DEL DIST BOOL FALSE Delete distance to go FM 354 Servo Drive Positioning Module 6 28 Programming the FM 354
14. Checkback signals 28 29 30 31 32 33 The following table describes the control and checkback signals in German and English Table 8 5 Control and checkback signals Control signals BP MODE PA Operating mode parameters RAMETER Velocity levels 1 and 2 Frequency levels 1 and 2 Increment selection 1 100 254 BAoperat MODE Operating mode Jogging 01 Open loop control 02 Reference point approach Incremental relative 04 MDI 06 Automatic 08 Automatic single block 09 ing mode RI i s FM 354 Servo Drive Positioning Module 8 23 Human machine interface Table 8 5 Control and checkback signals continued SA SKIP BLK Enable bit for block skip EFG READ EN Read enable QMF ACK MF Acknowledgment M function BFQ FSQ OT ERR A Acknowledgment operator control and guidance error TFB TEST EN Switchover P BUS port Checkback signals MNR NUM MF M function number BL Program running SFG START EN Start enable BF FS OT_ERR Travel operator error BAR MODE Active operating mode AMF STR_MF Modify M function PBR Program scanning backward PEH POS_ROD Position reached and stopped FR Travel Plus ME MSR_DONE Measurement done SYN synchronized E ms WFG WAIT EN Wait for external enable PARA PARA parameterized 8 24 FM 354 Servo Drive Positioning Module Description of Functions Summary This chapter describes the functions of the FM
15. Fig 9 1 Zero offset The zero offset can be deleted by e Transmitting shift value 0 e Starting Reference Point Approach mode e Set reference point e Eliminating axis synchronization e g by a restart FM 354 Servo Drive Positioning Module 9 44 Description of Functions Rotary axis The following restriction applies to a rotary axis Zero offset Rotary axis range The actual value is normalized Example Range start Range end 0 360 After shift value 50 Actual value 350 SENA Range start Range end 0 360 The start and end of the range are shifted 50 Exceptions Int he Incremental Relative MDI and Automatic modes a zero offset is not possible until the block has been processed position reached pro grammed stop set i e it is not possible when the axis is stationary after execution is interrupted with an abnormal stop FM 354 Servo Drive Positioning Module 9 45 Description of Functions 9 3 5 Set actual value job no 13 Overview You can use this function to assign a new value to the current actual value Function of set ac By transmitting the coordinates the actual value is set to this value when the tual value axis is not in motion after selecting Processing in progress 0 The coor dinates of the software limit switches remain unchanged Example of setting actual value Machine Working range Target posi Working range a
16. 11 2 5 Viewing the diagnostic buffer PG PC 11 3 ij CT 11 3 1 Diagnostic interrupts 0 0 cee II 11 3 2 Error messages in checkback signals A Technical Specifications B EC Declaration of Conformity C List of Abbreviations sseeeeeeeeee enn nnn nnn FM 354 Servo Drive Positioning Module vii Contents Figures 1 1 Multi rack configuration of a SIMATIC 57 300 with FM 354 example 1 2 System overview schematic 1 3 Data storage concept 1 7 1 4 View of the ports and front panel elements 1 8 1 5 Type plate of the FM 354 2 1 Principle of a positioning action 2 2 Setup of servo controlled positioning 2 2 3 1 Replacing the FM 354 with the system switched off 4 1 Wiring diagram of an FM 354 4 2 Position of X2 connector ssriria roras rid ene 4 4 4 3 Connecting a SIMODRIVE 611 A drive 4 4 Location of the 4 4 5 Connecting the encoders sasssa cece eee eens 4 6 L
17. Note If you use the start up user interface to operate the FM 354 when the CPU is in STOP and then switch the CPU to RUN and then immediately switch to the start up interface in your user program by means of the TFB TEST EN signals e g if example application 3 is included in the user program please note the following You must select the mode again from the start up interface or close the start up interface and call it up again FM 354 Servo Drive Positioning Module Starting up the FM 354 You can also call up the following screens The following display appears when you select Test gt Alarms Fig 7 3 Troubleshooting The following display appears when you select Test Service data Service Sei ES 4 4 EE TUI Fig 7 4 Service data FM 354 Servo Drive Positioning Module 7 9 Starting up the FM 354 Checklist When starting up the machine axis it is important to perform the following steps in the indicated sequence Steps 1 to 5 are always necessary the rest are optional depending on your own application Table 7 4 Checklist Startup of machine axis ze Check What to do Page Activation of machine data See Section 7 3 1 7 11 2 Monitoring of drive and encoder switching See Section 7 3 2 7 12 Basic startup of position controller See Section 7 3 3 Optimization of position controller See Section 7 3 4 Activation of position controller diagnostics See Secti
18. Start again with Check drive actuation startup step Yes No Further testing desired Yes Select new OVER 1 200 See Figure 7 5 END Fig 7 9 Positioning FM 354 Servo Drive Positioning Module Starting up the FM 354 7 3 4 Optimizing the position controller Overview In principle the dynamic response of an axis is essentially determined by the dynamic response of the variable speed drive there is not sufficient space to discuss this topic here But this latter dynamic response in turn is influenced by the design characteristics of the machinery such as friction backlash tor sion and the like By feeding back the measured displacement a position controller generally closes the outermost loop of a controller cascade with the following structure Ref position A Motor and Drive Machine Servo controller Speed Current gt Regulator Regulator M Tacho Actual position Encoders Fig 7 10 Position control circuit Procedure 7 18 The following instructions are intended as an aid for practical situations Position controllers must meet a variety of requirements for various techno logical applications Assessment criteria for the quality of the positioning process can include e Good uniformity of traversing movement Little
19. UNKNOWN Read job unknown END_STRUCT is entered by FC INIT_DB m EC me We Wee mes WORD6 W 16 0 Reserved a W 16 0 Reserved som C stat MOD ADR W 16 0 Module address DW 16 0 Channel address data set number 19 0 stat RESERV_2 BYTE B 16 0 Reserved FM 354 Servo Drive Positioning Module 6 25 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso lute ad dress Initial value Relative Decla Variable address ration Data type Comments Control signals FC MODE WR 20 0 stat CONTROL STRUCT Control signals SIGNALS 200 400 40 0 200 400 BITO 0 BOOL FALSE Reserved TEST EN Switchover P bus interface BITO 2 BITO 4 e Reserved me ae mms wer raise nei BITO 7 Reserved ur sur mo SE Re mr na PRM 80x FALSE _ Dieci mim Reserved Acknowledge operator control traversing error Reserved 21 3 13 DIR P BOOL FALSE Direction plus 214 14 _ 21 5 1 5 READ EN 21 6 41 6 SKIP_BLK BOOL BOOL BOOL FALSE FALSE FALSE FALSE Acknowledge M function Enable read in Skip block Drive enable DRV_EN MODE 23 0 3 0 MODE BYTE B 16 0 Mode parameter PARAMETER OVERRIDE 16 0 16 0 Override BYTES 26 0 6 0 BYTE6 BYTE B 16 0 Reserved BYTE 16 0 B
20. 9 3 17 Parameters data job no 114 9 4 System of measurement 9 5 PAS Ty DG cee heer EE EE 9 6 seo e EL 9 6 1 Incremental lt 9 6 2 Absolute encoders SSI 9 6 3 Synchronizing the encoders 9 7 Position controller c xe ANA EAE EAE ERE 9 8 Digital iputs outpuls 222222 oe oder zr 9 8 1 Function description of digital inputs 9 8 2 Function description of digital 9 9 Software limit switches 9 10 Process Interrupts sees ehe e ERI RA ERR ERA ERE 10 Writing Traversing Programs 10 1 Traversing blocks LL 10 2 Program execution and direction of machining 10 3 Block transitions eise be dd bee a pex Be ww AIR 11 Troubleshooting 2 11 1 Error classes and module responses 11 2 Error messages ra dee 11 2 1 Fault indication by LED eh 11 2 2 Diagnostic interrupts iss iiiss cissi siini ioiai aa A III 11 2 8 Error messages in checkback 11 2 4 Message in data
21. 1 000 000 000 1 000 000 000 MSR from Dwell time t 2 100 000 MD7 ms 500 000 000 MSR from MD7 min G function group 1 G04 Dwell time G90 Absolute measure G91 Chain measure G function group 2 G30 10096 G31 10 Override to Acceleration G39 90 Deceleration M function group 1 2 3 M1 17 User functi M19 96 ser functions M99 M97 98 Change signal programmed as digital output M2 M30 Not allowed MSR stands for measurement system raster see Section 5 3 1 For rotary axes with absolute programming the commands are defined as direction commands They must be available before positioning starts FM 354 Servo Drive Positioning Module 9 25 Description of Functions MDI block on the The MDI block currently being processed is canceled when the user program fly outputs an MDI block on the fly job no 16 Transfer of MDI block on the fly interrupts the active MDI block The new block is executed immediately without Start The MDI block on the fly is not saved in the FM 354 Block structure The following table shows the block structure of the MDI block XA Position dwell time programmed fills in value 1 G1 G2 function group 1 2 MI M3 M function group 1 3 F Speed programmed fills in value 2 Byte Data format 76 5 2 Byte OLAGA he e se fa G function 1 G function 2 DINT 32 bit value 1
22. 109 10 MSR Absolute encoder readjustment value absolute encoders only En tered automatically when the reference point of the FM 354 is set Software limit switches inactive Vmax 10 5 108 MSR min Specified maximum axis speed 1 000 MSR 0 Large PEH target range PEH time monitoring switched off 10 000 MSR Zero speed range monitoring set to default value If the zero speed range monitoring error occurs during the start up as described in Section 7 3 please enter the maximum value of 1 000 000 deviating from the default You then define the value required for your true drive axis in Section 7 3 6 Reference point shift incremental encoders only should be entered for numerical readjustment of the reference point 20 of the maximum speed is the recommended initial value 0 0 1096 of the maximum speed is the recommended initial value Backlash compensation inactive Generally applicable position control loop gain 38 1 000 MSR min MSR 39 0 4 4 Following error monitoring inactive 0 41 1 000 1 000 103MSR s Very low acceleration values 2 Jolt filter switched off FM 354 Servo Drive Positioning Module Starting up the FM 354 Table 7 3 Initial contents of machine data continued Umax 1 000 10 000 mV Specified maximum amount of drive setpoint Offset value for drive setpoint 1 This pair of values corresponds to the speed category of t
23. Axis as rotary axis If the axis is operated as a rotary axis the measuring system must be adjusted in such a way that the measurement scale refers to the full circle e g 0 and 360 e Reference measure input G90 In a full circle with 360 reference measure programming G90 has the peculiarity that there are always two options for reaching the set position Option 1 Option 2 Set position 0 Actual position Set position 0 Actual position 315 45 135 180 180 with direction R specified N G1 G2 G3 Xt F M1 M2 M3 D 10 90 315 100 Fig 10 3 Rotary axis Option 1 With G90 the axis autonomously always takes the shortest path to reach the set position of 45 going via 0 to 315 Option 2 The control signals R or R force the respective direction of the axis in this example 45 via 180 to 315 or R must already be pending when positioning is activated START Note The direction R or R must be specified sufficiently in advance A tra versing direction cannot be forced on a traversing block that is already ac tive or on the traversing blocks up to 4 that have already been calculated in advance in G64 operation Operation with option 1 or option 2 is at the user s discretion e Incremental input G91 With incremental programming G91 the direction of rotation of the rotary axis is defined by the sign of the posi
24. Byte Error message Message Bit error analysis and elimination Display 0 1 Internal errors Error response Everything Off as in Table 11 2 Communication disturbance Cause MPI K bus communication fault caused by unknown event Effect Elimina Check connection tion Check programming device CPU Switch module on off Replace module 23 8033 Cause Pronounced noise conditions on the FM 354 Errors in the FM 354 Effect Deactivate entire FM 354 LED indicators SF DIAG Flashing cycle Elimina If this manual is observed the errors should not occur tion However should this still be the case please consult the responsible sales department When doing so it is vitally important to also report the exact circumstances leading to the error Replace the FM 354 Note xxxx value Hexadecimal notation in diagnostic buffer 11 10 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 4 Diagnostic interrupt continued Byte Error message Message Bit error analysis and elimination Display 0 1 Internal errors Error response Everything Off as in Table 11 2 2 4 Internal module power supply failure 8034 Cause e Drastic voltage dip e 354 power supply faulty Effect Deactivate entire FM 354 Elimina Check FM 354 power connection tion If FM 354 power supply defective replace FM 354 3 2 FEPROM errors
25. 16 0 3720 60 B 16 0 B 16 0 BYTE BYTES B 16 0 3750 90 ea BYTE9 BYTE B 16 0 376 0 10 0 BYTE10 BYTE 16 0 6 38 FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso Ded lute ad dal Variable ration dress 377 0 Relative address 11 0 Data type BYTE Initial value 16 0 Comments 378 0 12 0 BYTEII BYTE12 BYTE 16 0 3790 130 BYTEI3 BYTE B 16 0 B 16 0 BYTE14 15 B 16 0 3820 16 0 d BYTE16 BYTE B 16 0 B 16 0 BYTE17 BYTE18 16 0 3850 19 0 19 B 16 0 B 16 0 BYTE22 BYTE23 B 16 0 3880 22 0 BYTE24 BYTE B 16 0 389 0 323 0 BYTE23 BYTE B 16 0 Human machine interface 390 0 USR_CON STRUCT Man machine interface 3900 00 BITC 0 BOOL FALSE Write MD Read MD BITC 1 BITC 2 3903 403 BITC 3 Transfer MDI block BOOL Transfer program selection Transfer Teach In BITC 4 BITC 5 Transfer increment 390 6 40 6 BITC_6 BOOL FALSE Transfer velocity levels Transfer voltage levels BITC 7 BITC 8 BITC 9 Transfer MDI block on the fly Transfer actual value setting BITC 10 Transfer zero offset BITC 11 12 Reserved Reserved BITC 13 Diagnostic interrupt 3916 16 14 BOOL
26. 3 N20 is started at a lower traversing speed at the braking point of N15 4 In a change of traversing direction the axis brakes until it comes to a standstill and waits until the actual value of the encoder has reached the target range 5 When the target range is reached the axis accelerates in the opposite direction up to the traversing speed of the new block To be able to approach a position correctly the axis must calculate the point of deceleration The relevant parameters for this calculation are the residual traversing distance the deceleration value and the current traversing speed The point of deceleration is also the earliest possible time for a block change FM 354 Servo Drive Positioning Module 10 17 Writing Traversing Programs Change block on the fly G64 deceleration 10 18 There are a number of conditions that may delay or prevent a block change on the fly Here a distinction is necessary between the case in which this type of block change is suppressed intentionally and the case in which the se lected function does not permit a block change on the fly e Block change on the fly is suppressed By removing the Enable read in control signal this stops program processing at the end of the current block To continue the program the enable must be re input By output of the M function before or after positioning By M function MO stop at end of block To continue the program
27. Further information on data errors can be found in the parameterization tool in the menu Test gt Alarms and in Section 11 6 7 Programming the FM 354 Example call An example call is shown below for FC MODE WR STL Explanation DB FM JOB WR BUSY Write job busy DB FM JOB WR IMPOSS Write job processing impossible SPB DAWR Jump to call ATO2 U G STUFE SETZEN SPEN STRS L B 16 1 Write job no 1 for velocity level SPA EINT STRS L BH 1640 Only transfer control signals EINT T DB FM JOB WR NO Write job no in user DB DAWR CALL MODE WR FC Write data DB NO W 16 1 RET_VAL FEHLERCODE_SCHREIBEN UN BIE Binary result S FEHLER SCHREIBFKT Error on initialization 6 2 1 Process write jobs Overview 6 8 Before a write job is processed the data area belonging to the write job must be filled with the appropriate values The last write job must have finished processing i e JOB WR NO in the user DB data byte DBBO must have been cleared and status bit JOB WR DONE enabled You initiate a write job by entering the write job no in JOB WR NO The following write jobs JOB WR NO are known Legend for the table below Operating mode STE REF SM MDI A AE Jogging Open loop control Reference point approach Incremental relative MDI Manual Data Input Automatic Automatic single block FM 354 Servo Drive Positioning Module Programming the FM 354 Operating
28. MPI Multipoint interface Servo Encoders IM Interface module 24 V drive SM Signal module Power supply CPU Central processing unit U n Fig 1 1 Multi rack configuration of a SIMATIC 57 300 with FM 354 example ia FM 354 Servo Drive Positioning Module Product Summary Overview of sys A positioning controller using the FM 354 consists of a variety of individual tem components components which are shown in Figure 1 2 DIN rail 611 A Operator panel OP e g OP 05 aooga CIDDODO Your programming device PG Configuration package COO00O Power section e g SIMODRIVE 8 e g touch probe 0 Encoders om mmm NS O EE NEN i SIMODRIVE Motor e g 1FT5 Fig 1 2 System overview schematic FM 354 Servo Drive Positioning Module 1 5 Product Summary Components 1 6 The most important components and their functions are listed in Table 1 2 Table 1 2 Components of a positioning controller Component Function DIN rail the module mounting rack for the 7 300 FM 354 the positioning module It is controlled by the 87 300 CPU CPU executes the user
29. Note The plant configuration sketch shows only the basic measures required for conformity of a typical plant configuration with the 89 336 EEC directive Installation instructions for EMC oriented plant configurations are provided in the product documentation and the Siemens EMC guideline Order No 6ZB5410 0HX01 0A A0 These instructions must be followed especially where the plant configuration differs from the description above B 2 FM 354 Servo Drive Positioning Module EC Declaration of Conformity Appendix to EC Declaration of Conformity No E002 V 21 03 97 C Compliance of the products with the 89 336 EEC directive has been veri fied by tests performed in accordance with the following basic technical specifications and the basic specifications listed therein Basic technical specification EN 50081 2 Status 8 93 Basic specifications EN 55011 1 Basic technical specification EN 50082 2 Status 3 95 Basic specifications Test subject ENV 50140 2 High frequency irradiation ENV 50141 3 HF flow on conductors amplitude modulated ENV 50204 HF flow on conductors pulse modulated EN 61000 4 8 4 Magnetic fields EN 61000 4 2 5 Static discharge EN 61000 4 4 6 High speed transients bursts Specifications also fulfilled cf 1 cf 2 cf 3 cf 4 cf 5 cf 6 FM 354 Servo Drive Positioning Module VDE 0875 Part 11 VDE 0847 Part 3 IEC 801 6 VDE 0847 Part 4 8
30. The following figures show the program structure and program flow of an example of External block change I N G2 G3 Mi M2 M3 D 10 50 10 000 20 V A N10 N20 gt IA t nmm t digital input FM 354 Servo Drive Positioning Module Writing Traversing Programs Notes to the exam The axis travels until a signal change from 0 to 1 takes place at the digital ple of external input This triggers two reactions block change e A block change on the fly and thus immediate processing of block N20 e Storage of the actual position at the time of this signal change to Actual value block change This position is also the starting position for any subsequent chain measure programming Depending on the situation N20 is processed as follows e If the block position in N20 is less than the actual position at the time when the digital input is received reversal of direction the equipment is stopped so that the position can then be approached in the opposite direc tion e fno position is programmed in block N20 movement is braked the functions programmed in N20 are executed and processing then moves on to the next block except if the block contains MO M2 or M30 e Ifthe programmed path in block N20 is less than the deceleration dis tance the programmed position is overshot and then positioned by a re versal of direction If no signal change occurs at the digital
31. 4 1 Wiring the FM 354 4 1 Wiring an FM 354 Summary Figure 4 1 shows how the individual components of the positioning controller with FM 354 are linked together i gt 7 OF er EE EM ss PG CIONODO li 200000 L O00000 200000 SIMATIC 57 300 ISIEMENSI i i Front connector 90000000009 99090999099 External 24 V powe 2 supply CPU MPI connecting cable EBENE a Setpoint cable Dig outputs e g direction of rotation Measuring system cables _ e g incremental encoder with RS 422 Dig inputs e g touch probe e g ROD 320 built in encoder EE ee in 1FT5 motor Drive unit e g SIMODRIVE 611 A e g absolute encoder 551 SIEMENS SIMODRIVE e g linear scale with EXE Fig 4 1 Wiring diagram of an FM 354 FM 354 Servo Drive Positioning Module Wiring the FM
32. 80 BYTES B 16 0 B 16 0 BYTE9 BYTE10 16 0 1370 11 0 BYTEI1 B 16 0 138 0 12 0 BYTE12 16 0 FM 354 Servo Drive Positioning Module 6 31 Programming the FM 354 Table 6 5 User DB for the FM 354 continued iron Relative Data type Initial Comments rus address ration value 139 0 13 0 BYTE13 B 16 0 mo um mms ewm BYTEI6 B 16 0 Dus BYTEI9 B 16 0 ne pmo en mmn iio BYTE22 16 0 E ms fe qme Tessa Digital I Os FC MODE job no 15 RD COM job 101 150 0 DIG IO STRUCT Digital inputs and outputs 1500 00 INO BOOL FALSE Digital input 0 1501 40 1 D INI BOOL FALSE Digital input 1 er soon rats ie D IN3 Digital input 3 es mms muse mes BITO 6 Reserved us pov soon rats paio D OUTI Digital output 1 E Digital output 2 Digital output 3 Reserved Reserved Reserved Reserved TT fesa a MDI block on the fly FC MODE WR job no 16 Dus wmm eme _ hme ue feve eene FM 354 Servo Drive Positioning Module 6 32 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso Em lute ag SANE Decla Variable Data type Initial Comments P address ration value G function group 1 G
33. Errors which the module reports by way of checkback messages In the event of diagnostic interrupt STATUS LEDs light up in addition CPU FM 354 RAM Diagnostic External OB 82 PE interrupt channel er Diag Call SFC 52 La rors lag Write diagnostic interrupt infor E pinar Wins mation callup in user nostic inter i gi pee FC DIAG_RD program P bus rupt informa errors tion OB 1 Other Internal error message errors FC MODE WR SSL e Other er lagnos rors oper FC RD COM tic backup ating er error his rors DB ss 0 User DB Kbus ge MPI i _ Y OP A Z Parameterize FM 354 STEP 7 Info SSL System Status List PG STEP 7 lt SFC System Function DB SS Data block for status messages Fig 11 1 Overview of diagnostics errors FM 354 Servo Drive Positioning Module Troubleshooting Error evaluation by software Chapter over view The following manuals describe how to include diagnostics capable modules in your user program and how to evaluate the diagnostic messages Programming manual System Software for S7 300 400 Program Design OB Types Diagnostic Interrupt OB 82 e Reference man
34. FM 354 Servo Drive Positioning Module 9 75 Description of Functions Backlash compensation Mechanical drive components as a rule have a certain amount of backlash free play Mechanical reversing backlash can be compensated with MD30 In an indi rect measuring system with the encoder on the motor the mechanical back lash is traveled at each change of direction before any axis movement occurs The result is positioning errors HE r Backlash When the position encoder is situated on the machine part to be positioned e g on a saddle direct arrangement backlash adversely affects the achiev able K factor On the other hand if the position encoder is attached to the drive motor indirect arrangement a high K factor can be achieved but at the cost of position deviations that cannot be detected by the position control ler A backlash amount entered in MD30 is applied as a correction by the position controller as a function of the traveling direction at a given moment thus achieving an approximate compensation for backlash in positioning MD31 is used to label the backlash free or accurate measurand traveling direction of the axis If MD31 0 the backlash free direction is the one that matches the direction of axis movement when synchronization is re corded Depending on MD 18 this will correspond to the following associa tion MD18 0 2 4 8 Plus direction is bac
35. FM 354 Servo Drive Positioning Module 5 3 Defining Parameters of the FM 354 5 4 7 By clicking the tabs in this window General Addresses and Basic Pa rameters you can Name the FM 354 Change the address of the FM 354 Configure the interrupts Note Further operation of the FM 354 is not possible with the CPU in the STOP state Click the Parameters button to call up the screen for setting the parameters Overview Fig 5 3 Overview display for parameterization You can return to this display at any point during parameterization by select ing the menu View gt Overview The FM 354 module for servo controlled positioning is parameterized by way of parameter DBs that reside in memory on the module Here a key function is performed by the Machine data data block DB MD since it is always needed regardless of what technological function the module per forms All other parameter DBs are only needed as a function of the technol ogy involved You can now set the parameters of your module This chapter gives you an overview of the parameters that can be set You can use the mouse to change the size of the window for entering the pa rameter data and the size of the overview display FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Integrated help Proceed as follows 1 Position the mouse pointer on the top border of the window so that it changes into an arro
36. Set actual value is not executed Elimina Travel in the opposite direction tion 03 5 05 Target position not within traversing range CBS Cause The position to be approached is outside the working range limited by the software limit switches e The rotary axis programming is specified as a reference value which does not fall within the positive complete circle Effect Elimina Correct position to be approached Alter value of software limit switch MD Disable limit switch monitoring With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches 3 03 23 17 Target velocity zero CBS Cause Zero was entered as programmed velocity e No feed was programmed for positioning Effect Elimina Input an allowable velocity value tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 19 Troubleshooting Table 11 7 Travel errors continued Travel errors 3 03 28 1C Error message error analysis and elimination Error response Feed STOP see Table 11 2 M2 M30 missing Cause e the last program block no M2 M30 or M18 is pro grammed e The last program block is a skip block Effect Elimina Per ca
37. Structure of a positioning circuit Figure 2 2 shows the structure of a position control circuit with the FM 354 EMERG Power grid FM 354 CPU STOP MIHI Fall T S Reference 4 2 position f 3 Power section a Safety e g SIMO device DRIVE 611 A f i Actual PG i position Movement i MH Encoders li B Mechanical transmission A cr E elements Hardware limit Switch IL LLL LL LILLI LL Parameterize 354 Fig 2 2 Setup of servo controlled positioning example FM 354 Power section Motor Mechanical trans mission elements Encoder Peripherals Servo controlled positioning with output of an analog actuating signal for the drive The power section processes the analog actuating signal and delivers the proper electric power to the motor The motor is actuated by the power section and drives the axis These include not only the axis but also gear trains and clutch systems The encoder detects movement of the axis It supplies pulses to the FM 354 The number of pulses is proportional to the distance traversed other additional equipment is covered by the term peripherals Peripherals mainly include Limit switches to limit the posit
38. nated bit of 20 You can deactivate the error messages using the single function parking axis see Section 9 3 2 Table 9 10 Error diagnostics Incremental encoder Diagnosis Cause Error message Cable break monitoring Signals of one track pair A A B B N N The FM 354 responds with a diagnostic do not behave as negations of one another interrupt external channel error see Trou bleshooting Table 11 4 Pulse monitoring Signal track missing If the contents of the missing pulse Actual no of pulses rev MD13 memory exceed a value of 7 a diag nostic interrupt external channel error is output see Troubleshooting Table 11 4 The missing pulse memory is cleared with the control signal Restart Note For encoders with non cyclic zero pulse switch pulse monitoring in MD20 OFF e No signal change to a track pair In Reference Point Approach mode no Effect zero pulse is recorded after leaving the e reference point switch within the path as de fined in MD11 12 Encoder cannot be synchronized Onleaving the reference point switch in Reference Point Approach mode the FM 354 will travel no more than the distance of one encoder revolution MD11 and needs the deceleration distance from the reducing speed Voltage monitoring Encoder power failure Diagnostic interrupt external channel error see Troubleshooting Table 11 4 Warning Hardware monitoring
39. zero pulse right Error field Field for mode specific inputs DAWN Status field e g actual values check back signals Field for input of values settings commands and start stop for movement The abbreviations for the checkback signals are described in Section 6 2 2 i ni A al si M Reference point approach Jaraa VEE KA ZENG GN Fig 7 2 Startup interface e g for Reference point approach mode FM 354 Servo Drive Positioning Module 7 7 Starting up the FM 354 7 8 Note To start a movement we recommend the following input sequence e Select a mode Turn simulation on if you want an operating case e Servo enable e Enable axis e Override 1 100 You can operate the and buttons in the jogging mode as fol lows 1 Select or R with the mouse 2 Press the space bar You can operate Start and Stop with the mouse or with the space bar if you have already selected the button The digital outputs are not set in the Stop status of the CPU When you operate the following buttons you will get dialog windows e Set actual value e set actual value on the fly set reference point zero offset Warning If you move the axis directly without simulation for safety s sake make sure you can switch off the hardware if a hazard arises
40. 16 0 Application data 2 1780 420 CODE_AP3 BYTE B 16 0 Application data 3 16 0 Application data 4 CODE AP4 BYTE END STRUCT Teach In FC MODE WR job no 19 Teach In 180 0 stat TEACH IN STRUCT 180 0 0 0 PROG NO BYTE 16 0 Program number 181 0 10 BLCK NO BYTE B 16 0 Block number FC MODE job 22 182 0 SRV IN STRUCT Reserved 182 0 40 0 SRV INI DINT L 0 1860 40 SRV IN2 DINT L 0 SRV_IN3 SRV_IN4 basic operating data FC RD_COM job no 102 198 0 OP_DAT STRUCT Basic operating data 198 0 0 0 DW 16 0 ACT_VAL DINT L 0 Actual position Actual speed SPEED REM_DIST L 0 Distance to go Setpoint 218 0 20 0 222 0 24 0 226 0 28 0 32 0 Active NC block FC RD COM job no 103 SET POS SUM OFST mecs pom DW 16 0 Total of active coordinate shifts for tool offset zero off set Speed DWORD24 DINT L 0 Reserved DWORD28 DINT L 0 Reserved 230 0 ACT_BLCK STRUCT Active NC block 230 0 00 PROG_NO BYTE 6 34 16 0 Program number FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 5 User DB for the FM 354 continued mar Relative Data type Initial Comments address ration value 231 0 1 0 BLCK NO BYTE B 16 0 Block number 232 0 2 0 ee BOOL FALSE G function group 1 3 EN G function group 3 Par soo Past mede _
41. 5 05 38 26 39 27 40 28 41 29 42 2A 43 2B 44 2C 45 2D Output time M function Cause Unacceptable value range Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Digital inputs Cause Inputs undefined or defined more than once Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Digital outputs Cause Outputs undefined or defined more than once Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Input adapter Cause Input adapter undefined Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Positioning circuit amplification Minimum following error dynamic Speed up Slow down Jerk time Set voltage max Offset compensation Voltage ramp Cause Unacceptable value range Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 30 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued ili Machine data errors 5 05 96 60 E
42. 8042 Cause Memory for firmware code faulty Effect Elimina Replace the FM 354 tion 3 3 RAM errors 8043 Cause e Faulty RAM data memory Faulty flash EPROM data memory Effect Elimina Replace the FM 354 on 3 6 Process interrupt lost 8046 Cause A process interrupt event was detected by the FM 354 and cannot be reported because the same event has not yet been acknowledged by the user program CPU Faults on backplane bus Effect Elimina Incorporate 40 into user program Check bus connection of the module Deactivate using MDS process interrupt Switch module on off Error response Everything Off as in Table 11 2 Module not parameterized 8006 No MPI parameterization data received from the CPU Effect MPI interface is initialized with default values MPI address 12 Elimina Check parameterization see S7 300 description tion Note xxxx value Hexadecimal notation in diagnostic buffer FM 354 Servo Drive Positioning Module 11 11 Troubleshooting Table 11 4 Diagnostic interrupt continued Byte Error message Message Bit error analysis and elimination Display 0 2 0 3 External channel errors Error response Everything Off as in Table 11 2 8 0 Cable break incremental encoder SF 8020 Cause Measurement system cable not plugged in or sheared off Du Encoder without internode signals Incorrec
43. 9 09 Program selection block number missing CBS Cause The block number is missing in the program selected or Effect Program selection is not executed DE Elimina Correct program tion Select different block number Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 81 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued Error message Message Cl No P Mem error analysis and elimination Display Traversing program errors Error response Warning see Table 11 2 8 08 10 0A Program block number unacceptable Cause Block number missing or outside of the number range Effect Program is not stored Elimina Correct program tion 8 08 11 0B Program selection direction specification incorrect Cause Direction specification incorrect Effect Program selection is not executed Elimina Correct program selection and repeat 8 08 12 0 Program selection unacceptable Cause Another program was preselected during a movement Effect Program selection is not executed Elimina Use STOP to stop program in progress or repeat program selection tion at end of program 8 08 20 14 Error program number Cause Program numbers in the blocks incorrect Effect Prog
44. Communication error NWE NOP 0 Indicate error in Read function FM 354 Servo Drive Positioning Module 6 23 Programming the FM 354 Example call An example call is shown below in OB 40 in OB 40 STL Explanation S MW LESEN Set job CALL MSRMENT Call FC for reading measured values DB NO WH16 1 DB number RET VAL FEHLERCODE LESEN Return value IN MSR MW LESEN Initiation parameter UN BIE Binary result S FEHLER LESEFKT Display error on read function Note The activation of measurement and the generation of the measured values is described in Section 9 3 10 FM 354 Servo Drive Positioning Module 6 24 Programming the FM 354 6 6 User data block Overview The following table provides you with a description of the user data block structure Table 6 5 User DB for the FM 354 Abso 5 aie inte ad 19848 Decla Variable Data type Initial Comments dress address ration value Job box for FC MODE_WR JOB_WR STRUCT Write jobs spero pes II BUSY Write job busy Write job finished CERN EEN ress rus e 13 413 UNKNOWN BOOL FALSE Write job unknown 14 14 4 BOOL FALSE Reserved 5 Reserved MODE BUSY Start an operating mode CO EI POS_REACHED BOOL FALSE _ Position reached END_STRUCT Job box for FC RD_COM B 16 0 Read job number FALSE Read job busy DONE Read job finished IMPOSS Read job impossible
45. Operation in progress 0 without interrupting the servo cycle SYN is retained e data has also been modified in the machine data record since the last activation activation takes place with module status Operation in prog ress 0 by way of a cold restart of the servo just as occurs for a pow er up of the module The instantaneous actual position is still displayed but encoder pulses from incremental encoders might go unrecorded SYN is reset e Ifthe machine data record contains erroneous data at activation time the function is rejected with the Machine data cannot be activated error message see Table 11 5 Class 2 No 21 FM 354 Servo Drive Positioning Module 7 11 Starting up the FM 354 7 3 2 Checking the drive and encoder circuits Overview The following startup action allows you to monitor the proper actuation of the drive unit and the encoder Note Always be sure to put MD modifications into effect with Activate machine data N Caution Before triggering any traversing movement be sure to check that there is enough space for the axis to move in the desired direction Drive actuation You can use the following flow chart to check the actuation of the drive 7 12 FM 354 Servo Drive Positioning Module Starting up the FM 354 Select Mode Control Set Voltage level 1 0 Voltage level 2 0 1 Umax Select Voltage level 1
46. Possible errors are e Unknown read job see JOB RD UNKNOWN e Data transfer error during communication with SFC 59 REC The error is returned in the output parameter RET VAL see reference manual System Software for S7 300 400 System and Standard Functions 6 16 FM 354 Servo Drive Positioning Module Programming the FM 354 Example call An example call is shown below for FC RD COM STL Explanation DB FM JOB RD BUSY Read job busy DB FM JOB RD IMPOSS Read job processing impossible SPB DARD dump to call L 16 66 Read job 102 for basic operating data T DB FM JOB RD NO Store in job box DARD CALL RD COM Call read data FC DB NO WH16 1 DB number RET VAL FEHLERCODE LESEN Return value UN BIE Binary result S FEHLER LESEFKT Error on initialization 6 4 Reading diagnostic information Overview FC DIAG RD FC 4 and FC DIAG INF FC 6 are used to read the diag nostic interrupt information in the user DB FC 4 and FC 6 are intended as alternatives which you can use according to your needs 6 4 1 FC DIAG RD FC 4 Read diagnostic interrupt data in OB 82 Task You are only allowed to call FC DIAG_RD in interrupt OB 82 Can only be used with appropriate 57 300 CPU versions see compatibility list in Table 1 1 FM 354 Servo Drive Positioning Module 6 17 Programming the FM 354 Call options Description of parameters Principle of operation Err
47. Travel Minus is actuated at the start of the accel eration phase and remains active until the axis comes to a standstill or the POS ROD target area has been reached FM 354 Servo Drive Positioning Module 9 7 Description of Functions Table 9 2 Checkback signals continued Symbol Significance Function FAVEL FIWS Set actual Set Actual value on the fly is executed value on the The signal is reset when Set actual value on the fly is activated see fly complete Section 9 3 6 NUM_MF MNR M function M command 0 99 number STR MF Change M is indicated simultaneously with the M function number function e IfM functions are programmed in a traversing block their output is signaled by setting Change M function Change M function remains pending until the specified time has expired for time controlled M functions the user has acknowledged for acknowledgment controlled M functions PEH Position When the preset target position is reached correctly PEH is actu reached Stop ated and remains in effect until the next axis movement PER Target position reached correctly means that during approach of the actual value to target position a defined tolerance PEH toler ance must not be exceeded during a defined time PEH time watch dog If this is not the case an error is signaled and positioning is interrupted e is actuated only in the following modes an
48. Troubleshooting Meldung der Feh If a specific error analysis is called for in the user program then the error lernummer numbers can be read out by calling up the corresponding system function SFC 59 see Reference Manual Standard and System Functions see also Section 6 7 user example 2 Data records e DS162 operator and travel errors e DS 163 general data errors machine data errors and traversing program errors e DSI64 operator control errors 163 The errors are identified in DS 162 through 164 by the detail event class DEKL and by the detail event number DENR In the case of operating errors within the error class external channel errors the message is displayed using the bit combination 0 0 0 2 0 3 8 7 as a diagnostic interrupt see Section 6 4 and additionally as DEKL and DENR Error technology class DEKL DENR Message Operating error n Diagnostic interrupt Operator control errors l n Checkback signals Travel errors Checkback signals Data error n Checkback signals Machine data errors 5 l n Data block Traversing program errors 8 T n FM 354 Servo Drive Positioning Module Troubleshooting 11 2 4 Message in data block Overview Please note the following for direct access to DBs e g using an OP If data errors machine data errors traversing program errors are detected when the parameters are written to the data block e g in the
49. 3 3 Module replacement Overview Replacing an FM 354 If a defective FM 354 has to be replaced and no programming device PC is available for parameterization or the module is to be replaced while the sys tem is switched on please note the following start up requirements CPU FM e An SDB 1000 should be generated in order to complete the startup for storing the parameter data see Section 5 5 nthe user program Interrupt communication with the FM 354 before removing the old FM and resume communication after installing the new FM If data parameters are modified during operation and stored modally on the FM please follow the instructions in Section 9 3 1 To replace a parameterized but defective 354 1 Replace the FM 354 when the system is switched off CPU FM Remove the FM 354 See Sec 3 2 Y Install the FM 354 see Sec 3 1 y Switch on the system Y S Appropriate SDB 1 000 in No CPU 354 Reparameterization of FM meterized PG PC required automatically FM 354 ready p 1 How to create an SDB gt 1 000 after startup and how to load it in the CPU is described in Section 5 5 Fig 3 1 Replacing the FM 354 with the system switched off FM 354 Servo Drive Positioning Module Wiring the FM 354 Safety rules Further references Standards and specification
50. 6 5 FC MSRMENT FC 5 Read measured values Task You use FC MSRMENT to read the measured values into the user DB start ing at address 60 You can call FC MSRMENT in OB 40 if the process in terrupt was activated see Section 5 2 or in OB 1 You are not allowed to call FC 5 simultaneously in both OBs 5 can only be used in OB 40 with the appropriate 57 300 CPU versions see compatibility list in Table 1 1 Centralized use Distributed use under development Called either in interrupt OB 40 un Call in interrupt OB 40 not possible since data der development or in the OB 1 con transfer from the DP distributed I O is not text synchronous hence call in the OB 1 context Call options Call in LAD notation Call in STL notation ladder diagram statement list FC MSRMENT CALL MSRMENT EN ENO DB NO DB NO RET VAL RET VAL IN MSR Description of The following table describes the parameters of FC MSRMENT parameters DB NO I Data block number RET VAL INT Q Return code of SFC 59 RD REC IN MSR BOOL Lo Start Read process Parameter types I input parameter output parameter I Q in out parameter initiation parameter FM 354 Servo Drive Positioning Module 6 22 Programming the FM 354 Principle of This function works together with a user DB The DB number is passed when operation you call the FC with the DB NO parameter Reading of the
51. 9 10 Start Edge Start 0 1 according to program presetting Start Edge Start 0 1 FM 354 Servo Drive Positioning Module Description of Functions Stat pending start Processing in progress remains active after the end of machining and there condition is no start enable as long as the start condition is not reset Switching edge e g R Start according to mode Processing in progress TL Start enable ae Axis movement with preset path Preset path executed The following table lists the control signals used to interrupt terminate a movement Mode Interrupt movement Continue movement Interrupt Jogging mode 01 Stop lor Enable input 0 Stop 0 or Enable input 1 end movement Stop R or R with Level 0 or mode change Drive enable 02 Control mode 02 Stop lor Enable input 0 Stop 0 or Enable input 1 R or R with Level 0 or mode change Drive enable 02 Reference point ap proach mode 03 Incremental relative mode 04 MDI mode 06 Stop 1 or Enable input Stop 1 Enable input Stop 0 or Enable input 1 with R or R Stop 0 or Enable input 1 with Start 0 1 Stop 0 1 or ref received or mode change or enable input 0 Drive enable 02 Position reached or mode change Drive enable 0 Position reached or block process
52. D lt No gt tool offset number L lt No gt P No for NC programming see Chapter 10 You must enter the block number N first and in ascending order The rest of the inputs may be in any desired sequence Input separators as a blank You must enter characters in upper case letters You can also use the input area at the top of the screen The program number and the program name are saved when you exit the input box You can save the traversing blocks with the Save Block button FM 354 Servo Drive Positioning Module 5 21 Defining Parameters of the FM 354 5 4 Parameterization with Parameterize FM 354 Entering the val You have a variety of options for entering your parameterization data ues 1 User data You can input values or select texts in a table Select input fields with the cursor and enter the values You can select the associated texts for the values with the space key 2 Machine data The values are entered in dialog boxes and windows selected by option tabs To display the machine data in a table select the menu View gt Table form Here you can enter the values as described in the user data section 3 Tool compensation data and increment sizes You can input the values in a table Select input fields with the cursor and enter the values 4 Traversing programs Traversing programs are input in text format A comment column is included in the tables for MD SM and TO
53. DB Function blocks 6 2 The following prerequisites must be fulfilled in order to control the FM 354 from your user program e You have installed the software on your programming device PC as de scribed in Section 5 1 e The link between the programming device PC and the 57 300 CPU must already be set up see Figure 4 1 Proceed as follows 1 Generate a data block in STEP 7 DB 1 2 Open DB 1 and select the property with assigned user specific data type Result UDT 1 user defined data type is offered 3 Click UDT 1 Result You have created the user DB DB 1 4 Load this user DB and save it in the CPU 5 You can use Parameterize FM 354 to fill the user DB in the CPU with data You must create a user DB for each channel The following table gives you a general view of the function block package FCs for the FM 354 Table 6 1 Technology functions for the FM 354 Function Function Significance Block No Block Name FC 1 INIT_DB Initialize user DB FC 2 MODE_WR Control operating modes and process write jobs FC 4 DIAG_RD Read diagnostic interrupt data in OB 82 FC5 MSRMENT Read measured values FC 6 DIAG_INF Read diagnostic interrupt data in OB 1 Note You can change the FC number for your project The number is changed in the SIMATIC Manager by renaming the FC in your project with a free num ber These changes should be entered in the symbol table at the same time FM
54. G88 and G89 take effect only on a block by block basis and must be reselected if necessary FM 354 Servo Drive Positioning Module 10 7 Writing Traversing Programs Dimensions G90 G91 Absolute dimensioning G90 Incremental dimensioning G91 10 8 The traversing movement at a specific point can be described by e Reference measure input absolute measure input G90 or Incremental input relative measure input G91 You can switch back and forth at will between reference measure and incre mental input The status at startup is reference measure programming G90 G90 and G91 are modal Absolute dimensioning is the method used to specify dimensions that gener ally refer to the coordinate system N G1 G2 93 Xt F M1 M2 M3 D 90 20 100 Programmed Actual position Position H 1 0 10 20 30 40 50 mm Fig 10 1 Reference measure input G90 Note To ensure precise reproduction of the program the first block should contain reference measure programming Incremental dimensioning is the method used to specify incremental dimen sions that refer to the last actual position N G1 G2 G3 Xt F M1 M2 M3 D 91 30 100 4 Actual position Position 0 10 20 30 40 50 mm Fig 10 2 Incremental input G91 FM 354 Servo Drive Positioning Module Writing Traversing Programs
55. N Uni t gt t B Target range gt t Changing from one traversing block to the next proceeds without stopping the axis The acceleration and braking function is calculated for multiple blocks when the G64 function is programmed The number of blocks processed in advance is three When the block changes the feed rate is changed in such a way that a higher speed from a preceding block is never carried over into the next block and a higher speed from a following block never goes into effect while a given block is still traversing its own path This means that acceleration does not begin until the starting point of the block and deceleration to a lower speed for a following block is initiated as with G60 When the speed of the follow ing block is reached the residual distance in the current block is processed at the feed rate of the following block FM 354 Servo Drive Positioning Module Writing Traversing Programs Sample program The following figure shows a sample program with the programming flow ming standard case 1 G1 G2 M1 M2 M3 D 5 90 64 10000 10000 10 20 000 15 30000 20000 20 40000 15000 25 64 30000 10000 VA N5 N10 N15 N20 N25 1 Block N10 is started at the point of deceleration of N5 2 N15 is started at the point of deceleration of N10 Acceleration to the higher traversing speed begins when the set position of N10is reached
56. Number of outputs Supply voltage 24 V DC allowable range 20 4 28 8 V Electrical isolation No Output voltage e OSignal Residual current max 2 mA Signal Power supply 3 V Output current on signal 1 at ambient temperature of 40 C Rated value 0 5 A total current 2 A Permissible value range 5 mA 0 6 A over power supply range max 5 W Lamp load e at ambient temperature of 60 C total current 0 4 A Rated value 5 mA 0 12 A over power supply Permissible value range Short circuit protection Yes Switching rate e Resistive load max 100 Hz Inductive load max 0 25 Hz FM 354 Servo Drive Positioning Module EC Declaration of Conformity SIEMENS EG Konformitatserklarung Nr E002 V 21 03 97 Hersteller SIEMENS AG Anschrift SIEMENS AG AUT 2 FrauenauracherstraBe 80 91056 Erlangen Produktbezeichnung SINUMERIK 805 805SM P 805SM TW 810 810D 820 840C 840CE 840D 840DE FM NC SIMATIC FM 353 FM 354 FM 357 SIROTEC RCM1D RCM1P SIMODRIVE 610 611A 611D MCU FM STEPDRIVE Die bezeichneten Produkte stimmen mit den Vorschriften folgender Europ ischer Richtlinie berein 89 336 EW G Richtlinie des Rates zur Angleichung der Rechtsvorschriften der Mitgliedsstaaten ber die elektromagnetische Vertr glichkeit ge ndert durch 91 263 EWG 92 31 EWG und 93 68 EWG Die Einhaltung dieser Richtlinie setzt einen EMV gerechten Einb
57. This chapter describes the technical data for the FM 354 positioning module General technical data Dimensions and weight Load memory e Encoder inputs e Setpoint output Digital inputs e Digital outputs General technical data include e Electromagnetic compatibility e Shipping and storage conditions e Ambient mechanical and climate conditions e Data on insulation testing protection class and degree of protection This information contains standards and test values with which the S7 300 complies or according to whose criteria the 57 300 was tested The general technical data are described in the manual Installing an 87 300 The following certifications are on record for the S7 300 UL Recognition Mark Underwriters Laboratories UL in compliance with UL Standard 508 File E 116536 CSA Certification Mark Canadian Standard Association CSA in compliance with Standard C 22 2 No 142 File LR 48323 FM 354 Servo Drive Positioning Module A 1 Technical Specifications FM approval The FM approval is on record for the 7 300 FM certification in accordance with Factory Mutual Approval Standard Class Number 3611 Class I Division 2 Group A B C D a Warning Potential for personal injury and property damage In areas where there is a risk of explosion personal injury and property dam age may occur if you disconnect plugs while the S7 300 is in operation In areas where there is a risk of explos
58. Travel plus FR When a new MDI block has been transferred ST is enabled Start enable SFG again Delete residual path is also enabled Transfer MDI block job no 6 Transfer delete residual path job no 11 The axis deletes the residual path of the old positioning op Control signal eration and starts executing the new traversing block Start ST Checkback signals FR is enabled and SFG is reset Note If no new MDI block is transferred execution of the cur rent MDI block is repeated from the start Travel minus Without delete residual path the interrupted positioning operation would be continued see control action 3 FM 354 Servo Drive Positioning Module 9 28 Description of Functions 9 2 6 Automatic Overview In the Automatic mode following block mode the FM 354 processes tra versing programs autonomously These programs are created with Parame terize FM 354 see Chapter 5 5 3 4 and stored as a data block The travers ing programs contain information about movement sequences and outputs see Chapter 10 Program selection Programs are selected job no 17 by way of the user program by specifying a program number and an optional block number as well as the direction of machining program can be selected only when other programs have been interrupted or terminated or at the start of a program A selected program remains active un
59. You can parameterize the following data storage areas e Machine data MD e Increment sizes SM e Tool offset data TO Traversing programs NC e User data user data blocks This data is stored in data blocks DBs within the numerical range 1001 to 1239 not including user data The MD SM TO and NC data blocks are transferred to the FM 354 and re side in memory there Parameterization of SM TO and NC may be omitted if the associated func tions are not used The user data block must be stored in the CPU Only then can it be filled with data online see Chapter 6 Parameterization data except for user data can also be created edited and saved offline on the PU Table 5 1 gives you an overview of the data blocks in the FM 354 and their meaning Table 5 1 Data blocks DB MD Machine data DB No 1200 Block size rounded in bytes 250 Machine data serves to adapt the FM 354 to the user s own specific application Parameterization with machine data is essential in order for the FM s functions to be activated The parameterized DB MD should be loaded to the FM As it is written to the FM 354 the DB MD is checked for the input limits of the individual values and their interdependencies It is then stored only if all val ues are allowed Otherwise data error messages are displayed by way of the MPI A defective DB will not be retained when the power is turned off The machine data can then be activated by
60. and MNR disappear Control signal Acknowledge M function Checkback signals Position reached stop PEH Travel plus or Travel minus FR 9 32 Block with M output same as control action 3 and position is started The program is resumed on completion of the M function output and are deactivated and is reset FM 354 Servo Drive Positioning Module Description of Functions Table 9 8 Control action 5 traversing block with dwell Control actions for Automatic mode Level Checkback signals Travel plus or Travel minus Dwell time running T L Position reached stop PEH Control action 6 cancelation of the read in enable Control signal Read in enable EFG Checkback signals Travel plus FR or Travel minus FR Position reached stop PEH examples continued Explanation During processing of a traversing block with dwell the dwell time to T L and PEH are output during program execution special situation If EFG is canceled during program execution the current block is processed up to the end and program execution is then suspended FR and FR are reset PEH is actuated Control signal Read in enable EFG Checkback signals Travel plus or Travel minus Position reached stop PEH Control action 8 stop during positioning with new special situ
61. e This setting can be switched on or off only if Processing in progress 0 Deactivate end You can use this function to deactivate monitoring of the software limit position switches see Section 9 9 monitoring It can be switched on or off only if Processing in progress 0 FM 354 Servo Drive Positioning Module 9 40 Description of Functions Deactivate auto matic drift com pensation Servo enable Parking axis Simulation This function can be used to switch off the automatic drift compensation Automatic drift compensation means The drift is balanced to zero by an automatic matching of the analog actuat ing signal The setting can be switched on or off if the axis is not in motion e Automatic drift compensation has no effect in Control mode inthe Follow up Mode setting ifthere is no servo enable inthe absence of a controller ready signal if parameterized if the axis is in motion You can use this function to e activate position control the prerequisite for closed loop controlled op eration of the FM 354 e to switch the signal through to the drive as indicated in MD37 to provide control of stops between movements in the Control mode This function can be used to change over the measurement system while the complete system is running With this setting e Encoder synchronization SYN 0 is deleted e Pending error messages are deleted and no new ones are trigg
62. it is not needed until you start up the user program on the 57 300 CPU Create SDB gt 1 When you have completed all start up actions on the FM 354 and your plant 000 create save and load SDB gt 1 000 into the CPU onto the memory card of the CPU the parameter data DBs of the FM 354 are stored in SDB gt 1 000 This SDB allows you to replace the FM 354 module in the event of a fault and to download the parameters without a programming device PC FM 354 Servo Drive Positioning Module Starting up the FM 354 Note The measurement system MD7 must match the measurement system speci fied in the other DBs The measurement system raster MSR is the smallest distance unit in the active system of measurement If at some point you have failed to take this precaution 1 Delete all data blocks which do not match the measurement system or clear the memory of the FM 354 completely Modify the other data blocks on the PG 3 Reload the data blocks to the FM 354 Initial contents of The table below shows you what initial contents are recommended or re MD quired for the E machine data at startup of the machine axis Enter the machine data in the tab windows or in table format in accordance with the following table Table 7 3 Initial contents of machine data MD E Value 0 Explanation FM 354 triggers no process interrupts 109 109 MSR Specified reference point coordinates 0
63. 000 MSR e Encoder on motor From this one can calculate the following traversing distance per encoder revolution 50 spindle revolutions Gear ratio i una 1 666666 Displacement per i 10 000 MSR 16 666 666 MSR encoder revolution The following values are entered MD Value Unit 11 12 0 666 232 2 863 311 530 232 10 3 mm 13 4096 puls rev 14 256 rev Note The encoder covers an absolute traversing distance of 256 16 666 666 MSR In the 10 mm system of measurement this corresponds to a maxi mum axis traversing distance of 4 266 666 mm FM 354 Servo Drive Positioning Module 9 65 Description of Functions Monitoring error If MD20 0 is input all monitoring functions are active diagnostics La er n i 9 Individual monitoring functions be inactivated by entering 0 in desig nated bit of 20 You can deactivate the error messages using the single function parking axis see Section 9 3 2 Table 9 12 Error diagnostics Absolute encoder Diagnosis Cause Error message Voltage monitoring Encoder power failure Diagnostic interrupt external channel error see Troubleshooting 11 4 Error in absolute encoder Error in protocol for data transfer between Diagnostic interrupt external channel error absolute encoder and FM 354 see Troubleshooting 11 4 Warning Hardware monitoring functions should be skipped only fo
64. 16 0 Reserved Reserved _ FC MODE WR CHECKBACK SIGNALS Checkback signals 28 0 END STRUCT STRUCT Checkback signals 0 0 DAIN 28 1 40 1 TST STAT BOOL FALSE P bus interface switchover complete 28 2 0 2 BITO 2 BOOL BOOL FALSE Reserved Reserved 28 3 40 3 OT ERR BOOL FALSE Operating travel error 6 26 FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 5 User DB for the FM 354 continued li Relative Data type Initial Comments d ss address ration value 28 4 0 4 DATA_ERR BOOL FALSE Data error 28 5 0 5 BOOL FALSE Reserved me Dae Most sor ems PARA parameterized a Start enable mi ai working oor PASE meses WAIT EN Waiting for external enable ma aa fema ooo feen DT RUN Dwell running NL EE M21 Program scanning back ward FALSE Reserved 16 0 Active operating mode FALSE synchronized MSR DONE End of measurement GO M GO minus GO P GO plus BIT3 4 Reserved FAVEL Flying actual value done 31 6 3 6 BIT3 6 BOOL FALSE Reserved POS ROD FALSE Position reached Stop 16 0 M function No me so omo wer BIT5 1 Reserved ms Des omo mer reeves _ mur pea sme PAGE Omen __ ms es ems mec raise nei _ me ee mms ems 33 7 45 7 5_7
65. 1A G function 3 unacceptable Cause The number programmed as function 3 is not allowed External block change G50 was programmed in a block to gether with continuous operation for setting actual value on the fly G88 89 A tool offset G43 G44 was called up without D number In selecting a D number the direction specification is missing for the tool offset G43 G44 Effect Program block not stored Elimina Correct program per cause on 8 08 27 1B M function unacceptable Cause The number programmed as M function is not allowed e At least two of the M functions MO M2 M18 M30 which cancel each other out are found in one block Effect Program block not stored Elimina Correct program per cause tion 8 08 28 1C Position dwell time missing CBS Cause No dwell time specified in block with G04 or Target position missing with external block change G50 DB e No new actual value programmed for the function continuous operation with setting actual value on the fly G88 89 Effect Program block not stored Elimina Correct program per cause tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 33 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors c
66. 354 5 22 5 5 Storing the parameter data in SDB w 1 000 5 26 6 Programming the FM 354 seseeeee 6 1 FC INIT DB FC 1 Initialize user DB 6 4 6 2 FC MODE WR FC 2 Control operating modes and process write 005 6 6 6 2 1 Process Wille ODS 6 8 6 2 2 Controlling operating 6 11 FM 354 Servo Drive Positioning Module Contents vi 6 3 FC RD COM FC 3 Process read jobs cyclically 6 13 6 4 Reading diagnostic information 6 17 6 4 1 FC DIAG RD FC 4 Read diagnostic interrupt data in OB 82 6 17 6 4 2 FC DIAG INF FC 6 Read diagnostic interrupt data in OB 1 6 21 6 5 FC MSRMENT FC 5 Read measured values 6 22 6 6 User data block n 6 25 6 7 Example applications kein artar dented RR Rr eee t pad order 6 41 6 8 Technical specifications 6 45 Starting up the 354 ai 7 1 7 1 Installation and wiring LL 7 2 7 2 Initial values for testing and optimization 7 3 Testing and optimization o 7 3 1 Activating the machine data
67. 354 Connecting cables Front connector Table 4 1 lists the connecting cables for a positioning controller with the FM 354 Table 4 1 Type MPI connecting cable Order No see Catalog ST 70 Order No E86060 K4670 A101 A2 Connecting cables for a positioning controller with FM 354 Connection between OP PG and 57 300 CPU Setpoint cable Measurement sys tem cable Measuring system cables 6FX2 002 3AB01 1000 see Catalog NC Z Order No E86060 K4490 A001 A4 6FX2 002 2CD01 1000 see Catalog NC Z Order No E86060 K4490 A001 A4 6FX2 002 2CE01 1000 see Catalog NC Z Order No E86060 K4490 A001 A4 Setpoint cable for FM 354 and SIMODRIVE 611 A 10 V one axis Incremental encoder with RS 422 and FM 354 EXE with linear scale ROD 320 encoder with 1FT5 motor and FM 354 Measuring system cables 6FX2 002 2CC01 1000 see Catalog NC Z Order No E86060 K4490 A001 A4s Connection of absolute en coder SSI and FM 354 You need a 20 pin screw type front connector for wiring the I Os It must be ordered separately 6ES7 392 1A4J00 0AA0 Order No see Catalog ST 70 Order No E86060 K4670 A101 A2 see Catalog NC 60 1 Order No E86060 K4460 A101 A3 FM 354 Servo Drive Positioning Module 4 8 Wiring the FM 354 4 2 Description of the drive interface Connector for the drive unit
68. 354 and data of the FM available for checkback messages These settings functions which you can activate by calling FC 2 or FC 3 see Section 6 with the appropriate job no are listed in the table below Before you call FC 2 with the job no the corresponding values must be en tered in the user DB 9 3 1 Change parameters data job no 8 9 36 9 3 4 Zero offset job no 12 9 44 9 3 5 Set actual value job no 13 9 3 6 Set actual value on the fly job no 14 9 47 9 3 Request application data job no 18 9 48 9 3 8 Teach in job no 19 9 49 9 3 9 Set reference point job no 21 9 49 9 3 10 Measured values 9 50 9 3 11 Basic operating data job no 102 9 52 9 3 12 Active NC block job no 103 9 53 Next NC block job no 104 9 3 13 Application data job no 105 9 54 9 3 14 Actual value block change job no 107 9 3 15 Servicing data job no 108 9 54 9 3 16 Additional operating data job no 110 9 55 9 3 17 Parameters data job no 114 FM 354 Servo Drive Positioning Module 9 35 Description of Functions 9 3 1 Change parameters data job no 8 Overview You can use this function to change parameters and data in the data function blocks of the FM 354 or to issue an order to read parameters or data from data function blocks The parameters data can then be read out with function call FC RD COM job no 114 see Section 9 3 17 Structure of data The following table
69. 6 Deactivate software end position monitoring 16 BOOL Single commands 11 43 0 Activate machine data 43 1 Delete distance to go 43 2 Automatic block search forward 43 3 Automatic block search backward 43 5 Restart 43 6 Undo set actual value 86 DWORD Increment for incremental dimensions 90 DWORD Velocity level 1 94 DWORD Velocity level 2 98 DWORD Voltage level 1 102 DWORD Voltage level 2 106 STRUCT MDI block 6 NC block 152 STRUCT MDI block on the fly 16 NC block 172 BYTE Program selection program number 17 173 BYTE Program selection block number 174 BYTE Program selection direction 180 BYTE Teach In program number 19 181 BYTE Teach In block number 8 18 FM 354 Servo Drive Positioning Module Human machine interface Table 8 3 Variables for user DB continued Absolute Variable Job Significance address type no 16 BOOL Function bits for the user program 390 0 Write MD 390 1 Read MD 390 2 Transfer MDI block 390 3 Transfer program selection 390 4 Transfer Teach In 390 5 Transfer increment 390 6 Transfer velocity levels 390 7 Transfer voltage levels 391 0 Transfer MDI block on the fly 391 1 Transfer set actual value 391 2 Transfer zero offset 391 5 Diagnostic interrupt 391 6 Data error 391 7 Operator travel error 392 WORD MD No 394 DINT MD value 398 BYTE SM No 16 BOOL Mode selection change input to corresponding mode 406 0 Open loop control 406 1 Reference
70. 711 This screen contains input output fields You can use the soft key set to set a bit in the user DB The actual value display X is a display field Zero offset PIC7141 This screen features an input output field The sum of the offsets Sumn Ver is a display field You can use the soft key NPVset to execute a function 8 8 FM 354 Servo Drive Positioning Module Human machine interface 8 1 2 Standard user interface for the OP 17 User interface of the OP 17 The following illustration provides you with an overview of the OP 17 user interface menu tree Main screen PIC7 F1 F2 F3 F4 F5 F6 F7 F8 1 2 K4 K5 K6 Global function keys LZ User specific screens Diagnostics error message SK1 PIC77 SK2 Group signal Alarms PIC Z_MESS_EVENT Y Startup PIC772 PIC76 SK1 Startup settings SK3 Machine data PIC761 PIC763 Y Operating Mode selection PIC75 Y MDI block input SK1 MDI block on the fly PIC741 Aut main screen Y PIC74 PIC73 SK1 Current block SK2 SK4 Foll block Program selection Teach In SK5 PIC731 PIC732 PIC734 PIC735 Fr
71. 9 2 4 to increment 100 Input of values Values are input in the increments menu of the Parameterize FM 354 para meterization tool E Incrementsi of X Fig 5 5 Entering values for incremental dimensions FM 354 Servo Drive Positioning Module 5 17 Defining Parameters of the FM 354 5 3 3 Tool offset data DB structure Table 5 7 gives you a general view of the structure of the tool offset data data block DB WK Table 5 7 DB structure tool offset data Variable type Value Significance of the variables Module address 0 WORD Rack slot 2 WORD DB No 2 1000 As in DB header wow ie With MMI services 8 WORD Error No from FM 10 WORD Channel number 2 STRING TO DB identifier type 2 ASCII characters Module identifier FM 354 Version number block number Measurement system grid per MD7 DB structure Unit of measurement Parameter DB backup Job via MMI m oso Ties Tool length offset 1 Wear value 1 absolute Wear value 1 additive Tool length offset 2 Wear value 2 absolute Wear value 2 additive to Tool length offset 20 Wear value 20 absolute Wear value 20 additive to Tool 20 see Section 10 1 FM 354 Servo Drive Positioning Module 5 18 Defining Parameters of the FM 354 Input of values Values are input in the tool offset data menu of the Parameterize FM 354 parameterization tool If the additive wear val
72. An error is sig naled The following special cases exist Continuous travel for set actual value on the fly G88 see Chapter 10 Continuous travel for set actual value on the fly G89 see Chapter 10 If the actual value is beyond the end position an error is signaled Leaving end position or traveling into working range after error 1 Acknowledge the error message 2 Travel to the working range with the Jogging Control Incremental Relative or MDI mode FM 354 Servo Drive Positioning Module Description of Functions Rotary axis 9 10 Process Overview Process interrupt generation Hint to the user The end position of MDyyar may be greater than MD stop When traveling into the working range e g end position was previously switched off the shortest path is always chosen If both default values are parameterized the software limit switches are inac tive interrupts Process interrupts are interrupts that quickly signal states in the current pro cess to the user program The appropriate setting in the machine data MDS specifies which signals are to be quickly communicated to the user program The process interrupt is generated by way of machine data item MDS Sib 2 Process interrupt generation 0 Position reached data type bit field Length measurement completed 3 Change block on the fly 4 Inprocess Measurement You m
73. Error response Warning see Table 11 2 4 04 1 Data at time of transmission unacceptable Cause Data not transmitted in appropriate operating mode Effect Data not accepted Elimina Transmit data in appropriate operating mode tion Elimina Input an allowed velocity value tion 4 04 3 03 Velocity level 2 incorrect Cause Velocity not within the range between gt 0 and max allowable tra verse velocity 500 000 000 MSR min Effect Velocity does not become effective 4 04 2 02 Velocity level 1 incorrect Cause Velocity not within the range between 0 and max allowable tra verse velocity 500 000 000 MSR min Effect Velocity does not become effective Elimina Input an allowed velocity value Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 22 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued di General data errors Error message error analysis and elimination Error response Warning see Table 11 2 Voltage level 1 incorrect Cause Voltage specified does not fall within the range of 4 Effect Voltage does not become effective Elimina tion Input an allowed voltage value Message Display 4 04 4 04 4 04 4 4 04 Volta
74. IEC 1000 4 8 VDE 0847 Parts 4 2 EN 60801 Part 2 IEC 801 2 VDE 0843 Part 2 VDE 0843 Part 4 VDE 0847 Part 4 4 IEC 801 4 B 3 FM 354 Servo Drive Positioning Module List of Abbreviations AS BA BA A AE BA REF BA STE BA SM BA BIE BP CPU DB DBB DBX DB MD DB SM DB WK DB NC DB SS DEKL DENR DP ESD EMC EN ENO EPROM EXE FB Automation system Mode Automatic Automatic single block mode Reference point approach mode Open loop control mode Incremental approach mode Jogging mode Binary result Mode parameter Central Processing Unit of the SIMATIC S7 Data block Data block byte Data block bit Data block for machine data Data block for increments Data block for tool offset data Data block for traversing programs Data block for status messages Detail event class Detail event number Distributed I O ESD Electromagnetic compatibility Enable input parameter in LAD representation Enable Output output parameter in LAD representation Erasable programmable read only memory External pulse shaper Function block FM 354 Servo Drive Positioning Module C 1 List of Abbreviations FC FEPROM FM HEX HMI Q LAD LED MLFB MPI MSR MDI OB OP PG PLC PS PWM RFG RPS SDB SFC STEP 7 S7 300 SM SSI STL SZL TF UP 2 Function Flash EPROM Read Write memory Function module Hexadecimal Device for operating and monitori
75. Incremental relative 0 0 0 eee eens 9 2 5 MDI Manual Data Input 0 I II 9 2 6 AUIOMAUUGC e EET 9 2 7 Automatic single block roov xr PRSE 9 3 System Cala Rp ERR E RR UAR ERR 9 3 1 Change parameters data job no 8 9 3 2 Single functions job no 10 9 3 3 Single commands job no 11 LL 9 3 4 Zero offset job no 12 9 3 5 Set actual value job no 13 COMPENSI aironi troia ari irta FM 354 Servo Drive Positioning Module Contents 9 3 6 Set actual value on the fly job no 14 9 3 7 Request application data job no 18 9 3 8 Teach in job no 19 9 3 9 Set reference point job no 21 9 3 10 Measured values en 9 3 11 Basic operating data job no 102 9 3 12 Active NC block job no 103 next NC block Job no s osea pP e pee been ruere n ROME aru eee ees 9 3 13 Application data job no 105 9 3 14 Actual value block change job no 107 9 3 15 Servicing data job no 108 9 3 16 Additional operating data job no 110
76. JOB_WR NO gt 0 and bit 2 in JOB_WR IMPOSS 0 This bit is cleared by FC MODE_WR as soon as the write job has finished running JOB_WR NO 0 1 write job finished This bit is set by FC MODE WR as soon as it has finished a write job also with error and unknown job This bit is cleared by FC MODE WR when a new write job begins You can clear this bit manually IMPOSS 2 1 write job processing is not possible in this cycle because the axis is not parameterized because test mode is active because no mode is active because the selected mode is not yet active In this case you can leave the write job JOB WR or delete it FC MODE WR clears the bit when all the above conditions have been met UNKNOWN 3 write job unknown The write job JOB WR which you specified is not within the known range see error evaluation FC MODE WR clears this bit as soon as JOB WR contains a valid number The unknown number is retained until then MODE BUSY 6 1 when a mode movement is started with the appropriate control signals or on a BL 1 checkback busy MODE BUSY when FC is called started WORKING BL when movement is started by FM POS REACHED 7 0 on checkback POS_ROD 0 position reached stop or when a mode is started with the appropriate control signals POS REACHED 4 when FC is called started POS POD when movement is started by FM
77. Length measurement completed e On the fly block change Inprocess measurement Process interrupts are selected by way of machine data Automatic processing of a traversing program including subprograms created during the parameterization process A number of traversing pro grams are available for execution on the module Startup and ongoing operation of the module are monitored by fault and diag nostic interrupts Faults or errors are reported to the system and displayed by the LEDs on the module Parameterization data machine data tool compensation data traversing pro grams and increment sizes is retained in storage on the FM 354 FM 354 Servo Drive Positioning Module Basic Principles of Positioning What is position Positioning means moving a load to a defined position within a defined time ing taking all influencing forces and torques into account r 4 F gt S gt Position A Position B F driving force Ax distance to be traversed S path Fig 2 1 Principle of a positioning action Servo controlled Servo controlled positioning is ositionin 9 guidance of the drive at the proper speed during execution of a movement precise approach of the axis to the programmed target position maintenance of the axis in position in the face of interfering factors FM 354 Servo Drive Positioning Module 2 1 Basic Principles of Positioning
78. M16 0 Start M20 0 Free M16 1 Stop M20 1 Operator travel errors M16 2 Direction minus M20 2 Data error M16 3 Direction plus M20 3 Channel parameterized M16 4 Not used M20 4 Start enable M16 5 Read in enable M20 5 Processing in progress M16 6 Skip block M20 6 Not used M16 7 Drive enable M20 7 Dwell in progress M17 0 Restart M21 0 Program scanning backward M17 1 Acknowledge operation error M21 1 Synchronized M17 2 Operating mode selection active M21 2 Free M17 3 Read data M21 3 Travel minus FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 7 Input memories used M17 4 Transfer velocity levels Memories example application 2 continued Output memories used M21 4 Travel plus M17 5 Transfer MDI block M17 6 Transfer single functions M21 5 Not used M21 6 Position reached stop M17 7 Transfer program selection M21 7 Free MB19 Override Example call for DS 162 MB18 Operating mode encoded MB22 Active mode MB23 Not used The call for data sets 163 and 164 is programmed in the same way as the DS 162 call Explanation STL VAR TEMP R DS16 REQ IOID LADDR RECNUM DSNR BUSY END_VAR BEGIN NETWORK TITLE DS162 UN SPB U SPB 1 L T S D162 CALL UN R UN S NW5E NOP 2 BOOL BOOL BYTE WORD BYTE BYTE BOOL LESEN DB FM CHECKBACK SIGNALS OT ERR NW5E R_DS162 D162 162 DSNR R_DS162
79. Module Description of Functions 9 6 Encoders Overview Encoder selection One of the following encoders must be connected to the measuring system interface of the FM 354 see Fig 1 4 e Incremental encoder e Absolute encoder SSI Paths and positions are displayed in 1073 mm 10 4 inches or 10 4 degrees as selected with machine data item MD7 The path resolution of the machine axis obtained by the encoder is calculated within the FM from machine data MD11 to MD13 The prerequisite for achieving a given positioning accuracy is an n fold im provement in path resolution by the encoder Recommended values for n Minimum For that reason when configuring a given specific application select an en coder that meets the desired positioning accuracy requirements The known design data for the machine axis and the desired measurement resolution L Positioning accuracy mm inches degrees yield a calculation of the necessary pulse number per encoder revolution ac cording to the following relationship taking a metric measuring system as an example Incremental encoder Absolute encoder SSI I S mm S mm ue 4 iGS A mm igs A mm FM 354 Servo Drive Positioning Module 9 59 Description of Functions The table below gives you an overview of the data used in this calculation and their meaning You will find the machine data MD assignments under Function
80. PEH Control action 3 stop during positioning The user initiates a BA command The module returns BAR and SFG When the increment has been transferred and selected R can be initiated The axis cancels the SFG and outputs messages BL and FR When the defined position has been reached the axis enables PEH SFG and checkback signals FR and BL are reset FM 354 Servo Drive Positioning Module 9 23 Description of Functions Table 9 5 Control action 3 stop during positioning Control signal Stop STP Checkback signals Travel minus Start enable SFG Control actions for Incremental relative mode examples continued If Stop is enabled during positioning the axis stops is reset and SFG is activated PEH is not output since posi tioning is not complete Before the axis comes to a standstill it is possible to define a new direction through start Checkback signals Travel plus Processing in progress BL Control signal Acknowledge operator con trol travel error BFQ FSQ Checkback signals Start enable SFG Control signal Direction plus Checkback signals Travel plus Processing in progress BL The axis moves An error is output during the traversing movement FR and BL are canceled and BFQ FSQ is enabl
81. Quit and Res to acknowledge the errors See Section 11 3 for diagnostic interrupts and error messages User screens PIC74 You can use these screens to configure your own contents and PIC724 Setting data for operating PIC712 This screen contains input output fields for the velocity levels or a text field mode for selecting velocity level selections 1 or 2 possible You can use the soft keys to call up the following screens Softkey Steu PIC7122 Softkey SMR PIC7123 Softkey PIC7124 Setting data for the Au PIC713 This screen contains only display fields You can use the Anwahl soft key tomatic operating mode to call up screen PIC 7132 Set actual value PIC714 The actual value display is a display field The value for set an actual value appears in an input output field You can use the soft key NPVer to call up the screen PIC7141 You can use the soft keys Iwrii and IWset to execute functions 8 6 FM 354 Servo Drive Positioning Module Human machine interface Table 8 1 Description of the screens in the user interface continued Screen name Screen Description No Machine data PIC722 This screen contains input output fields Input of values is password pro tected The values entered are in the user DB You can use the soft keys to set bits in the user DB Soft key lesen You can use this soft key to insert a memory bit in the user
82. Start ence point coordinate 2 Value for reference point shift is traveled Note Please see also Section 9 1 3 FM 354 Servo Drive Positioning Module 9 19 Description of Functions Control actions Preconditions e The FM 354 has been parameterized e The mode has been selected and confirmed Drive enable AF 1 control signal FC MODE WR e Stop STP 0 control signal FC MODE WR e Servo enable RF 1 FC MODE WR job no 10 Table 9 4 Control actions for Reference point approach mode examples Control action 1 enable Reference point approach mode Control signal Mode BA Checkback signals Active mode BAR Start enable SFG Control action 2 move axis positive direction Control signal Direction plus Checkback signals Travel plus Start enable SFG Processing in progress BL Synchronization SYN RPS Encoder zero marker Checkback signals Travel plus Travel minus Synchronized SYN Checkback signals Traverse minus FR Position reached stop PEH Processing in progress BL Start enable SFG 9 20 The user initiates a BA command The module returns BAR and SFG When SFG is active R or Start are actuated for exam ple The axis cancels SFG outputs the BL and FR mes sages and travels here in the positive direction defined in MD An existing synchronization is reset When t
83. Table 6 5 User DB for the FM 354 continued Abso T lute agd 29076 Decla Variable Data type Initial Comments address ration value dress 43 2 1 2 SEARCH_F BOOL FALSE Automatic block search for ward 43 3 E SEARCH B Automatic block search in re verse 43 4 Reserved RESET AX Restart aa Set actual value reset 43 7 17 BIT1_7 BOOL FALSE Reserved 2 0 END STRUCT Zero offset FC MODE job no 12 44 0 44 0 ZERO OFFSET DINT Zero offset Set Actual Value FC MODE WR job 13 48 0 48 0 stat SETTING DINT Istwert setzen ACT VALUE Set actual value on the fly FC MODE WR job no 14 FLYING _ Set actual value on the fly SETTING _ ACT VALUE Set Reference Point FC MODE WR job no 21 SETTING _ Set reference point REFERENCE PIONT Measured values FC MSRMENT stat MEASURE STRUCT Measured values MENT VALUES 60 0 0 0 BEGIN VALUE DINT 140 Begin value or measured value on the fly END VALUE 140 End value LENGTH DW 16 0 Measured length value VALUE Diagnostic interrupt data FC DIAG_RD FC DIAG_INF 72 0 stat DIAGNOSTIC_ STRUCT Diagnostic interrupt data INT_INFO 72 0 400 BYTEO 16 0 For system specific diagnos mo sym BH GRO tic data see Section 6 4 pe pue feve omen FM 354 Servo Drive Positioning Module 6 29 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso Decl
84. Unacceptable baud rate Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion 5 05 16 10 Reference point coordinates absolute encoder adjustment CBS 17 11 an Cause Unacceptable value range or Effect DB does not become effective and is stored non retentively DE Elimina Correct and retransmit tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 28 Troubleshooting Table 11 8 ili Machine data errors 5 05 18 12 General data errors machine data errors traversing program errors continued Error message error analysis and elimination Error response Warning see Table 11 2 Type of reference point travel Cause Unacceptable type of reference point travel Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Message Display 19 13 x 5 05 21 15 22 16 23 17 24 18 25 19 26 1A 27 1B 28 1C 29 1D 30 1E E CI Detail event class No Detail event number CBS checkback signals DB data block Direction matching undefined Cause Direction matching undefined Effect DB does not become effective and is stored non retentively Elimina Correct a
85. connector Table 4 5 Pinout of the X3 connector Encoders Encoders Incremental Absolute P24EXT PSEXT Signal names W_N Maintenance signal negated incremental encoder A A_N Track A true negated incremental encoder B BLN Track B true negated incremental encoder N N_N Zero mark true negated incremental encoder CLS CLS_N SSI sliding pulse true negated absolute encoder DATA DATA_N SSI data true negated absolute encoder PSEXT 5 V power supply P24EXT 24 V power supply MEXT ground power supply Signal type VO Voltage outlet power supply O Output 5 V signal I Input 5 V signal Connectable en Incremental or absolute SSI encoders may be connected directly e g digi coder types tal rotary encoders they are then selected via machine data Encoders with SINE COSINE signals e g length scales may be connected by way of an external electronic pulse shaper EXE that converts the signals to 5 V levels 4 8 FM 354 Servo Drive Positioning Module Wiring the FM 354 Encoder characteristics Encoder power supply Both encoders that can be connected directly and EXEs must meet the fol lowing requirements Incremental Encoders Transfer procedure Output signals Maximum output frequency Phase shift track A to B Power consumption Absolute Encoders SSI Transfer procedure Output signals Input signals Resolution Differential transfer wit
86. device the machine data have to be activated At the first parameterization the machine data is transferred automatically In terms of effects the FM 354 distinguishes between and E machine data MD category Effect in FM 354 after activation SK Reset of the FM e As long as Reset is in progress it is not possible to transfer other data e For internal response see Restart E FM operating condition is maintained For machine data see Section 5 3 1 This command is possible only when the axis is not in motion Processing in progress 0 An MD block is likewise activated by switching on or off FM 354 Servo Drive Positioning Module Description of Functions Delete residual path Automatic block search forward Automatic block search backward Restart Undo set actual value You can use this command to delete a residual distance that remains after a job has been canceled It is effective only in the Incremental Relative and Auto matic modes after a stop If processing is not interrupted with a stop the Delete Residual Distance requirement is suspended in the FM 354 On starting after a Delete Residual Distance in MDI mode the active MDI block is processed from the start On starting after a Delete Residual Distance in Incremental Relative and Automatic modes processing continues with the following block This command is described in Sec
87. e A static Stop signal prevents all movements or block processing e Response of the FM 354 to transition of the 57 300 CPU from RUN to STOP state As described for Restart see Section 9 3 3 Che digital outputs are switched off Interface to the user program is switched off e Response of the FM 354 to transition of the 57 300 CPU from STOP to RUN state A cold restart of the module is executed Module control The following table lists the control signals used to start a movement Drive enable AF 1 Stop STP 0 Start enable SFG 1 Mode Parameters Command Signal state Prerequisite Activation of movement Jogging mode 01 Open loop control mode 02 Velocity level BP 1 level 1 2 level 2 Frequency level 1 level 1 BP 2 level 2 R R Level R R Level R or R with Level 1 R and R simultaneously error R or R with Level 1 R and R simultaneously error Reference point ap proach mode 03 Incremental relative mode 04 MDI mode 06 BP 1 100 BP 254 Start R R Edge R R Edge Start Edge Direction as in MD R or R 0 1 or Start 0 1 speed as in MD R 0 1 or R 0 1 speed level 1 Start 0 1 R R relevant only for rotary axis with absolute measure specified for direc tion selection Automatic mode 08 Automatic single block mode 09
88. enable MD34 see Section 9 8 1 Set if the enable input has not yet been set or has been reset when a movement has been activated DT RUN T L Delay time only active in Automatic and MDI mode running As soon as a traversing block with a dwell time has been processed T L is output during the programmed time period PR BACK PBR Processing in is set after a Start in Automatic mode if a program is being processed reverse in reverse MODE B Active mode The selected mode is not fed back until it is internally active For a mode change for example a movement must be stopped before another mode can become active does not apply to switching between Automatic and Automatic single block modes AR SYN Synchronism module is synchronized see Section 9 6 3 Required for axis motion in modes Incremental Relative MDI Automatic DONE End of meas signals an executed measurement see Section 9 3 10 GO P Travel means the axis is traveling in the direction of increasing actual values plus or in the direction of voltage output in OL control mode GO M Travel Minus means the axis is traveling in the direction of decreasing actual values or in the direction of voltage output in OL control mode e As soon as an active travel movement is pending the messages FR or FR are output depending on the traversing direction They can only be pending as alternatives Travel Plus or
89. executing a reference point approach switch alignment value and if you find nonconformity to the required value range make a corresponding adjustment in the relative position allocation between the en coder and the reference point switch Example Positive search direction SYNI N RPS zero pulse MD12 Switch readjustment displayed 40 MD12 suitable for high reducing speeds FM 354 Servo Drive Positioning Module Starting up the FM 354 Set the referencing velocity to the highest value compatible with your re quirements It is important to be able to decelerate to the reducing velocity across the length of the reference point switch If this is not the case an addi tional repositioning to the RPS occurs before the search phase of the synchro nizing zero pulse begins Compare the cycle of the executed traversing move ments with Section 9 2 3 and optimize the referencing speed MD28 Then readjust the reference point coordinates proper by entering the neces sary reference point shift in the machine data After the machine data is acti vated the new reference point shift takes effect with the next search for ref erence Axis with absolute In a suitable mode jogging incremental relative move to a known point encoder SSI on the axis and execute the Set reference point function with the known posi tion value The set position and actual position will immediately be set
90. following prerequisites must be fulfilled in order to execute the function measurement 1 Connect a bounce free switching signal encoder touch probe to a digital output of the FM 354 2 Parameterize Measurement for this input in MD34 Measurement functions can be executed in all modes An executed measure ment is signaled by the checkback signal and optionally also by a pro cess interrupt Inprocess measurement The present actual position is captured at each rising edge of the touch probe At the same time the axis movement is interrupted servo controlled brak ing Measurement taking place Inprocess Measurement On Measurement input Process interrupt 1 51 execution of measurement FM 354 Servo Drive Positioning Module Description of Functions Length measurement The present actual position is captured at both the rising and the subsequent falling edge of the touch probe In addition the actually traveled distance amount is calculated Length measurement On Measurement input Process interrupt Measurement taking place Measured length value AS y si 7 gp S1 start of length measurement S2 end of length measurement AS Measured length value At minimum signal length at the digital input 2 2 FM cycle The following response takes place with functions that change the cur
91. include installation and wiring of the FM 354 e Programming These activities include parameterizing and programming the FM 354 Troubleshooting and diagnostics These activities include detecting and correcting faults and errors inthe hardware setup of the module and its components and in the programming handling and control of module functions e Operation These users operate the FM 354 The operator accordingly deals only with the control of positioning tasks FM 354 Servo Drive Positioning Module Preface CE marking CE Contact partners Hotline Our products are in compliance with the EU Guideline 89 336 EEC Electro magnetic Compatibility and the harmonized European standards EN which it embodies The EC Declaration of Conformity in accordance with Article 10 of the EU Guideline referenced above is contained in this manual see Chapter B If you should encounter any problems using this manual or if you have any questions please contact the office specified on the query form at the end of this manual If you have an urgent problem please contact Test Hotline 49 911 895 7000 FM 354 Servo Drive Positioning Module FM 354 Servo Drive Positioning Module Contents 1 Product S mm ry nux adul mex Rx Rd ues tni Rd qus n 1 1 1 1 The FM 354 in the 57 300 programmable controller 1 3 1 2 Module description
92. input the target position of N10 is approached with the following additional response When the target position is reached the error message Digital input not ac tuated is output see Table 11 5 Class 2 No 15 Set actual value The Set actual value on the fly function is programmed and triggered by a on the fly G87 digital input the block change occurs on the fly and the actual value is set to G88 G89 a new dimension programmed coordinate at the same time The digital in put must be parameterized with the Set actual value on the fly function by way of machine data item MD34 FM 354 Servo Drive Positioning Module 10 5 Writing Traversing Programs Example of set actual value on the fly 10 6 The following figures show the program structure program flow and actual value curve for an example of Set actual value on the fly I Gt G2 X t E M2 D 10 90 100 400 000 15 89 88 50 200 000 20 90 300 400 000 25 87 400 400 000 N10 N15 N20 N25 t Reversal of direction i t N10 N15 N25 c X System of 0 50 100 150 200 250 300 350 400 measure ment nor N20 mal System of gt x measure ment shifted 0 50 100 150 200 250 300 350 400 digital input FM 354 Servo Drive Positioning Module Writing Traversing Programs Notes to the exam ple of set actual value on the fly
93. interrupted by Stop is not executed up to the end but the next block is started immediately If the axis is operated as a rotary axis the FM always at tempts to select the shortest path during positioning This direction preference can be suppressed by specifying or R Control signal Mode BA Checkback signals Old mode BAR Travel plus FR or Travel minus FR Processing in progress BL New mode BAR 9 2 7 Automatic single block If a new operating mode is selected during active program execution the axis is stopped by way of the deceleration ramp FR or and BL are reset Overview Functions same as Automatic mode Whereas in Automatic mode the FM 354 automatically starts processing the next block after completing a given block in Automatic single block mode the axis waits for a new Start signal after processing each block that contains a traversing path dwell time or M command except for blocks with G50 G88 or G89 You can change between Automatic single block and Automatic mode at any time without stopping the movement or interrupting the output 9 34 FM 354 Servo Drive Positioning Module Description of Functions 9 3 System data Overview Chapter over view This chapter describes settings and functions that apply in multiple modes and that are likewise necessary in order to control and operate the FM
94. lute ad ical Variable ration dress Relative address Data type Initial value 16 0 Comments Info length per channel BYTES BYTE6 16 0 No of channels 79 0 47 0 BYTE7 BYTE 16 0 Channel error vector 80 0 48 0 BYTES 81 0 49 0 9 16 0 16 0 16 0 For individual errors see Sec tion 6 4 Reserved BYTE10 BYTE11 B 16 0 Reserved 84 0 12 0 12 B 16 0 Reserved BYTE 16 0 Reserved BYTE13 Setpoint for increment TARGET_254 END_STRUCT FC MODE WR job no 3 DW 16 0 Setpoint for increment Velocity levels 1 and 2 FC MODE WR job no 1 STRUCT Velocity levels 1 and 2 90 0 40 0 VLEVEL 1 DWORD DW 16 0 Velocity level 1 94 0 4 0 VLEVEL 2 DWORD DW 16 0 Velocity level 2 Voltage levels 1 and 2 FC MODE WR job no 2 CLEVEL 1 2 STRUCT Voltage levels 1 and 2 CLEVEL 1 DW 16 0 Voltage level 1 CLEVEL_2 DW 16 0 Voltage level 2 MDI block 106 0 MDI_BLOCK FC MODE_WR job no 6 STRUCT MDI block 106 0 0 0 B41680 Reserved 16 0 1 G 1 EN FALSE G function group 1 1081 21 G 2 EN BOOL FALSE G function group 2 Reserved BIT2 2 BIT2 3 Reserved 1084 24 X T EN BOOL FALSE Position dwell Reserved BIT2 5 BIT2 6 Reserved 108 7 27 BIT2_7 BOOL FALSE Reserved 109 0
95. modes Addr System data T STE REF SM MDI A AE Sec user DB Reference data is data parameters for the corresponding mode VLEVEL 1 2 Velocity levels 1 2 CLEVEL 1 2 Voltage levels 1 2 TARGET 254 Setpoint for increment Reference data with execution activates settings functions that apply in PAR CHAN change parameter data SINGLE FUNCTIONS SINGLE COMMANDS ZERO OFFSET SETTING ACT VALUE FLYING SETTING ACT VALUE DIG IO digital outputs MDI FLY PROG SEL program selection REQ APP request application data TEACH IN SETTING REFERNCE POINT SRV IN reserved Data is accepted and only processed in the corresponding mode Data is accepted or processed as applicable Data are rejected with error message see Troubleshooting Table 11 5 Class 4 No 1 Data required for movement of the axis the servo enable is required for single settings Data single settings are trans ferred at least once to the FM 354 FM 354 Servo Drive Positioning Module 6 9 Programming the FM 354 Write job status The status of a write job is indicated in the user DB in data byte DBB1 Table 6 2 Write job status Bit in JOB WR Significance DBX1 1 write job busy This bit is set by FC MODE WR as soon as it starts processing a write job
96. of the MD DB or individual machine data and an error message is output in the event of a violation Some checks are performed on the basis of internally calculated reference variables These reference variables and the dependency checks are described in the tables below 5 14 FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Reference variables generated internally from MD Generation of travel per encoder revolution UMWEG UMWEG MDII 12 2732 Generation of internal measured value factor MWFAKTOR MD10 Measured value factor MWFAKTOR 1 MWFAKTOR UMWEG 4 MD13 MWFAKTOR UMWEG MD13 3 4 13 14 Activation of software limit switches SEAKT MD21 1 active Internal generation of absolute traversing range limits VFBABS MWFAKTOR VFBABS 1 10 gt 1 10 MWFAKTOR Verification MD9 check MDS MD10 MD18 Permissible rotary axis end 0 1 0 1 gt 4 MD23 30 000 lt MD9 lt VFBABS lt 4 MD9 mod UMWEG 0 3 13 UMWEG MD9 4 14 MD14 UMWEG mod MD9 MD11 MD12 MD13 check results in MWFAKTOR see above Permissible measured value factor range 2 14 lt MWFAKTOR lt 2 4 FM 354 Servo Drive Positioning Module 5 15 Defining Parameters of the FM 354 5 16 MD13 check Increments per encoder revolution 0 1 3 4 13 14 MD14 check
97. of the relay contacts 4 5 Pinout of the connector 4 6 Electrical parameters of encoder power supply 4 9 4 7 Maximum cable length as a function of encoder power supply 4 8 Maximum cable length as a function of transfer frequency 4 9 Pinout of the X1 connector 4 10 Electrical parameters of digital inputs 4 11 Electrical parameters of controller message input 4 12 Electrical parameters of digital outputs 5 1 Datablocks LL 5 2 User DB rsa uds bs RR 5 3 Data block Structure 5 4 DB structure Machine data 5 5 Machine data list c cece teen eee 5 6 DB structure increments cece eens 5 7 DB structure tool offset FM 354 Servo Drive Positioning Module Contents 5 8 DB structure traversing 5 9 Menus of Parameterize FM 354 6 1 Technology functions for the FM 354 6 2 Write job StatuS siii eed Redde ene Rt e oie die 6 3 Control checkback 6 4 Diagnostic information 2 a dare 6 5 User DB for the FM 3
98. operation operating mode no zero reference mark came within one encoder revolution after the reference point switch was passed Number of pulses per encoder revolution MD13 incorrectly input Encoder faulty does not deliver the specified number of pulses Zero reference mark faulty or missing altogether Pulse length of zero reference mark shorter than 1 25 ps Interference on the measurement system cable Effect Elimina Enter MD13 correctly tion Check encoder and measurement system cable Observe limit values Observe rules on shielding and grounding Using the MD20 monitoring can be temporarily skipped at the responsi bility of the owner operator 8 3 Voltage monitoring encoder 8093 Cause Short circuit in encoder supply cable 5 V incrementally 24 V SSD Failure of module internal encoder supply unit Effect Elimina Check connections tion Replace FM 354 if encoder cable ok Using the MD20 monitoring can be temporarily skipped at the responsi bility of the owner operator 8 7 For operator control errors see Table 11 5 8097 Note xxxx value Hexadecimal notation in diagnostic buffer FM 354 Servo Drive Positioning Module 11 13 Troubleshooting Table 11 5 Operator control errors Error message Message error analysis and elimination Display Operator control errors Error response Everything Off as in Table 11 2 Software limit switch beginning is passed Diagnostic
99. parameteriza tion tool an error message is stored in the data block The error specifica tion is stored in the form of an error number in the corresponding data block see error list in Table 11 8 The error message occurs each time the data block is written to until the cause has been eliminated It is recommended to scan the error message after every write operation 11 2 5 Viewing the diagnostic buffer PG PC Overview The last five error messages are stored in the diagnostic buffer There are two ways of proceeding 1 In the S7 SIMATIC Manager select the menu File gt Open gt Accessible Nodes 2 In the Accessible Nodes window select the MPI address of your module 3 Youcan view the diagnostic buffer in the menu Target system Module status 1 Open your project in the S7 SIMATIC Manager Select the menu View Online In the dialog box select the FM 354 and the associated program BOO N Youcan view the diagnostic buffer in the menu Target system Module status FM 354 Servo Drive Positioning Module 11 9 Troubleshooting 11 3 Error lists Note In the following tables please note The module response described under Effect refers to the error specific module response The error response described in Table 11 2 occurs in addi tion 11 3 1 Diagnostic interrupts Overview The diagnostic interrupts are listed according to error class in Tables 11 4 11 5 Table 11 4 Diagnostic interrupt
100. parameters Sym bol Ig Increments per encoder rotation incremental encoder Significance rev Sag Number of steps per encoder revolution absolute encoder S Distance per spindle or rotary table revolution mm rev inches rev degrees number of encoder revs A Required resolution mm inches degrees 4 Pulse multiplication constant igs Ratio between encoder and mechanism Number of encoder revolutions number of encoder revs spindle revolution or or rotary table revs If unusual numbers of pulses or steps result the encoder with the next higher number of pulses or steps should be selected 9 60 FM 354 Servo Drive Positioning Module Description of Functions 9 6 1 Incremental encoders Overview Incremental encoders Incremental encoders serve to detect position values supplying pulses that the FM 354 adds up to form an absolute value After the FM 354 is switched on there is an offset which cannot be determined in advance between the internal position value and the mechanical position of the axis In order to establish the position reference the internal value must therefore be set to a predefined value at a specific axis position This value is stored in the ma chine data MD as a reference point coordinate see Section 9 2 3 The following variant applications are possible Rotary incremental encoder on linear axes Encod
101. point approach 406 2 Incremental relative 406 3 MDI 406 4 Automatic single block 406 5 Automatic 406 6 Jogging 407 6 Acknowledge error Quit softkey 407 7 Acknowledge diagnostic interrupt Res soft key FM 354 Servo Drive Positioning Module 8 19 Human machine interface 8 3 Data block for status messages DB SS Overview The following table contains the parameters data which are readable during operation Table 8 4 Parameters data of DB SS Eee ST fiesta ST E esso ___ fesso eer m pem eosin m jemesma 30 8 x BOOL Checkback signals e Checkback signals mm O CE eei 33 8 x BOOL Checkback signals Checkback signals emo ees I 36 12 x BYTE Reserved pom pese Control level 1 Control level 2 Setpoint for incremental value STRUCT MDI block struc MDI block 16 x BOOL Single functions 56 i 68 p 90 16 x BOOL Single commands 92 Zero offset 96 Set actual value 100 p DINT Set actual value on the fly 16 x BOOL Digital inputs outputs STRUCT MDI block struc MDI block on the fly ture 1 A variable in the S7 protocol is addressed by the DB No and depending on data format by the DBB DBW and DBD No offset in DB as well FM 354 Servo Drive Positioning Module 8 20 Human machine interface Table 8 4 Parameters data of DB SS continued Offset V
102. program if necessary Read out DS 162 on BF FS or read out DS 163 on DF See example application 2 Error acknowledgment Set clear control signal BFQ FSQ Or on message DF write a new write job In the following table the control and checkback signals are explained in German and English Table 6 3 Control checkback signals German English Significance Control signals MODE Operating mode parameters PARAMETER Velocity levels 1 2 Voltage levels 1 2 Increment selection 1 100 254 Operating mode Jogging 01 Open loop control 02 Reference point approach 03 Incremental relative 04 MDI 06 Automatic 08 Automatic single block 09 Direction minus Stop OVERRIDE Override DRV EN Drive enable m EFG READ EN Read enable QMF ACK MF Acknowledgment M function TFB TEST EN Switch P BUS interface to start up Checkback signals 6 12 FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 3 Control checkback signals continued BAR MODE Active operating mode PBR PR BACK Program scanning backward T L DT RUN Dwell time running PEH POS ROD Position reached and stopped GO P GO plus FR GO M GO minus ME MSR DONE Measurement done SYN SYNC Channel synchronized DF DATA ERR Data error FIWS FAVEL Flying actual value done TFGS TST STAT Switchover P BUS port done WFG WAIT EN Wait for external enable PARA PARA Channel parameteriz
103. program powers the S7 300 back Power supply PS Signal modules SM Interface module IM Programming device PG Operator panel OP plane bus at 5 V and communicates with the program ming device and the operator panel via the MPI inter face converts line voltage 120 230 V AC to 24 V DC operating voltage to power the 57 300 adapts various process signal levels to the S7 300 connects the individual cells of an S7 300 with one another applies to multi tier configuration see Figure 1 1 configures parameterizes programs and tests the 57 300 and the FM 354 the interface to the machine It serves for operation and monitoring It is not an absolute prerequisite for operation of an FM 354 Power section actuates the motor Motor drives the axis Encoders the path measurement system that detects the current position of the axis By comparing the actual position with the applicable setpoint position the FM 354 im mediately detects discrepancies and attempts to com pensate for them Configuration includes package e manual e 3 1 2 diskette with Function block package FCs The Parameterize FM 354 parameterization tool Preconfigured interface for COROS devices OP 07 and OP 17 FM 354 Servo Drive Positioning Module Product Summary System overview The following figure gives you an overview of the data storage concept o
104. reference point ap proach With Set Reference Point a position value at the instantaneous position of the axis indicated as a parameter is accepted as an actual value For axes with an absolute encoder the generated position reference is entered in MD17 At a known axis position the known actual position of the system of measurement is transmitted to the FM 354 with Set Reference Point This value is set as the actual value of the axis At the same time this position reference is saved in that the assignment of the encoder actual value to the axis reference point is calculated from the assignment of the set actual posi tion to the encoder actual value at this point of the axis it is then entered in MDI17 FM 354 Servo Drive Positioning Module 9 49 Description of Functions 9 3 10 Measured values Activating the measurement function Reading out the measurement function Prerequisites Function description 9 50 A length measurement or inprocess measurement can be activated by calling FC 2 and job no 10 single functions Since both functions use the same digital input of the FM 354 only one func tion can be executed at a time In double activations both functions are switched to inactive An error message is issued You can read out measured values from the FM 354 in the results from the execution of the length measurement and inprocess measurement func tions by calling FC 5 The
105. screen contains only display fields 8 12 FM 354 Servo Drive Positioning Module Human machine interface Fig 8 11 Program selection PIC734 This screen features input output fields It is upward and downward select able Md t LA ALA LIA P Nr lllLilakt Betziabsart eL X X 71 XL LLLI ezb rxvuse aL 1 e TI LLLLLLCLLLLLLLLLELLLELEM3TAT T Reetweg aktiv G90 Geol folgSA Fig 8 12 Current block PIC731 This screen contains only display fields D Mrz iso T Betriebsart Gli tere ee ee ee we a pd TT eb TT sa pt HH ft at Ve 1 LLL Fig 8 13 Continuation block PIC 732 This screen contains only display fields Fig 8 14 Parameters PIC72 The sum of the offsets and the actual value display are display fields FM 354 Servo Drive Positioning Module 8 13 Human machine interface trie bna hme Mop ET OCOT E kv Fak Qu LnmAac aussabew s tibers M LE Geberimtwerti 171 TTT n E BI BI E 2 E I Einst MD Fig 8 15 Startup PIC76 The FM 354 values service data are display values Fig 8 16 Startup settings PIC761 The fields in which an X is entered are display fields a anengge aame GS wey MES t nenda m1 TTT tt ttt tt ttt Betriebs
106. servo ready is not detected or is deacti vated during the movement the servo not ready message is triggered see Table 11 5 Class 3 No 62 Position approach The following diagram shows position approach Sh Target range PEH MD24 ppetrange Position to be approached Lower limit Monitoring time MD25 ty to t3 PEH Position reached stop S path t time On approach to a position the monitoring time is activated Time Position monitoring t a After the interpolator reaches the target position the monitoring time MD25 for reaching the target range is started in the CL controller after the overtravel in the jolt filter dies down to the target range value PEH on setpoint side t2 b Before the monitoring time expires the actual position reaches the target range Positioning is completed A PEH is signaled and exact matching is performed by the CL controller t5 c After the monitoring time expires the actual position has not reached the target range PEH Error message Target Range Monitoring see Troubleshooting Table 11 7 Class 3 No 64 MD Designation Value Meaning Unit 24 Target range 0 1 000 000 MSR 25 Monitoring time 0 no monitoring ms rounded to 2 ms 1 100 000 steps FM 354 Servo Drive Positioning Module 9 72 Description of Functions Following error Axis standstill monitorin
107. shows which parameters or data can be changed or read record by setting the indicated codes Addr in Data m nii format T DB type 2 5 3 TO 4 NC traversing program data SM No TO No 1 20 Progr No number 1 100 1 199 Number of Number of 0 Tool offset Block No MDs consec SMs consec complete 1 255 D utive 1 5 utive 1 5 1 Tool length only 2 Wear value abs only 3 Wear value add only job type 1 2 Read job parameters 2 Write parameters 4 Write parameters and save 130 149 depends data Parameters data see data blocks Section 5 3 on type array 1 For block format see Section 9 3 12 Active NC block Example The software limit switches MD21 MD22 for the axis are to be set to the values 100 mm and 50 000 mm These values are to remain in effect only until the unit is shut down DB type data number 21 number of data 2 job type 2 data array Byte 5 8 100 000 MD21 Byte 9 12 50 000 000 MD22 Byte 13 24 0 For activation of the machine data see Section 9 3 3 FM 354 Servo Drive Positioning Module 9 36 Description of Functions Notes Please note the following when changing the parameter data Machine data Machine data can always be modified Once you have modified the ma chine data the machine data have to be reactivated for single command see Section 9 3 3 Increments Modifications can be
108. starting at the CPU 4 by address 72 and tes and calls calls FC 4 SFC 52 On operator control error addr in user DB 80 7 for further error specification read DS 164 in OB 1 Alarm If processing is to continue after a diagnostic interrupt then Restart after the acknowledgement error has been remedied see write job no 11 Sections 6 2 1 and 9 3 3 Internal errors cannot be acknowledged External errors are self acknowledg ing FM 354 Servo Drive Positioning Module Troubleshooting 11 2 3 Error messages in checkback signals Overview Operator travel errors BF FS and data errors machine data errors traversing program errors DF are communicated to the user by way of checkback sig nals FC 2 call The error specification is stored in the form of an error num ber see error list in Table 11 6 11 8 in the corresponding data block DS162 and DS163 Checkback signals BF FS and DF group error messages Error specification in user program if nec programming device PC essary Read out DS 162 Message in the trouble in diagnostic buffer on BF FS or shooting display of read out DS 163 meterize FM 354 on DF Menu Test gt Alarms Error acknowledgement Set clear control signal BFQ FSQ Or on message DF write a new write job Note Invalid data are not accepted The original data are retained FM 354 Servo Drive Positioning Module
109. system of measurement If at some point you have failed to take this precaution 1 Delete all data blocks which do not match the measurement system or clear the memory of the FM 354 completely 2 Modify the other data blocks on the PG 3 Reload the data blocks to the FM 354 FM 354 Servo Drive Positioning Module Description of Functions 9 5 Axis type Overview You can select the axis type with machine data item MD8 Choose either of the following types e Linear axis e Rotary axis Linear axis A linear axis moves between two range limits traversing range min 10 max 10 The range limits may be bounded by software limit switches MD21 MD22 to form the working range Linear axes have a limited traversing range The limits are imposed by the e Resolution of the numerical scale The range covered by an absolute encoder Movement q lt Motor Encoders Fig 9 3 Linear axis Rotary axis With rotary axes the actual value is reset to 0 after one revolution Rotary axes thus have an infinite traversing range Fig 9 4 Rotary axis FM 354 Servo Drive Positioning Module 9 57 Description of Functions Rotary axis end Encoders on rotary axes Machine data item MD9 defines the value by which the FM 354 recognizes the end of the rotary axis This value is the theoretical maximum that the actual value can
110. the FM 354 e The input output fields are addressed to user DB No 1 control 1 CPU Transmission of these values occurs from the OP 17 to the CPU into the user DB These values if needed must be transmitted to the FM 354 by the user program Ifcertain values or control signals can be written only under the right conditions e g if axis is in HOLD mode or selection of a certain op erating mode is required then the user program must ensure by ana lyzing the response signals that these conditions are met The pending errors are displayed in the errors line More detailed error in formation is provided on the screens Diagnostics Troubleshooting and Interrupt messages FM 354 Servo Drive Positioning Module Human machine interface Description of the The following illustration shows the screen layout of the preconfigured inter individual screens face FM 354 Anwendername des FM Istwertanzeige P 000 5 Nr 000 O00000000000000 OOOOOOOO0000 mm F QOOOO00000 Restweg 000000000000 OR OOO z 210000 oo0000000000 oo000000000 Para Auto MDI BA An IBN A e i Ces Qo Qo Cre Coe Cie De Fig 8 4 Screen layout of the preconfigured interface The illustrations shown below Fig 8 5 to Fig 8 19 provide you with the screen content of the configured screens Fig 8 5 Main screen PIC7 This screen is displayed to you after the OP 17 is enabled The FM354 values are display values The
111. the START control signal must be reset By a block with a dwell time By processing a program in the Automatic Single Block mode Each block must be activated individually By a change in the acceleration override Functions that themselves prevent block change on the fly VA diem Da 3 _Q M functions during positioning LZ LLLLL2 vi LLL ot Since the M output is completed at the point of deceleration a block change takes place on the fly The M output is not yet complete at the point of deceleration The axis begins to brake At the end of the M output the axis returns to speed transition on the fly from deceleration ramp to acceleration ramp Axis comes to a complete standstill and waits for the end of M output FM 354 Servo Drive Positioning Module Writing Traversing Programs Influence of M function on block change on the fly Machine data can specify the output time for M functions M function is output before or after positioning with a block change M function output and positioning proceed in alternation M function output before positioning causes exact positioning re sponse in the preceding block M function output after positioning causes exact positioning response within the block M function is output during positioning M function output and positioning proceed simultaneously The following figure shows a sample program with M function output du
112. to this value and the allocation of an absolute value to the absolute encoder SSI will be entered in the machine data record MD17 If you want to archive this value externally apart from the module s own data memory perform a readout of the machine data DB and save it to a floppy disk or to the hard disk of your PG 7 3 6 Activating position controller diagnostics Overview Once the position controller has been optimized activate the position con troller diagnostics If position control is performing improperly or the axis is responding abnormally this function will trigger error messages You can use the following flow chart to start the position controller diagnos tics FM 354 Servo Drive Positioning Module 7 23 Starting up the FM 354 Select mE Mode jogging Speed level 2 OVER 10 20 Set Speed level 1 0 1 Vmax Speed level 2 0 5 Vmax Set Servo enable ON Set Servo enable OFF Read the following error from the servicing data No V detected with controller inactive Yes C 3 Is maximum value for following error Parameterization MD26 Entry gt 300 of maximum idle following error Start axis Plus or minus direction be sure there is enough room Read the following error from the servicing data Parameterization MD39 Enter the following error at approx 5 10 96 Vmax
113. values This comment is not stored in the data block It can be printed out or stored with the data in the file on export Menus of Parame The following table shows you an overview of the menus of terize FM 354 Parameterize FM 354 Table 5 9 Menus of Parameterize FM 354 Menu title or entry Shortcut Significance with single command Create open save print and generate data blocks New Creates a new data block Machine data Creates a new DB MD Increment Creates a new DB SM Tool offset data Creates a new DB TO Traversing program Creates a new DB NC Open Opens the data block stored on the programming device PC Machine data Opens the DB MD stored on the programming device PC Increment Opens the DB SM stored on the programming device PC Tool offset data Opens the DB WK stored on the programming device PC Traversing program Opens the DB NC stored on the programming device PC Opens a data block which has been saved as a file FM 354 Servo Drive Positioning Module 5 22 Defining Parameters of the FM 354 Table 5 9 Menus of Parameterize FM 354 continued Menu title or entry Shortcut Significance with single command Close Ctrl F4 Closes the window of the current DB Save Ctrl S Saves the current data block on the programming device PC Export Saves the current data block in a file Check consistency Checks the data in the current window for errors
114. x 125 x 118 Weight g lb approx 550 1 Ib 3 3 oz RAM memory 16 Kbytes FEPROM for retentive storage of parameter data 2 ms Technical data for encoder inputs Table A 3 Technical data encoder inputs Position detection e Incremental Absolute SSI Signal voltages Inputs 5 V per RS422 Encoder supply voltage 5 2 V 300 mA 24 V 300 mA Input frequency and line length for Max 1 MHz wih 10 m conductor length incremental encoder shielded Max 500 KHz with 35 m conductor length shielded Data transmission rates and line e 1 25 Mbit s with 10 m conductor length for absolute encoder SSI length shielded e 125 kbit s with 100 m conductor length shielded Technical data concerning setpoint output Table A 4 Technical data setpoint output Rated voltage range 10 10 V Output current 3 3 mA FM 354 Servo Drive Positioning Module Technical Specifications Digital inputs Technical data for digital inputs Table A 5 Technical data digital inputs Number of inputs 5 including controller ready Supply voltage 24 V DC allowable range 20 4 28 8 V Electrical isolation No Input voltage e 0 Signal 3 5 V 1 Signal 11 30 V Input current 0 Signal lt 2 mA Signal 6 15 mA Input delay DI1 4 e 04 1 Signal typ 15 ps e 1 0 Signal typ 150 us Digital outputs Technical data for digital outputs Table A 6 Technical data Digital outputs
115. 0 000 000 MSR point shift 28 Referencing 10 Vmax MD23 MSR min speed 29 Reducing 10 x see Machine data list Table 5 5 MSR min speed 34 Inputs 5 reference point switch for Assigned de reference point approach pending 6 reversing switch for reference point approach on input MSR stands for measurement system raster see Section 5 3 1 When an absolute encoder is used only the reference point coordinate de fined as a fixed point on the axis is approached in Reference point approach mode When an incremental encoder is used the user has two options for recording the reference point e with connected reference point switch RPS e without connected reference point switch RPS FM 354 Servo Drive Positioning Module 9 17 Description of Functions With reference It is necessary to connect the reference point switch RPS to a digital input point switch RPS and parameterize it in MD34 Sequence of motions Type of reference reference point offset 0 point approach Va referencing velocity Vg reducing velocity Triggering of move ment Direction for synchronization R Ist situation zero pulse to right of RPS 2nd situation zero pulse to left of RPS 3rd situation edge con RPS centered trolled or Start no zero pulse nec essary 4th situation RPS edge no zero pulse nec essary I
116. 1 3 external errors internal errors error evaluation error list data errors external channel errors 11 12 external errors 11 11 internal errors machine data errors operator control errors 11 14 travel errors 11 18 traversing program errors 11 31 error messages LED indicators error response external block change F FM approval FM cycle A 3 follow up ot on following error front connector rim connecting cables 4 18 wiring the front connector 4 18 front connectors 4 3 Index 2 front panel elements 1 8 LED indicators G G functions 10 3 I O interface 4 13 incremental dimensioning 10 8 incremental encoders measured value synchronization 9 68 Incremental relative 9 9 incremental relative increments inprocess measurement Installing the FM 354 interfaces I O interface interfaces 4 13 interpolator interrupts J Jogging 9 9 9 13 jolt filter 7 20 9 71 L length measurement 9 51 linear axis M functions machine data activate activation dependencies input limits 7 3 edes machine data list 5 1 MDI Manual Data put 9 9 measured values 6 22 16226 inprocess measurement length measurement measurement 9 mode parameter 9 1 9 13 9 16 FM 354 Servo Drive Positioning Module Index mode parameter module replacement 3 4 N next NC block O offset comp
117. 3 0 _ BOOL FALSE Velocity 6 30 FM 354 Servo Drive Positioning Module Programming the FM 354 Table 6 5 Abso lute ad dress 109 1 User DB for the FM 354 continued Relative address 13 1 Data type ration Initial value FALSE Comments M function group 1 109 2 13 2 M 1 EN BOOL M 2 EN BOOL FALSE M function group 2 1093 33 M_3_EN BOOL FALSE M function group 3 Reserved BIT3 4 BIT3 5 Reserved 109 6 43 6 BIT3 6 BOOL FALSE Reserved FALSE Reserved BIT3 7 G 1 VAL 16 0 function no of group 1 111 0 450 G 2 VAL BYTE B 16 0 G function no of group 2 16 0 Reserved BYTE6 BYTE7 16 0 Reserved 114 0 80 X T VAL DINT 140 Value of position dwell 412 0 puso fazo V VAL DINT L 0 Velocity value 122 0 16 0 M 1 VAL BYTE 16 0 M function no of group 1 118 0 120 B 16 0 M function no of group 2 B 16 0 M function no of group 3 125 0 19 0 19 B41680 Reserved END_STRUCT Change parameters data 126 0 PAR_CHAN STRUCT Change parameters data FC MODE WR job no 8 PAR TYP B 16 0 DB type PAR_NUMB B 16 0 Number 128 0 20 _ B 16 0 Quantity PAR_JOB 16 0 Job PAR DATA B 16 0 Data field 131 0 50 BYTES B 16 0 B 16 0 BYTE6 BYTE B 16 0 134 0
118. 354 By calling up the appropriate functions FCs you can activate these func tions by way of the user program Chapter In Section you will find 9 1 Control and checkback signals bA 9 2 Operating modes 9 3 System data 9 4 System of measurement 9 5 Axis type 9 6 Encoders 9 7 Position control 9 8 Digital I Os 9 9 Software limit switches 9 10 Process interrupts FM 354 Servo Drive Positioning Module 9 1 Description of Functions 9 1 Control checkback signals Overview FC MODE transfers the control signals from the user DB to the FM and transfers the checkback signals from the FM to the user DB Bit Byte Control signals 20 21 22 23 24 25 28 29 30 31 32 33 FM 354 Servo Drive Positioning Module 9 2 Description of Functions 9 1 1 Control signals Overview The axis is operated and controlled by means of control signals Table 9 1 describes the control signals and their functions Table 9 1 Control signals Smb Name Function TEST EN Sw over Interrupts communication with the user program and switches over the P bus P bus in interface for operation with the start up user interface terface OT ERR A BFQ Ac Iesets an error message Before acknowledging the error correct its cause FSQ knowl edge op erato travel er Start Starts movement in Automatic MDI and Reference point approach
119. 354 Servo Drive Positioning Module Programming the FM 354 Linking the The following figure shows you how the FM 354 the user data block user FM 354 into the DB and technology functions communicate user program CPU FM 354 Process Diagnostics 4 bytes of OB startup information re Diagnostic in interrupt terrupt informa 4 bytes of OB FCDIAG RD tion startup in formation OB 1 Y Read write job amp j4 Control and FC MSRMENT 1 read write status de checkback signals OB 100 N FC MODE WR le System data Cold restart startup error messages User DB Y and error specifi FC INIT DB cation 1 DB per channel FCRD COM gt FC MSRMENT 1 1 This FC can only be called in OB 40 or in OB 1 but not in both simultaneously Fig 6 2 Overview of linking the FM 354 into the user program Tips for the user The user requires at least FC INIT_DB in order to initialize the user DB and FC MODE_WR for mode and write job processing FC RD_COM for reading data is only required if the FM data are to be pro cessed in the user program e g for display purposes Regardless of which or how many technology functions you use you need a data block with a predefined structure UDT 1 to contain all the necessary data or data storage areas Thi
120. 4 requires an installation width of 80 mm 3 12 inches 3 The maximum number of modules is limited by the total power that all modules to the left of the CPU or IM as the case may be consume from the 5 V backplane bus The CPU 314 for example can supply a maximum of 1 2 A The FM 354 requires 100 mA of this amount In Section you will find on page 3 1 Installing the FM 354 3 2 Removing the FM 354 3 3 Replacing modules FM 354 Servo Drive Positioning Module 3 1 Installing and Removing the FM 354 3 4 Installing the FM 354 Rules AN Tools required Procedure 3 2 No particular protective measures EGB Guidelines are necessary for the installation of the FM 354 Warning Install the FM 354 only after all power to the S7 300 has been turned OFF A 4 5 mm 18 inch screwdriver To install the FM 354 1 The FM 354 comes with a bus connector Plug this into the bus plug of the module to the left of the FM 354 The bus plug is on the back you may have to loosen the module already in place If further modules are to be mounted to the right plug the bus connector of the next module into the right backplane bus connector on the FM 354 If the FM 354 is the last module in the rack do not connect this bus con nector 2 Hook the FM 354 onto the rail and swing it down into position 3 Screw the FM 354 down torque approx 80 110 Nm 4 After the modules have been mounted you
121. 5 operating system and appropriate STEP 7 program V3 1 or higher must already be installed on the programming device PC For online operation the link between the PG and the 57 300 CPU must al ready be set up see Figure 4 1 For distributed use of the FM under devel opment a link from the programming device PC to the L2 DP network must already be set up Installation The entire software parameterization tool function blocks and preconfigured user interface for OPs is stored on two 3 5 inch diskettes and is installed complete Install the software as follows 1 Insert diskette 1 in the floppy disk drive of your programming device PC 2 In Windows 95 start the interactive routine for installing the software by double clicking the Software symbol in the Control Panel 3 Select the floppy disk drive and the file Setup exe in the dialog box and start the installation program 4 Follow the instructions displayed by the installation program step by step Result The software is installed in the following directories Parameterize FM 354 parameterization tool SIEMENS STEP7 S7FLAG Function blocks SIEMENS STEP7 S7LIBS FMST_SRV User interface for OPs SIEMENS STEP7 EXAMPLES S70P_BSP Example applications SIEMENS STEPXEXAMPLEIFMSTSVEX Note If you chose a directory other than SIEMENS STEP7 when you installed STEP 7 this directory is entered instead 52 FM 354 Servo Drive Positioning Module
122. 54 ssssssesesses esses 6 6 Memories example application 1 6 7 Memories example application 2 6 8 Memory example application 6 9 Memory allocated to FCS_ cc cece cent eee 6 10 Processing times Of FCS ccc cece teen eens 7 1 Installation and wiring checklist _ 7 2 Parameterization checklist 7 3 Initial contents of machine data 7 4 Checklist Startup of machine 7 5 Effect of machine data that defines response 8 1 Description of the screens in the user 8 2 Analysis of the user DB by the user program 8 3 Variables for user DB 8 4 Parameters data of DB SS 8 5 Control and checkback 9 1 Control signals 9 2 Checkback signals 9 3 Control actions for Jogging mode examples 9 4 Control actions for Reference point approach mode examples 9 5 Control actions for Incremental relative mode examples 9 6 MDI S8lZ la gut a ed te a ATA Roto a 9 7 Control actions for MDI mode examples 9 8 Control actions
123. 57 300 con linked up with the troller 57 300 The 57 300 programmable controller consists of a CPU and a variety of pe ripheral modules mounted on a mounting rail The configuration may have one or more racks FM 354 Servo Drive Positioning Module 13 Product Summary Multi rack A SIMATIC S7 300 CPU may run up to four racks with as many as eight bus configurations stations each see Figure 1 1 P MPI G Operator panel Programming device Backplane bus Rack 3 B B IM SM SM SM FM SM SM SM dig anal dig anal dig anal dig anal dig anal dig anal a ga 24 V j Rack 2 e m m IM SM SM SM FM SM SM SM dig anal dig anal dig anal dig anal dig anal dig anal g a 24 V T Servo Rack 1 drive Encoders i m IM SM SM SM FM 354 SM SM SM dig anal dig anal dig anal dig anal dig anal dig anal a 24 V I 0 Distributed l Os L2 DP with IM inter face module avail able soon E PS 24 V SIMATIC IM SM SM SM FM 354 2 5 10 A 57 300 CPU dig anal dig anal dig anal E o a m n n
124. 7 Travel errors Error message Message e No error analysis and elimination Display Travel errors Error response Feed STOP see Table 11 2 Software limit switch beginning Cause Limit switch approached in Jog operating mode in Automatic operating mode if G88 89 without switching signal from the corresponding digital input The axis is located to the left of the software limit switch because of actual value set Effect e Axis movement is stopped at the limit switch position Set actual value is not executed Elimina Following acknowledgment of the error it is possible to tra tion verse to the working range Alter value of software limit switch MD21 Disable limit switch monitoring With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches Software limit switch end Cause Limit switch approached in Jog operating mode in Automatic operating mode if G88 89 without switching signal from the corresponding digital input The axis is located to the right of the software limit switch because of actual value set Effect Axis movement is stopped at the limit switch position e Set actual value is not executed Elimina Following acknowledgment of the error it is possible to tra tion verse to the working range Alter value of software limit switch MD22 Disable limit switch
125. 99 Block size rounded in bytes 110 20 x no of traversing blocks Traversing programs are required for the Automatic and Auto matic single block modes Programs which are not selected can always be modified If modifications are made to a preselected program including the subprogram preselection of the program is canceled You must then select the program again A modification can be made to a program when BL 0 start of program end of pro gram and on Stop System data For module replacement without PG block the parameter data of the FM 354 DB MD DB SM DB WK SDB 21000 pp NO are stored in SDB 1 000 This SDB is loaded into the CPU and is used as an additional means of data storage DB SS Data block for status messages DB no 1000 The DB SS is an internal DB on the FM for testing start up and operator control and monitoring DB 1249 Internal DB on the FM not relevant for user FM 354 Servo Drive Positioning Module 5 7 Defining Parameters of the FM 354 User data block Chapter 6 describes how to generate a user data block You can use Parameterize FM 354 to fill the user DB with the data de scribed in Table 5 2 The menu Target system gt Online editing gt User data allows you to select and edit your user DB Table 5 2 User DB User DB Data block Significance For the structure and data formats see Chapter 6 You can preload the followin
126. Absolute encoder SSI 25 Bit Binary Code 11 Displacement per 1 1 000 000 000 MSR encoder revolu see Section 5 3 1 Dependencies integer portion tion division pe riod 12 Residual distance 0 232 1 2 32 MSR per encoder revo see Section 5 3 1 Dependencies fractional portion lution 13 Increments per Entry according to encoder revolu see Section 5 3 1 Dependencies encoder rating plate tion division pe riod 14 Number of revo 0 1 Single turn encoder Only powers of 2 lutions of 2 2 2 for multi turn encoder allowed SSI encoder FM 354 Servo Drive Positioning Module Description of Functions Sample encoder adjustment Table 9 11 Function parameters Absolute encoders SSI continued MD Designation Value Meaning Comments Unit 15 SSI baud rate 2 78 000 Baud Code number 2 156 000 Baud The baud rate de 3 312 000 Baud pends on the cable 4 625 000 Baud length between FM 5 1 250 000 Baud 354 and encoder 19 0 Direction adjust 1 invert measured value direc ment tion 20 Hardware moni Entry for monitor toring ing to be switched 20 1 1 Error in absolute encoder on 20 3 1 Voltage monitoring MSR stands for measurement system raster see Section 5 3 1 Encoder Number of increments per revolution MD13 4096 212 Number of revolutions MD14 256 28 Machine axis design e Motor with 50 30 gear ratio on spindle with 10 mm pitch 10
127. Basic diagnostics no drive movement is output see Table 11 7 Class 3 No 65 FM 354 Servo Drive Positioning Module 9 73 Description of Functions Position controller 9 74 The following error is calculated by periodical comparison of the set position defined by the interpolator with the actual position of the axis detected by the encoder From this error the position controller calculates the actuating sig nal needed for the drive in order to balance to a following error value of zero The actuating signal is provided via a D A converter DAC as an analog signal at the FM 354 output Digital setpoint Digital actual value Digital following error digital setpoint digital actual value Digital DAC value digital following error DAC factor Digital Voltage setpoint manipulated value Position control loop gain The positioning loop amplification Ky factor specifies at what speed of axis travel a given following error sets in The mathematical proportional rela tionship is Velocity v 103 MSR min Ky Following error As MSR Although the magnitude of the following error plays no dominant role for a single axis the K factor still affects the following important characteristics of the axis Positioning accuracy and stopping control e Uniformity of movement Positioning time FM 354 Servo Drive Positioning Module D
128. Block search forward block search backward Automatic block search forward backward The program is processed to the end point of the target block including tool offset M commands and dwell times are output and the traversing move ments are suppressed When processing traversing programs with a forward block search there are a number of special cases e The external forward block search G50 is not executed e Continuous travel with functions to set G88 89 or delete G87 an ac tual value on the fly is not executed e The blocks under G50 G87 G88 G89 in the processing direction should contain a path in absolute coordinates Similar to block search forward Automatic block search forward backward means that after the interruption of an active automatic program by an operating mode change you can con tinue execution from this point of interruption in the appropriate direction of processing With forward block search the interrupted program must previously have been going in the forward direction With block search in reverse the interrupted program must previously have been going in the reverse direction The command for automatic forward or reverse block search is evaluated in the FM 354 at Start and a forward or reverse search to the interruption point is executed Positioning to the interruption point takes place if positioning has taken place previously in some other mode and then the interrupted b
129. Connector location Connector pinout Signal names Signal type 4 4 Power sections with an analog interface 10 V can be connected to the 9 pin sub D X2 connector of the FM 354 The FM 354 also provides an enable signal Figure 4 2 shows the installation position and identification of the plug on the module ANAL OUT X2 C y 96600069960 EENE e je 354 Fig 4 2 Position of X2 connector Connector identifier X2 ANAL OUT X2 Connector type 9 pin sub D plug connector Table 4 2 Pinout of the X2 connector Pin Name type Pin Name type 1 SW 2 open 3 open 4 open 3 RE2 SW Setpoint 10 V BS Reference potential for setpoint RF 1 2 Contact for CL controller enable vo Voltage outlet K Switching contact FM 354 Servo Drive Positioning Module Wiring the FM 354 Signals Signal parameters Relay contacts Connecting cables to drive unit One voltage signal and one enable signal are provided e SETPOINT SW An analog voltage signal in the range 10 V for output of an rpm set point REFERENCE SIGNAL BS A reference potential analog ground for the setpoint signal internally connected with the logic ground SERVO ENABLE RF A relay contact pair used to switch the axis specific enables of the power section for example of a SIMODRIVE drive un
130. Create SDB Reads the FM data blocks which have been generated from this SDB system data block and stores them on the programming device PC Display SDB Displays the SDBs for the FM 354 which exist on the programming device PC they can then be deleted Print Ctrl P Prints all or part of the current data block Print preview Displays the document in the print preview no editing possible Set page Specifies page layout for printing Set printer Sets up the printer and sets print options 1 Name of Opens the DB which was last opened DB last opened 2 Name of Opens the DB which was open before the last one penultimate DB opened 3 Name of third last Opens the third last DB DB 4 Name of fourth last Opens the fourth last DB DB Close Closes all parameterization windows and ends parameterization Edit Undo the last action cut copy paste and delete selected objects search and default value Undo Ctrl Z Undoes the last action Cut Ctrl X Deletes the selected data and saves it in a buffer clipboard Ctrl C Copies the selected data to a buffer clipboard Ctrl V Inserts the clipboard contents at the cursor position Replace cells Overwrites the field in a table with the clipboard contents Find Ctrl F Searches for text the text may also be a number e g MD No Default values Fills the current data block with default values FM 354 Servo Drive Positioning
131. DB which causes the user program to read the item of machine data whose number has been entered Soft key set You can use this soft key to set a bit which causes the user program transfer to the FM 354 the number entered under value for the item of machine data under MD No Soft key aktiv You can use this soft key activate MD to set a Each bit in the user DB which you set in this screen must be reset by the user Settings for startup PIC723 The fields of this screen which are identified by an are display fields If the bit is set you will see an x If the bit is not set the field will be blank The other fields are text entry fields in which you can toggle between x and program following execution of the function memory bit activate MD bit in the user DB which is transmitted from the user program to the FM 354 You can use the soft keys lt lt and gt gt to change between the inset screens of this screen Set data for the Control PIC7122 This screen contains input output fields for the control levels or a text field operating mode for control level selection selections 1 or 2 possible Set data for the incre PIC7123 This screen contains input output fields The fields SM No and free SM mental mode relative are addressed to the same address in the user DB You can use the SM No to operating mode enter the values 1 to 100 The free SM
132. Defining Parameters of the FM 354 5 2 Getting started with Parameterize FM 354 Prerequisites You have installed the software on your programming device PC as de scribed in Section 5 1 Configuration Before you can configure your system you must create a project in which to save the parameters You will find further information on how to configure modules in your user manual Standard Software for S7 and M7 STEP 7 The description below outlines only the most important steps 1 Start the SIMATIC Manager and open your project 2 Insert a SIMATIC 300 station in the menu Insert gt Station 3 Select the SIMATIC 300 station Call up the S7 hardware configuration from the menu Edit Open Object 4 Selecta rack and assign it 5 Select the FM 354 positioning module with the correct order number from the module catalog and insert it in the hardware table as appropriate for your configuration 6 Double click a module to configure it The Properties dialog box appears Properties FM354 SERVO R0755 x General Addresses Basic Parameters Module Short Name FM354 SERVO Positioning module for servomotor 1 channel Order No BES7 354 14H01 04E0 Description FM354 SERVO 1 Location Nodes Station SIMATIC 300 Station 1 MPI 4 Rack 9 0 Slot 5 IE 5 FRURIBUS Ethemet Comment Parameters Cancel Help Fig 5 2 Getting started with Parameterize FM 354
133. E2 The following blocks are required in addition to the technology functions in order to run this example application DB 1 user DB FC 100 example call e OB I cycle OB 40 process interrupt OB 82 diagnostic interrupt and OB 100 cold restart The following operating modes are supported in the example Jogging e Reference point approach e MDI block e Automatic The associated data velocity levels MDI block single functions single commands and program selection are transferred automatically to the FM when the appropriate write memories are set If no action is performed on the write job memories M17 4 to M17 7 only control checkback signals are transferred If the memory READ DATA M17 3 is set data are read basic operating data You can acknowledge a diagnostic interrupt by setting the memory RE START M17 0 An example for calling data set DS 162 evaluation of operator travel errors is provided for special error evaluation at the end of FC 100 Data set 163 evaluation of data errors and data set 164 evaluation of operating errors are called similarly OB 100 contains certain default settings for velocity levels MDI block servo enable simulation operating mode Jogging mode is active on start mode parameters and override 100 however these can be changed according to the application Table 6 7 Memories example application 2 Input memories used Output memories used
134. EI The following blocks are required in addition to the technology functions in order to run this example application e DB 1 user DB FC 100 example call cycle and OB 100 cold restart The following operating modes are supported in example 1 Jogging e Reference point approach e MDI block The associated data velocity levels MDI block single functions are transferred automatically to the FM after Power On or when the CPU switches from STOP to RUN These values can be transferred again by setting the appropriate write memory M17 4 to M17 6 OB 100 contains certain default settings for velocity levels MDI block single functions servo enable simulation operating mode Jogging mode is active on start mode parameters and override however these can be changed according to the application Table 6 6 Memories example application 1 Input memories used M16 0 Start M16 1 Stop M16 2 Direction minus M16 3 Direction plus M16 4 Not used M 16 5 Not used M 16 6 Not used M 16 7 Drive enable M 17 0 Not used M 17 1 Acknowledge operator travel error M 17 2 Mode selection M 17 3 Not used M17 4 Transfer velocity levels M17 5 Transfer MDI block M17 6 Transfer single functions M 17 7 Not used MB 18 Operating mode encoded MB19 Override FM 354 Servo Drive Positioning Module 6 41 Programming the FM 354 Example 2 6 42 See STEP 7 example application FMSTS VEX EXAMPL
135. FALSE Data error BOOL Operator travel error BITC 15 END STRUCT 392 0 392 0 MD_NO WORD W 16 0 MD Nr 394 0 3940 MD_VALUE DINT L 0 MD value FM 354 Servo Drive Positioning Module 6 39 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso ET jute ads clave Herde Variable Data type Initial Comments address ration value dress 3980 398 0 INC_NO BYTE B 16 0 INC No 399 0 399 0 RESERV 3 BYTE B 16 0 Reserved 400 0 4000 PICT_NO WORD W 16 0 Picture number 402 0 4020 KEY_CODE WORD W 16 0 Keyboard code 404 0 4040 RESERV_4 WORD W 16 0 Reserved 406 0 OP_MODE STRUCT Selection of operating mode BITA 0 Mode Control BITA 1 Reference point approach 4062 402 BITA_2 BOOL FALSE increment travel BITA 3 MDI BITA 4 Automatic single block 406 5 40 5 5 BOOL FALSE Automatic 406 6 40 6 _6 FALSE Tipping 406 7 07 Ed BITA_7 BOOL FALSE Reserved 407 0 10 BITA 8 BOOL FALSE Reserved 407 1 11 BITA_9 BOOL FALSE Reserved 4072 42 BITA 10 BOOL FALSE Reserved BITA 11 Reserved BITA 12 Reserved 407 5 15 BITA 13 BOOL FALSE Reserved BITA 14 Acknowledge error BITA 15 Acknowledge diagnostic in terrupt FM 354 Servo Drive Positioning Module 6 40 Programming the FM 354 6 7 Example 1 Example applications See STEP 7 example application FMSTSVEX EXAMPL
136. Human machine interface Table 8 4 Parameters data of DB SS continued Offset Variable type Significance of the variables 288 DINT Approach time Te ms drive constant Servicing data Ta ms in OL Control mode Ew mme oed 325 BYTE Part program no en Part program block no Additional operating data Em mme rottami Aion oping dus 328 BYTE NENNEN G90 91 Active Additional operating data EE BYTE NEN G60 64 Active Additional operating data BYTE G43 44 Active Additional operating data BYTE Active D No Additional operating data 8 x BOOL Status messages 1 Additional operating data Speed limitation to limit value from MD Limitation to 10V Limitation of minimum accelera tion or minimum deceleration in ef fect 2x BYTE Free 4x8x BOOL Diagnostics system specific 2x8x BOOL Diagnostics channel specific Channel error 4x8x BOOL Free m 2x BYTE EE Error number DS 162 Operator travel error 354 2x BYTE Error number DS 163 Data error 356 BYTE Free 358 2x BYTE Error number DS 164 Operator control error BYTE Free 362 32 x BOOL Process interrupt 1 Avariable in the S7 protocol is addressed by the DB No and depending on data format by the DBB DBW and DBD No offset in DB as well FM 354 Servo Drive Positioning Module 8 22 Human machine interface The control and checkback signals in Table 8 4 can be the following signals Byte
137. M 354 Servo Drive Positioning Module 10 14 Writing Traversing Programs 10 2 Program execution and direction of machining Forward processing Reverse processing As a rule programs are processed by ascending block number If programs are processed in reverse the effects of commands must be taken into account in the programming Commands are self maintaining G90 G91 G60 G64 G30 G39 e Active tool offset G43 G44 DO D20 e Change of coordinate systems via G87 G88 G89 For these reasons a distinction can be made between forward processing and reverse processing in terms of both geometry and block transition response 10 3 Block transitions Overview Exact positioning G60 Output of M func tion before positioning This chapter describes the influence of certain commands on block transi tions G60 mode is overlaid with G50 and G88 to G89 force block change on the fly The program advances to the next block when the target range is reached The influence of M functions is as indicated in machine data item MD32 Case 1 VA gt t gt t FM 354 Servo Drive Positioning Module 10 15 Writing Traversing Programs Output of M function during positioning Output of M function after positioning Change block on the fly G64 standard case 10 16 Case 2 V long block M V A short block Case 3 V A
138. Module 5 23 Defining Parameters of the FM 354 Table 5 9 Menus of Parameterize FM 354 continued Menu title or entry Shortcut Significance with single command Destination system Transfers data and data blocks V Communications Establishes or disconnects online connection with destination system Load gt Loads data blocks or user data in FM Loads the current data block on the FM 354 in PG or PM Opens a transfer dialog Online editing gt Edits the data blocks on the FM 354 Machine data Edits the machine data on the FM 354 Increment Edits the increments on the FM 354 Tool offset data Edits the tool offset data on the FM 354 Traversing program Edits the traversing programs on the FM 354 User data Edits the user data on the FM 354 Compress FM RAM Compresses the FM 354 RAM This is possible only if the CPU is in STOP mode Clear flash memory Clears the FLASH memory on the FM 354 Test Startup and troubleshooting V Startup Opens the startup window Module control and observation v Troubleshooting Opens the troubleshooting window Displays faults in the module V Service data Opens the window to look at servicing data Table form Switches between dialog and table format only with MD Contents of column 5 Defines what appears in the last column MD only Default value Displays default values recommendations Limits Displays upper and lower limits V S
139. No of SR calls SR call Velocity M function group 1 Reserved Reserved 16 0 function no of group 1 16 0 function no of group 2 16 0 function no of group 3 16 0 Reserved 140 Value B 16 0 M function no of group 1 16 0 M function no of group 2 B 16 0 M function no of group 3 B 16 0 Tool offset no Next NC block FC RD_COM job no 104 2500 stat NXT BLCK STRUCT Next NC block 250 0 0 0 PROG NO BYTE B 16 0 Program number 2510 10 BLCK NO BYTE 16 0 Block number 252 0 2 0 _1_ BOOL FALSE G function group 1 FM 354 Servo Drive Positioning Module 6 35 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso sis lute ad PANE peras Variable Data type Initial Comments address ration value dress 2352 1 2 1 _2_ BOOL FALSE G function group 2 252 2 12 2 G 3 EN BOOL FALSE G function group 3 2523 23 BIT2_3 BOOL FALSE Reserved Position dwell No of SR calls Eus pee sn sor rase fe SKIP EN Skip block per MN Boor PAGE _ M function group 2 M function group 3 ei mv soon ems 85 emo foci muse Res mms ue mme soon er mer soon 2540 40 yva B 16 0 G function no of group 1 2550 50 G2VAb BYTE 16 0 function no of group 2 3 VAL B 16 0 G f
140. OVER 200 Parameterization MD24 Enter PEH target range Start axis Plus or minus direction be sure there is enough room Read approach time Te of drive in servicing data Parameterization MD25 monitoring time MD25 1 5 Te Set Activate machine data END Test Swerve the axis on deactivation of the controller When the positioning operation is complete check that the axis has remained within the specified dis tance range Generates Drive movement without controller en able idle range error message Enable Following error too great error message In the specified distance range the positioning op eration for the motion sequence is interpreted as complete Generates PEH target range monitoring error message Fig 7 14 Activation of position controller diagnostics 7 24 FM 354 Servo Drive Positioning Module Starting up the FM 354 7 3 7 Activating the software limit switches drift compensation and backlash compensation Software limit switches Drift compensation Backlash com pensation Carefully run the axis up to its extreme limits as specified for normal opera tion of the machine Enter these position actual values into the machine data MD21 MD22 as software limit switches and activate them Note If you change the reference point coordinate later or use Set reference point for the absolute encoder y
141. SFC 59 REQ TRUE IOID B 16 54 LADDR DB1 DBW12 RECNUM DSNR RECORD P M30 0 BYTE 4 BUSY BUSY RET VAL FEHLERCODE LESEN BUSY R DS162 BIE FEHLER LESEFKT 0 FM 354 Servo Drive Positioning Module Auxiliary bit for data set Parameter for SFC 59 Network Only read DS162 if operating error otherwise jump to end of network If read job already active jump to call Absolute data set number Set read job Read operator control guidance error DS162 Request IOID Module address Data set number Pointer error no in memory word Busy Return value If read job finished reset read job DS162 Binary result Display read function error 6 43 Programming the FM 354 Example 3 6 44 See STEP 7 example application FMSTSVEX EXAMPLE3 The following blocks are required in addition to the technology functions in order to run this example application DB 1 user DB FC 100 example call e OB 1 cycle OB 100 cold restart When you set memory M16 0 P bus interface switchover the job is transferred to the FM by means of control signals If memory M20 0 is enabled the job was executed successfully on the FM You can now start up test and optimize the FM with the Parameterize FM 354 tool Table 6 8 Memory example application 3 Output memories used M20 0 Switchover to P bus interface done M16 1 Not used M20 1 Not used Input memories used M16 0 Switch P bus
142. SIEMENS SIMATIC 57 300 FM 354 Servo Drive Positioning Module Manual 04 97 Edition This manual is intended to accompany the configuration package Order No 6ES7 354 1 AH01 7AGO User Information Product Summary 1 Basic Principles of Positioning 2 SIMATIC S7 Installing and Removing the 3 FM 354 Wiring the FM 354 4 Defining Parameters of the 5 FM 354 Programming the FM 354 6 Starting up the FM 354 7 Human machine Interface 8 for the OP 07 OP 17 Reference Information Description of Functions 9 Writing Traversing Programs 10 Troubleshooting 11 Annexes Technical Specifications A EC Declaration of Conformity B Abbreviations C FM 354 Servo Drive Positioning Module Manual Safety related Guide ZN ZN ZN Qualified Personnel Proper Usage AN Trademarks This manual contains notices intended to ensure personal safety as well as to protect the pro ducts and connected equipment against damage These notices are highlighted by the sym bols shown below and graded according to severity by the following texts Danger indicates that death severe personal injury or substantial property damage will result if pro per precautions are not taken Warning indicates that death severe personal injury or substantial property damage can result if pro per precautions are not taken Caution indicates that minor personal injury or property damage can result i
143. Significance Byte 1 Block number Byte 2 Direction of machining process forward process in reverse Forward The program processes the block numbers in ascending order processing Processing begins at Start with the first block specified block number 0 If processing is to begin at some other point of the traversing program spec ify the desired block number Processing will take place by searching forward to this block then processing forward until the program end command is rec ognized Backward The program processes the block numbers in descending order proceSsmg Processing begins at Start with the last block specified block number 0 If processing is to begin at some other point of the traversing program spec ify the desired block number Processing will take place by searching back to this block then processing in reverse until the program beginning is recog nized Note If reverse processing is to execute the same sequence of movements as the forward movement the effects of the corresponding commands must be taken into account in the programming For example e M outputs should be written separately in a block note M output MD32 and G60 G64 e Note change between G60 G64 and G90 G91 e Note start and end of tool offsets e M18 is not executed e M02 and M30 at the end of the program are not processed FM 354 Servo Drive Positioning Module 9 30 Description of Functions
144. T 70 Order No E86060 K4670 A101 A2 FM 354 Servo Drive Positioning Module 4 19 FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Summary This chapter gives you an overview of how to define the parameters of the FM 354 with the Parameterize FM 354 tool S7 300 FM 354 P bus Data blocks DB User e DB MD data block DB SM Online editing in the Target system menu K bus PBNA and selection of the On DEGNO line editing option see Table 5 9 Offline editing in the File PG menu see Table 5 9 Parameter i ization forms _ i vate interrupts basic pa rameters Setup exe Configuration Generate system data Module parameterization Parameterization tool Parameterize FM 354 e Function blocks Preconfigured user interface for OPs Fig 5 1 Overview of parameterization FM 354 Servo Drive Positioning Module 5 4 Defining Parameters of the FM 354 Chapter over In Section you will find 5 1 Installation of Parameterize FM 354 5 2 Getting started with Parameterize FM 354 5 3 Parameterization data 5 4 Parameterization with Parameterize FM 354 5 5 Storing the parameter data in SDB 1000 5 1 Installing Parameterize FM 354 Prerequisites The Windows 9
145. This changes blocks on the fly from N10 to N15 with G89 causing move ment in a positive direction and G88 causing movement in a negative direc tion at the speed programmed in N15 The axis now travels in the specified direction until a positive edge change occurs at the digital input This triggers the following responses e Block change on the fly and immediate processing of block N20 e Set actual value on the fly to the block position from N15 50 in the ex ample and resulting shift of the coordinate system e Save current actual value The programmed position in block N20 refers to the shifted coordinate sys tem At the block change from N20 to N25 G87 cancels the shift of the coordinate system and causes reference measure programming to the block position of N25 The saved actual value can be read out with Actual value block change The shift of the coordinate system is maintained until it is canceled by G87 or by a mode change It is possible to use the existing shift of the coordinate system in different programs The coordinate system can be shifted again without previously canceling an existing coordinate system shift G88 G89 can be programmed multiple times The shift in each case refers to the original state The software limit switches are always shifted concur rently If the signal change of the digital input does not occur the axis runs until it reaches the limit switch Note The G functions G87
146. address extension 1 9 Permissible characters X Y Z U W Q E 1 9 e g 4X XI 2 see Dependencies FM 354 Servo Drive Positioning Module 5 13 Defining Parameters of the FM 354 Table 5 5 Machine data list continued Default Data type See Designation values Value Meaning Unit Comments Section Input adjustment 8 I0 inverted BITFIELD32 9 inverted 10 2 I2 inverted 11 B inverted signal processing in verted Servo control signals 0 controller enable active 2 controller ready active 3 controller ready inverted 7 time override active 15 continue operation after emer gency stop drive enable AF 16 automatic drift compensation active Positioning loop am 1 10 000 DWORD plification MSR min MSR 39 E Minimum following 0 0 no monitoring DWORD MSR error dynamic 1 1 000 000 40 E Acceleration 1000 0 without ramp DWORD 103MSR 2 41 E Deceleration 1 000 100000 di MSR measurement system grid RPS reference point switch 1 The variable axis name is implemented as an axis letter X Y Z with an address extension 1 9 Permissible characters X Y Z A B C U V W Q E 1 9 e g X 2 see Dependencies Dependencies With certain combinations of machine data restrictions in the value range arise for non processing of the machine data These dependencies are verified on acceptance
147. age Please note the following when using the function Write parameters with of parameter data retentive storage byte 4 job type 4 Retentive writing must only occur on demand not cyclically Retentive data are stored on FEPROM maintenance free no battery re quired This memory has a physical limit for the possible number of delete reprogram cycles minimum 10 typically 10 The possible number of de lete reprogram cycles can be multiplied from the user s viewpoint by providing a larger retentive memory capacity much larger than the parame ter data memory and organizing the memory accordingly 64 000 106 typical Number of delete re _ program cycles Block size in bytes in which param eter data are modified Block sizes DB Machine data approx 250 bytes DB Increments approx 460 bytes DB Tool offset data approx 310 bytes DB Traversing programs 110 20 x no of traversing blocks bytes Example Assuming a service life of 10 years and 24 hour operation a typical limit 106 Parameterization Number of possible de Number of possible de data lete reprogram cycles lete reprogram cycles per minute Traversing pro 510 bytes 125 49 106 24 grams 20 blocks Note SDB gt 1 000 system data block created for module replacement contains parameter data which were valid at the time of start up If data parameters are modified during operation and stored retentively on th
148. aining and need to be re input only when changed Lower input Upper input limit limit Speed MSR from 500 000 000 MD7 min FM 354 Servo Drive Positioning Module Writing Traversing Programs M functions Stop at end of block MO End of program M2 M30 Up to three M functions can be programmed in one traversing block with any assignment of M1 M2 and M3 The output sequence of the M functions is always MI M2 M93 for information about output see Section 9 1 The following figure shows an example I N G1 G2 X t F Mi M2 D 10 90 34 43 100000 40000 10 11 12 1 Table 10 2 M Functions M No M Function M Function group 0 Stop at end of block 2 30 End of program 1 3 17 User functions 18 Endless loop skip back to start of program 1 2 3 19 29 User functions 31 96 97 98 Change signal programmable as digital output 99 User functions M2 18 and M30 are always output at the end of the traversing move ment MO M2 M18 and M30 are mutually exclusive within a single block If M no 0 is programmed in a traversing block the program stops at the end of the traversing block and MO is output Only a new START edge causes the traversing program to be continued If M2 or M30 is programmed in a block then after positioning is complete the M function is output with a subsequent programmed stop and a jump back to the start of the progra
149. amping weak Amplification acceleration too great Amplification acceleration too small Optimum setting Fig 7 12 Transition function of the position control circuit FM 354 Servo Drive Positioning Module 7 20 Starting up the FM 354 Optimization for overshoot Evaluate the overshoot in the target position s overshoot in the servicing data For suitable machine data changes see Table 7 5 Optimization for positioning time Evaluate the approach time to the target position approach time Te in the servicing data For suitable machine data changes see Table 7 5 Optimization for especially soft travel super soft For particular applications especially soft travel response of the axis is desir able By choosing the following output values for the machine data affecting the dynamic response you can produce a very soft movement where the ac celeration is controlled exclusively by the jolt filter The effective maximum acceleration in movement reversal processes responds proportionally to the difference in speed and reaches its maximum in the transition from v 0 to maximum speed see Figure 7 13 e Acceleration delay MD40 MD41 mm s 0 e Jolt time MD42 ms 0 5 Ta ms Positioning loop amplification MD38 1 min 100 000 Ta ms The maximum value of the actual effective acceleration can be estimated as follows mm s 16 MD23 mm min Ta ms Response on
150. ariable type Value Significance of the variables 127 BYTE Program selection Block number 128 2x BYTE Program selection Direction free 130 4 x BYTE Request application data Application data 1 4 134 BYTE Teach In Prog no 135 BYTE Teach In Block number 136 Reference coordinate 140 Free 156 Actual position Basic operating data 160 DINT Actual velocity Basic operating data 164 DINT Residual travel Basic operating data 168 DINT Target position Basic operating data 172 DINT Sum of current tool offset Basic operating data 176 DINT Rotational speed rotary axis Basic operating data DINT DINT Free STRUCT NC block structure Active NC block STRUCT NC block structure Next NC block 180 184 188 208 228 DINT Code application 1 Application data 232 Code application 2 Application data 236 240 244 248 252 Ew pw O da process measurement wr serene 260 DINT DAC value frequency Servicing data ERE Encoder actual value Servicing data Ew freni 272 DINT K factor Servicing data Ss n Following error Servicing data Ew pr Remensi ts 284 DINT s Overshoot Switch readjustment in Servicing data Reference Point Approach mode 1 Avariable in the S7 protocol is addressed by the DB No and depending on data format by the DBB DBW and DBD No offset in DB as well FM 354 Servo Drive Positioning Module 8 21
151. art MDp Nr wert pez App a nae eE Fig 8 17 Machine data PIC763 Value input is password protected kt Betrieb rt ehlerklasae Fehler Meld Alarm Res Quit Fig 8 18 Diagnostics error message PIC77 This screen displays the FM 354 errors The fields are display fields 8 14 FM 354 Servo Drive Positioning Module Human machine interface Fehler Fig 8 19 Interrupt messages PIC772 This screen displays the FM 354 errors The fields are display fields The screen PICZ MESS EVENT contains factory supplied default Pro Tool Lite screens for the OP17 FM 354 Servo Drive Positioning Module 8 15 Human machine interface 8 2 Analysis of the user DB by the user program for operator control Overview The following table describes for you which functions must be executed by the user program Execution of these functions is triggered by setting deleting of certain memory bits of the operator panel or by certain events within the FM 354 e g error messages Table 8 2 Analysis of the user DB by the user program OP 07 17 User program See PIC Brie Bit Triggered di S San ni et in user elete Byte Bit Function Byte Bit OP 07 OP 17 Diagnostic interrupt Data errors Operator travel errors SK IWset Transfer data for set actual value from user DB to the FM 390 10 1 SK NPVset Transfer data for Zero point offset from u
152. ata block and are saved permanently When selected changed or turned off the tool offset is not taken into account until the next positioning action A selected tool offset is maintained in effect until it is either turned off or replaced with a new one Likewise a mode or program change or the end of a program will turn tool offset off FM 354 Servo Drive Positioning Module 10 10 Writing Traversing Programs Variants in tool Tool offset is made up of two correction value components offset e Tool length offset The tool length offset is the actual tool length from tool zero to the tool tip e Tool length wear value The tool length wear value allows the change in tool length due to wear to be compensated in two ways Absolutely by specifying a fixed wear value Additively by adding an offset value to the current tool length wear value contents Tool new Tool wear a Tool wear b Tool zero Dyada Dv DL Dvabs acg Fig 10 4 Tool offset Notes to the figure The tool offset thus consists of the tool length offset and the tool length wear value D Dr Dv Dy Dvabs Dvada D Tool offset Dj _ Tool length offset positive or negative pv Tool length wear value positive or negative Dyabs Wear absolute positive or negative Dvada Wear additive positive or negative Dvadd FM 354 Servo Drive Positioning Module 10 11 Writing Traversing Programs Direction of too
153. ation Control signals Stop STP Start ST Checkback signals Position reached stop PEH Travel plus Start enable SFG Processing in progress BL The program resumes on EFG FR and FR are reset PEH is reset start signal for resumed positioning Interrupt with Stop FR is cleared when the axis comes to a standstill and SFG is enabled if Stop is not active PEH remains cleared since the defined position has not yet been reached Start clears SFG and enables FR again BL remains enabled Before the axis comes to a standstill it is possible to restart through start Control action 9 end of program reached Checkback signals Travel plus or Travel minus FR Processing in progress BL Position reached stop PEH M function number MNR Start enable SFG The end of the program is indicated by the enabling of PEH output of M2 M30 and resetting of BL FM 354 Servo Drive Positioning Module 9 33 Description of Functions Table 9 8 Control actions for Automatic mode examples continued Control signal Start ST Transfer delete residual path job no 11 Control signals Direction plus R or direction minus R Start ST Control action 10 delete start signal and residual path special situation If delete residual path is also preselected on ST the block
154. au der Produkte in die Gesamtanlage voraus Anlagenkonfigurationen bei der die Einhaltung dieser Richtlinie nachgewiesen wurde sowie angewandte Normen siehe Anhang A1 A14 Anlagenkonfigurationen Anhang B1 B7 Komponenten Anhang C Normen SIEMENS Erlangen den R M ller K Krause ceo Entwicklungsleitun Qualit tsmanagemen MB NEED AE P uidi sin DER Name Funktion Name Funktion Unterschrift Der Anhang ist Bestandteil dieser Erkl rung Diese Erkl rung bescheinigt die bereinstimmung mit der genannten Richtlinie ist jedoch keine Zusicherung von Eigenschaften im Sinne der Produkthaftung Die Sicherheitshinweise der mitgelieferten Produktdokumentation sind zu beachten FM 354 Servo Drive Positioning Module B 1 EC Declaration of Conformity Appendix A to EC Declaration of Conformity No 002 V 01 02 96 A12 Typical plant configuration FM positioning module FM354 for servo drive SIMODRIVE 611A Metal cabinet SIMATIC 57 300 PS CPU FM 307 314 354 SIMODRIVE 611A Machine bed 1 for I RF module 2 for UE module All components which are approved in accordance with the ordering doc ument for a combined FM positioning module SIMODRIVE 611A plant meet the requirements of the 89 336 EEC directive when operated to gether e For conformity to standards please see Appendix C
155. axis to the programmed target position maintenance of the axis in position in the face of interfering factors The position controller is configured as a proportional action controller In its environment are a number of function units that provide support by perform ing special tasks within the complex of movement control and that can be adapted to axis conditions by means of a variety of machine data The diagram 9 6 gives you an overview of the function units and the machine data acting upon them MD40 MD41 MD42 MD30 MD31 MD38 MD44 MD45 MD23 MD43 y Interpolator Jolt Position Position D A L fiter Pii a controller gt sl ca D A converter VETEREM LL Drift MENS MD21 MD22 compen sation MD37 setpoint 2 x Ls Following error I Fehler monitoring to drive from encoder MD39 MD25 actual value MD26 actuating value MD19 Direction adjustment MD37 Control signal Servo Bit 16 MD21 Software limit switch start MD38 Positioning loop amplification MD22 Software limit switch stop MD39 Min following error dynamic MD23 Maximum speed MD40 Acceleration MD24 Target range position reached MD41 Deceleration stop PEH MD42 Jolt time MD25 Monitoring time MD43 Set voltage max MD26 Idle range MD44 Offset compensation MD30 Backlash compensation MD45 Voltage ramp MD31 Directional reference backlash
156. be used The FM 354 is a microprocessor controlled positioning module for a drive with an analog setpoint interface The FM 354 is a high performance module for tasks in servo controlled posi tioning The module works autonomously and is controlled by way of the user pro gram in the SIMATIC 87 300 system It can operate rotary and linear axes by servo or open loop control with actu al value tracking The FM 354 has a variety of operating modes The module has a non volatile data memory to store parameterization data e The FM 354 is low maintenance no battery tcan be linked and adapted to user circumstances by parameterizing it as required by the system The FM 354 can be used for both simple positioning and complex traversing profiles demanding superior dynamic response accuracy and speed It is also suitable for positioning tasks in machinery with high clock pulse rates Typical uses for the positioning module might include e Transfer lines e Assembly lines e Presses e Woodworking machines Handling equipment e Loaders e Auxiliary movements in milling and turning machines e Packaging machines e Conveyor equipment Its range of functions is comparable to that of the WF 721 module in the SI MATIC S5 system and the FM 353 in the SIMATIC S7 system FM 354 Servo Drive Positioning Module 1 1 Product Summary Compatibility list Please note the following compatibility specifications for the various pro
157. ble RF 1 FC MODE WR job no 10 e Velocity levels have been transferred FC MODE job no 1 FM 354 Servo Drive Positioning Module 9 13 Description of Functions Table 9 3 Control actions for Jogging mode examples Signal name Level Explanation Control action 1 enable Jogging mode Control signal Mode BA The user initiates a BA command Checkback signals Active mode BAR The module returns BAR and SFG Start enable SFG Control signals Direction plus When SFG and AF are active R is actuated Drive enable AF Checkback signals Travel plus The axis cancels the SFG and outputs messages BL and Start enable SFG Processing in progress BL Control signal Direction plus R is canceled Checkback signals Travel plus When the axis has come to a standstill by way of the decel Start enable SFG eration ramp the BL and FR messages are canceled and SFG is activated Before the axis comes to a standstill it is possible to define a new direction through start Processing in progress BL Control signals Direction minus R R is actuated in combination with velocity level 2 Velocity level BP Checkback signals The axis travels at velocity level 2 and returns BL and Travel minus FR The SFG signal is canceled Processing in progress BL Control signal Velocity level BP 1 A switch
158. blocks which are not to be executed every time the program runs can be identified as skippable blocks by an oblique When the program is being processed the Skip block control signal can be used to decide whether skippable blocks are to be skipped The last block cannot be skip pable The program is executed in ascending order of block numbers from 1 to 255 or in descending order if executed in reverse In each traversing block only one G function may be entered from each G function group The following figure shows an example I N Gi G2 X t F Mi M2 D 10 90 34 43 100000 40000 10 Table 10 1 lists the possible G functions and the individual G function groups Table 10 1 G functions GNo G Function G Function group 04D Dwell time 87 Turn off measuring system shift for Set Actual Value On the Fly 881 Continuous travel for for Set Actual Value On the Fly 1 89D Continuous travel for for Set Actual Value On the Fly 90 Absolute measure 91 Chain measure 30 100 override on acceleration deceleration 31 10 override on acceleration deceleration 32 20 override on acceleration deceleration 39 90 override on acceleration deceleration 43 Tool offset 44 Tool offset 50D External block change 60 Block change exact positioning 64 Set actual value on the fly continuous path mode 1 These G functions take effect only on a block by block basis The
159. c interrupt Message to the CPU precondition interrupt message activated see Section 5 2 No OB 82 OB 82 OB 1 oo Enters the diagnostic in Enters the diagnostic in Calls FC CPU N formation in the diagnostic formation in the user DB 6 STOP buffer of the CPU 4 bytes starting at address 72 and and calls SFC 52 calls FC 4 On operating error addr in user DB 80 7 For further error specification by reading out DS 164 in OB 1 see example application 2 Diagnostic data The following table contains the diagnostic information DIAGNOS TIC INT INFO in the user DB starting at address 72 Table 6 4 Diagnostic information mat No 0 2 External error External channel error group error byte 8 0 3 06 Module not parameterized Type class of module for FM 354 08H Channel information present Communication disturbance K bus Time monitoring actuated Watchdog Module internal power supply failed NMI FEPROM error RAM error Process interrupt lost 10 byte FM Pos identifier 74H Length of diagnostic information 16 m No of channels 1 Channel error vector 1 Cable break incremental encoder 8 2 Error pulse incr or zero mark missing Voltage monitoring encoder FM 354 Servo Drive Positioning Module 6 19 Programming the FM 354 Hints to the user In a diagnostic event bytes 0 to 3 are automatically transmitted to the CPU and the diagnostic
160. can also assign each of them a slot number Slot labels for this purpose are enclosed with the CPU The numbering scheme and how to plug in the slot labels are described in the manual 57 300 Programmable Controller Hardware and Installation Order No 6ES7 030 0AA01 8AA0 for the numbering scheme to follow and how to apply the slot labels Note The slot determines the initial address of each module To find out how to allocate the module start address please refer to the manual 7 300 Pro grammable Controller Hardware and Installation Order No 6ES7 030 0AA01 8AA0 The FM 354 is addressed in the same way as an analog module FM 354 Servo Drive Positioning Module Installing and Removing the FM 354 3 2 Removing the FM 354 Rules No particular protective measures EGB Guidelines are necessary for the removal of the FM 354 Warning Remove the FM 354 only after all power to the S7 300 has been turned OFF Tools required A 4 5 mm 18 inch screwdriver Procedure To remove the FM 354 1 AR Open the front doors If necessary remove the labeling strips Detach the power supply connections from the terminal block Detach the sub D plugs from the encoder and drive unit Release the protective device on the front connector and unplug it Loosen the fastening screws and swing the module up and out FM 354 Servo Drive Positioning Module 3 3 Installing and Removing the FM 354
161. ce point switches e As switches for external Start Stop external block change e As touch probes See Section 5 3 1 for further applications 4 14 FM 354 Servo Drive Positioning Module Wiring the FM 354 Controller mes sage RM input Table 4 10 Electrical parameters of digital inputs Parameters 1 signal voltage range 1 signal power consumption 0 signal voltage range Signal delay 0 1 Signal delay 1 gt 0 The standby signal of the drive power section controller message can be connected to a further input Note The controller message input is configured as an isolated optical coupler input This allows both a current sourcing and a current sinking output of the power section to be connected See Section 4 7for details about wiring Table 4 11 Electrical parameters of controller message input Parameters 1 signal voltage range 1 signal power consumption 0 signal voltage range nt Signal delay 0 1 Signal delay 1 gt 0 150 us There are two ways of powering the standby signal e from the controller e from the drive unit FM 354 Servo Drive Positioning Module Wiring the FM 354 Power from the open loop control Power from the drive unit Figure 4 7 shows examples of how to power the standby signal from the con troller e g SIMODRIVE 611 drive unit Actuation of input controller message by high side switch or relay contact
162. ctive This serves to limit acceleration and thus power for the drive controller and is preferable to setting options that may be available on the drive since it has no adverse effects on active position control The voltage ramp is active in the following situations e Continuously in Control mode e Deceleration on cancelation of the drive enable AF see Section 9 1 1 e Deceleration on transition of CPU from RUN to STOP e Deceleration on error response Everything Off see Sections 11 1 Tab 11 4 and 11 5 Designation Value Meaning Unit Voltage ramp 0 10 000 000 Output of analog voltage setpoint FM 354 Servo Drive Positioning Module 9 77 Description of Functions Velocity The manipulated signal calculated by the position controller is available in assignment and ternally on the FM as a velocity setpoint see position loop gain To convert max voltage this value to the analog actuating signal a conversion factor DAC factor setpoint within the FM is necessary This factor is formed as the quotient of MD43 and MD23 MD23 contains the configured maximum speed of the machine axis and MD43 contains the voltage setpoint of the actuating signal to be output by the FM 354 for this purpose as a compromise between the highest possible resolution and adequate close loop control reserve this voltage should lie between 8 V and 9 5 V Warning This assignment MUST be identical with the setting on the drive
163. d cases Reference point approach If the reference point has been reached in full including reference point shift MDI Incremental relative If the preset position has been reached Automatic If a traversing block has been positioned in full and the axis remains motionless until the next traversing move ment POS ROD 9 8 tis not set if no synchronization is available yet FM 354 Servo Drive Positioning Module Description of Functions 9 1 3 General handling information Overview Before data settings can be transferred to the FM 354 an operating mode must be active e g Jogging mode 1 and MODE 1 That means that communication with the FM 354 has been initiated and the FM 354 has ac cess to valid machine data Operating modes Relevant Relevant Required data codes control signals checkback signals settings job no Jogging 01 R STP AF BL SFG FR FR 1 10 servo enable OVERR BP 1 or 2 SYN WFG Control 02 R R STP AF BP BL SFG FR FR 10r2 WFG Reference point approach R ST STP AF BL SFG FR FR 10 servo enable OVERR WFG SYN PEH Incremental relative 04 R R STP AF BL SFG FR 1 10 servo enable 3 OVERR BP 1 100 for WFG SYN PEH only if BP 254 if BP increment table or 254 1 100 the a
164. different velocity transitions sum effect of jolt filter and position control Fig 7 13 Response on different velocity transitions sum effect of jolt filter and position control FM 354 Servo Drive Positioning Module 7 21 Starting up the FM 354 Compromise optimization When optimizing for several of the above criteria you can determine the ma chine data from the results of the individual optimizations by a variety of methods e Guarantee of all partial results Least determined value of MD38 Greatest value for each of MD40 MD41 and MD42 Prioritization of one optimization criterion Set MD38 and MD40 MD4 to the values that match the highest priority optimization criterion for your application and again evaluate response as to the remaining criteria e Taking the mean of partial results Set MD38 and MD40 MD4 2 to the means of the individual partial results and again evaluate response as to all criteria 7 3 5 Realigning the reference point coordinates Axis with incre mental encoder 7 22 To ensure distinct reproducibility of reference recordings it is necessary for the synchronizing zero pulse SYNI to be a distinct distance away from the reference point switch RPS At low reducing speeds we recommend a dis tance of from 1046 to 90 of the distance of one encoder revolution For high reducing speeds we recommend 30 to 6096 Check this value in the servic ing data report after
165. duct releases order numbers when using the FM 354 with CPUs of the S7 300 sys tem and with OPs Table 1 1 Compatibility list for use of the FM 354 with S7 300 CPUs and OPs Modules are compatible FM FM with each other 354 1AH00 0AE0 354 1AH01 0AE0 S7 300 CPUs 313 313 1AD01 0ABO 314 314 1AE02 0ABO n 314 IFM 314 5AE01 0ABO 315 315 1AF01 0ABO 315 2 DP 315 2AF01 0ABO 57 300 CPUs 312 IFM 312 5AC00 0ABO yes 313 313 1AD00 0ABO 314 314 LAE00 01 0ABO yes 314 IFM 314 5AE00 0ABO 315 315 1AF00 0ABO 315 2 DP 315 2AF00 0ABO CP 342 5 342 5DA00 0XEO yes Ps with Protocol V 3 x OP 7 DP 607 1JC20 0XA0 OP 7 DP 12 607 1JC30 0XA0 OP 17 DP 617 1JC20 0XA0 yes yes OP 17 DP 12 617 1JC30 0XA0 OP 25 525 1EA 1 0AX0 OP 35 535 1FA01 0AX0 OP 37 637 1 L00 0 XO OPs with Protool lt V 3 x OP 3 503 1DB10 OP 5 A2 505 1FB12 OP 15 A2 515 1EB32 1AA0 OP 15 C2 515 1MA22 1AA0 OP 7 DP 607 1JC20 0XA0 yes OP 7 DP 12 607 1JC30 0XA0 OP 17 DP 617 1JC20 0XA0 OP 17 DP 12 617 1JC30 0XA0 OP 25 525 1 1 0AX0 OP 35 535 1FA01 0AX0 OP 37 637 1 LOO O Chapter over In Section you will find on page view 1 1 The FM 354 in the S7 300 programmable controller 1 2 Module description 1 3 Overview of module functions FM 354 Servo Drive Positioning Module Product Summary 1 1 The FM 354 in the S7 300 programmable controller How is the FM 354 The FM 354 is designed as a function module of the SIMATIC
166. e 2 ASCII characters H6 DWORD 354 Module identifier FM 354 4 CHAR Version number block number DB structure DWORD Measurement system grid per MD7 Unit of measurement WORD Reserved WORD Reserved E 18 STRING ASCII charac NC program name max 18 characters ters STRUCT NC block NC block new modification range 72 STRUCT NC block Ist traversing block 92 STRUCT NC block 2nd to 100th traversing block see Section 9 3 11 10 1 FM 354 Servo Drive Positioning Module 5 20 Defining Parameters of the FM 354 Input of traversing An empty window is provided for the input of NC traversing programs Here programs you can input your traversing program as follows BB OFFLINE TRAVERSE PROGRAM 081030 Program number n Program name G commands Position dwelllime Feedrate M commands Tool SPF SPF call N Gl G2 G3 X F MI M2 M3 D L B ff s s sz mi 2630 N10 G91 G64 X20 000 F10000 000 N20 X90 000 F15000 000 N30 X10 000 F5000 000 N40 X 120 000 F20000 000 N50 M2 Fig 5 7 Entry for traversing programs 1 Program number Program name The can be input only in the first line This input is mandatory The DB number is formed from the program number The program name is optional and may have up to 18 characters 2 N block number G lt command gt G1 G2 G3 X value F lt value gt M command M1 M2 M3
167. e FM these data are not contained in SDB gt 1 000 These modifications are lost when the module is replaced and should be traceable in the user program FM 354 Servo Drive Positioning Module 9 38 Description of Functions 9 3 2 Single functions job no 10 Overview Callup of single settings Length measure ment inprocess measurement Retrigger reference point You can use this function to transfer single settings to the FM 354 and acti vate the corresponding functions These settings are Length measurement nprocess measurement e Retrigger reference point Switch off enable input e Follow up mode Switch off software end position monitoring Switch off automatic drift compensation e Servo enable e Parking axis e Simulation The individual functions remain activated until they are reset Since both functions use the same digital input on the FM 354 only one function can be executed at a time In double activations both functions are switched to inactive An error message is issued For function description see Section 9 3 10 A precondition for retrigger reference point is that the axis has been synchro nized by reference point approach With this setting the axis is synchronized at each positive edge of the zero mark after leaving the reference point switch RPS in the direction of the zero mark direction as in Reference Point Approach Regardless of the instantaneous speed at
168. e FM 354 an operator panel can be connected to the CPU via the MPI interface see Figure 1 2 The module uses the SIMATIC interface backplane bus to communicate with the control panel e g Text based opera IDE panel Operator panel Configured operator control screens Operator control and monitor ing via the MPI interface CPU FM 354 in data blocks Y Machine data Backplane bus e Increments User data Lea gt user data block e Tool offset data technology func e Traversing tions programs Sgo seption e Status messages Fig 8 1 Operator control and monitoring for the FM 354 The data and signals that can be controlled and monitored at the control panel are listed in the user data block These data or signals must be pro cessed by the user program for data and signals see Chapter 6 and Section 8 1 FM 354 Servo Drive Positioning Module 8 1 Human machine interface What can control Using the keyboard of the operator panel you can change the data signals in on the FM 354 the data blocks e Machine data DB No 1200 e Increment sizes DB No 1230 Tool offset data DB No 1220 Traversing programs DB No 1001 1199 What monitor The following data and signals can be displayed on the operator panel dis on the FM 354 play e Machine data DB No 1200 ncrement sizes DB No 1230 T
169. e identification Cause DBs which do not belong to the module were transmitted no identification 354 Effect DB does not become effective and is stored non retentively Elimina Transmit the DBs belonging to the FM 354 129 81 Incremental value incorrect value Cause Value range outside 10 Effect Incremental value not effective Elimina Transmit correct value tion 130 82 Tool offset incorrect value Cause Value range outside 109 Effect Tool offset not effective Elimina Transmit correct value tion 131 83 Not possible to insert block Cause Memory full Effect Function is not executed Elimina Delete unnecessary DBs and repeat function 132 84 Not possible to delete block Cause Block does not exist no assignment bits bytes 2 and 3 enabled in block when data available Effect Function is not executed Elimina Check program and repeat function with correct block number Machine data errors Error response Warning see Table 11 2 5 05 7 07 Measurement system CBS Cause The measurement system grid MSR entered does not agree with 9T the MSR in the other DBs of the module DB Effect DB does not become effective and is stored non retentively Elimina Check MSR and correct as necessary tion When making correct input delete the other DBs on the mod ule before retransmitting Cl Detail eve
170. e machine data Is amount of change in ac gt x LLL V tual position correct No Yes Parameterization MD11 13 Measured value resolution Set Activate machine data Read actual speed Is actual speed 0 1 MD23 correct Jj Yes Yes MD23 correct No Correct RPM allocation accord ingly on the drive Parameterization MD23 Maximum speed Set Activate machine data le Y END Fig 7 6 7 14 Encoder actuation and traversing speed FM 354 Servo Drive Positioning Module Starting up the FM 354 Drive transition time and maximum voltage rise For the following position controller optimization it is important to know the drive time constant transition time In open loop control mode and on er rors with the response Everything Off see Section 11 the voltage value is fed to the drive by way of a ramp defined in MD45 A variety of drives as well as certain mechanical or technological situations may require a limita tion on the voltage rise If you do not have a specific value in hand and wish to find a suitable rise value by trial and error please use the following proce dure Note A voltage rise setting will obviously make the axis stop more slowly if an Everything Off error response occurs Select Mod Voltage level 2 e Con
171. ection zero pulse left 4 direction RPS center 5 direction RPS center 8 direction RPS edge 9 direction RPS edge 0 invert direction of measurand BITFIELD32 1 invert analog value Hardware monitoring 0 cable break incremental en BITFIELD32 coder 1 error absolute encoder 2 pulse monitoring incremental encoder 3 Voltage monitoring encoder Software limit switches beginning 23E 24E Target range position reached stop Monitoring time 27E Reference point shift 28E 29E Referencing velocity Reducing velocity 22 E Software limit switch 109 1 000 000 000 1 000 000 000 end Maximum speed 30 106 10 500 000 000 26 E Stationary range 104 1 1 000 000 1 000 000 000 1 000 000 000 DINT MSR DWORD MSR min DWORD MSR 1000 0 1 000 000 0 no monitoring 1 100 000 DWORD ms rounded to 2 ms steps DWORD MSR 0 1 000 000 000 1 000 000 000 DINT MSR 6 106 10 500 000 000 DWORD 3 106 10 500 000 000 MSR min MSR measurement system grid 1 The variable axis name is implemented as an axis letter X Y Z with an address extension 1 9 Permissible characters X Y 2 see Dependencies 5 12 RPS reference point switch Z A B C U V W Q E 1 9 e g X XI FM 354 Servo Drive Positioning Module Defi
172. ed 6 3 FC RD COM FC 3 Process read jobs cyclically Task You can use FC RD COM to execute read jobs To do this call FC RD COM once in the OBI cycle The last read job must have finished processing i e JOB RD NO in the user DB data byte DBB2 must have been cleared and status bit JOB RD DONE enabled You initiate a new read job by entering the read job no in JOB RD NO Do not include FC RD COM in your user program if you do not process any read jobs The FC performs the following action Executes the read job JOB RD from the user DB transfers the associated data into the user DB and displays the read job status FM 354 Servo Drive Positioning Module 6 13 Programming the FM 354 Call options Call in LAD notation Call in STL notation ladder diagram statement list FC RD M CALL RD COM EN ENO DB_NO DB_NO RET VAL RET VAL Description of pa The following table describes the parameters of this FC rameters E re RET VAL INT Return code of SFC 59 REC Parameter types I input parameter output parameter Principle of opera This function works together with a user DB The structure of the user DB tion can be found in the library FMSTSVLI in data type UDT 1 You need a user DB which contains entries for addressing the FM 354 and the data for the individual functions of the FM 354 The DB number is
173. ed When the error has been acknowledged the start enable is activated The movement can be restarted with R FR and BL are activated SFG is canceled Control action 5 change mode Control signal Mode BA Checkback signals Active mode BAR Travel plus FR Processing in progress BL 9 24 BA is deactivated during the traversing movement The axis is stopped by way of the deceleration ramp FR and BL are reset FM 354 Servo Drive Positioning Module Description of Functions 9 2 5 Overview MDI block MDI Manual Data Input In the MDI mode it is possible to execute single positionings by way of tra versing blocks These traversing blocks are provided by the user program The MDI block and MD block on the fly have an identical block structure The structure of the MDI block is identical to the traversing program block see Chapter 10 however it does not have a program number or block num ber The user program passes the MDI block job no 6 to the FM 354 and the block can then be executed The block can be executed re peatedly since it is stored internally The feedrate is override dependent The MDI block remains in effect until it is overwritten with a new MDI block new block can be transmitted while another block is being pro cessed Table 9 6 MDI Satz Lower input Upper input limit Unit limit Position X
174. ed or mode change Drive enable 02 Automatic mode 08 Automatic single block mode 09 Stop lor Enable input Stop 1 Enable input Stop 0 or Enable input 1 with Start 0 1 Stop 0 or Enable input 1 with Start 0 1 1 Prerequisite Digital input defined in MD34 see Section 9 8 1 2 if MD37 15 not defined see Table 9 1 Control signal AF FM 354 Servo Drive Positioning Module Program end or mode change New program selected after stop Drive enable 0 Program end or mode change New program selected after stop Drive enable 0 9 11 Description of Functions 9 2 Operating modes Overview Selecting the mode Checkback signal for mode Changing modes 9 12 The following modes are available on the FM 354 Jogging ER Code 01 e Open loop control STE Code 02 Reference point approach REF Code 03 Incremental relative SMR Code 04 e MDI Manual Data Input Code 06 e Automatic A Code 08 e Automatic single block AE Code 09 FC 2 MODE_WR is called up in order to transfer the operating mode code which the user program entered in the user data block to the FM 354 The axis is controlled by enabling and disabling appropriate control signals When the specification is allowed the FM 354 feeds back the specified mode to the user program If this checkback mode matches the specified one the mode is active Changing modes trigger
175. ed in the S7 project in CPUS7 Program blocks system data Fig 5 8 Creating SDB 1 000 FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Display delete SDB in the S7 project Loading the SDB in the CPU Select menu File Display SDB y All SDBs for FM 354 of the project are displayed y No Close the win Delete SDB dow pe Select SDB and delete Fig 5 9 Displaying deleting SDB 1 000 When you have created the SDB you must load the system data of the project into the CPU There are two ways of proceeding 1 Method Select the online window in the SIMATIC Manager the online and offline windows must be open Copy the system data from the offline project in CPU S7 Pro gram blocks system data into the online project drag with the mouse or select Copy Paste method Select the system data in the SIMATIC Manager in CPU S7 Pro gramVblocks system data Activate the menu Target system Load or the right mouse button to load the system data into the CPU or Use the menu Target system gt Load in EPROM memory card on CPU You can also program the memory card for the CPU on a programming de vice PC If the configuration is loaded from HW CONFIG this SDB is not loaded into the CPU FM 354 Servo Drive Positioning Module 5 27 Defining Parameters of the FM 354 Deleting SDBs
176. ee PIC71 gt Parameters PIC72 Free later FM selection presently for user screens Fig 8 3 Menu tree of the OP 17 user interface FM 354 Servo Drive Positioning Module 8 9 Human machine interface K1 K2 K3 K4 K5 K6 ESC key Function key Function key Function key Function key Function key Function key En F8 8 10 Figure 8 3 describes the functions of the global function keys for the user interface of the OP 17 You can use this key to call up the previous screen of the higher level the table of contents in the main screen You can use this key to jump from any point on the menu tree to the main screen PIC7 You can use this key to jump from any point on the menu tree to the diagnos tics error message screen PIC77 You can use this key to jump from any point on the menu tree to the operat ing mode selection screen PIC75 OP 17 Offline operating mode selection OP17 Online normal operating mode selection OP 17 Transfer operating mode selection F1 to F8 local soft keys Note The screens of the user interface see Figure 8 3 and description of the indi vidual screens contain display fields and input output fields These fields contain values of configured variables The display fields are addressed to the DB SS Control 2 DB1000 and are read directly from
177. ee of the OP 07 user interface 84 FM 354 Servo Drive Positioning Module Human machine interface ESC key gt gt lt lt Soft keys F1 F6 Function key Function key Figure 8 2 describes the functions of the global function keys for the user interface of the OP 07 You can use this key to call up the previous screen of the higher levels You can use these keys to call up the next inset screen within the same screen same screen number You can use this key to skip from any point in the menu tree to the actual value display main screen PIC71 You can use this key to skip from any point in the menu tree to the diagnostic main screen PIC73 Note The screens of the user interface see Figure 8 2 and description of each screen Table 8 1 contain display fields and input output fields These fields contain values of configured variables The display fields are addressed to the DB SS Control 2 DB1000 and are read directly from the FM 354 The input output fields are addressed to the user DB No 1 Control 1 CPU Transmission of these values occurs from the OP 07 to the CPU into the user DB These values if needed must be transmitted to the FM 354 by the user program Ifcertain values or control signals can be written only under the right conditions e g if axis is in HOLD mode or selection of a certain op erating mode is required t
178. eed v is doubled acceleration and deceleration values are not affected Vprog Override 100 The positioning time is not cut in half Vact FM 354 Servo Drive Positioning Module Description of Functions Table 9 1 Control signals continued Symbol OVERRIDE OVERR Override Time override If you parameterize the time override function in MD37 there are two ranges range 100 255 speed override operates as described above range 0 100 time override operative Speed acceleration and deceleration are changed in such a way that the time necessary for the traversing movement is directly correlated with the override value Example Cut override in half from 10046 to 5096 va 100 Vprog 50 4 speed v is cut in half acceleration and deceleration are quartered Vprog Override a Override t 100 Vact tact fato 100 1002 Override Positioning time is doubled Taking the override into account as a time override presupposes the following additional condition If a traversing movement consists of multiple positioning blocks with block change on the fly the axis does not stop between blocks changing the override value affects only the speed Acceleration and deceleration are additionally affected only after the axis comes to a stop e g reversal of direction Note Time override has effect only in the MDI and Automatic modes Note For further functi
179. ensation OP 07 menu tree 8 4 OP 17 menu tree O Automatic automatic single block 9 34 incremental relative Jogging MDI open loop control reference point approach operator control and monitoring data blocks user data operator control and travel errors optimization machine axis M control 7 15 m Override override 9 17 acceleration override 10 10 time override velocity override 9 4 P parameterization menus 5 22 parameterizing Parameters ae parking axis path LUST ports 1 8 1 9 nori drive interface 4 drive port drive port 1 8 1 O port 1 8 measurement system interface measurement system port 1 8 SIMATIC bus connector port position approach 9 72 FM 354 Servo Drive Positioning Module position control assessment criteria 7 18 backlash compensation D A converter direction alignment drift compensation following error following error monitoring 9 73 interpolator jolt filter offset compensation 9 77 position approach 9 72 position control o gain 9 54 position controller be agnostics L23 T velocity assignment 9 78 voltage ramp 9 position control offset com pensation 7 25 Position control circuit position controller positioning 2 1 7 1 approach time power ratings process interrupts processing in progress 9 7 program selection Block search backward 9 31 for
180. er type 1 Incremental encoder 2 32MSR fractional portion 13 Increments per en 21 225 coder revolution see Section 5 3 1 Dependencies division period Entry according to encoder rating plate 19 0 Direction adjust 1 invert measured value direc ment tion 20 Hardware monitor Entry for monitor ing ing to be switched 20 0 1 Cable break on 20 2 1 Pulse monitoring 20 3 1 Voltage monitoring MSR stands for measurement system raster see Section 5 3 1 Encoder Number of increments per revolution MD13 2 500 The FM 354 works by the principle of quadruple evaluation This yields an FM internal number of increments per revolution 10 000 Machine design e Motor with 50 30 gear ratio on spindle with 10 mm pitch 10 000 MSR e Encoder on motor From this one can calculate the following traversing distance per encoder revolution 50 spindle revolutions 1 666666 30 motor revolutions Gearratio 1 Displacement per i 10 000 MSR 16 666 666 MSR encoder revolution The following values are entered 0 666 232 2 863 311 530 2 32 10 3 mm 2 500 12 13 puls rev FM 354 Servo Drive Positioning Module Description of Functions Monitoring error If MD20 0 is input all monitoring functions are active diagnostics a er ae 9 Individual monitoring functions be inactivated by entering 0 in the desig
181. ered in cluding diagnostic interrupts dig outputs are inactive analog voltage O V The setting can be switched on or off if Processing in progress 0 You can use this function to Test function sequences without the drive and measuring system e Evaluate all digital inputs Caution if you are going to simulate se quences that use such signals they should be connected to the inputs of the FM 354 e g for Reference Point Approach e The servo simulates a controlled system Controller Ready is not neces sary The setting can be switched on or off if Processing in progress 0 e All internal function sequences behave as in normal operation When the function is deactivated the axis is reset internally see Restart Section 9 3 3 FM 354 Servo Drive Positioning Module 9 41 Description of Functions 9 3 3 Single commands job no 11 Overview Callup of single commands Activate machine data 9 42 You can use this function to transfer single commands to the FM 354 These commands are e Activate machine data Delete residual distance e Automatic block search in reverse e Automatic block search forward e Restart e Undo set actual value The single commands are activated when the corresponding data record is transmitted to the FM 354 The commands are deleted in the FM 354 after execution Once you have downloaded the machine data MD or the MD block from the programming
182. ers with one zero pulse per revolution may be used The number of encoder pulses must be a multiple of ten or a power of two Rotary incremental encoder on rotary axes Encoders with one zero pulse per revolution may be used The number of encoder pulses must be a multiple of ten or a power of two With indirect encoder mounting and reference point approach with a zero pulse MD18 4 you must ensure that the revolution of the rotary axis is divisible without remainder by the cyclical zero pulse see Dependencies Sec tions 5 3 1 and 9 5 Linear scales on linear axes Scales may be used with at least one reference zero pulse or with a cyclic Zero pulse In comparison to rotary incremental encoders instead of the encoder rev olution a period of division is used as a basis here corresponding for ex ample to the segment between two zero mark pulses FM 354 Servo Drive Positioning Module 9 61 Description of Functions Function parameters Sample encoder adjustment 9 62 Table 9 9 shows you how to adapt the selected encoder to the FM 354 Table 9 9 Function parameters Incremental encoders Comments Unit Code number 11 Displacement per 1 1 000 000 000 MSR encoder revolution see Section 5 3 1 Dependencies integer portion division period 12 Residual distance 0 232 1 per encoder revo see Section 5 3 1 Dependencies lution division pe riod MD Designation Value Meaning 10 Encod
183. erse command and switch acknowledge error or Stop to inactive or give drive enable Message Display 2 02 13 OD E 16 10 21 15 Incremental value not in place Cause The setpoints defined by the operating mode parameters are mis sing or a change in incremental dimensions occurred when the op erating mode started Effect Elimina tion Parameterize and read in setpoint parameters No program preselected Cause Effect Elimina tion No program preselected at Start First preselect program then start Digital input not activated Cause Effect Elimina tion The programmed target was reached in a block with external block change G50 Check programming MD34 and connection of digital input Measurement function undefined Cause Effect Elimina tion Length measurement and inprocess measurement selected simulta neously No measurement function effective Reselect one of the two measurement functions Activate machine data not allowed Cause Processing in progress is still active Effect Activate machine data not executed Elimina tion Terminate processing repeat activation Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 17 Troubleshooting Table 11
184. es you with detailed screen descriptions You will find the preconfigured user interface in the following directory SIEMENS STEP7 EXAMPLES S7OP_BSP This data block for status messages DB 1000 contains the control check back signals as well as the system data of the FM 354 The data of the DB SS can only be read The data for monitoring can be read and displayed directly in the BD SS as well as in the corresponding parameterized DBs of the FM 354 For operator control the data and signals including memory bits and values are written to the user DB of the user program Your user program must analyze the signals only those which are relevant to its applications User specific interlocks can be incorporated and the data signals are to be transmitted to the FM 354 by way of the FCs FM 354 Servo Drive Positioning Module 8 3 Human machine interface 8 1 1 Standard user interface for the OP 07 User interface of The followi
185. escription of Functions The following relationship applies for these characteristics The better the axis design the greater the achievable Ky factor and the better the axis parameters from the technological viewpoint The size of the Ky fac tor is especially affected by the time constants backlash and spring compo nents in the controlled system In real applications the Ky factor moves within the following bandwidth e K 0 2 0 5 poor quality axis K 0 5 1 5 good axis normal case e K 1 5 2 5 high quality axis The MD38 value is input with a resolution of 103 so that the following input value results Velocity y Y 103 MSR min 103 Following error As MSR MD38 103 K 103 Vang Positioning loop amplifi 0 10 000 MSR min MSR cation Drift compensation Thermal conditions will shift the zero error in the control loop during opera tion This effect is called drift In a closed control loop with a proportional action controller this results in a temperature dependent positioning error You can activate automatic drift compensation with MD37 under which con tinuous balancing takes place in the positioning control loop A basic compensation of the zero point error by means of the offet is required for the optimum effect of the drift compensation see MD44 offset compensation Cur reme Servo control signal 16 automatic drift compensation active
186. esponding DB prior to transmission m number already exists NC program number already exists DB does not become effective and is stored non retentively Prior to transmission delete corresponding DB with the program number Save incorrect Coding not or 1 DB does not become effective and is stored non retentively Coding not or 1 DB memory filed Cause Effect Elimina tion The available memory is assigned DB does not become effective and is stored non retentively Delete unnecessary programs DBs or compress memory by way of parametering interface Allowable program length exceeded Cause Effect Elimina tion Number of blocks too high DB does not become effective and is stored non retentively Correct program and retransmit 4 4 127 7F Writing parameters data is not possible Cause Axis does not come to a stop Effect Parameters data do not become effective Elimina tion Stop axis Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number 11 26 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued Error message Message error analysis and elimination Display General data errors Error response Warning see Table 11 2 4 04 128 80 Incorrect modul
187. ets Table 4 7 Maximum cable length as a function of encoder power sup ply Supply voltage Power consump Max cable length tion 5V DC lt 300 mA 25 m 82 ft 5V DC lt 220 mA 35 m 115 ft 24 V DC 300 mA 100 m 328 ft Note If you want to use incremental encoders with cable lengths longer than 25 or 35 m 82 or 115 ft select a type that uses a 24 V power supply Table 4 8 Maximum cable length as a function of transfer frequency Encoder type Max cable length Incremental encoder 500 kHz 35 m 115 ft 1 25 Mbps 10 m 32 8 ft Absolute encoder SSI 125 kbps 100 m 328 ft FM 354 Servo Drive Positioning Module Wiring the FM 354 4 5 Connecting the encoders To connect the Please note connecting cables Note Use only shielded cables The shielding must be connected to the metallic or metallized connector jacket The cable sets supplied as an accessory offer excellent immunity from inter ference as well as cross sections large enough for the power supply to the encoders o o o o 1 9 o o o o o o a 3 o o Connecting FM 354 cable x xa t Bi e g incremental 9 e g absolute e g encoder ROD 320 encoder SSI linear scale w
188. f data handling CPU FM 354 Load memory RAM Module data e Module data le gt Pbus fe e Diagnostic data User program in cluding FCs Ma User DBx n Diagnostic Online data process inter rupt DBx pa DBx pa Operating sys i raner con alil vus Kbus terization terization MPI data data Human machine Creation of the eg user program Parameterization e Machine data testing and diag gt Y Y nostics Tool offset data OP e Traversing programs e Status messages y Y LAD STL DB Editor Parameter Editor ize FM 354 PG STEP 7 Fig 1 3 Data storage concept FM 354 Servo Drive Positioning Module 1 7 Product Summary 1 2 Module description View of the FM 354 Figure 1 4 shows the FM 354 module its interfaces and front panel elements including fault and status displays DIN rail Module name plate FM 354 F SERVO MOTOR AT EILILILILILILIE TIT Front view with doors removed Labeling plate Front door flips open SF Status and pcs error displays amp onm 996999690609 999690090
189. f proper precautions are not taken Note contains important information about the product its operation or a part of the document to which special attention is drawn A device system may only be commissioned or operated by qualified personnel Qualified personnel as referred to in safety guidelines in this document are persons authorized to ener gize de energize clear ground and tag circuits equipment and systems in accordance with established safety practice Please observe the following Warning The equipment system or the system components may only be used for the applications described in the catalog or the technical description and only in combination with the equip ment components and devices of manufacturers as far as this is recommended or permitted by Siemens The product will function correctly and safely only if it is transported stored set up and installed as intended and operated and maintained with care SIMATIC 6 and SINEC are registered trademarks of SIEMENS AG Third parties using for their own purposes any other names in this document which refer to trademarks might infringe upon the rights of the trademark owners Copyright Siemens AG 1997 Rights Reserved The reproduction transmission or use of this document or its contents is not permitted without express written authority Offenders will be liable for damages All rights including rights created by patent grantor regis
190. field is a text field and you can toggle back and forth between and If you select this corresponds to the value 254 for free SM The value of the free SM is found in the user DB Set data for the MDI PIC7124 This screen contains input output fields The MDI data record must be preas operating mode signed by the user program with the corresponding bits G X F bits are set and possibly with values for G X and F The entry field behind G is a text field There you can select between the values 90 and 91 Using the soft key set you can set a memory bit in the user DB which must be analyzed by the user program With modification of this bit the MDI block must be transmitted from the user DB to the FM 354 and the bit must be reset Program selection PIC132 This screen contains input output fields This field for direction is a text field It is upward and downward selectable You can use the soft keys to set bits in the user DB SAvor You can also use this soft key automatic block search forward or SAr automatic block search backward to set the corre sponding bits in the user DB Soft key set you can use this soft key to set a memory bit in the user DB FM 354 Servo Drive Positioning Module 8 7 Human machine interface Table 8 1 Description of the screens in the user interface continued Screen name Screen Description No Teach In
191. for Automatic mode examples 9 9 Function parameters Incremental encoders 9 10 Error diagnostics Incremental encoder 9 11 Function parameters Absolute encoders 551 9 12 Error diagnostics Absolute encoder 9 13 Function parameters for digital l Os 10 1 G UNCTIONE PPP 10 2 Jure nec 11 1 Error classes overview 11 2 Overview of internal error responses 11 3 Status and error displays 11 4 Diagnostic interrupt III 11 5 Operator control errors 11 6 Operator control errors ose sas een mk e bee ea tae es nae eed 11 7 Travel errors cxx ERR ca a 11 8 General data errors machine data errors traversing program errors A 1 Power 5 ssaa ele A 2 Technical data Dimensions and weight A 3 Technical data encoder inputs A 4 Technical data setpoint output A 5 Technical data digital inputs A 6 Technical data Digital outputs FM 354 Servo Drive Positioning Module Product Summary What can the FM 354 do Where can the FM 354
192. from HW CONFIG Parameter types I input parameter Principle of This function works together with a user DB The structure of the user DB operation can be found in the library FMSTSVLI in data type UDT 1 You need a user DB which contains entries for addressing the FM 354 and the data for the individual functions of the FM 354 The DB number is passed when you call the FC with the DB_NO parameter Error evaluation Errors which occur are indicated in the binary result BIE 0 Possible errors are Unknown channel number CH NO the user DB is not initialized Example call An example call is shown below for FC INIT_DB STL Explanation VAR_TEMP MODUL_ADR INT Module address END_VAR L 512 Enter module address T MODUL_ADR Module address CALL INIT_DB DB number DB_NO W 16 1 Only one channel on the module CH_NO B 16 1 Module address LADDR MODUL ADR Binary result UN BIE Error on initialization S FEHLER INITIALISIERUNG FM 354 Servo Drive Positioning Module 6 5 Programming the FM 354 6 2 FC MODE WR FC 2 Control operating modes and process write jobs Task Call options Description of parameters 6 6 You can use FC MODE WR to e Control modes Process write jobs To do this you must call FC MODE WR once in the OB 1 cycle The FC performs the following actions 1 Reads the checkback signals The values read by the FC are stored in the user DB in the str
193. function group 2 154 2 42 2 BIT2_2 BOOL FALSE Reserved Reserved Position dwell es mms sor mee BIT2 6 Reserved Ems es mE ads M function group 1 M function group 2 155 3 433 M 3 EN BOOL FALSE function group 3 1554 434 BIT3 4 BOOL FALSE Reserved 155 5 43 5 BIT3 5 BOOL FALSE Reserved 155 6 43 6 BIT3 6 BOOL FALSE Reserved 155 7 43 7 BIT3 7 BOOL FALSE Reserved ue ere omini G_2_VAL B 16 0 G function no 2 a 16 0 Reserved ms ee X T VAL Value of position dwell ME Velocity value ee m TOL __ group 1 B 16 0 M function no of group 2 B 16 0 M function no of group 3 171 0 19 0 19 B 16 0 Reserved 20 0 END_STRUCT Select program FC MODE_WR job no 17 PROG_NO 16 0 Program number B 16 0 Block number ms es FROG DIR bins maine _ 175 0 3 0 B 16 0 Reserved FM 354 Servo Drive Positioning Module 6 33 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso jite ONE Decas Variable Data type diss address ration 4 0 END_STRUCT Initial value Comments Request application data FC MODE_WR job no 18 176 0 REQ_APP STRUCT Request application data CODE 16 0 Application data 1 CODE AP2
194. functions have been completed for further processing of a function interrupted with unpro grammed stop in Automatic mode after MO M2 M30 or at end of block in Automatic single block mode Start enable is deleted ifa function has been started and is active or ifa start condition is active stat if there is an error and an unprogrammed stop infollow up mode Without Enable Start none of the functions that can be operated with Travel Plus Travel Minus and Start can be executed FM 354 Servo Drive Positioning Module 9 6 Description of Functions Table 9 2 Checkback signals continued Symbol Significance Function WORKING BL Processing in indicates that a function has been started with Start or Travel Plus Mi progress nus and is active Processing in progress is set with Jogging Control mode during the movement up to stand still after cancelation of R Reference point approach mode during approach until reference point is reached Incremental relative mode during the positioning process or while functions of the MDI block are being processed Automatic mode during processing of a traversing program until the end of the program Processing in progress is deleted errors and restarts mode changes after axis standstill WAIT EN WFG Wait for exter takes effect only if a digital input has been parameterized by means of nal
195. functions should be skipped only for test purposes since positioning errors may destroy the machine Exception Pulse monitoring for encoders with non cyclic zero pulse Encoder See Section 4 5 connection FM 354 Servo Drive Positioning Module 9 63 Description of Functions 9 6 2 Absolute encoders SSI Overview Absolute encoders SSI Function parame ters 9 64 Absolute encoders SSI have several significant advantages over incremental encoders Longer cable lengths Reliable data capture by using a single step GRAY code e No encoder synchronization needed You can use 13 bit single turn encoders or 25 bit multi turn encoders with the SSI protocol e Absolute encoder SSI on linear axes Make sure the value range of the encoder is at least equal to the traversing distance of the axis e Absolute encoder on rotary axes Make sure that the absolute value range captured by the encoder corre sponds to a ratio of 2 or 2 to one revolution of the rotary axis and that it encompasses at least one rotary axis revolution see Dependencies Section 5 3 1 and Figure 9 5 Table 9 11 shows you how to adapt the selected encoder to the FM 354 Table 9 11 Function parameters Absolute encoders SSI MD Designation Value Meaning 10 Encoder type Absolute encoder SSI 13 Bit GRAY Code 4 Absolute encoder SSI 25 Bit GRAY Code 13 Absolute encoder SSI 13 Bit Binary Code 14
196. g data to the DB provided the DB itself has been loaded to the CPU Module address Channel address Channel offset Reserved Zero offset Set actual value Set actual value on the fly Set reference point Setpoint for increment Speed Level 1 Speed Level 2 Voltage Level 1 Voltage Level 2 MDI block MDI block on the fly Program selection program number Program selection block number Program selection working direction Code application data 1 Code application data 2 Code application data 3 Code application data 4 1 Youcanonly view these data The data are edited by the FC INIT DB see Chapter 6 5 8 FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Data block Table 5 3 gives a rough picture of data block structure structure Table 5 3 Data block structure Addresses Off Comment set Contents System information not rele DB header vant for user 0 and above User data area structure header Information for labeling ot data block within the system 24 and above for Parameterization data MD otherwise User data 32 Detailed data block structures and parameterization data for the individual types of data blocks can be found in the following sections 5 3 1 Machine data DB structure Table 5 4 gives you an overview of the structure of the machine data data block DB MD Table 5 4 DB structure Machine data Variable type Significance of the var
197. g of fluids Jolt time can be set in MD42 as the parameter for jolt limitation v Interpolator output signal Jolt filter output signal MD42 gt x le t aA gt rA t t v speed a acceleration r jolt t time em Jolt time 0 10 000 ms In servo controlled mode the manipulated variable is compared periodically with the possible maximum values 2 10 V or maximum frequency A violation of the maximum limit is interpreted as follows No axis movement No drive movement error message see Table 11 7 Class 3 No 65 Traverse in the opposite direction Direction of drive rotation error message see Table 11 5 Class 1 No 11 Correct travel direction Oversteer message in status message 1 see Section 9 3 16 Additional operating data In all operating modes except Control mode the servo enable signal is re quired for the duration of every traversing movement irrespective of the pa rameter definitions If the servo enable is not detected or is deactivated dur ing the movement the servo enable missing message is triggered see Table 11 5 Class 3 No 61 FM 354 Servo Drive Positioning Module 9 71 Description of Functions In all operating modes except Open loop control mode the servo ready signal is required for the duration of every traversing movement when the parameter is active MD37 2 If the
198. ge level 2 incorrect Cause Voltage specified does not fall within the range of 4 Effect Voltage does not become effective Elimina tion Input an allowed voltage value Preset incremental value too high Cause Effect Elimina tion MDI block Cause Effect Elimina tion MDI block Cause Effect Elimina tion MDI block Cause Effect Elimina tion Incremental value is greater than 10 MSR Original incremental value is retained Input an allowable incremental value incorrect syntax Incorrect M or G commands or incorrect block structure Original MDI block is retained Input a correct MDI block incorrect velocity Velocity not within the range between 0 and max allowable tra verse velocity 500 000 000 MSR min Original MDI block is retained Input a correct MDI block position or dwell time incorrect Position or dwell time falls outside the allowable values Position 10 MSR Dwell time gt 100 000 ms Original MDI block is retained Input a correct MDI block Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 23 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued Error message Message error analysis and elimination Display General data e
199. gnals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 24 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued General data errors Error message error analysis and elimination Error response Warning see Table 11 2 4 04 16 10 Teach In block number incorrect Cause The block number in the program selected is not in place Effect Teach In is not executed Elimina tion Specify correct block number Message Display 17 11 Teach In dwell time or subprogram request in block Cause The block number in the program selected is not in place or incor rect block number was selected Effect Teach In is not executed Elimina tion Specify correct block number 18 12 Teach In no axis stoppage Cause Effect Elimina tion Axis is still in motion Teach In is not executed Stop axis and repeat task 40 28 Transmit non relevant data Cause Effect Elimina tion The data data blocks transmitted are unknown to the FM 354 Data not accepted Correct user program 81 51 Programmable modules communication unauthorized DB type 82 52 Programmable modules communication Info 1 incorrect 83 53 Programmable modules communication Info 2 incorrect 84 54 Programmable modules communication unauthorized task 85 55 Progra
200. h 5 V rectangular signals such as RS422 standard Track A as true and negated signal Ua1 Track B as true and negated signal U32 Zero signal N as true and negated signal Uao 1 MHz 90 30 Not more than 300 mA Synchronous serial interface SSI with 5 V differential signal transfer signals such as RS422 standard Data as true and negated signal Sliding pulse as true and negated signal Not more than 25 bits Maximum transfer frequency 1 25 Mbps Power consumption Not more than 300 mA The 5 V or 24 V power supply to the encoders is generated within the module and is available on the female sub D connector and so you can power the encoders by way of the connecting cable without additional wiring The available voltage is electronically protected against shorting and thermal overload and is monitored Table 4 6 Parameters 5 V power supply Electrical parameters of encoder power supply in Max Unit 24 V power supply Voltage Ripple Current carrying capacity FM 354 Servo Drive Positioning Module Voltage 5 5 3 V Ripple 50 mVss Current carrying capacity 0 3 A gt 20 4 28 8 3 6 0 3 A 4 9 Wiring the FM 354 Connecting cables The maximum cable length depends on the specifications of the encoder to encoder power supply and on the transfer frequency For trouble free operation you should not exceed the following values when using SIEMENS cable s
201. he RPS is reached the velocity is reduced The en coder is synchronized when the zero marker is detected The axis is positioned by traversing through the reference point offset to the reference point the direction is reversed if neces sary When reference point is reached FR is canceled PEH is enabled BL is also canceled SFG is enabled FM 354 Servo Drive Positioning Module Description of Functions Table 9 4 Control actions for Reference point approach mode examples continued Control signals Direction plus Direction minus R Checkback signals Travel minus FR Processing in progress BL Control signals Direction plus R Direction minus R Checkback signal Start enable SFG Control action 5 ambiguous direction command special situation R is defined although R is active The ambiguous direction command causes the axis to stop FR and BL are canceled and an error is output The SFG does not reappear until and have been canceled Single function servo en able job no 10 Checkback signals Operator control travel error BF FS Travel minus FR Processing in progress BL Control signal Acknowledge operator con trol travel error BFQ FSQ Checkback signals Start enable SFG FM 354 Servo Drive Positioning Module The
202. he drive It serves as a basis for calculating the K factor in the servo and must therefore be entered correctly Recommendation So far as possible Umax should be set in the range between 8 and 9 V 7 3 Testing and optimization Testing and Once you have installed wired and parameterized the unit you can test and optimization optimize your FM 354 positioning module Testing and optimization can be information performed with the aid of the testing and start up interface with or without the user program You can also test individual modes and their traversing programs and view and debug them during execution There are two ways of operating the FM e CPU is in STOP test without user program e CPU is in RUN test with user program You can monitor the interface between the FM and the user program You can also control the program from the start up user interface when control signal TFB TEST EN is enabled in the user program Example ap plication 3 see Section 6 7 can be included in the user program for this purpose This interface is installed with Parameterize FM 354 Once the FM 354 has been parameterized you can call it up by selecting the menu Test Startup or by selecting from the overview display FM 354 Servo Drive Positioning Module Starting up the FM 354 When you call up this menu the following screen appears ib Startup 2 000 000 000 3 000 000 000 0 Direction
203. hecklists will help you e Check all steps until the module is running Prevent malfunctions of the module once it is in operation You are guided through start up of the machine axes Chapter over you will find Installation and wiring Initial values for testing and optimization Testing and optimization 7 4 FM 354 Servo Drive Positioning Module Starting up the FM 354 7 1 Installation and wiring Installation You can find information about how to install your module information e In Chapter 3 of this manual Inthe manual 57 300 Programmable Controller Hardware and Installa tion Wiring information You can find information about how to wire your module n Chapter 4 of this manual e Inthe manual 57 300 Programmable Controller Hardware and Installa tion Checklist The checklist below will help you check important steps in the installation and parameterization of the FM 354 positioning module Table 7 1 Installation and wiring checklist Plug the module into one of the suitable slots E Shielding Check the shielding of the FM 354 positioning module To ensure proper shielding the module must be screwed down firmly on the rail The shielding for shielded lines for digital modules must be con nected to the shielding terminal element The shielding for the setpoint cable should not be grounded on the drive unit end Limit switches Check the start stop limit switches The l
204. hen the user program must ensure by ana lyzing the response signals that these conditions are met FM 354 Servo Drive Positioning Module 8 5 Human machine interface Table 8 1 below describes the individual screens of the user interface Table 8 1 Description of the screens in the user interface Screen name Screen Description No Main screen PIC7 This screen is displayed to you after the OP 07 is enabled The FM354 values are display values You can use the soft keys to call up the following main screens Softkey Istw PIC71 Softkey IBN PIC72 Softkey Diag gt PIC73 Softkey Anw gt PIC74 Main screen actual value The values on the screen are display values You can use the soft keys to call display up the following screens Softkey Teach PIC711 Softkey BA E PIC712 Softkey Auto PIC713 Softkey Eist gt PIC714 Main screen startup The FM 354 values service data are display values You can use the soft keys to call up the following screens Softkey MD PIC722 Softkey Eins gt PIC723 Softkey Anw PIC724 Main screen diagnostics This screen shows you the diagnostic interrupts and error messages for the FM 354 in four lower level screens The following are displayed Error class and error number for operator control and guidance errors bit numbers of the single diagnostic interrupt bytes You can use the soft keys
205. i 9 A message is output on an axis standstill setpoint or deactivated servo enable if disturbances cause the axis to move out of position Designation Value Meaning Unit The standstill zone is located symmetrically around the target approach posi tion Approach position e a Stationary range When the tolerance window for idle is exceeded the FM 354 signals a Sta tionary Range error see Troubleshooting Table 11 5 Class 1 No 12 Axis moving To monitor following error during movement the FM 354 calculates the al lowable following error for the instantaneous traveling speed from the para meterized positioning loop amplification MD38 Above the parameterized Minimum following error dynamic a comparison is performed with the actual value for the following error Calculated curve of following error AScale AS Dynamic monitoring in effect Idealized curve of following error MD39 Actual curve of following error gt i V As following error Vmax MD23 v speed eo Minimum following error dy 0 no monitoring MSR namic 0 100 000 When the calculated following error limit is exceeded the FM 354 signals a Following error too great error see Troubleshooting Table 11 7 Class 3 No 66 Exception If an axis standstill occurs above the minimum dynamic following error the error message described under
206. iables Lm wop qRekst slot Module address address Lm No C NN 1000 EIN in DB header 4 DWORD reserviert m WORD Error No from With HMI services 10 WORD 1 Channel number 12 2 STRING MD DB identifier type 2 ASCII characters DWORD Module identifier FM 354 4 CHAR MM Version number block number DB structure 24 and See machine data list MD5 MD45 above FM 354 Servo Drive Positioning Module 5 9 Defining Parameters of the FM 354 Entering values In Parameterize FM 354 select the menu File gt New gt Machine Data to call up the following display ONLINE MACHINE DATA DB1200 Fiera Agen O o Dos fio 3mm mj E return 1000000 1000000 500000 Bul ay 3 P Fig 5 4 Entering values for machine data Enter the machine data in the tab windows You can also enter your values in a table by selecting View Table form When creating the MD DBs you must follow the instructions in Section 7 Starting up the FM 354 Note The measurement system MD7 must match the measurement system speci fied in the other DBs The measurement system raster MSR is the smallest distance unit in the active system of measurement If at some point you have failed to take this precaution 1 Delete all data blocks which do not match the measurement system or clear the memory of the FM 354 completely 2 M
207. ications into effect with Activate machine data Non release You can use the following flow chart to check the non release control control Select 2 jogging Speed level 1 OVER 100 Set Speed level 1 0 1 Vmax Speed level 2 0 5 Vmax Set Servo enable ON Read actual position Does axis start up too fast sometimes with Drive rotation direction error message Yes No a Does axis slowly drift away Repeat es T T No Check encoder actuation startup step Does actual value oscillate around one place gt Yes No Repeat Check drive actuation startup step Y Y END See Figure 7 5 See Figure 7 6 Fig 7 8 Non release control FM 354 Servo Drive Positioning Module Starting up the FM 354 Use the following flow chart to check axis travel to a target position Positioning Select 2 Relative incremental DB increments Value 4 e g 1 000 MSR Increment 4 OVER 10 6 Set Speed level 1 Speed level 2 0 5 gt Vmax 0 5 Vmax Set Set reference point with value 0 Check check back signal SYN Set Servo ON Start axis Plus or minus direction be sure there is enough room Read actual position Direction OK No Yes gt
208. igital outputs RM green This LED indicates the drive unit is ready to operate Drive unit ready FM 354 Servo Drive Positioning Module 1 9 Product Summary Type plate of the Figure 1 5 describes all the information contained in the type plate of the FM FM 354 354 SIEMENS SIMATIC 57 pnm MD POL 5 3234 SERVO MOTOR UT DC24V 2 5A i 1 German ul Marks and approvals Module identifier Product status Order number Fig 1 5 Type plate of the FM 354 FM 354 Servo Drive Positioning Module Product Summary 1 3 Overview of module functions Summary The FM 354 module performs the following functions Mode control Actual value capture Servo position control Digital inputs and outputs Settings and functions that do not depend on operating mode Software limit switches Process interrupts Block sequence control Diagnostics and troubleshooting Data storage on the FM 354 Operating mode The user program passes the operating mode to the FM The FM 354 has the following modes available control Jogging Open loop control Reference point approach Incremental mode relative Manual data input MDI Automatic Automatic single block Encoders Incremental or absolute encoders SSI may be connected to the measuring system port Position control The position controller performs the foll
209. imina Following acknowledgment of the error it is possible to traverse to tion the working range 1 01 4 04 Traversing range end passed Diagnostic E mm int t Cause When operating in Control operating mode with soft limits dis abled the traversing range beginning was passed Effect The limit switch position is passed by the necessary stopping dis tance Elimina Following acknowledgment of the error it is possible to traverse to tion the working range Cl Detail event class No Detail event number Note Value xx Hexadecimal notation of the error number 11 14 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 5 iis Operator control errors Error response Everything Off as in Table 11 2 Operator control errors continued Error message error analysis and elimination Message Display 1 01 11 0B Drive direction of rotation Diagnostic 7 int t Cause Drive turns in wrong direction x Ed Effect Elimina Check drive tion e Check or correct MD19 Following Restart continue working using the user program 1 01 12 0C Stoppage area Diagnostic interrupt Cause The zero speed control range was left when the servo enable was deactivated or when an axis standstill was reached in the PEH target range Effect Elimina Check electrical and mechanical drive disable terminals con tion necting cable
210. imit switch connections must be connected to the power section The start stop limit switches should not be connected to the digital inputs 4 Parameterize Make sure the FM 354 positioning module setup is consistent with the para meterization Check in particular that The attached encoder matches the machine data The wiring of the digital I O modules matches the machine data FM 354 Servo Drive Positioning Module Starting up the FM 354 7 2 Initial values for testing and optimization Parameterization You can find information about parameterization informatia e n Chapter 5 of this manual In the on line help in Parameterize FM 354 Overview The following opening display appears in the Parameterize FM 354 tool Overview Fig 7 1 Overview display for parameterization and start up You can return to this display at any point during parameterization by select ing the menu View gt Overview As it is written to the FM 354 the DB MD is checked for the input limits of the individual values and their interdependencies It is then stored only if all values are allowed Otherwise data error messages are displayed by way of the MPI A defective DB will not be retained when the power is turned off FM 354 Servo Drive Positioning Module 7 3 Starting up the FM 354 Checklist Despite the acceptance testing just mentioned the ultimate responsibility for the accuracy of all machine data lie
211. in To delete the SDBs in the CPU the CPU 1 Select Parameterize FM 354 2 Select menu File Display SDB Delete the SDB s 3 Close Parameterize FM 354 and in the SIMATIC Manager in Online Project select CPU S7 Program blocks system data Delete the system data 4 Transfer the system data to the CPU again see above FM 354 Servo Drive Positioning Module 5 28 Programming the FM 354 Summary The present programming instructions describe the functions FCs that allow you to establish communications between the CPU and the FM 354 function module in the SIMATIC 57 300 57 300 CPU FM 354 The user DB can be P bus Control check edited on the CPU with Userprogram back signals Parameterize FM 354 and System data User DB K bus Data blocks MPI Online Offline Fe STL LAD Editor STEP 7 A DB is created in User ee STEP7 DB The source is UDT1 User defined data type Setup exe l4 e Parameterize FM 354 parameter ization tool e Function blocks FCs UDT 1 and example programs e Preconfigured user interface for OPs The user DB is loaded in the CPU and stored there Fig 6 1 Overview of programming FM 354 Servo Drive Positioning Module 6 1 Programming the FM 354 Prerequisites Creating the user
212. interface to start up M16 2 Not used M20 2 Not used M16 3 Not used M16 4 Not used M20 3 Not used M20 4 Not used M 16 5 Not used M20 5 Not used M 16 6 Not used M20 6 Not used M 16 7 Not used M20 7 Not used MB17 Not used MB21 Not used FM 354 Servo Drive Positioning Module Programming the FM 354 6 8 Technical specifications Memory allocation The following table gives you an overview of the memory allocated to FCs Table 6 9 Memory allocated to FCs No FC MC7 code in Local data in bytes bytes 1 INIT DB 2 MODE WR 3 RD COM 4 DIAG RD 5 MSRMENT 6 DIAG INF Processing times The following average processing times for FCs were measured with a CPU 314 The specified times are rounded Table 6 10 Processing times of FCs Fe MODE_WR Write control checkback sig 1 3 ms nals without data job 0 Write control checkback sig 1 3 ms 3 0 ms 1 3 ms nals with data job gt 1 RD_COM Read data 3 0 ms DIAG_RD Read process and diagnostic 3 0 ms MSRMENT interrupt data DIAG INF Note In distributed configurations under development it is possible to increase the number of cycles FM 354 Servo Drive Positioning Module 6 45 FM 354 Servo Drive Positioning Module Starting up the FM 354 Overview This Chapter introduces you to the user interface for testing and start up and provides check lists for starting up the positioning module The c
213. interrupt Cl No Cause Limit switch passed in Control or Correction operating mode Effect e The limit switch position is passed by the necessary stopping distance Set actual value is not executed Elimina Following acknowledgment of the error it is possible to tra tion verse to the working range Alter value of software limit switch MD21 Disable limit switch monitoring With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches 1 01 2 02 Software limit switches end is passed Diagnostic interrupt Cause Limit switch passed in Control or Correction operating mode Effect e The limit switch position is passed by the necessary stopping distance Set actual value is not executed Elimina Following acknowledgment of the error it is possible to tra tion verse to the working range Alter value of software limit switch MD22 Disable limit switch monitoring With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches 1 01 3 03 Beginning of traversing range passed Diagnostic T NE interrupt Cause When operating in Control operating mode with soft limits dis P abled the traversing range beginning was passed Effect The limit switch position is passed by the necessary stopping dis tance El
214. ion always cut off power to the S7 300 before disconnecting plugs Warning WARNING NEVER DISCONNECT WHILE CIRCUIT IS LIVE UNLESS LOCATION IS KNOWN TO BE NONHAZARDOUS CE marking Our products are in compliance with the EU Guideline 89 336 EEC Electro magnetic Compatibility and the harmonized European standards EN which it embodies The EC Declaration of Conformity in accordance with Article 10 of the EU CE Guideline referenced above is contained in this manual see Chapter B Application SIMATIC products are designed for application in an industrial environment Application Requirement concerning Industry EN 50081 2 1993 EN 50082 2 1995 Residential Individual license EN 50082 1 1992 Observe installa SIMATIC products meet the requirements provided you observe the installa tion guidelines tion guidelines set forth in the manuals during installation and operation A2 FM 354 Servo Drive Positioning Module Technical Specifications Power ratings Dimensions and weights Memory for param eter data FM cycle Encoder inputs Drive port Technical data Power ratings Table A 1 Power ratings Supply voltage 20 4 28 8 V Power consumption from 24 V 0 35 A Power loss 8W Startup current 2 2 A Power consumption from 5 V backplane 100 mA bus Technical data for dimensions and weights Table A 2 Technical data Dimensions and weight Dimensions W x H x D mm in 80
215. ioning range safety devices A programming device PG and the Parameterize 354 parameter ization software FM 354 Servo Drive Positioning Module Installing and Removing the FM 354 Overview Important safety rules Mechanical set up Installation position What you should know about the mechanical layout Chapter over view The FM 354 is intended for installation as an I O module in the SIMATIC 57 300 programmable logic controller There are important rules which you must follow when integrating an 354 in the 57 300 PLC in a plant or system These rules and specifications are described in the manual 57 300 Program mable Controller Hardware and Installation The options for the mechanical set up and its configuration are described in the manual 57 300 Programmable Controller Hardware and Installation Order No 6ES7 030 0AA01 8AA0 Below we give only a few supplementary pointers The module should preferably be installed horizontally In vertical installations please observe the ambient temperature restrictions max 40 The FM 354 can be mounted in any of the eight available slots slots 4 to 11 for I O modules on the mounting rail In configuring the mechanical layout of your controller you should note the following rules 1 No more than eight SMs or FMs per tier rack 2 The maximum number of modules is limited by module width and by the length of your DIN rail The FM 35
216. it The FM 354 activates this signal when cyclic control operation is begun in other words when power up and parameterization have been completed The setpoint is output as an analog differential signal Table 4 3 Electrical parameters of the setpoint signal Parameters Mi Unit in Max The axis enables are switched via relay outputs make contacts Table 4 4 Electrical parameters of the relay contacts Parameters Switching voltage Switching current Switching capacity Acceptable length up to 35 m 115 ft FM 354 Servo Drive Positioning Module 4 5 Wiring the FM 354 4 3 Connecting the drive unit To connect the Please note connecting cables Note Use only shielded twisted pairs for lines The shielding must be connected to the metallic or metallized connector jacket on the controller side To pro tect the analog setpoint signal against low frequency interference we recom mend that you not ground the shielding on the drive unit side The cable set supplied as an accessory offers excellent immunity against interference C 99600696999 je 9900000008 X2 Connecting cable 354 Drive unit e g SIMODRIVE 611 A SIEMENS SIMODRIVE E R VSA Fig 4 3 Connecting a SIMODRIVE 611 A drive unit 4 6 FM 354 Servo Dr
217. ith RS 422 built in en with EXE coder in 1FT5 Fig 4 5 Connecting the encoders FM 354 Servo Drive Positioning Module 4 11 Wiring the FM 354 Procedure for connecting encoders Available connecting cables for encoders 4 12 To connect the encoders 1 Connect the connecting cables to the encoders For absolute encoders SSI it may be necessary to cut and add connectors to the cable end of the cable to the encoder according to the manufactur er s instructions 2 Open the front door and plug the sub D connector into the module 3 Lock the connector in place with the knurled screws Close the front door Cable set for add on encoders or EXEs for connection of linear scales Order No 6FX2 002 2CD01 1 0 Cable set for built in encoders with 17 pin round plugs Order No 6FX2 002 2CE01 1 0 Cable set for absolute encoders SSI with a free cable end Order No 6FX2 002 2CC01 1 0 Connecting cables are available in a variety of lengths see Catalog NC Z Order No E86060 K4490 A001 A4 FM 354 Servo Drive Positioning Module Wiring the FM 354 4 6 Description of the I O interface Front connector Four digital input output modules and the standby signal controller message may be connected to the 20 pin front connector X1 with its single wire termi nal L
218. ive Positioning Module Wiring the FM 354 Procedure to con Connect the drive unit as follows nect the connect 1 Wire the free cable end of the connecting cable to the terminals of the ing cable drive unit The terminal identifiers on the cable ends indicate the proper terminals for SIMODRIVE units 2 Open the front door and plug the sub D connector into the module 3 Lock the connector in place with the knurled screws Close the front door Designation of the The connecting cable is a prefabricated cable for an axis with an analog in connecting cable terface terminal designation for SIMODRIVE drive units Order No 6FX2 002 3AB01 0000 The connecting cable is available in a variety of lengths see Catalog NC Z Order No E86060 K4490 A001 A4 4 4 Description of the measurement system interface Connectors for A 15 pin female sub D connector is provided for the connection of incremen encoders tal encoders or absolute encoders serial port Location of con Figure 4 4 shows where the connector is installed on the module and how it nector is identified ENCODER X3 o 2 15 8 o o 2 o 2 o o o o Uii gt 3 9 o o FM 354 Fig 4 4 Location of the X3 connector FM 354 Servo Drive Positioning Module 4 7 Wiring the FM 354 Connector pinout Identifier X3 ENCODER X3 Type 15 pin female sub D plug
219. klash free MD18 1 3 5 9 Minus direction is backlash free MD Designation Value Meaning 30 Backlash compensation 1 000 000 1 000 000 MSR 31 Directional reference of 0 as in reference point approach backlash not for absolute encoders 1 positive 2 negative FM 354 Servo Drive Positioning Module 9 76 Description of Functions Voltage ramp D A converter Offset compensation The analog modules in the positioning control loop D A converter of the FM354 and closed loop controller module of the drive cause a zero error because of operating voltage and component tolerances The result is that at an internal digital rotational speed specification of zero in the FM 354 the drive motor will already be running undesirably As a rule drive controllers have adjustment capabilities for balancing But by setting a voltage offset via MD44 the analog system can be balanced at startup from the FM side Eus peas vata Offset compensation 1 000 1 000 mV For calculation of the offset value see Section 7 3 2 Drive interface Direction alignment MD19 allows you to align the direction by defining an assignment between the voltage sign of the manipulated signal and the axis movement Sib 19 1 Direction adjustment 1 invert analog value A ramp shaped voltage rise drop can be defined in MD45 for the voltage output to the drive when the position controller is ina
220. l offset Position X Speed F 10 12 The functions G44 and G43 correct the position value in such a way that the tool tip reaches the programmed set position e Negative tool offset G44 As a rule the tool points to the workpiece in a negative direction With the infeed adjustment the positioning value traversing path becomes smaller Referred to the measuring system the following position is thus ap proached Xms Xset D Xms Position of measuring system Xser Programmed set position D Tool offset e Positive tool offset G43 The positioning value traversing path becomes greater with the infeed adjustment The position value is corrected by Xms Xset D To program a tool offset in the traversing block at least the tool length offset must be input If no correction is to be applied even when the function has been selected the tool length offset and tool length wear value must be preset to 0 A tool length wear value can be deleted by an absolute input of 0 Positions may be input with a negative or positive sign The plus sign on pos itive values may be omitted Name Lower input Upper input Unit limit limit Position 1 000 000 000 1 000 000 000 MSR from MD7 The input speed is calculated against the override If the speed value is nu merically greater than the maximum allowed speed it is limited to the mag nitude of the machine data item Speeds are self maint
221. l program level For call options parameters and evaluation see Section 6 4 1 Principle of This function works together with a user DB The DB number is passed when operation you call the FC with the DB NO parameter Reading of the diagnostic interrupt data DIAGNOSTIC INT INFO in user DB starting at address 72 is started when you set the in out parameter IN DIAG to one The parameter is reset by the FC after the job is executed The FC must be called up until it has reset the in out parameter When the FM 354 is used centrally the Read job is processed within a single function block callup When the FM 354 is used in a distributed configuration it may take several function block callups to process the Read job The in out parameter remains set while the job is running Data transfer is complete when the in out parameter is reset IN DIAG FALSE Example call An example call is shown below for FC DIAG_INF in OB 1 STL Explanation U DIAG READ Call FC if initiation flag set SPB DIRD S DIAG READ Initiate read function DIRD CALL DIAG INF Call diagnostic information FC DB NO W 16 1 DB number RET VAL FEHLERCODE LESEN Return value IN DIAG DIAG READ Initiate reading U DIAG READ Jump to end if read job not yet fin SPB END ished UN BIE Binary result S FEHLER LESEFKT Error on read function END 0 FM 354 Servo Drive Positioning Module 6 21 Programming the FM 354
222. lements as shown in Figure 4 6 Lock the connector in place without any electrical contact to the module 3 Apply the cable grip to the connector 4 If you are leading the lines out from below start wiring from the bottom otherwise start from the top Screw down unused terminals as well The tightening torque should be 60 80 Nm 5 Tighten the cable grip on the cable strand 6 Move the front connector into operating position while pressing down on the locking elements 7 You can fill out the labeling strip enclosed with the product and slip it into the front panel When using shielded cables the following additional steps are necessary 1 After leading the cable into the cabinet connect the cable shielding with a grounded shielding bus strip the insulation from the cable itself For this you can use the shielding terminal element mounted on the DIN rail it will accept up to eight shielding terminals see manual 57 300 Programmable Controller Hardware and Installation Order No 6ES7 030 0AA01 8AA0 2 Connect the shielded line to the module but do not connect the shielding there To provide a shielding end lead for shielded cables this element can be in serted in the DIN rail It can accept up to eight shielding terminals KLB line from Weidm ller Order No Terminal element 6ES7 390 5AA00 0AAO0 Shielding terminal 6ES7 390 5CA00 7AA0 see Catalog NC 60 1 Order No E86060 K4460 A101 A3 see Catalog S
223. lock PIC731 LL 8 13 Continuation block PIC 732 8 14 Parameters PIG72 oo iii cite Amen ker e Ghia AURA RR anew 8 15 Startup PIG G6 usd reos dots ee en ee eb ed ae E 8 16 Startup settings PIC761 ee 8 17 Machine data PIC763 0 ccc cece e 8 18 Diagnostics error message PIC77 8 19 Interrupt messages PIC772 9 1 cp c i ont tiene 9 2 Set actual valie raia baana aiaiai teeta 9 3 LINGARAXIS NIU 9 4 ROA AXIS qr EI 9 5 Encoders on rotary axes eens 9 6 Overview of position controller 10 1 Reference measure input G90 10 2 Incremental input G91 10 3 ROLLY A i ROT 10 4 TOO ONS O a 11 1 Overview of diagnostics errors u suussani annarra 11 2 Status and error displays of the FM 354 Tables 1 1 Compatibility list for use of the FM 354 with 57 300 CPUs and OPs 1 2 Components of a positioning controller 1 3 eteen ae TITRE 1 4 Status and error displays 1 9 4 1 Connecting cables for a positioning controller with FM 354 4 2 Pinout of the X2 connector LL 4 3 Electrical parameters of the setpoint signal 4 4 Electrical parameters
224. lock is processed including any required output FM 354 Servo Drive Positioning Module 9 31 Description of Functions Control actions Preconditions e The FM 354 has been parameterized The mode has been selected and confirmed e Drive enable AF e Stop STP 0 co Servo enable RF control signal FC MODE WR ntrol signal FC MODE WR 1 FC MODE WR job no 10 e Axis is synchronized Table 9 8 Control actions for Automatic mode Control action 1 Automatic Automatic single bloc Control signals Mode BA Read in enable EFG Checkback signals Active mode BAR Start enable SFG Program selection job no 17 Control signal Start ST Checkback signals Travel plus or Travel minus FR Start enable SFG Processing in progress BL examples Explanation k mode The user initiates BA and EFG The module returns BAR and SFG When SFG appears the program can be activated by ST when EFG is active Processing commences e g with a positioning operation FR or FR and BL are activated SFG is reset Checkback signals Change M function AMF M function number MNR Control signal Acknowledge M function QMF If M function output is acknowledgement driven for exam ple the user program can continue to process the MNR when appears M function output is complete QMF acknowledges the M function and AMF
225. loop no counter B 16 0 Active G90 91 peo se os nem 360 0 6 0 G43 44 BYTE 16 0 Active G43 44 FM 354 Servo Drive Positioning Module 6 37 Programming the FM 354 Table 6 5 Abso lute ad dress 361 0 User DB for the FM 354 continued Relative address 7 0 Data type ration Initial value 16 0 Comments Active D no see 362 0 8 0 TO_NO BYTE BIT8_0 BOOL FALSE Reserved 362 1 8 1 LIM_SP BOOL FALSE Velocity limitation Limitation to 10V LIM_10 LIM_SU Limitation of the minimum acceleration or deceleration 3624 84 BIT8 4 BOOL FALSE Reserved Reserved BITS8 5 BIT8 6 Reserved 362 7 87 BIT8_7 BOOL FALSE _ Reserved Reserved LIM_FR LIM_FV Reserved 3632 492 BIT9 2 BOOL FALSE Reserved 363 3 49 3 LIM FS BOOL FALSE Reserved 3634 494 BIT9 4 BOOL FALSE Reserved 3535 95 BIT9 5 BOOL FALSE Reserved 363 6 96 BIT9 6 BOOL FALSE Reserved 363 7 499 BIT9 7 BOOL FALSE Reserved B 16 0 Reserved BYTE10 BYTEII 16 0 Reserved Parameters data 366 0 PAR READ STRUCT 366 0 40 0 _ B 16 0 DB Typ FC RD COM job no 114 16 0 Parameters data Number PAR NO PAR COUN 16 0 Quantity 3690 430 B41680 Reserved 16 0 Data field PAR DATA BYTES
226. m The Start edge can restart the program M2 or M30 is always the last output in the block If the program is called up as a subprogram the action skips to the main pro gram In this case M2 or M30 is not output FM 354 Servo Drive Positioning Module 10 13 Writing Traversing Programs Infinite loop M18 M18 is always output as the last M function in the block Two cases are distinguished M function M18 is output like any other M function Only after the block has been processed all the way to the end including M18 does the axis skip back to the start of the program e If M function M18 is programmed alone in the last block of a traversing program the M function is not output and the axis immediately skips back to the start of the program Change signal pro If M97 or M98 is programmed in a block the M function output proceeds via grammable as digi the digital outputs as defined in machine data item MD35 in the same way as tal output M97 the checkback signals M98 Tool offset Twenty tool offset numbers D1 D20 are available DO in conjunction with number D G43 or G44 causes the tool offset to be switched off The offset values must previously have been loaded to the module Nonstandard offset values have a value 0 Subprogram A block with a subprogram call P is the number of calls L is the program call P L number cannot contain any further information Lower input limit Upper input limit F
227. made in all operating modes even in Incremental relative mode during movement The modifications of the increments must always be complete before a new movement is started in Incremen tal relative mode If this is not the case the error message incremental dimensions do not exist is output Cl 2 No 13 Tool offset data Modifications can be made in all operating modes and during movement If modifications are made during starting or at block transitions when the tool compensation is active internal access to offset values the error message tool offset value does not exist is output Cl 3 No 35 Traversing programs Programs which are not selected can always be modified If modifications are made to a preselected program including the sub program preselection of the program is canceled You must then se lect the program again A modification can be made to a program when BL 0 start of program end of program and on Stop Delete block Specify the program no and the block no in the data field The other data bits must not be assigned Insert block The block number does not exist in the selected program The contents should be entered in accordance with the block format Modify block The block with the corresponding block number is overwritten with the contents in accordance with block format FM 354 Servo Drive Positioning Module 9 37 Description of Functions Retentive stor
228. measured values MEASUREMENT VALUES in user DB starting at address 60 is started when you set the in out parameter IN MSR to one The parameter is reset by the FC after the job is executed The FC must be called up until it has reset the in out parameter When the FM 354 is used centrally the Read job is processed within a single function block cal lup When the FM 354 is used in a distributed configuration it may take sev eral function block calls to process the read job only applies when called in OB 1 The in out parameter remains set while the job is running Data transfer is complete when the in out parameter is reset IN MSR FALSE Error evaluation Errors which occur are indicated in the binary result BIE 0 Possible errors are Data transfer error during communication with SFC 59 REC The er ror is returned in the output parameter RET VAL see reference manual Sys tem Software for S7 300 400 System and Standard Functions Example call An example call is shown below in OB 1 in OB 1 STL Explanation U DB FM CHECKBACK SIGNALS MSR DONE Measurement completed checkback FP FLANKENMERKER MESSUNG BEENDET signal S ANSTOSS LESEFKT Edge flag for Measurement com pleted CALL MSRMENT Set initiation parameters DB NO W 16 1 RET_VAL FEHLERCODE_LESEN CALLUP OF FC MSRMENT IN_MSR ANSTOSS LESEFKT U ANSTOSS LESEFKT SPB NWE Initiation bit is still set UN BIE S FEHLER LESEFKT
229. mmable modules communication data errors Cause Effect Elimina tion Incorrect data Task 15 not executed Correct and retransmit 120 78 Measurement system grid deviates Cause Effect The measurement system in the DBs NC SM TO does not agree with MD7 DB does not become effective and is stored non retentively Elimina tion Correct and retransmit Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 25 Troubleshooting Table 11 8 iji General data errors General data errors machine data errors traversing program errors continued Error message error analysis and elimination Error response Warning see Table 11 2 Incorrect DB type in the module Cause An incorrect type of DB has been transmitted into the FM 354 Effect DB does not become effective and is stored non retentively Elimina tion Delete DB correct and retransmit Message Display 4 04 121 79 4 04 122 7A 7B 124 7C 125 7D 04 126 7E DB type or DB no already exists Cause DB type already exists Effect DB does not become effective and is stored non retentively Elimina tion NC progra Cause Effect Elimina tion Parameter Cause Effect Elimina tion Delete corr
230. modes Stop interrupts movement or processing of the program cancels reference point approach Direction moves axis in negative direction minus In Jogging and Control modes moves axis in negative direction level dependent Starts movement in negative direction in Incremental relative and Refer ence point approach modes Specifies direction of movement for rotary axes in MDI and Automatic modes Direction moves axis in positive direction plus In Jogging and Control modes moves axis in positive direction level dependent Starts movement in positive direction in Incremental relative and Refer ence point approach modes Specifies direction of movement for rotary axes in MDI and Automatic modes Ac only acknowledge driven during M function output see machine data knowl list in Table 5 5 MD32 edge M acknowledges receipt of M function Program sequence can be continued function READ EN Read in prevents read in processing of the next block enable has effect only in Automatic mode The read in enable is required in order to read in the next traversing block during program execution SKIP BLK Skip Skips identified blocks in the program block has effect only in Automatic mode FM 354 Servo Drive Positioning Module 9 3 Description of Functions Table 9 1 Control signals continued ee Name Function DRV_EN Drive en enables m
231. monitoring With the limit switches MD21 22 disabled the travel range limits are established by the maximum allowable values for the limit switches Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number 11 18 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 7 Travel errors continued cl N Error message Message i 9 error analysis and elimination Display Travel errors Error response Feed STOP see Table 11 2 3 03 3 03 Traversing range beginning approached Cause During traversing with soft limit switches disabled the travers ing range beginning was approached The axis is located to the left of the traversing range beginning because of actual value set Traversing range 10 or from range covered by absolute encoder Effect Axis movement is stopped at the traversing range limit Set actual value is not executed Elimina Travel in the opposite direction 03 4 04 Traversing range end approached Cause During traversing with soft limit switches disabled the travers ing range end was approached The axis is located to the left right of the traversing range end because of actual value set Traversing range 10 or from range covered by absolute encoder Effect Axis movement is stopped at the traversing range limit
232. n MD38 1 min 100 000 Ta ms The acceleration value that actually acts on the system is reduced by the time response of the position control circuit i e as a function of the K value The maximum acceleration a in this setting can be attuned to the drive time constant and can be estimated as follows mm s 16 MD23 mm min Ta ms FM 354 Servo Drive Positioning Module Starting up the FM 354 The qualitative effect of the parameters on the positioning process appears in the following table Table 7 5 Effect of machine data that defines response wa Quiet running small Noise immunity great Soft movement reversal Positioning without overshooting Fast positioning Optimization of The following startup actions allow you to optimize the position controller to dynamic response your requirements Check all speed ranges and if applicable give the greatest weight in evaluating the results to the speed that is the most significant for your technology Optimization for uniformity of movement You can make optimization of the position controller considerably easier by analyzing the actuating signal or drive speed tachometer voltage with a storage oscillograph The resulting oscillograms for the transition functions U t and v t i e the oscillation pattern can be interpreted more easily see Figure 7 12 Effective range of jolt filter Gain too high axis swing d
233. n progress BL Position reached stop PEH Transfer MDI block on the If a new MDI block on the fly is transferred during posi fly job no 16 tioning the current positioning operation is canceled immedi Checkback signals ately and the new positioning operation is started on the fly In this case for example this causes the direction to be Travel plus FR changed from FR to FR Travel minus FM 354 Servo Drive Positioning Module 9 27 Description of Functions Table 9 7 Control actions for MDI mode examples continued Control action 3 stop during positioning with new start signal for resumed positioning Control signal Stop STP Checkback signals If Stop is enabled during positioning the axis stops is reset and SFG is activated BL remains active and PEH is not output since positioning is not complete Travel minus Start enable SFG Control signal Start ST Checkback signals If ST is initiated again and SFG are reset and posi tioning is completed LL Before the axis comes to a standstill it is possible to define a new direction through start Travel minus FR Start enable SFG start signal and new MDI block Control signal If Stop is enabled during positioning the axis stops FR is Stop STP reset and SFG is activated Checkback signals
234. ncoder revolution fractional compo division period nent Increments per en s DWORD coder revolution divi With incremental en sion period coders evaluation takes place at 4 MD Number of rotations 0 1 single turn encoders DWORD absolute encoder 21 21 for multi turn encoders Only powers of two are allowed MSR measurement system grid RPS z reference point switch 1 The variable axis name is implemented as an axis letter X Y Z with an address extension 1 9 Permissible characters X Y Z U V W Q E 1 9 e g X XI 2 see Dependencies FM 354 Servo Drive Positioning Module 5 11 Defining Parameters of the FM 354 Table 5 5 No Designation Baud rate absolute encoder Reference point coordinate Default Machine data list continued Data type Unit Comments Value Meaning 1 78 000 2 156 000 3 312 000 4 625 000 5 1 250 000 values 1 000 000 000 1 000 000 000 DINT MSR See Section Absolute encoder readjustment Type of reference point approach reference point ap proach direction Direction adjustment 0 225 1 DWORD Encoder grid abso lute encoder DWORD Code identifies posi tion for synchroniza tion point with ref to RPS for incremental en coders only 0 direction zero pulse right 1 direction zero pulse left 2 direction zero pulse right 3 dir
235. nd retransmit tion Disable hardware monitoring undefined Cause Disable hardware monitoring undefined Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Software limit switch begin Software limit switch end Maximum velocity Target range PEH Monitoring time Stoppage area Reference point offset Referencing velocity Reducing velocity Backlash compensation Cause Impermissible value range or dependency violation on no 21 22 28 29 see Section 5 3 1 Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Backlash vector reference Cause Backlash vector reference undefined Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 29 Troubleshooting Table 11 8 ili Machine data errors General data errors machine data errors traversing program errors continued Error message error analysis and elimination Error response Warning see Table 11 2 Type of output M function Cause Type of output M function not defined Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Message Display 5 05 32 20 5 05 33 21 i 35 Q3 36 24
236. ng illustration provides you with an overview of the OP 07 user the OP 07 interface menu tree User name act PIC7 operating mode F 500000 000 OR 120 X 1000000 000 mm PIC71 lt FI Actvalue IBN Diag User Fe PIC73 PIC71 PIC72 PIC74 User name act operat Following error Free for user ing mode Ky factor X 1000000 000 mm SK for OP operating mode x Diff 1000000 000 ca Teach BA E Auto Eist MD Eins User Offl Onl Trans PIC73 PIC712 PIC714 Operator travel errors Error class PIC713 PIC723 Error no lt lt Acknowledg Res gt PIC722 status set PIC724 3 Servo enable Data error MD no 1 Restart Axis Error class Value gt Free for user Error no lt lt Message gt gt status set Read Set active SW limit switch off 7 Operating error Parking axis C Error class de Error no lt lt lt lt Res gt gt PIC711 Diagnostic interrupts Teach In Byte 0 Byte 2 Pr Block Byte 3 Byte 8 X 1000000 000 mm PIC712 lt lt Res gt gt set F level 1 F level 2 Selection stage Control SMR MDI PIC7122 PIC7123 PIC7124 Vol levelt mV SM free G Vol level2 mV SM no X Selection stage Free SM F set PIC713 PIC714 96 120 N 100 UP Z 10 Set actual value X 1000000 000 mm Value X Diff 1000000 000 X 1000000 000 mm Selection Zero point offset PIC7132 PIC7141 96 N Zero point offset Direction Value Sum of 1000000 000 offset SAvor SAr set Set zero point offse Fig 8 2 Menu tr
237. ng of a process Input parameter Interface module SIMATIC S7 In out parameter initialization parameter Ladder program Light Emitting Diode Machine readable order designation Multi Point Interface Measurement system raster Manual Data Input Organization block Operator panel Programming device Porgrammable controller Power Supply SIMATIC S7 Pulse width modulation Output parameter Controller enable Reference point switch System data block System Function Call integrated fucntions Programming device software for SIMATIC S7 PLC of medium performance range Signal module SIMATIC S7 e g input output module Synchronous Serial Interface Statement list System status list Technology function User program FM 354 Servo Drive Positioning Module Index absolute dimensioning 10 8 absolute encoder alignment absolute encoders 4 absolute encoders SSI 9 64 acceleration 9 70 acceleration override active NC block actual value block change additional operating data i application area application data request Automatic block search backward Block search forward program selection automatic automatic single block axis type linear axis rotary axis rotary axis end backlash compensation 9 76 basic operating data block change C CE marking change parameters data checkback signals 6 6 closed loop control 2 2 configuration configuri
238. ng the interrupts 5 4 9 2 9 6 FM 354 Servo Drive Positioning Module connecting cables 4 3 measurement system cable 4 3 4 12 MPI connecting cable setpoint cable control control signals 6 6 9 3 equipment operator panels 8 3 CSA certification D data blocks increments machine data 5 6 5 9 status messages 8 3 8 20 system data block tool offset data traversing programs 5 7 user data data errors data management 9 38 deactivate software end position monitoring 9 40 delete residual path diagnostic buffer diagnostic interrupt data diagnostic interrupts 6 21 external channel errors external errors internal errors operator control errors diagnostics errors overview digital inputs 4 14 enable input external block change 10 4 external start measurement reference point switch for REF 9 18 reversing switch for REF set actual value on the fly 9 set actual value on the fly 10 5 digital MU EE 9 81 9 81 direct output Index 1 Index dimensions 10 8 dimensions of the FM 25 direction alignment direction of machining drift compensation 7 25 deactivation drive enable drive time constant 7 19 drive unit Wes dwell E EMC guidelines encoder actual encoder value 9 54 magl encoder in encoders 4 7 48 error acknowledgment error class 11 3 external channel errors 1
239. ning Parameters of the FM 354 Table 5 5 Designation Backlash compensa Directional reference of backlash Default values Machine data list continued Value Meaning Data type Unit Comments See Section 1 000 000 1 000 000 DINT MSR 9 7 as in search for reference not for absolute encoders 1 positive 2 negative M function output type M function output time Digital inputs Digital outputs during positioning 1 time controlled 2 acknowledgment controlled before positioning 3 time controlled 4 acknowledgment controlled after positioning 5 time controlled 6 acknowledgment controlled 1 100 000 0 external start 1 input for enable 2 external block change 3 set actual value on the fly 4 measure 5 RPS for search for reference 6 reversing switch for search for reference 0 Position reached stop 1 Axis movement forward 2 Axis movement reverse 3 Change M97 4 Change M98 5 Enable Start 7 Direct output DWORD serial output of up to 3 M functions in NC block DWORD ms rounded to 2 ms steps BITFIELD32 bit coded function al location Bit No I O 0 BitNo 8 I O 1 Bit No 16 I O 2 Bit No 24 I O 3 Front edge always activates the function MSR measurement system grid RPS z reference point switch 1 The variable axis name is implemented as an axis letter X Y Z with an
240. nput output modules Defining parameters of the FM 354 Chapter 5 Describes the parameterization and functions of Parameterize FM 354 Programming the FM 354 Chapter 6 Describes how to program the FM 354 with STEP 7 Starting up the FM 354 Chapter 7 Describes startup procedures for the FM 354 Human machine interface Chapter 8 Describes the various options for operating and monitoring the FM 354 and which data and signals can be used and monitored FM 354 Servo Drive Positioning Module Preface User requirements FM 354 users Reference information and appendices for finding factual information module functions programming guide interface signals parameter lists error handling technical specifications standard HMI user interface e List of abbreviations and index for looking up information The present manual describes the hardware and functions of the 354 To set up program and start up a SIMATIC 57 300 with the FM 354 you will need a knowledge of e The SIMATIC S7 Installation manual 7 400 M7 400 Programmable Controller Hardware and Installation e Your programming device PG e How to perform programming with STEP 7 How to configure a operator panel interface The structure and presentation of the information in the manual are oriented to the intended uses of the FM 354 and the user s own activity It distinguishes among the following Installation These activities
241. ns all the data required to perform a machining step A program consists of several blocks Each block number occurs only once and numbers are arranged in ascending order A sample program structure follows FM 354 Servo Drive Positioning Module 10 1 Writing Traversing Programs N G1 G2 1 2 M3 D LP 5 90 500 000 100000 10 Start of program 6 91 ni si lowest block 7 number 45 End of pro e gram 2 or M30 Chapter over In Section you will find view 10 1 Traversing blocks 10 2 Program execution and direction of processing 10 15 10 1 Traversing blocks Block structure The following Figure gives you an overview of the structure of traversing blocks N G1 G2 X t F Mi M2 M3 DL P Identifier for skipped block Block number G1 G function of first function group G2 G function of second function group see Table 10 1 G3 G function of third function group XA Position dwell time F Speed M1 M function of first function group M2 M function of second function group see Table 10 2 M3 M function of third function group D Tool offset number L Calla program as a subprogram Number of subprogram calls 10 2 FM 354 Servo Drive Positioning Module Writing Traversing Programs Skip block Block number N G function group 1 3 G functions Program
242. nt class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 27 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued Error message Message Cl No A AREA error analysis and elimination Display Machine data errors Error response Warning see Table 11 2 5 05 8 08 Type of axis Cause No linear or rotary axis parameterized Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion Rotary axis Cause Impermissible value range or dependency violation see Section 5 3 1 Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion 10 0A Encoder type Cause Unacceptable type of encoder Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion 11 0B Travel per encoder revolution 12 0C Distance to go per encoder revolution 13 0D Increments per encoder revolution 14 0E Number of revolutions absolute encoder Cause Impermissible value range or dependency violation on no 11 12 13 see Section 5 3 1 Effect DB does not become effective and is stored non retentively Elimina Correct and retransmit tion 15 0F Baud rate absolute encoder Cause
243. nternally and waiting for enable is indicated by the checkback signals When the input is set movement begins and the stored Start edge is deleted a Stop likewise deletes the stored Start edge FM 354 Servo Drive Positioning Module 9 80 Description of Functions External block see Chapter 10 change Set actual value see Chapter 10 and Section 9 3 6 on the fly Measurement see Section 9 3 10 Reference point see Section 9 2 3 switch for refer ence point approach Reversal switch for see Section 9 2 3 reference point approach 9 8 2 Function description of digital outputs Output of PEH The following checkback signals position reached stop PEH axis move FR FR SFG ment forward FR axis movement in reverse FR and enable Start SFG are additionally output via digital outputs The output assignment is parameterized by way of MD35 Output of change The change M function AMF checkback signal for the M functions M97 M97 or M98 and M98 is output as a digital output It allows these M functions switching signals to be applied without being delayed by the user cycle time Direct output Outputs Q0 Q3 D OUTI D OUTA which are defined in MD35 as di rect output can be used directly by the user program job no 15 and can also be controlled by the FM 354 Since the same memory is used in the user DB for job 15 and job 101 the jobs cannot be used simultaneously in the cycle Note The o
244. ntinued Error message Message Cl No A NEM error analysis and elimination Display Travel errors Error response Feed STOP see Table 11 2 03 39 27 MDI block on the fly incorrect position or dwell time Cause Position or dwell time is outside allowable values Position 10 MSR Dwell time gt 100 000 ms Effect Elimina Input a correct MDI block tion 03 40 28 MDI block on the fly erroneous Cause Incorrect block syntax Effect Elimina Input a correct MDI block 03 61 3D Controller enable missing CBS Cause Traverse command ofthe or Removal of controller enable dur axis without controller ing Processing in progress enable except for Con trol operating mode No axis movement Axis stopped at same time con troller enable is held until axis comes to rest Elimina Set controller enable by way of user program 03 62 Controller not ready for operation Cause Axis started without Controller ready message can Controller ready mes celed whilst processing in sage progress No axis movement Axis is stopped with actual value transfer after axis comes to rest internally like fol low up Elimina Check drive connecting cables tion Analysis of the Controller ready message can be disabled by MD37 3 03 64 40 PEH target area monitoring Cause Following conclusion of the set
245. ocation of Figure 4 6 shows the front connector in position to be wired and the labeling connector on the inside of the front door Front connector in wiring position Labeling on xi inside of front door Locking device Q1 Q Q3 3 c 4 4 Q5 SUI 6 or 64 lt 9 9 ip 7734 9 190 S xi 1 1 11 102 25 103 13 104 14 z 8 4 105 6 106 107 108 19 109 i 2 0 20 M 6 Fig 4 6 Location of connector FM 354 Servo Drive Positioning Module Wiring the FM 354 Connector pinout Connector identifier X1 Connector type 20 pin S7 front connector for single wire terminal Table 4 9 Pinout of the X1 connector Pin Name 1 open 2 open 3 4 DD 5 DI3 6 DI4 7 open 8 open 9 RM_P 10 RM_N Signal names DI1 4 Digital input 1 4 DQ1 4 Digital output 1 4 RM_P Positive input for controller message RM_N Negative input for controller message L M 24 V load power supply ground Signal type Output I Input VI Voltage input 4 digital inputs inputs have equal priority Switching functions are allocated to an input DI1 4 number by way of machine data input polarity is selected in the same way starting and shutdown slopes These fast inputs are PLC compatible 24 V current sourcing Switches or contactless sensors 2 wire or 3 wire sensors can be connected Possible uses include e As referen
246. ocation of X1 connector 4 7 Actuation of the input controller message power supply from the control 4 8 Actuation of the input controller message power supply from the drive ARGUS D ian S E 4 9 Wiring up the front Connector 5 1 Overview of parameterization 5 2 Getting started with Parameterize FM 354 5 3 Overview display for parameterization 5 4 Entering values for machine 5 5 Entering values for incremental dimensions 5 6 Entering values for tool offset data 5 7 Entry for traversing programs 5 8 Creating SDB w1000 5 9 Displaying deleting SDB w 1 000 6 1 Overview of programming 6 2 Overview of linking the FM 354 into the user program 6 3 Evaluation of diagnostic information 7 1 Overview display for parameterization and start up 7 2 Startup interface e g for Reference point approach mode 7 3 Troubleshooting re a 7 4 Service dala ise tenter e ae eaa RR E ud n e Re e 7 5 Drive actuallon 2222 ACE AMA Dowd 7 6 Encoder actua
247. ocessed as applicable Data are rejected with error message see Troubleshooting Table 11 5 Class 4 No 1 FM 354 Servo Drive Positioning Module 6 15 Programming the FM 354 Read job status The status of a read job is indicated in the user DB in data byte DBB3 Bit in JOB RD Significance DBX3 BUSY 0 read job busy This bit is set by FC RD COM as soon as it starts processing a read job JOB RD NO gt 0 and STATUS RD IMBOSS 0 This bit is cleared by FC RD COM as soon as the read job has finished running JOB RD NO 0 read job finished This bit is set by FC RD COM as soon as it has finished a read job also with error and unknown job This bit is cleared by FC RD COM when a new read job begins You can clear this bit manually IMPOSS 2 1 Read job not possible at the present time Read job processing is not possible because the axis is not parameterized because no mode is preselected because test mode is active In this case you can leave the read job JOB RD NO or delete it FC RD COM clears the bit when all the above conditions have been met UNKNOWN 3 1 read job unknown The read job JOB RD NO which you specified is not within the known range see error evaluation FC RD COM clears this bit as soon as JOB RD NO contains a valid number The unknown number is retained until then Error evaluation Errors which occur are indicated in the binary result BIE 0
248. odify the other data blocks on the PG 3 Reload the data blocks to the FM 354 5 10 FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Machine data list machine data of the FM 354 are listed in Table 5 5 Notes to the machine data list K stands for configuration data see Section9 3 3 E stands for user definable machine data settings for readjustment startup optimization and technology see Section 9 3 3 The units of measurement refer to the value representation in the machine data DB Table 5 5 Machine data list F Default Data type See Designation values Value Megning Unit Comments Section open Process interrupt gen 0 Position reached BITFIELD32 eration 1 Length measurement completed 3 Change block on the fly 4 Inprocess Measurement Axis name max 2 ASCII characters System of measure 1 210 mm DWORD MSR ment 2 107 inch 3 107 degrees 4 1072 degrees Axis type 0 linear axis 1 rotary axis Rotary axis end 36 105 0 1 000 000 000 DWORD MSR Encoder type 0 not present DWORD 1 incremental encoder 3 absolute encoder SSI 13 bit GRAY Code 4 absolute encoder SSI 25 bit GRAY Code 13 absolute encoder SSI 13 bit Binary Code 14 absolute encoder SSI 25 bit Binary Code Travel per motor revo 1 1 000 000 000 DWORD MSR in ution division teger component period Residual distance per DWORD 2 32MSR e
249. ogram Function Transfer data for Jogging mode and the Jogging mode to the FM Transfer data for the Control mode and the Control mode to the FM Transfer the Reference point approach mode to the FM Transfer data for Incremental relative mode and the incre mental relative mode to the FM Transfer MDI mode to the FM Transfer Automatic single block mode to the FM Transfer Automatic operat ing mode to the FM In case of modification trans fer Software limit switch dis able yes no to the FM Transfer Restart axis memory bit to the FM Transfer Delete distance to go memory bit to the FM Read MD No from the user DB retrieve its value from the FM and enter into the user DB Transfer activate MD to the FM Transfer MD No and its value from the user DB to the FM Error acknowledgment Res in FM 354 diagnostic inter rupt Error acknowledgment Quit in the FM 354 data errors op erator travel errors See PIC 8 17 Human machine interface Variables in the The following table contains the variables which are entered into the user user DB DB See Section 6 6 for the structure of the user DB Table 8 3 Variables for user DB Absolute Variable Sienificance address type 8 23 BYTE Velocity or voltage level 1 2 BP 16 BOOL Single functions 10 40 0 Servo enable 40 6 Parking axis 41
250. on measured length O is actually possible be cause touch probe has been connected while axis is stationary 9 3 11 Basic operating data job no 102 Overview The following display data are basic operating data e Actual position MSR e Actual speed MSR min Residual distance MSR e Set position MSR Total of active coordinate shifts for tool offset zero offset MSR e Rotational speed rotary axis only rpm FM 354 Servo Drive Positioning Module 9 52 Description of Functions 9 3 12 Active NC block job no 103 next NC block job no 104 Active NC block are display data in Automatic mode Skipped block L Subprogram callup fills in UP number P Number of callups for subprogram fills in UP callup number XA Position dwell time programmed fills in value 1 G1 G3 G function group 1 3 D Tool offset value number M1 M3 M function group 1 3 F Speed programmed fills in value 2 Byte Data format 0 0 Byte NC program number 1 Byte NC block number 8 bit E P X t 0 G3 G2 G1 w p Jo jo Jo wo e GN Byte 2 3 4 12 DINT 32 bit value 2 UP callup number bytes 16 Byte M function 1 18 Byte M function 2 19 Byte D function Next NC block as described in active NC block FM 354 Servo Drive Positioning Module 9 53 Description of Functions 9 3 13 Application data job no 105 Overview The values passed with request a
251. on 7 3 6 Activation of software limit switches drift com See Section 7 3 7 pensation and backlash compensation Note In order for an axis to start the start enable checkback signal must have been set If there is no start enable this may be because e Axis enable is not set e Stop is set e Operation in progress is active FM 354 Servo Drive Positioning Module Starting up the FM 354 7 3 1 Overview Activating the machine data The checkback signal PARA notifies you that a DB MD has been retained This machine data is automatically activated at power up The module s posi tioning functions are ready to operate If no DB MD is present as yet on the FM 354 when the control is switched on the module can only communicate by way of the MPI interface The con trol signals are not processed by the FM 354 Once an error free DB MD has been transferred the machine data is automatically activated PARA is set and the control signals are processed If the FM 354 is working with activated machine data you can transfer a new data block or individual parameters in modified form to the module and if the entire DB MD is error free this new data can then be put into effect by way of the Activate machine data function The following approaches are possible e Ifonly E data have been modified in the machine data record since the last activation the equipment is activated with module status
252. ons settings and commands concerning open loop con trol see Section 9 3 2 and Section 9 3 3 FM 354 Servo Drive Positioning Module 9 5 Description of Functions 9 1 2 Checkback signals Overview The checkback signals indicate the processing status of the axis and report it to the user program Table 9 2 describes the checkback signals and their functions Table 9 2 Checkback signals NC NN Significance Function TST STAT TFGS Sw over P bus Communication with the user program is not possible since the P bus interface com interface has been switched over for operation with the start up tool plete OT ERR BF FS Operator travel signaled to the user if an operator control error or travel error is error pending e g unallowed control signal has been set R and R set simultaneously An error message causes the movement to be canceled see Chapter 11 DATA ERR DF Data error is reported to the user when a data error occurs see Chapter 11 PARA PARA Parameterize module parameterized All machine data applicable for control of an axis are present on the module START EN SFG Start enable signals that the FM 354 is ready for positioning and output e Start enable is set if no static stop or error is pending and the drive enable is pend ing if the mode setting and mode checkback match after mode change if no axis functions including M output dwell time are active or after
253. ontinued Error message Message Cl No P Mem error analysis and elimination Display Traversing program errors Error response Warning see Table 11 2 8 08 29 ID Incorrect D NO 220 Cause The number for tool offset is greater than 20 Effect Program block not stored Elimina Correct program per cause tion 8 08 30 1E Error subroutine Cause Subroutine without callup number Effect Program is not stored Elimina Correct program per cause tion 8 08 31 18 Velocity missing Cause No velocity was programmed Effect Program block not stored Elimina Correct program per cause tion 8 08 32 20 Error callup subroutine Cause Block syntax for callup subroutine is incorrect Effect Program is not stored Elimina Correct program per cause tion 8 08 33 21 D function unacceptable Cause Block syntax for invoking a D function is incorrect Effect Program is not stored Elimina Correct program per cause tion 8 08 34 22 Incorrect program length Cause Maximum block number exceeded Effect Program is not stored Elimina Correct program per cause tion CI Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 34 Technical Specifications Overview General technical data UL CSA certifica tions
254. ool offset data DB No 1220 e Traversing programs DB No 1001 1199 e Status messages DB No 1000 DB SS etc Operating data such as actual values Active NC blocks Linear measurements Actual value block change Check back signals and error conditions Service data The configuration package includes a pre configured interface for the CO ROS OP 07 and OP 17 operator panels Vo Standard user interface for the OP 07 and the OP 17 Evaluation of the user DBs by the user program 9 Data block for status messages DB SS 8 20 8 2 FM 354 Servo Drive Positioning Module Human machine interface 8 1 Standard HMI human machine interface for the OP 07 and the OP 17 Overview DB SS Monitoring Operator control User program This Section describes a preconfigured user interface which you will need to change according to your project e g FM addresses DB no for the fol lowing COROS equipment operator panels e OP07 e OP17 The tool to be used for this is the configuring tool ProTool Lite V3 0 You can use it to modify add or delete screens The user interface is addressed to user DB No 1 in the CPU target system 1 address 2 and to the DB SS of the FM 354 target system 2 address 3 The text field FM user name represented in the images can be renamed to a text of your choice You can print out the entire configuration using ProTool Lite V3 0 This provid
255. or evaluation 6 18 Call in LAD notation Call in STL notation ladder diagram statement list FC DIAG_RD CALL DIAG RD EN ENO DB_NO DB NO RET VAL RET VAL IN DIAG IN DIAG The following table describes the parameters of the FC DIAG_RD Meaning tpe DB NO WORD I Data block number RET VAL INT Q Return code of SFC 59 RD REC IN DIAG BOOL Lo Initiate reading of diagnostic data is cleared after execution of FC 4 Parameter types I input parameter output parameter I Qz in out parameter initiation parameter This function works together with a user DB The DB number is passed when you call the FC with the DB NO parameter Reading of the diagnostic interrupt data DIAGNOSTIC INT INFO in user DB starting at address 72 is started when you set the in out parameter IN DIAG to one The parameter is reset by the FC after the job is executed The in out parameter remains set while the job is running Data transfer is complete when the in out parameter is reset IN DIAG FALSE Errors which occur are indicated in the binary result BIE 0 Possible errors are Data transfer error during communication with SFC 59 RD The er ror is returned in the output parameter RET VAL see reference manual Sys tem Software for S7 300 400 System and Standard Functions FM 354 Servo Drive Positioning Module Programming the FM 354 Diagnosti
256. or no overshoot at the target point for positioning e Short positioning time Acontinuous acceleration soft travel In most applications several of these criteria will be important so that most of the time the dynamic response of the controller can be optimized only with a number of compromises Execute test movements as in Figure 7 11 during the optimization steps de scribed below FM 354 Servo Drive Positioning Module Starting up the FM 354 To trigger test movements Selecting initial values of re sponse defining MD You can trigger test movements as follows as you perform optimization Select Poli Mode jogging Speed level 2 OVER various values Set Speed level 1 0 1 Vmax Speed level 2 0 5 Set Servo enable ON gt Start axis Plus or minus direction be sure there is enough room Uniformity of movement Over Evaluate axis response shoot Positioning time c Further testing desired es No Y END Fig 7 11 Test movements for optimizing the servo control system Set the following machine data in accordance with the drive time constant Ta determined in Section 7 3 2 to the initial values for the optimiza tion steps below e g for an axis in MSR 10 mm e Acceleration delay MD40 MD41 mm s 30 MD23 mm min Ta ms e Jolt time MD42 ms 0 Positioning loop amplificatio
257. or the FM 354 software limit switches start enable Startup 7 6 switch off enable input ynoktotization DI 9 67 9 68 absolute encoder alignment measured value synchronization reference point 9 67 reference point approach reference point offset reference point switch synchronization point system data 9 35 change parameters data diagnostic interrupt data measured values set actual value set actual value on the fly set reference point single commands single functions zero offset system data block 5 7 15 26 system of measurement 9 56 system overview components data handling T Teach in 9 49 testing machine axis 7 6 time override tool compensation tool offset data 5 18 traversing block FM 354 Servo Drive Positioning Module Index traversing blocks axis as rotary axis block change block structure G functions M functions traversing programs 5 20 block transitions direction of processing input 10 1 program name program number program structure traversing block traversing blocks U UL certification A 1 User data user data 5 8 8 1 FM 354 Servo Drive Positioning Module Index 5
258. organization block OB82 is called up The diagnostic OB should be included in the user program otherwise the CPU will go to the Stop state Byte 0 contains group error messages that are set simultaneously with the corresponding messages in bytes 2 3 and 8 The operating error byte 8 7 is specified again The error numbers are avail able for display purposes in the diagnostic buffer of the FM 354 and in the data block for status messages DB SS see Section 8 1 For special error evaluations in the user program these error numbers are available in DS164 Byte Bit 0 0 Module distur bance Byte Bit 0 1 Byte Bit 0 2 Byte Bit 0 3 Internal External External error error channel error Byte Bit 2 1 4 Byte Bit 8 0 7 Byte Bit 3 2 6 Fig 6 3 Evaluation of diagnostic information Example call An example call is shown below for FC DIAG RD in OB 82 STL Explanation 8 DIAG READ Initiate read function CALL DIAG INF Call diagnostic information FC DB NO W 16 1 DB number RET VAL FEHLERCODE_LESEN Return value IN_DIAG DIAG_READ Initiate reading UN BIE Binary result S FEHLER LESEFKT Error on initialization FM 354 Servo Drive Positioning Module 6 20 Programming the FM 354 6 4 2 FC DIAG INF FC 6 Read diagnostic interrupt data in OB 1 Task You can call FC DIAG INF in OB 1 or at another cyclica
259. other G functions remain active until canceled explicitly G30 G90 and G64 are the initial settings after the start of the program FM 354 Servo Drive Positioning Module 10 3 Writing Traversing Programs Dwell G04 Block change G60 G64 approach conditions External block change G50 with delete residual path Example of exter nal block change 10 4 A traversing block with dwell can only contain M functions and the time pa rameter apart from this G function The following applies for dwell time Lower input Upper input A DA limit limit TM Odd input values are rounded upward Dwell times take effect only on a block by block basis If no value is input for G04 in the block the lower input limit applies With G60 the exact programmed position is approached and the feed move ment is stopped exact stop block change G64 causes the next block to be processed immediately as soon as the point of deceleration is reached change block on the fly G60 and G64 are mutually exclusive and self maintaining M commands have no effect on G64 operation For a detailed description see Section 10 3 The external block change function causes a block change on the fly trig gered by a digital input The fast input must be parameterized with the ternal block change function by way of machine data item MD34 The function takes effect only on a block by block basis no effect on G60 and G64
260. ou must redefine the positioning values of the software limit switches If you do not need the software limit switches the input limits 10 and 10 MSR must be entered in MD21 MD22 for default values see Table 5 5 If you want to use the drift compensation function in addition to the offset compensation already described in Section 7 3 2 activate it in the machine data please see the function description in Section 9 7 Position control With indirect position measurement for example with an encoder on the motor the free play of mechanical transmission elements during positioning may cause a position deviation of a machine part such as a lathe saddle that is to be positioned but does not lie in the measured value feedback loop As a rule a piece of the distance will be missing after a reversal of direction This backlash amount can be determined as a mean at various axis positions and entered in the machine data MD30 and MD31 You can use the following flow chart to determine backlash and activate backlash compensation FM 354 Servo Drive Positioning Module 7 25 Starting up the FM 354 Parameterization MD31 Set dir reference of ba ectional cklash Set Activate machine data Set Speed level 1 0 1 Speed level 2 0 5 Vmax Vmax Set Servo enable ON Leali Select Increment OVER 1 Relative incremental 3 0
261. ovement able When the signal is reset a rapid deceleration of the movement takes place On MD 37 15 0 program execution or the movement is canceled and the residual distance is deleted On MD 37 15 1 machining resumes after emergency stop Rapid deceleration of the movement e On axis standstill FR or FR 0 BL 1 if the drive remains activated and the servo enable active the axis is held in position control mode if the drive is deactivated the user must activate follow up This deactivates zero speed control the axis can be pushed away e fanerror occurs in this state e g if the user starts a movement without a start enable etc an error response is initiated e g the residual distance is deleted BL 0 a new path default must be defined MODE Operating mode see Section 9 2 Code Jogging 01 Open loop control 02 Reference point approach 03 Incremental relative 04 MDI 06 Automatic 08 Automatic single block 09 MODEPA BP Mode pa selects speed levels in Jogging mode RAMETER rameter selects voltage levels in Control mode selects increment in Incremental relative mode value 1 100 or 254 OVERRIDE OVERR Override affects response of traversing movement Range 0 255 override has no effect in Control mode Velocity override Range 0 255 Speed adjusted by percentage Example Override doubled from 100 to 20096 VA 200 96 F 100 Vprog sp
262. over from level 2 to level 1 causes a dynamic tran sition between velocity levels 1 and 2 9 14 FM 354 Servo Drive Positioning Module Description of Functions Table 9 3 Control actions for Jogging mode examples continued Control action 6 ambiguous direction command s Control signals Direction plus Direction minus R Checkback signals Traverse minus FR Processing in progress BL Start enable SFG Operator travel error BF FS Control signals Direction minus R Error acknowledgement BFQ FSQ Checkback signal Start enable SFG pecial situation R is actuated while the axis is traversing with R The ambiguous direction command causes the axis to stop and BF FS to be output FR and BL are reset Only when R is canceled and the error is acknowledged BFQ FSQ is SFG actuated again and a new direction command can be initiated Control signal Drive enable AF Checkback signals Traverse minus Processing in progress BL Single command Restart job no 11 Checkback signals Travel plus Processing in progress BL Control action 9 change direction Control signal Direction plus Checkback signal Start enable SFG Control action 10 change mode Control signal Mode BA Checkback signal Active mode BAR Travel plus Processing in progress BL AF is deactivated during the trave
263. owing tasks Guidance of the drive commensurate with speed during movement se quence e g adjustable acceleration and delay jerk limitation following error monitoring see Section 9 7 Position control Precise approach of the axis to the programmed target position e g approach to position see Section 9 7 Position controller Maintenance of the axis in position when outside factors interfere e g offset compensation see Section 9 7 Position control FM 354 Servo Drive Positioning Module Product Summary Digital inputs out puts Settings and func tions not depen dent on operating mode Software limit switches Process interrupts Block sequence control Diagnostics and troubleshooting Data storage on the FM 354 Four digital inputs and four outputs can be used as specified by the user You might connect e Reference point switches e Switches for external starting e Touch probes Position reached Stop e Forward backward rotation The switching function is assigned to a given I O number by way of the ma chine data Special functions can be activated by specific settings in the user program in addition to the mode e g inprocess measurement retrigger reference point etc The operating range specified by software limit switches is automatically monitored after synchronization is recorded Process interrupts are triggered by such events as Position reached
264. parameter data in SDB gt 1 000 Overview Creating the SDB 5 26 The FM 354 stores its parameter data internally In order to ensure that the parameter data are available if a fault develops on the FM 354 and no programming device PC is at hand the data can be stored in a system data block in the CPU SDB gt 1 000 The CPU transfers the data stored in SDB gt 1 000 to the FM 354 on each new start If the FM 354 has no machine data or the internal time stamp time of creation is invalid the data are transferred from SDB gt 1 000 to the FM 354 and saved there You must ensure that the parameter data in SDB gt 1 000 always match the parameter data on the FM 354 when start up is complete Note SDB gt 1 000 should not be created until start up is finished If you need to modify the data subsequently you should generate SDB gt 1 000 again and load it into the CPU You can delete the previous SDB before you load the new one however the new SDB automatically over writes the old one when it is generated The old SDB and the new SDB do not have to be allocated the same number Prerequisite Online connection with the FM 354 Select menu File gt Create SDB If no DB MD exists on the FM Abort An associated SDB gt 1 000 No exists for the FM 354 in the S7 No associated SDB project exists Yes Overwrite this SDB No Yes Abort Y SDB is created and stor
265. passed when you call the FC with the DB NO parameter What does the user have to do What is done by the User program User DB FC 3 FM 354 Write job no f FC 2 2 Acc to job no SIS REFS i gt Read job no lt gt Scan clear 1 Evaluate status Status of FC 3 fe Set clear e g read job possible Control signals Checkback signals System data data values for write jobs System data 2 m Transfer system 3 ui a ata values re data from FM turned by the according to job FM 354 no 6 14 FM 354 Servo Drive Positioning Module Programming the FM 354 The following read jobs JOB RD NO are known Legend for the table below Operating mode T Jogging STE Open loop control REF Reference point approach SM Incremental relative MDI MDI Manual Data Input A AE Automatic Automatic single block Operating modes Job no System data a STE REF SM A AE Sec tion Display data is data parameters returned by the FM E E E ilc Pe 27080 e DAT basic operating data jp 1980 931 ae ee IAA da E pg APP_DAT application data 270 0 BLCK_EXT actual value block FEE change Ew Te p xm SRV OUT reserved 322 0 OP DATI additional operating data ARIA Te 1 O Data is accepted and only processed in the corresponding mode x Data is accepted or pr
266. point value specification to the posi tion controller the target area is not reached within the specified time Effect Elimina Check drive tion Match MD24 MD25 Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 21 Troubleshooting Table 11 7 Travel errors continued Error message Message Cl No A E error analysis and elimination Display Travel errors Error response Feed STOP see Table 11 2 3 03 65 41 No drive movement Cause e Axis standstill at maximum drive control signal 10 V e on violation of the defined following error limit Effect Acceptance of actual value internally like follow up mode Elimina Check drive connecting cables tion Check controller enable signal between FM 354 and drive 3 03 66 42 Following error too great Cause Excessive following error during axis movement Effect Elimina Check drive tion Check MD23 MD43 Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number Table 11 8 General data errors machine data errors traversing program errors a No Error message Message error analysis and elimination Display General data errors
267. pplication data job no 18 see Section 9 3 7 are returned from the FM 354 9 3 14 Actual value block change job no 107 Overview The actual value block change function is described in Section 10 1 G50 G88 G89 9 3 15 Servicing data job no 108 Overview The following display data of the measuring circuit are servicing data 9 54 DAC output value mV Actual encoder value MSR Incremental encoder 0 216 1 encoder increments Absolute encoder Absolut value encoder Missing pulses pulses K factor position control loop gain Following error MSR Following error limit MSR s overshoot value switch alignment in Reference point approach mode MSR Approach time Te ms drive time constant Ta ms in Open loop con trol mode FM 354 Servo Drive Positioning Module Description of Functions 9 3 16 Additional operating data job no 110 Overview The following display data are additional operating data e Override NC traverse program no e NC block no e Callup SR loop no counter e 590 91 active see Section 10 1 e G60 64 active see Section 10 1 e 543 44 active see Section 10 1 e No active see Section 10 1 e Status messages 1 data type BOOL Speed limitation to limit value from MD23 Limitation to 210V Limitation of minimum acceleration or minimum deceleration in ef fect e Status messages 2 data type BOOL not in use 9 3 17 Paramete
268. ppropriate increments must be parameterized MDI 06 ST STP AF QMF BL SFG FR 6 10 servo enable OVERR WEG SYN PEH MNR T L Automatic 08 ST SA EFG STP BL SFG FR 17 assuming the corre Automatic single block AF QMF OVERR WFG SYN PEH sponding traversing pro 09 T L PBR gram was parameter MNR ized 10 servo enable Error condition Message via BF FS acknowledgement with BFQ FSQ e Message via DF acknowledgement on next correct data transfer Message via diagnostic interrupt acknowledgement on Restart job no 11 Hints to the user Here are a few hints for starting a movement and about the response of the FM 354 to a change of the status of the 57 300 CPU It is assumed that the FM 354 has been parameterized correctly First a mode must be set The servo enable must subsequently be set in order to prevent the axis from running away Before starting a movement in a mode first transfer the appropriate refer ence data e g speed levels the override must be gt 0 FM 354 Servo Drive Positioning Module 9 9 Description of Functions tis only possible to start the movement when the start enable is set and the enable input is set if parameterized Enable Start is set if No error occurred Mode is active No Stop is called Drive enable is set
269. r test purposes since positioning errors may destroy the machine When voltage monitoring is deactivated and the power supply to the encod ers or the FM is switched off an immediate failure in absolute value signal ing can cause drive movements if anoperating mode other than open loop control is active e and follow up mode is deactivated e and the servo enable is activated or not parameterized Encoder See Section 4 5 connection FM 354 Servo Drive Positioning Module 9 66 Description of Functions 9 6 3 Overview Absolute encoder alignment Reference point approach Reference point Reference point offset Reference point switch RPS Synchronization point Synchronizing the encoders When using incremental encoders at switch on there is an offset which can not be determined in advance between the internal position value in the FM and the mechanical position of the axis To establish the position ref erence the value internal to the FM must be synchronized with the real posi tion value of the axis Synchronization is performed by taking over a position value at a known point of the axis When using absolute encoders SSI at switch on there is already a defined relationship between the position value internal to the FM and the mechani cal position of the axis This reference can be adjusted by setting an absolute encoder alignment value see Section 9 3 9 Setting the reference point is
270. r wiring of application specific signals Possible uses include Position reached and stopped Switching function M command e Forward backward rotation See Section 5 3 1 for further applications Table 4 12 Electrical parameters of digital outputs Supply voltage 24 V DC allowable range 20 4 28 8 V Electrical isolation No Output voltage 0 Signal Residual current max 2 mA e Signal Power supply 3 V Output current on signal 1 at ambient temperature of 40 C Rated value 0 5 A total current 2 A Permissible value range 5 mA 0 6 A over power supply range max 5 W Lamp load e at ambient temperature of 60 C total current 0 4 A Rated value 5 mA 0 12 A over power supply Permissible value range Switching rate Resistive load max 100 Hz Inductive load 0 25 Hz Load power sup Here a 24 V load power supply must be connected The unit will not operate ply L M if the poles are reversed Note Note the SIMATIC setup guidelines In particular the M terminal reference potential must be connected with the chassis ground of the programmable controller M terminal on the terminal block of the S7 300 CPU see manual 7 300 Programmable Controller Hardware and Installation Order No 6ES7 030 0AA01 8AA0 FM 354 Servo Drive Positioning Module Wiring the FM 354 4 7 Wiring up the front connector
271. ram is not stored Elimina Correct program per cause tion 8 08 21 15 No block in program Cause No block in program Effect Program is not stored Elimina Correct program per cause tion 8 08 22 16 Error block number Cause Block number value range incorrect Effect Program is not stored Elimina Correct program tion 8 08 23 17 Block number sequence incorrect Cause Block number not in ascending order Effect Program is not stored Elimina Correct program tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 32 Troubleshooting Table 11 8 General data errors machine data errors traversing program errors continued Error message Message error analysis and elimination Display Traversing program errors Error response Warning see Table 11 2 8 08 24 18 G function 1 unacceptable Cause The number programmed as G function 1 is not allowed e n block other data besides M functions were programmed with dwell time G04 Effect Program block not stored Elimina Correct program per cause 8 08 25 19 G function 2 unacceptable Cause The number programmed as G function 2 is not allowed Effect Program block not stored Elimina Correct program per cause 8 08 26
272. reach At this value display of the actual value switches back to 0 The theoretical maximum however is never displayed because it is physi cally located in the same position as the start of the rotary axis i e 0 Example The following example in Figure 9 4 illustrates the behavior of the axis Assume you specify a value of 10 000 for the end of the rotary axis The value 10 000 will never be displayed The display always rolls over from 9 999 to 0 If the direction of rotation is negative the display rolls over from 0 to 9 999 Rotary axes are subject to certain restrictions in the choice of encoder gear box motor as shown in Figure 9 5 These restrictions arise from the need to reproduce the actual position accurately over several revolutions when refer encing with incremental encoders or on POWER OFF ON with absolute encoders See also Dependencies Section 5 3 1 Incremental encoder Type of Single turn or reference point approach multi turn encoder MD18 gt wor lt 4 eum 7 Ne Multi turn Any rotary axis Condition Condition Condition cycle Sra Saz Saz 2 Sra Saz 2 Sra n 1 2 3 n 0 1 2 n 2 1 0 1 2 Examples Rotary axis cycle Spa Deor e re qe de 0 2 Encoder cycle Sez i or or e g 4 __ rev Encoder type Fig 9 5 Encoders on rotary axes 9 58 FM 354 Servo Drive Positioning
273. rent actual value e Resynchronization in Reference Point Approach mode measured length contains measurement error message Set Reference Point measured length contains measurement error mes sage Retrigger Reference Point measured length is difference between edge positions e Set Actual Value measured length is actual traversed distance Note The zero offset function does not change the actual position of the axis and is thus not relevant for the above observations regarding the Length Measure ment function Error messages The following table lists the errors that can occur in the execution of the Measurement function Travel errors The Digital input not parameterized error is signaled when a measurement function is selected without a digital input having been parameterized see Troubleshooting Table 11 7 Class 3 No 30 Operator The Measurement function undefined error is signaled when both measuring functions are selected control errors see Troubleshooting Table 11 6 Class 2 No 16 Measuring An erroneous length measurement is indicated by signaling back the length 1 Possible causes error include Resynchronization in the Reference Point Approach mode while a measurement is in progress Execution of the Set Reference Point function while a measurement is in progress Direction of travel at the falling edge is opposite to the direction of travel of the previous rising edge FM 354 Ser
274. ring positioning N Gl G2 X t F Mi M2 D 5 90 10 000 10000 10 10 20 000 20 15 30 000 20000 30 40 20 60 40 000 150 00 97 VA N5 N10 N15 N20 i gt gt E 4 lE A e 10000 20 000 30 000 40 000 M No 10 20 30 40 97 gt 1 Output of M10 is not position dependent since no relevant position for a position dependent M function is present 2 At the block change from N5 to N10 output is prepared The axis the M function does not proceed until the actual position has reached the programmed position of N5 3 If two M functions are programmed in a traversing block the first M function is output depending on position followed by the second M function 4 The change signal for M97 or M98 is output with the G64 block transition digital output if the actual position has reached the programmed position of the block The actual position runs behind the set position difference overtravel FM 354 Servo Drive Positioning Module 10 19 FM 354 Servo Drive Positioning Module Troubleshooting Overview Error localization I Os Module processes The FM 354 provides diagnostics for the following This chapter Troubleshooting describes the different types of errors their cause effect and elimination The FM 354 distinguishes between Errors which trigger a diagnostic interrupt in the CPU and
275. rnal channel errors Operator contol are errors operator travel errors which can occur during op M ian Feed STOP eration of the FM 354 e g direction signals and R set at the Checkback same time see Error List Tables 11 6 and 11 7 signals are errors data machine data and traversing program errors Data errors Warning which are detected on interpretation of invalid data see Error List Table 11 8 Error response Each error message triggers an appropriate response Table 11 2 Overview of internal error responses Error response Significance Everything OFF Stop movement by way of voltage ramp MD45 Disable digital outputs Deactivate servo enable SYN is cleared No new travel jobs possible Feed STOP Stop movement by controlled deceleration Travel job is canceled and terminated Measured data acquisition and position control are continued No new travel jobs possible Warning Message only Movement and control of axes not affected FM 354 Servo Drive Positioning Module Troubleshooting 11 2 Error messages Introduction The following approaches to error localization are available for the FM 354 e Error display by LEDs e Error messages to the system and to the user program 11 2 1 Fault indication by LED Status and error The FM 354 features the following status and error displays displays SF DC 5V DIAG Fig 11 2 Status and error display
276. rror message error analysis and elimination Error response Warning see Table 11 2 Software limit unacceptable Cause With linear axes Software begin limit switch greater than software limit switch end with rotary axes Software begin end limit switches not within rotary axis cycle and not at maximum input value Effect DB does not become effective and is stored non retentively Elimina tion Correct and retransmit Message Display 5 05 97 61 Limitation software limit with absolute encoder Cause Effect Elimina tion Travel distance between software limit switch begin and end is greater than the absolute value range of the encoder DB does not become effective and is stored non retentively Correct and retransmit Traversing program errors Error response Warning see Table 11 2 Program selection subroutine error Cause Effect Elimina tion The subroutine requested in the program is not in place on the FM 354 Program selection is not executed e Parameterize and read in program correct as necessary Select another program 8 08 8 08 Program selection program number not in place CBS Cause The program was not parameterized not in place on the FM 354 91 Effect Program selection is not executed DE Elimina Parameterize and read in program correct as necessary tion Select another program 8 08
277. rrors Error response Warning see Table 11 2 4 04 10 0A Zero offset value offset value incorrect Cause Value falls outside the range 10 MSR Effect Does not become effective Elimina Input a correct value tion 11 OB Set actual value actual value incorrect Cause Actual value falls outside the software limit switches or outside the range 10 MSR Effect Set actual value does not become effective Elimina Input a correct value tion 12 0C Set reference point value reference point incorrect Cause Value falls outside the range 109 MSR Effect Set reference point does not become effective Elimina Input a correct value 13 0D Digital output not possible Cause Output not available for direct output of the user program Effect Output is not executed Elimina Correct user program tion Correct parameterization of the output assignment within the MD935 to the desired assignment 14 0E Request application data incorrect Cause Incorrect request code Effect Old application data are retained Elimina Request code 0 6 16 23 and 25 possible 15 0F Teach In program number incorrect Cause The program was not parameterized or read in Effect Teach In is not executed Elimina Parameterize and read in program or correct program number tion Cl Detail event class No Detail event number CBS checkback si
278. rs data job no 114 Overview The parameters and data requested for reading with the modify parameters data function job no 8 see Section 9 3 1 can be read FM 354 Servo Drive Positioning Module 9 55 Description of Functions 9 4 System of measurement Overview Variants of the system of measurement Input of machine data Internal processing of values Examples 9 56 At the start of parameterization you must fill in the basic machine data item system of measurement MD7 This item governs the input of values You can set the system of measurement for the following three units mm inches degrees value inputs and all value ranges refer to the setting in the system of mea surement In Parameterize FM 354 and in the FM 354 itself values are processed in the following base units e 0 001 0 001 mm e 0 0001 inch e 0 0001 degree The sample values in the table below illustrate the relation between the sys tem of measurement and internal values System of mea Internal values Input at interface surement mm 10 mm 10 995 10 mm 10 995 mm inches 10 4 inch 10 995 10 inch 1 0995 inch degrees 10 4 degree 3 600 000 10 4 de 360 0000 degree 1072 degree gree 360 00 degree 36 000 10 degree Note The measurement system MD7 must match the measurement system speci fied in the other DBs The measurement system raster MSR is the smallest distance unit in the active
279. rsing movement The axis is stopped abruptly FR and BL are canceled Restart is defined during the traversing movement The axis is stopped abruptly FR and BL are reset If incremental encoders are used resynchronization is neces sary SYN is cleared Only when R is canceled is SFG reactivated A new BA 1 is preselected during the traversing movement The axis is stopped by way of the deceleration ramp FR and BL are reset FM 354 Servo Drive Positioning Module 9 15 Description of Functions 9 2 2 Open loop control Overview Voltage values In Control mode voltages of various magnitudes are specified and then used to perform a controlled movement The direction of movement is determined by way of direction keys or R The actual value of the axis is updated at the same time Note A closed loop controller which may have been activated by a servo enable will be interrupted while the voltage is being output After the Jogging sig nals or R have died off control is referred to the new actual value and reinstated after the axis comes to a stop if the controller enable is still active when the axis stops The voltage is defined with job no 2 You can choose between two mutually independent voltage values level 1 and level 2 with the mode parameter BP Handling by the user The values for the voltage levels can be changed during movement The
280. s Chapter over view In order to ensure the safe operation of your plant you should introduce the following additional measures and adjust them appropriately to your sys tem s conditions An EMERGENCY STOP concept meeting appropriate safety regulations e g European standards EN 60204 EN 418 and associated standards e Additional measures for limiting the end position of axes e g hardware limit switches e Equipment and measures for protecting the motors and power electronics in accordance with the installation guidelines for SIMODRIVE We also recommend you carry out a risk analysis in accordance with basic safety requirements Appendix 1 of the EC machine directive in order to identify sources of danger affecting the complete system Please refer also to the following chapters in the manual 57 300 Program mable Controller Hardware and Installation Guidelines for handling of electrostatic sensitive devices ESDs Appen dix B e Configuring the electrical installation Chapter 4 For further information about EMC guidelines we recommend the descrip tion in Equipment for Machine Tools EMC guidelines for WS WF equip ment Order No 6ZB5 440 00 01 0 When wiring the FM 354 you must observe the relevant VDE guidelines In Section you will find 4 1 Wiring diagram of an FM 354 a MC a 4 7 Wiring up the front connector E da FM 354 Servo Drive Positioning Module
281. s control element functions Match MD26 1 01 90 99 System errors Diagnostic 280 Cause Internal errors in the module INR _______LEDL Effect Undefined effects possible DIAG Elimina If this manual is observed the errors should not occur blinking tion However should this still be the case please consult the responsible sales department When doing so it is vitally important to also re port the exact circumstances leading to the error CI Detail event class No Detail event number Note Value xx Hexadecimal notation of the error number FM 354 Servo Drive Positioning Module 11 15 Troubleshooting 11 3 2 Error messages in checkback signals Overview The errors are listed in Tables 11 6 11 8 according to error class Table 11 6 Operator control errors Cl No Error message Message error analysis and elimination Display Operator control errors Error response Feed STOP see Table 11 2 2 02 1 01 Operating mode not allowed Cause The operating mode selected is not allowed Effect Elimina Select an allowed operating mode tion 2 02 4 04 Incorrect operating mode parameters Cause In the Jogging and Control operating modes the selected ve locity or control level is not 1 or 2 In incremental operation the set value number is not allowed 1 100 and 254 permitted Effect Elimina Set operating mode parameters to an allowable val
282. s an internal stop If a mode change is attempted while a traversing movement is in progress the modes are not switched until the axis comes to a stop The mode check back is performed after the movement in the old mode is completed This does not apply to changes between Automatic and Automatic Single Block mode FM 354 Servo Drive Positioning Module Description of Functions 9 2 1 Jogging Overview Velocity Handling by the user Control actions In Jogging mode axis traversing movements are specified by way of the direction keys or and by speed Before the axis can be moved the velocities must first be transferred to the FM 354 with job no 1 You can choose between two mutually independent velocities level 1 and level 2 with the mode parameter BP The velocity can also be controlled using the override and can be changed during the movement MSR stands for measurement system raster see Section 5 3 1 The table below gives you an overview of how to handle this mode Triggering of move Level selection Speed ment Direction R R or R BP 1 Value for speed level 1 level controlled BP 2 Value for speed level 2 Note Please see also Section 9 1 3 Preconditions e The FM 354 has been parameterized e The mode has been selected and confirmed e Drive enable AF 1 control signal FC MODE WR e Stop STP 0 control signal FC MODE WR e Servo ena
283. s data block is implemented as a user data block and one way to set its default values is with the Parameterize FM 354 parameterization tool FM 354 Servo Drive Positioning Module 6 3 Programming the FM 354 Chapter over In Section you will find view 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 FC MODE WR Control operating modes and process write jobs FC RD COM Process read jobs cyclically 6 1 FC INIT DB FC 1 Initialize user DB Task You can use FC INIT DB to initialize specific areas of your user DB To do this call FC INIT DB once in the start up organization block OB 100 The FC performs the following actions 1 Enters addressing values in the user DB FM address Offset address 2 Deletes the following structures in the user DB CONTROL SIGNALS CHECKBACK SIGNALS JOB WR write job JOB RD read job Call options Call in LAD notation Call in STL notation p ladder diagram statement list INIT DB FC INIT DB EN ENO DB_NO DB NO CH NO CH NO LADDR LADDR 6 4 FM 354 Servo Drive Positioning Module Programming the FM 354 Description of The following table describes the parameters of this FC parameters Name Data P type Meaning type DB NO WORD I Data block number CH NO Number of axis 0 or 1 permitted because single channel module 4 255 invalid BIE 0 LADDR INT Logical base address of module transfer entry
284. s of the FM 354 FM 354 Servo Drive Positioning Module Troubleshooting Significance of the The status and error displays are explained in the order in which they are ar status and error ranged on the FM 354 displays Table 11 3 Status and error displays Display Explanations SF red Group errors This LED indicates an error condition in the FM 354 LED ON Diagnostic interrupt internal error external error or external channel error To eliminate the error see Error List Table 11 4 5 V DC green Power supply This LED indicates that the hardware is ready for operation switched on If not illuminated this may indicate one of the following conditions Your line voltage is not OK Load current supply is faulty Module is incorrectly connected Your control circuit is configured incorrectly sum of rated and start ing currents is too great or The module is faulty DIAG yellow Diagnostics This LED indicates the various diagnostic conditions LED ON Diagnostic interrupt external error or external channel error To eliminate the error see Error List Table 11 4 LED blinking If this LED blinks when the LED SF is simultaneously activated this indicates a system error If this occurs then please consult the appropriate sales department The exact circumstances which resulted in the error are of major importance in this case FM 354 Servo Drive Positioning Module Troubleshooting 11 2 2 Diagnostic in
285. s with the module user So it is highly advisable to perform startup using the following checklist Table 7 2 Parameterization checklist Check What to do OK ste Wmttodi 1 Machine data Set initial machine data contents As shown in Table 5 5 machine data are subdivided into configuration data K and setting data E K data indicates how the FM 354 is connected to the ma chine axis or CPU user program and must therefore already be fully set up before startup begins E data is intended for changes during startup and serves to optimize FM 354 response for the technological process of positioning The values in Table 7 3 are recommended and sometimes necessary as initial settings Increments Increments are only needed for the Relative incremental mode For the next part of the startup procedure it is helpful to set up an Increments data block DB SM with the following values Value 1 1 MSR Value 2 10 MSR Value 3 100 MSR Value 4 1 000 MSR Value 5 10 000 MSR with rotary axes Value 6 1 rotary axis cycle MSR MSR measurement system grid Tool offset data Tool offset data is needed only for the Automatic mode and is not necessary for the startup described here Generally it is not needed until you start up the user program on the S7 300 CPU Traversing pro Traversing programs are needed only for the Automatic mode and are not grams necessary for the startup described here Generally
286. ser DB to the FM SK IWr Transfer Remove setting ac tual value flag to the FM SK SAvor Transfer Automatic block search forward memory bit to the FM SK SAr Transfer the Automatic block 42 11 search backward memory bit SK set to the FM Transfer data for Program selection from user DB to the FM 390 4 1 SK set Transfer data for Teach In 390 4 from the user DB to the FM SK set Transfer data for MDI block 390 2 entry from the user DB to the FM SK set Transfer data for MDI block on the fly from the user DB to the FM TF servo en In case of modification trans able fer Servo enable yes no to the FM TF park In case of modification trans axis fer Parking axis yes no to the FM SK Soft key TF Text field 8 16 FM 354 Servo Drive Positioning Module Human machine interface Table 8 2 OP 07 17 Byte Bit event Triggered by SK Jog SK Control SK Refpt SK SMR SK MDI SK AutoE SK Autom TF software limit switch off TF Restart axis TF Delete distance to go SK read SK active SK set 406 15 1 SK Res SK Ack 406 14 1 SK Soft key TF Text field Set in user DB Byte Bit FM 354 Servo Drive Positioning Module Analysis of the user DB by the user program continued User pr
287. servo enable is deactivated during the traversing movement The axis is stopped abruptly and outputs an error FR and BL are canceled When the error is acknowledged the error message is can celed and the start enable is activated 9 21 Description of Functions 9 2 4 Incremental relative Overview Defining the position Handling by the user 9 22 In the Incremental Relative mode it is possible to execute single positionings over relative distances using user definable increments The traversing movement is triggered with the direction keys and R The options available for defining the increment with the mode parameter are e Via the user program by defining the position for the increment job no 3 Using the increment table see Section 5 3 2 Velocity level 1 job no 1 see Section 9 2 1 is used as the velocity setpoint and can be modified during the movement It is not possible to change position on the fly e g changing the position setpoint during a movement The table below gives you an overview of how to handle this mode Triggering of move Increment selection Position ment Direction R Distance to be traveled BP 254 in accordance with setpoint R or R for increment job no 3 BP 1 100 as in SM table DB SM Position setting Lower input limit Upper input limit Increment 1 000 000 000 MSR stands for measurement system raster see Section 5 3 1 Note
288. soft keys F1 F8 are used to request the continua tion screens The first and last soft keys User are kept free for the user to insert his her own screens e g including additional FMs m 2 m LgM Freill Datenfehier Steu Refpk AutoE Autom Tipp Fig 8 6 Operating mode selection PIC75 This screen permits you to enter the operating mode velocity levels or con trol levels or the incremental value FM 354 Servo Drive Positioning Module 8 11 Human machine interface Fig 8 7 Teach In PIC735 This illustration displays the actual value for you You can enter the values for Teach In DI eee DI ASi Fig 8 8 block entry PIC74 The fields identified by an X are text fields and can be toggled back and forth between X and You can enter the values of MDI block TET 18 kt Betriebs ET EELEETTISCLEELDSEHEEIECEEEEELHET IEEE T TEE TS e STI A a PI 1 T LIT TEL TE Alarm Datenfehier rah ehier Fig 8 9 MDI block on the fly PIC741 Handling of the MDI block on the fly corresponds to that of the MDI block wy Il ft Teme L M lake Betrisbeart PELE eee eC Lee CEE Eee Tetwert JU im j Bentweg amp larm Datenfehier 1111 rat a ee Fig 8 10 Automatic main screen PIC73 This
289. st situation equals R 2nd situation mir see above rored 2nd situation equals R 1st situation mir see above rored 3rd situation equals 3rd situation mir R edge con RPS centered rored trolled or Start no Zero pulse nec essary 4th situation equals 4th situation mir RPS edge rored no zero pulse nec essary RT FM 354 Servo Drive Positioning Module Description of Functions When crossing the RPS a signal length of At gt 2 FM cycle must be as sured Using a reversing If it is possible for the axis to be behind the reference point switch when switch you start reference point approach a reversing switch can be installed at the end of the axis in the approach direction in order to reverse the axis in the direction of the reference point switch On axis movements with referencing feed a signal length of At gt 2 FM cycle must be assured for the reversing switch Example Axis position Approach direction from MD18 imd m xX RPS Reference point Reversing Emergency switch limit switch The value for the reference point shift MD27 is traveled after the synchro nization point is reached Without reference The following table describes how a reference can be recorded without a ref point switch RPS erence point switch Recording of syn Sequence of movements chronization R R 1 Instantaneous position is defined as reference point refer or
290. t 8 10 inverted Front edge al 9 inverted ways activates 10 I2 inverted the function 11 2 I3 inverted FM 354 Servo Drive Positioning Module 9 79 Description of Functions 9 8 1 Function description of digital inputs External start The control signals of the axis include the start signal which triggers a posi tioning operation in Reference point approach MDI and Automatic modes A logical OR is established with the External Start digital input and the control signal ST External start is connected to digital input I1 Example ST 1 3 21 Qontrolsignal Start dig External start input 2 Input 11 not inverted MD36 Input 11 inverted MD36 2 3 t Minimum signal length at the digital input gt 2 FM cycle Enable input The enable input signal must be set if defined in MD34 for a positioning operation movement output of the axis to take place A reset stops the move ment external movement enable Inthe Jogging and Control modes the movement of the axis proceeds as long as the AND link continues between the control signal and the enable input Example R or R 1 3 2 amp FE Positioning Enable 1 L 2 3 lc e In the other modes note the following If the enable input is still not enabled after a start edge the start edge is stored i
291. t can be lo cated on the side of the lower or the higher actual position values in relation to the reference point switch position It is demarcated by the rising edge of a zero pulse or by the reference point switch This selection is made by the MD18 together with the approach direction Example Axis direction zero pulse RPS a TI POTTER Measurement aul Cyclical zero mark Synchronization point With reference to the synchronization point the reference point can be lo cated on the side of the lower or the higher position actual values In the ref erence point approach operating mode the machine axis additionally tra verses this distance during its last phase of motion once the synchronization point has been found Consequently the axis halts the motion in each instance exactly on the reference point Example Variant 1 Axis direction RV Variant 2 Axis direction RITTER RV Measurement grid Cyclical zero mark Synchronization point RV Reference point offset Reference point FM 354 Servo Drive Positioning Module Description of Functions 9 7 Position controller Overview The closed loop position controller performs the following tasks guidance of the drive at the proper speed during execution of a movement precise approach of the
292. t pin connection Cable too long Effect Elimina 9 Check encoder and measurement system cable tion Observe limit values Using the MD20 monitoring can be temporarily skipped at the responsi bility of the owner operator 8 1 Error absolute encoder 8091 _ Cause Telegram traffic between FM 354 and the absolute encoder SSI is faulty or is disrupted e Measurement system cable not plugged in or sheared off Unauthorized type of encoder only allowable per MD10 Encoder incorrectly set programmable encoder Telegram length MD13 MD14 incorrectly specified Encoder delivers erroneous values Noise interference on measurement system cable Baud rate set too high MD15 Effect Elimina 9 Check encoder and measurement system cable tion Check telegram traffic between encoder and FM 354 Using the MD20 monitoring can be temporarily skipped at the responsi bility of the owner operator Note xxxx value Hexadecimal notation in diagnostic buffer 11 12 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 4 Diagnostic interrupt continued Error message Message error analysis and elimination Display 0 2 0 3 External channel errors Error response Everything Off as in Table 11 2 8 2 Erroneous pulses incremental encoder or zero reference mark missing 8092 Cause Encoder monitoring circuit has discovered erroneous pulses e n reference point
293. table below gives you an overview of how to handle this mode Triggering of move Level selection Speed ment Direction R Control actions 9 16 R or R Value for voltage level 1 level controlled Value for voltage level 2 Note Please see also Section 9 1 3 The control and checkback signals are handled in the same way as in Jog ging mode FM 354 Servo Drive Positioning Module Description of Functions 9 2 3 Reference point approach Overview Machine data Handling by the user In Reference point approach mode the direction keys or R or Start are used to position the axis to a point reference point coordinate MD16 speci fied in the machine data The axis is thus synchronized see Section 9 6 3 The override is set to 10046 for the reducing speed An active zero offset or Set actual value is reset The following table lists the machine data that is of significance for refer ence point approach MD Designa Value Meaning Comments tion Unit 16 Reference 1 000 000 000 1 000 000 000 MSR point coor dinate 18 Type of ref 0 direction zero pulse right erence 1 direction zero pulse left point ap 2 direction zero pulse right proach 3 direction zero pulse left 4 direction RPS center 5 direction RPS center 8 direction RPS edge 9 direction RPS edge 27 Reference 1 000 000 000 4 1 00
294. tatus line Displays the status line on off Overview The overview display for parameterization appears FM 354 Servo Drive Positioning Module 5 24 Defining Parameters of the FM 354 Table 5 9 Menus of Parameterize FM 354 continued Menu title or entry Shortcut Significance with single command Extras Settings in the data blocks Set system of measurement Change the system of measurement in the current window v 103mm Input in mm 1074 inch Input in inches 1074 grd Input in degrees 1072 degrees Input in degrees Window Arranges all parameterization windows Changes to a specified win dow Arrange Arranges all windows Overlapping Shift F5 Stacks all windows one behind the other Horizontal Spaces all windows uniformly top to bottom Vertical Spaces all windows uniformly left to right Arrange icons Arranges parameterization window icons Close all Closes all open windows 1 opened window 1 Changes to window window name n currently open window n Help Search and display help functions Help topics Fl Offers a variety of ways to access help information Using help Changes to window lt window name gt Displays information on how to use help Info Displays information about the current version of the parameterization tool FM 354 Servo Drive Positioning Module 5 25 Defining Parameters of the FM 354 5 5 Storing the
295. tems whose values can be read out with read application data see Section 9 3 13 Code table No parameter request Actual position Actual velocity Distance to go Setpoint Total current coordinate shift Speed DAC output value Actual encoder value Pulse errors K factor Following error Following error limit 22 s Overshoot Switch readjustment in Reference Point Approach mode 23 Approach time Te ms drive constant Ta ms in Control mode The code should be entered in CODE API AP4 These values are always updated in the module cycle The selection is stored on the FM i e you only need to make the selection once and read the correponding values cyclically job no 105 FM 354 Servo Drive Positioning Module 9 48 Description of Functions 9 3 8 Overview 9 3 9 Overview Function Teach in job no 19 In a program block selected with the program number and block number the current actual position is entered as a position setpoint Caution This is an absolute position The Teach in facility is possible only in the following modes Jogging Incremental Relative MDI and while the axis is not in motion when Processing in progress 0 The program and the appropriate program block must be present on the FM 354 see Parameterization Chapter 5 Set reference point job no 21 You can use this function to synchronize the axis without
296. terrupts Overview Internal errors external errors and external channel errors are indicated to an interrupt capable system by means of diagnostic interrupts see diagnostic interrupt data in Tables 11 4 11 5 This presupposes that the diagnostic in terrupt message was activated at the time of configuration see Chapter 5 If the system is not interrupt capable the diagnostic interrupt information must be read out cyclically with FC 6 The diagnostic interrupts are identified by setting the corresponding byte bit no see diagnostic interrupt data Section 6 4 Error Class Coding Message Internal errors Byte Bit No 0 1 LED SF Group error byte 2 3 External errors Byte Bit No 0 2 LED SF and DIAG External channel errors Byte Bit No 0 2 0 3 LED SF and DIAG Group error byte 8 The operator control errors in the external channel error class are specified again and are stored in data block 164 or in the diagnostic buffer The FM 354 signals a diagnostic interrupt incoming or outgoing Diagnostic interrupt Message to the CPU precondition interrupt message activated Message in the trou Entry in diag see Section 5 2 bleshooting display nostic buffer No OB 82 exists OB 82 a Enters the diag Enters the diag Calls FC 6 Menu Test gt Error STOP nostic informa nostic informa evaluation tion in the diag tion in the user nostic buffer of DB
297. the compensation value for numerical alignment of the internal FM posi tion value is an operating mode used to position the axis at the reference point is a fixed point on the axis It is The target coordinate in the Reference Point Approach mode e Removed from the synchronization point by the amount of the reference point shift in axes with incremental encoders Difference in distance between the synchronization point and the reference point The reference point shift serves e for numerical measuring system readjustment when an encoder is changed e asa displacement reserve to brake the drive if the synchronization point is overshot The reference point switch selects the synchronizing encoder zero marker on the traversing path of the axis e tis also the signal encoder for a speed reduction before the synchroniza tion point is reached e tis connected to a digital input of the FM 354 is a defined point on the traversing path of the axis It is defined by the me chanical position of a reference point switch or in association with a cyclic zero mark of an incremental encoder FM 354 Servo Drive Positioning Module 9 67 Description of Functions Synchronization Measured value synchronization with incremental encoders 9 68 Creating the position reference between the internal FM position value and mechanical position of the axis Irrespective of the approach direction the synchronization poin
298. the following when interrupting a movement with Stop e To continue movement in the same direction the residual distance is pro cessed with the appropriate direction key e To continue movement with delete residual distance job no 11 the residual distance is deleted and the increment is traversed agai provided the increment was not changed To position in the opposite direction the residual distance is deleted au tomatically FM 354 Servo Drive Positioning Module Description of Functions Control actions Note Please see also Section 9 1 3 Preconditions e The FM 354 has been parameterized e The mode has been selected and confirmed e Drive enable AF 1 control signal FC MODE WR e Stop STP 0 control signal FC MODE WR e Servo enable RF 1 FC MODE WR job no 10 e Velocity levels have been transferred FC MODE job no 1 e Axis is synchronized Table 9 5 Control actions for Incremental relative mode examples Control signal Mode BA Checkback signals Active mode BAR Start enable SFG Transfer increment job no 3 Select increment 254 Control signal Direction plus R Checkback signals e g Travel plus FR Start enable SFG Processing in progress BL e g Travel plus FR Processing in progress BL Control action 1 enable Incremental relative mode Control action 2 define position Position reached stop
299. this moment the reference point coordinate is associated with the current actual position taking any active shift into ac count The resulting change in the actual value causes no internal changes in the target When crossing the RPS a signal length of At 2 FM cycle must be as sured When a Set Actual Value On the Fly is pending activation of Retrigger Ref erence Point is interlocked FM 354 Servo Drive Positioning Module 9 39 Description of Functions Start Target A gt K RPS R Zero pulse Zero pulse for synchronization Reference point switch input of the FM 354 Hint to the user You can use Retrigger Reference Point for example to compensate for slip page of the trolley in a high bay warehouse during operation without having to resynchronize the axis with the Reference Point Approach mode When retriggering in reference point approach with a zero pulse be careful that the total slippage between the reference point switch and the stepper motor does not become so great that the synchronizing zero pulse migrates to an adja cent zero pulse Switch off enable With the switch off enable input function you can switch off evaluation of input the enable input see Section 9 8 1 Follow up mode The follow up mode function is used to cancel closed loop control of the axis e For external movement of the axis the actual value is tracked
300. til it is inactivated by selecting program number 0 or overwritten by selecting another program If modifications are made to a preselected program including the subpro gram preselection of the program is canceled You must then select the pro gram again A modification can be made to a program when BL 0 start of program end of program and on Stop Triggering Select program Type of movement f ing t lock of move Processing according to programmed blocks ment direction forward Start at beginning of program process by ascending block number reverse Start at end of program process by de scending block number Start forward Block search forward to block No 30 by ascending block number reverse Block search in reverse to block No 30 by descending block number 1 Automatic block search forward to interruption point Start with au tomatic block search for ward 2 Positioning to interruption point if forward a movement was performed in another mode 3 Process the interrupted block and continue the program 1 Automatic block search in reverse to interruption point Start with au tomatic block search in re verse 2 Positioning to interruption point if reverse a movement was performed in another mode 3 Process the interrupted block and continue the program FM 354 Servo Drive Positioning Module 9 29 Description of Functions User DB allocation Data format
301. tion 9 2 6 This command is described in Section 9 2 6 You can use this command to reset the axis The setpoint output is interrupted The instantaneous processing status is canceled and synchronization in incremental encoders is deleted Active compensation values are deleted An acknowledge signal is issued for all errors You can use this command to reset coordinates modified with the functions Set actual value and Set actual value on the fly to their original value if the axis is not in motion FM 354 Servo Drive Positioning Module 9 43 Description of Functions 9 3 4 Zero offset job no 12 Overview You can use this function to shift the current zero point Function of zero A selection change or cancellation of a zero offset takes effect with the next offset positioning action With a zero offset the instantaneous shift of a coordinate system is canceled provided that a zero offset was already active and the specified shift was executed relatively All coordinates and software limit switches the reference point and the actual value are updated accordingly Example of a zero offset Machine Working range Target posi Working range axis Start 0 tion 120 End 200 position Zero offset by 50 100 shift of reference point Working range Target posi Y Working range Start 50 tion 120 End 250 Actual posi tion 150 x Zero point
302. tion and traversing speed 7 7 Drive transition time and maximum voltage rise 7 8 Nonerelease control i par ER aa 7 9 amp pe dote de ped cided iate deis 7 10 Position control circuit LL 7 11 Test movements for optimizing the servo control system 7 12 Transition function of the position control circuit 7 13 Response on different velocity transitions sum effect of jolt filter and position control i 7 14 Activation of position controller diagnostics 7 15 Determination of backlash and activation of backlash compensation 8 1 Operator control and monitoring for the FM 354 8 2 Menu tree of the OP 07 user interface 8 3 Menu tree of the OP 17 user interface 8 4 Screen layout of the preconfigured interface 8 5 Main screen PIC7 nn iss FM 354 Servo Drive Positioning Module Contents 8 6 Operating mode selection PIC75 8 7 Teach dri dua du md noue hende ferc ene fend ons 8 8 MDI block entry PIC74 LL 8 9 MDI block on the fly PIC741 eee 8 10 Automatic main screen PIC73 8 11 Program selection PIC734 den i dune dU wx 8 12 Current b
303. tion setpoint Multiple rota tions can be programmed by setting a value gt 360 as the position set point FM 354 Servo Drive Positioning Module 10 9 Writing Traversing Programs Acceleration over The acceleration override is used to control acceleration and deceleration ride G30 G39 during positioning movements The acceleration and deceleration values are set by machine data G30 through G39 in the traversing block can be used to achieve a percentage reduction in both values These functions are modal G Function 30 100 override for acceleration deceleration 31 10 override for acceleration deceleration to 39 90 override for acceleration deceleration Changing the acceleration override in the program prevents block change on the fly Consequently G60 response is forced in the preceding block The acceleration override is turned off by e Mode changes e Resetting the axis with a Restart single command e Changing or ending the program Tool compensation Tool compensation allows you to continue using an existing machining pro G43 G44 gram even when the tool dimensions have changed Tool offset is selected with G43 or G44 as applicable and the tool offset number D1 D20 Tool offset is turned off with G43 or G44 as applicable and the tool offset number DO A total of 20 tool offset storage areas and tool wear storage areas are avail able The values are loaded to the module with the Tool offset data d
304. tration of a utility model or design are reserved Siemens AG Automation Group Industrial Automation Systems P O Box 4848 D 90327 Nuremberg Disclaimer of Liability We have checked the contents of this manual for agreement with the hardware and software described However deviations cannot be precluded entirely The data in this manual are reviewed regularly and any necessary corrections included in subsequent editions Suggestions for improvement are welcome Siemens AG 1997 Technical data subject to change Siemens Aktiengesellschaft FM 354 Positioning Module Preface Purpose of this document Information blocks in this manual This manual contains all information about the FM 354 module Hardware and functions Parameter definition Human machine interface S7 function blocks Safe setup The following information blocks describe the purpose and uses of this manual Product overview of the module Chapter 1 This section explains the purpose and possible applications of the module It provides introductory information about the FM 354 and its functions Basic principles of positioning Chapter 2 Here you will find introductory information on positioning methods and associated definitions of terms Installing and removing the FM 354 Chapter 3 Explains the installation and removal of the FM 354 Wiring the FM 354 Chapter 4 Describes the connection and wiring of drives encoders and digital i
305. trol Set Voltage level 1 0 Voltage level 2 Ua Umax Set Servo enable ON Start axis Plus or minus direction be sure there is enough room If controlled drive of the axis at Umax is not possible without a voltage ramp set voltage level 2 to a value Ua lt Umax and calculate the real drive time constant from the measured time constant Ta as Read drive time servicing data onstant Ta from Tareal Ta Umax Ua Start axis Axis acceleration too high Plus or minus direction LL No Yes be sure there is enough room Parameterization MD45 Voltage ramp lower Set Activate machine data si Axis acceleration too low Yes No Parameterization MD45 Voltage ramp higher Set Activate machine data gt Was voltage level 2 Umax aa Set Raise voltage level 2 END Y up to Ua Umax Fig 7 7 Drive transition time and maximum voltage rise The axis is now ready for startup of the position controller FM 354 Servo Drive Positioning Module 7 15 Starting up the FM 354 7 3 3 Basic startup of the position controller Overview The following startup action allows you to monitor the basic function of the servo i e position control of the axis Note Always be sure to put MD modif
306. ual System Software for S7 300 400 System and Standard Functions A basic description of the diagnostic system of the S7 300 can be found in the user manual Standard Software for S7 and M7 STEP 7 Error classes and module responses FM 354 Servo Drive Positioning Module Troubleshooting 11 1 Error classes and module responses Overview The FM 354 contains monitoring circuits which are active during startup or during continuous operation Errors occurring during those times are reported to the system and to the user program The table below lists the error classes and their meaning Table 11 1 Error classes overview Message Error Class Response Significance are hardware faults in the module which are discovered by diag nostics routines e g memory errors see Section 6 4 for diagnostic interrupt data and error list Table 11 4 Internal errors are errors which can occur due to faulty module connection e g parameters for initialization of module MP station numbers are Diagnostic External errors Everything missing or are incorrect interrupt OFF see Section 6 4 for diagnostic interrupt data and error list Table 11 4 are measurement system errors or errors which can occur by connecting the digital outputs or during operation operating er rors of the FM 354 e g cable break incremental value encoder see Section 6 4 for diagnostic interrupt data and error list Table 11 4 and 11 5 Exte
307. ucture CHECKBACK SIGNALS 2 Transfers the control signals from the user DB structure CON TROL SIGNALS Depending on the mode selected CHECK BACK SIGNALS MODB control signals CONTROL SIG NALS START CONTROL SIGNALS DIR P and CONTROL SIGNALS DIR are cleared when a start is detected edge generation of signals for FM 3 Executes the write job from the user DB JOB WR transfers the associated data from the user DB and displays the write job status 4 Generates the status bits JCOB WR MODE BUSY operating mode busy i e started and JOB WR POS REACHED position reached Call in LAD notation Call in STL notation ladder diagram statement list FC MODE WR CALL MODE WR EN ENO DB_NO DB NO RET VAL RET VAL The following table describes the parameters of this FC Name Data P type Meaning type DB NO WORD Data block number RET VAL INT Return code of SFC 58 WR REC Parameter types I input parameter output parameter FM 354 Servo Drive Positioning Module Programming the FM 354 Principle of operation This function works together with a user DB The structure of the user DB can be found in the library FMSTSVLI in data type UDT 1 You need a user DB which contains entries for addressing the FM 354 and the data for the individual functions of the FM 354 The DB number is passed when you call the FC with the DB NO parameter What does the user ha
308. ue tion 2 02 5 05 Start enable missing Cause A travel command was given in the absence of a start enable start external start R R Effect Elimina Restore travel command and wait for start enable tion 2 02 9 09 Axis is not synchronized CBS Cause Synchronization of the axes is necessary in the Incremental rela tive MDI and Automatic operating modes Effect Elimina Execute reference point approach 2 02 11 0B Direction specification not allowed CBS Cause In operating modes Jog Control or Incremental relative the direction settings are active at the same time With erence point operation the direction setting no longer agrees with the startup direction specified in the MD Effect Elimina Correct the direction parameters tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number 11 16 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 6 Operator control errors continued iis Operator control errors 2 02 12 0C Error message error analysis and elimination Error response Feed STOP see Table 11 2 Axis movement not possible Cause With an unacknowledged error no drive enable or stop a traverse command was triggered Effect Elimina tion Restore trav
309. ue is changed online the FM calculates the new wear parameter as an absolute value and the additive tool wear is reset to 0 E OFFLINE TOOL OFFSET DATA DB1220 0r ff psw 02 20 000 1500 sf 03 30 000 2500 0000 04 40000 3500 0000 amp 05 50 000 45 000 0 000 06 60 000 55 000 if 08 77000 09 j o00 000 ft 10 foooo if 1 Jooo oo 12 foooo 0000 oo 0000 if amp 15 o000 0000 sf 16 0 000 sf 17 joo sf 18 oo00 sf 19 oo00 sf 0 000 sift 4 Fig 5 6 Entering values for tool offset data FM 354 Servo Drive Positioning Module 5 19 Defining Parameters of the FM 354 5 3 4 Traversing programs DB structure Table 5 8 gives you a general view of the structure of the traversing pro grams data block DB NC Table 5 8 DB structure traversing programs yte Variable type Value Significance of the variables Comment 4 Rack slot Module address DB No 1000 As in DB header 4 DWORD Reserved WORD Error No from With MMI services 10 WORD 1 Channel number 12 2 STRING NC DB identifier typ
310. unction no of group 3 a 16 0 Reserved Ew ue e V VAL L 0 Value para 16 0 M function no of group 1 m pe ee m eee group 2 M 3 VAL B 16 0 M function no of group 3 B 16 0 Tool offset no mew e A Application data FC RD_COM job no 105 270 0 APP_DAT STRUCT Application data 270 0 00 1 DINT L 0 Application data 1 APP2 Application data 2 APP3 Application data 3 2820 12 0 APP4 DINT L 0 Application data 4 16 0 END_STRUCT FM 354 Servo Drive Positioning Module 6 36 Programming the FM 354 Table 6 5 User DB for the FM 354 continued Abso Em lute ad SANE Decla Variable Data type Initial dess address ration value Actual value block change FC RD_COM job no 107 286 0 286 0 BLCK_EXT DWORD DW 16 0 Actual value block change Servicing data FC RD_COM job no 108 290 0 stat SERV_DAT STRUCT Servicing data 290 0 0 0 OUT_VAL DINT L 0 DAC output value 294 0 4 0 Comments Pulse errors Ky factor FERR Following error limit OSC ERR s overshoot value switch adjustment END STRUCT 322 0 stat SRV OUT STRUCT 0 0 SRV OUTI DINT 140 3500 4280 SRV_OUT8 DINT END_STRUCT Additional operating data FC RD_COM job no 110 bus we om mosso emme pri Cene open mo sso es stano prio LOOP NO 16 0 Callup SR
311. uses tion Message Display 3 03 30 1E 35 23 Digital input not parameterized Cause For traversing with set actual value on the fly G88 G89 external block change G50 or measurement no digital input necessary for that purpose is parameterized Effect The functions are not started Elimina Parameterize the digital inputs by way of MD34 tion Tool offset value not in place Cause No tool offset values are available on the FM 354 or tool offsets are accessed and modified when an override is active Effect Elimina Parameterize and read in tool offset values tion Set actual value on the fly incorrect value 3 03 36 24 Cause Value is no longer within the range 10 Effect Elimina Input a correct value tion 3 03 37 25 MDI block on the fly incorrect syntax CBS Cause Incorrect M or G commands or incorrect block structure Effect Elimina Input a correct MDI block tion 3 03 38 26 MDI block on the fly incorrect velocity CBS Cause Velocity not within the range between gt 0 and max allowable tra verse velocity 500 000 000 MSR min Effect Elimina Input a correct MDI block tion Cl Detail event class No Detail event number CBS checkback signals DB data block Note Value xx Hexadecimal notation of the error number 11 20 FM 354 Servo Drive Positioning Module Troubleshooting Table 11 7 Travel errors co
312. ust program the interrupt processing routine in OB40 The prerequisite is that process interrupt signaling must have been activated as part of the environment definition see Chapter 5 FM 354 Servo Drive Positioning Module 9 83 FM 354 Servo Drive Positioning Module Writing Traversing Programs Overview Traversing programs Program name Program number Traversing block Program structure To execute the desired operations of the machine axis sequence position etc in Automatic mode the FM 354 needs certain information This in formation is programmed with Parameterize FM 354 traversing program creation in the form of a traversing program based in principle on DIN 66025 Each traversing program is stored under a program number A traversing program consists of not more than 100 traversing blocks The program number and traversing blocks are converted to an internal for mat see Section 9 3 12 are stored in the appropriate data block and are transferred to the module where they are administered The possible number of programs depends on the amount of memory avail able max 16 Kbytes and on the length of the individual programs Program length in bytes 110 20 x no of traversing blocks Any program can be assigned a name optional The program name may have up to 18 characters and is saved with the pro gram Programs may be numbered from 1 to 199 A traversing block contai
313. utputs are subject to deactivation on module errors of error classes with the response Everything Off FM 354 Servo Drive Positioning Module 9 81 Description of Functions 9 9 Software Overview ZN Effect of software limit switches in modes Effect of software limit switches in tracking mode Response after error 9 82 limit switches To limit the working range entries in the machine data MD21 and MD22 specify the start and stop limit switches These limit switches are active at synchronization of the axis If the limit switches are not needed values lying outside the possible working range should be entered in the machine data MD21 and M22 or monitoring should be switched off via the user program Warning The software limit switches do not replace the hardware limit switches for EMERGENCY STOP responses Jogging mode At the limit switch the traveling movement is stopped in the limit switch position and an error is signaled Control mode If the actual value is beyond the end position the traveling movement is stopped and an error is signaled The limit switch position is overshot by the amount of the necessary deceleration distance Reference point approach mode No effect Incremental relative MDT Automatic mode Movement is stopped or not even started as soon as read in of the set posi tion reveals that the position lies outside the working range
314. ve to do User program Acc to job no What is done by the 1 Evaluate status e g write job possible Set mode and correspond ing control signals FM 354 User DB FC 2 Write job no lt gt Scan clear Status of FC 2 4 4 Set clear Read job no edge generation Status of FC 3 of R R ST de pending on mode Evaluate mode and Control signals T el Transfer to module Enter system data 2 x sponding checkback signals Checkback signals Transfer from FM 1 System data data values for write jobs System data data values returned by the FM 354 Transfer system data to FM accor ding to job no 1 Before the appropriate write job no is set in the user DB the system data to be written must be entered Error evaluation FM 354 Servo Drive Positioning Module Possible errors are Unknown write job see JOB_WR UNKNOWN Data transfer error during communication with SFC 58 WR REC The error is returned in the output parameter RET VAL see reference manual System Software for S7 300 400 System and Standard Functions Errors which occur are indicated in the binary result BIE 0 The transferred data are verified and interpreted by the module If a data error occurs CHECKBACK SIGNALS DATA ERR in the user DB structure is set to 1
315. vo Drive Positioning Module 9 51 Description of Functions Measurement The checkback signal ME see Section 9 1 signals the status of function checkback signals execution as follows Inprocess measurement Length measurement the Length Measurement and Inprocess the Length Measurement and Inprocess Measurement functions are inactive Measurement functions are inactive with Start after a prior measurement with front edge of the touch probe signal after a prior measurement With the front edge of the touch probe signal With the back edge of the touch probe signal Inprocess Measurement is in progress Length Measurement is in progress In association with the ME checkback signal the read out measured values are valid for the executed measurement process No Value 0 Value 1 All other posi All other nega tive values tive values the Length Measurement and Inprocess Measure Actual position for rising touch probe edge in Inprocess ment functions are inactive Measurement and Length Measurement functions 2 the Length Measurement and Inprocess Mea Actual position for falling touch probe edge in Length surement functions are inactive Measurement function e always with the Inprocess Measurement function 3 the Length Measurement and Inprocess Mea Erroneous length Measured length Nonexistent surement functions are inactive measurement always with the Inprocess Measurement functi
316. w 2 Press the left mouse button and drag the pointer downwards by moving the mouse 3 Release the mouse button 4 Position the mouse pointer on the bar with the name of the window 5 Press the left mouse button and drag the pointer upwards by moving the mouse When you have moved the window to the correct position release the mouse button When you have configured your project you can call up the Properties screen in S7 Configuration by selecting the module and activating the menu command Edit Object Properties Note Once you have imported a project from STEP 7 V2 1 you cannot store any parameter data data blocks in this project You can only read the parameter data in this project by importing the data from a file or store the data by exporting the data to a file Suggestion 1 Create a new project in STEP 7 V3 1 2 Copy all programs awl into the new project The parameterization user interface has an integrated help system to support you when you set the parameters of the positioning module To call up the integrated help e Select the menu command Help gt Help Topics or press the F1 key or select the symbol R and then move to the element or window you want information about and press the left mouse button FM 354 Servo Drive Positioning Module 5 5 Defining Parameters of the FM 354 5 3 Parameter data What 1 parameterize Data blocks DB of the FM 354 5 6
317. ward block search programming 6 1 R read data active NC block 9 53 actual value block change additional operating data application data basic operating data next NC block NET e servicin c read jobs 6 13 read in CES 9 3 reference point Reference point a ach Index 3 Index reference point coordinates 7 22 reference point offset reference point switch switch alignment 7 22 9 54 reference point switch reference point coordinate removing the FM 354 restart 9 43 retrigger reference point 9 39 reversing switch rotary axis rotary axis end S safety rules 4 1 EMERGENCY OFF devices service data servicing data servo enable 9 41 servo ready 1 Set actual value 43 undo set actual value set actual value set actual value on the fly Set actual value on the fly set actual value on the fl Set reference point set reference point SIMATIC Manager simulation single commands 9 42 activate machine data bu block search forward backward delete residual path restart 9 43 undo set actual value Index 4 single functions deactivate automatic drift compensation DER deactivate software end position monitoring 9 40 M mode inprocess measurement length measurement 9 39 parking axis 9 41 retrigger reference point 9 39 servo enable simulation switch off enable input 9 40 slots f
318. way of Activate ma chine data or by switching the equipment on and off FM 354 Servo Drive Positioning Module Defining Parameters of the FM 354 Table 5 1 Data blocks continued DB SM Increments DB No 1230 Block size rounded in bytes 460 Increments serve in the Relative incremental operating mode as user definable relative path distances for individual positioning You can define from 1 to 100 increment sizes see Section 5 3 2 Modifications can be made in all operating modes even in Incre mental relative mode during movement The modifications of the increments must always be complete before a new movement is started in Incremental relative mode If this is not the case the error message incremental dimensions do not exist is output Cl 2 No 13 DB WK Tool offset data DB No 1220 Block size rounded in bytes 310 The use of tool length compensation and wear values is described in Section 10 1 Up to 20 compensation or wear values are avail able Tool offset data are required for the Automatic and Automatic single block modes Modifications can be made in all operating modes and during movement If modifications are made during starting or at block transitions when the tool compensation is active internal access to offset values the error message tool offset value does not exist is output C1 3 No 35 DB NC Traversing programs Program No 1000 DB No 1001 11
319. xis Start 0 tion 120 End 200 Set actual en lue to 150 value to 100 J Machine Working range Target posi Working range axis Start 0 tion 120 End 200 Actual position 150 Fig 9 2 Set actual value The coordinates can be reset to their original value by e Including synchronization in Reference Point Approach mode e Set reference point Reset actual value e Restart FM 354 Servo Drive Positioning Module 9 46 Description of Functions 9 3 6 Set actual value on the fly job no 14 Overview You can use this function to assign a new value to the actual value by means of an external event Function of set ac By transmitting the coordinates new actual value set actual value on the tual value on the fly is activated fly However the Set Actual Value function is not triggered via the appropriate digital input until Processing in progress 1 Set actual value on the fly can be activated again by transmitting Set actual value on the fly again The coordinates can be reset to their original value by ncluding synchronization in Reference Point Approach mode e Set reference point e Reset actual value Restart Note For set actual value on the fly in Automatic mode see Section 9 2 6 FM 354 Servo Drive Positioning Module 9 47 Description of Functions 9 3 7 Request application data job no 18 Overview A selection of up to four display data i

SIMATIC S7-300 FM 354 Servo Drive Positioning Module Manual

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