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s7300 fm351 Operating Instructions en en-US

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171 views228 pages

s7300 fm351 Operating Instructions en en-US

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Osuntogun Qozeem

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FM 351 positioning module ___________________

Preface

___________________
Product overview 1

___________________
Basics of positioning 2
SIMATIC Installing and removing the
___________________
FM 351 3
S7-300
FM 351 positioning module ___________________
Wiring the FM 351 4
Installing the configuration
___________________
package 5
Operating Instructions
___________________
Programming the FM 351 6

___________________
Commissioning the FM 351 7
Machine data and
___________________
increments 8

___________________
Operating modes and jobs 9

___________________
Encoder 10

___________________
Diagnosis 11

___________________
Examples 12

___________________
Technical specifications A

___________________
Connection diagrams B

___________________
Data blocks and error lists C
Programming without
___________________
SFB 52 and SFB 53 D
05/2011
A5E01092700-02
Legal information
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICE
indicates that an unintended result or situation can occur if the relevant information is not taken into account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended
or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and
maintenance are required to ensure that the products operate safely and without any problems. The permissible
ambient conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.

Siemens AG A5E01092700-02 Copyright © Siemens AG 2011.

Industry Sector Ⓟ 06/2011 Technical data subject to change
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Preface

Scope of this manual

This manual contains the description of the FM 351 positioning module that is valid at the
time the manual is released. We reserve the right to describe modifications to the
functionality of the FM 351 in a separate product information.

Content of this manual

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 7
Table of contents

C Data blocks and error lists ..................................................................................................................... 179

C.1 Content of the channel DB ........................................................................................................ 179
C.2 Content of the parameter DB .................................................................................................... 184
C.3 Data and structure of the diagnostic DB ................................................................................... 186
C.4 List of JOB_ERR messages...................................................................................................... 188
C.5 Error classes ............................................................................................................................. 189
D Programming without SFB 52 and SFB 53 ............................................................................................ 201
D.1 Overview of the Programming without SFB 52 and SFB 53 section ........................................ 201
D.2 Basics of programming a positioning module ........................................................................... 202
D.3 FC ABS_INIT (FC 0) ................................................................................................................. 205
D.4 FC ABS_CTRL (FC 1)............................................................................................................... 206
D.5 FC ABS_DIAG (FC 2) ............................................................................................................... 212
D.6 Data blocks ............................................................................................................................... 214
D.6.1 Templates for data blocks ......................................................................................................... 214
D.6.2 Channel DB............................................................................................................................... 214
D.6.3 Diagnostic DB ........................................................................................................................... 215
D.6.4 Parameter DB ........................................................................................................................... 215
D.7 Technical specifications of the FCs and DBs for the FM 351 ................................................... 216
D.8 Quicker access to module data................................................................................................. 217
D.9 Parameter transmission paths .................................................................................................. 219
Index...................................................................................................................................................... 221

FM 351 positioning module

8 Operating Instructions, 05/2011, A5E01092700-02
Product overview 1
1.1 FM 351 positioning module

Description of the FM 351

The FM 351 positioning module is used for controlled positioning with rapid traverse/creep
speed drives in the S7-300 automation system. The module has 2 independent channels
and, thus, controls one rotary axis or one linear axis at a time. The module supports one
incremental encoder or one absolute encoder (SSI) for each channel.
You can operate several FM 351 positioning modules simultaneously. It is also possible to
combine with other FM / CP modules. A typical application would be combining with an
FM 352 electronic cam controller.

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Figure 1-1 Structure of a SIMATIC S7-300 with an FM 351

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 9
Product overview
1.2 Application areas of the positioning module

1.2 Application areas of the positioning module

Overview
● Packaging machines
● Lifting and conveying equipment
● Woodworking machinery
Example: Controlling delivery processes
Various wooden parts are processed using a profiling machine. Various work processes
and, with that, different cutting heads, are required to machine the wood. The various
cutting heads are exchanged by means of a controlled positioning process.
● Paper making machines and printing machines
● Rubber and plastics processing machines
Example: Simply handling processes
The injection molded parts in an injection molding machine are removed from the work
piece by means of a gripper arm. The gripper arm is controlled by the positioning module.
● Building materials industry
● Machine tools

FM 351 positioning module

10 Operating Instructions, 05/2011, A5E01092700-02
Product overview
1.3 Structure of a controlled positioning using an FM 351

1.3 Structure of a controlled positioning using an FM 351

Control circuit
The following figure shows the components of a controlled positioning using rapid
traverse/creep speed drives.

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Figure 1-2 Controlled positioning

Power section and safety device

The power section (e.g., a contactor circuit) is controlled by the digital outputs of the FM 351.
The FM 351 has 4 control modes (refer to the section entitled "Machine data of the drive
(Page 67)").
When the safety device is activated (EMERGENCY STOP switch or hardware limit switch),
the power section switches off the motor.

Motor
The motor is controlled by the power section and it drives the axes.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 11
Product overview
1.3 Structure of a controlled positioning using an FM 351

Encoder
The encoder provides distance and direction information. The following encoders can be
connected:
● Incremental encoders with 5 V differential signal, symmetrical
● Incremental encoders with 24 V signal, asymmetrical
● SSI absolute encoder

FM 351 positioning module

The FM 351 can position up to 2 axes independently based on the rapid traverse/creep
speed process.
The power section is controlled by the 4 digital outputs (refer to the sections entitled
"Machine data of the drive (Page 67)" and "Resolution (Page 85)").
The FM 351 positioning module establishes the current actual position value of the axis from
the encoder signals, which are proportional to the distance moved (refer to the section
entitled "Encoder machine data (Page 77)").
The FM 351 provides the following operating modes and functions:
● "Jog" mode (refer to the section entitled "Configured the "Jog" mode (Page 99)")
● "Reference point approach" mode (refer to the section entitled "Configuring the reference
point approach mode (Page 103)")
● "Absolute/relative incremental approach" mode (refer to the section entitled "Configuring
the increment drive mode (Page 109)")
● Set actual value (refer to the section entitled "Configuring set actual value / cancel set
actual value (Page 117)")
● Set reference point (refer to the section entitled "Configuring set reference point
(Page 119)")
● Loop approach (refer to the section entitled "Configuring the loop drive (Page 121)")

CPU
The CPU executes the user program. Data and signals are exchanged between the user
program and the module by means of function calls.

FM 351 positioning module

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Figure 2-1 Switching points and switching differences

The following figure shows how the switching ranges can be arranged around the target.

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① Operating range
② Changeover difference in plus traversing direction
③ Changeover difference in minus traversing direction
④ Switch-off difference in plus traversing direction
⑤ Switch-off difference in minus traversing direction
⑥ Standstill range
⑦ Target range

Figure 2-2 Switching ranges around a target

4.2 Description of the encoder interface

Location of the sub D sockets

The figure shows the mounting position and the designation of the sockets on the module.
You can connect incremental or absolute encoders (SSI) to the two sub D sockets (refer to
the sections entitled "Incremental encoder (Page 131)" and "Absolute encoder (Page 134)").

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Figure 4-1 Location of the sub D sockets X2 and X3

Assignment of sockets X2 and X3

Pin Name Incremental encoders Incremental encoders Absolute encoder

(24 V) (5 V)
1 A* Encoder signal A --- ---
2 CLS --- --- SSI shift clock
3 /CLS --- --- SSI shift clock inverse
4 B* Encoder signal B --- ---
5 24 V DC Encoder supply Encoder supply Encoder supply
6 5.2 V DC --- Encoder supply Encoder supply
7 M Ground Ground Ground
8 N* Zero mark signal --- ---
9 Computer Current sourcing/current --- ---
unit sinking1)
10 N --- Zero mark signal ---
11 /N --- Zero mark signal inverse ---
12 /B --- Encoder signal B inverse ---
13 B --- Encoder signal B ---
14 /A / /DAT --- Encoder signal A inverse SSI data inverse
15 A / DAT --- Encoder signal A SSI data

Refer to the section entitled "Wiring diagram of the incremental encoder Siemens
1)

6FX 2001-4 (Up = 24 V; HTL) (Page 176)".

FM 351 positioning module

22 Operating Instructions, 05/2011, A5E01092700-02
Wiring the FM 351
4.3 Connecting encoders

4.3 Connecting encoders

Shield connection element

Using the shield connection element you can easily ground all the shielded cables - due to
its direct contact to the mounting rail. You will find detailed information in the Operating
Instructions SIMATIC S7-300 CPU 31xC and CPU 31x: Installation
(http://support.automation.siemens.com/WW/view/en/13008499).

Procedure
1. Connecting the connecting cable to the encoder.
With some encoders it may be necessary to adapt the cable (cable end to the encoder) in
accordance with the manufacturer´s instructions.
2. The encoder cables must be shielded.
Cables A and /A, B and /B, N and /N for the incremental encoder and the cables DAT and
/DAT, CLS and /CLS for the absolute encoder must be twisted in pairs.
3. Open the front door and insert the sub D connector onto the FM 351.
4. Secure the connector by tightening the finger screws. Close the front door.
5. Remove the insulation material on the connecting cable and clamp the cable shield into
the shield connection element. Use the shield terminal elements for this.

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Figure 4-2 Position of the shield connection element

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 23
Wiring the FM 351
4.4 Description of the front connector

4.4 Description of the front connector

Front connector
You use the 20-pin front connector to connect the supply voltages of the encoder and the
digital outputs. The digital outputs and inputs assigned to the channels are also connected.

Front connector (X1) assignment

Terminal Name Meaning Incremental encoder Absolute encoder

1 1L+ 24 V DC auxiliary voltage for the encoder supply
2 1M Ground for sensor power supply
3 1I0 Channel 1: Digital input 0 Reference point switch Not used
4 1I1 Channel 1: Digital input 1 Reversing switch Not used
5 1I2 Channel 1: Digital input 2 Enable input
6 1I3 Channel 1: Digital input 3 Not used
7 2I0 Channel 2: Digital input 0 Reference point switch Not used
8 2I1 Channel 2: Digital input 1 Reversing switch Not used
9 2I2 Channel 2: Digital input 2 Enable input
10 2I3 Channel 2: Digital input 3 Not used
11 1Q0 Channel 1: Digital output 0
12 1Q1 Channel 1: Digital output 1
13 1Q2 Channel 1: Digital output 2
14 1Q3 Channel 1: Digital output 3
15 2Q0 Channel 2: Digital output 0
16 2Q1 Channel 2: Digital output 1
17 2Q2 Channel 2: Digital output 2
18 2Q3 Channel 2: Digital output 3
19 2L+ 24 V DC auxiliary voltage for the load power supply
20 2M Mass load power supply

Auxiliary voltage for the encoder supply (1L+, 1M)

Here you connect a 24 V DC auxiliary voltage for the encoder supply. The reference
potential of this supply (1M) is not connected to the ground of the load power supply (2M) in
the FM 351.
The 24 V DC auxiliary voltage for the encoder supply is monitored for undervoltage and
mass wire break.
The 24 V DC auxiliary voltage for the encoder supply is internally transformed into 5.2 V DC.
As a result, on the encoder interface (SUB D socket X2 and X3) 24 V DC and 5.2 V DC are
available for the different types of encoder.

FM 351 positioning module

24 Operating Instructions, 05/2011, A5E01092700-02
Wiring the FM 351
4.4 Description of the front connector

Auxiliary voltage for the load power supply (2L+, 2M)

You must connect a 24 V DC auxiliary voltage for the load power supply of the digital outputs
to the terminals 2L+ and 2M.

Wiring information for 24 V DC

When wiring, note that the terminals 1L+, 1M and 2L+, 2M must be interconnected so that
the module will operate error-free.
If you connect the 1L+, 1M and 2L+, 2M to separate voltage supplies, after a voltage loss on
the auxiliary voltage for the load power supply (2L+, 2M) the synchronization of the axes is
maintained.

Load power supplies

The DC load power supply must meet the following requirements:
Only a safe, isolated extra-low voltage of ≤ 60 V DC may be used as the load current supply.
Safe isolation from mains can be achieved, for example, in accordance with
VDE 0100 Part 410 / HD 384-4-41 / IEC 364-4-41
(as functional extra-low voltage with safe isolation) or
VDE 0805 / EN 60950 / IEC 950
(as safety extra-low voltage SELV) or VDE 0106 Part 101.

8 digital inputs (1I0 to 2I3)

The FM 351 has 4 digital inputs per channel.
You can connect bounce-free switches (24 V p-switching) or contactless sensors (2- or
3-wire proximity switches) to the 8 digital inputs.
The digital inputs are not monitored for short circuit or wire break and are electrically isolated
from the encoder supply ground and the CPU ground.
The state of each input can be read off from the respective LED.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 25
Wiring the FM 351
4.4 Description of the front connector

8 digital outputs (1Q0 to 2Q3)

The FM 351 has 4 digital outputs per channel.
The power section is controlled by the digital outputs. The function of the digital outputs
depends on the control mode. Select the control mode (refer to the section entitled "Machine
data of the drive (Page 67)") in the configuration software or in the parameter DB.
The digital outputs are not monitored for short circuit or wire break and are electrically
isolated from the encoder supply ground and the CPU ground.
The state of each output can be read off from the respective LED.

Table 4- 1 Functions of the digital outputs, x for channel 1 or 2

Output Q Control mode

1 2 3 4
xQ0 Rapid traverse Rapid Rapid traverse Rapid traverse plus
traverse/creep
speed
xQ1 Creep speed Position reached Creep speed Creep speed plus
xQ2 Traverse plus Traverse plus Traverse plus Rapid traverse minus
xQ3 Traverse minus Traverse minus Traverse minus Creep speed minus

FM 351 positioning module

26 Operating Instructions, 05/2011, A5E01092700-02
Wiring the FM 351
4.5 Wiring the power section

4.5 Wiring the power section

Power section
The power section, e.g. a simple contactor circuit, is connected to the digital outputs of the
positioning module and controls the motor.

Contactor circuit
The following figure shows the control and load circuit of a power section.
The functions of the digital outputs correspond to control mode 1(refer to the section entitled
"Machine data of the drive (Page 67)").

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K2 Direction - minus
K3 Rapid traverse
K4 Creep speed
E1 Hardware limit switch minus
E2 Hardware limit switch plus

Figure 4-3 Contactor circuit

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 27
Wiring the FM 351
4.5 Wiring the power section

Operating principle of the contactor circuit

The contactors K1 and K2 control the rotational direction of the motor. Both contactors are
mutually locked by means of the opening contacts K2 and K1. The hardware limit switches
E1 and E2 are the limit switches minus / plus. The motor is switched off when one of these
limit switches is overrun.
The contactors K3 and K4 switch the motor from rapid traverse to creep speed. Both
contactors are mutually locked by means of the opening contacts K4 and K3.

CAUTION

Mutually lock the network contactors.

The previous figure shows the mutual locking of the network contactors.
Non-compliance with these instructions could cause a short circuit in the power network.

Note
Direct connection of inductances, e.g, of relays and contactors, is possible without an
external protective circuit.
If SIMATIC output circuits can be switched off by means of additionally installed contacts,
e.g. relay contacts, additional overvoltage protection devices must be provided for
inductances. See the following example of overvoltage protection

FM 351 positioning module

28 Operating Instructions, 05/2011, A5E01092700-02
Wiring the FM 351
4.5 Wiring the power section

Example for overvoltage protection

The following figure illustrates an output power circuit requiring additional overvoltage
protectors. DC-activated coils will be wired with diodes or Z diodes.

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Figure 4-4 Relay contact in the output power circuit

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 29
Wiring the FM 351
4.6 Wiring Front Connectors

4.6 Wiring Front Connectors

Connecting cables
● As of 100 m cable lengths, the cables for digital inputs and outputs must be shielded.
● The shields of the cables must be arranged on both sides.
● Flexible cable, cross section 0.25 to 1.5 mm2
● Ferrules are not required. If you do however want to use them, you can use ferrules
without insulating collars (DIN 46228, Form A, short design).

Tools required
3.5 mm screwdriver or power screwdriver

Procedure

WARNING

Personal injury and damage to equipment on account of unshielded voltage.

Wiring up the front connector of the FM 351 live could cause injury from an electric shock!
Always switch off the power before you start wiring the FM 351!
If there is no EMERGENCY STOP switch damage could be caused by the connected units.
Install an EMERGENCY STOP switch to be able to switch off the connected drives when
using the configuration software to operate the FM 351.

1. Strip 6 mm of insulation from the wires. Press on ferrules, if applicable.

2. Open the front panel and place the front connector in the wiring position.
3. Thread the included cable strain relief into the front connector.
4. Connect the strain relief to the connector.
5. If you route the wires out downwards, start the wiring at the bottom. If this is not the case,
start at the top. Also screw in terminals that are unassigned.
The tightening torque is 0.6 to 0.8 Nm.
6. Tighten the strain relief for the cable harness.
7. Push the front connector into the operating position. To do this, press the interlock
element.
8. You can complete the labeling field provided and insert it in the front door.

FM 351 positioning module

30 Operating Instructions, 05/2011, A5E01092700-02
Wiring the FM 351
4.6 Wiring Front Connectors

Non-isolation
The ground of the auxiliary voltage for the encoder supply is electrically isolated from the
CPU ground. For downward compatibility with FM 351 with order number 6ES7351-1AH01-
0AE0, the ground of the auxiliary voltage for the encoder supply (1M) can be connected with
the CPU ground (M).

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 31
Wiring the FM 351
4.6 Wiring Front Connectors

FM 351 positioning module

32 Operating Instructions, 05/2011, A5E01092700-02
Installing the configuration package 5
Requirement
Before starting to assign parameters for the positioning module, note the requirements in the
readme.rtf file, in particular, regarding the required version of STEP 7. The readme.rtf file is
available on the included CD.

Content of the configuration package

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Procedure
The entire configuration package can be located on the supplied CD.
1. De-install any already existing configuration packages.
2. Place the CD in the CD drive of your PC or PG.
3. Start Setup.exe and follow the step-by-step setup instructions displayed by the
installation program.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 33
Installing the configuration package

Result
The components of the configuration package are installed in the following directories:
● SIEMENS\STEP7\S7LIBS\FMx51LIB: FCs, FBs, and UDTs
● SIEMENS\STEP7\S7FABS: configuration software, Readme, online help
● SIEMENS\STEP7\EXAMPLES: Examples
● SIEMENS\STEP7\S7MANUAL\S7FABS: Getting Started, manuals

Note
If, when installing STEP 7, you chose a directory other than SIEMENS\STEP7, then this
directory will be entered.

FM 351 positioning module

34 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351 6
6.1 Overview of the Programming section

If your CPU supports the system blocks SFB 52 and SFB 53 with DPV1 functionality
Then use the blocks from the program folder "FM 351 ABS V2" in the supplied block library
to program the FM 351.
In addition to centralized use in the S7-300, these blocks also support distributed use with
PROFINET and PROFIBUS DP.
You will find a description in this section.

If your CPU does not support the system blocks SFB 52 and SFB 53 with DPV1 functionality
Then use the blocks from the program folder "FM 351,451 ABS V1" to program the FM 351.
For a description, please refer to the appendix entitled "Programming without SFB 52 and
SFB 53 (Page 201)".

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 35
Programming the FM 351
6.2 Basics of programming a positioning module

6.2 Basics of programming a positioning module

Task
You can assign parameters, control, and commission each channel of the positioning
module via a user program. The following sections illustrate how to design a user program to
suit your application.

Preparation
1. Open the block library FMx51LIB in SIMATIC Manager, then copy the required functions
(FCs), function blocks (FBs), and block templates (UDTs) to the block container of your
project. If the block numbers are already assigned, assign new numbers. The block
names are entered unchanged in the symbol table of your S7 program.

Name Meaning
FC ABS_INIT (FC 0) You need this FC to initialize the channel DB following a
module startup.
FB ABS_CTRL (FB 1) You need this FB for data exchange and for controlling
FB ABS_DIAG (FB 2) You need this FB when you process detailed diagnostic
information in the program or want to make this information
available to an operator control and monitoring system
UDT ABS_CHANTYPE(UDT 1) You need this UDT to create a channel DB for each channel;
this is then used by the FC ABS_INIT and FB ABS_CTRL
UDT ABS_DIAGTYPE (UDT 2) You need this UDT to create a diagnostic DB for each
module; this is then used by the FB ABS_DIAG
UDT ABS_PARATYPE(UDT 3) You need this UDT to create a parameter DB with
parameters; this is then used by the FB ABS_CTRL in order to
write or read machine data and increment tables

2. Create the data blocks (DBs) using the UDTs in the block container of your S7 program:
– a separate channel DB for each channel.
– If you want to write or read parameters using the user program, you need a separate
parameter DB for each channel.
– If you would like to execute the diagnostics using the user program, you require only a
diagnostic DB for each module.
3. Enter the module address in the associated channel DB and, if necessary, also in the
corresponding diagnostic DB at the "MOD_ADDR" address (refer to the section entitled
Basics of programming a positioning module (Page 202)).
4. Enter the channel number and, if necessary, the number of the parameter DB also in the
respective channel DB.
If your programing device or PC is connected to a CPU, you can now download the blocks to
the CPU.

FM 351 positioning module

36 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.2 Basics of programming a positioning module

The following figure shows you how the positioning module, FCs, DBs and OBs
communicate with each other.

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*) The module address (channel DB/diagnostic DB) entered in the "MOD_ADDR" parameter is
used for accessing the module. We recommend you assign the module address to the channel
DB/diagnostic DB in the user program so that the assignment of the module address takes
place when you call the user program in OB 100.

Figure 6-1 Data exchange between FCs, FBs, DBs and positioning module

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 37
Programming the FM 351
6.3 FC ABS_INIT (FC 0)

6.3 FC ABS_INIT (FC 0)

Task
The FC ABS_INIT deletes the following data in the channel DB:
● The control signals
● The checkback signals
● The trigger bits, done bits, and error bits of the jobs
● The function switches and their done bits and error bits
● The job management for the FB ABS_CTRL

Call
The function must be executed for each channel after a startup, i.e., after the power supply
to the module or CPU is switched on. Call the function, for example, in the start-up OB 100
and the insertion/removal OB 83 or the initialization phase of your user program. This
ensures that your user program does not access obsolete data after a CPU or module
restart.

Data block used

Channel DB:
The module address must be entered in the channel DB.

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the channel DB

Return values
The specified function does not supply a return value.

FM 351 positioning module

38 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

6.4 FB ABS_CTRL (FB 1)

Tasks
With the FB ABS_CTRL you can read the operating data for each channel of the module,
assign channel parameters, and control the operation. For these tasks, you use control
signals, checkback signals, function switches, and write and read jobs.
Each time it is called, the function block performs the following actions:
● Reading checkback signals:
The FB ABS_CTRL reads all the checkback signals for a channel and enters them in the
channel DB. Because the control signals and jobs are not executed until after this step,
the checkback signals reflect the status of the channel before the block was called.
● Job management:
The FB ABS_CTRL processes the read and write jobs and transmits data between the
channel DB, parameter DB, and the module.
● Writing control signals:
The control signals written to the channel DB are transferred to the module.

Application in the user program

While the FB ABS_CTRL is a multi-instance block, it cannot be used for its own part as a
multi-instance in a user block.

Call
The FB ABS_CTRL must be called cyclically for each channel, e.g., in OB 1.
Before you call the FB ABS_CTRL, enter all the data needed to execute the required
functions into the channel DB.

Data blocks used

● Channel DB:
The module address and the channel number must be entered in the channel DB.
Incorrect information could result in I/O access errors or in an access to a different
module, which in turn gives rise to data corruption.
● Parameter DB:
If you want to use jobs to write or read the machine data, you need a parameter DB,
whose number must be entered in the channel DB.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 39
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the channel DB
RETVAL INT OUT Return value

Return values
The function provides the following return values:

RETVAL BR Description
1 1 At least 1 job is active
0 1 No job is active, no error
-1 0 Error: data error (DATA_ERR) or
communication error (JOB_ERR) occurred

Jobs
Data exchange with the module other than the control and checkback signals is handled
using jobs.
To deliver a job you set the respective trigger bit in the channel DB and in the case of write
jobs also the respective data. You then call FB ABS_CTRL to execute the job.
If you are using the FM 351 centrally, a read job requires exactly one cycle. If you are using
the FM 351 as a distributed module, a read job can require several cycles.
On account of the necessary acknowledgements of the module, a write job requires at least
3 calls or OB cycles.
When a job is finished, the block takes back the trigger bit. The next time the block is called,
the subsequent job is identified and executed.
For each job, there is not only a trigger bit (extension _EN as in "enable") but also a done bit
and an error bit. These have the extension _D as in "done" and _ERR as in "error" in their
names. The FB ABS_CTRL updates the done bits and error bits once the processing of a job
has ended. After the evaluation or prior to issuing a job, these bits should be set to 0.
If you set the JOBRESET bit, all the done and error bits are reset before the queued jobs are
processed. The JOBRESET bit is then reset to 0.

FM 351 positioning module

40 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Function switch
The function switches activate and deactivate the states of the channel. A job for writing the
function switches will only be executed when there is a change in a switch setting. The
setting of the function switch is latched after the job has been executed.
Function switches and jobs can be used at the same time in one FB ABS_CTRL call.
As in the case of the jobs, alongside the function switches there are trigger bits with the
ending _ON / _OFF, done bits with the ending _D and error bits with the ending _ERR.
To be able to evaluate the done bits and error bits of the function switches, you should set
these bits to 0 before you issue a job to change a function switch.

Order of job processing

You can select several jobs simultaneously. If no jobs are active, the job management of the
FB ABS_CTRL searches starting with the MDWR_EN job to determine whether trigger bits
are set or changes have been made to function switches. If a job is found, it is processed.
Once the job is concluded, the job management searches for the next job to be processed. If
the last job ENCVAL_EN has been searched, searching starts over with the MDWR_EN job.
This searching process is repeated until all the jobs have been processed.
The jobs are processed in the following technologically appropriate order:

Order Address in the Name Meaning Reset from

channel DB
Write jobs
1 35.0 MDWR_EN Write machine data FB 1
2 35.1 MD_EN Enable machine data FB 1
35.2 DELDIST_EN Delete distance-to-go
35.3 AVALREM_EN Cancel set actual value
36.4 DELDIAG_EN Clear diagnostic buffer
3 35.4 TRGL1WR_EN Write increment table 1 FB 1
4 35.5 TRGL2WR_EN Write increment table 2 FB 1
5 35.6 REFPT_EN Set reference point FB 1
6 Function switch: User program
34.0 PLOOP_ON Loop approach in plus direction
34.1 MLOOP_ON Loop approach in minus direction
34.2 EI_OFF Do not evaluate enable input
7 35.7 AVAL_EN Set actual value FB 1
10 36.2 TRG252_254_EN Write increment for increment number 254 FB 1
11 36.3 TRG255_EN Write increment for increment number 255 FB 1

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 41
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Order Address in the Name Meaning Reset from

channel DB
Read jobs
12 36.5 MDRD_EN Read machine data FB 1
13 36.6 TRGL1RD_EN Read increment table 1 FB 1
14 36.7 TRGL2RD_EN Read increment table 2 FB 1
16 37.1 ACTSPD_EN Read current velocity, distance-to-go, and FB 1
current increment
17 37.2 ENCVAL_EN Read encoder data FB 1

This order enables you to initiate a complete positioning operation with a set of jobs and
control signals. The jobs start with the writing and activating of machine data, and continue
with the setting of the external enable input and, finally, the writing of increments for the
incremental approaches.

Control signals
If there is a STOP signal, an operator error or a drive enable is missing, the block resets the
control signals START, DIR_M and DIR_P.
You can restart a motion after you have acknowledged the operator error with
OT_ERR_A=1. With this acknowledgement you cannot submit any other jobs and control
signals.
If there is no operator error pending, the block sets the acknowledgement for the operator
error OT_ERR_A to 0.
The block resets the START, DIR_P, and DIR_M start signals when the channel signals the
start of the motion, except in "jog" mode.
If the axis parameters are not assigned, the block withholds all the control signals with the
exception of the OT_ERR_A operator error acknowledgement.

Jobs and control signals

You can issue several jobs at the same time, also together with the control signals
necessary for the positioning. If at least one write job is issued at the same time as the
control signals START, DIR_M or DIR_P, the block retains these control signals until the
write jobs have been processed.

FM 351 positioning module

42 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Jobs during active positioning

If they are issued during a positioning, the write jobs listed in the following table will be
retained until the positioning has ended and carried out only after the following call of the
block.

Address Name Type Initial value Comment

34.0 PLOOP_ON BOOL FALSE 1 = loop approach in plus direction
34.1 MLOOP_ON BOOL FALSE 1 = loop approach in minus direction
34.2 EI_OFF BOOL FALSE 1 = do not evaluate enable input
35.1 MD_EN BOOL FALSE 1 = enable machine data
35.2 DELDIST_EN BOOL FALSE 1 = delete distance-to-go
35.3 AVALREM_EN BOOL FALSE 1 = cancel set actual value
35.6 REFPT_EN BOOL FALSE 1 = set reference point coordinate
35.7 AVAL_EN BOOL FALSE 1 = set actual value
36.4 DELDIAG_EN BOOL FALSE 1 = clear diagnostic buffer

Startup
Call FC ABS_INIT at the startup of the module or CPU (refer to the section entitled "FC
ABS_INIT (FC 0) (Page 38)"). Among other things, this resets the function switches. The FB
ABS_CTRL acknowledges the module startup. During this time, RETVAL and JOBBUSY = 1.

Job status
You can check the status of job execution using the RETVAL return value and the JOBBUSY
activity bit in the channel DB. The status of an individual job can be evaluated using the
trigger bits, done bits, and error bits of this job.

RETVAL JOBBUSY Trigger bit _EN Done bit _D Error bit _ERR
Job active 1 1 1 0 0
Job completed 0 0 0 1 0
without errors
Job completed -1 0 0 1 1
with errors
Write job -1 0 0 0 1
cancelled

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 43
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Response to errors
If faulty data are written during a write job, the channel issues the checkback signal
DATA_ERR = 1 to the channel DB. If an error occurs during communication with the module
in a write or read job, the cause of error is stored in the JOB_ERR parameter in the channel
DB.
● Error with a write job:
If an error occurs in a job, the trigger bit is canceled and error bit _ERR and done bit _D
are set. The trigger bit is also canceled for all write jobs still pending, but only error bit
_ERR is set. The pending write jobs are canceled because jobs could pile up in this case.
The pending read jobs will continue to be processed. JOB_ERR is reset again for each
job.
● Error with a read job:
If an error occurs in a job, the trigger bit is canceled and error bit _ERR and done bit _D
are set.
The read jobs still pending continue to be processed. JOB_ERR is reset again for each
job.
For further error information, refer to the JOB_ERR and DATA_ERR parameter descriptions
(sections entitled "Diagnosis (Page 137)" and "Data and structure of the diagnostic DB
(Page 186)").

FM 351 positioning module

44 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.4 FB ABS_CTRL (FB 1)

Program structure
The following figure shows the basic structure of a user program used to cyclically control a
channel of a module following a one-time startup initialization. The RETVAL return value of
the FB ABS_CTRL is used in the user program for a general error evaluation.
For every other channel a sequence in accordance with the following figure can be executed
parallel and independently.

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Figure 6-2 General program structure

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 45
Programming the FM 351
6.5 FB ABS_DIAG (FB 2)

6.5 FB ABS_DIAG (FB 2)

Tasks
Use FB ABS_DIAG to read the diagnostic buffer of the module and make it available for
display on an operator control and monitoring system or for a programmed evaluation.

Application in the user program

While the FB ABS_DIAG is a multi-instance block, it cannot be used for its part as a multi-
instance in a user block.

Call
The block must be called cyclically, e.g., in OB 1. An additional call in an alarm OB is not
permitted. At least two calls (cycles) are required for a complete execution of the function.
The function reads out the diagnostic buffer when checkback signal DIAG = 1 in the channel
DB indicates a new entry in the diagnostic buffer. After the diagnostic buffer is read, the
DIAG bit in the channel DB of the module is set to 0.

Data block used

Diagnostic DB:
The module address must be entered in the diagnostic DB. The latest entry in the diagnostic
buffer will be entered in the structure DIAG[1] and the oldest entry in the structure DIAG[9].

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the diagnostic DB
RETVAL INT OUT Return value

Return values
The block returns the following return values in in word 302 in the RETVAL parameter of the
diagnostic DB:

RETVAL BR Description
1 1 Job active
0 1 No job is active, no error
-1 0 Error

FM 351 positioning module

46 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.5 FB ABS_DIAG (FB 2)

Jobs
You can read the diagnostic buffer independent of a new entry by setting the trigger bit
DIAGRD_EN in the diagnostic DB. After the diagnostic buffer is read, the trigger bit is set to
0.
Carry out this job after a CPU start-up and a module start-up. This way you can ensure that
the content of the diagnostic DB corresponds with the content of the module´s diagnostic
buffer, even if the module has not made a new entry in the diagnostic buffer.

Start
The block does not perform any startup processing.

Response to errors
In the case of a faulty execution, the cause of the error can be found in the diagnostic DB in
the JOB_ERR parameter (refer to the sections entitled "Diagnosis (Page 137)" and "Data
and structure of the diagnostic DB (Page 186)").

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 47
Programming the FM 351
6.6 Data blocks

6.6 Data blocks

6.6.1 Templates for data blocks

Block templates UDT

For each data block there is a block template UDT stored in the provided library (FMx51LIB).
From these UDTs you can create data blocks with any numbers or names.

6.6.2 Channel DB

Task
The channel DB (refer to the section entitled Content of channel DB (Page 179)) is the data
interface between the user program and the positioning module. It contains and accepts all
data required for control and operation of a channel.

Structure
The channel DB is divided into different areas:

Channel DB
Module address *)
Channel number
Number of the parameter DB
Control signals
Checkback signals
Function switch
Trigger bits for write jobs
Trigger bits for read jobs
Done bits
Error bits
Job management for functions
Data for jobs

*) You can also enter the address using the configuration software

FM 351 positioning module

48 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.6 Data blocks

6.6.3 Diagnostic DB

Task
The diagnostic DB (refer to the section entitled Data and structure of the diagnostic DB
(Page 186)) is the data storage for the FB ABS_DIAG and includes the diagnostic buffer of
the module that has been processed by this function block.

Structure

Diagnostic DB
Module address
Internal data
Job status
Trigger bit
Processed diagnostic buffer

6.6.4 Parameter DB

Task
If you want to change the machine data and increment tables during operation, you require a
parameter DB (refer to the section entitled Contents of parameter DB (Page 184)) in which
this data is stored. The parameters can be changed from the user program or from an
operator control and monitoring system.
You can export the data displayed in the configuration software into a parameter DB. You
can also import a parameter DB into the configuration software and view it there.
Each module channel can have several sets of parameter assignment data, e.g., for different
recipes. You can switch among these in your program.

Structure

Parameter DB
Machine data
Increment tables

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 49
Programming the FM 351
6.7 Technical specifications of the FCs, FBs, and DBs for the FM 351

6.7 Technical specifications of the FCs, FBs, and DBs for the FM 351

Technical specifications
The following table offers you an overview of the technical specifications for the functions
and data blocks.

Table 6- 1 Technical specifications of the FM 351 blocks

No. Block name Version Assignment in Assignment in Assignment in local MC7 Called
load memory work memory data area code / system functions
(bytes) (bytes) (bytes) data
(bytes)
FC 0 FC ABS_INIT 1.0 184 130 2 94
FB 1 FB ABS_CTRL 1.0 4548 4176 34 4140 SFB 53: WRREC,
SFB 52: RDREC
FB 2 FB ABS_DIAG 1.0 1800 1658 42 1622 SFB 52: RDREC
Channel DB - 638 184 - 148
Parameter DB - 840 556 - 520
Diagnostic DB - 524 388 - 352

Module cycle
The checkback signals of a channel are updated by the module every 8 ms.

FM 351 positioning module

50 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.8 Quicker access to module data

6.8 Quicker access to module data

Application
In special applications or in an alarm level, a particularly fast access to checkback and
control signals could be required. You can reach this data directly via the input and output
areas of the module.
To coordinate startup following each module startup, e.g., after inserting a module or after
CPU STOP → RUN, you must call the FB ABS_CTRL until the end of the startup is indicated
by RETVAL = 0. Then, do not use the FB ABS_CTRL any more.

Note
It is not possible to use the FB ABS_CTRL together with a write access.

Reading checkback signals by means of direct access

The byte addresses must be specified relative to the start address of the outputs of the
respective channel. The names of the parameters correspond to the names in the channel
DB (refer to the section entitled "Content of the channel DB (Page 179)").
Start address channel 1 = start address of the module
Start address channel 2 = start address of the module + 8
In STL, you access the data using the commands PEB (read 1 byte), PEW (read 2 bytes)
and PED (read 4 bytes).

Address Bit number

7 6 5 4 3 2 1 0
Byte 0 PARA Internal Internal DATA_ERR OT_ERR DIAG Internal Internal
Byte 1 CHGOVER CUTOFF ZSPEED SPEED_OUT 0 WAIT_EI WORKING ST_ENBLD
Byte 2 MODE_OUT
Byte 3 POS_RCD 0 0 0 GO_P GO_M 0 SYNC
Byte 4 ACT_POS
Byte 5
Byte 6
Byte 7

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 51
Programming the FM 351
6.8 Quicker access to module data

Example: Actual position value ACT_POS

The start address of the module is 512.

STL Description
L PED 516 Read the current actual position value (ACT_POS) from channel 1
//with direct access:
//Start address of the channel + 4

Writing control signals using direct access

The byte addresses must be specified relative to the start address of the inputs of the
respective channel. The names of the parameters correspond to the names in the channel
DB (refer to the section entitled "Content of the channel DB (Page 179)").
Start address channel 1 = start address of the module
Start address channel 2 = start address of the module + 8
In STL, you access the data using the commands PAB (write 1 byte), PAW (write 2 bytes)
and PAD (write 4 bytes).

Address Bit number

7 6 5 4 3 2 1 0
Byte 0 0 0 0 0 OT_ERR_A 0 0 0
Byte 1 DRV_EN 0 0 0 DIR_P DIR_M STOP START
Byte 2 MODE_IN
Byte 3 MODE_TYPE
Byte 4 Reserved
Byte 5
Byte 6
Byte 7

Example: START signals of channel 2

The start address of the module is 512.

STL Description
L 2#10001000 //Set DRV_EN and DIR_P to 1
T PAB 521 //Write signals with direct access for channel 2:
//Start address of the module + 8 + 1

FM 351 positioning module

52 Operating Instructions, 05/2011, A5E01092700-02
Programming the FM 351
6.9 Parameter transmission paths

6.9 Parameter transmission paths

Parameters include the following machine data and increments.

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1 Saving parameters in the configuration software.

2 Save and compile the HW configuration.
2a Download the HW configuration to the CPU. The CPU automatically carries out step 3.
3 The CPU writes the parameters when system parameter assignments are carried out for the
module.
4 With the command "download target system to PG" download the parameters of a channel of
the module to the PG.
5 With the command "download target system" download the parameters from the configuration
software into a channel of the module.
6 Write parameters using jobs of the user program in a channel of the module.
7 Read parameters using jobs of the user program from a channel of the module.
8 Store parameters from the user program into the online DB.
9 Read in parameters from the online DB into the user program.
10 Export parameters from the configuration software to the offline DB.
10a Download the offline DB to the CPU.
10b Export parameters from the configuration software to the online DB.
11 Import parameters from the offline DB into the configuration software.
11a Load parameters from the online DB to the PG.
11b Import parameters from the online DB into the configuration software.

Figure 6-3 Parameter transmission paths

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 53
Programming the FM 351
6.9 Parameter transmission paths

Some applications for transmission of parameters:

● You process the parameters using the configuration software. The channels of the
module should then be automatically assigned upon start-up.
Carry out steps 1, 2, and 2a.
● You change the parameters during commissioning in debug mode in the configuration
software:
Carry out steps 4 and 5.
● The parameters changed during commissioning should then be automatically loaded
upon start-up:
Carry out steps 1, 2, and 2a.
● You create the parameters using the configuration software. The channels of the module
should be assigned upon start-up only by the user program via the data blocks:
Carry out steps 10, 10a and 6 or 10b and 6.
● You would like to create convenient stored data for recipes:
Carry out steps 10 and 10a.
● You create the parameters using the configuration software. These should be made
available to the user program for temporary changes.
Carry out steps 1, 2 and 2a for the automatic parameter assignment.
Carry out the steps 10, 10a, 9, 8 and 6 for access by the user program.
● You change existing parameters solely via the user program:
Carry out steps 7, 9, 8 and 6.
● You would like to use the configuration software to view the data that has been changed
via the user program:
Carry out steps 11a and 11 or just 11b.
● The parameters changed by the user program should also be automatically loaded upon
start-up:
Carry out steps 11b or 11a, 11 and then 1, 2, 2a.

FM 351 positioning module

54 Operating Instructions, 05/2011, A5E01092700-02
Commissioning the FM 351 7
Important information
Please observe the points listed in the following warning.

WARNING

Personal injury and equipment damage can occur.

To prevent personal injury and damage to equipment please observe the following points:
 Install an EMERGENCY STOP switch in the immediate vicinity of the computer.
This is the only way to ensure that the system can be switched off safely in the event of
a computer or software failure.
 Install hardware limit switches that have a direct effect on the power sections of all
drives.
 Always make sure to prevent access to the plant areas containing moving parts.
 Concurrent controlling and monitoring of the FM 351 from your program and on the
"Debug > Commissioning" screen can lead to conflicts with unforeseeable effects.
Therefore, always switch the CPU to STOP mode when you are working in the Debug
screen, or deactivate your program.

Setting up a project
Set up a project under STEP 7.
The following describes the sequence of steps via the SIMATIC Manager (without using the
wizards).

Step Action ✓
1 Install the configuration package (if this has not already happened). ❒
2 In SIMATIC Manager, set up a new project (File > New). ❒
3 Insert a station in your project (Insert > Station). ❒
4 Select the station, then run the "HW Config" configuration interface by double-clicking "Hardware". ❒
5 Enter your hardware structure in a subrack with: ❒
 Power supply (PS) module
 CPU
 Function module (FM 351)
6 Save this hardware configuration in HW Config (Station > Save). ❒

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 55
Commissioning the FM 351

HW installation and wiring

In this first section you install the FM 351 in your S7-300 and wire up the external peripheral
elements.

Step Action ✓
1 Installing the FM 351 (refer to the section entitled "Installing and removing the FM 351 (Page 19)")
Hang the module onto the rail. ❒
2 Wiring the FM 351 (refer to the section entitled "Wiring the FM 351 (Page 21)")
 Wiring up the front connector of the FM 351:
– Auxiliary voltage for the encoder supply ❒
– Auxiliary voltage for the load power supply ❒
– Digital inputs ❒
– digital outputs ❒
 Encoder connection ❒
3 Checking the safety-related switches
Check the function of the following:
 EMERGENCY STOP switches ❒
 Hardware limit switches ❒
4 Front connector
The front connector must be engaged. ❒
5 Check the shielding of the individual cables. ❒
6 Switch on the voltage supply
Switch the CPU to STOP mode (safer mode). ❒
Switch on the 24 V supply voltage for the auxiliary voltage. ❒

Prepare for programming

Set up the necessary blocks in your project if you wish to access the module via the user
program.

Step Action ✓
1 In the SIMATIC Manager, select the library FMx51LIB (File > Open > Libraries). ❒
2 From the program folder FM 351 ABS V2, copy the FC 0 function and the FB 1 block to the blocks ❒
folder.
3 Create a channel DB from the template UDT 1 for each channel and enter the channel number. ❒
4 If you want to use a programmed diagnostic evaluation, copy FB 2 and create a diagnostic DB for each ❒
module.
5 If you wish to read or write machine data and increment tables in the user program, you require UDT 3 ❒
in order to create a parameter DB for each channel.

FM 351 positioning module

56 Operating Instructions, 05/2011, A5E01092700-02
Commissioning the FM 351

Parameter assignment via the configuration software

If you would like to recommission the module, you can assign parameters for this using the
parameter assignment screens of the configuration software.

Step Action ✓
1 Select the line in the subrack with the module FM 351. ❒
2 Now double-click to call the parameter assignment screens for the FM 351. ❒
3 You can change the following settings under File > Properties: ❒
 General

You can change the names and enter a comment.

 Addresses

If you change the start address, you must also change the end address.
Note the module address that you are shown.
 Basic parameters

You can set the type of alarm.

4 Set the respective parameters in the dialog screens Drive, Axis, Encoder and Increments. ❒
5 You can create your channels under Edit > Create channel. ❒
6 Save the parameter assignment with File > Save. ❒
7 Close the parameter assignment screens with File > End. ❒
8 Save the hardware configuration in HW Config with Station > Save and compile. ❒
9 Create an online connection to the CPU and download the hardware configuration to the CPU. In doing ❒
so, the parameter assignment data is transferred to the FM 351.

Debug and commissioning

You can use the parameter assignment screens of the configuration software to test your
entries and changes made so far.

Step Action ✓
1 Use the screens Debug > Commissioning, Debug > Error evaluation and Debug > Service to test your ❒
data for commissioning.
2 You can change any incorrect machine data in the Debug > Commissioning screen. These changes ❒
will be valid until the next transition of the CPU from STOP to RUN.
3 You can save the corrected machine data in the CPU by repeating steps 6 to 9 of the previous ❒
sequence.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 57
Commissioning the FM 351

Test steps for modes, jobs and function switches

Use the following tests to check the correct parameter assignment of the FM 351.

Step Action ✓
1 Synchronize the axis ❒
 Incremental encoder  Absolute encoder ❒
– Select "Set reference point". To do this enter – In principle, the FM 351 should be
the required value (refer to the section synchronized immediately after the
entitled "Configuring set reference point parameter assignment.
(Page 119)"). – Perform an the absolute adjustment
or (refer to the section entitled "Determining
the absolute encoder adjustment
– Select the "reference point approach" mode (Page 82)").
(refer to the section entitled "Configuring the
reference point approach mode
(Page 103)").
Check the actual status of the axis. The physical position must match the value output on the display. ❒
2 Select Jog mode. ❒
 Check the correct interconnection of the outputs (control mode) and the actual value. ❒
– Traverse in creep speed in the plus and minus direction.
– Traverse in rapid traverse in the plus and minus direction.

 Check the encoder resolution (refer to the section entitled "Resolution (Page 85)"). ❒
– Traverse the drive a defined distance in a defined direction.
The actual traversing distance must agree with the value indicated in the Debug >
Commissioning screen.
3 Select Incremental approach mode
 absolute with increment number 255
– Check the process with the defined increment dimension ❒
– and use the increment 255 to check the changeover and switch-off differences against the ❒
circumstances of your system.
4 Test the other function switches and jobs in accordance with your application cases ❒
 e.g., loop approach, set actual value

Note
If you are using the FM 351 on PROFIBUS DP, the CPU must be in RUN mode for testing
and commissioning. Otherwise you will not be able to control the FM 351.

Note
If, in the commissioning screen, you set the drive enable while the CPU is in STOP mode,
and then exit all the parameter assignment screens, the drive enable will be cancelled.

FM 351 positioning module

58 Operating Instructions, 05/2011, A5E01092700-02
Commissioning the FM 351

Preparing channel DB

Step Action ✓
1 Open the channel DB. ❒
2 Check the following entries:
 the module address in the MOD_ADDR parameter (refer to the section entitled Basics of ❒
programming a positioning module (Page 36))
 the channel number in the CH_NO parameter ❒
 if applicable, the number of the parameter DB in the PARADBNO parameter ❒
3 Save the channel DB (File > Save). ❒

Preparing the diagnostic DB

Step Action ✓
1 Open the diagnostic DB. ❒
2 Make sure that the module address is entered in the MOD_ADDR parameter (refer to the section ❒
entitled Basics of programming a positioning module (Page 36)).
3 Save the diagnostic DB (File > Save). ❒

Integrating blocks

Step Action ✓
1 Integrate the required functions and blocks in your user program. ❒

Downloading blocks to the CPU

Step Action ✓
1 In the SIMATIC Manager, select the blocks and then download them with Target system > Download ❒
to the CPU.

Proceed as follows to change machine data using the user program:
1. Enter the new values in the parameter DB.
2. Set the trigger bits in the channel DB for the jobs:
– Write machine data (MDWR_EN)
– Enable machine data (MD_EN)
3. Call the FB ABS_CTRL block in the cyclic user program.
If you set the trigger bits for these jobs all at once, the FB ABS_CTRL makes sure the jobs
are processed in the correct order.
Otherwise change the machine data always in the following sequence:
● Write machine data
● Enable machine data
Reading machine data
In order to read the current machine data from a channel, proceed as follows:
1. Set the following trigger bit in the channel DB:
– Read machine data (MDRD_EN)
2. Call the FB ABS_CTRL block in the cyclic user program.
The current machine data is then stored in the parameter DB on the CPU.

Choosing a system of units

In the configuration software of the positioning module, for the input and output of the data
you can select from the following systems of units:
● mm (default)
● inch
● degrees

Note
If you change the system of units in the parameter assignment screens under STEP 7,
the values are converted into the new system. This may lead to rounding errors.
If you change the system of units programmed via the jobs "Write machine data" and
"Enable machine data", the values will not be automatically converted.

System of units in the parameter DB

Address Name Type Initial value Comment

8.0 UNITS DINT L#1 System of units
1 = 10-3 mm
2 = 10-4 inch
3 = 10-4 degrees
4 = 10-2 degrees
6 = 10-3 degrees

Standard system of units

In this manual we will always use the mm system of units to specify the Limits. To determine
the limits in the other systems of units, carry out the following conversion:

To convert from you calculate

mm → inch Limit (inch) = limit (mm) × 0.1 1)
mm → 10-4 (4 decimal places) Limit (degrees) = limit (mm) × 0.1
degrees 10-3 (3 decimal places) Limit (degrees) = limit (mm) × 1
10-2 (2 decimal places) Limit (degrees) = limit (mm) × 10
1) The number of decimal places affects the number of pre-decimal places for the maximum value.
Four decimal places are used in the "inch" system of units, which means the maximum entry your
can make is 100,000.0000 inch. The "millimeter" system of units uses three decimal places, which
means the maximum entry you can make is 1,000,000.000 mm.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 65
Machine data and increments
8.2 System of units

Connection between increments and system of units

The encoder signals of a connected encoder will be evaluated by the positioning module and
converted into the current system of units. The resolution is used for the conversion (refer to
the section entitled "Resolution (Page 85)").
If the positioning module
● has counted 10 increments and
● a resolution of 100 µm per increment is assigned in the encoder data,
this means that the axis will be moved by a distance of 1 mm.

FM 351 positioning module

66 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.3 Machine data of the drive

8.3 Machine data of the drive

Drive data

Address Name Type Initial value Comment

92.0 CTRL_TYPE DINT L#1 Control mode:
The control mode describes how the 4 digital outputs
for each channel of a connected motor are operated
via the power supply.
x stands for channel 1 and 2
Control mode 1
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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 67
Machine data and increments
8.3 Machine data of the drive

Address Name Type Initial value Comment

Control mode 3
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FM 351 positioning module

68 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.3 Machine data of the drive

Table 8- 1 Table with states of the 4 outputs for each control mode, x stands for channel 1 and 2

Control mode 1 Rapid traverse Creep speed PR

Position reached
+ direction - direction + direction - direction
stop
xQ0 1 1 0 0 -
xQ1 0 0 1 1 -
xQ2 1 0 1 0 -
xQ3 0 1 0 1 -
Control mode 2
xQ0 1 1 0 0 0
xQ1 0 0 0 0 1
xQ2 1 0 1 0 0
xQ3 0 1 0 1 0
Control mode 3
xQ0 1 1 0 0 -
xQ1 1 1 1 1 -
xQ2 1 0 1 0 -
xQ3 0 1 0 1 -
Control mode 4
xQ0 1 0 0 0 -
xQ1 1 0 1 0 -
xQ2 0 1 0 0 -
xQ3 0 1 0 1 -

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 69
Machine data and increments
8.3 Machine data of the drive

Address Name Type Initial value Comment

100.0 CHGDIF_P DINT L#5000 Changeover difference plus
104.0 CHGDIF_M DINT L#5000 Changeover difference minus
108.0 CUTDIF_P DINT L#2000 Switch-off difference plus
112.0 CUTDIF_M DINT L#2000 Switch-off difference minus
Range:
 1 µm to 1 000 000 000 µm at
resolution ≥ 1 µm/pulse
 1 µm to 100 000 000 µm at
resolution < 1 µm/pulse
The "changeover difference" defines the changeover point at which the drive changes over from rapid traverse to creep
speed.
The "switch-off difference" defines the switch-off point at which the drive (creep speed) is switched off. As of this point the
FM 351 takes over the monitoring functions.
The values apply to all targets that the FM 351 approaches, with the exception of increment 255.
Rules
 The values for the plus and minus direction can be different.
 The changeover difference must be greater than the switch-off difference.
 The changeover difference must lie within the operating range.
 The changeover difference must be less than the end of rotary axis.
 The switch-off difference must be greater than half the target range.
 Select a sufficient distance between the changeover point and the switch-off point to ensure that the drive can safely
switch from rapid traverse to creep speed.
 Select the distance between the switch-off point and the target to ensure that the drive comes to a standstill within the
target range.
 The changeover point, the switch-off point, and the start of the target range must be separated from each other by at
least 8 ms.
Further information on the arrangement of ranges can be found in the section entitled "Auto-Hotspot".

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① Operating range

②③ Changeover difference plus/minus

④⑤ Switch-off difference plus/minus

⑥ Standstill range

⑦ Target range

FM 351 positioning module

70 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.3 Machine data of the drive

Address Name Type Initial value Comment

⑧ Changeover point

 Rotary axis

Greater than or equal to 0 and smaller than the value "end of rotary axis" (0 ≤ reference point coordinates < "end of
rotary axis").

FM 351 positioning module

74 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.4 Axis machine data

Address Name Type Initial value Comment

52.0 REFPT_TYPE DINT L#0 Type of reference point approach:
Areas:
0 = plus, reference point switch in direction +
1 = plus, reference point switch in direction -
2 = minus, reference point switch in direction +
3 = minus, reference point switch in direction -
With Type of reference point approach you determine the conditions for the synchronization of the axes.
 The first specification defines the start direction in which the reference point approach is starting.
 The second specification defines the location of the zero mark, which leads to synchronization, as far as the reference
point switch is concerned.
The application of this data is described in the section entitled "Configuring the reference point approach mode
(Page 103)".

Address Name Type Initial value Comment

8.6 Determining the absolute encoder adjustment

Definition
The absolute encoder adjustment and the reference point coordinate is used to explicitly
map the encoder's value range to the coordinate system of the axis.

Determining the correct absolute encoder adjustment

After the first configuration further steps must be taken to ensure that a correct relationship is
created between the encoder and coordinate system. The order of events is shown using the
parameter assignment screens.
1. Traverse the axis to a defined, reproducible point to which a unique coordinate is
assigned.
This could, for example, be the "software limit switch end".
2. Call the job "Set reference point" with the coordinate of the point defined under 1.
The positioning module now determines an encoder value for the reference point
coordinate entered in the channel DB (REFPT in channel DB), namely the absolute
encoder adjustment. You can read out this value in the service screen of the parameter
assignment interface.
3. Enter the value read out from the service screen in the "Absolute encoder adjustment"
field on the "Axis" tab of the parameter assignment interface.
4. Save your parameter assignment to the corresponding parameter DB using the export
function.
5. Close the parameter assignment interface by selecting Save and Exit.
6. Download the data in HW Config to the CPU.
7. Restart the CPU (cold restart) to apply the data.

Note
You perform this adjustment just once during the commissioning. After a configuration,
the position module is synchronized during start-up as soon as a complete, faultless
message frame of the encoder is received after start-up.

FM 351 positioning module

82 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.6 Determining the absolute encoder adjustment

Data in the parameter DB

Address Name Type Initial value Comment

44.0 REFPT DINT L#0 Reference point coordinate
Range:
 -1 000 000 000 µm to 1 000 000 000 µm at
resolution ≥1 µm/pulse
 -100 000 000 µm to 100 000 000 µm at
resolution < 1 µm/pulse
48.0 ENC_ADJ DINT L#0 Absolute encoder adjustment:
Range: 0 to (225-1)

Example of an absolute encoder adjustment

The following assumptions apply to the example:
● Reference point coordinate = -125 mm
● Operating range from SSW_STRT = -1000 mm to SSW_END = 1000 mm
● Absolute encoder adjustment = 0
● Encoder range = 2048 increments with a resolution of 1 mm/pulse
● The absolute encoder used cannot be adjusted mechanically with precision and it also is
not possible to set the encoder value specifically.

Example of an absolute encoder adjustment

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1) Assignment of the coordinate system to the encoder values with the specified absolute encoder
adjustment. The encoder value 0 corresponds to the actual value -125.
2) Desired classification of the coordinate system to the encoder. At this position the coordinate
should be -125.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 83
Machine data and increments
8.6 Determining the absolute encoder adjustment

Result in accordance with "Set reference point"

After "Set reference point" the relationship looks as follows:
The reference point coordinate on the axis (-125) is assigned to the encoder value (1798)
determined from the absolute encoder adjustment.

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The encoder supplies 2048 unique values. The operating range is established by the
software limit switches. Because of the selected resolution of 1 mm per pulse, the encoder
however can cover a greater operating range than the one provided by the software limit
switches.
With the set resolution, the operating range is already covered with 2001 values. Therefore,
in the example, 47 pulses "remain" and these are symmetrically positioned around the
operating range.

Otherwise: Mechanical adjustment of the encoder

A correct relationship between the coordinate system and the encoder can be achieved as
follows:
1. Traverse the axis to a reproducible position (e.g., the software limit switch start).
2. Enter this coordinate value in the machine data as the reference point coordinate.
3. Read the encoder value shown at this position from the service screen of the
configuration software.
4. Enter this value in the machine data as the absolute encoder adjustment.
After the parameter assignment a correct actual value will always be shown.
Instead of steps 3 and 4, you can also set the encoder to zero via "Reset", if available, and
enter the value "0" in the machine data as the absolute encoder adjustment.

FM 351 positioning module

84 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.7 Resolution

8.7 Resolution

Definition
The resolution indicates the traversing distance corresponding to one pulse. It is a
measurement for the precision of the positioning and also determines the possible maximum
traversing range of the positioning module.
The resolution (RES) can be calculated as in the following table:

Incremental encoder Absolute encoder

Input values  Distance per encoder revolution  Distance per encoder revolution
 Increments per encoder revolution:  Increments per encoder revolution:
– Pulse evaluation: 4x – 1 increment = 1 pulse
– 1 increment = 4 pulses
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All position information is rounded up to the integral multiple of the resolution. This way the
entered values differentiate from the used values.

Range of values of the resolution

The chosen system of units determines the range of values of the resolution:

System of Information in ... Range of values of the resolution

units
mm 10-3 mm 0,1∙10-3 .... 1000*10-3 mm/pulse
inch 10-4 inch 0,1∙10-4 .... 1000*10-4 inch/pulse
degrees 10-4 degrees 0,1∙10-4 .... 1000*10-4 degrees/pulse
10-3 degrees 0,1∙10-3 .... 1000*10-3 degrees/pulse
10-2 degrees 0,1∙10-2 .... 1000*10-2 degrees/pulse

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 85
Machine data and increments
8.7 Resolution

Example
● An incremental encoder has the following data:
– Increments per encoder revolution: 5000
– Distance per encoder revolution: 1000 mm
– 1 increment = 4 pulses
This results in the resolution (4 x evaluation):
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– Distance per encoder revolution: 1000 mm
– 1 increment = 1 pulse
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Relationship between the traversing range and resolution

The traversing range is restricted by the numerical representation in the position module.
This numerical representation varies depending on the resolution. You should thus make
sure that your specifications are always within the permitted limits.
The maximum traversing range is illustrated in the following table:

Resolution (RES) lies in the range Maximum traversing range

0,1 µm/pulse ≤ RES < 1 µm/pulse -108 µm to 108 µm (-100 m to +100 m)
1 µm/pulse ≤ AUFL ≤ 1000 µm/pulse -1 09 µm to 109 µm (-1000 m to +1000 m)

FM 351 positioning module

86 Operating Instructions, 05/2011, A5E01092700-02
Machine data and increments
8.8 Increments

8.8 Increments

8.8.1 Increments

Definition
Increments are target specifications that can be controlled by the positioning module with the
relative/absolute incremental approach mode.

Prerequisites for increments

The target that is to be approached must be at a distance in front of the respective software
limit switch of at least one-half the target range.

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 87
Machine data and increments
8.8 Increments

8.8.2 Increment number 1 to 100

Increment number 1 to 100

You have the option of entering up to 100 increments in a table. These are valid both for the
relative incremental approach as well as for the absolute incremental approach.
Note that the positioning module does not permit negative values for the relative incremental
approach. The values will be interpreted by the positioning module - depending on the
direction of movement - as either a positive or a negative difference.

Operating Instructions, 05/2011, A5E01092700-02 93
Operating modes and jobs
9.1 End of a positioning

● Target range (TRG_RANGE) > 0

● Standstill velocity (ZSPEED_L) = 0
● Monitoring time (MON_TIME) > 0
PR is generated when the target range has been reached.
PR is not generated if the actual value does not reach the target range within the
monitoring time.

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Scenario 3: You have assigned:

FM 351 positioning module

94 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.1 End of a positioning

● Target range (TRG_RANGE) = 0

● Standstill velocity (ZSPEED_L) > 0
● Monitoring time (MON_TIME) > 0
PR is generated if the velocity falls below the standstill velocity and the target is then
reached.
PR is not generated if the actual value has not reached the target within the monitoring
time or the target range has been overrun without the velocity falling below the standstill
velocity.

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Scenario 4: You have assigned:

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 95
Operating modes and jobs
9.1 End of a positioning

● Target range (TRG_RANGE) = 0

● Standstill velocity (ZSPEED_L) = 0
● Monitoring time (MON_TIME) > 0
PR is generated when the target has been reached.
PR is not generated if the actual value does not reach the target within the monitoring
time.

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Scenario 5: You have assigned:

● Target range (TRG_RANGE) ≥ 0
● Standstill velocity (ZSPEED_L) ≥ 0
● Monitoring time (MON_TIME) = 0
If, in this case, the positioning comes to a standstill before the target range, the end of the
positioning is not detected. PR is not generated and the checkback signal WORKING
remains set. You can cancel the positioning only by deleting the drive enable
(DRV_EN = 0).

FM 351 positioning module

96 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.1 End of a positioning

Shutdown without specified target

Shutdown means: the positioning operation is terminated in a controlled manner, complying
with the differences of rapid traverse via creep speed.
The positioning is shut down, if
● the FM 351 receives a STOP signal (STOP = 1)
● The "Jog" and "Reference point approach" modes are terminated
● there is an operator error
The "PR (POS_RCD)" checkback signal is not set. The sequences are analogous to target
approach.

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 97
Operating modes and jobs
9.1 End of a positioning

Cancel
Cancel means: the positioning is immediately ended without using the changeover difference
and switch-off difference from rapid traverse or creep speed to standstill. In addition, all the
relevant outputs of the respective control mode are immediately switched off and also:
● Increment = actual value
● Distance-to-go = zero
The positioning is canceled if
● The drive enable signal is deleted (DRV_EN=0)
● The CPU goes to STOP
● Diagnostic error or any operating error except the "Target overrun" operating error (error
number 9) occurred
The "PR (POS_RCD)" checkback signal is not set in "Incremental approach" mode.
If the standstill velocity is assigned, the standstill monitoring will become active as soon as
the velocity falls below the standstill velocity. If the standstill velocity is not assigned, the
standstill monitoring will be active once the outputs have been switched off.

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Data used in the parameter DB

Address Name Type Initial value Comment

76.0 TRG_RANGE DINT L#1000 Target range
80.0 MON_TIME DINT L#2000 Monitoring time
84.0 ZSPEED_R DINT L#1000 Standstill range
88.0 ZSPEED_L DINT L#30000 Standstill velocity

Checkback signal in the channel DB

Address Name Type Initial value Comment

23.1 WORKING BOOL FALSE 1 = Positioning running (processing running)
25.7 POS_RCD BOOL FALSE 1 = Position reached

FM 351 positioning module

98 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.2 Configured the "Jog" mode

9.2 Configured the "Jog" mode

Definition
In "Jog" mode you can move the drive in one direction at the press of a button. You must
install a button for both directions (plus and minus) respectively. You can use "Jog" mode for
both synchronized and non-synchronized axes.
For a non-synchronized axis, jogging involves a positioning in the specified direction.
For a synchronized axis (linear axis), jogging involves a positioning to the software limit
switches.

Requirement
The axis parameters must be assigned.

Sequence of "Jog" mode

1. Set the control signal for "Jog" mode (MODE_IN=1).
2. Set the control signal for the drive enable (DRV_EN=1).
3. Set the function switch for "Do not evaluate enable input" (EI_OFF=1) or wire the enable
input for the corresponding channel.
4. Enter the start velocity.
– Rapid traverse (MODE_TYPE=1)
– Creep speed (MODE_TYPE=0)

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 99
Operating modes and jobs
9.2 Configured the "Jog" mode

5. Set the control signal for the plus or minus traversing direction (DIR_P=1 or DIR_M=1).
6. Call the FB ABS_CTRL.

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Data used in the channel DB

Address Name Type Initial value Comment

15.2 DIR_M BOOL FALSE 1 = Minus direction
15.3 DIR_P BOOL FALSE 1 = Plus direction
15.7 DRV_EN BOOL FALSE 1 = Switch on drive enable
16.0 MODE_IN BYTE B#16#0 1 = jog
17.0 MODE_TYPE BYTE B#16#0 1 = rapid traverse
0 = creep speed
23.0 ST_ENBLD BOOL FALSE 1 = Start enabled
23.1 WORKING BOOL FALSE 1 = Positioning running (processing running)
23.2 WAIT_EI BOOL FALSE 1 = axis waiting for external enable
34.2 EI_OFF BOOL FALSE 1 = Do not evaluate enable input

FM 351 positioning module

100 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.2 Configured the "Jog" mode

Shutdown of jogging
"Jog" mode is shut down, if
● You release the button used for jogging (DIR_M or DIR_P=0)
● The FM 351 receives a STOP signal (STOP = 1)
● The actual value reaches the limit of the operating range for a synchronized linear axis
The axis can only continue moving in the opposite direction.
After traversing is shut down, it can continue in any direction.

Canceling jogging
"Jog" mode is canceled, if
● the drive enable signal is deleted (DRV_EN=0)
● a traversing range limit for a linear axis has been overrun

Monitoring
In jog mode, the following monitoring functions are not active at the end of the positioning:
● Monitoring of standstill range
● Monitoring of target range
● Monitoring of standstill velocity
This operation does not result in proper positioning after which the "Position reached" signal
is set.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 101
Operating modes and jobs
9.2 Configured the "Jog" mode

Operating range limit for a linear axis

The limits for "Jog" mode differ between a synchronized and an unsynchronized axis.

Table 9- 1 Jogging with a synchronized and an unsynchronized axis

Axis is not synchronized Axis is synchronized

If, when jogging, the traversing range limit is overrun, Jogging is a positioning on a target that is located the whole
target range away from the software limit switches.
 the actual value indicated is no longer valid.
The operating range limits are determined from:
 the positioning is aborted.
 SLE 1/2 target range for the end of the linear axis in plus
direction
P  SLE + 1/2 target range for the end of the linear axis in
minus direction
If you do not open the button beforehand, the FM 351 shuts
down at a target point that is positioned half the target range
away from the respective software limit switch. The FM 351
sets all the ranges necessary for the correct shutdown
around this target point
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The actual value display is no longer valid

= Part of operating range in which a target position

cannot be located
① = Changeover difference plus
② = Switch-off difference plus
③ = 1/2 target range

FM 351 positioning module

102 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.3 Configuring the reference point approach mode

9.3 Configuring the reference point approach mode

Definition
In "Reference point approach" mode you can synchronize the axes on account of a
repeating external event.

Requirements
● An incremental encoder with zero mark.
● The axis parameters must be assigned.

Connections Channel 1 Channel 2

Reference point switch Digital input 1I0 Digital input 2I0
The reference point switch should be provided such that the drive can
safely brake from rapid traverse to creep speed in the range of the
switch.
Reversing switch Digital input 1I1 Digital input 2I1
When assigning parameters, ensure that the start of the reference point
approach is assigned in the direction of the reversing switch. Only in this
way can you guarantee that the reference point switch will always be
found.
Enable input Digital input 1I2 Digital input 2I2

Sequence of "Reference point approach" mode

The buttons for the positive and negative traversing direction must be installed for each
channel.
1. Enter the value of the reference point coordinate in the parameter DB (REFPT).
2. Enter the type of "Reference point approach" in the parameter DB.
The following options are available:

Start in direction ... That leads to synchronization ...

plus First zero mark after exiting the reference point REFPT_TYPE=0
switch in plus direction
plus First zero mark after exiting the reference point REFPT_TYPE=1
switch in minus direction
minus First zero mark after exiting the reference point REFPT_TYPE=2
switch in plus direction
minus First zero mark after exiting the reference point REFPT_TYPE=3
switch in minus direction

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 103
Operating modes and jobs
9.3 Configuring the reference point approach mode

3. Enter the start velocity.

– Rapid traverse (REFPT_SPD=0)
– Creep speed (REFPT_SPD=1)
4. Write and enable the machine data.
5. Set the control signal for "Reference point approach" mode (MODE_IN=3).
6. Set the control signal for the drive enable (DRV_EN=1).
7. Set the function switch for "Do not evaluate enable input" (EI_OFF=1) or wire the enable
input for the corresponding channel.
8. Set the control signal for the plus or minus traversing direction (DIR_P=1, DIR_M=1 or
START=1)
9. Call the FB ABS_CTRL.

Table 9- 2 Start command for a reference point approach

Start Task Comment

command
DIR_P The drive starts in the direction of positive If a negative direction is entered in the
values. It therefore moves in the direction machine data, the FM 351 issues an
of the traversing range end. operator error. No reference point
approach is carried out.
DIR_M The drive starts in the direction of If a positive direction is entered in the
negative values. It therefore moves in the machine data, the FM 351 issues an
direction of the traversing range start. operator error. No reference point
approach is carried out.
START The drive starts in the direction that was
entered in the machine data.

Note
The following applies to the rotary axis: Reproducibility of the reference point is only ensured
if the ratio of the End of rotary axis value and the Distance per encoder revolution value is an
integer.

FM 351 positioning module

104 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.3 Configuring the reference point approach mode

Example for "Reference point approach" mode

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* The start signals are reset by the FB ABS_CTRL.

Data used in the channel DB

Address Name Type Initial value Comment

15.0 START BOOL FALSE 1 = start positioning
15.2 DIR_M BOOL FALSE 1 = Minus direction
15.3 DIR_P BOOL FALSE 1 = Plus direction
15.7 DRV_EN BOOL FALSE 1 = Switch on drive enable
16.0 MODE_IN BYTE B#16#0 3 = reference point approach
23.0 ST_ENBLD BOOL FALSE 1 = Start enabled
23.1 WORKING BOOL FALSE 1 = Positioning running (processing running)
23.2 WAIT_EI BOOL FALSE 1 = axis waiting for external enable
25.0 SYNC BOOL FALSE 1 = axis is synchronized
34.2 EI_OFF BOOL FALSE 1 = Do not evaluate enable input

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 105
Operating modes and jobs
9.3 Configuring the reference point approach mode

Data used in the parameter DB

Address Name Type Initial value Comment

44.0 REFPT DINT L#0 Reference point coordinate
52.0 REFPT_TYPE DINT L#0 Type of reference point approach
99.0 REFPT_SPD BOOL TRUE Start velocity for the reference point approach
0 = rapid traverse
1 = creep speed

Effects of operating mode

● Synchronization is canceled when traversing starts.
● The actual position is set to the value of the reference point coordinate when the "SYNC"
checkback signal is set.
● The operating range is specified on the axis.
● The individual points within the operating range maintain their original value, but have
new physical positions.

Canceling the reference point approach

"Reference point approach" mode is canceled, if
● the drive enable signal is deleted (DRV_EN=0)
● a traversing range limit for a linear axis has been overrun

Reference point approach in dependence on the start position

For a reference point approach you must distinguish between various scenarios that depend
on the following:
● Location of the drive at the time a reference point approach is started
● Assigned start direction
● Assigned location of the zero mark relative to the reference point switch
The cases for REFPT_TYPE 0 and 1 are explained in the following table. The figures apply
analogously to REFPT_TYPE 2 and 3.

FM 351 positioning module

106 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.3 Configuring the reference point approach mode

Table 9- 3 Possibilities of a reference point approach

Conditions for reference point approach Sequence of reference point approach

Example of reference point approach (REFPT_TYPE=0):
 Start direction is plus. 1
 The location of the zero mark of the reference point
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switch is assigned in the plus direction.
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Example of reference point approach (REFPT_TYPE=1):

 Start direction is plus. 1
 The location of the zero mark of the reference point
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The FM 351 interprets the specifications differently, depending on the "incremental
approach" you select.
● Absolute incremental approach:
The increments are interpreted as an absolute target position.
● Relative incremental approach:
The increments are interpreted as a relative distance from the start position.

Note
Only positive increments are permissible for "Relative incremental approach" mode.
The signs of the increments result from the DIR_P and DIR_M direction specifications.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 109
Operating modes and jobs
9.4 Configuring the increment drive mode

Sequence of "incremental approach" mode with increment number 1 - 100

Step Absolute incremental approach Relative incremental approach

Increment number 1 - 100
1 Set the control signal for "Absolute Set the control signal for "Relative incremental
incremental approach" mode approach" mode (MODE_IN=4).
(MODE_IN=5).
2 Enter the increments in the tables (TRGL1; TRGL2).
3 Write the increment tables (TRGL1/2WR_EN=1).
4 Set the control signal for the drive enable (DRV_EN=1).
5 Set the function switch for "Do not evaluate enable input" (EI_OFF=1) or wire the enable
input for the corresponding channel.
6 Enter the increment number (MODE_TYPE=1...100).
7 Set the control signal: Set the control signal:
 Linear axis:  Linear axis:
– START; the direction is – DIR_P; start in plus direction
determined explicitly by the – DIR_M; start in minus direction
target and the current actual
value.  Rotary axis:
– DIR_P; start in plus direction
 Rotary axis:
– DIR_M; start in minus direction
– START; the target is approached
on the shortest path.
– DIR_P; start in plus direction
– DIR_M; start in minus direction
8 Call the FB ABS_CTRL.
Steps 2 and 3 are only required if no increments are given or the existing increments are to be
changed.

FM 351 positioning module

110 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.4 Configuring the increment drive mode

Sequence of "incremental approach" mode with increment number 254

Step Absolute incremental approach Relative incremental approach

Increment number 254
1 Set the control signal for "Absolute Set the control signal for "Relative incremental
incremental approach" mode approach" mode (MODE_IN=4).
(MODE_IN=5).
2 Set the control signal for the drive enable (DRV_EN=1).
3 Set the function switch for "Do not evaluate enable input" (EI_OFF=1) or wire the enable
input for the corresponding channel.
4 Enter the increment number (MODE_TYPE=254).
5 Enter the increment for the increment number 254 (TRG252_254).
6 Set the trigger bit for writing the increment (TRG252_254_EN=1).
7 Set the control signal: Set the control signal:
 Linear axis:  Linear axis:
– START; the direction is – DIR_P; start in plus direction
determined explicitly by the – DIR_M; start in minus direction
target and the current actual
value.  Rotary axis:
– DIR_P; start in plus direction
 Rotary axis:
– DIR_M; start in minus direction
– START; the target is approached
on the shortest path.
– DIR_P; start in plus direction
– DIR_M; start in minus direction
8 Call the FB ABS_CTRL.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 111
Operating modes and jobs
9.4 Configuring the increment drive mode

Sequence of "incremental approach" mode with increment number 255

Step Absolute incremental approach Relative incremental approach

Increment number 255
1 Set the control signal for "Absolute Set the control signal for "Relative incremental
incremental approach" mode approach" mode (MODE_IN=4).
(MODE_IN=5).
2 Set the control signal for the drive enable (DRV_EN=1).
3 Set the function switch for "Do not evaluate enable input" (EI_OFF=1) or wire the enable
input for the corresponding channel.
4 Enter the increment number (MODE_TYPE=255).
5 Enter the increment for the increment number 255 (TRG255).
6 Enter the value for the changeover difference of the increment number 255 (CHGDIF255).
7 Enter the value for the switch-off difference of the increment number 255 (CUTDIF255).
8 Set the trigger bit for writing the increment, switch-off difference and changeover
difference (TRG255_EN=1).
9 Set the control signal: Set the control signal:
 Linear axis:  Linear axis:
– START; the direction is – DIR_P; start in plus direction
determined explicitly by the – DIR_M; start in minus direction
target and the current actual
value.  Rotary axis:
– DIR_P; start in plus direction
 Rotary axis:
– DIR_M; start in minus direction
– START; the target is approached
on the shortest path.
– DIR_P; start in plus direction
– DIR_M; start in minus direction
10 Call the FB ABS_CTRL.

FM 351 positioning module

112 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.4 Configuring the increment drive mode

Example for "incremental approach" mode

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116 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.5 Configuring set actual value / cancel set actual value

9.5 Configuring set actual value / cancel set actual value

Definition
The job "Set actual value" assigns a new coordinate to the current encoder state. The
operating range is projected on a different area of the axis.
Ascertain the shift of the operating range with (ACTUALnew -ACTUALcurrent).
● ACTUALnew is the default value
● ACTUALcurrent is the actual value at the time of the execution

Requirements
● The axis parameters must be assigned.
● The axis must be synchronized.

Job sequence
1. Enter the coordinate AVAL for the actual value (ACTUALnew).
– Linear axis:
You must select the specified actual value such that the software limit switches are
still within the permissible traversing range after the job is called.
The absolute value of the shift resulting from (ACTUALnew - ACTUALcurrent) must be
less than or equal to the absolute value of the permitted traversing range (max. 100 m
or 1000 m).
– Rotary axis:
Rule for the defined actual value:
0 ≤ actual value < end of rotary axis
2. Set the respective trigger bit (AVAL_EN=1).
If issued during a positioning, the "set actual value" job is held back until the end of the
positioning, and it is carried out only after the subsequence call of the block.

Data used in the channel DB

Address Name Type Initial value Comment

35.7 AVAL_EN BOOL FALSE 1 = set actual value
84.0 AVAL DINT L#0 Coordinate for "Set actual value"

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 117
Operating modes and jobs
9.5 Configuring set actual value / cancel set actual value

Effects of the job

In the example "set actual value " to 300 mm, you can see how this job projects the
operating range onto a certain position of the axis. This has the following results:
● The actual position is set to the value of the actual value coordinate.
● The operating range is shifted on the axis.
● The individual points (e.g., software limit switch end) within the operating range maintain
their original value, but have new physical positions.

Table 9- 4 Shifting of the operating range on the axis by means of "set actual value"

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Withdrawing the job (cancel set actual value)

With the job "cancel set actual value" you reset all the operating range shifts that were
created by means of the "set actual value".
The total of all operating range shifts must not exceed the traversing range, so that this job
can be correctly executed.

Data used in the channel DB

Address Name Type Initial value Comment

35.3 AVALREM_EN BOOL FALSE 1 = cancel set actual value

FM 351 positioning module

118 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.6 Configuring set reference point

9.6 Configuring set reference point

Definition
You use the "set reference point" job to synchronize the axes. The job shifts the operating
range. All the shifts that were created with set actual value are retained.
The setting projects the operating range on the axis. Therefore, by entering different values,
the operating range can be moved to any position within the physical area of the axis.

Prerequisites
● The positioning must have ended.
● The axis parameters must be assigned.

Job sequence
1. Enter the value for the reference point coordinate (REFPT).
– Linear axis:
The reference point coordinate must not lie outside of the software limit switches. This
also applies to the reference point coordinate in a shifted coordinate system.
– Rotary axis:
Rule for the reference point coordinate:
0 ≤ reference point coordinate < end of rotary axis
2. Set the respective trigger bit (REFPT_EN).

Data used in the channel DB

Address Name Type Initial value Comment

25.0 SYNC BOOL FALSE 1 = axis is synchronized
35.6 REFPT_EN BOOL FALSE 1 = set reference point
92.0 REFPT DINT L#0 Reference point coordinate

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 119
Operating modes and jobs
9.6 Configuring set reference point

Effects of the job

In the example "set reference point" to 400 mm you can see how this job projects the
operating range onto a specific, physical position of the axis. This has the following results:
● The actual position is set on the value of the reference point coordinate.
● The operating range is shifted on the axis.
● The individual points (e.g. software limit switch end) maintain their original value, but are
located at new positions.
● The SYNC bit in the checkback signals is set.

Table 9- 5 Shift of the operating range on the axis by means of "set reference point"

Set reference point SLS ACTUAL SLE

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Special features of the absolute encoder

Fictitious target
If you start positioning to a target that is located in the direction opposite that of the assigned
loop approach, the FM 351 determines a fictitious target for this target. The FM 351 performs
a direction reversal at the fictitious target and then approaches the target in the proper
direction.
This fictitious target must be located by at least half the target range before the respective
software limit switch.
The distance of the fictitious target from the assigned target is determined depending on the
direction:

Table 9- 6 Calculating the location of the fictitious target with a loop approach

Guidelines Location of fictitious target

Parameter assignment: The fictitious target (targetf) has the value:
Loop + (frictional connection
plus) targetf = target - switch-off difference minus - changeover difference
and traverse in minus plus
direction.
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Parameter assignment: The fictitious target (targetf) has the value:

Loop - (frictional connection
minus) targetf = target + switch-off difference plus + changeover difference
and traverse in plus direction. minus
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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 123
Operating modes and jobs
9.7 Configuring the loop drive

Example
Using a positioning with loop approach minus to a maximum target we can illustrate the
location of the fictitious target.

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① Changeover difference negative

② Switch-off difference positive
③ 1/2 target range

Figure 9-8 Loop approach minus to a maximum target

FM 351 positioning module

124 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.8 Enable input

9.8 Enable input

Definition
The enable input is an external input with which a positioning can be enabled by an external
event.

Evaluating the enable input (EI_OFF=0)

The respective enable input (xI2) must be wired for the channel.
With this you have the possibility of preparing the start of a positioning. Start the positioning,
independently of the program flow of your user program, setting a "1" signal on the enable
input.
The journey begins when you set a "1" signal on the enable input and is shut down when you
set a "0" signal on the enable input.

Do not evaluate enable input (EI_OFF=1)

If you switch off the evaluation of the enable input, an operating mode starts immediately
after the start signal is detected. Then it is not possible to prepare an operating mode and
start it at a defined later time.

Data used in the channel DB

Address Name Type Initial value Comment

34.2 EI_OFF BOOL FALSE 1 = do not evaluate enable input

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 125
Operating modes and jobs
9.9 Read position data

9.9 Read position data

Definition
With the "read position data" job you can read the increment, distance-to-go and speed at
the current time.

Job sequence
1. Set the trigger bit in the channel DB (ACTSPD_EN=1).
2. The data is then stored in the channel DB.

Data used in the channel DB

Address Name Type Initial value Comment

37.1 ACTSPD_EN BOOL FALSE 1 = read position data
112.0 ACTSPD DINT L#0 Current speed
116.0 DIST_TO_GO DINT L#0 Distance-to-go
120.0 ACT_TRG DINT L#0 Current increment

FM 351 positioning module

126 Operating Instructions, 05/2011, A5E01092700-02
Operating modes and jobs
9.10 Read encoder data

9.10 Read encoder data

FM 351 positioning module

130 Operating Instructions, 05/2011, A5E01092700-02
Encoder 10
10.1 Incremental encoder

Connectable incremental encoders

Only incremental encoders with two pulses electrically offset at 90° with or without zero
marks are supported:
● Encoders with asymmetrical output signals with 24 V level
– Limit frequency = 50 kHz
– cable up to 100 m long
● Encoders with symmetrical output signals with 5 V differential interface in accordance
with RS 422
– Limit frequency = 400 kHz
– with 5 V voltage supply: cable up to 32 m long
– with 24 V voltage supply: cable up to 100 m long

Note
If the 5 V encoder does not output a zero mark signal and wire-break monitoring is enabled,
you must interconnect the zero mark signal inputs N and /N externally so that the inputs will
exhibit different signal levels (for example, N to 5V, /N to ground).

Signal forms
The following figure illustrates the signal forms of encoders with asymmetrical and
symmetrical output signals.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 131
Encoder
10.1 Incremental encoder

Table 10- 1 Incremental encoder signal forms

asymmetrical symmetrical

$ $

% %

1 1

Signal evaluation

increments
An increment identifies a signal period of the two signals (A and B) of an encoder. This value
is specified in the technical specifications of an encoder and / or on its ID plate.

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Figure 10-1 Increments and pulses

Pulses
The positioning module evaluates all 4 edges of signals A and B in every increment
(quadruple evaluation).

Pulses
1 increment (encoder specification) = 4 pulses (FM evaluation)

FM 351 positioning module

132 Operating Instructions, 05/2011, A5E01092700-02
Encoder
10.1 Incremental encoder

Response times
The positioning module has the following response times for connected incremental
encoders:

Response times
Response time = switching cycle of the connected switching elements

Note
You can compensate for the minimum response time by assigning the changeover difference
and switch-off difference accordingly.

Indecision
The indecision influences the precision of the positioning. In the case of incremental
encoders the indecision is negligible.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 133
Encoder
10.2 Absolute encoder

10.2 Absolute encoder

Single-turn and multiturn encoders

Absolute encoders are divided into the categories:
● Single-turn encoders
The total range of single-turn encoders is scaled to one revolution.
● Multiturn encoders
The total range of multiturn encoders is scaled to several revolutions.

Connectable absolute encoders

Only absolute encoders with serial interfaces are supported. The transfer of the path
information takes place synchronously on the basis of the SSI protocol (synchronous serial
interface). The FM 351 supports only GRAY code. The data formats 25-bit (fir tree) and 13-
bit (half fir tree) result from the arrangement of the data bits in the message frames.

Encoder type Message frame length

Single-turn encoders 13 bits
Single-turn encoders 25 bits
Multiturn encoders 25 bits

Data Transmission
The baud rate for data transmission depends on the cable length (refer to the appendix
section entitled "Technical specifications (Page 167)").

Pulse evaluation of absolute encoders

1 increment (encoder specification) = 1 pulse (FM evaluation)

FM 351 positioning module

134 Operating Instructions, 05/2011, A5E01092700-02
Encoder
10.2 Absolute encoder

Response times
The FM 351 has the following response times for absolute encoders:

Response times
Minimum response time = message frame time + switching cycle of the connected switching elements
Maximum response time = 2 x message frame time + monoflop time + switching cycle of the connected switching elements
With programmable absolute encoders:
Maximum response time = message frame time + monoflop time + switching cycle of the connected switching elements
+1/max. step sequence frequency

Monoflop time
The monoflop time is 64 µs.
Encoders with values greater than the limits specified here are not permitted.

Message frame times

The message frame times depend on the baud rate:

Baud rate Message frame time with 13 bit Message frame time with 25 bit
0.188 MHz 75 µs 139 µs
0.375 MHz 38 µs 70 µs
0.750 MHz 19 µs 35 µs
1.500 MHz 10 µs 18 µs

Example of response times

This example shows you how to calculate the minimum and maximum response time. The
example does not use a programmable encoder.
● Hardware switching cycle: approx. 150 µs
● Message frame time: 18 µs at 1.5 MHz baud rate (25 Bit message frames)
● Monoflop time: 64 µs
Minimum response time = 18 µs + 150 µs = 168 µs
Maximum response time = 2 x 18 µs + 64 µs + 150 µs = 250 µs

Note
You can compensate for the minimum response time by assigning the changeover and
switch-off differences accordingly.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 135
Encoder
10.2 Absolute encoder

Indecision
The indecision is the difference between the maximum and the minimum response time.
With an absolute encoder this amounts to

Indecision
Indecision = message frame time + monoflop time
With programmable absolute encoders:
Indecision = message frame time + monoflop time + 1/max. step sequence frequency

FM 351 positioning module

136 Operating Instructions, 05/2011, A5E01092700-02
Diagnosis 11
11.1 Possibilities of error display and error evaluation

Information regarding errors

You receive information regarding errors in the following ways:
● Observe the error LEDs on the module.
You can look up the meaning of the error LEDs in the section entitled "Meaning of the
error LEDs (Page 139)".
● Connect your PG with the CPU and open the error evaluation screen of the configuration
software. The current (error) status of the module is shown with the error class, error
number, and in plain text. If necessary, update the display by pressing the "update"
button. Causes and remedies for the displayed error messages can be found in the error
list, in the appendix under "Error classes (Page 189)".
● Provide your user program with a detailed error evaluation (refer to the section entitled
"Error display with OP (Page 140)") or a response to a diagnostic alarm (refer to the
sections entitled "Error display with OP (Page 140)" and "Diagnostics interrupts
(Page 147)").
● For a display in an OP: Read out the diagnostic buffer of the module cyclically in your
user program. Evaluate the diagnostic DB in the OP. The meaning of error class and
error number can be found in the error list, in the appendix under "Error classes
(Page 189)".

Delete diagnostic buffer

In order for you to chronologically organize error messages better, the positioning module
offers the possibility of completely deleting the diagnostic buffer. But this is then only
possible when the positioning has already ended and the channel has been assigned.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 137
Diagnosis
11.2 Types of error

11.2 Types of error

11.2.1 Synchronous errors

Description
These errors occur synchronously to a job or to the start of a positioning. Synchronous errors
are operator errors (error class 2), data errors (error class 4), machine data errors (error
class 5), increment table errors (error class 6) (refer to the appendix for a description of error
classes).

11.2.2 Asynchronous errors

Description
These errors occur during operation on account of external events. They trigger a diagnostic
interrupt. Asynchronous errors are operating errors (error class 1) and diagnostic errors
(error class 128) (refer to the appendix for a description of error classes).

FM 351 positioning module

138 Operating Instructions, 05/2011, A5E01092700-02
Diagnosis
11.3 Meaning of the error LEDs

11.3 Meaning of the error LEDs

Error LEDs
The status and error display shows different error states.

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Figure 11-1 FM 351 status and error displays

Display Meaning Explanations

SF (red) Group errors This LED indicates an error state on the FM 351.
LED - ON Diagnostic interrupt (internal or external (channel) errors)
To remedy the error, refer to the error list, in the appendix under "Error classes
(Page 189)".
CH 1 (red) Channel error 1 These LEDs show a channel error on channel 1 or on channel 2.
CH 2 (red) Channel error 2  Encoder wire break
 Absolute encoder error
 Missing pulses of Incremental encoder
 Operating error
 Parameter assignment error in a parameter assignment from the SDB.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 139
Diagnosis
11.4 Error display with OP

11.4 Error display with OP

Program structure
The following figure shows the "General program structure" of a user program presented in
the section entitled "FB ABS_CTRL (FB 1) (Page 39)", expanded to include the readout of
the diagnostic buffer for display on an OP. The FB ABS_DIAG stores the diagnostic buffer in
a diagnostic DB that can be displayed by the OP.

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FM 351 positioning module

140 Operating Instructions, 05/2011, A5E01092700-02
Diagnosis
11.5 Error evaluation in the user program

11.5 Error evaluation in the user program

Error response in the user program

In the user program you can respond selectively to errors. The following methods can be
used:
● The return value RETVAL of the integrated standard FBs:
this value is ascertained each time the block is called.
RETVAL = -1 is a group display for a synchronous error in a job or when communicating
with the module.
● An error bit _ERR belongs to each job. This is a group display for an error in the job or
one of its predecessors in a job chain:
the error bit is set for a write job and its subsequent jobs when a data error is reported by
the module or a communication error occurs.
With reading jobs the error bit is set for the job in question when a communication error
occurs.
The FB ABS_CTRL resets the error bits once a job has been processed. These should
however be canceled by the user program in the case of an error assessment.
● The checkback signal DATA_ERR as a group display for an error that the module has
detected during a write job. The signal will be established again with the next write job.
● The checkback signal OT_ERR (operator error) as a group display for an error that the
module has detected when starting a traverse. The error must be acknowledged with
OT_ERR_A=1 after the cause has been remedied.
● The checkback signal DIAG is set when the contents of the diagnostic buffer have
changed. This signal can come along later than the signals DATA_ERR and OT_ERR.
● The communication error JOB_ERR includes the error code in the case of a
communication problem between the FB and the module (refer to list of JOB_ERR
messages in the appendix "List of JOB_ERR messages (Page 188)"). The value is
determined again after a job has been processed and is stored in the channel DB for the
FB ABS_CTRL and in the diagnostic DB for the FB ABS_DIAG.
● The FB ABS_DIAG for reading out the diagnostic buffer of the module. Here you can
discover the error causes for synchronous and asynchronous events.
● Diagnostic interrupts for the fast response to events in the diagnostic interrupt OB
(OB 82).

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 141
Diagnosis
11.5 Error evaluation in the user program

In the following figure you will find a possible program structure with which you can respond
to the checkback signals "data error" (DATA_ERR), "operator error" (OT_ERR) and the error
bits of the job (_ERR).

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FM 351 positioning module

142 Operating Instructions, 05/2011, A5E01092700-02
Diagnosis
11.5 Error evaluation in the user program

The following image offers a possible program structure using which you can evaluate all the
errors via the entries in the diagnostic DB. In this way you can respond to the program if one
or more errors are reentered in the diagnostic buffer of the module. Some possible program
responses are listed in the following detailed figures.

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 143
Diagnosis
11.5 Error evaluation in the user program

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FM 351 positioning module

144 Operating Instructions, 05/2011, A5E01092700-02
Diagnosis
11.5 Error evaluation in the user program

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 145
Diagnosis
11.6 Diagnostics buffer of the module

11.6 Diagnostics buffer of the module

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 149
Diagnosis
11.7 Diagnostics interrupts

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Figure 11-9 Possible evaluation of a diagnostic interrupt

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 153
Examples
12.7 Example program 1 "FirstSteps"

12.7 Example program 1 "FirstSteps"

Objective
With this example you can commission your positioning module whose parameters you have
assigned with the aid of "Getting Started".
This example expands the program in the "Linking to the User Program" chapter of the
"Getting Started" by an error evaluation.

Startup
In the startup OB (OB 100) you call the FC ABS_INIT, which resets all the control and
checkback signals as well as the job management in the channel DB.

Cyclic operation
Open the variable table (VAT_CTRL_1), create the connection to the configured CPU and
then monitor the variables. Transfer the prepared control values. Activate the
"CHAN_1".DRV_EN: the drive is now enabled ("CHAN_1".ST_ENBLD=1). If the drive is not
enabled, please check your enable inputs.

CAUTION

Start the drive by means of the two next steps.

You can stop the drive again by using one of the following measures:
 Reset the control value for the direction to 0 and activate
 Reset the control value for the drive enable to 0 and activate
 Bring the CPU to STOP

158 Operating Instructions, 05/2011, A5E01092700-02
Examples
12.9 Example program 3 "AllFunctions"

Operation
The CPU is in STOP. Open the variable table USER_VAT and enter the necessary job
number in the control values for your user program. The job numbers are explained in the
code of the example.
In doing so, the correct combination of user data "USER_DB".CTRL_SIG,
"USER_DB".FUNC_SW, "USER_DB".WR_JOBS, "USER_DB".RD_JOBS and
"USER_DB".RETVAL_CTRL is necessary.
For more information, refer to the section entitled "Operating modes and jobs (Page 91)".
Create the connection to the configured CPU and transfer and activate the control values.
Start the CPU (STOP > RUN). Monitor the checkback signals and actual values.
You can repeat the processing of the step chain by means of a new STOP RUN transition of
the CPU. Obviously, this action is not suitable for continuous operation. In the example we
use this action so that the module is always reinitialized.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 159
Examples
12.10 Example program 4 "OneChannel"

12.10 Example program 4 "OneChannel"

Objective
In this example you control a drive by means of the user program. The user program
commissions the module after a CPU restart. Next, it executes a step sequence that is
triggered by certain events.
Using the variable tables, you define events, monitor the reactions of the module, and
evaluate the diagnostic buffer.
In this slightly more complex example, you can get to know the following block possibilities:
● Issuing several jobs simultaneously
● Mixing write and read jobs
● Reading with a continuous job, without waiting for the end of the job
● Evaluation of the checkback signals of the block
● Evaluation of the checkback signals for an individual job
● Resetting of done bits and error bits for individual jobs or all jobs
● Central call of ABS_CTRL at the end of the user program

Startup
In the startup OB (OB 100) you set the startup identifier (step 0) for the user program in the
associated instance DB (USER_DB).

FM 351 positioning module

160 Operating Instructions, 05/2011, A5E01092700-02
Examples
12.10 Example program 4 "OneChannel"

Operation
The CPU is in STOP. Open the variable table USER_VAT, adapt the increment
("USER_DB".TRG_INC_1, "USER_DB".TRG_INC_2), the changeover difference
("USER_DB".CHGDIF) and the switch-off difference ("USER_DB".CUTDIF) to your system
and transfer the control values.
Start the CPU (STOP > RUN). Observe the step number of the step chain
("USER_DB".STEPNO), the checkback signals and the actual values. After the initialization
a "relative incremental approach" is carried out. The drive travels in a negative direction to its
first position ("USER_DB".TRG_INC_1).
Then the program waits in step 6 for an external trigger ("USER_DB".START_INC_2), in
order to commence the next incremental approach in direction plus. When the position is
reached, the step chain is at its end value (-2). The incremental approach with increment
number 255 allows the transfer of the changeover difference and switch-off difference. With
that you can test the behavior of your target approach.
You can repeat the processing of the step chain by means of a new start (STOP > RUN) of
the CPU. Obviously, this action is not suitable for continuous operation. In the example we
use this action so that the module is always reinitialized.

Error evaluation
In the case of an error in the processing, the step chain is brought to a halt. Step number -1
will be entered.
Try to create errors that will be stored by the central error evaluation as group errors in the
"USER_DB".ERR bit.
● In the USER_VAT, enable the prepared control value for the increment number 1
("USER_DB".TRG_INC_1), which is greater than the software limit switch.
The step chain is brought to a stop and -1 is shown as the step number. Check the errors
by means of the error evaluation screen.
● In the USER_VAT enable further control values one after the other for the increment
number 1 ("USER_DB".TRG_INC_1), increment number 255 ("USER_DB".TRG_INC_2),
and the change-over difference ("USER_DB".CHGDIF) and switch-off difference
("USER_DB".CUTDIF). For the error inspection proceed as you would with increment 1.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 161
Examples
12.10 Example program 4 "OneChannel"

User program FB 1 (USER_PROG)

The user program uses the data in the module-specific data blocks (USER_DB) in the form
<block name>.<symbolic identifier>. This way, the user program can operate a channel
precisely.
In this program mode you can access the data in the data block by means of the symbolic
identifiers. The indirect addressing for several channels can be found in the example
program 6 "SeveralChannels".
The user program executes a step sequence as follows:
Step 0: The positioning module is initialized. The jobs with the associated data to be
executed at a restart of the module are set.
Step 1: The program waits for the jobs set in Step 0 to be executed.
Step 2: The assigned value of the increment "USER_DB".TRG_INC_1 is entered in the
increment table. Then the increment table is written in the module. The control signals for the
first incremental approach will be issued simultaneously. The FB ABS_CTRL ensures the
correct sequence of execution from step 2.
Step 3: The program waits for the set write job to be executed.
Step 4: The program waits for the checkback signal "PR" and the updated position values
form the first incremental approach.
Step 5: The assigned values for the second incremental approach, changeover difference
and switch-off difference are entered in the channel DB. Then, with
"USER_DB".START_INC_2 the second incremental approach is started with increment
number 255.
Step 6: The program waits for the set jobs to be executed.
Step 7: The program waits for the checkback signal "PR" and the updated position values
form the second incremental approach.

FM 351 positioning module

162 Operating Instructions, 05/2011, A5E01092700-02
Examples
12.11 Example program 5 "DiagnosticsAndInterrupts"

12.11 Example program 5 "DiagnosticsAndInterrupts"

Objective
This example includes a user program with the same formulation as in the example program
4 "OneChannel". In addition, we show you how you evaluate a diagnostic interrupt for
specific modules and then make this into a general module error in the user program.

Requirements
You have assigned the positioning module parameters as described in "Getting Started".
In the channel DB, the address of your module is entered correctly in the MOD_ADDR
parameter, and the channel number is correctly entered in the CH_NO parameter.
In the diagnostic DB, the address of your module is entered correctly in the MOD_ADDR
parameter.
The supplied channel DB already includes in the PARADBNO parameter the DB number
(30) of the parameter DB for the machine data.
The machine data of your system are stored in the PARADB_1 data block.
In the HW Config, enable the diagnostic interrupt for this module via Edit > Object properties
> Basic parameters > Select interrupt > Diagnostics. Compile the hardware configuration,
and then download it to the CPU.

Startup
In the startup OB (OB 100) you set the startup identifier (step 0) for the user program in the
instance DB.

Operation
As in example program 4 "OneChannel".

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Operating Instructions, 05/2011, A5E01092700-02 163
Examples
12.11 Example program 5 "DiagnosticsAndInterrupts"

Error evaluation
In the case of an error in the processing, the step chain is brought to a halt. Step number -1
will be entered. In the USER_VAT you will find the latest entry of the diagnostic buffer. You
can determine the cause of error via the error class and error number (refer to the appendix
section entitled "Error classes (Page 189)").
Try to create errors that will be stored by the central error evaluation as group errors in the
"USER_DB".ERR bit.
● In the USER_VAT, enable the prepared control value for the increment number 1
("USER_DB".TRG_INC_1), which is greater than the software limit switch.
The step chain is brought to a stop and -1 is shown as the step number. Check the errors
via the error evaluation screen or the diagnostic data in the USER_VAT.
● In the USER_VAT enable further control values one after the other for the increment
number 1 ("USER_DB".TRG_INC_1), increment number 255 ("USER_DB".TRG_INC_2),
and the change-over difference ("USER_DB".CHGDIF) and switch-off difference
("USER_DB".CUTDIF). For the error inspection proceed as you would with increment 1.
● Create the diagnostic interrupts by disconnecting the auxiliary voltage of the module or
removing the front connector. The diagnostics error "USER_DB".ERR_MOD and group
error "USER_DB".ERR will be 1 and the step number will be -1.

User program (FB PROG)

The formulation is as in example program 4 "OneChannel".
In this example, no special measures are taken for placing after the error remedy.

Diagnostic interrupt (OB 82)

In the diagnostic interrupt, depending on the address of the interrupt-triggering module
(OB82_MDL_ADDR) the error identifier in the associate instance DB (USER_DB) of the user
program is entered. A response takes place in the cyclic user program.

166 Operating Instructions, 05/2011, A5E01092700-02
Technical specifications A
A.1 General Technical Specifications
The following technical data are available in the Operating Instructions SIMATIC S7-300,
CPU 31xC and CPU 31x: Installation
(http://support.automation.siemens.com/WW/view/en/13008499).
● Electromagnetic compatibility
● Transportation and storage conditions
● Mechanical and climatic environmental conditions
● Specifications for insulation tests, protection class, and degree of protection
● Certifications and standards

Observe the installation guidelines

SIMATIC products fulfill the requirements provided during installation and operation, the
manual´s installation guidelines are followed.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 167
Technical specifications
A.2 Technical Specifications of the FM 351

A.2 Technical Specifications of the FM 351

Technical specifications

Technical specifications
Dimensions and weight
Dimensions W x H x D (mm) 80 × 125 × 120
Weight Approx. 535 g
Current, voltage and output
Current consumption from backplane bus Max. 200 mA
Power loss Typ. 7.9 W
Auxiliary voltage for the encoder supply Auxiliary voltage: 24 V DC (X1, terminal 1)
(permissible range: 20.4 to 28.8 V)
Encoder supply  Horizontal installation of S7-300, 20 °C:
– 5.2 V/500 mA (for both channels together)
– 24 V/800 mA (for both channels together)
 Horizontal installation of S7-300, 60 °C:
– 5.2 V/500 mA (for both channels together)
– 24 V/600 mA (for both channels together)
 Vertical set-up S7-300, 40 °C:
– 5.2 V/500 mA (for both channels together)
– 24 V/600 mA (for both channels together)
 Current consumption from 1L+ (without load):
max. 100 mA (X1, terminal 1)
 Encoder supply 24 V, uncontrolled
– L+ -2 V (X2/X3, terminal 5)
– Short-circuit protection: yes, thermal
 Encoder supply 5.2 V (X2/X3, terminal 6) short-circuit
protection: yes, electronic
 Permissible potential difference between input (ground)
and central ground connection of the CPU:
– 60 V AC
– 75 V DC
Auxiliary voltage for the load power supply Auxiliary voltage: 24 V DC (X1, terminal 19)
(permissible range: 20.4 to 28.8 V)

FM 351 positioning module

168 Operating Instructions, 05/2011, A5E01092700-02
Technical specifications
A.2 Technical Specifications of the FM 351

Technical specifications
Supply of the digital inputs and outputs  Current consumption from 2L+ (without load):
max. 50 mA (X1, terminal 19)
 Permissible potential difference between input of ground
connection 1M (X1, terminal 2) and the central
grounding point (shield): 60 V AC; 75 V DC
– Insulation tested with 500 V DC
 Permissible potential difference between input of ground
connection 2M (X1, terminal 20) and the central
grounding point (shield): 60 V AC; 75 V DC
– Insulation tested with 500 V DC
Load voltage incorrect polarity protection Yes
Encoder inputs
Position measuring  Incremental
 Absolute
Signal voltages  Symmetrical inputs: 5 V in accordance with RS 422
 Asymmetrical inputs: 24 V/ typically. 4 mA
Input frequency and cable length for symmetrical Max. 400 kHz with 32 m cable length, shielded
incremental encoder with 5 V supply
Input frequency and cable length for symmetrical Max. 400 kHz with 100 m cable length, shielded
incremental encoder with 24 V supply
Input frequency and cable length for asymmetrical  Max. 50 kHz with 25 m cable length, shielded
incremental encoder with 24 V supply
 Max. 25 kHz with 100 m cable length, shielded
Data baud rate and cable length for absolute encoders  Max. 188 kHz with 200 m cable length, shielded
 Max. 375 kHz with 100 m cable length, shielded
 Max. 750 kHz with 40 m cable length, shielded
 Max. 1.5 MHz with 12 m cable length, shielded
Listen-in mode for absolute encoders No
Input signals  Incremental: 2 pulse trains, 90° shift, 1 zero pulse
 Absolute: Absolute value

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 169
Technical specifications
A.2 Technical Specifications of the FM 351

Technical specifications
Digital inputs
Number of digital inputs 8
Number of simultaneously controllable digital inputs 8
Galvanic isolation Yes, optocoupler
Status display Yes, green LED for each digital input
Input voltage  0-signal: -3 ... 5 V
 1-signal: 11 ... 30 V
Input current  0-signal: ≤ 2 mA (quiescent current)
 1-signal: 6 mA
Input delay (1I0, 1I1, 1I2 and 2I0, 2I1, 2I2)  0- → 1-signal: Typ. 3 ms
 1-→ 0-signal: Typ. 3 ms
Input delay (1I3 and 2I3)  0- → 1-signal: Typ. 300 µs
 1- → 0-signal: Typ. 300 µs
Connection of a 2-wire BERO Supported
Cable length, unshielded (1I0, 1I1, 1I2 and 2I0, 2I1, 2I2) 100 m
Cable length, shielded (1I0, 1I1, 1I2 and 2I0, 2I1, 2I2) Max. 600 m
Cable length shielded (1I3 and 2I3) Max. 100 m
Insulation testing VDE 0160
Digital outputs
Number of outputs 8
Galvanic isolation Yes, optocoupler
Status display Yes, green LED for each digital output
Output voltage  0-signal: 0.5 mA
 1-signal: 0.5 A
(permissible range: 5 ... 600 mA)
 Lamp load: 5 W
Output delay when output voltage = 0.5 A  0- → 1-signal: max. 300 µs
 1- → 0-signal: max. 300 µs
Signal level with 1-signal L+ -0.8 V
Control of a digital input Yes
Control of a count input No, on account of 50 µs missing pulse
Short-circuit protection Yes, thermally clocking
switching threshold 1 A
Limiting of inductive switch-off voltage Typ. L+: -48 V
Switching frequency  Resistive load: Max. 100 Hz
 Inductive load: Max. 0.5 Hz
Total current of the digital outputs with the horizontal Demand factor 75%:
installation of S7-300 at 20 °C and 60 °C: 3 A
Total current of the digital outputs with the vertical Demand factor 75%:
installation of S7-300 at 40 °C: 3 A

FM 351 positioning module

170 Operating Instructions, 05/2011, A5E01092700-02
Technical specifications
A.2 Technical Specifications of the FM 351

Technical specifications
Unshielded cable length Max. 100 m
Shielded cable length Max. 600 m
Insulation testing VDE 0160

Connection diagram

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** Pins 2 and 12 are internally bridged.

FM 351 positioning module

174 Operating Instructions, 05/2011, A5E01092700-02
Connection diagrams
B.3 Connection diagram for incremental encoder Siemens 6FX 2001-2 (Up=24V; RS 422)

B.3 Connection diagram for incremental encoder Siemens 6FX 2001-2

(Up=24V; RS 422)

Connection diagram
The following figure shows the connection diagram for an incremental encoder Siemens
6FX2001-2 (Up=24 V; RS 422):

Connection diagram

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(1) Twisted-pair cables 15-pin sub D connector, connection side

(solder side) metallized housing with screw
* Pins 10 and 11 are internally bridged. interlock 6FC9341-1HC
** Pins 2 and 12 are internally bridged.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 175
Connection diagrams
B.4 Wiring diagram of the incremental encoder Siemens 6FX 2001-4 (Up = 24 V; HTL)

B.4 Wiring diagram of the incremental encoder Siemens 6FX 2001-4

(Up = 24 V; HTL)

Connection diagram
The following figure shows the connection diagram for an incremental encoder Siemens
6FX2001-4 (Up=24 V; HTL):

Connection diagram

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* Pins 10 and 11 are internally bridged.
** Pins 2 and 12 are internally bridged.

15-pin sub D connector, connection side

(solder side) metallized housing with screw
interlock 6FC9341-1HC

Note
To connect a non-SIEMENS incremental encoder in a push-pull configuration (current
sourcing/sinking), observe the following:
 Current sourcing: Connect RE (9) to ground (7).
 Current sinking: Connect RE (9) to +24 V (5).

FM 351 positioning module

176 Operating Instructions, 05/2011, A5E01092700-02
Connection diagrams
B.5 Connection diagram for absolute encoder Siemens 6FX 2001-5 (Up=24V; SSI)

B.5 Connection diagram for absolute encoder Siemens 6FX 2001-5

(Up=24V; SSI)

Connection diagram
The following figure shows the connection diagram for an absolute encoder Siemens
6FX2001-5 (Up=24 V; SSI):

Connection diagram

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(1) Twisted-pair cables

15-pin sub D connector, connection side

(solder side) metallized housing with screw
interlock 6FC9341-1HC

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 177
Connection diagrams
B.5 Connection diagram for absolute encoder Siemens 6FX 2001-5 (Up=24V; SSI)

FM 351 positioning module

178 Operating Instructions, 05/2011, A5E01092700-02
Data blocks and error lists C
C.1 Content of the channel DB

Data of channel DB

Note
You must not change any data that is not listed in this table.

Table C- 1 Content of the channel DB

Address Name Type Initial value Comment

Addresses
0.0 MOD_ADDR INT 0 Module address
2.0 CH_NO INT 1 Channel number
10.0 PARADBNO INT -1 Number of the parameter DB
Control signals
14.3 OT_ERR_A BOOL FALSE 1 = acknowledge operator error
15.0 START BOOL FALSE 1 = start positioning
15.1 STOP BOOL FALSE 1 = stop active traversing
15.2 DIR_M BOOL FALSE 1 = minus direction
15.3 DIR_P BOOL FALSE 1 = plus direction
15.6 SPEED252 BOOL FALSE Not used
15.7 DRV_EN BOOL FALSE 1 = switch on drive enable
16.0 MODE_IN BYTE B#16#0 Required operating mode
0 = no operating mode
1 = Jog
3 = reference point approach
4 = relative incremental approach
5 = absolute incremental approach
17.0 MODE_TYPE BYTE B#16#0  Start velocity for jog mode

0 = creep speed

Parameter DB data

Note
You must not change any data that is not listed in this table.

Table C- 2 Content of the parameter DB

Address Name Type Initial value Comment

Machine data
4.0 EDGEDIST DINT L#0 Not used
8.0 UNITS DINT L#1 System of units
12.0 AXIS_TYPE DINT L#0 0 = linear axis
1 = rotary axis
16.0 ENDROTAX DINT L#100000 End of rotary axis
20.0 ENC_TYPE DINT L#1 Encoder type, message length
24.0 DISP_REV DINT L#80000 Length per encoder revolution
28.0 b_28 DWORD L#0 Parity check for SSI absolute encoder (this
machine data element is only available for the
FM 351 with order number 6ES7351-1AH02-
0AE0)
32.0 INC_REV DINT L#500 Increments per encoder revolution
36.0 NO_REV DINT L#1 Number of encoder revolutions
40.0 BAUD RATE DINT L#0 Baud rate
44.0 REFPT DINT L#0 Reference point coordinate
48.0 ENC_ADJ DINT L#0 Absolute encoder adjustment
52.0 REFPT_TYPE DINT L#0 Type of reference point approach
59.0 CNT_DIR BOOL FALSE Counting direction:
0 = normal
1 = inverted
63.0 MON_WIRE BOOL TRUE 1 = wire break monitoring
63.1 MON_FRAME BOOL TRUE 1 = message error monitoring
63.2 MON_PULSE BOOL TRUE 1 = glitch monitoring
64.0 SSW_STRT DINT L#-100000000 Start of software limit switch
68.0 SSW_END DINT L#100000000 End of software limit switch
76.0 TRG_RANGE DINT L#1000 Target range
80.0 MON_TIME DINT L#2000 Monitoring time [ms]
84.0 ZSPEED_R DINT L#1000 Standstill range
88.0 ZSPEED_L DINT L#30000 Upper limit of the standstill speed
92.0 CTRL_TYPE DINT L#1 Steer mode (1 - 4)

FM 351 positioning module

184 Operating Instructions, 05/2011, A5E01092700-02
Data blocks and error lists
C.2 Content of the parameter DB

Address Name Type Initial value Comment

Machine data
99.0 REFPT_SPD BOOL TRUE Start speed in the case of a reference point
approach:
0 = rapid traverse
1 = creep traverse
99.1 EI_TYPE BOOL FALSE Not used
100.0 CHGDIF_P DINT L#5000 Plus changeover difference
104.0 CHGDIF_M DINT L#5000 Minus changeover difference
108.0 CUTDIF_P DINT L#2000 Plus switch-off difference
112.0 CUTDIF_M DINT L#2000 Minus switch-off difference
Increment table 1
120.0 TRGL1.TRG[1] DINT L#0 Increment number 1
. . . .
. . . . Increment table 1
. . . .
316.0 TRGL1.TRG[50] DINT L#0 Increment number 50
Increment table 2
320.0 TRGL2.TRG[51] DINT L#0 Increment number 51
. . . . Increment table 2
. . . .
516.0 TRGL2.TRG[100] DINT L#0 Increment number 100

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Operating Instructions, 05/2011, A5E01092700-02 185
Data blocks and error lists
C.3 Data and structure of the diagnostic DB

C.3 Data and structure of the diagnostic DB

Data and structure of the diagnostic DB

Note
You must not change any data that is not listed in this table.

196 Operating Instructions, 05/2011, A5E01092700-02
Data blocks and error lists
C.5 Error classes

Class 128: Diagnostic errors

FM 351 positioning module

200 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53 D
D.1 Overview of the Programming without SFB 52 and SFB 53 section

If your CPU does not support the system blocks SFB 52 and SFB 53 with DPV1 functionality
Then use the blocks from the program folder "FM 351,451 ABS V1" to program the FM 351.
You will find a description in this section.

FM 351 positioning module

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Programming without SFB 52 and SFB 53
D.2 Basics of programming a positioning module

D.2 Basics of programming a positioning module

Task
You can assign parameters, control, and commission each channel of the positioning
module via a user program. The following chapter illustrates how to design a user program to
suit your application.

Preparation
1. In SIMATIC Manager, open the block library FMx51LIB and copy the required functions
(FC) and block templates (UDT) to the block container of your project. If the block
numbers are already being used, assign new numbers. The block names are entered
unchanged in the symbol table of your S7 program.

Name Meaning
FC ABS_INIT (FC 0) Required to initialize the channel DB after a module start-up
FC ABS_CTRL (FC 1) Required for data exchange and for controlling
FC ABS_DIAG (FC 2) Required if you are processing detailed diagnostic information
in the program or want to make this available for a operator
control and monitoring system
UDT ABS_CHANTYPE(UDT 1) Required in order to create a channel DB for each channel;
this is then used by the FC ABS_INIT and FC ABS_CTRL
UDT ABS_DIAGTYPE (UDT 2) Required in order to create a diagnostic DB for each module;
this is then used by the FC ABS_DIAG
UDT ABS_PARATYPE(UDT 3) Required in order to create a parameter DB with parameters;
this is then used by the FC ABS_CTRL in order to write or
read machine data and increment tables

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Programming without SFB 52 and SFB 53
D.2 Basics of programming a positioning module

3. Enter the module address in the associated channel DB and, if necessary, also in the
corresponding diagnostic DB in the "MOD_ADDR" parameter.
Proceed as follows to enter the module address:
– Recommended procedure:
Assign the module address to the channel DB/diagnostic DB in the user program so
that the assignment of the module address takes place when you call the user
program in OB 100.
– Alternative procedure:
You can have the module address entered automatically if you select the module in
HW Config, open the "Properties" dialog with the menu command Edit > Object
Properties, and use the "Mod_Adr" button there to select a channel DB and diagnostic
DB, if necessary. But in this case the values entered in the channel DB/diagnostic DB
(including the module address) are reset to their initial values in the event of a
consistency check (menu command Edit > Check block consistency opens the "Check
block consistency" dialog) followed by a compilation (menu command Program >
Compile All in the "Check block consistency" dialog box).
The values are not changed if there is only a consistency check without compilation.
The menu command Edit > Compile All is only required within the consistency check if
the project was last edited with STEP 7 V5.0 Service Pack 2 or later.
4. Enter the channel number and, if necessary, the number of the parameter DB also in the
respective channel DB.
5. If your programming device or PC is connected to a CPU, you can now download the
FCs and DBs to the CPU.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 203
Programming without SFB 52 and SFB 53
D.2 Basics of programming a positioning module

The following figure shows you how the positioning module, FCs, DBs and OBs
communicate with each other.

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*) The module address (channel DB/diagnostic DB) entered in the "MOD_ADDR" parameter is used for accessing the
module. We recommend you assign the module address to the channel DB/diagnostic DB in the user program so
that the assignment of the module address takes place when you call the user program in OB 100.

Figure D-1 Data exchange between FCs, DBs and positioning module

FM 351 positioning module

204 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.3 FC ABS_INIT (FC 0)

D.3 FC ABS_INIT (FC 0)

Call
The function must be run through for each channel after start-up (supply voltage on) of the
module or the CPU. Call the function, for example, in the start-up OB 100 and the
insertion/removal OB 83 or the initialization phase of your user program. This ensures that
your user program does not access obsolete data after a CPU or module restart.

Data block used

Channel DB:
The module address must be entered in the channel DB.

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the channel DB

Return values
The specified function does not supply a return value.

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 205
Programming without SFB 52 and SFB 53
D.4 FC ABS_CTRL (FC 1)

D.4 FC ABS_CTRL (FC 1)

Tasks
With the FC ABS_CTRL you can read the operating data for each channel of the module.
You can also configure the channels and control them during operation. To do this, use the
control signals, checkback signals, function switches as well as the write and read jobs.
With each call the function carries out the following activities:
● Reading checkback signals:
The FC ABS_CTRL reads all the checkback signals for a channel and enters them in the
channel DB. Because the control signals and jobs are not executed until after this step,
the checkback signals reflect the status of the channel before the block was called.
● Job management:
The FC ABS_CTRL processes the read and write jobs and transfers the data between
the channel DB, parameter DB and the module.
● Writing control signals:
The control signals that are entered in the channel DB are transferred to the module.

Call
The FC ABS_CTRL must be called cyclically for each channel, e.g., in OB 1.
Before you call the FC ABS_CTRL, enter all the data required to execute the intended
functions in the channel DB.

Data blocks used

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the channel DB
RET_VAL INT OUT Return value

FM 351 positioning module

206 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.4 FC ABS_CTRL (FC 1)

Return values
The function provides the following return values:

RET_VAL BR Description
1 1 At least 1 job is active
0 1 No job is active, no error
-1 0 Error: Data error (DATA_ERR) or
communication error (JOB_ERR) has occurred

Jobs
Data exchange with the module other than the control and checkback signals is handled
using jobs.
To deliver a job you set the respective trigger bit in the channel DB and in the case of write
jobs also the respective data. Then call the FC ABS_CTRL in order to execute the job.
If you are using the FM 351 centrally, a read job requires exactly one cycle. If you are using
the FM 351 as a distributed module, a read job can require several cycles.
On account of the necessary acknowledgements of the module, a write job requires at least
3 calls or OB cycles.
When a job is finished, the block takes back the trigger bit. The next time the block is called,
the following job will be ascertained and executed.
For each job, there is not only a trigger bit (extension _EN as in "enable") but also a done bit
and an error bit. These have the extension _D as in "done" and _ERR as in "error" in their
names. The FC ABS_CTRL updates the done bits and error bits once the processing of a job
has ended. After the evaluation or prior to issuing a job, these bits should be set to 0.
If you set the JOBRESET bit, all the done bits and error bits will be reset prior to processing
the awaiting jobs. The JOBRESET bit is then set back to 0.

Function switch
The function switches switch the states of the channel on and off. A job for writing the
function switches will only be executed when there is a change in a switch setting. The
setting of the function switch is retained after the job has been executed.
Function switches and jobs can be used simultaneously with a call of the FC ABS_CTRL.
As in the case of the jobs, alongside the function switches there are trigger bits with the
ending _ON / -OFF, done bits with the ending _D and error bits with the ending _ERR.
To be able to evaluate the done bits and error bits of the function switches, you should set
these bits to 0 before you issue a job to change a function switch.

Operating Instructions, 05/2011, A5E01092700-02 209
Programming without SFB 52 and SFB 53
D.4 FC ABS_CTRL (FC 1)

Job status
The status of the job processing can be read off from the return value RET_VAL and from
the active bit JOBBUSY in the channel DB. The status of an individual job can be evaluated
using the trigger bits, done bits, and error bits of this job.

RET_VAL JOBBUSY Trigger bit Done bit _D Error bit

_EN _ERR
Job active 1 1 1 0 0
Job completed 0 0 0 1 0
without errors
Job completed with -1 0 0 1 1
errors
Write job cancelled -1 0 0 0 1

Response to errors
If faulty data are written during a write job, the channel issues the checkback signal
DATA_ERR = 1 to the channel DB. If an error occurs during communication with the module
in a write or read job, the cause of error is stored in the JOB_ERR parameter in the channel
DB.
● Error with a write job:
If an error occurs in a job, the trigger bit is canceled and error bit _ERR and done bit _D
are set. The trigger bit is also canceled for all write jobs still pending, but only error bit
_ERR is set. The awaiting write jobs will be withdrawn because jobs could stack up on
top of each other.
The awaiting read jobs will continue to be processed. In doing so, the JOB_ERR is then
reset for each job.
● Error with a read job:
If an error occurs in a job, the trigger bit is canceled and error bit _ERR and done bit _D
are set.
The awaiting read jobs will continue to be processed. In doing so, the JOB_ERR is then
reset for each job.
For further error information, refer to JOB_ERR and DATA_ERR parameter descriptions in
the section entitled "Diagnosis (Page 137)".

FM 351 positioning module

210 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.4 FC ABS_CTRL (FC 1)

Program structure
The following figure shows the basic structure of a user program used to cyclically control a
channel of a module following a one-time startup initialization. The return value RET_VAL of
the FC ABS_CTRL is used in the user program for a general error evaluation.
For every other channel a sequence in accordance with the following figure can be executed
parallel and independently.

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FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 211
Programming without SFB 52 and SFB 53
D.5 FC ABS_DIAG (FC 2)

D.5 FC ABS_DIAG (FC 2)

Tasks
With the FC ABS_DIAG you read out the diagnostic buffer of the module and make it
available for a display in the operator control and monitoring system or for a programmed
evaluation.

Call
The function must be called cyclically, e.g., in OB 1. An additional call in an interrupt OB is
not permitted. At least two calls (cycles) are required for a complete execution of the
function.
The function reads out the diagnostic buffer when a new entry in the diagnostic buffer is
indicated by means of the checkback signal DIAG = 1 in the channel DB. After the diagnostic
buffer is read, the DIAG bit in the channel DB of the module is set to 0.

Data block used

Call parameters

Name Data type P-type Meaning

DB_NO INT IN Number of the diagnostic DB
RET_VAL INT OUT Return value

Return values
The function provides the following return values:

RET_VAL BR Description
1 1 Job active
0 1 No job is active, no error
-1 0 Error

FM 351 positioning module

212 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.5 FC ABS_DIAG (FC 2)

Start-up
The function does not perform a start-up processing.

Response to errors
In the case of a faulty execution, the cause of the error can be found in the diagnostic DB in
the JOB_ERR parameter; refer to the section entitled "Diagnosis (Page 137)".

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 213
Programming without SFB 52 and SFB 53
D.6 Data blocks

D.6 Data blocks

D.6.1 Templates for data blocks

Block templates UDT

For each data block there is a block template UDT stored in the provided library (FMx51LIB).
From these UDTs you can create data blocks with any numbers or names.

D.6.2 Channel DB

Task
The channel DB is the data interface between the user program and the FM 351. It includes
and accepts all the data that is required for controlling and operating a channel.

Structure
The channel DB is divided into different areas:

Channel DB
Module address *)
Channel number
Number of the parameter DB
Control signals
Checkback signals
Function switch
Trigger bits for write jobs
Activation bits for read jobs
Done bits
Error bits
Job management for functions
Data for jobs

*) You can also enter the address using the configuration software

FM 351 positioning module

214 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.6 Data blocks

D.6.3 Diagnostic DB

Task
The diagnostic DB (refer to the section entitled Data and structure of the diagnostic DB) is
the data storage for the FB ABS_DIAG and includes the diagnostic buffer of the module that
has been processed by this function block.

Structure

Diagnostic DB
Module address
Internal data
Job status
Trigger bit
Processed diagnostic buffer

D.6.4 Parameter DB

Task
If you want to change the machine data and increment tables during operation, you require a
parameter DB in which this data is stored. The parameters can be changed from the user
program or from an operator control and monitoring system.
You can export the data displayed in the configuration software into a parameter DB. You
can also import a parameter DB into the configuration software and view it there.
Each module channel can have several sets of parameter assignment data, e.g., for different
recipes. You can switch among these in your program.

Structure

Parameter DB
Machine data
Increment tables

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 215
Programming without SFB 52 and SFB 53
D.7 Technical specifications of the FCs and DBs for the FM 351

D.7 Technical specifications of the FCs and DBs for the FM 351

Technical specifications
The following table offers you an overview of the technical specifications for the functions
and data blocks.

Table D- 1 Technical specifications of the functions and data blocks for the FM 351

No. Block name Version Assignment in Assignment in Assignment in local MC7 Called
load memory work memory data area code / system functions
(bytes) (bytes) (bytes) data
(bytes)
FC 0 FC ABS_INIT 1.0 184 130 2 94
FC 1 FC ABS_CTRL 1.0 4548 4176 34 4140 SFC 58:
WR_REC,
SFC 59: RD_REC
FC 2 FC ABS_DIAG 1.0 1800 1658 42 1622 SFC 59: RD_REC
Channel DB - 638 184 - 148
Parameter DB - 840 556 - 520
Diagnostic DB - 524 388 - 352

Module cycle
The checkback signals of a channel are updated by the module every 8 ms.

FM 351 positioning module

216 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.8 Quicker access to module data

D.8 Quicker access to module data

Application
In special applications or in an alarm level, a particularly fast access to checkback and
control signals could be required. You can reach this data directly via the input and output
areas of the module.
For start-up coordination, after each start-up of the module (e.g. after connecting the module,
after CPU STOP → RUN) you must call the FC ABS_CTRL until the end of the start-up is
indicated by RET_VAL = 0. After this you must not use the FC ABS_CTRL any more.

Note
It is not possible to use the FC ABS_CTRL together with a write access.

Reading checkback signals by means of direct access

The byte addresses must be specified relative to the start address of the outputs of the
respective channel. The names of the parameters correspond with the names in the channel
DB.
Start address channel 1 = start address of the module
Start address channel 2 = start address of the module + 8
In STL, you access the data using the commands PEB (read 1 byte), PEW (read 2 bytes)
and PED (read 4 bytes).

Address Bit number

FM 351 positioning module

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Programming without SFB 52 and SFB 53
D.8 Quicker access to module data

Example: Actual position value ACT_POS

The start address of the module is 512

STL
L PED 516 Read the current actual position value (ACT_POS) from channel 1
with direct access:
Start address of the channel + 4

Write control signals using direct access

The byte addresses must be specified relative to the start address of the inputs of the
respective channel. The names of the parameters correspond with the names in the channel
DB.
Start address channel 1 = start address of the module
Start address channel 2 = start address of the module + 8
In STL, you access the data using the commands PAB (write 1 byte), PAW (write 2 bytes)
and PAD (write 4 bytes).

Address Bit number

7 6 5 4 3 2 1 0
Byte 0 0 0 0 0 OT_ERR_A 0 0 0
Byte 1 DRV_EN 0 0 0 DIR_P DIR_M STOP START
Byte 2 MODE_IN
Byte 3 MODE_TYPE
Byte 4 Reserved
Byte 5
Byte 6
Byte 7

Example: START signals of channel 2

The start address of the module is 512

STL
L 2#10001000 Set DRV_EN and DIR_P to 1
T PAB 521 Write signals with direct access for channel 2:
Start address of the module +8 + 1

FM 351 positioning module

218 Operating Instructions, 05/2011, A5E01092700-02
Programming without SFB 52 and SFB 53
D.9 Parameter transmission paths

D.9 Parameter transmission paths

Parameters include the following machine data and increments.

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Figure D-3 Parameter transmission paths

FM 351 positioning module

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Programming without SFB 52 and SFB 53
D.9 Parameter transmission paths

Some applications for transmission of parameters:

FM 351 positioning module

220 Operating Instructions, 05/2011, A5E01092700-02
Index

FM 351 positioning module

224 Operating Instructions, 05/2011, A5E01092700-02
Index

J M
Job Machine data, 61, 184
Cancel set actual value, 117 axis, 73
Set actual value, 117 Baud rate, 80
Set reference point, 119 Changing, 62
Job management, 39, 206 Counting direction, 80
job processing Distance per encoder revolution, 78
Order, 41 Drive, 67
Job processing Enabling, 61
Order, 208 Encoder, 77
Job status, 43, 210 Encoder type, 77
JOB_ERR First parameter assignment, 61
Messages, 188 Frame length, 77
Jobs Increments per encoder revolution, 79
FB ABS_CTRL, 40, 42 Monitoring, 81
FB ABS_DIAG, 47 Number of encoder revolutions, 79
FC ABS_CTRL, 207, 209 Parity check for absolute encoders (SSI), 78
FC ABS_DIAG, 213 Reading, 62
Jogging, 99 Writing, 61
Cancel, 101 Maximum cable length, 80
Configuring, 99 Mechanical adjustment
Data in the channel DB, 100 Encoder, 84
Operating range limit, 102 Message frame times
Requirement, 99 Absolute encoder, 135
Sequence, 99 Messages
Shutdown, 101 JOB_ERR, 188
Missing pulses
Incremental encoder, 81
L Module cycle, 50, 216
Module data
LED CH 1, 139
Fast access, 51, 217
LED CH 2, 139
MON_FRAME, 81
Length of cable
MON_PULSE, 81
maximum, 80
MON_WIRE, 81
Load circuit, 27
Monitoring, 81, 91
Load power supply, 25
Standstill velocity, 92
Auxiliary voltage, 25
Target range, 91
Location of fictitious target, 123
Monitoring time, 72, 91, 93
Loop approach, 121
Monoflop time
Data in the channel DB, 122
Absolute encoder, 135
Requirement, 121
Motor, 11
Sequence, 121
Motor circuit-breaker, 21
Mounting position
Mounting rail, 19
Mounting rail
Mounting position, 19
Multiturn encoders, 134

FM 351 positioning module

Operating Instructions, 05/2011, A5E01092700-02 225
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