Preface, Contents

Product Overview
1

Basic Principles of Positioning

2
SIMATIC
Installing and Removing
3

FM 353 Wiring
4
Stepper Drive Positioning
Module Defining Parameters
5
Programming the Technological
Functions
6
Manual
Starting up
7

Human-machine Interface
8

Description of Functions
9

Writing Traversing Programs

10

Troubleshooting
11

Appendices

Technical Specifications
A

User Data Block (AW–DB)

B

List of Abbreviations
C

Index

6ES7 353-1AH01-8BG0
09/2011 Edition
 Safety Information
This Manual contains information which you should carefully observe to ensure your own personal
safety and the prevention of damage to the system. This information is highlighted by a warning
triangle and presented in one of the following ways depending on the degree of risk involved:

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

Warning
! indicates that death or severe personal injury damage can result if proper precautions are not taken.

Caution
! indicates that minor personal injury can result if proper precautions are not taken.

Caution
without warning sign means that material damage can occur if the appropriate precautions are not taken.

Attention
means that an undesired result or a condition may occur if the appropriate note is not observed.

If more than one level of hazard can occur, the warning note of the correspondingly highest level is used in
all cases. If a warning note with a warning triangle warns of personal injury, an additional warning of
material damage can be included in the same warning note.

Qualified personnel
The unit may only be started up and operated by qualified personnel. Qualified personnel
as referred to in the safety guidelines in this document are those who are authorized to start up, earth
and label units, systems and circuits in accordance with relevant safety standards.

Proper use
Please note the following:

Warning
! The unit may be used only for the applications described in the catalog or the technical description,
and only in combination with the equipment, components and devices of other manufacturers as far
as this is recommended or permitted by Siemens.
It is assumed that this product be transported, stored and installed as intended and maintained and
operated with care to ensure that the product functions correctly and safely.

Trademarks
All names marked with the copyright notice R are registered trademarks of SIEMENS AG.
Other names in this publication might be trademarks whose use by a third party for his own purposes
may violate the rights of the registered holder.

Copyright Siemens AG. 1996-2008 All rights reserved Exclusion of liability

The reproduction, transmission or use of this document or its contents is not We have checked that the contents of this publication agree with the hard-
permitted without express written authority . Offenders will be liable for ware and software described herein. Nonetheless, dif ferences might exist
damages. All rights, including rights created by patent grant or registration of and therefore we cannot guarantee that they are completely identical. The
a utility model, are reserved. information given in this publication is reviewed at regular intervals and any
corrections that might be necessary are made in the subsequent printings.
Siemens AG
Automation & Drives
90437 Nürnberg
Federal Republic of Germany E Siemens AG 1996-2011
Subject to change without
FM 353 prior notice. Drive Positioning Module
Stepper
Index-2 6ES7 353-1AH01-8BG0
Siemens Aktiengesellschaft 6ES7-353-1AH01-8BG0
Preface

Information
This manual contains all information about the FM 353 module:
S Hardware and functions
S Parameterization
S Human-machine interface
S S7 blocks
S Safe design

Information blocks in this manual

The following information blocks describe the purpose and application of this
manual:
S Product overview of the module (Chapter 1)
This section explains the purpose and possible applications of the module. It
provides introductory information about the FM 353 and its functions.
S Basic principles of positioning (Chapter 2)
Here you will find introductory information on positioning methods and associ-
ated definitions of terms.
S Installing and removing the FM 353 (Chapter 3)
Explains the installation and removal of the FM 353.
S Wiring the FM 353 (Chapter 4)
Describes the connection and wiring of drives and digital input/output modules.
S Defining parameters of the FM 353 (Chapter 5)
Describes the parameterization and functions of “Parameterize FM 357.”
S Programming the FM 353 (Chapter 6)
Describes how to program the FM 357 with STEP 7.
S Starting up the FM 353 (Chapter 7)
Describes startup procedures for the FM 353.
S Human-machine interface (Chapter 8)
Describes the various options for operating and monitoring the FM 353, and
which data and signals can be used and monitored.

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 i
Preface

S Reference information and appendices for finding factual information (module

functions, programming guide, interface signals, error handling, technical speci-
fications, standard HMI user interface)
S List of abbreviations and index for looking up information.

User requirements
The present manual describes the hardware and functions of the FM 353
To set up, program and start up a SIMATIC S7-300 with the FM 353, you will need
a knowledge of:
S The SIMATIC S7
Installation manual S7-400/M7–400 Programmable Controller, Hardware and
Installation
S Your programming device (PG)
S How to perform programming with STEP 7
S How to configure an operator panel interface.

FM 353 users
The structure and presentation of the information in the manual are oriented to the
intended uses of the FM 353, and the user ’s own activity.
It distinguishes among the following:
S Installation and wiring
These activities include installation and wiring of the FM 353.
S Parameterizing and Programming
These activities include parameterizing and programming the FM 353.
S Troubleshooting and diagnostics
These activities include detecting and correcting faults and errors
– in the hardware setup of the module and its components
– and in the programming, handling and control of module functions.
S Operation
These users operate the FM 353. The operator accordingly deals only with the
control of positioning tasks.

Standards and approvals

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

FM 353 Stepper Drive Positioning Module

ii 6ES7 353-1AH01-8BG0
 Preface

Recycling and disposal

For recycling in an environmentally compatible manner and for the disposal of your
old SIMATIC in line with prsent state of technology, please contact your appropri-
ate Siemens contact partner:
http://www.automation.siemens.com/partner

Technical support
If you have any technical question, please do no hesitate to contact our hotline:

Time zone: Europe/Africa Asia/Australia America

Telephone +49 (0) 180 5050 222 +86 1064 719 990 +1 423 262 2522
Fax +49 (0) 180 5050 223 +86 1064 747 474 +1 423 262 2289
Internet http://www.siemens.com/automation/support-request
E-mail [email protected]

Note
The country–specific telephone numbers for technical consultation can be found
on the Internet at: http://www.siemens.com/automation/service&support

Questions regarding this Manual

If you have any questions regarding this Documentation (suggestions, corrections),
please send a fax or an e–mail to the following address:
Fax: +49 (0) 9131 98 63 315
E-mail: [email protected]

Siemens Internet address

For currently updated information on the SIMATIC products, vitsit us on the Inter-
net at: http://www.siemens.de/simatic.

Further support
We are offering courses to help you familiarize yourself with the operation of the
SIMATIC S7 programmable controller system.
Please contact your regional or the central training center in D-90027 Nürnberg,
Germany under tel. +49 911-89 53 202.
J

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 iii
Preface

FM 353 Stepper Drive Positioning Module

iv 6ES7 353-1AH01-8BG0
Table of Contents

1 Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1 The FM 353 in the S7-300 programmable controller . . . . . . . . . . . . . . . . . . 1-2
1.2 Module description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.3 Overview of module functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
2 Basic Principles of Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 Installing and Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Installing the FM 353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2 Removing the FM 353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Replacing modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Wiring an FM 353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Description of the drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3 Connecting the drive unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.4 Description of the I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.5 Wiring up the front connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
5 Defining Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Installing “Parameterize FM 353” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2 Getting started with “Parameterize FM 353” . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3 Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.3.1 Machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.2 Increments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
5.3.3 Tool offset data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.4 Traversing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.4 Parameterization with “Parameterize FM 353” . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.5 Storing the parameter data in SDB w 1 000 . . . . . . . . . . . . . . . . . . . . . . . . 5-26
6 Programming the Technological Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Programming fundamentals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.1 Communication between the CPU and the FM 353 . . . . . . . . . . . . . . . . . . . 6-4
6.1.2 Structure of a user program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.3 Distributed configuration, OB 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.4 Embedding an OP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.5 Procedure for writing the user program (AWP) . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2 Putting the FM 353 into operation with the parameter initialization tool . . 6-8

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Table of Contents

6.3 Standard function blocks of the “FMSTSV_L” block library . . . . . . . . . . . . 6-8

6.3.1 Overview of the “FMSTSV_L” function block library . . . . . . . . . . . . . . . . . . 6-9
6.3.2 The POS_INIT (FC 0) block – Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.3.3 The POS_CTRL (FC 1) block – Data exchange . . . . . . . . . . . . . . . . . . . . . 6-12
6.3.4 The POS_DIAG (FC 2) block – Read diagnostic interrupt data . . . . . . . . . 6-22
6.3.5 The POS_MSRM (FC 3) block – Read measured values . . . . . . . . . . . . . 6-25
6.3.6 Interface, user data blocks (AW-DBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.4 Standard function blocks of the “FM353_354” block library . . . . . . . . . . . 6-28
6.4.1 Overview of the “FM353_354” block library . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.4.2 The POS_INIT (FC 0) block – Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.3 The POS_CTRL (FB 1) block – Data exchange . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.4 The POS_DIAG (FC 2) block – Read diagnostic interrupt data . . . . . . . . . 6-41
6.4.5 The POS_MSRM (FB 3) block – Read measured values . . . . . . . . . . . . . . 6-41
6.4.6 Interface, user DBs (AW-DBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.5 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.6 User data block (AW-DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46
6.7 Sample applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57
6.8 Error list, system messages (CPU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.9 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
7 Starting up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Installation and wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Initial values for testing and optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Testing and optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.3.1 Activating the machine data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.3.2 Evaluating the characteristics of the stepper motor . . . . . . . . . . . . . . . . . . . 7-14
7.3.3 Basic startup of stepper motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
7.3.4 Optimization of dynamic response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.3.5 Realigning the reference point coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
7.3.6 Activating stepper motor diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.3.7 Activating the software limit switches and backlash compensation . . . . . 7-26
7.3.8 Optimized motion profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
8 Human-machine Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1 Standard HMI (human-machine interface) for the OP 07 and
the OP 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.1 Standard user interface for the OP 07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.1.2 Standard user interface for the OP 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.2 Analysis of the user DB by the user program for operator control . . . . . . 8-17
8.3 Data block for status messages (DB-SS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
9 Description of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1 Control and checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 Control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.2 Checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.1.3 General handling information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10

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9.2 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14

9.2.1 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
9.2.2 Open-loop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9.2.3 Reference point approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
9.2.4 Incremental relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.2.5 MDI (Manual Data Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
9.2.6 Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
9.2.7 Automatic single block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-36
9.3 System data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-37
9.3.1 Change parameters/data (Write request in user DB, DBX39.3) . . . . . . . . 9-38
9.3.2 Single functions (user DB, DBB34 and 35) . . . . . . . . . . . . . . . . . . . . . . . . . . 9-42
9.3.3 Single functions (user DB, DBB36 and 37) . . . . . . . . . . . . . . . . . . . . . . . . . . 9-44
9.3.4 Zero offset (Write request in the user DB, DBX39.1) . . . . . . . . . . . . . . . . . 9-46
9.3.5 Set actual value (Write request in the user DB, DBX38.7) . . . . . . . . . . . . . 9-48
9.3.6 Set actual value on-the-fly (Write request in the user DB, DBX39.0) . . . . 9-49
9.3.7 Request application data (Write request in the user DB, DBX39.6) . . . . . 9-50
9.3.8 Teach in (Write request in the user DB, DBX39.7) . . . . . . . . . . . . . . . . . . . . 9-51
9.3.9 Set reference point (Write request in the user DB, DBX38.6) . . . . . . . . . . 9-51
9.3.10 Measured values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-52
9.3.11 Basic operating data (Read request in the user DB, DBX42.0) . . . . . . . . . 9-55
9.3.12 Active NC block (Read request in the user DB, DBX42.1),
next NC block (Read request in the user DB, DBX42.2) . . . . . . . . . . . . . . 9-56
9.3.13 Application data (Read request in the user DB, DBX43.6) . . . . . . . . . . . . . 9-57
9.3.14 Actual value block change (Read request in the user DB, DBX42.3) . . . . 9-57
9.3.15 Servicing data (Read request in the user DB, DBX42.4) . . . . . . . . . . . . . . 9-57
9.3.16 Additional operating data (Read request in the user DB, DBX43.5) . . . . . 9-58
9.3.17 Parameters/data (Read request in the user DB, DBX43.3) . . . . . . . . . . . . 9-58
9.4 System of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-59
9.5 Axis type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-60
9.6 Determining the position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-63
9.6.1 Synchronizing the stepper motor axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-64
9.7 Stepper motor control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-66
9.7.1 Frequency generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-69
9.7.2 Drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-71
9.7.3 Rotation monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-75
9.8 Digital inputs/outputs (Read request user DB, DBX43.4) . . . . . . . . . . . . . . 9-77
9.8.1 Function description for digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-78
9.8.2 Function description for digital outputs
(Write request in the user DB, DBX39.4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-79
9.9 Software limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-80
9.10 Process interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-81
10 Writing Traversing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.1 Traversing blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Program execution and direction of processing . . . . . . . . . . . . . . . . . . . . . . 10-16
10.3 Block transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16

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Table of Contents

11 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1 Error classes and module responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.2.1 Fault indication by LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.2.2 Diagnostic interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11.2.3 Error messages in checkback signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.2.4 Message in data block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.2.5 Viewing the diagnostic buffer (PG/PC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.3 Error lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
11.3.1 Diagnostic interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
11.3.2 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13
A Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
B User Data Block (AW-DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
C List of Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

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Product Overview 1
Chapter overview

Section Section Header Page

1.1 The FM 353 in the S7-300 programmable controller 1-2
1.2 Module description 1-7
1.3 Overview of the module functions 1-9

What can the FM 353 do?

The FM 353 is a microprocessor-controlled positioning module for actuating a step-
per motor.
The FM 353 is a high-performance module for positioning with stepper drives.
The module works autonomously and is controlled by way of the user program in
the SIMATIC S7-300 system.
It can operate rotary and linear axes.
The FM 353 has a variety of operating modes.
The module has a non-volatile data memory to store parameterization data.
S The FM 353 is low-maintenance (no battery).
S It can be linked and adapted to user circumstances by parameterizing it as re-
quired by the system.

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Where can the FM 353 be used?

The FM 353 can be used for both simple positioning and complex traversing pro-
files demanding superior dynamic response, accuracy and speed. It is also suitable
for positioning tasks in machinery with high clock-pulse rates.
Typical uses for the positioning module might include:
S Transfer lines
S Assembly lines
S Woodworking machines
S Handling equipment
S Loaders
S Auxiliary movements in milling and turning machines
S Packaging machines
S Conveyor equipment
Its range of functions is comparable to that of the WF 721 module in the SIMA TIC
S5 system, and the FM 354 in the SIMATIC S7 system.

1.1 The FM 353 in the S7-300 programmable controller

How is the FM 353 linked up with the S7-300?

The FM 353 is designed as a function module of the SIMATIC S7-300 controller.
The S7-300 programmable controller consists of a CPU and a variety of peripheral
modules mounted on a mounting rail.
The configuration may have one or more racks.

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 Product Overview

Multi-rack configurations
A SIMATIC S7-300 CPU may run up to four racks with as many as eight bus sta-
tions each (see Figure 1-1).

OP PG
MPI
Operator panel Programming device

Backplane Rack 3
bus
IM SM SM SM FM SM SM SM
dig./anal. dig./anal. dig./anal. dig./anal. dig./anal. dig./anal.

24 V

Rack 2

IM SM SM SM FM SM SM SM
dig./anal. dig./anal. dig./anal. dig./anal. dig./anal. dig./anal.

24 V
stepper drive
Rack 1

IM SM SM SM FM 353 SM SM SM
dig./anal. dig./anal. dig./anal. dig./anal. dig./anal. dig./anal.

24 V
Rack 0 Distributed I/Os,
L2-DP with IM interface
module

PS 24 V SIMATIC IM SM SM SM FM 353
2/5/10 A S7-300 CPU dig./anal. dig./anal. dig./anal.

MPI – Multipoint interface

IM – Interface module 24 V
SM – Signal module Stepper drive
PS – Power supply
CPU – Central processing unit

Fig. 1-1 Multi-rack configuration of a SIMATIC S7-300 with FM 353 (example)

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Product Overview

System overview
A complete positioning controller using the FM 353 consists of a variety of individ-
ual components, which are shown in Figure 1-2.

Operator panel (OP) Your programming device (PG)

(e.g. OP 07)

Configuration package

DIN rail

SIMATIC S7-300

PS
CPU
IM SM SM
FM 353
SM SM

Power section
e.g.
FM STEPDRIVE
e.g. touch probe

Motor e.g. SIMOSTEP

Fig. 1-2 System overview (schematic)

MPI connection
The FM can service up to 3 MPI nodes (PCs, programming devices or OPs) simul-
taneously.

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 Product Overview

Components
The most important components and their functions are listed in Table 1-1.

Table 1-1 Components of a positioning controller

Component Function
DIN rail ... the module mounting rack for the S7-300.
FM 353 ... the positioning module. It is controlled by the S7-300 CPU.
CPU ... executes the user program; powers the S7-300 backplane
bus at 5 V; and communicates with the programming device
and the operator panel via the MPI interface.
Power supply (PS) ... converts line voltage (120/230 V AC) to 24 V DC operating
voltage to power the S7-300.
Signal modules (SM) ... adapts various process-signal levels to the S7-300
Interface module (IM) ... connects the individual cells of an S7-300 with
one another (applies to multi-rack configuration; see Figure
1-1).
Programming device (PG) ... configures, parameterizes, programs and tests the S7-300
and the FM 353.
Operator panel (OP) ... the interface to the machine. It serves for operation and
monitoring. It is not an absolute prerequisite for operation of
an FM 353.
Power section ... actuates the motor.
Motor ... drives the axis.
Configuration package ... A CD-ROM containing:
S An FC block package
S MD DBs (for start-up of stepper motor)
S The parameterization tool ”Parameterize FM 353”
S A preconfigured operator interface for the COROS series
OP 07 and OP 17
S A manual in PDF format
S Getting Started in PDF format

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Product Overview

System overview of data handling

The following figure gives you an overview of the data storage concept.

CPU FM 353

Loading buffer RAM Module data

S Module data
P bus S Diagnostic data
User program,
including blocks

User DBx Diagnostic/

Online data process
interrupt
DBx DBx
Operating system K bus parame- – parame-
terization terization
MPI data data

Human-machine
interface
Creation of the
user program Parameterization, e.g.:
testing and diag- S Machine data
nostics
S Increments
OP
S Tool offset data
S Traversing programs
S Status messages

LAD/STL DB Editor Parameter-

Editor ize FM 353

PG (STEP 7)

Fig. 1-3 Data storage concept

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1.2 Module description

View of the FM 353

Figure 1-4 shows the FM 353 module, its interfaces and front-panel elements (in-
cluding fault and status displays).

DIN rail

Module name plate:

FM 353
FM STEPPER MOTOR
Bus connector
SIMATIC port
Front door Labeling plate
(flips open)

Front view with doors removed

STEP.CONTR.X2

SF Front connector
1
Status and DC5V
2
3 I0
error displays DIAG 4 I1
5 I2
6 I3
7
8
9 RM
1 0

1
Display for digital I/O
1 Q0
Drive port X2 1 2 Q1 modules
1 3 Q2
1 4 Q3
1 5
1 6
1 7
1 8
1 9
2 0

I/O port X1

Fig. 1-4 View of the FM353

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Product Overview

Ports
A description of the ports is provided in Table 1-2.

Table 1-2 Ports

Ports Description
Bus connector – Back connector to continue the S7 LAN from module to module
SIMATIC port
Drive port 15-pin male sub-D connector (X2) to connect the drive unit
I/O port 20-pin male front connector (X1) to connect the load power
supply and for digital input and output wiring

LED indicators
Twelve LEDs are arranged on the front panel of the FM 353. Table 1-3 describes
these LEDs and what they mean.

Table 1-3 Status and error displays

LED Significance
SF (red) - This LED indicates an error condition in the FM 353.
Group error (see Troubleshooting, Chapter 11)
5 V DC (green) - This LED indicates that the hardware is ready for operation.
Logic power supply is
ON
DIAG (yellow) - This LED indicates various diagnostic states
Diagnostics (see Troubleshooting, Chapter 11)
I0 – I3 (green) - These LEDs indicate which input is ON.
Digital inputs
Q0 – Q3 (green) - These LEDs indicate which output is ON.
Digital outputs
RM (green) - This LED indicates that the input is activated.
Input, controller mes- (see Section 4.4)
sage

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Type plate of the FM 353

Figure 1-5 describes all the information contained in the type plate of the FM 353.

SIEMENS

 
   

Product status
Marks and approvals
Order number Module identifier

Fig. 1-5 Type plate of the FM 353

1.3 Overview of module functions

Summary
The FM 353 module performs the following functions:
S Mode control
S Determining position
S Stepper motor control
S Digital inputs and outputs
S Settings and functions that do not depend on operating mode
S Software limit switches
S Process interrupts
S Block sequence control
S Diagnostics and troubleshooting
S Data storage on the FM 353

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Product Overview

Mode control
The operating mode is specified to the FM 353 by way of the user program.
The FM 353 has the following modes available:
S Jogging
S Open-loop control
S Reference point approach
S Incremental mode, relative
S MDI-Manual Data Input)
S Automatic
S Automatic single block

Determining position
The control frequency pulses emitted by the FM 353 are added internally to form a
position actual value.

Stepper motor control

The stepper motor control performs the following tasks:
S Guidance of the drive commensurate with speed during movement sequence
(e.g. adjustable acceleration and delay, start/stop operation)
S Output of step pulses in form of control frequency
S Output of a direction signal
S Accurate approach by axis into programmed target position
S Phase current control to the drive device

Digital inputs/outputs
Four digital inputs and four outputs can be used as specified by the user.
You might connect:
S Reference-point switches
S Switches for external starting
S Touch probes
S Position reached, Stop (“PEH”)
S Forward/backward rotation
The switching function is assigned to a given I/O number by way of the machine
data.

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Settings and functions not dependent on operating mode

Special functions can be activated by specific settings in the user program, in addi-
tion to the mode (e.g., inprocess measurement).

Software limit switches

The operating range (specified by software limit switches) is automatically moni-
tored after synchronization is recorded.

Process interrupts
Process interrupts are triggered by such events as:
S Position reached
S Length measurement completed
S On-the-fly block change
S Inprocess measurement
Process interrupts are selected by way of machine data.

Block sequence control

Automatic processing of a traversing program, including subprograms created dur-
ing the parameterization process. A number of traversing programs are available
for execution on the module.

Diagnostics and troubleshooting

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

Data storage on the FM 353

Parameterization data (machine data, tool compensation data, traversing programs
and increment sizes) is retained in storage on the FM 353.
J

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Product Overview

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Basic Principles of Positioning 2
What is positioning?
Positioning means moving a load to a defined position within a defined time, taking
all influencing forces and torques into account.

s
Dx

Position A Position B

F = driving force Dx = distance to be traversed s = path

Fig. 2-1 Principle of a positioning action

What is servo-controlled positioning?

Servo-controlled positioning with a stepper motor is:
S Control of the drive at the right speed while a movement is being performed.
S Specifying a target position and true-to-target axis approach into programmed
target position

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Basic Principles of Positioning

Structure of a positioning circuit

Figure 2-2 show the structure of a position control circuit with FM 353 and stepper
motor.

Power grid
EMERG. STOP CPU
FM 353
Drive port

Safety de-
vice Power section

Parameterize PG

Movement

Motor M

Mechanical transmis-
sion elements
Safety device

“Parameterize FM 353”

Fig. 2-2 Setup of positioning with stepper motor (example)

FM 353
The FM 353 generates the following for the power section:
S Control frequency
S Direction signal
S Special control signals

Power section
The power section processes the control signals and supplies power to the motor.

Motor
The motor is connected, either directly or by way of mechanical transmission ele-
ments, to the machine component to be moved.

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 Basic Principles of Positioning

Mechanical transmission elements

These include not only the axis, but also gear trains and clutch systems.

Peripherals
All other additional equipment is covered by the term peripherals.
Peripherals mainly include:
S Limit switches to limit the positioning range (safety devices).
S A programming device (PG) and the “Parameterize FM 353” parameterization
software.
J

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Basic Principles of Positioning

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Installing and Removing 3
Chapter Overview

Section Section Header Page

3.1 Installing the FM 353 3-3
3.2 Removing the FM 353 3-4
3.3 Replacing modules 3-5

Overview
The FM 353 is intended for installation as an I/O module in the SIMATIC S7-300
programmable logic controller.

Important safety rules

There are important rules which you must follow when integrating an FM 353 in the
S7-300 PLC in a plant or system.
These rules and specifications are described in the installation manual S7-300 Pro-
grammable Controller, Hardware and Installation.

Mechanical set-up
The options for the mechanical set-up and its configuration are described in the
manual S7-300 Programmable Controller; Hardware and Installation.
Below, we give only a few supplementary pointers.

Installation position
The module should preferably be installed horizontally.
In vertical installations, please observe the ambient temperature restrictions
(max. 40 °C).

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Installing and Removing

What you should know about the mechanical layout

The FM 353 can be mounted in any of the eight available slots (slot nos.: 4...11) for
I/O modules on the mounting rail.
In configuring the mechanical layout of your controller, you should note the follow-
ing rules:
1. No more than eight SMs or FMs per tier (rack).
2. The maximum number of modules is limited by module width and by the length
of your DIN rail.
The FM 353 requires an installation width of 80 mm (3.12 inches).
3. The maximum number of modules is limited by the total power that all modules
to the left of the CPU or IM, as the case may be, consume from the 5 V back-
plane bus.
The CPU 314, for example, can supply a maximum of 1.2 A.
The FM 353 requires 100 mA of this amount.

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 Installing and Removing

3.1 Installing the FM 353

Rules
No particular protective measures (EGB Guidelines) are necessary for the installa-
tion of the FM 353.

Warning
! Install the FM 353 only after all power to the S7-300 has been turned OFF.

Tools required
A 4.5 mm (.18 inch) screwdriver.

Procedure
To install the FM 353:
1. The FM 353 comes with a bus connector. Plug this into the bus plug of the
module to the left of the FM 353. (The bus plug is on the back; you may have to
loosen the module already in place.)
If further modules are to be mounted to the right, plug the bus connector of the
next module into the right backplane bus connector on the FM 353.
If the FM 353 is the last module in the rack, do not connect this bus connector .
2. Hook the FM 353 onto the rail and swing it down into position.
3. Screw the FM 353 down (torque approx. 80-110 Nm).
4. After the modules have been mounted, you can also assign each of them a slot
number. Slot labels for this purpose are enclosed with the CPU.
The numbering scheme and how to plug in the slot labels are described in the
installation manual S7-300 Programmable Controller, Hardware and Installation,
for the numbering scheme to follow and how to apply the slot labels.

Note
The slot determines the initial address of each module. To find out how to allocate
the module start address, please refer to the installation manual S7-300 Program-
mable Controller, Hardware and Installation, Order No.: 6ES7 030-0AA01-8AA0.
The FM 353 is addressed in the same way as an analog module.

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Installing and Removing

3.2 Removing the FM 353

Rules
No particular protective measures (EGB Guidelines) are necessary for the removal
of the FM 353.

Warning
! Remove the FM 353 only after all power to the S7-300 has been turned OFF.

Tools required
A 4.5 mm (.18 inch) screwdriver.

Procedure
To remove the FM 353:
1. Open the front doors. If necessary, remove the labeling strips.
2. Detach the power-supply connections from the terminal block.
3. Detach the sub-D plug from the drive unit.
4. Release the protective device on the front connector and unplug it.
5. Loosen the fastening screws and swing the module up and out.

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 Installing and Removing

3.3 Replacing modules

Overview
If a defective FM 353 has to be replaced, and no programming device/PC is avail-
able for parameterization, or the module is to be replaced while the system is
switched on, please note the following start-up requirements (CPU, FM):
S An SDB w 1 000 should be generated in order to complete the startup (for stor-
ing the parameter data); see Section 5.5.
S In the user program:
– Interrupt communication with the FM 353 before removing the old FM, and
resume communication after installing the new FM.
– If data/parameters are modified during operation and stored retentively on
the FM, please follow the instructions in Section 9.3.1.

Replacing an FM 353
To replace a parameterized but defective FM 353:
1. Replace the FM 353 when the system is switched off (CPU, FM)

Remove the FM 353 (see Sec. 3.2)

Install the FM 353 (see Sec. 3.1)

Switch on the system

Appropriate SDB w 1 000 in No

CPU?1)

Yes
Reparameterization of FM
FM 353 parameter- → PG/PC required
ized automatically

FM 353 ready

1) How to create an SDB w1 000 after startup, and

how to load it in the CPU is described in Section 5.5.

Fig. 3-1 Replacing the FM 353 with the system switched off

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Installing and Removing

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Wiring 4
Chapter Overview

Section Section Header Page

4.1 Wiring an FM 353 4-2
4.2 Description of the drive interface 4-4
4.3 Connecting the drive unit 4-11
4.4 Description of the I/O interface 4-12
4.5 Wiring up the front connector 4-18

Safety rules
In order to ensure the safe operation of your plant, you should introduce the follow-
ing additional measures, and adjust them appropriately to your system’s condi-
tions:
S An EMERGENCY STOP concept meeting appropriate safety regulations (e.g.
European standards EN 60204, EN 418 and associated standards).
S Additional measures for limiting the end position of axes
(e.g. hardware limit switches).
S Equipment and measures for protecting the motors and power electronics in
accordance with the installation guidelines for FM STEPDRIVE/SIMOSTEP.
We also recommend you carry out a risk analysis in accordance with basic safety
requirements / Appendix 1 of the EC machine directive, in order to identify sources
of danger affecting the complete system.

Further references
Please refer also to the following chapters in the manual S7-300 Programmable
Controller, Hardware and Installation:
S Lightning protection and overvoltage protection: Chapter 4.2
S Guidelines for handling of electrostatic sensitive devices (ESDs): Appendix B.
S Configuring the electrical installation: Chapter 4.
For further information about EMC guidelines, we recommend the description in:
Equipment for Machine Tools, EMC guidelines for WS/WF equipment, Order No.:
6ZB5 440-0QX01-0BA1.

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Wiring

Standards and specifications

When wiring the FM 353 you must observe the relevant VDE guidelines.

4.1 Wiring an FM 353

Summary
Figure 4-1 shows how the individual components of the positioning controller with
FM 353 are linked together.

OP PG

Front connector
SIEMENS

SIMATIC S7-300

External 24 V
power supply CPU FM 353
MPI connecting cable

e.g. FM STEPDRIVE Dig. outputs, e.g.

direction of rotation
X2
Drive device port
Dig. inputs, e.g.
touch probe
Setpoint cable

Fig. 4-1 Wiring an FM 353

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 Wiring

Note
The device is designed for operation with safety extra–low voltage (SELV). This
means that only safety extra–low voltages (SELV) complying with
IEC950/EN60950/VDE0805 may be connected to the power supply terminals.
The power unit for supplying the device must comply with NEC Class 2 as de-
scribed by the National Electrical Code(r) (ANSI/NFPA 70).
The power of all connected power units in total must correspond to a limited power
source (LPS).

Connecting cables
Table 4-1 lists the connecting cables for a positioning controller with the FM 353.

Table 4-1 Connecting cables for a positioning controller with FM 353

Type Order No. Description

MPI connecting see Catalog ST 70, Order No. Connection between OP,
cable E86060-K4670-A101-AV PG and S7-300 CPU
Setpoint cable 6FX2 002-3AC02-1VV0 Connection between
see Catalog NC Z FM 353 and stepper drive
Order No.: E86060-K4490-A001-AV

Front connector
You need a 20-pin screw-type front connector for wiring the digital I/Os. It must be
ordered separately.
Order No.: 6ES7 392-1AJ00-0AA0
see Catalog ST 70, Order No. E86060-K4670-A101-AV
see Catalog NC 60.1, Order No. E86060-K4460-A101-AV

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Wiring

4.2 Description of the drive interface

Connector for the drive unit

Stepper motor power sections which have at least one clock generator and direc-
tion input with 5 V signal level can be connected to the 15-pin sub-D X2 connector
of the FM 353.
Additionally, the FM 353 provides an enable signal.

Connector position
Figure 4-2 shows the installation position and identification of the plug on the mod-
ule.

STEP.CONTR. X2
1
9

15
8

FM 353

Fig. 4-2 Position of X2 connector

Connector pinout
Connector identifier: X2 STEP.CONTR.X2
Connector type: 15-pin sub-D plug connector

Table 4-2 Pinout of the X2 connector

Pin Name Type Pin Name Type

1 PULSE O 9 PULSE_N O
2 DIR O 10 DIR_N O
3 ENABLE O 11 ENABLE_N O
4 PWM / BOOST O 12 PWM_N / BOOST_N O
5 GND O 13 GND O
6 GND O 14 GND O
7 not assigned 15 READY1_N I
8 GND O

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 Wiring

Signal names
PULSE, PULSE_NC Lock signal, true and negated
DIR, DIR_N Direction signal, true and negated
ENABLE, ENABLE_N Enable signal, true and negated
PWM/BOOST, PWM_N/BOOST_N Current control, true and negated
READY1_N Ready message
GND Signal ground

Signal type
O Output
I Input

Note
The active level of each signal can be defined in MD37 (see Section 5.3.1, 9.7).
Check the technical documentation for your drive device regarding assignment of
signal levels to direction of rotation.

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Wiring

Output signals
Clock, directional and enable signals are provided. In addition, an additional signal
can be parameterized for current generation.
S PULSE
The clock pulses control the motor. The motor executes one increment in re-
sponse to each rising pulse edge.
This means that the number of pulses which are output determines the angle of
rotation, i.e. the distance to be traversed.
The pulse frequency determines the speed of rotation, i.e. the traversing speed.
S DIRECTION
The signal levels which are output determine the direction of rotation of the mo-
tor.
Signal ON: “Rotation to left”
Signal OFF: “Rotation to right”
S ENABLE
The FM 353 activates this signal anytime the cyclical control operating mode is
detected.
Signal ON: Power activation is enabled
Signal OFF: Depending on power section, one or more of the
responses mentioned may occur:
– Disable pulse input
– Switch off power to motor
– Reset ring counter
– Erase error messages
S PWM / BOOST
This signal is for purposes of altering the motor current.
In the “PWM” function, a pulse width modulated signal is output which can be
used to adjust the motor current between 0 and 100%.
The “BOOST” function can be used to amplify the motor current:
Signal ON: Motor current increases
Signal OFF: Motor current normal
The use of this signal must be defined in the machine data (see MD37, Section
5.3.1, 9.7.2).

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Signal parameters of the outputs

All output signals are output by way of differential-signal line drivers in compliance
with Standard RS422. To ensure optimum noise immunity, the power section
should feature differential signal receivers or optical coupler inputs to permit bal-
anced signal transfer. Unbalanced transfer is also possible, however cable length
in such cases is limited to a maximum of 10 m.

Note
In the case of asymmetrical transmission satisfactory functioning cannot be guar-
anteed because of the various non-standardized input circuits of the drive units.
Especially the lead length and the limit frequency depend on the properties of the
input circuit and the lead used. Furthermore, the reference potential GND must be
floating in order to prevent electrical interference.

Table 4-3 provides a summary of the output signal electrical data.

Table 4-3 Electrical parameters of the stepper drive signal outputs

Parameters min max Unit when

Differential output voltage VOD 2 V RL = 100 Ω
3,7 V IO = –20 mA
Output voltage “High” VOH
4,5 V IO = –100 μA
Output voltage “Low” VOL 1 V IO = 20 mA
Load resistance RL 55 Ω
Output current IO "60 mA
Pulse frequency fp 200 kHz

Connecting cable to drive

allowable length ( l ):
for balanced transfer, 35 m
for unbalanced transfer, 10 m

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Wiring

Signal wiring (output signals)

Figure 4-3 shows various ways to wire the signals.

Balanced transfer with RS422-compliant differential input

FM 353 l v 35 m Power section

+
RL
VOD
–

VOL VOH

GND

Balanced transfer with optical coupler input

l v 35 m
IO

RL =

GND

Unbalanced transfer with optical coupler input

l v 10 m
IO

RL =

GND

Unbalanced transfer with voltage input

l v 10 m
IO

VOL
RL
VOH

GND GND

Fig. 4-3 Connection options for drive port output signals.

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Input signal
READY1_N
This input is non-isolated and works with a 5V level. A floating output (switching
contact or optical coupler) may be connected. The FM 353 interprets this input as
a Ready message from the power section.
An alternative connection option is available by way of peripherals connector X1
(see Section 4.4).
Its use is defined in machine data (see MD37, Section 5.3.1, 9.7.2).

Signal parameters of the input

Table 4-4 presents a summary of the electrical parameters of the input signal.

Table 4-4 Electrical parameters of the “READY1_N” signal input

Parameters Value Unit Comment

1 Signal, voltage range VH 3.5...5.5 V or input open
0 signal, voltage range VL –1.5...2 V
0 signal, input current IL –1.5...–3 mA

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Wiring

Signal connection for the “READY1_N” input

The illustration shows you different signal connection options for the “READY1_N”
input.

Actuation of the “READY1_N” input by contact

Power section FM 353

l v 35 m 5V
2k

GND

Actuation of the “READY1_N” input by optical coupler

l v 35 m 5V
2k

GND

Actuation of the “READY_1” input by transistor (open collector)

l v 35 m 5V
2k

GND

Fig. 4-4 Connection of the “READY1_N” input

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4.3 Connecting the drive unit

To connect the connecting cables

Please note:

Note
Use only shielded twisted pairs for lines. The shielding must be connected to the
metallic or metallized connector jacket on the controller side. To protect the analog
setpoint signal against low-frequency interference, we recommend that you not
ground the shielding on the drive-unit side.
The cable set supplied as an accessory offers excellent immunity against interfer-
ence.

e.g. FM STEPDRIVE

Drive device port

X2

Connecting cable FM 353

Fig. 4-5 Connecting a drive unit

Procedure to connect the connecting cable

Connect the drive unit as follows:
1. Wire the free cable end of the connecting cable to the terminals of the drive
unit.
2. Open the front door and plug the sub-D connector into the module.
3. Lock the connector in place with the knurled screws. Close the front door.

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Wiring

Identification of the connecting cable

The connecting cable is a cable set for one axis with an analog interface. The ter-
minals are identified for SIMODRIVE drive units.
Order No.: 6FX2 002-3AC01-1VV0
The connecting cable is available in a variety of lengths.
see Catalog NC Z  Order No.: E86060-K4490-A001-AV.

4.4 Description of the I/O interface

Front connector
Four digital inputs/outputs and one message signal from the power section may be
connected to the 20-pin front connector X1 with its single-wire terminal.

Location of connector
Figure 4-6 shows the front connector in position to be wired, and the labeling on
the inside of the front door.

Front connector in wiring position Labeling on in-

X1 side of front door

Locking device
1
2
3 3
4 4
5 5
6 6
7
8 9
9
10
1 0
X1
1 1 11
1 2 12
1 3 13
1 4 14
1 5
1 6
1 7
1 8 19
1 9
2 0 20 L+
M

Fig. 4-6 Location of X1 connector

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Connector pinout
Connector identifier: X1
Connector type: 20-pin S7 front connector for single-wire terminal

Table 4-5 Pinout of the X1 connector

Pin Name Type Pin Name Type

1 open VI 11 DO1 Q
2 not assigned VI 12 DO2 Q
3 DI1 I 13 DO3 Q
4 DI2 I 14 DO4 Q
5 DI3 I 15 not assigned
6 DI4 I 16 not assigned
7 open 17 not assigned
8 open 18 not assigned
9 RM_P I 19 L+ VI
10 RM_N I 20 M VI

Signal names
DI1 – 4 Digital input 1 – 4
DQ1 – 4 Digital output 1 – 4
RM_P Positive input for controller message
RM_N Negative input for controller message
L+, M 24 V load power supply / ground

Signal type
Q Output
I Input
VI Voltage input

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4 digital inputs (DI1...4)

All inputs have equal priority. Switching functions are allocated to an input number
by way of machine data; input polarity is selected in the same way (starting and
shutdown slopes).
These fast inputs are PLC-compatible (24 V current-sourcing). Switches or con-
tactless sensors (2-wire or 3-wire sensors) can be connected.
Possible uses include:
S As reference-point switches
S As switches for external Start/Stop, external block change
S As touch probes
See Section 5.3.1 for further applications.

Table 4-6 Electrical parameters of digital inputs

Parameters Value Unit Comment

1 signal, voltage range 11 – 30 V
1 signal, power consumption 6 – 15 mA
0 signal, voltage range –3 – 5 V or input open
Signal delay 0 → 1 15 μs
Signal delay 1 → 0 150 μs

“Controller message” (RM) input

One message signal from the drive power section can be connected to the
“RM_P/RM_N” terminals.
The message signal is specified in MD37 (see Section 5.3.1) and can be one of
the following (see Section 9.7):
S Servo controller ready (alternative to connector X2)
S Current-sourcing pattern zero signal for reference point approach
S Zero pulse, external (e.g. reference point switch signal) for reference point ap-
proach

Note
The “controller message” input is configured as an isolated optical coupler input.
This allows both a current-sourcing and a current-sinking output of the power sec-
tion to be connected. For details about wiring see Section 4.5.

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Table 4-7 Electrical parameters, “Ready message” input

Parameters Value Unit Comment

1 signal, voltage range 15 – 30 V
1 signal, power consumption 2–6 mA
0 signal, voltage range –3 – 5 V or input open
Signal delay 0 → 1 30 μs
Signal delay 1 → 0 150 μs
Internal signal delay 20 μs for actual value
transfer function

There are two ways of powering the standby signal:

S from the open-loop control
S from the drive unit

Power from the open-loop control

Figure 4-7 shows examples of how to power the standby signal from the control.

Actuation, current-sourcing
FM 353 Power section

X1
9 RM_P
RM_N
10
L+
19
M
20

Actuation, current-sinking

X1
9 RM_P
RM_N
10
L+
19
20 M

Fig. 4-7 Actuation of the input controller message, power supply from the
control

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Wiring

Power from the drive unit

Figure 4-8 shows examples of how to power the standby signal from the drive unit.

Actuation, current-sourcing
FM 353 Power section

X1 P24

9 RM_P
RM_N
10
M
19 L+
20 M

Actuation, current-sinking

X1
RM_P
9 P24
RM_N
10
19 L+

20 M
M

Fig. 4-8 Actuation of the input controller message, power supply from the
drive unit

4 digital outputs (DQ1...4)

All outputs have equal priority. The switching function is allocated to the output
number in machine data (see MD34, 35, Section 5.3.1).
These four outputs are intended for wiring of application-specific signals.
Possible uses include:
S Position reached and stopped
S Switching function M command
S Forward/backward rotation
See Section 5.3.1 for further applications.

Note
Make sure that the cable length between the digital outputs and the load does not
exceed a permissible max. length of 30 m.

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Table 4-8 Electrical parameters of digital outputs

Supply voltage 24 V DC (allowable range: 20.4 – 28.8 V)

Electrical isolation No
Output voltage S 0 signal: Residual current max. 2 mA
S 1 signal: (Power supply –3 V)
Output current on signal “1”
S at ambient temperature of
40_C
– Rated value 0.5 A (total current 2 A)
– Permissible value range 5 mA...0.6 A (over power supply range)
– Lamp load max. 5 W
S at ambient temperature of
60_C
– Rated value 0.1 A (total current 0.4 A)
– Permissible value range 5 mA...0.12 A (over power supply)

Switching rate S Resistive load: max. 100 Hz

S Inductive load: 0.25 Hz

Load power supply (L+, M)

Here a 24-V load power supply must be connected. The unit will not operate if the
poles are reversed.

Note
Note the SIMATIC setup guidelines. In particular, the M terminal (reference poten-
tial) must be connected with the chassis ground of the programmable controller
(M terminal on the terminal block of the S7-300 CPU).
see manual S7-300 Programmable Controller, Hardware and Installation.

Danger
! The 24 V load power supply should be a functional extra-low voltage with safe
isolation to EN60204-1, Section 6.4, PELV (with M grounding).

Note
Make sure that the interconnecting cable between power supply and load power
supply connection L+ and appropriate reference potential M does not exceed a
max. permissible length of 10 m.

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Wiring

4.5 Wiring up the front connector

Wiring up the front connector

Figure 4-9 shows how to lay the lines to the front connector, and how to relieve
strain on the lines with the terminal element.

SF ENCODER X3

1
2
DC5V 3
3 I0
DIAG 4 4
I1
5 I2 5
6 6
I3
7
8 9
9 RM 10
1 0
X1
1 1 Q0 11
1 2 Q1 12
1 3 Q2 13
1 4 Q3 14
1 5
1 6
1 7
1 8 AC
1 9 19 19
+
2 0 20 – 20 L+
DC24V M

FM 353
Labeling on inside of front door

Digital
outputs Shielding terminal element

Digital
inputs
e.g. touch
probe

Fig. 4-9 Wiring of the front connector

Connecting cables
Flexible conductor, cross-sectional area 0.25...1.5 mm 2
Ferrules are not necessary.
You can use ferrules without insulating collars per DIN 46228, Shape A, long con-
figuration.
You can connect two lines measuring 0.25 – 0.75 mm 2 in a single ferrule.

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 Wiring

Note
To provide optimum immunity to interference, shielded cables should be used to
connect touch probes or sensors.

Tools required
A 3.5 mm (.13 inches) screwdriver or power screwdriver.

Procedure for wiring the front connector

To wire the terminal strip:
1. Strip 6 mm (.23 inches) of insulation from the cable; apply ferrules, if any.
2. Open the front door. Move the front connector into position for wiring (while
pressing down on the locking elements as shown in Figure 4-6).
Lock the connector in place without any electrical contact to the module.
3. Apply the cable grip to the connector.
4. If you are leading the lines out from below, start wiring from the bottom; other-
wise start from the top. Screw down unused terminals as well.
The tightening torque should be 60-80 Nm.
5. Tighten the cable grip on the cable strand.
6. Move the front connector into operating position (while pressing down on the
locking elements).
7. You can fill out the labeling strip enclosed with the product and slip it into the
front panel.

Shielded cables
When using shielded cables, the following additional steps are necessary:
1. After leading the cable into the cabinet, connect the cable shielding with a
grounded shielding bus (strip the insulation from the cable itself).
For this you can use the shielding terminal element mounted on the DIN rail; it
will accept up to eight shielding terminals.
see manual S7-300 Programmable Controller, Hardware and Installation.
2. Connect the shielded line to the module, but do not connect the shielding there.

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Wiring

Shielding terminal element

To provide a shielding end lead for shielded cables, this element can be inserted in
the DIN rail. It can accept up to eight shielding terminals
(KLBÜ line from Weidmüller).
Order No.: Terminal element: 6ES7 390-5AA00-0AA0
Shielding terminal: 6ES7 390-5CA00-7AA0
see Catalog NC 60.1, Order No. E86060-K4460-A101-AV
see Catalog ST 70, Order No. E86060-K4670-A101-AV
J

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Defining Parameters 5
Chapter Overview

Section Section Header Page

5.1 Installing “Parameterize FM 353” 5-3
5.2 Getting started with “Parameterize FM 353” 5-4
5.3 Parameter data 5-7
5.4 Parameterization with “Parameterize FM 353” 5-25
5.5 Storing the parameter data in SDB w 1 000 5-26

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Defining Parameters

Overview
This chapter gives you an overview of how to define the parameters of the FM 353
with the “Parameterize FM 353” tool.

S7-300 CPU FM 353

P bus
Data blocks (DB)
User S DB-MD
data block Online (editing in the
S DB-SM
Target system menu
K bus S DB-TO
MPI and selection of the
S DB-NC
Online editing option)

Offline (editing in the File

PG menu)
(STEP 7) HW-CONFIG

Rack parameterization -
Parameter-
Group selection -
ization forms
Activate interrupts
(basic parameters)
Configuration: Generate system data
Setup.exe
Module parameterization

S Parameterization tool “Parameterize FM 353”

S Function blocks
S MD-DBs (for start-up of stepper motor)1)
S Preconfigured user interface for OPs
S Manual in PDF format
S Getting Started in PDF format

1) See Getting Started and Chapter 7

Fig. 5-1 Overview of parameterization

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 Defining Parameters

5.1 Installing “Parameterize FM 353”

Prerequisites
One of the following operating systems must be installed on the programming de-
vice (PG/PC):
S “MS Windows XP Professional SP2 or SP3“
S “MS Windows Server 2003 R2 SP2 standard edition as workstation computer“
S ”MS Windows 7 32 Bit Ultimate, Professional or Enterprise”
S ”MS Windows 7 64 Bit Ultimate, Professional or Enterprise”
You need the STEP 7 program (from V5.5 + HF4).
For online operation, make sure that your programming device (PG) / PC is
connected to the S7-300 CPU (see Figure 4-1). For distributed use of the FM, a
connection from the PG / PC must be established to the L2 DP network.
Installation
The entire software (parameterization tool, function blocks and preconfigured user
interface for OPs) is stored on CD ROM.
Install the software as follows:
1. Insert the CD ROM in the CD ROM drive of your PG/PC.
2. Run file Setup.exe on the CD ROM.
3. Follow the instructions displayed by the installation routine step for step.
Result: The software is installed in the following directories:
– “Parameterize FM 353” parameterization tool: [STEP7 directory]\S7FSTEP
– Technology functions:
[STEP7 directory]\S7LIBS\FMSTSV_L (library name: “FMSTSV_L”)
– Technology functions:
[STEP7 directory]\S7LIBS\FM353_354 (library name: “FM353_354”)
– User interface for OPs:
[STEP7 directory]\EXAMPLES\FM353\zDt13_02_FM353_OP_EX
– Sample applications for blocks of the FMSTSV_L library:
[STEP7 directory]\EXAMPLES\zDt13_02
STEP7 project name: zDt13_02_FM353_EX
– Sample applications for blocks of the FM353_354 library:
[STEP7 directory]\EXAMPLES\zDt13_03
STEP7 project name: zDt13_03_FM353_EX
– MD DBs (for commissioning of the stepper drive):
[STEP7 directory]\EXAMPLES\FM353\MD

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Defining Parameters

5.2 Getting started with “Parameterize FM 353”

Prerequisites
You have installed the software on your programming device/PC, as described in
Section 5.1.

Configuration
Before you can configure your system, you must create a project in which to save
the parameters. You will find further information on how to configure modules in
your user manual Standard Software for S7 and M7, STEP 7. The description be-
low outlines only the most important steps.
1. Start the SIMATIC Manager and open your project.
2. Insert a SIMATIC 300 station in the menu Insert > Station.
3. Select the SIMATIC 300 station. Call up the S7 hardware configuration from
the menu Edit > Open Object.
4. Select a rack.
5. Select the FM 353 positioning module with the correct order number from the
module catalog, and insert it in the hardware table as appropriate for your con-
figuration.
6. Double-click a module to configure it.
The Properties dialog box appears.

Fig. 5-2 Getting started with “Parameterize FM 353”

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 Defining Parameters

7. By clicking on the tabs in this FM 353 window (General, Addresses and Basic
Parameters), you can
– Assign a name
– Change the address of the FM as well as any input parameters for the
POS_INIT block (see Section 6.3.2)
– Configure the interrupts (diagnostic interrupt, process interrupt).
Note:
Further operation of the FM 353 is not possible with the CPU in the ST OP state.
Click the Parameters button to call up the screen for setting the parameters.

Fig. 5-3 Overview display for parameterization

You can return to this display at any point during parameterization by selecting the
menu View > Overview.
The FM 353 module for stepper drive-controlled positioning is parameterized by
way of parameter DBs that reside in memory on the module. Here a key function is
performed by the “Machine data” data block (DB-MD), since it is always needed,
regardless of what technological function the module performs. All other parameter
DBs are only needed as a function of the technology involved.
You can now set the parameters of your module. This chapter gives you an over-
view of the parameters that can be set.

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Defining Parameters

You can use the mouse to change the size of the window for entering the parame-
ter data and the size of the overview display.
Proceed as follows:
1. Position the mouse pointer on the top border of the window, so that it changes
into an arrow.
2. Press the left mouse button, and drag the pointer downwards by moving the
mouse.
3. Release the mouse button.
4. Position the mouse pointer on the bar with the name of the window.
5. Press the left mouse button, and drag the pointer upwards by moving the
mouse. When you have moved the window to the correct position, release the
mouse button.
When you have configured your project, you can call up the Properties screen in
S7 Configuration by selecting the module and activating the menu command Edit
> Object Properties.

Integrated help
The parameterization user interface has an integrated help system to support you
when you set the parameters of the positioning module. To call up the integrated
help:
S Select the menu command Help > Help Topics... or
S press the F1 key or
S select the symbol and then move to the element or window you want infor-
mation about and press the left mouse button.

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 Defining Parameters

5.3 Parameter data

What can I parameterize?

You can parameterize the following data storage areas:
S Machine data (MD)
S Increment sizes (SM)
S Tool offset data (TO)
S Traversing programs (NC)
S User data (user data blocks)
This data is stored in data blocks (DBs) within the numerical range 1001 to 1239
(not including user data).
The MD, SM, TO and NC data blocks are transferred to the FM 353 and reside in
memory there.
Parameterization of SM, TO and NC may be omitted if the associated functions are
not used.
The user data block must be stored in the CPU. Only then can it be filled with data
online (see Chapter 6).
Parameterization data (except for user data) can also be created, edited and saved
offline on the PG.

Data blocks (DB) of the FM 353

Table 5-1 gives you an overview of the data blocks in the FM 353 and their mean-
ing.

Table 5-1 Data blocks

Data block Significance

DB-MD Machine data (DB No. = 1210)
User memory requirements = 284 bytes
Machine data serves to adapt the FM 353 to the user’s own specific ap-
plication. Parameterization with machine data is essential in order for the
FM’s functions to be activated. The parameterized DB-MD should be
loaded to the FM. As it is written to the FM 353, the DB-MD is checked
for the input limits of the individual values and their interdependencies. It
is then stored only if all values are allowed. Otherwise data error mes-
sages are displayed by way of the MPI. A defective DB will not be re-
tained when the power is turned off.
The machine data can then be activated by way of “Activate machine
data” or by switching the equipment on and off.

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Defining Parameters

Table 5-1 Data blocks, continued

Data block Significance

DB-SM Increments (DB No. = 1230)
User memory requirements = 468 bytes
Increments serve in the “Relative incremental” operating mode as user-
definable relative path distances for individual positioning. You can de-
fine from 1 to 100 increment sizes (see Section 5.3.2).
Modifications can be made in all operating modes (even in “Incremental
relative” mode) during movement. The modifications of the increments
must always be complete before a new movement is started in “Incre-
mental relative” mode. If this is not the case, the error message “incre-
mental dimensions do not exist” is output Cl. 2/No. 13.
DB-TO Tool offset data (DB No. = 1220)
User memory requirements = 308 bytes
The use of tool length compensation and wear values is described in
Section 10.1. Up to 20 compensation or wear values are available.
Tool offset data are required for the “Automatic and Automatic single
block” modes.
Modifications can be made in all operating modes and during movement.
If modifications are made during starting or at block transitions when the
tool compensation is active (internal access to offset values), the error
message “tool offset value does not exist” is output Cl.3/No.35.
DB-NC Traversing programs
(Program No. + 1000 = DB No. = 1001...1199)
User memory requirements = 108 + (20 x no. of traversing blocks)
Traversing programs are required for the “Automatic and Automatic
single block” modes.
S Programs which are not selected can always be modified.
S If modifications are made to a preselected program, including the
subprogram, preselection of the program is canceled. You must then
select the program again. A modification can be made to a program
when BL = 0 (start of program/end of program) and on Stop.
System data For module replacement without PG
block All the parameter data of the FM 353 (DB-MD, DB-SM, DB-WK, DB-NC)
SDB w 1 000 are stored in SDB w 1 000. This SDB is loaded into the CPU and is used
as an additional means of data storage.
DB-SS Data block for status messages (DB no. 1000)
The DB-SS is an internal DB on the FM for testing, start-up and operator
control and monitoring.
DB 1249 Internal DB on the FM, not relevant for user.

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 Defining Parameters

Data block structure

Table 5-2 gives a rough picture of data block structure.

Table 5-2 Data block structure

Addresses/ Contents Comment

Offset
DB header System information, not relevant for
user
0 and above User data area / structure header Information for labeling of data
block within the system
24 and above User data Parameterization data
for MD, other-
wise 32

Detailed data block structures and parameterization data for the individual types of
data blocks can be found in the following sections.

5.3.1 Machine data

DB structure
Table 5-3 gives you an overview of the structure of the “machine data” data block
(DB-MD).

Table 5-3 DB structure – machine data

Byte Variable type Value Significance of the variables Comment

DB header

0 WORD Rack slot Module address

2 WORD DB No. (w 1000) As in DB header
4 DWORD Reserved
8 WORD Error No. (from FM) With MMI services
10 WORD 1 Channel number
12 2 STRING MD DB identifier/type 2 ASCII characters
16 DWORD 353 Module identifier FM 353
20 4 CHAR 0 Version number/block number (DB structure)

24 and See machine data list MD5 – MD51

above.
..

Note: MD address in DB = (MD-Nr. –5) * 4 +24

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Defining Parameters

Entering values
In “Parameterize FM 353” select the menu File > New > Machine Data to call up
the following display.

Fig. 5-4 Entering values for machine data

Enter the machine data in the tab windows.

You can also enter your values in a table by selecting View > Table form.
When creating the MD DBs you must follow the instructions in Chapter 7
“Starting up the FM 353”.

Note
The measurement system (MD7) must match the measurement system specified
in the other DBs.
The measurement system raster (MSR) is the smallest distance unit in the active
system of measurement.
If at some point you have failed to take this precaution:
1. Delete all data blocks (which do not match the measurement system) or clear
the memory of the FM 353 completely.
2. Modify the other data blocks on the PG.
3. Reload the data blocks to the FM 353.

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 Defining Parameters

Machine data list

All machine data of the FM 353 are listed in Table 5-4.
Notes to the machine data list:
K are configuration data; see Section 9.3.3
E are settable machine data for alignment (start-up optimization) and technology,
see Section 9.3.3
The units of measurement refer to the value representation in the machine data
DB.

Table 5-4 Machine data list

No. Default Data type/ See

Designation Value/Meaning
values Unit/Comments Sec.
1–4 not assigned
5E Process interrupt gener- 0 0 = Position reached BITFIELD32 9.10
ation 1 = Length measurement com-
pleted
3 = Change block on-the-fly
4 = Measurement on-the-fly
6 Axis name X max. 2 ASCII characters1) 4 bytes3)
7K System of measure- 1 1 = 10–3 mm DWORD [MSR] 9.4
ment 2 = 10–4 inch
3 = 10–4 degrees
4 = 10–2 degrees
8K Axis type 0 0 = linear axis DWORD 9.5
1 = rotary axis
9K Rotary axis end2) 36@105 0 – 1 000 000 000 DWORD [MSR]
10 not assigned
11 K Travel per motor revolu- 10 000 1 – 1 000 000 000 DWORD [MSR] 9.6
tion (division period)2 (integer compo-
nent)
12 K Residual path per motor 0 0 – 232–1 DWORD
revolution2) [2–32MSR] (frac-
tional component)
13 K Increments per motor 2 21 – 225 DWORD
revolution (division pe-
riod)2)
14 not assigned
15 not assigned
16 K Reference- 0 –1,000,000,000 – DINT [MSR] 9.2.3
point coordinate +1,000,000,000

MSR = measurement-system grid RPS = reference-point switch

1) The variable axis name is implemented as an axis letter (X, Y, Z, ...) with an address extension (1...9).
Permissible characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: “X”, “X1”
2) see Dependencies
3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification)

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Defining Parameters

Table 5-4 Machine data list, continued

No. Default Data type/ See

Designation Value/Meaning
values Unit/Comments Sec.
17 not assigned
18 K Type of reference-point 0 0 = direction + current-sourcing DWORD 9.2.3
approach pattern zero or zero pulse Code identifies
(reference-point ap- external to right of RPS position for syn-
proach direction) 1 = direction + current-sourcing chronization point
pattern zero or zero pulse with ref. to RPS.
external to left of RPS Watch for MD37!
2 = direction - current-sourcing
pattern zero or zero pulse
external to right of RPS
3 = direction - current-sourcing
pattern zero or zero pulse
external to left of RPS
4 = direction +, RPS center
5 = direction –, RPS center
8 = direction +, RPS edge
9 = direction –, RPS edge
19 not assigned
20 not assigned
21 E Software limit switch, –109 –1 000 000 000 -- 1 000 000 000 DINT [MSR] 9.7
beginning2) 9.9
22 E Software limit switch, 109 –1 000 000 000 -- 1 000 000 000
end2)
23 FM 353 used inter-
nally
24 not assigned
thru
26
27 E Reference- 0 –1,000,000,000 – DINT [MSR] 9.2.3
point shift +1,000,000,000
28 E Referencing velocity2) 6@106 10 – 500 000 000 DWORD 9.2.3
[MSR/min]
29 E Reducing velocity2) 3@106 10 – 500 000 000 DWORD 9.2.3
[MSR/min]
30 E Backlash compensation 0 0 – 1 000 000 DINT [MSR] 9.7
31 E Directional reference of 0 0 = as in search for reference DWORD
backlash 1 = positive
2 = negative

MSR = measurement-system grid RPS = reference-point switch

1) The variable axis name is implemented as an axis letter (X, Y, Z, ...) with an address extension (1...9).
Permissible characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: “X”, “X1”
2) see Dependencies
3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification)

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 Defining Parameters

Table 5-4 Machine data list, continued

No. Default Data type/ See

Designation Value/Meaning
values Unit/Comments Sec.
32 K M-function 1 during positioning: DWORD 10.3
output type 1 = time-controlled serial output of up 9.1
2 = acknowledgment-controlled to 3 M functions in
NC block
before positioning:
3 = time-controlled
4 = acknowledgment-controlled
after positioning:
5 = time-controlled
6 = acknowledgment-controlled
33 K M-function 10 1 – 100,000 DWORD [ms]
output time rounded to 2-ms
steps
34 K Digital inputs2) 0 0 = external start BITFIELD32 9.2.3
1 = input for enable bit-coded function 9.8
2 = external block change allocation:
3 = set actual value on-the-fly
Bit No. I/O 0
4 = measure
Bit No. + 8 I/O 1
5 = RPS for search for reference
Bit No. + 16 I/O 2
6 = reversing switch for
Bit No. + 24 I/O 3
search for reference
The front edge al-
35 K Digital outputs2) 0 0 = Position reached, stop ways activates the 9.8
1 = Axis movement forward function. Indepen-
2 = Axis movement reverse dently of MD36!
3 = Change M97
4 = Change M98
5 = Enable Start
7 = Direct output
36 K Input adjustment 0 8 = I0 inverted BITFIELD32 9.8
(signal processing in- 9 = I1 inverted
verted) 10 = I2 inverted
11 = I3 inverted

MSR = measurement-system grid RPS = reference-point switch

1) The variable axis name is implemented as an axis letter (X, Y, Z, ...) with an address extension (1...9).
Permissible characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: “X”, “X1”
2) see Dependencies
3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification)

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Defining Parameters

Table 5-4 Machine data list, continued

No. Default Data type/ See

Designation Value/Meaning
values Unit/Comments Sec.
37 K Special control signals 1 0= Servo enable active BITFIELD32 9.7
2= Servo ready active
3= Servo ready inverted
4= Servo ready via connector
X2 (if Bits 24--27 active)
7 = Time override active
8 = Pulse output inverted
9 = Direction output inverted
15 = Continue running after 9.1.1
emergency stop
(drive enable [AF])
16 = Boost active
17 = Boost inverted
18 = PWM (pulse width
modulation) active
19 = PWM inverted
24 = Current-sourcing pattern
zero active
25 = Current-sourcing pattern
zero inverted
26 = Zero pulse external active
27 = Zero pulse external inverted
38 K Number of increments 20 0 – 400 DWORD
per current-sourcing
cycle2)
39 E Start/Stop frequency 1 000 10 – 10,000 DWORD [Hz]
Please follow the
40 E Frequency value for ac- 10 000 500 – 75,000
diagram
celeration switchover2) Minimum value: MD39 + 1 “Working range,
Maximum value: MD41 – 1 frequency genera-
tor”
41 E Maximum frequency 50 000 500 – 200,000 (see Figure 5-5)
42 E Acceleration 12) 100 000 10 – 10,000,000 DWORD [Hz/sec]
43 E Acceleration 22) 100 000 10 – MD42, 0 as with MD42 Please follow the
diagram
44 E Delay 12) 100 000 10 – 10,000,000, 0 = as with “Working range,
MD42 frequency genera-
45 E Delay 22) 100 000 10 – MD44, 0 = as with MD43 tor” (see Fig. 5-5)

46 E Minimum idle time be- 2 1 – 10,000 DWORD [ms]

tween two positioning rounded to stages
cycles of module cycle
47 E Minimum traversing 2
time at constant fre-
quency
48 K Boost duration, absolute 100 1 – 1,000,000 9.7.2

MSR = measurement-system grid RPS = reference-point switch

1) The variable axis name is implemented as an axis letter (X, Y, Z, ...) with an address extension (1...9).
Permissible characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: “X”, “X1”
2) see Dependencies
3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification)

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 Defining Parameters

Table 5-4 Machine data list, continued

No. Default Data type/ See

Designation Value/Meaning
values Unit/Comments Sec.
49 K Boost duration, relative 100 1 – 100 DWORD [%] 9.7.2
50 K Phase current travel 100
51 K Phase current idle 100
52 E Speed for backlash 0 0 DWORD 9.7
compensation 1 – 100 [%]
53 E Mode for backlash com- 0 0 = before positioning DWORD 9.7
pensation 1 = during positioning
56 E Motion profile 0 0 (and > 1) – 7.3.8
Standard motion profile
1
Optimized motion profile

MSR = measurement-system grid RPS = reference-point switch

1) The variable axis name is implemented as an axis letter (X, Y, Z, ...) with an address extension (1...9).
Permissible characters: X, Y, Z, A, B, C, U, V, W, Q, E, 1...9 e.g.: “X”, “X1”
2) see Dependencies
3) The axis name is in bytes 3 and 4 (bytes 1 and 2 give the character length specification)

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Defining Parameters

Dependencies
With certain combinations of machine data, restrictions in the value range arise for
non-processing of the machine data.
These dependencies are verified on acceptance of the MD DB or individual ma-
chine data, and an error message is output in the event of a violation. Some
checks are performed on the basis of internally calculated reference variables.
These reference variables and the dependency checks are described in the tables
below.
Reference variables generated internally from MD:
Generation of travel per motor revolution UMWEG

UMWEG = MD11 + MD12@2–32

Generation of internal measured value factor MWFAKTOR

MWFAKTOR = UMWEG / MD13

Activation of software limit switches SEAKT

MD21 MD22 SEAKT

= –109 = +109 0 (inactive)
≠ –109 = +109
= –109 ≠ +109 1 (active)
≠ –109 ≠ +109

Internal generation of absolute traversing range limits VFBABS

MWFAKTOR VFBABS
<1 109 / MWFAKTOR
w1 109

Verification:
MD9 check

MD8 MD18 Permissible rotary axis end

0 any, not relevant
1 w4 (MD41@MWFAKTOR) / 500
vMD9vVFBABS
<4 MD9 mod UMWEG == 0

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 Defining Parameters

MD11, MD12, MD13 check → results in MWFAKTOR (see above)

Permissible measured value factor range: 2–14 < MWFAKTOR < 214

MD21, MD22 check

SEAKT MD8 Permissible software limit switches

0 – MD21 = –109, MD22 = +109
1 0 MD21 ≥ –VFBABS
MD22 ≤ VFBABS
MD21 < MD22
1 0 ≤ MD21 < MD9
0 ≤ MD22 < MD9
MD21 ≠ MD22

MD28 check

Permissible velocity: 10 ≤ MD28 ≤ MD41@MWFAKTOR@60

MD29 check

Permissible velocity: 10 ≤ MD29 ≤ MD41@MWFAKTOR@60

MD34 check

Permissible:
BYTE0(MD34) ≠ BYTE1(MD34) ≠ BYTE2(MD34) ≠ BYTE3(MD34)

MD35 check
Permissible:
BYTE0(MD35)&0x7F ≠ BYTE1(MD35)&0x7F ≠ BYTE2(MD35)&0x7F ≠
BYTE3(MD35)&0x7F

MD38 check
MD38 Permissible increment number per current-sourcing cycle
0
≠0 MD38 ≥ 4

MD40 check
Permissible frequency: MD39 ≤ MD40 ≤ MD41

MD41 check
Permissible frequency: MD41 ≤ VMAX/MWFAKTOR/60
VMAX = 500 000 000 MSR/min see Section 10.1

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Defining Parameters

MD42 check
Permissible acceleration: MD41 / 200 ≤ MD42 ≤ MD392

MD43 check
MD43 Permissible acceleration
0 0
≠0 MD41 / 200 ≤ MD43 ≤ MD392

MD44 check
MD44 Permissible acceleration
0 0
≠0 MD41 / 200 ≤ MD44 ≤ MD392

MD45 check
MD45 Permissible acceleration
0 0
≠0 MD41 / 200 ≤ MD45 ≤ MD392

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 Defining Parameters

“Working range of frequency generator”

You can use the following diagram to check that the combination of parameters
selected in machine data MD39 to MD45 lie within the working range of the fre-
quency generator (white area).
10 MHz/s 10 20 40 100 1 000 10 000 fss [Hz]

Acceleration too great

with reference to fss
1 MHz/s

P1 P2

absolute too high

100 kHz/s

Max. frequency
tover aover

P3 P4
10 kHz/s
1 kHz/s
df/dt 10 20 40 100 Hz/s

Acceleration too low

with reference to
fmax

1 000 10 000 100 000 f

max [Hz]
500 200 000
Working points of the frequency generator in the direction of shift of e.g. Px by the
acceleration override function (aover) and time override (tover).

Fig. 5-5 Working range, frequency generator

Machine data values range:

Start/Stop frequency f ss: (MD39) 10 Hz – 10 kHz
Maximum frequency fmax: (MD41) 500 Hz – 200 kHz
Frequency rise df/dt: (MD42 – 45) 10 Hz/s – 10 MHz/s
Condition: The intersections of the lines df/dt and f ssd df/dt
with fmax must be within the white area!
Example: MD39 = 4 kHz, MD41 = 50 kHz
MD42, 44 = 200 kHz/s ³ P1/P2
MD43, 45 = 80 kHz/s ³ P3/P4

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Defining Parameters

5.3.2 Increments

DB structure
Table 5-5 gives you a general view of the structure of the “Increments” data block
(DB-SM).

Table 5-5 DB structure – increments

Byte Variable type Value Significance of the variables Comment

DB header

0 WORD Rack slot Module address

2 WORD DB No. (w 1000) As in DB header
4 DWORD Reserved
8 WORD Error No. (from FM) With HMI services
10 WORD 1 Channel number
12 2 STRING SM DB identifier/type 2 ASCII characters
16 DWORD 353 Module identifier FM 353
20 4 CHAR 0 Version number/block number (DB structure)

24 DWORD 1–3 Measurement-system grid per MD7 Unit of measurement

28 WORD 0/1 Parameter (DB) backup Job via HMI
30 WORD Reserved

32 DWORD 0 – 109 Increment 1

36 DWORD 0 – 109 Increment 2 to increment 100 see Section 9.2.4

Input of values
Values are input in the increments menu of the “Parameterize FM 353” parameter-
ization tool.

Fig. 5-6 Entering values for incremental dimensions

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 Defining Parameters

5.3.3 Tool offset data

DB structure
Table 5-6 gives you a general view of the structure of the “tool offset data” data
block (DB-WK).

Table 5-6 DB structure – tool offset data

Byte Variable type Value Significance of the variables Comment

DB header

0 WORD Rack slot Module address

2 WORD DB No. (w 1000) As in DB header
4 DWORD Reserved
8 WORD Error No. (from FM) With HMI services
10 WORD 1 Channel number
12 2 STRING TO DB identifier/type 2 ASCII characters
16 DWORD 353 Module identifier FM 353
20 4 CHAR 0 Version number/block number (DB structure)

24 DWORD 1–3 Measurement-system grid per MD7 Unit of measurement

28 WORD 0/1 Parameter (DB) backup Job via HMI
30 WORD Reserved

32 DINT –109 – 109 Tool length offset 1 Tool 1

DINT –109 – 109 Wear value 1 absolute
DINT –109 – 109 Wear value 1 additive
44 DINT –109 – 109 Tool length offset 2 Tool 2
DINT –109 – 109 Wear value 2 absolute
DINT –109 – 109 Wear value 2 additive
to to
Tool length offset 20 Tool 20
Wear value 20 absolute see Section 10.1
Wear value 20 additive

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Defining Parameters

Input of values
Values are input in the tool offset data menu of the “Parameterize FM 353” para-
meterization tool.
If the additive wear value is changed online, the FM calculates the new wear pa-
rameter as an absolute value and the additive tool wear is reset to 0.

Fig. 5-7 Entering values for tool offset data

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 Defining Parameters

5.3.4 Traversing programs

DB structure
Table 5-7 gives you a general view of the structure of the “traversing programs”
data block (DB-NC).

Table 5-7 DB structure – traversing programs

Byte Variable type Value Significance of the variables Comment

DB header

0 WORD Rack slot Module address

2 WORD DB No. (w 1000) As in DB header
4 DWORD Reserved
8 WORD Error No. (from FM) With HMI services
10 WORD 1 Channel number
12 2 STRING NC DB identifier/type 2 ASCII characters
16 DWORD 353 Module identifier FM 353
20 4 CHAR 0 Version number/block number (DB structure)

24 DWORD 1–3 Measurement-system grid per MD7 Unit of measurement

28 WORD Reserved
30 WORD Reserved

32 18 STRING ASCII char. NC program name max. 18 characters

52 STRUCT NC block NC block new (modification range)
72 STRUCT NC block 1st traversing block
92 STRUCT NC block 2nd to 100th traversing block see Section 9.3.11, 10.1

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Defining Parameters

Input of traversing programs

An empty window is provided for the input of NC traversing programs. Here you
can input your traversing program as follows:

Fig. 5-8 Entry for traversing programs

1. % Program number Program name

The “%” can be input only in the first line. This input is mandatory. The DB num-
ber is formed from the program number.
The program name is optional and may have up to 18 characters.
2. N<block number> – G<command> (G1, G2, G3) – X<value> – F<value> –
M<command> (M1, M2, M3) – D<No.> (tool offset number) – L<No.> –
P<No.> − (for NC programming see Chapter 10).
– You must enter the block number (N) first and in ascending order. The
rest of the inputs may be in any desired sequence.
– Input separators as a blank.
You must enter characters in upper case letters.
You can also use the input area at the top of the screen. The program number and
the program name are saved when you exit the input box. You can save the tra-
versing blocks with the “Save Block” button.

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 Defining Parameters

5.4 Parameterization with “Parameterize FM 353”

Entering the values

You have a variety of options for entering your parameterization data.
1. User data
You can input values or select texts in a table. Select input fields with the cursor
and enter the values. You can select the associated texts for the values with the
space key.
2. Machine data
The values are entered in dialog boxes and windows selected by option tabs.
To display the machine data in a table, select the menu View > Table form.
Here you can enter the values as described in the user data section.
3. Tool compensation data and increment sizes
You can input the values in a table. Select input fields with the cursor and enter
the values.
4. Traversing programs
Traversing programs are input in text format.
A comment column is included in the tables for MD, SM, and T O values. This com-
ment is not stored in the data block. It can be printed out or stored with the data in
the file on export.

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Defining Parameters

5.5 Storing the parameter data in SDB >�=�1 000

Overview
The FM 353 stores its parameter data internally.
In order to ensure that the parameter data are available if a fault develops on the
FM 353 and no programming device/PC is at hand, the data can be stored in a
system data block (SDB w 1 000). The CPU transfers the data stored in SDB w
1 000 to the FM 353 on each new start. If the FM 353 has no machine data or the
internal time stamp (time of creation) is invalid, the data are transferred from SDB
w 1 000 to the FM 353 and saved there.
The time stamp is renewed every time a DB (parameter data) is opened and when
a file is imported. If the contents of the DB are modified (for instance the machine
data), a new time stamp is also generated when the DB is saved or loaded.
You must ensure that the parameter data in
SDB w 1 000 always match the parameter data on the FM 353 when start-up
is complete.

Note
If parameter data are modified again in the FM following creation of SDB w 1 000,
they are overwritten when the CPU is restarted (see “Time stamp”, above).
SDB w 1 000 should therefore not be created until start-up is finished!

If you need to modify the data subsequently, you should generate SDB w 1 000
again and load it into the CPU. You can delete the previous SDB before you load
the new one, however the new SDB automatically overwrites the old one when it is
generated. The old SDB and the new SDB do not have to be allocated the same
number.

Rules for saving and transferring DB–MD

All DBs that can be loaded onto an FM each have their own time stamp (DB-MD,
DBSM, DB-WK, DB-NC). Since only the DB-MD time stamping influences the
activation of all parameter data from an SDB, only the DB-MD time stamping is
taken into consideration.
If the DB-MD time stamp in the SDB differs from the DB-MD time stamp on the
FM, all parameter data from the SDB (DB-MD, DB-SM, DB-WK, DB-NC) is
transferred and all parameter data previously stored on the FM is discarded.

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 Defining Parameters

The following rules must be observed when saving:

1. If a DB-MD is saved via the ”File > Save” menu, or if the user answers ”YES” to
the save prompt when closing the window, a new time stamp is assigned.
2. If an offline DB-MD is transferred online
– via the ”Transfer data to FM...” button or
– via the ”Target system > Load > To PG or FM > Transfer to FM” menu,
the time stamp is transferred from offline to online.
3. If an online DB-MD is transferred offline via the ”Target system > Load > To PG
or FM > Transfer to PG / PC” menu, the time stamp is also transferred from
online to offline.
4. If an online DB–MD is changed, no new time stamp is assigned.

Creating the SDB

Prerequisite: Online connection with the FM 353

Select menu File > Create SDB

If no DB-MD exists on the FM 353 → Abort

An associated SDB w 1 000 No

exists for the FM 353 in the No associated SDB exists
S7 project.
Yes

No
Overwrite this SDB?

Yes Abort

SDB is created and stored in the S7 project in

CPU\S7-Program\Blocks\System data

Fig. 5-9 Creating SDB w 1 000

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Defining Parameters

Display/delete SDB in the S7 project

Select menu File > Display SDB

All SDBs for FM 353 of the project are

displayed

No
Delete SDB? Close the window

Yes

Select SDB and delete

Fig. 5-10 Displaying/deleting SDB w 1 000

Loading the SDB in the CPU

When you have created the SDB, you must load the “system data” of the project
into the CPU.
There are two ways of proceeding:
Method 1
Select the online window in the SIMATIC Manager (the online and offline win-
dows must be open)
Copy the system data from the offline project in CPU\S7-Program\Blocks\Sys-
tem data into the online project (drag with the mouse or select Copy/Paste).
Method 2
Select the system data in the SIMATIC Manager in CPU\S7-Pro-
gram\Blocks\System data.
Activate the menu Target system > Load (or the right mouse button) to load
the system data into the CPU
or
Use the menu Target system > Load in EPROM memory card on CPU
You can also program the memory card for the CPU on a programming device/PC.

If the configuration is loaded from HW-CONFIG, this SDB is not loaded into the
CPU.

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Deleting SDBs in the CPU

To delete the SDBs in the CPU:
1. Select “Parameterize FM 353”.
2. Select menu File > Display SDB. Delete the SDB(s).
3. Close “Parameterize FM 353” and in the SIMATIC Manager in Online Project
select CPU\S7-Progam\Blocks\System data. Delete the system data.
4. Transfer the system data to the CPU again (see above)
J

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Defining Parameters

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Programming the Technological Functions 6
Chapter Overview

Section Section Header Page

6.1 Programming fundamentals 6-4
6.2 Putting the FM 353 into operation with the 6-8
parameter initialization tool
6.3 Standard function blocks of the “FMSTSV_L” block library 6-8
6.4 Standard function blocks of the “FM353_354” block library 6-28
6.5 Interrupts 6-44
6.6 User data block (AW-DB) 6-46
6.7 Example applications 6-57
6.8 Error list, system messages (CPU) 6-64
6.9 Technical specifications 6-66

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Programming the Technological Functions

General remarks
The purpose of the function description of the blocks and of the interface is to illus-
trate the communication between the CPU and the FM 353 in the SIMATIC S7 pro-
grammable controller. The programmable blocks and the AW-DB (which is the in-
terface to the FM 353) make it possible for you to write your user program to suit
your particular application.

S7-300
CPU FM 353
P bus Control/check-
Standard function
back signals
blocks, user program
System data
and user DB
K bus Data blocks

MPI
Online

Offline
PG
(STEP 7)
Standard The standard function
User
function blocks and the user DB
DB
blocks are loaded into the CPU.

Setup.exe

S ”Parameterize FM 353” parameterization tool

S Standard function blocks and sample program
S MD DBs (for commssioning of the stepper motor)1)
S Preconfigured user interface for OPs
S Manual in the PDF format
S “Getting started” in the PDF format

1) see “Getting started” and Chapter 7

Fig. 6-1 Programming overview

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 Programming the Technological Functions

Prerequisites
The following prerequisites must be fulfilled for the development of your user pro-
gram if you want to control the FM 353:
S You must have installed the software on the PG/PC as per Section 5.1.
The block libraries containing the basic functions are stored in the following
directories by default:
– Blocks of the “FMSTSV_L” library:
[STEP7 directory]\S7LIBS\FMSTSV_L
– Blocks of the “FM353_354” library:
[STEP7 directory]\S7LIBS\FM353_354
S The link from PG/PC to the S7 CPU must be established (see Figure 4-1).
S You must have already created your project for the SIMATIC S7 (see “FM 353,
First Steps”).

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Programming the Technological Functions

6.1 Programming fundamentals

Overview
In this chapter you will find information on the following:
S Communication between the CPU and the FM 353, Section 6.1.1, p. 6-4
S Structure of a user program, Section 6.1.2, p. 6-5
S Distributed use of OB 86, Section 6.1.3, p. 6-6
S Embedding an OP, Section 6.1.4, p. 6-6
S Procedure for creating a user program, Section 6.1.5, p. 6-7

6.1.1 Communication between the CPU and the FM 353

Embedding the FM 353 in the user program

The diagram below shows you how the FM 353, the user DB and the technological
functions communicate.

CPU FM 353

OB 40 OB 82
(process 4 bytes of OB start information Diagnostic and
(diagnostics)
interrupt) process inter-
POS_DIAG rupt information
4 bytes of OB
start information OB 1

Read/write requests Control and

1) Error message checkback sig-
POS_MSRM
nals

OB 100 Data, error mes-

Restart (start-up) POS_CTRL
sage and error
User DB specification
POS_INIT 1)
(1 DB per channel) POS_MSRM

1) This block can only be called in OB 40 or in OB 1, but not in both simultaneously.

Fig. 6-2 Overview diagram for linking the FM 353 into the user program

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6.1.2 Structure of a user program

The diagram below provides an overview of the structure of the user program
(AWP).

OB 100 and OB 86 (in distributed configurations)

Call of POS_INIT
The CPU goes to STOP when an error occurs during start-up.
Parameter entry

OB 1 (or other cyclic levels) User DB

S Call of POS_CTRL
S Your user program, the one that is to control your system
S User program: Error evaluation
User program: Set, reset,
OB 82 scan signals/data
S Call of POS_DIAG
S User program: Open Emergency STOP circuit, reset signals
(the FM was reset or a fatal error occurred in the FM; see “Infor-
mation on error evaluation”)

Note
GET/PUT functions (SFC 72/73) from/to the FM are not guaranteed to work prop-
erly, that is to say, these functions are not supported, since they are not required.
Parameter initialization data can be modified via the “Modify parameters/data” sig-
nal (user DB, DBX39.3).

Information on signal processing:

The FM 353’s cycle (= 2 ms) and the user cycle (OB 1) are asynchronous to one
another. Depending on the instant of signal transfer to the FM 353, the time it
takes to process signals may be = 1 to < 2 x the FM cycle. This must be taken into
account particularly when user cycles are short. If necessary, the processing status
of the FM 353 should be queried before activating a new action.
Please note that signal/data transmission takes longer/several user cycles in dis-
tributed configurations (see Section 6.9).

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Information on testing the user program

When testing the user program with “Set breakpoint”, please note that it is not al-
ways possible to resume the program scan with the FM 353 after the breakpoint
has been reached (for technical reasons).
For example, movements activated by the user program cannot be halted when
the user program has reached the breakpoint.
The program can be resumed by executing a restart (CPU: STOP/RUN), by reset-
ting the axis, or by changing the operating mode.

6.1.3 Distributed configuration, OB 86

If system operation must be maintained with an FM 353 despite a faulty link be-
tween CPU and distributed I/Os (DP), OB 86 is to be linked into the user program.
In OB 86, provisions (e.g. set flag and evaluate in OB) must be made to prevent
OB 1 communication with the FM 353 in case of a failure. To enable synchroniza-
tion of the user program and the FM, the POS_INIT block (corresponding to exe-
cution in OB 100) is to be linked on re-establishing the link. Additionally, OB 122
(I/O access error) must be loaded in the CPU.

6.1.4 Embedding an OP

Part of the AW-DB, namely the “Data field for operator control/monitoring”
(DBB496 to DBB515), is used to store signals/data for an OP as per the preconfi-
gured operator interface. In order to initiate actions, the relevant signals/data have
to be transferred to the interface (relevant area in the AW-DB) via the user pro-
gram (see Section 6.7, example 4).

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6.1.5 Procedure for writing the user program (AWP)

The sample projects “zDt13_02_FM353_EX” included in the configuring package

(for the blocks of the “FMSTSV_L” library) and “zDt13_03_FM353_EX” (for blocks
of the “FM353_354” library) will help you when creating your user program and can
be used as a template.
Suggested procedure:
1. Open your project in the SIMATIC Manager.
2. Select SIMATIC xxx > CPUxxx > S7 Program.
3. In the SIMATIC Manager, select File > Open > Projects to load the
“zDt13_02_FM353_EX” or the “zDt13_03_FM353_EX” project.
4. Select the “EXAMPLES” directory.
5. Select the “Symbols” file and copy it to your project under SIMATIC xxx >
CPUxxx > S7 Program (replacing the existing object).
6. Open the “Sources” directory and copy from all STL sources to your project’ s
“Sources” directory.
7. Open the ”Blocks“ directory and copy all blocks from it into the ”Blocks” direc-
tory of your project.
8. Select the “Sources” directory in your project. Start the “LAD/STL/FBD Editor”
by double-clicking on the “OB_EXAMPLE” file.
9. Modify the appropriate input parameters (see “Block description”,
Sections 6.3 and 6.4) in the POS_INIT call in OB 100 and in the POS_DIAG
call in OB 82.
10.You can insert the relevant functions from the sample project
“zDt13_02_FM353_EX” (see Section 6.7) in the “ EXAMPLE CALLS” network in
OB 1. The functions can be activated by writing your user program to set/
reset the signals in the DB 100 (user DB for the examples) supplied.
The call for the POS_CTRL must be modified accordingly (input
parameters or appropriate instance DB).
11. The organization blocks (OB 1, OB 82, OB 100) are generated from the STL
source with the menu commands File > Save and File > Compile (warnings
from the compilation run can be ignored).
12.Close the editor.
13.Set the CPU to “STOP” and switch the CPU on.
14.In the SIMATIC Manager, select SIMATIC xxx > CPUxxx > S7 Program >
Blocks.
15.Load all the S7 blocks (including system data) into your CPU (with the CPU at
STOP) with PLC > Load.

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6.2 Putting the FM 353 into operation with the parameter

initialization tool
To put the FM 353 into operation with the parameter initialization tool “Parameter-
ize FM 353”, the CPU must be at “STOP”. It can also be at “RUN”, for example if
you want to automate part of your plant or connect the drives, in which case the
control/checkback signals “Switch P bus interface to start-up” (AW-DB, DBX14.1)
and “Switching of P bus interface concluded” (AW-DB, DBX22.1) must be ob-
served. For a description of these signals, see Section 9.1).
Also please observe Section 7.3 “Testing and Optimization”.

Note
Observe the relevant safety measures if you want to move the axis.

6.3 Standard function blocks of the “FMSTSV_L” block

library

Overview
This chapter contains information on the following:
S Overview of the “FMSTSV_L” block library, Section 6.3.1, p. 6-9
S POS_INIT (FC 0) – Initializing the user DB, Section 6.3.2, p. 6-10
S POS_CTRL (FC 1) – Data exchange, Section 6.3.3, p. 6-12
S POS_DIAG (FC 2) – Reading diagnostic alarm data, Section 6.3.4, p. 6-22
S POS_MSRM (FC 3) – Reading measurement values, Sections 6.3.5, p. 6-25
S Interface, user data blocks (AW-DB), Section 6.3.6, p. 6-26

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6.3.1 Overview of the “FMSTSV_L” function block library

You can use the blocks of the “FMSTSV_L” block library as follows:
S Central configuration of the FM
S Distributed configuration of the FM via PROFIBUS DP
The table below provides an overview of the functions (FC), data blocks (DB) and
organization blocks (OB) required for communication and control of the FM 353.
Table 6-1 Standard function blocks of the “FMSTSV_L” library (overview)

Block Block Name Description/Function Remarks

FC 0 POS_INIT Call in OB 100 and OB 83, start-up/initializa- Required for application,
Page 6-10 tion no. can be changed 1)
FC 1 POS_CTRL Call in OB 1, cyclic operation (synchroniza-
Page 6-12 tion with FM 353)
Basic functions and operating modes, inter-
face processing, read and write requests
FC 2 POS_DIAG Call in OB 82, internal errors, external er-
Page 6-22 rors, and external channel errors of the FM
FC 3 POS_MSRM Call in OB 40 or OB 1, To be used only if the
Page 6-25 reading out of the measured values function in question is re-
quired for the application in
question; the number can
be changed 1)
DB (UDT) AW-DB Interface to the FM Required for application
OB 1 – Cyclic level Required for application
OB 82 – Diagnostic interrupt level
OB 100 – Start-up level
OB 86 – Rack failure For distributed configura-
tions
OB 122 – I/O access error

1) – The block number is a default setting, block number can be changed in the SIMATIC Manager
– Symbol table entries can be changed in conjunction with symbolic programming only

Note
The symbolic block identifier is used from here on.

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6.3.2 The POS_INIT (FC 0) block – Initialization

Function
Use the POS_INIT block to initialize specific areas of your AW-DB.

Call options
The POS_INIT block must be called once in the start-up OB 100 and in OB 86 for
”distributed configuration”.

Call in LAD representation Call in STL representation

(ladder diagram) (statement list)
CALL POS_INIT
POS_INIT
EN ENO DB_NO :=
DB_NO RET_VA CH_NO :=
CH_NO LADDR :=
LADDR

Parameters
The Table below lists the parameters for this block.

Name Data Param. Description

Type Type
DB_NO INT I Data block number
CH_NO BYTE I Number of the axis:
0 – Only one channel/axis Same mean-
on the module ing internally
1 – First channel/axis on the module
2...255 – Illegal
LADDR INT I S Logical base address of the module; use entry from
“HW-CONFIG”, → “Properties”, → “Address” (see Sec-
tion 5.2)
S 0 – No entry of addresses in the user DB
Parameter types: I = input parameter

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Function description
The POS_INIT block carries out the following actions:
1. Entry of addressing values in user DB AW-DB, If parameter LADDR ≠ 0
Module address
2. Deletion of the following structures in user DB AW-DB:
– Control signals
– Checkback signals
– Initiate, Ready and Error signals for the job requests
– Single functions and single commands and their Ready and Error signals
3. If the input parameter LADDR = 0, no address is entered in the user DB. It is
assumed that the addressing values (module address) have been entered
manually via ”Parameterize FM 353” (button ”Enter Mod-Adr in user DB” in
main display).

Error evaluation
An error is signalled by the binary result BR = 0 or by RET_VAL < 0.
Possible errors are:
S Unknown channel number CH_NO and DB no. = 0 as input parameters; the
AW-DB is not initialized.
S If no AW-DB is found, the CPU goes to STOP; view the CPU’s diagnostic
buffer.

RET_VAL Error
–1 Unknown channel number
–2 DB number = 0

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6.3.3 The POS_CTRL (FC 1) block – Data exchange

Function
The POS_CTRL block is the basic block for controlling the FM 353.
With the POS_CTRL block, you can:
S process read and write requests
S control the operatign modes (control and checkback signals)
The POS_CTRL block performs the following actions:
1. Synchronization with the module (only then is the exchange of signals/data pos-
sible).
2. Reading of the checkback signals. The values/signals read by the POS_CTRL
block are stored in the user data block AW-DB.
3. Transfer of the control signals from user data block AW-DB to the FM 353.
4. Carrying out of Write requests from user data block AW-DB, which includes the
transfer of associated data from AW-DB and setting of the job status for the
Write. Before the function is activated, all data required for the execution of the
intended functions must be entered in AW-DB.
5. Carrying out of Read requests from user data block AW-DB, which includes
transfer of the associated data to AW-DB and setting of the Read job status.
6. Automatic transfer of all single functions from user data block AW-DB to the
FM 353 when one or more than one setting has been changed and setting of
the Write job status (Set or Reset).
7. Automatic transfer of all single commands from user data block AW-DB to the
FM 353 and setting of the Write job status. The single commands are reset fol-
lowing the transfer.
8. Automatic reading of the error number when an operator input error, traversing
error or data error has occurred. The error number is entered in user data block
AW-DB (DBB90 to DBB97) and the Read job status set.

Call options
POS_CTRL must be called cyclically (once in the OB 1 cycle, for instance) for
each channel. Before calling the function, enter all data/signals required to execute
the intended functions in user data block AW-DB.

Call in LAD Representation Call in STL Representation

(ladder diagram) (statement list)
CALL POS_CTRL
POS_CTRL
EN ENO DB_NO :=
DB_NO RET_VAL RET_VAL :=

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Parameters
The Table below lists the parameters for this block.

Name Data Param. Description

Type Type
DB_NO INT I Data block number
RET_VAL INT Q Return value

Parameter types: I = input parameter, Q = output parameter

Return values
The function returns the following values:

RET_VAL BR Description
1 1 At least 1 job/transfer in progress
0 1 No job/transfer in progress, no error
<0 0 Error:
S Data error (AW-DB, DBX22.4)
S Communication error (AW-DB, DBW66)

Function description
The function works together with an AW-DB user data block. The DB number is
passed to the function in the DB_NO parameter when the block is called.
S Start-up
POS_CTRL acknowledges start-up of the module. During this time, the
“RET_VAL” parameter and the “Write/Read job in progress” signals (AW-DB,
DBX68.0 and DBX68.2) are TRUE.
S Control and checkback signals
When POS_CTRL is called, the checkback signals are read from the FM 353
immediately (via direct access). Since the control signals and job requests are
processed after these signals have been read, the checkback signals reflect the
status of the module before the block was called. The control signals are also
written to the FM 353 using direct access.
Depending on the chosen mode, the control signals “Start, “Negative direction”
and “Positive direction” (AW-DB, DBX15.0, 15.2 and 15.3) are reset once
start-up has actually taken place (edge formation of the signals for the FM).
For information on the generation of the checkback signals “Process” (AW-DB,
DBX13.6) and “Position” (AW-DB, DBX13.7), see “Mode control”.

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S Job requests
Data interchange with the module that goes beyond control and checkback sig-
nals is handled using job requests. Simultaneously pending Write or Read re-
quests, however, can only be executed in succession, whereby one Read and
one Write request are processed in one call.
To issue a request, set the relevant initiation signal in user data block AW-DB
(DBB38 to DBB43). In the case of Write requests, you must also make the ap-
propriate data available.
The request is serviced when POS_CTRL is called. When the FM is used
centralized, a Read request is performed during the call. A Write request re-
quires at least three calls (or OB cycles) due to the acknowledgements required
from the module. The time interval between the calls should exceed the length
of one FM cycle.
When a request has been serviced, the Initiate signal is removed (does not ap-
ply to single functions).
The next job request is not determined or executed until the next block call has
been made.
For each job request, there is a Ready signal (AW-DB, DBX44.0 to 53.7) and
an Error signal (AW-DB, DBX54.0 to 63.7) in addition to the Initiate signal.
You should reset the Ready and Error signals for a job request following evalua-
tion or prior to issuing the request.
S Order in which job requests are serviced/priority
You may submit several job requests simultaneously, even together with Write
requests for single commands and single functions.
As soon as a Write request is detected (also on a signal change in the case of
single functions), it is serviced immediately upon completion of the transfer cur-
rently in progress, if any. Be sure that signals for single commands are not set
cyclically, as this could prevent other job requests from being serviced (priority).
Order/priority of Write requests:
1. Write single commands
2. Write single functions
3. Write requests.
The Write requests are serviced in the order of the Initiate signals,
which is stipulated in user data block AW-DB (from DBX38.0 to 39.7).
Order/priority of Read requests:
1. Read error code, operator/traverse errors or data errors
2. Read requests
The Read requests are serviced in the order of the Initiate signals,
which is stipulated in user data block AW-DB (from DBX42.0 to 43.6).

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S Job request status

You can read the status of the job request in return value RET_VAL and in the
“Write/read job in progress” signals in user data block AW-DB (DBX68.0 and
DBX68.2). You can evaluate the status of an individual job request by evaluat-
ing the Initiate, Ready and Error signals for that job request.
Table 6-2 Job request status

Jobs in
Initiate Ready Error
RET_VAL Progress
Job Request Status Signals Signals Signals
(integer) (DBX68.0
(DBB34...43) (DBB44...53) (DBB54...63)
DBX68.2)
1. Job in progress 1 1 1 – –
2. Job terminated without 0 – – 1 –
error
3. Write job terminated with –1 – – 1 1
error in this job
4. Write job aborted or not –1 – – – 1
executed
5. Read job aborted –2 – – – 1
6. Write and Read aborted –3 – – – 1
or not executed (in the
case of simultaneous job
requests)
– Irrelevant for error evaluation

Processing status

Signal Description
Write not possible = TRUE; Write request cannot be serviced in this cycle because:
(AW-DB, DBX68.1) S The axis is not initialized
S Test mode is enabled
S No operating mode is active
S The selected operating mode has not yet been set
In these cases, you can leave the Write request pending or you can cancel it.
The POS_CTRL block resets the signal when all of the above-listed condi-
tions are fulfilled.
Read not possible = TRUE; Read request cannot be serviced at this time because:
(AW-DB, DBX68.3) S The axis is not initialized
S No mode has been selected
S Test mode is enabled
In these cases, you can leave the Read request pending or you can cancel
it. The POS_CTRL block resets the signal when all of the above-listed condi-
tions are fulfilled.
Reset status/error With this signal you can reset all Ready and Error signals prior to processing
(AW-DB, DBX69.1) of the pending job requests. The signal itself is then reset by the block.

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Error evaluation
Communication errors or data interpretation errors on the FM are flagged in the
Binary Result (BR = 0) and by RET_VAL < 0; see job request status.
Possible errors are:
S Data transfer error (communication is not completed) during a transfer with SFC
58/59 “WR_REC / RD_REC”. The error code is made available in user data
block AW-DB, DBW66 (RET_VAL value of these internal SFCs) (job states 4, 5
and 6, see Table 6-2, see also Error List, Section 6.8).
S Data transferred with Write are checked for data errors by the module and inter-
preted. If a data error occurs, the checkback signal “Data error” (AW-DB,
DBX22.4) is set to TRUE in user data block AW-DB (message: “Write job ter-
minated with error”). The error number, read out via an internal job request, is
entered in user data block AW-DB, DBB94 and 95 (job status 3, Table 6-2).
You will find more information on data errors in the parameter initialization tool
under the menu command Debug > Error Evaluation and in Chapter 11.
Performance in the event of an error during the servicing of a Write request (does
not apply to single functions and commands):
S The Initiate signal is removed for the errored request and the Error signal (AW-
DB, DBX54.0 to 63.7) and Ready signal (AW-DB, DBX44.0 to 53.7) are set (job
request status, point 3, Table 6-2).
S The Initiate signal is also removed for all pending Write requests and the Error
signal set (job request status, point 4, Table 6-2).
S Any pending Read requests are serviced. The error code (AW-DB, DBW66) for
each request is re-set if another error occurs.
Performance in the event of an error during the servicing of a Read request:
S The Initiate signal is removed for the errored Read and the Error signal set (job
request status, point 5, Table 6-2).
S Any pending Read requests are serviced. The error code (AW-DB, DBW66) for
each request is re-set if another error occurs.
Performance in the event of an error during servicing of single functions and
commands:
S The Write request is not serviced in its entirety, and the Error signal is set (job
request status, point 4, Table 6-2).
S The function set/reset which led to initiation of the Write request is not acti-
vated.

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Processing write requests

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

Operating Mode Write See

System Data Data T STE REF SM MDI A/AE
Request Sect.
Speed levels 1, 2 DBX38.0 DBB160...167 V d d V d d 9.2.1
Frequency levels 1, 2 DBX38.1 DBB168...175 d V d d d d 9.2.2
Setpoint for incremental di-
DBX38.2 DBB156...159 d d d V d d 9.2.4
mension
MDI block DBX38.3 DBB176...195 d d d d V d 9.2.5
MDI block, on-the-fly DBX38.4 DBB222...241 – – – – x – 9.2.5
Reserved DBX38.5
Set reference point DBX38.6 DBB152...155 x x x x x – 9.3.9
Set actual value DBX38.7 DBB144...147 x x – x x x 9.3.5
Set on-the-fly actual value DBX39.0 DBB148...151 x x – x x – 9.3.6
Zero offset DBX39.1 DBB140...143 x x – x x x 9.3.4
Reserved DBX39.2 x x x x x x
Modify parameters/data DBX39.3 DBB196...219 x x x x x x 9.3.1
Digital outputs DBX39.4 DBB220...221 x x x x x x 9.8.2
Program selection DBX39.5 DBB242...245 – – – – – V 9.2.6
Application request DBX39.6 DBB246...249 x x x x x x 9.3.7
Teach-in DBX39.7 DBB250...251 x – – x x – 9.3.8

d Data are accepted, then processed in the relevant operating mode.

x Data are accepted or processed.
– Data are rejected with error (see error handling, Table 11-8 column 4, No. 1).
V Data required to move the axis.

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Processing read requests

A Read request is initiated by setting the relevant job request number. The relevant
operating mode must be activated.
The following Read requests are available:

Operating Mode Read See

System Data Data T STE REF SM MDI A/AE
Request Sect.
Basic operating data DBX42.0 DBB310...333 x x x x x x 9.3.11
Active NC block DBX42.1 DBB342...361 x
9.3.12
Next NC block DBX42.2 DBB362...381 x
Actual value for block chan- DBX42.3 DBB398...401 x 9.3.14
ge
Service data DBX42.4 DBB402...433 x x x x x x 9.3.15
Operating error number DBX42.5 DBB86...89 x x x x x x 6.3.4
Suppl. operating data DBX43.5 DBB434...442 x x x x x x 9.3.16
Parameters/data DBX43.3 DBB446...469 x x x x x x 9.3.17
Digital inputs/outputs DBX43.4 DBB220...221 x x x x x x 9.8
Application data DBX43.6 DBB382...397 x x x x x x 9.3.13
Read measured values DBX43.7 DBB486...497 x x x x x x 9.3.10
6.3.5

x Data are accepted or processed.

Operating mode control

The operating modes are discussed in detail in Section 9.2, the control-/checkback
signals and handling information in Section 9.1.
The user must write the control signals to the user data block (AW-DB).
POS_CTRL transfers the control signals from user data block AW-DB to the FM
353 and the checkback signals from the FM 353 to user data block AW-DB. The
FM must be initialized.
The Table below lists the control and checkback signals, with symbols in German
and English.

Table 6-3 Control/checkback signals

German English AW-DB Description

Control signals
TFB TEST_EN DBX14.1 Switch P bus interface to “Start-up”
BFQ/FSQ OT_ERR_A DBX14.3 Acknowledge operator errors and traversing
errors
ST START DBX15.0 Start
STP STOP DBX15.1 Stop

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Table 6-3 Control/checkback signals

German English AW-DB Description

R– DIR_M DBX15.2 Negative direction
R+ DIR_P DBX15.3 Positive direction
QMF ACK_MF DBX15.4 Acknowledge M function
EFG READ_EN DBX15.5 Read Enable
SA SKIP_BLK DBX15.6 Skip block
AF DRV_EN DBX15.7 Drive enable
BA MODE_IN DBB16 Operating mode Code
Jog 01
Control 02
Approach to reference point 03
Incremental mode, relative 04
MDI 06
Automatic 08
Automatic single block 09
BP MODE_TYPE DBB17 Operating mode parameters Code
Speed levels 1 and 2
Frequency levels 1 and 2
Incremental dimension selection 1...100, 254
OVERR OVERRIDE DBB18 Override
Checkback signals
TFGS TST_STAT DBX22.1 Switching of P BUS interface completed
BF/FS OT_ERR DBX22.3 Operator-/traversing error
DF DATA_ERR DBX22.4 Data error
PARA PARA DBX22.7 Channel initialized
SFG ST_ENBLD DBX23.0 Start Enable
BL WORKING DBX23.1 Process in progress
WFG WAIT_EI DBX23.2 Wait for external Enable
T-L DT_RUN DBX23.5 Dwell time running
PBR PR_BACK DBX23.6 Reverse program scanning
BAR MODE_OUT DBB24 Active operating mode
SYN SYNC DBX25.0 Channel synchronized
ME MSR_DONE DBX25.1 End of measurement
FR– GO_M DBX25.2 Travel in negative direction
FR+ GO_P DBX25.3 Travel in positive direction
SRFG ST_SERVO DBX25.4 Servo enable status
FIWS FVAL_DONE DBX25.5 Setting of on-the-fly actual value successfully
completed
PEH POS_RCD DBX25.7 Position reached. Stop.
MNR NUM_MF DBB26 M function number
AMF STR_MF DBX27.4 M function modification

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The checkback signals “Process in progress” and “Position reached. Stop” are not
reported back to the user program until the FM has detected and processed the
Start signal (v 2 FM cycles).
When calling the POS_CTRL block and the relevant control/checkback signals,
the subsequent signals are generated so that starting of the procedure can be de-
tected earlier than would otherwise be the case.

Signal Description
Execution started = TRUE When a mode/movement is started with the relevant
(AW-DB, DBX13.6) control signals or when the status for “Process in
progress” (AW-DB, DBX23.1) = 1
when the block is called/
“Execution started”
started
“Process in progress” when the FM starts tra-
versing movement
Position = FALSE When status signal “Position reached. Stop.” (AW-DB,
(AW-DB, DBX13.7) DBX25.7) = 0 is returned or when a mode is started
with the relevant control signals.
when the block is called/
“Position”
started
“Position reached. Stop” when FM starts traversing
movement

Single functions and single commands are also requred to control the FM 353.
All single commands and single functions that are active when the POS_CTRL
block is called are transferred. The single commands are cancelled following trans-
fer, even in the event of an error.

Operating Modes Write See

Function T STE REF SM MDI A/AE
System Data Request Sect.
Single functions Internal DBB34 and 35 V x V V V V 9.3.2
Single commands Internal DBB36 and 37 x x x x x x 9.3.3

x Data are accepted or processed.

V Data required to move the axis.

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The functions which can be activated in the FM using single settings or single com-
mands are listed below.

Single Settings Single Commands

Servo enable Activate machine data
On-the-fly measuring Delete distance to go
Rotational speed monitoring Automatic block return
Parking axis Automatic block advance
Simulation Restart
Length measuring Rescind set actual value
Retriggering of reference point
Reset Enable input
Disable software limit position monitoring

Error messages from the FM

When an operator error, traversing error or data error occurs, the error number is
read automatically via a Read request. The error number is entered in the AW-DB
user data block and the Read status set.
An operating error, reported via a diagnostic interrupt, can be read out with the
Read request “Operating error no.” (AW-DB, DBX42.5).

Table 6-4 Error messages from the FM

Error Message Error No. Error Acknowl-

edgement
Data error Status signal Is read out via Read re- New Write request
(AW-DB, DBX22.4) quest
(AW-DB, DBB94 and 95)
Operator/travers- Status signal Is read out via Read re- Set/reset control
ing error (AW-DB, DBX22.3) quest signal “Acknowl-
(AW-DB, DBB 90 and 91) edge operator/tra-
versing error” (AW-
DB, DBX14.3)
Diagnostic inter- Activated with In case of an operating Single command:
rupt OB 82, the data error read out via the Restart
must be read out POS_DIAG block, the error
using the no. is read out via the
POS_DIAG block Read request DBX42.5
(AW-DB, DBB86 and 87)

For additional specific information, please refer to Chapter 11 “Error Handling”.

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6.3.4 The POS_DIAG (FC 2) block – Read diagnostic interrupt data

In the event of a fatal error, the FM 353 generates a diagnostic interrupt (OB 82
must be embedded in the user program and the interrupt parameterization of the
FM 353 must be activated) and provides the relevant information to the local data
area. For information on diagnostic interrupts, see Section 6.5.
For further information on external channel errors (operating errors), please call the
POS_DIAG block.

Call options
POS_DIAG can be called in interrupt OB 82 or in OB 1.

Call in LAD representation Call in STL representation

(ladder diagram) (statement list)

POS_DIAG CALL POS_DIAG

EN ENO DB_NO :=
DB_NO RET_VAL RET_VAL :=
IN_DIAG IN_DIAG :=

Parameters
The Table below lists the parameters for the POS_DIAG block.

Name Data Param. Description

type type
DB_NO INT I Data block number
RET_VAL INT Q –1
IN_DIAG BOOL I/Q Initiation signal for reading of the diagnostic data; is reset
following execution of POS_DIAG.

Parameter types: I = input parameter, Q = output parameter,

I/Q = throughput parameter (initiation parameter)

Function description
The function works together with an AW-DB user data block. When the function is
called, the AW-DB is forwarded with a DB_NO parameter.
Reading of the diagnostic data is started by setting the IN_DIAG parameter to
TRUE. The block resets the parameter when the request has been serviced.
The IN_DIAG parameter remains set while the request is being serviced. Transfer
of the data is terminated when the parameter is reset (IN_DIAG = F ALSE).

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Error evaluation
Errors are flagged in the Binary Result (BR = 0) and by RET_VAL < 0.
Possible errors are as follows:
Data transfer error during transfers with SFC 51 “RDSYSST”. The error is made
available in the user DB AW-DB, DBW96 (see Error List, Section 6.8).

Diagnostic data
The prerequisite for the generation of a diagnostic interrupt is activation of the in-
terrupt with the aid of the appropriate parameters (see Section 5.2).
If the user program does not contain an OB 82, the CPU goes to ST OP.
The Table below contains the diagnostic information for the FM 353.

Table 6-5 Diagnostic information

Data Message User DB Description

Format
4x1 When a diagnostic DBX70.0 Module/group errors
byte interrupt is gener-
DBX70.1 Internal error/hardware error (group error bytes 72, 73)
ated, the relevant in-
formation is made DBX70.2 External error
available in the CPU
DBX70.3 External channel error (group error byte 78)
(local data area, OB
82) and is entered in DBX70.6 Module not initialized
AW-DB by calling
DBX71.0 Module type class for FM 353 = 08H
POS_DIAG.
...3
DBX71.4 Channel information available
DBX72.1 Communication error (K bus)
DBX72.3 Response from watchdog timer
DBX72.4 Internal supply voltage to the module failed (NMI)
DBX73.2 FEPROM error
DBX73.3 RAM error
DBX73.6 Process interrupt lost

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Table 6-5 Diagnostic information, continued

Data Message User DB Description

Format
10 x When the DBB74 FM pos. ID (74H)
byte POS_DIAG block is
DBB75 Length of the diagnostic information (16)
called, the informa-
tion (incl. bytes 0 to DBB76 Number of channels (1)
3) is read and en-
DBX77 Channel vector error (1)
tered in the AW-DB
(DBB70). DBX78.0 Unassigned
...5
When an operating DBX78.7 Operating error (see Chapter 11, Troubleshooting)
error occurs, the er-
ror number can be
read via Read re- DBB79... Unassigned
quest DBX42.5 (AW- 83
DB, DBB86 to 89)

Tips for the user

Following a diagnostic interrupt, the diagnostic information and the associated
module address (OB82_MDL_ADDR) is made available in the local data area of
OB 82 for quick analysis.

Local data MDL_DEFECT

Module error

INT_FAULT EXT_FAULT PNT_FAULT

Internal External External
error error channel error

COMM_FAULT AW-DB
WTCH_DOG_FLT
INT_PS_FLT Byte.Bit: 78.0...7
EPROM_FLT
RAM_FLT
HW_INTR_FLT

Fig. 6-3 Evaluating diagnostic data

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6.3.5 The POS_MSRM (FC 3) block – Read measured values

Function
Use the POS_MSRM block to read the measured values from the AW-DB user
data block.
For information on process interrupts, please see Section 6.5.
For information on measured values 9.3.10.

Note
The measured values can also be read by means of POS_CTRL (Read request).
If more than one Read request is pending, this request will be processed in the
relevant order.
If the POS_MSRM block is called, the measured values are obtained irrespective
of any other Read requests currently present.

Call options
POS_MSRM can be called in OB 40 (only when FM is used centralized) if the pro-
cess interrupt was triggered (see Section 5.2), or in OB 1. POS_MSRM must not
be called in both OBs at the same time.

Call in LAD representation Call in STL representation

(ladder diagram) (statement list)

POS_MSRM CALL POS_MSRM

EN ENO DB_NO :=
DB_NO RET_VAL RET_VAL :=
IN_MSR IN_MSR :=

Parameters
The Table below lists the parameters for the POS_MSRM block.

Name Data Param. Description

type type
DB_NO INT I Data block number
RET_VAL INT Q –1
IN_MSR BOOL I/Q Start Read

Parameter types: I = input parameter, Q = output parameter,

I/Q = throughput parameter (initiation parameter)

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Function description
The function works together with an AW-DB user data block. When the function is
called, the DB number is forwarded in the DB_NO parameter.
Reading of the measured value is started by setting the IN_MSR parameter to
TRUE. When the function has executed, the block resets the parameter.
The IN_MSR parameter remains set while the function is executing. Transfer of the
data is terminated is complete when the parameter is reset (IN_MSR = FALSE).

Error evaluation
Errors are flagged in the Binary Result (BR = 0) and by RET_VAL < 0.
Possible errors are as follows:
Data transfer errors during transfers with SFC 59 “RD_REC”. The error is made
available in the user data block AW-DB, DBW98 (see Error List, Section 6.8).

6.3.6 Interface, user data blocks (AW-DBs)

The AW-DB (interface) is created off-line.

The user can access the signals and/or data on the interface using absolute or
symbolic addresses (creation of the AW-DB with UDT structure).
The interface is allocated to the relevant channel/axis via the standard function
blocks’ DB_NO input parameter. The module address is part of the user DB. It is
entered either by the POS_INIT block or manually via ”Parameterize FM 353” (but-
ton ”Enter Mod-Adr in user DB“ in main display). The user DB must already exist.

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Creating the AW-DB

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

Information about symbolic programming

Normally, the blocks are entered in the symbol table with the symbol name, ad-
dress, and data type (the symbol table is supplied in the project and in the library).
If you change the block number in your project with the SIMATIC Manager, the
numbering in the symbol table must also be changed. Block allocation via the sym-
bol table is always absolutely unique.
Before writing and compiling your user program, you must enter the blocks (AW-
DBs, FCs) which you are using for your particular configuration in the symbol table.
The symbolic structure of the interface is stored in the UDT block provided. The
symbolic relationship is established via your STEP 7 project, the symbol table, and
the UDT block.
Appendix B shows the UDT with symbols and absolute address.
Sample symbol table:

Symbol Address Data Comments

Type
DB_FM1 DB 1 UDT 1 User DB for the FM 354
POS_INIT FC 0 FC 0 User DB initialization
POS_CTRL FC 1 FC 1 Data interchange

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6.4 Standard function blocks of the “FM353_354” block li-

brary
Overview
The present chapter provides the following information:
S Overview of the “FM353_354” block library, Section 6.4.1, p. 6-28
S POS_INIT (FC 0) – Initializing the user data block (AW-DB), Section 6.4.2,
p. 6-30
S POS_CTRL (FB 1) – Data exchange, Section 6.4.3, p. 6-30
S POS_DIAG (FC 2) – Reading diagnostic interrupt data, Section 6.4.4, p. 6-41
S POS_MSRM (FB 3) – Reading measured values, Section 6.4.5, p. 6-41
S Interface, user data blocks (AW-DB), Section 6.4.6, p. 6-42

6.4.1 Overview of the “FM353_354” block library

You can use the blocks of the “FM353_354” block library as follows:
S centralized configuration of the FM
S distributed configuration of the FM via PROFIBUS DP

Note
The blocks of the “FM353_354” block library requires the following firmware
version on the CPU:
S CPU modules with MMC with firmware V2.0 and higher
S CPU318 with firmware V3.0 and higher

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The table below provides an overview of the functions (FC), function blocks (FB),
data blocks (DB) and organization blocks (OB) required for communication and
control of the FM 353.
Table 6-6 Standard function blocks of the “FM353_354” block library (overview)

Block Block Name Description/Function Remarks

FC 0 POS_INIT Call in OB 100 and OB 86, start-up/initializa- Required for application,
Page 6-30 tion number can be changed 1)
FB 1 POS_CTRL Call in OB 1, cyclic operation (synchroniza-
Page 6-30 tion with the FM 353)
Basic functions and operating modes, inter-
face processing, read and write requests
F# 2 POS_DIAG Call in OB 82, internal errors, external er-
Page 6-41 rors, and external channel errors of the FM
FB 3 POS_MSRM Call in OB 40 or OB 1, To be used only if the
Page 6-41 reading out of the measured values function in question is re-
quired for the application in
question; the number can
be changed 1)
DB 1 IFFM_ICTRL Interface to the FM and instance DB for Required for application,
POS_CTRL (FB 1) number can be changed 1)
DB 3 IMSRM Instance DB for POS_MSRM (FB 3) Required for application if
POS_MSRM is called;
number can be changed 1)
OB 1 – Cyclic level Required for application
OB 82 – Diagnostic interrupt level
OB 100 – Start-up level
OB 86 – Subrack failure For distributed configura-
tions
OB 122 – I/O access error

1) – The block number is a default setting, block number can be changed in the SIMATIC Manager
– Symbol table entries can only be changed in conjunction with symbolic programming

Note
The symbolic block identifier is used from here on.

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6.4.2 The POS_INIT (FC 0) block – Initialization

Block description
See Section 6.3.2.

6.4.3 The POS_CTRL (FB 1) block – Data exchange

Function
The POS_CTRL block is the basic block for controlling the FM 353.
With the POS_CTRL block, you can:
S process read and write requests
S control the operating modes (control and checkback signals)
The POS_CTRL block performs the following actions:
1. Synchronization with the module (only then is the exchange of signals/data pos-
sible).
2. Reading of the checkback signals. The values/signals read by the POS_CTRL
block are stored in the user data block AW-DB.
3. Transfer of the control signals from user data block AW-DB to the FM 353.
4. Carrying out of Write requests from user data block AW-DB, which includes the
transfer of associated data from AW-DB and setting of the job status for the
Write. Before the function is activated, all data required for the execution of the
intended functions must be entered in AW-DB.
5. Carrying out of Read requests from user data block AW-DB, which includes
transfer of the associated data to AW-DB and setting of the Read job status.
6. Automatic transfer of all single functions from user data block AW-DB to the
FM 353 when one or more than one setting has been changed and setting of
the Write job status (Set or Reset).
7. Automatic transfer of all single commands from user data block AW-DB to the
FM 353 and setting of the Write job status. The single commands are reset fol-
lowing the transfer.
8. Automatic reading of the error number when an operator input error, traversing
error or data error has occurred. The error number is entered in user data block
AW-DB (DBB90 to DBB97) and the Read job status set.

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Call options
The POS_CTRL block requires an instance data block (DB) when called. The DB
IFFM_ICTRL (DB1) is part of the “FM353_354” library and at the same time inclu-
des the user interface. For more information, please refer to Section 6.4.6.
You must call the POS_CTRL block cyclically (e.g. once in the OB 1 cycle). Before
you call the function, enter all data/signals in the user DB (AW-DB) which are re-
quired to execute the intended functions.
The block does not have multiple-instance capability.

Call in LAD representation Call in STL representation

(ladder diagram) (statement list)
IFFM_ICTRL CALL POS_CTRL, IFFM_ICTRL
POS_CTRL
EN ENO

Parameters
The POS_CTRL block possesses neither input, nor output parameters.

Return values
The POS_CTRL block delivers the following return values in the RETVAL instance
variable:

RET_VAL BR Description
1 1 At least 1 job/transfer in progress
0 1 No job/transfer in progress, no error
<0 0 Error:
S Data error (AW-DB, DBX22.4)
S Communication error (AW-DB, DBW66)

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Function description
The block operates with an AW-DB user data block. The DB number is determined
when calling the FB using a transferred instance DB.
S Start-up
POS_CTRL acknowledges start-up of the module. During this time, the
RETVAL parameter and the “Write/Read job in progress” signals (AW-DB,
DBX68.0 and DBX68.2) are TRUE.
S Control and checkback signals
When POS_CTRL is called, the checkback signals are read from the FM 353
immediately (via direct access). Since the control signals and job requests are
processed after these signals have been read, the checkback signals reflect the
status of the module before the block was called. The control signals are also
written to the FM 353 using direct access.
Depending on the chosen mode, the control signals “Start, “Negative direction”
and “Positive direction” (AW-DB, DBX15.0, 15.2 and 15.3) are reset once
start-up has actually taken place (edge formation of the signals for the FM).
For information on the generation of the checkback signals “Process” (AW-DB,
DBX13.6) and “Position” (AW-DB, DBX13.7), see “Mode control”.
S Job requests
Data interchange with the module that goes beyond control and checkback sig-
nals is handled using job requests. Simultaneously pending Write or Read re-
quests, however, can only be executed in succession, whereby one Read and
one Write request are processed in one call.
To issue a request, set the relevant initiation signal in user data block AW-DB
(DBB38 to DBB43). In the case of Write requests, you must also make the ap-
propriate data available.
The request is serviced when POS_CTRL is called. When the FM is used
centralized, a Read request is performed during the call. A Write request re-
quires at least three calls (or OB cycles) due to the acknowledgements required
from the module. The time interval between the calls should exceed the length
of one FM cycle.
When a request has been serviced, the Initiate signal is removed (does not ap-
ply to single functions).
The next job request is not determined or executed until the next block call has
been made.
For each job request, there is a Ready signal (AW-DB, DBX44.0 to 53.7) and
an Error signal (AW-DB, DBX54.0 to 63.7) in addition to the Initiate signal.
You should reset the Ready and Error signals for a job request following evalua-
tion or prior to issuing the request.
S Order in which job requests are serviced/priority
You may submit several job requests simultaneously, even together with Write
requests for single commands and single functions.

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As soon as a Write request is detected (also on a signal change in the case of

single functions), it is serviced immediately upon completion of the transfer cur-
rently in progress, if any. Be sure that signals for single commands are not set
cyclically, as this could prevent other job requests from being serviced (priority).
Order/priority of Write requests:
1. Write single commands
2. Write single functions
3. Write requests.
The Write requests are serviced in the order of the Initiate signals,
which is stipulated in user data block AW-DB (from DBX38.0 to 39.7).
Order/priority of Read requests:
1. Read error code, operator/traverse errors or data errors
2. Read requests
The Read requests are serviced in the order of the Initiate signals,
which is stipulated in user data block AW-DB (from DBX42.0 to 43.6).
S Job request status
You can read the status of the job processing infrom the RETVAL instance
variable of the block and from the “Write/read job in progress” signals in user
data block AW-DB (DBX68.0 and DBX68.2). You can evaluate the status of an
individual job request by evaluating the Initiate, Ready and Error signals for that
job request.
Table 6-7 Job request status

RETVAL Jobs in
Initiate Ready Error
instance progress
Job request status signals signals signals
variable (DBX68.0
(DBB34...43) (DBB44...53) (DBB54...63)
(integer) DBX68.2)
1. Job in progress 1 1 1 – –
2. Job completed without 0 – – 1 –
errors
3. Write job completed with –1 – – 1 1
errors in this job
4. Write job aborted or not –1 – – – 1
executed
5. Read job aborted –2 – – – 1
6. Write and Read aborted –3 – – – 1
or not executed (in case
of simultaneous job re-
quests)
– Irrelevant for error evaluation

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Processing status

Signal Description
Write not possible = TRUE; Write request cannot be processed in this cycle because:
(AW-DB, DBX68.1) S The axis is not initialized
S Test mode is enabled
S No operating mode is active
S The selected operating mode has not yet been set
In these cases, you can leave the Write request pending or you can cancel it.
The POS_CTRL block resets the signal when all of the above-listed condi-
tions are fulfilled.
Read not possible = TRUE; Read request cannot be serviced at this time because:
(AW-DB, DBX68.3) S The axis is not initialized
S No mode has been selected
S Test mode is enabled
In these cases, you can leave the Read request pending or you can cancel
it. The POS_CTRL block resets the signal when all of the above-listed condi-
tions are fulfilled.
Reset status/error With this signal you can reset all Ready and Error signals prior to processing
(AW-DB, DBX69.1) of the pending job requests. The signal itself is then reset by the block.

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Error evaluation
Communication errors or data interpretation errors on the FM are flagged in the
Binary Result (BR = 0) and by instance variable RETVAL < 0; see job request sta-
tus.
Possible errors are:
S Data transfer error (communication is not completed) during a transfer with SFC
58/59 “RDREC / WRREC”. The error code is made available in user data block
AW-DB, DBW66 (RET_VAL value of these internal SFBs) (job states 4, 5 and
6, see Table 6-7, see also Error List, Section 6.8).
S Data transferred with Write are checked for data errors by the module and inter-
preted. If a data error occurs, the checkback signal “Data error” (AW-DB,
DBX22.4) is set to TRUE in user data block AW-DB (message: “Write job ter-
minated with error”). The error number, read out via an internal job request, is
entered in user data block AW-DB, DBB94 and 95 (job status 3, Table 6-7).
You will find more information on data errors in the parameter initialization tool
under the menu command Debug > Error Evaluation and in Chapter 11.
Performance in the event of an error during the servicing of a Write request (does
not apply to single functions and commands):
S The Initiate signal is removed for the errored request and the Error signal (AW-
DB, DBX54.0 to 63.7) and Ready signal (AW-DB, DBX44.0 to 53.7) are set (job
request status, point 3, Table 6-7).
S The Initiate signal is also removed for all pending Write requests and the Error
signal set (job request status, point 4, Table 6-7).
S Any pending Read requests are serviced. The error code (AW-DB, DBW66) for
each request is re-set if another error occurs.
Performance in the event of an error during the servicing of a Read request:
S The Initiate signal is removed for the errored Read and the Error signal set (job
request status, point 5, Table 6-7).
S Any pending Read requests are serviced. The error code (AW-DB, DBW66) for
each request is re-set if another error occurs.
Performance in the event of an error during servicing of single functions and
commands:
S The Write request is not serviced in its entirety, and the Error signal is set (job
request status, point 4, Table 6-7).
S The function set/reset which led to initiation of the Write request is not acti-
vated.

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Processing write requests

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

Operating Mode Write See

System Data Data T STE REF SM MDI A/AE
Request Sect.
Speed levels 1, 2 DBX38.0 DBB160...167 V d d V d d 9.2.1
Frequency levels 1, 2 DBX38.1 DBB168...175 d V d d d d 9.2.2
Setpoint for incremental di-
DBX38.2 DBB156...159 d d d V d d 9.2.4
mension
MDI block DBX38.3 DBB176...195 d d d d V d 9.2.5
MDI block, on-the-fly DBX38.4 DBB222...241 – – – – x – 9.2.5
Reserved DBX38.5
Set reference point DBX38.6 DBB152...155 x x x x x – 9.3.9
Set actual value DBX38.7 DBB144...147 x x – x x x 9.3.5
Set on-the-fly actual value DBX39.0 DBB148...151 x x – x x – 9.3.6
Zero offset DBX39.1 DBB140...143 x x – x x x 9.3.4
Reserved DBX39.2 x x x x x x
Modify parameters/data DBX39.3 DBB196...219 x x x x x x 9.3.1
Digital outputs DBX39.4 DBB220...221 x x x x x x 9.8.2
Program selection DBX39.5 DBB242...245 – – – – – V 9.2.6
Application request DBX39.6 DBB246...249 x x x x x x 9.3.7
Teach-in DBX39.7 DBB250...251 x – – x x – 9.3.8

d Data are accepted, then processed in the relevant operating mode.

x Data are accepted or processed.
– Data are rejected with error (see Error Handling, Table 11-8 column 4, No. 1).
V Data required to move the axis.

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Processing read requests

A Read request is initiated by setting the relevant job request number. The relevant
operating mode must be activated.
The following Read requests are available:

Operating Mode Read See

System Data Data T STE REF SM MDI A/AE
Request Sect.
Basic operating data DBX42.0 DBB310...333 x x x x x x 9.3.11
Active NC block DBX42.1 DBB342...361 x
9.3.12
Next NC block DBX42.2 DBB362...381 x
Actual value for block chan- DBX42.3 DBB398...401 x 9.3.14
ge
Service data DBX42.4 DBB402...433 x x x x x x 9.3.15
Operating error number DBX42.5 DBB86...89 x x x x x x 6.3.4
Suppl. operating data DBX43.5 DBB434...442 x x x x x x 9.3.16
Parameters/data DBX43.3 DBB446...469 x x x x x x 9.3.17
Digital inputs/outputs DBX43.4 DBB220...221 x x x x x x 9.8
Application data DBX43.6 DBB382...397 x x x x x x 9.3.13
Read measured values DBX43.7 DBB486...497 x x x x x x 9.3.10
6.3.5

x Data are accepted or processed.

Operating mode control

The operating modes are discussed in detail in Section 9.2, the control-/checkback
signals and handling information in Section 9.1.
The user must write the control signals to the user data block (AW-DB). The
POS_CTRL block transfers the control signals from user data block AW-DB to the
FM 353 and the checkback signals from the FM 353 to user data block AW-DB.
The FM must be initialized.
The Table below lists the control and checkback signals, with symbols in German
and English.

Table 6-8 Control/checkback signals

German English AW-DB Description

Control signals
TFB TEST_EN DBX14.1 Switch P bus interface to “Start-up”
BFQ/FSQ OT_ERR_A DBX14.3 Acknowledge operator and traversing errors
ST START DBX15.0 Start
STP STOP DBX15.1 Stop
R– DIR_M DBX15.2 Negative direction

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Table 6-8 Control/checkback signals

German English AW-DB Description

R+ DIR_P DBX15.3 Positive direction
QMF ACK_MF DBX15.4 Acknowledge M function
EFG READ_EN DBX15.5 Read Enable
SA SKIP_BLK DBX15.6 Skip block
AF DRV_EN DBX15.7 Drive enable
BA MODE_IN DBB16 Operating mode Code
Jog 01
Control 02
Approach to reference point 03
Incremental mode, relative 04
MDI 06
Automatic 08
Automatic single block 09
BP MODE_TYPE DBB17 Operating mode parameters Code
Speed levels 1 and 2
Frequency levels 1 and 2
Incremental dimension selection 1...100, 254
OVERR OVERRIDE DBB18 Override
Checkback signals
TFGS TST_STAT DBX22.1 Switching of P BUS interface completed
BF/FS OT_ERR DBX22.3 Operator-/traversing error
DF DATA_ERR DBX22.4 Data error
PARA PARA DBX22.7 Channel initialized
SFG ST_ENBLD DBX23.0 Start Enable
BL WORKING DBX23.1 Process in progress
WFG WAIT_EI DBX23.2 Wait for external Enable
T-L DT_RUN DBX23.5 Dwell time running
PBR PR_BACK DBX23.6 Reverse program scanning
BAR MODE_OUT DBB24 Active operating mode
SYN SYNC DBX25.0 Channel synchronized
ME MSR_DONE DBX25.1 End of measurement
FR– GO_M DBX25.2 Travel in negative direction
FR+ GO_P DBX25.3 Travel in positive direction
SRFG ST_SERVO DBX25.4 Servo enable status
FIWS FVAL_DONE DBX25.5 Setting of on-the-fly actual value successfully
completed
PEH POS_RCD DBX25.7 Position reached. Stop.
MNR NUM_MF DBB26 M function number
AMF STR_MF DBX27.4 M function modification
ACT_POS ACT_POS DBD28 Actual positon

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The checkback signals “Process in progress” and “Position reached. Stop” are not
reported back to the user program until the FM has detected and processed the
Start signal (v 2 FM cycles).
When calling the POS_CTRL block and the relevant control/checkback signals,
the subsequent signals are generated so that starting of the procedure can be de-
tected earlier than would otherwise be the case.

Signal Description
Execution started = TRUE When a mode/movement is started with the relevant
(AW-DB, DBX13.6) control signals or when the status for “Process in
progress” (AW-DB, DBX23.1) = 1
when the block is called/
“Execution started”
started
“Process in progress” when the FM starts tra-
versing movement
Position = FALSE When status signal “Position reached. Stop.” (AW-DB,
(AW-DB, DBX13.7) DBX25.7) = 0 is returned or when a mode is started
with the relevant control signals.
when the block is called/
“Position”
started
“Position reached. Stop” when FM starts traversing
movement

Furthermore, various settings and commands are required to control the FM 353.
In all cases, those commands and settings are transferred which are activated at
the time when the POS_CTRL block is called. The commands are canceled after
the transfer, also in case of error.

Operating Modes Write See

Function T STE REF SM MDI A/AE
System Data Request Sect.
Single functions Internal DBB34 and 35 V x V V V V 9.3.2
Single commands Internal DBB36 and 37 x x x x x x 9.3.3

x Data are accepted or processed.

V Data required to move the axis.

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The functions which can be activated in the FM using single settings or single com-
mands are listed below.

Single Settings Single Commands

Servo enable Activate machine data
On-the-fly measuring Delete distance to go
Rotational speed monitoring Automatic block return
Parking axis Automatic block advance
Simulation Restart
Length measuring Rescind set actual value
Retriggering of reference point
Reset Enable input
Disable software limit position monitoring

Error messages from the FM

When an operator error, traversing error or data error occurs, the error number is
read automatically via a Read request. The error number is entered in the AW-DB
user data block and the Read status set.
An operating error, reported via a diagnostic interrupt, can be read out with the
Read request “Operating error no.” (AW-DB, DBX42.5).

Table 6-9 Error messages from the FM

Error Message Error No. Error Acknowl-

edgement
Data error Status signal Is read out via Read re- New Write request
(AW-DB, DBX22.4) quest
(AW-DB, DBB94 and 95)
Operator/travers- Status signal Is read out via Read re- Set/reset control
ing error (AW-DB, DBX22.3) quest signal “Acknowl-
(AW-DB, DBB 90 and 91) edge operator/tra-
versing error” (AW-
DB, DBX14.3)
Diagnostic inter- Activated with In case of an operating Single command:
rupt OB 82, the data error read out via the Restart
must be read out POS_DIAG block, the error
using the no. is read out via the
POS_DIAG block Read request DBX42.5
(AW-DB, DBB86 and 87)

For additional specific information, please refer to Chapter 11 “Error Handling”.

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6.4.4 The POS_ DIAG (FC 2) block – Read diagnostic interrupt data

Block description
See Section 6.3.4.

6.4.5 The POS_ MSRM (FB 3) block – Read measured values

Function
Use the POS_MSRM block to read the measured values into the AW-DB user data
block.
For information on process interrupts, please see Section 6.5.
For information on measured values, see Section 9.3.10.

Note
The measured values can also be read by means of POS_CTRL (Read request).
If more than one Read request is present, this request is processed in the relevant
order.
If the POS_MSRM block is called, the measured values are obtained irrespective
of any other Read requests currently present.

Call options
The POS_MSRM block requires an instance DB when called.
The DB “IMSRM” (DB 3) is part of the “FM353_354” library.
POS_MSRM can be called in OB 40 (only when the FM is operated in the central
configuration) if the process interrupt has been activated (see Section 5.2), or in
OB 1. It is not possible to call POS_MSRM in both OBs simultaneously.
The block does not have multiple-instance capability.

Call in LAD representation Call in STL representation

(ladder diagram) (statement list)
IMSRM CALL POS_MSRM, IMSRM
POS_MSRM DB_NO :=
EN ENO RETVAL :=
DB_NO RETVAL IN_MSR :=
IN_MSR

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Parameters
The Table below lists the parameters for the POS_MSRM block.

Name Data Param. Description

type type
DB_NO INT I Data block number
RETVAL INT Q –1
IN_MSR BOOL I/Q Start Read

Parameter types: I = input parameter, Q = output parameter,

I/Q = throughput parameter (initiation parameter)

Function description
The function works together with an AW-DB user data block. When the function is
called, the DB number is forwarded in the DB_NO parameter.
Reading of the measured value is started by setting the IN_MSR parameter to
TRUE. When the function has executed, the block resets the parameter.
The IN_MSR parameter remains set while the function is executing. Transfer of the
data is terminated is complete when the parameter is reset (IN_MSR = FALSE).

Error evaluation
Errors are flagged in the Binary Result (BR = 0) and by RETVAL < 0.
Possible errors are as follows:
Data transfer errors during transfers with SFB 52 “RDREC”. The error is made
available in the user data block AW-DB, DBW98 (see Error List, Section 6.8).

6.4.6 Interface, user DBs (AW-DBs)

User DB 1 is the user data block in the default condition of the function blocks; it’ s
symbolic name is IFFM_ICTRL. This DB consists of the user data interface and
the instance data of the POS_CTRL block (FB 1).
The user can access the signals and/or data on the interface using absolute or
symbolic addresses if reference is made via the symbol table of the project.
When calling POS_CTRL, the interface is transferred as an instance. With the
other standard function blocks, the interface is assigned to the appropriate
channel/axis using the DB_NO input parameter.

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Note
If the POS_CTRL block is called for several channels/axes, a new instance DB of
the POS_CTRL block is to created for each individual channel/axis. To assign the
datza to the relevant channel/axis, this instance is always to be transferred when
calling the block.

The module address is part of the user data block (AW-DB). It is entered either by
the POS_INIT block or manually via ”Parameterize FM 353“ using the ”Enter mo-
dule address in the user data block“ in the overview diagram. The user data block
(AW-DB) must exist.

Information about symbolic programming

Normally, the blocks are entered in the symbol table with the symbol name, ad-
dress, and data type; the symbol table is part of the project and included in the
“FM353_354” block library. If you change the block numbers in your project using
the SIMATIC Manager, the numbering in the symbol table must also be changed.
The block assignment is provided unambiguously via the symbol table.
Before writing and compiling your user program, you must enter the blocks
(AW-DB, FCs, FBs) in the symbol table according to your particular configuration.
The symbolic structure of the interface is stored in the supplied instance data block
DB 1 (IFFM_ICTRL). The symbolic reference is provided via your STEP 7 project –
the symbol table.
The Annex shows the user interface with the appropriate symbols and with the
absolute address.
Example symbol table:

Symbol Address Data type Comments

IFFM_ICTRL DB 1 FB 1 CPU / FM interface, instance DB to the POS_CTRL
block
POS_INIT FC 0 FC 0 Initialization
POS_CTRL FB 1 FB 1 Operating modes, commands and data exchange

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6.5 Interrupts

Interrupt processing
The FM 353 can generate process interrupts and diagnostic interrupts. You can
process these interrupts only in an interrupt OB (OB 40 or OB 82). If an interrupt is
generated without the associated OB having been loaded, the CPU goes to STOP
(refer to the manual entitled Programming with STEP 7).
Interrupt servicing is enabled in the following stages:
1. General Interrupt Enable for the entire module:
– Select the module in the hardware configuration.
– Enable diagnostic and/or process interrupts with Edit > Object Properties >
Basic Parameters (also see Figure 5.2).
– Select the OB number for the process with Edit > Object Properties > Ad-
dresses.
– Save and compile the hardware configuration.
– Load the hardware configuration into the CPU.
2. Enable the events for the process interrupt in the machine data.

Evaluating a process interrupt

When the FM 353 generates a process interrupt, variable OB40_POINT_ADDR (or
the corresponding variable in another process interrupt OB) contains the following
information:

Table 6-10 Contents of doubleword OB40_POINT_ADDR

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 in-process On-the-fly Length Position
measuring block chang measurement reached
terminated
1
2
3

The reason for the interrupt is made available in byte 0.

Lost process interrupts

If servicing of a process interrupt in the process interrupt OB has not yet been ter-
minated, the module “makes a note” of all subsequent process interrupt events. If
an event re-occurs before a process interrupt could be generated, the module gen-
erates the diagnostic interrupt “process interrupt lost”.

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Evaluating a diagnostic interrupt

Following a diagnostic interrupt, the diagnostic information is made available in the
local data area of OB 82 for quick analysis. Call the POS_DIAG block to ascertain
the exact cause of error (see Section 6.3.4).

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6.6 User data block (AW-DB)

Overview
The Table below describes the structure of the user data block.

Table 6-11 User data block (AW-DB)

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
General addresses
DBW0 Module address (data type INT)
DBW2
to Reserved
DBB12
Execution
DBB13 Position
started

Control signals
Acknowl- Switch to
edge opera- P bus
DBB14
tor/travers- Start-up
ing error
Acknowl-
Drive Read-in Positive Negative
DBB15 Block skip edge M Stop Start
enable enable direction direction
function
DBB16 Operating mode
DBB17 Operating mode parameters
DBB18 Override
DBB19
to Reserved
DBB21

Checkback signals
Operator/ Switch to
Channel
DBB22 Data error traversing P bus com-
initialized
error pleted
Wait for
Reverse Dwell in Machining Start
DBB23 external
prog. scan progress in progress enable
enable
DBB24 Active operating mode
On-the-fly
Position End of Channel
setting of Servo ena- Positive Negative
DBB25 reached. measure- synchroni-
actual value ble status travel travel
Stop. ment zed
completed
DBB26 M function number
M function
DBB27 modifica-
tion

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Actual position
DBD28
(with firmware version V3.7.6 and higher in conjunction with the blocks of the “FM353_354” library
DBW32 Reserved

Initiation signals

Initiation signals for single settings (switches); transfer through Write request when change occurs
Parking Rotation In-process Controller
DBB34 Simulation
axis monitoring measuring enable
Software
Enable Length
limit posi- Retrigger
DBB35 input dis- measure-
tions dis- ref. point
abled ment
abled

Initiation signals for single commands; transfer through Write request when change occurs
(signals are reset following transfer)
DBB36 Reserved
Rescind Automatic Automatic Delete
Activate
DBB37 setting of Restart block block ad- residual
MD
actual value return vance distance

Initiation signals for Write requests

Setpoint for
Set actual Set refer- On-the-fly Frequency Speed
DBB38 MDI block incremental
value ence point MDI block levels 1, 2 levels 1, 2
dimension
Request Modify pa- On-the-fly
Program Digital
DBB39 Teach-in application rameters / Zero offset setting of
selection outputs
data data actual value
DBB40
to Reserved
DBB41

Initiation signals for Read requests

Actual Basic
Operating Service Next Active
DBB42 value block operating
error no. data NC block NC block
change data
Read Additional
Application Dig. inputs/ Parameter/
DBB43 measured operating
data outputs data
values data

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Ready signals

Status/checkback signals from POS_CTRL

Parking Rotation In-process Controller
DBB44 Simulation
axis monitoring measuring enable
Software
Enable Length
limit posi- Retrig. ref.
DBB45 input dis- measure-
tions dis- point
abled ment
abled
DBB46 Reserved
Rescind
Autom. Autom. Delete
setting of Activate
DBB47 Restart block block residual
actual va- MD
return advance distance
lue
Setpoint for
Set actual Set refer- On-the-fly Frequency Speed
DBB48 MDI block incremental
value ence point MDI block levels 1, 2 levels 1, 2
dimension
On-the-fly
Request Modify pa-
Program Digital setting
DBB49 Teach-in application rameters/ Zero offset
selection outputs of actual
data data
value
DBB50
to Reserved
DBB51
Operator/ Actual Basic
Data error Operating Service Next Active
DBB52 traversing value block operating
read error read data NC block NC block
error read change data
Read Additional
Application Dig. inputs/ Parameter/
DBB53 measured operating
data outputs data
values data

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Error signals

Error messages from POS_CTRL

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

Processing status of POS_CTRL

DBW66 Error code (communications error) of the last job request/transfer (data type: INT)
Read re- Write re-
Read job Write job
DBB68 quest not quest not
active active
possible possible

Reset
DBB69
status/error

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Diagnostic data for the FM, read out with POS_DIAG

Ext. chan. Int./HW err.
Module not External Module/
DBB70 err. (DBB
initialized error group fault
(DBB78) 72, 73)

Channel Module type classes (08H)

DBB71 info
available
Int. module Watchdog Comm. er-
DBB72 supply volt. triggered ror (K bus)
failed

Process RAM FEPROM

DBB73
int. lost error error

DBB74 FM pos. ID (74H)

DBB75 Length of diagnostic information (16)
DBB76 Number of channels (1)

Channel er-
DBB77
ror vector

Operating
DBB78
error

DBB79
to Reserved
DBB85
Error code after error message “Operating error”
(is read if ’operating error’ is set after calling the POS_DIAG block)
DBB86 Error number (DS 164) – Detail event class
DBB87 Error number (DS 164) – Detail event number
DBB88
to Reserved
DBB89
Error code following flagging of “Operator/traversing error”
DBB90 Error number (DS 162) – Detail event class
DBB91 Error number (DS 162) – Detail event number
DBB92
to Reserved
DBB93

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Error code following flagging of “Data error”
DBB94 Error number (DS163) – Detail event class
DBB95 Error number (DS163) – Detail event number
Error code for the POS_DIAG block (return code SFC 51)
DBW96
(Data type: INT)
Error code for the POS_MSRM block (return code SFC 59)
DBW98
(Data type: INT)

Data for the requests

Zero offset
DBD140 Data type: DINT
Set actual value
DBD144 Data type: DINT
On-the-fly setting of actual value
DBD148 Data type: DINT
Set reference point
DBD152 Data type: DINT
Setpoint for incremental dimension
DBD156
Speed levels 1 and 2
DBD160 Speed level 1
DBD164 Speed level 2
Frequency levels 1 and 2
DBD168 Frequency level 1
DBD172 Frequency level 2

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MDI block
DBB176
to Reserved
DBB177

Position/ G function group

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

Position/ G function group

DBB224
dwell 2 1
M function group
DBB225 Speed
3 2 1
DBB226 G function no. of group 1

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBB227 G function no. of group 2
DBB228
to Reserved
DBB229
DBD230 Value for position/dwell (data type DINT)
DBD234 Value for speed (data type DINT)
DBB238 M function no. of group 1
DBB239 M function no. of group 2
DBB240 M function no. of group 3
DBB241 Reserved
Program selection
DBB242 Program number
DBB243 Block number
DBB244 Direction of processing
DBB245 Reserved
Request for application data
DBB246 Application data 1
DBB247 Application data 2
DBB248 Application data 3
DBB249 Application data 4
Teach-in
DBB250 Program number
DBB251 Block number
DBB252
to Reserved
DBB309

Data read as per request

Basic operating data
DBD310 Actual position (data type DINT)
DBD314 Actual speed
DBD318 Residual distance (data type DINT)
DBD322 Setpoint position (data type DINT)
DBD326 Sum of active coordinate offset, tool offset, zero offset (data type DINT)
DBD330 Rotational speed
DBD334
to Reserved
DBD338

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Active NC block
DBB342 Program number
DBB343 Block number

No. of UP Position/ G function group

DBB344 Block skip UP call
calls dwell 3 2 1
M function group
DBB345 Tool offset Speed
3 2 1
DBB346 G function no. of group 1
DBB347 G function no. of group 2
DBB348 G function no. of group 3
DBB349 Reserved
DBD350 Value for position/dwell (data type DINT)
DBD354 Value for speed (data type DINT)
DBB358 M function no. of group 1
DBB359 M function no. of group 2
DBB360 M function no. of group 3
DBB361 Tool offset no.
Next NC block
DBB362 Program number
DBB363 Block number

No. of UP Position/ G function group

DBB364 Block skip UP call
calls dwell 3 2 1
M function group
DBB365 Tool offset Speed
3 2 1
DBB366 G function no. of group 1
DBB367 G function no. of group 2
DBB368 G function no. of group 3
DBB369 Reserved
DBD370 Value for position/dwell (data type DINT)
DBD374 Value for speed (data type DINT)
DBB378 M function no. of group 1
DBB379 M function no. of group 2
DBB380 M function no. of group 3
DBB381 Tool offset no.

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Application data
DBD382 Application data 1 (data type: DINT)
DBD386 Application data 2 (data type: DINT)
DBD390 Application data 3 (data type: DINT)
DBD394 Application data 4 (data type: DINT)
Actual value block change
DBD398 Data type DINT
Service data
DBD402 Frequency output value (data type DINT)
DBD406 Pulse output counter (data type DINT)
DBD410 Reserved
DBD414 Reserved
DBD418 Difference between setpoint and actual position (data type DINT)
DBD422 Reserved
DBD426 Switch adjustment (data type DINT)
DBD430 Reserved
Additional production data
DBB434 Override
DBB435 NC traversing program no.
DBB436 NC block no.
DBB437 UP call counter
DBB438 Active G90/91
DBB439 Active G60/64
DBB440 Active G43/44
DBB441 Active D number
DBB442 Speed limit
Accelera- Frequency Start/stop
tion/decel- value for frequency
DBB443 eration accelera- limited
value lim- tion limited
ited
DBB444
to Reserved
DBB445
Parameter/data
DBB446 DB type (MD, incremental dimension or traversing program)
DBB447 Number
DBB448 Quantity
DBB449 Request

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Table 6-11 User data block (AW-DB), continued

AW-DB FM 353
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
DBB450
Array, structure/data type according to data, to be read as per bytes 1 to 4 of this structure
to
(e.g. a program record or max. 5 MD items)
DBB469
DBB470
to Reserved
DBB485

Measured values
Measured values as per POS_MSRM call
DBD486 Initial value or in-process measured value (data type DINT)
DBD490 Final value (data type DINT)
DBD494 Measured length value

Array for operator control/monitoring

Operator control and monitoring
Frequency Speed Increm.
Teach-in Prog. sel. MDI block
DBB498 levels levels dim. trans- Read MD Write MD
transferred transferred transferred
transferred transferred ferred
Operator/ Set actual MDI block
Diagnostic Zero offset
DBB499 traversing Data error value transferred
interrupt transferred
error transferred on-the-fly
DBW500 MD number
DBD502 MD value (data type DINT)
DBB506 Incremental dimension number
DBB507 Reserved
DBW508 Display number
DBW510 Keyboard code
DBW512 Reserved
Operating mode selection
Incremen- Approach Open-loop
Auto/single
DBB514 Jog mode Auto mode MDI tal mode to refer- control
block mode
(relative) ence point mode
Acknowl-
edge Acknowl-
DBB515
diagnostic edge error
interrupt

Note
For the symbolic signal designations, please refer to the “FMSTSV_L” library, UDT
1 block, or to the “FM353_354” library, DB 1 (IFFM_CTRL).

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6.7 Sample applications

Overview
This chapter provides information on the following:
S Basic example for setting the operating mode
S Example 1: Moving axes in “JOG mode” and “Approach to reference point
mode”
S Example 2: Traversing an MD block
S Example 3: “Automatic” mode with program selection
S Example 4: Technology example for embedding OPs

General remarks
The installation of the FM 353 configuration package includes the following sample
projects:
S “zDt13_02_FM353_EX” ([STEP7 directory]\EXAMPLES\zDt13_02)
for application examples for the “FMSTSV_L” block library
S “zDt13_03_FM353_EX” ([STEP7 directory]\EXAMPLES\zDt13_03)
for application examples for the “FM353_354” block library
The relevant technological functions (POS_CTRL, POS_DIAG, POS_INIT) are
called in the OB 1, OB 82 and OB 100 blocks. DB 100 (DBEX) contains the
relevant user signals/user data for all application examples.
Each example is programmed as a block (e.g., example 1 = FC 101, etc.). In The
basic example (FC 100) is always necessary for the examples 1 to 3; it sets the
relevant modes and copies the data between DB 1 and DB 100.
The examples 1 to 3 are interdependent. They are technologically simple examples
which you can expand to suit your particular needs. To be able to use the functions
provided by the examples 1 to 3, call the relevant examples in OB 1 analogous to
example 1.
OB 1 contains an example after the call of POS_CTRL how the evaluation of the
reported errors of the POS_CTRL could be programmed. You can expand this
error evaluation accordingly if you want.
Example 4 requires the OB_example4 source file specified in the source folder to
be compiled. Since this is an application example for use of an OP, only example 4
should be called in OB 1, as not to overwrite data.

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Note
In the examples, the axes do not traverse in simulation mode!
Because “DBEX” is a retentive DB, it is initialized in the start/restart routine (OB
100). If this is not required, simply delete the initialization section of OB 100 (net-
work “DBEX Initialization”).

Basic example for setting the operating mode

This example is always required for sample applications 1 to 3.
Open the “zDt13_02_FM353_EX” or the “zDt13_03_FM353_EX“ example project
in the SIMATIC Manager with File > Open... > Projects . The block for this exam-
ple is FC 100.
You will find the signals in “DBEX”.
This example must always be called. It sets the operating modes according to the
user’s specifications, evaluates the mode status signals, and displays the current
mode. The checkback signals required for the examples will be copied into
“DBEX”.
In order to use the “Jog” or “Reference point approach” mode in Example 1, the
user has to set the relevant mode code in byte MODE_IN of “DBEX” (01 for “Jog”,
03 for “Reference point approach). When “Jog” mode is selected, mode parameter
01 (MODE_TYPE) is additionally set for activating speed level 1 in “Jog” mode.
Mode Code
Jog 01
Reference point approach 03
MDI 06
Auto 08
In Example 2, you must set “MDI” mode (mode coded in byte MODE_IN = 06).
In Example 3, you must set “Auto” mode (mode coded in byte MODE_IN = 08).
The active mode is displayed in byte MODE_OUT in the relevant code.
To restart the module (e.g. after diagnostic interrupt), bit RESET_AX must be set in
“DBEX”. The example will then set bit RESET_AX in “AW-DB”. A restart will be
initiated and bit RESET_AX reset in “DBEX”.
In order to work with the following examples, you must set the mode required for
each.

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Example 1
Open the example project. The block used for this example is FC 101.
The signals are in “DBEX”. The signals relevant for Example 1 only are in structure
“EX1”.
The Drive Enable and the Controller Enable for the axis are set in “DBEX” (OB
100: DRV_EN = TRUE, SERVO_EN = TRUE) and are transferred to the interface
(AW_DB) in Example 1.
In order for the example to function, you must first set either “Jog” mode (mode
code 01) or “Reference point approach” mode (mode code 03) in byte MODE_IN of
the “DBEX”. The respective mode checkback signal is flagged in byte
MODE_OUT.
The traversing movements are shown in bits “GO_M” = TRUE (traverse -axis 1) or
“GO_P” = TRUE (traverse + axis 1).
“Jog” mode active:
Once a mode has become active, the Write request “VLEV_EN” (AW-DB, transfer
speed level 1, 2) is executed once. If you want to transfer it again, you must either
reset the “VLEV_D” bit (status/checkback signal from the request) or set the
“JOBRESET” (reset status/error) in DB_FM.
If you set bit “DIR_M” (minus direction) or bit “DIR_P” (plus direction) to TRUE in
“DBEX”, the axis is moved in either a negative or positive direction.
“Reference point approach” mode active:
When you set the “START” bit to TRUE, the axis is moved in a negative or positive
direction (depending on the machine data initialization) until the reference point is
located. If the reference point approach was successful, the axis is synchronized
(SYNC=TRUE).
If an operator or traverse error occurred, this is flagged by bit “OT_ERR” = TRUE.
An error can be acknowledged by setting bit “OT_ERR_A” to TRUE.
Note:
Variable table 1, which contains all the relevant signals for monitoring and control-
ling Example 1 (“control and monitor variable” tool), is located in the “Blocks” direc-
tory.

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Example 2
Open the example project. The block used for this example is FC 102.
The signals are in “DBEX”. The signals relevant for Example 2 only are in structure
“EX2”.
The Drive Enable and the Controller Enable for the axis are set in “DBEX” (OB
100: DRV_EN = TRUE, SERVO_EN = TRUE), and are transferred to the interface
(AW-DB) in Example 2.
In order for the example to function, you must set the “MDI” mode. Enter “MDI”
mode (mode code 06) in the MODE_IN byte of “DBEX”. The relevant mode check-
back signal is flagged in byte MODE_OUT.
Once the mode has been successfully set, a default MDI block is automatically
transferred to the module (MDI network) when Write request “MDI_EN” has been
set in “AW-DB” (transfer MDI block). This block can be changed in dependence on
the system and the request. If it is to be retransferred, you either have to reset the
“MDI_D” bit in “AW-DB” (status/checkback signal for request) or set bit “JOBRE-
SET” (reset status/error).
Set the “START” bit in “DBEX” to TRUE in the “EX2” structure. The activated MDI
block is started on the condition that the axis is synchronized and has a Start En-
able. Then the “START” bit is reset. The MDI block cannot be restarted until the
start enable is again available.
The block can be stopped by setting the “STOP” bit.
Only when the “STOP” bit has been reset to FALSE (and the “START” bit to
TRUE) is a restart possible.
If an operator error or traversing error occurs, it is flagged by the “OT_ERR” bit
(the bit is set to TRUE). The error can be acknowledged by setting the
“OT_ERR_A” bit to TRUE.
Note:
Variable table 2, which contains all the relevant signals for monitoring and control-
ling Example 2 (“control and monitor variable” tool), is located in the “Blocks” direc-
tory.

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Example 3
Open the example project. The block used for this example is FC 103.
The signals are in “DBEX”. The signals relevant for Example 3 only are in structure
“EX3”.
The program to be selected in the Example has the program number “10”. This
program number is entered in Example 3.
The Read Enable, the Drive Enable, and the Controller Enable for the axis are set
in “DBEX” (OB 100: READ_EN = TRUE, DRV_EN=TRUE, SERVO_EN=TRUE),
and are transferred to the interface (AW-DB) in Example 3.
Prerequisite for successful program selection is the availability of that program in
the FM.
In order for the example to function, you must set “Auto” mode. Set the “AUT O”
mode (mode code 08) in byte MODE_IN of “DBEX”. The relevant mode checkback
signal is flagged in byte MODE-OUT.
Following successful mode selection, the program with the number “10” is auto-
matically selected by setting Write request “PROGS_EN” in “AW-DB”.
Set the “START” bit in “DBEX” to TRUE in structure “EX3”. The selected program
is started, assuming that the axis is synchronized and has a Start Enable. Then the
“START” bit will be reset.
The program can be stopped by setting the “STOP” bit. It can be restarted by re-
setting the “STOP” bit to FALSE (and the “START” bit to TRUE).
If an operator error or traversing error occurs, it is flagged in the “OT_ERR” bit (the
bit is then TRUE). The error can be acknowledged by setting bit “OT_ERR_A” to
TRUE.
Note:
Variable table 3, which contains all the relevant signals for monitoring and control-
ling Example 3 (“control and monitor variable” tool), is located in the “Blocks” di-
rectory.

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Example 4
Open the example project. The block used for this example is FC 104.
Note: If you call the example 4 in OB 1, then please do not call the examples 1 to
3 at the same time; otherwise, data would be overwritten.
In this example, the HMI interface signals for the data range from DBB 498 through
DBB 515 are transferred to the interface area for the control signals, e.g. the
modes (see Section 8.2).
You can trigger write and read jobs by assigning the data fields to be transferred
the appropriate parameters and data.
For example, if you select the machine data screen PIC_763, you can write an MD
using the ”set” softkey (SK) and read an MD using the ”read” softkey (SK).
Once you have selected the mode screen PIC_75 on the operator panel and
selected the appropriate mode SK, the selected mode will be accepted into the
control signals of the interface, and the appropriate mode will be set.
If you select the diagnostic screen PIC_77, you can acknowledge an error by
pressing the ”Quit” SK or acknowledge a diagnostic alarm by pressing the ”Res”
SK.
In this way, all interface signals which can be activated by the OP are requested.
You can assign default values to all data fields and transmit trigger pulses for the
jobs to be executed.

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Structure of “DBEX” (DB 100)

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

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6.8 Error list, system messages (CPU)

The Table below lists some of the errors which occur during data transfer with the
internal SFC/SFBs (RET_VAL in SFCs 51, 58 and 59 and status messages (bytes
2 and 3), SFB 52/53, system messages) (see Reference Manual System Software
for S7-300/400; System and Standard Functions).

Table 6-12 Error list

Error Code (AW-DB, DBW66) Description

HEX DEC INT
0 0 0 No errors
8082 32898 –32638 SZL_ID invalid or not in CPU
8085 32901 –32635 Information currently unavailable (caused by system)
80A0 32928 –32608 Negative acknowledgement when reading from module. Module re-
moved during Read operation or module defective.
80A1 32929 –32607 Negative acknowledgement while writing to module. Module removed
during Write operation or module defective.
80A2 32930 –32606 DP protocol error in layer 2 (data transfer over Profibus-DP interrupted,
e.g. due to wirebreak, missing terminator, parameterization error, etc.)
80A3 32931 –32605 DP protocol error in User-Interface/User (data transfer over Profibus-
DP interrupted, e.g. due to wirebreak, missing terminator,
parameterization error, etc.)
80A4 32932 –32604 Communication problem on K bus
80A7 32935 –63601 DP slave or module is busy
80A9 32937 –63599 This function is not supported by DP slave or by the module.
80AA 32938 –32598 DP slave or module is reporting a manufacturer–specific error in the
to to to evaluation. For specifying the error, please refer to the Manufacturer
80AF 32943 –32593 Documentation of the DP slave or of the module.
80B0 32944 –32592 The module does not know this data record.
80B1 32945 –32591 Invalid length specification in the RECORD parameter
80B2 32946 –32590 The configured slot is not occupied.
80B3 32947 –32589 Actual module type not the same as setpoint module type
80B5 32949 –32587 DP slave or module not ready
80B6 32950 –32586 Access to DP slave or module denied
80C0 32960 –32576 Module does not yet have the data to be read available
80C1 32961 –32575 Data from an identical Write job have not yet been processed on the
module
80C2 32962 –32574 Module is currently servicing the maximum possible number of re-
quests
80C3 32963 –32573 Needed resources (such as memory, etc.) are currently in use
80C4 32964 –32572 Communication error; repeat the job.
80C5 32965 –32571 Distributed I/O not available

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Table 6-12 Error list, continued

Error Code (AW-DB, DBW66) Description

HEX DEC INT
80C7 32966 –32570 Job aborted due to restart (warm restart) or cold restart of DP master
8522 34082 –31454 DB too short; the data cannot be read out of the DB (Write request)
8532 34098 –31438 DB no. out of user area
853A 34106 –31430 DB does not exist (Write request)
8544 34116 –31420 Error on the n-th (n > 1) attempt to read a DB following the occurrence
of an error (Write request)
8723 34595 –30941 DB too short. The data cannot be written to the DB (Read request).
8730 34608 –30928 DB write-protected in the CPU. Data cannot be written to the DB (Read
request).
8732 34610 –30926 DB no. out of user area
873A 34618 –30918 DB does not exist (Read request)
8745 34629 –30907 Error on the n-th attempt (n > 1) to write to a DB following the occur-
rence of an error (Read request)
The errors 80A2 to 80A7, as well as 80Cx are temporary, i.e. it is possible that they are eliminated
without your intervention after a certain time of waiting. Messages in the form 7xxx indicate temporary
communication states.

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6.9 Technical specifications

Memory allocation
The Table below provides an overview of the memory allocation for the blocks and
the user data block (AW-DB). All values are rounded.

Table 6-13 Memory requirements for the blocks and user data block

No. Block Block in bytes MC7 code in Local data in

Loading buffer bytes bytes
0 POS_INIT 250 142 4
1 POS_CTRL 3,394 2,964 22
2 POS_DIAG 310 186 46
3 POS_MSRM 286 176 20
4 AW-DB 1,884 516 –

Table 6-14 Memory mapping of the blocks and of the user data block AW-DB,
“FM353_354” library

No. Block Block in bytes MC7 code in bytes Local data in bytes
Loading buffer
0 POS_INIT 250 142 4
1 POS_CTRL 4,966 3,198 34
2 POS_DIAG 310 186 46
3 POS_MSRM 380 242 32
4 AW-DB 2,012 576 –

Processing times for the blocks taking the following example system
The specified times are rounded.
Structure: CPU 315-2DP, FM 353 in the simulation mode
User cycle time: approx. 5 ms
FM cycle: 2 ms

Table 6-15 Processing times for the blocks

Block Transfer Cycle 1 Cycle 2 Cycle 3

Write control/status signals without data 1.3 ms – –
POS_CTRL Write control/status signals with data 1.5 ms 3.2 ms 1.5 ms
Read control/status signals with data 3.6 ms – –

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Table 6-15 Processing times for the blocks, continued

Block Transfer Cycle 1 Cycle 2 Cycle 3

POS_DIAG Read process and diagnostic data 3.2 ms – –
POS_MSRM Read measured values 3.6 ms

Processing times for the blocks when used in a distributed configuration

PROFIBUS DP), taking the following example
The specified times are rounded.
Structure: CPU 315-2DP, IM 153-2, FM 353 in the simulation mode
User cycle time: 5 ms
FM cycle: 2 ms
Baud rate: 1.5 MB

Table 6-16 Processing times for distributed blocks

System data Transfer time in Average transfer

No. Block transfer the range from ... time
to
Control/checkback
0 POS_CTRL 1.1...1.5 ms 1.3 ms
signals
1 POS_CTRL Write request 30...40 ms 35 ms
2 POS_CTRL Read request 10...20 ms 15 ms
3 POS_DIAG Read 2.1...2.7 ms 2.4 ms

Several cycles are required to read or write data via the relevant requests.

Response time for start signals to a distributed FM (PROFIBUS DP)

Table 6-17 Response times for start signals

From the view of the CPU: Response time in the

to
from calling the block range from ... to
Start “Jog” Response at the output of 8...13 ms
the FM (axis traverses, incl.
Start “MDI” FM response time) 10...15 ms

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Chapter Overview

Section Section Header Page

7.1 Installation and wiring 7-2
7.2 Initial values for testing and optimization 7-3
7.3 Testing and optimization 7-7

Overview
This Chapter introduces you to the user interface for testing and start-up, and pro-
vides check lists for starting up the positioning module. The checklists will help
you:
S Check all steps until the module is running.
S Prevent malfunctions of the module once it is in operation.
You are guided through start-up of the machine axes.

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7.1 Installation and wiring

Installation information
You can find information about how to install your module:
S In Chapter 3 of this manual
S In the manual S7-300 Programmable Controller, Hardware and Installation

Wiring information
You can find information about how to wire your module:
S In Chapter 4 of this manual
S In the manual S7-300 Programmable Controller, Hardware and Installation

Checklist
The checklist below will help you check important steps in the installation and para-
meterization of the FM 353 positioning module.

Table 7-1 Installation and wiring checklist

Step Check What to do: OK

1 Slots Plug the module into one of the suitable slots.
2 Shielding Check the shielding of the FM 353 positioning module:
S To ensure proper shielding, the module must be screwed down
firmly on the rail.
S The shielding for shielded lines for digital I/O modules must be
connected to the shielding terminal element.
S The shielding for the setpoint cable should not be grounded on
the drive-unit end.
3 Limit switches Check the start/stop limit switches. The limit-switch connections must
be connected to the power section. The start/stop limit switches
should not be connected to the digital inputs.
4 Parameterize Make sure the FM 353 positioning module setup is consistent with
the parameterization. Check in particular that the wiring of the digital
I/O modules matches the machine data.

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7.2 Initial values for testing and optimization

Parameterization information
You can find information about parameterization:
S In Chapter 5 of this manual
S In the on-line help in “Parameterize FM 353”

Overview
The following overview display appears in the “Parameterize FM 353” tool:

Fig. 7-1 Overview display for parameterization and start-up

You can return to this display at any point during parameterization by selecting the
menu View > Overview.
As it is written to the FM 353, the DB-MD is checked for the input limits of the indi-
vidual values and their interdependencies. It is then stored only if all values are
allowed. Otherwise data error messages are displayed by way of the MPI. A defec-
tive DB will not be retained when the power is turned off.

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Checklist
Despite the “acceptance” testing just mentioned, the ultimate responsibility for the
accuracy of all machine data lies with the module user. So it is highly advisable to
perform startup using the following checklist.

Table 7-2 Parameterization checklist

Step Check What to do: OK

1 Machine data Set initial machine data contents
As shown in Table 5-4 machine data are subdivided into configuration
data (K) and setting data (E). K data indicates how the FM 353 is con-
nected to the machine axis or CPU user program, and must therefore
already be fully set up before startup begins. When specifying the
MD13 (number of increments per motor revolution) for drives with ad-
justable increment number, select the one with which your maximum
frequency (at maximum axis speed provided) reaches the next lowest
value below the FM 353’s maximum frequency of 200 kHz.
E data is intended for changes during startup, and serves to optimize
FM 353 response for the technological process of positioning.
The values in Table 7-3 are recommended, and sometimes necessary,
as initial settings.
Initial machine data assignments for FM STEPDRIVE
To help you start up your machine axis with FM STEPDRIVE and the
SIMOSTEP motors, you will find the MD DBs for open-loop control
mode in the directory
[STEP7 directory]EXAMPLES\FM353\MD:
S SIMOSTEP 2 si02_353.md
S SIMOSTEP 4 si04_353.md
S SIMOSTEP 6 si06_353.md
S SIMOSTEP 10 si10_353.md
S SIMOSTEP 15 si15_353.md
These machine MD DBs achieve optimum operation assuming
ILoad = IMot
MLoad = 0.1MRated
nmax = 2 000 min–1
You must optimize the machine data in accordance with the physical
and technological conditions of your machine axis.
2 Increments Increments are only needed for the “Relative incremental” mode. For
the next part of the startup procedure it is helpful to set up an “Incre-
ments” data block (DB-SM) with the following values:
Value 1 1 MSR
Value 2 10 MSR
Value 3 100 MSR
Value 4 1,000 MSR
Value 5 10,000 MSR
with rotary axes:
Value 6 1 rotary-axis cycle (MSR) MSR = measurement-system grid

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Table 7-2 Parameterization checklist, continued

Step Check What to do: OK

3 Tool offset data Tool offset data is needed only for the “Automatic” mode and is not nec-
essary for the startup described here. Generally, it is not needed until
you start up the user program on the S7-300 CPU.
4 Traversing pro- Traversing programs are needed only for the “Automatic” mode and are
grams not necessary for the startup described here. Generally, it is not needed
until you start up the user program on the S7-300 CPU.
5 Create SDB  When you have completed all start-up actions on the FM 353 and
1 000 your plant, create, save and load SDB  1 000 into the CPU/onto the
memory card of the CPU. All the parameter data (DBs) of the FM 353
are stored in SDB  1 000. This SDB allows you to replace the FM 353
module in the event of a fault, and to download the parameters without
a programming device/PC.

Note
The measurement system (MD7) must match the measurement system specified
in the other DBs.
The measurement system raster (MSR) is the smallest distance unit in the active
system of measurement.
If at some point you have failed to take this precaution:
1. Delete all data blocks (which do not match the measurement system) or clear
the memory of the FM 353 completely.
2. Modify the other data blocks on the PG.
3. Reload the data blocks to the FM 353.

Initial contents of MD
The table below shows you what initial contents are recommended or required for
the E machine data at startup of the machine axis.
Enter the machine data in the tab windows or in table format in accordance with
the following table.

Table 7-3 Initial contents of machine data

MD (E) Value Explanation

5 0 FM 353 triggers no process interrupts
16 –109...+109 [MSR] Specified reference-point coordinates
21/22 –109/+109 [MSR] Software limit switches inactive
27 0 Reference-point shift (incremental encoders only) should be
entered for numerical readjustment of the reference point

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Table 7-3 Initial contents of machine data, continued

MD (E) Value Explanation

281) 0.2vmax 20% of the maximum speed is the recommended initial value
291) 0.1vmax 10% of the maximum speed is the recommended initial value
30/31 0/0 Backlash compensation inactive
39 Start/Stop frequency from operating characteristic curve, see
Section 7.3.2
40 Frequency value for acceleration switchover from operating
characteristic curve, see Section 7.3.2
41 Maximum frequency from drive configuration
42 Acceleration values for powerup and braking from operating
43 characteristic curve, see Section 7.3.2
44
45
46 100 Minimum idle time between two positioning cycles
47 100 Minimum traversing time at constant frequency
48 100 Boost duration, absolute
49 100 Boost duration, relative
50 100 Phase current travel
51 100 Phase current idle

1) vmax can be calculated according to the following formula:

vmax = fmax  60 s/min  spulse
(MD11 + MD122–32) [MSR/U]
vmax [MSR/min] = MD41 [Hz]  60 s/min 
MD13 [increments/rev]

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7.3 Testing and optimization

Testing and optimization information

Once you have installed, wired and parameterized the unit, you can test and opti-
mize your FM 353 positioning module. Testing and optimization can be performed
with the aid of the testing and start-up interface with or without the user program.
You can also test individual modes and their traversing programs, and view and
debug them during execution.
There are two ways of operating the FM:
S CPU is in “STOP”, test without user program
S CPU is in “RUN”, test with user program
You can monitor the interface between the FM and the user program. You can
also control the program from the start-up user interface when control signal
[TFB] (TEST_EN) is enabled in the user program.
This interface is installed with “Parameterize FM 353”. Once the FM 353 has been
parameterized, you can call it up by selecting the menu Test > Startup or by se-
lecting from the overview display.
When you call up this menu the following screen appears:

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1 – Error field
2 – Status field (e.g. actual values, checkback signals)
3 – Field for mode-specific inputs
4 – Field for input of values/settings/commands and start/stop for movement
The abbreviations for the checkback signals are described in Table 9-2.

Fig. 7-2 Startup interface (e.g. for “Reference-point approach” mode)

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Note
S Select a mode
S Turn simulation on (if you want an operating case)
S Servo enable
S Drive enable
S Override 1 – 100%
You can operate the “R+” and “R-” buttons in the “jogging” mode as follows:
1. Select “R+” or “R-” with the mouse
2. Press the space bar
You can operate “Start” and “Stop” with the mouse, or with the space bar if you
have already selected the button.
The digital outputs are not set in the “Stop” status of the CPU.
When you call up the following button, you will get dialog windows:
S set actual value
S set actual value on-the-fly
S set reference point
S zero offset

Warning
! If you move the axis directly (without simulation), for safety’s sake make sure you
can switch off the hardware if a hazard arises.

Note
If you use the start-up user interface to operate the FM 353 when the CPU is in
“STOP”, and then switch the CPU to “RUN” and then immediately switch to the
start-up interface in your user program by means of the [TFB] (TEST_EN) signals
(e.g. if example application 3 is included in the user program), please note the fol-
lowing:
You must select the mode again from the start-up interface, or close the
start-up interface and call it up again.

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You can also call up the following screens:

The following display appears when you select Test > Alarms:

Fig. 7-3 Troubleshooting

The following display appears when you select Test > Service data:

Fig. 7-4 Service data

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The following display appears when you select Test > Trace:

Fig. 7-5 Trace

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Checklist
When starting up the machine axis, it is important to perform the following steps in
the indicated sequence. Steps 1 to 5 are always necessary; the rest are optional,
depending on your own application.

Table 7-4 Checklist - startup of machine axis

Step Check What to do? Page OK

1 Activation of machine data See Section 7.3.1 7-13
2 Evaluation of operating characteristic curves of See Section 7.3.2 7-14
the stepper motor
3 Basic startup of stepper motor control See Section 7.3.3 7-18
4 Optimization of dynamic response See Section 7.3.4 7-21
5 Readjustment of reference point coordinates See Section 7.3.5 7-24
6 Activation of stepper motor diagnostics See Section 7.3.6 7-25
7 Activation of software limit switches and back- See Section 7.3.7 7-26
lash compensation

Note
In order for an axis to start, the start enable checkback signal must have been set.
If there is no start enable, this may be because:
S “Drive enable” is not set
S “Stop” is set
S “Operation in progress” is active

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7.3.1 Activating the machine data

Overview
The checkback signal PARA notifies you that a DB-MD has been retained. This
machine data is automatically activated at power-up. The module’s positioning
functions are ready to operate.
If no DB-MD is present as yet on the FM 353 when the control is switched on, the
module can only communicate by way of the MPI interface. The control signals are
not processed by the FM 353. Once an error-free DB-MD has been transferred,
the machine data is automatically activated, PARA is set and the control signals
are processed.
If the FM 353 is working with activated machine data, you can transfer a new data
block or individual parameters in modified form to the module and, if the entire
DB-MD is error-free, put the new or modified data into effect by means of the ”Acti-
vate machine data” function provided that an operating mode is active (parameter-
izing tool ”Start-up display”).
The following approaches are possible:
S If only E data has been modified in the machine data record since the last ac-
tivation, the equipment is activated with module status “Operation in progress”
= 0, without interrupting the servo cycle. “SYN” is retained.
S If K data has also been modified in the machine data record since the last ac-
tivation, activation takes place with module status “Operation in progress” = 0
by way of a cold restart of the servo, just as occurs for a power-up of the mod-
ule. The instantaneous actual position is still displayed, but encoder pulses from
incremental encoders might go unrecorded. “SYN” is reset.
S If the machine data record contains erroneous data at activation time, the func-
tion is rejected, with the “Machine data cannot be activated” error message (see
Table 11-5, Class 2, No. 21).

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7.3.2 Evaluating the characteristics of the stepper motor

Overview
Basically, the stepper motor is a highly dynamic drive motor which is capable of
following setpoint assignments more or less free of following error. It is also capa-
ble of handling the transition between idle time and movement (and back) by way
of the start/stop frequency at an extremely high rate of acceleration. This presup-
poses however, that the available motor torque at any given movement status,
matches as a minimum, the torque necessary for executing the movement. In the
following discussion, it is assumed that you are familiar with the necessary torque
values for your particular application from the having conducted configuration of
the drive. If necessary, refer to the formula or tabular material (e.g. Positec/Berger
Lahr: [title translated: “Formulas + Computations for optimal stepper motor adjust-
ment” [TN: available in English? If so, what is exact English title?] provided by the
stepper drive manufacturers.
You can obtain optimal configuration of the speed profile for traversing movement
when the speed-timing diagram, as shown in Figure 9-7, is well-defined.
You can determine the parameters for the speed profile, as shown in the following
parameterization example, from the operating characteristic curves of the stepper
motor you have in use. When doing this, please be sure to always allow a torque
reserve of approx. 20%.

Procedure
Determining the available or necessary torque:
MMotor = MLoad + MAccelerations
Determining the present moments of inertia:
JLoad = Jexternal_rotational + Jexternal_translational
Jtotal = JMotor + JLoad
Assumed values from the parameterization example:
MMotor = 5 Nm
MLoad = 0,6 Nm (assumption: constant at all rpms)
JMotor = 4 kgcm2
JLoad = 3 kgcm2
MD13 = 500 increments per revolution
fmax = 10 kHz
Further definitions, e.g.:
acceleration values = deceleration values

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Determining the machine data:

M Torque increase from boost

[Nm]

M0
5

Maximum permissible
Torque drop from PWM
operating moment
3.4
( )
3 M1
Mb1 Start/Stop
SS (J = 0)
1.8
M2

Mb2
0.6
MLoad
0
n [1/min]

10 100 f1 f0 1 000 feg 10 000 f [Hz]

fmax
J

[kgcm2]

e.g. 500 increments/revolution

3
JLoad

0
12 120 1 200 n [1/min]

Fig. 7-6 Operating characteristic curve of the stepper motor

When you evaluate this example characteristic in accordance with the algorithm in
Figure 7-7, you determine the following machine data:
MD39 = 100 Hz Start/stop frequency
MD40 = 3 000 Hz Frequency value feg
MD42 = 218 000 Hz/s Acceleration 1 (f  feg)
MD43 = 109 000 Hz/s Acceleration 2 (f > feg)
MD44 = 0 Deceleration 1 = acceleration 1
MD45 = 0 Deceleration 1 = acceleration 2

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MD39: Start/stop frequency fss

1. Enter JLoad into J diagram (e.g. 3 kgcm2) 4. Enter MLoad in M diagram (e.g. 0.6 Nm)
2. Determine f0 (e.g. 150 Hz) from intersection 5. Determine f1 (e.g. 130 Hz) from intersection
with J curve with SS curve
3. Shift base point of SS curve to f0 6. Enter MD39 = fss = 0.8f1 (e.g. 104 Hz)

MD41: Maximum frequency fmax

1. Enter maximum frequency fmax (e.g. 10,000 Hz) into the M diagram at maximum axis speed
2. Enter MD41 = fmax

Read available motor torque M2 at fmax (e.g. 1.8 Nm)

No yes (e.g. 1.8 << 5)

Compare torque M2 with the idle time torque M0 of
the stepper motor: M2<< M0? Parameterize the speed
Parameterize the speed profile by way of bent
profile by way of simple ramp
ramp

Enter MD40: Frequency value for acceleration switchover feg

MD40 = MD41 1. Enter M1 = 2  M2 - MLoad into M diagram (e.g. 3 Nm)
MD43 = 0 2. Read feg (e.g. 3,000 Hz) from frequency scale
MD45 = 0 3. Enter MD40 = feg

No Yes
Equate acceleration element for all Should values for acceleration and delay be
f – fmax: Mb1 = Mb2 identical within the range f > feg ?

MD45: Delay 2 av2

E.g. technological concerns may make a certain delay desirable, or friction torque
factors may provide a moment which deviates from the acceleration case. MD45 must Enter
be either be calculated along the lines of the formula used to calculate MD43, or some MD45 = 0
technologically desirable value must to be verified.

MD43: Acceleration 2 ab2

1. Determine acceleration moment Mb2 (e.g. 1.2 Nm)
2. Calculate delay: 10,000  Mb2 [Nm]  MD13
(e.g. 136 418 Hz/s) Jtotal = JMotor + JLoad
a [Hz/s] =
Jtotal [kgcm2]  2 π Jtotal = 7 kg cm2

3. 20% certainty: ab2 = 0.8a (e.g. 109,134 Hz/s)

4. Enter rounded off value per MD 43 (e.g. 109,000 Hz/s)

Acceleration element Mb1 determined (e.g. 2.4 Nm)

Yes No
Should values for acceleration and delay be
identical within the range f < feg?

MD44: Delay 1 av1

Enter E.g. technological concerns may make a certain delay desirable, or friction torque
MD44 = 0 factors may provide a moment which deviates from the acceleration case. MD44 must
be either be calculated along the lines of the formula used to calculate MD42, or some
technologically desirable value must to be verified.

MD42: Acceleration 1 ab1 10,000  Mb1 [Nm]  MD13

1. Calculate delay: a [Hz/s] = (e.g. 272 837 Hz/s)
Jtotal [kgcm2] 2 π
2. 20% certainty: ab1 = 0.8a (e.g. 218,269 Hz/s)
3. Enter rounded off value per MD 42 (e.g. 218,000 Hz/s)
END

Fig. 7-7 Evaluation of operating characteristic curves

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Notes
Notes regarding special boundary conditions:
S It is evident from the above example that the acceleration moment within the
lower speed range is approximately twice the value of the same value at maxi-
mum speed. This results in optimally-timed positioning cycles. Of course, the
acceleration switchover is freely selectable in accordance within certain techno-
logical criteria. In this case the result is the value of the available motor torque
M1 or Mb1 according to the characteristic.
S In case your stepper drive features the “Current control through boost” function,
you can count on the elevated curve for determining the acceleration moment.
Any advantage from increased acceleration capability is realized from the mo-
ment curve only within the lower rpm range of the motor
(e.g. Mb1 = 3.4 Nm – 0.6 Nm = 2.8 Nm, M b2 unchanged).
The following adjustments should be made:
– electrical connection
– MD37 (activation of the function)
– MD48/49 (for monitoring of boost duration, see Section 7.3.6)
S In case your stepper drive features the “Current control through PWM” function,
you can reduce the power loss converted in the motor, thereby reducing motor
heating. This is possible because the acceleration moment is not needed. It is
accomplished by reducing the motor current for idle and for constant travel
phases proportional to the load moment. An advantage of reduced heating dur-
ing constant travel becomes evident from the moment curve, particularly within
the lower rpm range of the motor.
The following adjustments should be made:
– electrical connection
– MD37 (activation of the function)
– MD50 = (MLoad (fmax ) : M Motor (fmax ))100% (e.g. 60%)
– MD51 = (MLoad (f = 0): M Motor (f = 0)) 100% (e.g. 12%)

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7.3.3 Basic startup of stepper motor control

Overview
Use the following flow charts to verify the drive actuation and that the machine
data determined so far are correct. Since the FM 353 positions the stepper motor
axis without using encoders (i.e., from control engineering standpoint, pure, direct
control; see Fig. 7-10), special attention must be placed on evaluating the travers-
ing movement. An initial test should be conducted to verify that the stepper motor
will traverse as a matter of course in response to actuation by the FM 353. A se-
cond test should be conducted to verify positioning accuracy. (Always activate MD
changes using “Activate MD”!)

Note
Always activate MD changes using “Activate machine data”!

Caution
! Prior to triggering any traversing movements, check to make sure there is clear-
ance for axis movement in the desired direction of travel!

Basic startup
Use the following flow chart to verify the drive actuation.
Starting the axis
Start the axis with the “space bar” after preselecting the direction via R+ or R–.
The “Windows properties” allow for successive execution of the command (re-
peated starting/stopping of the axis) when the “space bar” is depressed in quick
succession.

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Parameterize
Load MD-DB to FM 353
(K data according to axis configuration)
(enter E data according to Table 7-2 or Section 7.3.2)

Select BA = jogging
Speed level 1
OVER = 100%

Set
Activate machine data

Set
Speed level 1 = vss
Speed level 2 = vmax

Set
Servo enable = ON

Start axis
Plus or minus direction
(execute several times)
Travel test using Start/Stop frequency
(make sure travel area is clear!)
No
Axis movement completed?

Yes
No No
Direction correct? Stepper drive active?
(Motor torque present?)
Yes Yes
Check drive
Check MD: Check MD: Check MD:
MD37.9 (inverted) MD 39, MD 37.17, MD 37.0 (RFG)
MD 37.19 MD 37.16 to MD 37.19

Select
BA = jogging
Speed level 1

Start axis
Plus or minus direction Travel at
(execute several times) fmax
(make sure travel area is clear!)

No
Axis movement completed?
(including correct braking?)

Check MD:
MD 42 to MD 45
Yes MD 37.16 to MD 37.19

END Restart test sequence

Fig. 7-8 Basic startup of stepper motor control

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Positioning
Use the following flow chart to check axis travel to a target position.

Select BA = relative incremental

Increment = 254
254 = Setpoint value for increment
OVER = 10%

Set
Speed level 1 = 0.5Vmax
Speed level 2 = 0.5Vmax

Set
Set reference point with value 0

Check check-back signal “SYN”

Set
Servo enable = ON

Depending on traversing speed of test move-

ment, select any travel distance increment which
Set is great enough to ensure that the set speed is
Setpoint for increment reached within the speed profile of the test move-
ment. (Preliminary computation or evaluation of
the frequency display in the service data).

Start axis
Plus or minus direction
(make sure travel area is clear!)
External measurement device options
include:
Check position actual value using ex- S Laser measurement device
ternal measurement device S Linear scale with position indicator
S Dial gauge
S Measurement scale featured on axis
No
Direction OK?

Yes
No
Amount OK?

Yes
No
Additional testing desired?
Yes

Select
OVER = 1--200 %

Repeat basic startup, see

END Figure 7-8

Fig. 7-9 Positioning verification

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7.3.4 Optimization of dynamic response

Overview
The motor axis driven by the FM 353 is driven by pure, direct control. It features
the following structure:

Motor and
FM 353 Drive Phase current control Machine
PULSE Iph
Set Direction Current-sourcing Current
position pattern counter regulator M
Stepper mo-
tor control
Target
speed PWM/
BOOST

Iph – phase current setpoints of the n stator windings

Fig. 7-10 Structure of the stepper motor axis

The dynamic response of the axis is determined by the design characteristics of

the machinery, such as friction, backlash, torsion, and the like. Being an open-loop
control module, the FM 353 must be subordinated to these factors as they bear on
parameterization. Following completion of basic startup as described in Section
7.3.3, optimization of parameterization should now be carried out geared to these
factors as well as to the technology.
Different requirements are imposed on the axis dynamic response for different
technological applications. Criteria for evaluating the quality of the positioning pro-
cedure may include the following:
Assessment criteria for the quality of the positioning process can include:
S Constant acceleration curve (soft travel behavior)
S Good uniformity of the traversing movement
(mechanical vibrations, stepper motor resonance!)
S Short positioning time
In most applications, several of these criteria will be important, so that most of the
time parameter selection is possible only with some compromise involved.

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Optimization of stepper motor control

The following table shows you how to make parameter quality selection for any
given axis dynamic response desired. The time values MD46 and MD47 are added
to the previously documented machine data from basic startup. These times are
essentially needed on a stepper drive-specific basis. They amount to a few ms.
However, should the axis machinery have a tendency to vibrate, they can be used
e.g. in the case of seamless transition between acceleration and delay (e.g. when
traversing short distances), in order to prevent the resultant doubling of accelera-
tion jump, or to permit the vibration which is induced at this discontinuous location,
to die out by adding a constant travel time.

Table 7-5 Effect of dynamic-defining MDs

MD39 MD41 MD42...45 MD46 MD47

Soft travel behavior small – small great great
Suppression of resonance great – great great great
Short positioning time great great great small small

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Triggering test movements

You can use the following startup actions to optimize the stepper motor control to
your requirements. This should include checking all speed ranges, and if applicable
give the greatest weight in evaluating results to the speed that is most significant
for your technology. Use the following procedure to trigger test movements on the
axis to be optimized:

Select
BA = jogging
Speed level 2
OVER = various values

Set
Speed level 1 = 0.1Vmax
Speed level 2 = 0.5Vmax

Set
Servo enable = ON

Start axis
Plus or minus direction
(make sure travel area is clear!)

Uniformity of movement
Evaluation of axis behavior Tendency to vibration
Positioning time
Additional testing desired?
Yes
No
END

Fig. 7-11 Test movements for optimizing the stepper motor control system

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7.3.5 Realigning the reference point coordinates

Axis
To ensure distinct reproducibility of reference recordings, it is necessary for the
synchronizing zero pulse (SYNI) formed by an external zero pulse or by the “cur-
rent-sourcing pattern zero” signal (see Section 9.7.2) to be a distinct distance away
from the reference-point switch (RPS). At low reducing velocities, we recommend
a distance of between 10% and 90% of the distance of one stepper motor revolu-
tion, or the distance of one current-sourcing pattern cycle. For high reducing veloci-
ties, we recommend 30% to 60%. Check this value in the servicing data report
(switch alignment value), and if you find nonconformity to the required value range,
make a corresponding adjustment in the relative position allocation between the
zero pulse encoder or the stepper motor, and the reference-point switch.
Example: Positive search direction

SYNI

RPS
Zero pulse

MD11, 12

Switch readjustment displayed: 40%MD11, 12

(suitable for high reducing speeds)

Set the referencing velocity to the highest value compatible with your require-
ments. It is important for it to be possible to brake to the reducing speed along the
entire length of the reference-point switch (RPS). If this is not the case, an addi-
tional repositioning to the RPS occurs before the search phase begins. Compare
the cycle of the executed traversing movements with Section 9.2.3 and optimize
the referencing speed (MD28).
Then readjust the reference-point coordinates-proper by entering the necessary
reference-point shift in the machine data. After the machine data is activated, the
new reference-point shift takes effect with the next reference point approach.

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7.3.6 Activating stepper motor diagnostics

Overview
Once optimization of stepper motor control is completed, activate the stepper mo-
tor diagnostics as needed.

Boost
The boost signal is monitored in terms of its active time. This is in order to protect
the drive motor against overheating.
Refer to the stepper motor drive documentation for information regarding maximum
absolute and relative boost duration. Enter this information into machine data
MD48 and MD49, provided for that purpose.
When boost function is parameterized, the FM 353 triggers the errors “Boost dura-
tion absolute” or “Boost duration relative” in the event that time for the active
phase(s) of the Boost signal is exceeded.
Once parameterization is completed, check the diagnostics function for efficacy
using a suitable test program with which particularly large proportions of accelera-
tion and braking phases occur during execution.

Rotation monitoring
Activation is accomplished by way of the “Rotation monitoring” single-setting func-
tion (refer to Section 9.7.3 for functional description of rotation monitoring).
If the rotation monitoring function is programmed, the FM 353 will trigger the “Rota-
tion monitoring” error in the event that the stepper motor is unable to follow the
movement specified.
Check the efficacy of the diagnostics function. This is accomplished by electrically
separating the cyclic zero pulse encoder or the power section of the stepper motor
and executing a test movement in any operating mode.

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7.3.7 Activating the software limit switches and backlash compensa-

tion

Software limit switches

Move the axis carefully to the end positions defined for normal machining. Enter
these position actual values into the machine data MD21/MD22 as software limit
switches, and activate them.

Note
If you change the reference point coordinates, you must redefine the positioning
values of the software limit switches.

If you do not need the software limit switches, the input limits –10 9 and 109 [MSR]
must be entered in MD21/MD22 (for default values, see Table 5-4).

Backlash compensation
Due to play in the mechanical transmission elements, position deviation of the ma-
chine component to be positioned (e.g. lathe slide) may occur when a stepper mo-
tor is used for positioning. Normally, some travel distance “turns up missing” follow-
ing a direction reversal. This backlash can be ascertained as an average at
different axis positions. This can then be entered in the machine data set.
You can use the following flow chart to determine backlash and activate backlash
compensation.
Also please refer to the information on “backlash compensation” presented in Sec-
tion 9.7!

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Parameterize
MD 31 – Set direction reference of
backlash

Set
Activate machine data

Set
Velocity level 1 = 0.1  vmax
Velocity level 2 = 0.5  vmax

Set
Servo enable = ON

Select
BA = relative incremental
Increment = 3 DB increments, value 3 = e.g. 100 MSR
OVER = 10%

Start axis
Direction per MD31

Set meas. device to zero on ma-

chine component to be positioned Measurement device, e.g. dial gauge
or laser measurement device
Start axis
Direction opposite MD31

Read the distance traveled on

measurement device

Please note:
Determine backlash value:
Backlash = increment - measured dist. Repeat of test produces negative backlash val-
ues in cases of overcompensation

Additional testing desired for check-

Yes ing or for averaging?
No
Additional testing at another location
desired for averaging? No
Yes
Select
BA = jogging Averaging of all subtotals
Speed level 2
OVER = 100%
Parameterize
MD30 Add backlash figure to the
Start axis value previously in effect, using the
Travel to new measurement position correct preceding sign

Yes Check for efficacy of correc-

tion desired?
Set
Activate machine data No
END

Fig. 7-12 Determining backlash and activating backlash compensation

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7.3.8 Optimized motion profile

Positioning operations for short travels programmed in conjunction with the para-
meterization of relatively high accelerations (MD42...MD45) are performed within a
few FM cycles.
In previous software versions, positioning times can occur which do not comply
with the times calculated, but are considerably higher (depending on the path
length programmed). When reducing the distance to be traversed, e.g. by a path
corresponding to one step of the stepper motor, the following effect can occur: The
positioning time is not reduced or remains unchanged, but the positioning can last
longer by several FM cycles.
The possibility of mispositioning should not be excluded in conjunction with the
causes for this behavior, even though such error messages had not been reported
by now.
In the present software version, the functioning principle of the FM 353 can be
switched to the “Optimized motion profile” mode.
MD56 Optimized motion profile (see Table 5-4)

Note
MD56 is zero (”0”) by default. Thus, the default motion profile is activated; the
functioning principle is the same as in the previous software versions.
No value monitoring with output of error messages is provided when entering
MD56. In case of an illegal or invalid value assignment, the default motion com-
mand is activated.

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Human-machine Interface 8
Chapter Overview

Section Section Header Page

8.1 Standard HMI (human-machine interface) for the OP 07 and the 8-3
OP 17
8.2 Analysis of the user DB by the user program for operator control 8-17
8.3 Data block for status messages (DB-SS) 8-20

Summary
In this chapter you’ll find an overview of the operator-control and monitoring capa-
bilities offered by the FM 353.
For operator control and monitoring of the FM 353, a control panel can be con-
nected to the CPU via the MPI interface (see Figure 1-2).
The FM can service no more than three nodes simultaneously.
The module uses the SIMATIC interface (backplane bus) to communicate with the
control panel.

e.g. text-based opera-

tor panel (OP)
Operator panel (OP)
Configured operator-
control screens

Operator control and monitor-

ing via the MPI interface

CPU 314 FM 353

in data blocks:
Backplane bus S Machine data
User data S Increments
(user data block, S Tool offset data
technology func- S Traversing pro-
tions grams
see Section 6)
S Status messages

Fig. 8-1 Operator control and monitoring for the FM 353

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Human-machine Interface

Operator control and monitoring of FM data/signals on the CPU 314

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

What can I control on the FM 353?

Using the keyboard of the operator panel, you can change the data/signals in the
data blocks:
S Machine data DB No. 1210
S Increment sizes DB No. 1230
S Tool offset data DB No. 1220
S Traversing programs DB No. 1001...1199

What can I monitor on the FM 353?

The following data and signals can be displayed on the operator panel display:
S Machine data DB No. 1210
S Increment sizes DB No. 1230
S Tool offset data DB No. 1220
S Traversing programs DB No. 1001...1199
S Status messages DB No. 1000 (DB-SS) etc.
– Operating data, such as actual values
– Active NC blocks
– Linear measurements
– Actual value block change
– Checkback signals and error conditions
– Servicing data
The configuration package includes a pre-configured interface for the OP 07 and
OP 17 operator panels.

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8.1 Standard HMI (human-machine interface) for the OP 07

and the OP 17

Overview
This Section describes a preconfigured user interface, which you will need to
change according to your project (e. g. FM addresses, DB no.), for the following
COROS equipment (operator panels):
S OP 07
S OP 17
The tool to be used for this is the “ProTool/Lite” configuring tool. You can use it to
modify, add or delete graphics.
The user interface is addressed to user DB No.1 in the CPU (target system 1, ad-
dress = 2) and to the DB-SS of the FM 353 (target system 2, address = 3).
The text field “FM user name” represented in the images can be renamed to a text
of your choice.
You can print out the entire configuration using “ProTool/Lite”. This provides you
with detailed graphics descriptions.
You will find the preconfigured user interfaces op07_353.pdb and op17_353.pdb
in the following directory:
[STEP7 directory]\EXAMPLES\FM353\zEn13_02_FM353_OP_EX

DB-SS
This data block for status messages (DB 1000) contains the control/checkback
signals, as well as the system data of the FM 353. The data of the DB-SS can only
be read.

Monitoring
The data for monitoring can be read and displayed directly in the DB-SS as well as
in the corresponding parameterized DBs of the FM 353.
The advantage of reading directly from the FM is that the values/signals do not
have to be read via the user program first.

Operator control
For operator control, the data and signals (including memory bits and values) are
written to the user DB of the user program.

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User program
User data bock AW-DB is the interface for the OP.
When control signals, single functions and single commands are set in the user
data block via the OP, they are immediately transferred to the FM by the
POS_CTRL block.
The signals written in “Operator Control and Monitoring” (requests to transfer the
data with Write as per Table 8-3) must be evaluated accordingly by the user pro-
gram (taking into account any user-specific interlocks) before setting the Write or
Read requests.

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8.1.1 Standard user interface for the OP 07

User interface of the OP 07

The following illustration provides you with an overview of the OP 07 user interface
(menu tree).

User name act. mode PIC7

F 500000.000 OR 120
x +1000000.000 mm
PIC71 K1 Act.value IBN Diag. User K6 PIC73

PIC72
PIC71 PIC74
Switch readjustment
User name act. mode in ref.: Free for user
x +1000000.000 mm Fre. output val.
x-Diff 1000000.000 SK for OP mode
<< MD Eins User
Teach BA-E Auto Eist Offl Onl Trans
Diff. betw. act. and set-
point pos.:
Pulse outp. counter: PIC73
PIC712 PIC714 MD Eins User > >
Operator/travel errors
Error class
PIC713 Error no.
<< Acknowledg Res >>
PIC722 PIC723 PIC724 Data error
MD no. status set Error class
Servo enable x Error no.
Value Free for user
Restart Axis << Message >>
Read Set active >> Operating error
status set Error class
SW limit switch off x Error no.
park. axis x << Res >>
PIC711 < < Diagnostic interrupts
Teach In Byte 0: Byte 2:
Pr. no. Block Byte 3: Byte 8:
X +1000000.000 mm << Res >>
PIC712
set

F level 1
F level 2
Selection stage
Control SMR MDI

PIC7122 PIC7123 PIC7124

Fre. level1 Hz SM free G
Fre. level2 Hz SM no. X
Selection stage Free SM F
set

PIC713 PIC714

% 120 N 100 UP-Z 10 Set Actual value

X +1000000.000 mm Value
X-Diff 1000000.000 X +1000000.000 mm
Selection NPVer IWset IWrü

PIC7132 PIC7141
% N Zero point offset
Direction Value
Total 1000000.000
SAvor SArü set ZPO set

Fig. 8-2 Menu tree of the OP 07 user interface

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Figure 8-2 describes the functions of the global function keys for the user interface
of the OP 07.

ESC key You can use this key to call up the previous screen of the higher
levels.

>> << Soft keys You can use these keys to call up the next inset screen within the
same screen (same screen number).

K1 Function key You can use this key to skip from any point in the menu tree to the
actual value display main screen (PIC71).

K6 Function key You can use this key to skip from any point in the menu tree to the
diagnostic main screen (PIC73).

Note
The screens of the user interface (see Figure 8-2 and description of each screen,
Table 8-1) contain display fields and input/output fields. These fields contain values
of configured variables.
S The display fields are addressed to the DB-SS (“Control 2,” DB1000) and are
read directly from the FM 353.
S The input/output fields are addressed to the user DB No.: 1 (Control 1-CPU).
– Transmission of these values occurs from the OP 07 to the CPU into the
user DB. These values (if needed) must be transmitted to the FM 353 by
the user program.
– If certain values or control signals can be written only under the right condi-
tions (e.g. if axis is necessary on HOLD or selection of a certain operating
mode), then the user program must ensure, by analyzing the response sig-
nals, that these conditions are met.

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Table 8-1 below describes the individual screens of the user interface.

Table 8-1 Description of the screens in the user interface

Screen name Screen Description

No.
Main screen PIC7 This screen is displayed to you after the OP 07 is enabled. The
FM353 values are display values. You can use the soft keys to call up
the following main screens:
S Softkey “Istw” → PIC71
S Softkey “IBN” → PIC72
S Softkey “Diag” → PIC73
S Softkey “Anw” → PIC74
Main screen, actual PIC71 The values on the screen are display values. You can use the soft
value display keys to call up the following screens:
S Softkey “Teach” → PIC711
S Softkey “BA-E” → PIC712
S Softkey “Auto” → PIC713
S Softkey “Eist” → PIC714
Main screen, startup PIC72 The FM 353 values (service data) are display values. You can use the
soft keys to call up the following screens:
S Softkey “MD” → PIC722
S Softkey “Eins” → PIC723
S Softkey “Anw” → PIC724
Main screen, diag- PIC73 This screen shows you the diagnostic interrupts and error messages
nostics for the FM 353 in four lower-level screens. The following are dis-
played:
S Error class and error number for operator control and guidance
errors
S The bit numbers of the single diagnostic interrupt bytes
You can use the soft keys “Quit” and “Res” to acknowledge the errors.
See Chapter 11.3 for diagnostic interrupts and error messages
User screens PIC74 You can use these screens to configure your own contents.
and
PIC724
Setting data for oper- PIC712 This screen contains input/output fields for the velocity levels or a text
ating mode field for selecting velocity level (selections 1 or 2 possible). You can
use the soft keys to call up the following screens:
S Softkey “Steu” → PIC7122
S Softkey “SMR” → PIC7123
S Softkey “MDI”→ PIC7124
Setting data for the PIC713 This screen contains only display fields. You can use the “Anwahl”
“Automatic” operating soft key to call up screen PIC 7132.
mode
Set Actual value PIC714 The actual value display is a display field. The value for set an actual
value appears in an input/output field. You can use the soft key
“NPVer” to call up the screen PIC7141. You can use the soft keys
“Iwrü” and “IWset” to execute functions.

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Table 8-1 Description of the screens in the user interface, continued

Screen name Screen Description

No.
Machine data PIC722 This screen contains input/output fields. Input of values is password
protected. The values entered are in the user DB. You can use the
soft keys to set bits in the user DB:
S Soft key “lesen” – You can use this soft key to insert a memory bit
(in the user DB) which causes the user program to read the item of
machine data whose number has been entered.
S Soft key “set” – You can use this soft key to set a bit which causes
the user program transfer to the FM 353 the number entered un-
der value for the item of machine data under MD No.
S Soft key “aktiv” – You can use this soft key (activate MD) to set a
memory bit (“activate MD” bit in the user DB) which is transmitted
from the user program to the FM 353.
Each bit in the user DB which you set in this screen must be reset by
the user program following execution of the function.
Settings for startup PIC723 The fields of this screen which are identified by an “x” are display
fields. If the bit is set, you will see an x. If the bit is not set, the field will
be blank. The other fields are text entry fields in which you can toggle
between “x” and “ ”.
You can use the soft keys “<<” and “>>” to change between the inset
screens of this screen.
Set data for the PIC7122 This illustration contains input/output fields for the frequency levels or
“Control” operating a text field for frequency level selection (Selection 1 or 2 possible).
mode
Set data for the “in- PIC7123 This screen contains input/output fields. The fields “SM-No.” and “free
cremental mode, rel- SM” are addressed to the same address in the user DB. You can use
ative” operating the SM No. to enter the values 1 to 100. The “free SM” field is a text
mode field and you can toggle back and forth between “x” and “”. If you se-
lect “x”, this corresponds to the value 254 for free SM. The value of
the free SM is found in the user DB.
Set data for the “MDI” PIC7124 This screen contains input/output fields. The MDI data record must be
operating mode preassigned by the user program with the corresponding bits (G, X, F
bits are set) and possibly, with values for G, X and F. The entry field
behind G is a text field. There, you can select between the values 90
and 91.
Using the soft key “set” you can set a memory bit (in the user DB),
which must be analyzed by the user program. With modification of this
bit, the MDI block must be transmitted from the user DB to the
FM 353, and the bit must be reset.

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Table 8-1 Description of the screens in the user interface, continued

Screen name Screen Description

No.
Program selection PIC132 This screen contains input/output fields. This field for direction is a text
field. It is upward and downward selectable. You can use the soft keys
to set bits in the user DB:
S Soft key “SAvor” - You can also use this soft key (automatic block
search forward) or “SArü” (automatic block search backward) to
set the corresponding bits in the user DB.
S Soft key “set” - you can use this soft key to set a memory bit (in the
user DB).
Teach In PIC711 This screen contains input/output fields. You can use the soft key “set”
to set a bit in the user DB.
The actual value display (X) is a display field.
Zero offset PIC7141 This screen features an input/output field.
The sum of the offsets (Sum Ver) is a display field.
You can use the soft key “NPVset” to execute a function.

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8.1.2 Standard user interface for the OP 17

User interface of the OP 17

The following illustration provides you with an overview of the OP 17 user interface
(menu tree).

Main screen
PIC7 K1 K2 K3 K4 K5 K6 Global function keys

F1 F2 F3 F4 F5 F6 F7 F8
User-specific screens

Diagnostics,
PIC77
error message

SK1 SK2
Group signal Alarms
PIC Z_MESS_EVENT PIC772

Startup PIC76

SK1 SK3
Startup settings Machine data
PIC761 PIC763

Mode selection PIC75

MDI block input PIC74

SK1
MDI block on the fly PIC741

PIC73
Auto. main screen
SK7
Part progr.1) Overview
SK1 SK2 SK4 SK5 (P-sel)
Current block Foll. block Program selection Teach In
PIC736
PIC731 PIC732 PIC734 PIC735
SK8
Part progr.1) Edit
PIC72 (P-ed)
Parameters
PIC737

Free PIC71 1) Part progr. = traversing program for FM 353

Free – later FM selection, presently for user screens

Fig. 8-3 Menu tree of the OP 17 user interface

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Figure 8-3 describes the functions of the global function keys for the user interface
of the OP 17.

ESC key You can use this key to call up the previous screen of the higher
level (the table of contents in the main screen).

K1 Function key You can use this key to jump from any point on the menu tree to the
main screen (PIC7).

K2 Function key You can use this key to jump from any point on the menu tree to the
diagnostics error message screen (PIC77).

K3 Function key You can use this key to jump from any point on the menu tree to the
operating mode selection screen (PIC75).

K4 Function key OP 17 “Offline” operating mode selection

K5 Function key OP 17 “Online” (normal) operating mode selection

K6 Function key OP 17 “Transfer” operating mode selection
F1 ... F8 F1 to F8 (local soft keys)

Note
The screens of the user interface (see Figure 8-3 and description of the individual
screens) contain display fields and input/output fields. These fields contain values
of configured variables.
S The display fields are addressed to the DB-SS (“Control 2,” DB1000) and are
read directly from the FM 353.
S The input/output fields are addressed to user DB No.: 1 (control 1-CPU).
– Transmission of these values occurs from the OP 17 to the CPU into the
user DB. These values (if needed) must be transmitted to the FM 353 by
the user program.
– If certain values or control signals can be written only under the right condi-
tions (e.g. if axis is necessary on HOLD or selection of a certain operating
mode), then the user program must ensure, by analyzing the response sig-
nals, that these conditions are met.
The pending errors are displayed in the errors line. More detailed error information
is provided on the screens “Diagnostics, Troubleshooting” and “Interrupt mes-
sages.”

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Human-machine Interface

Description of the individual screens

The following illustration shows the screen layout of the preconfigured interface.

FM 353

Fig. 8-4 Screen layout of the preconfigured interface

The illustrations shown below (Fig. 8-5 to Fig. 8-19) provide you with the screen
content of the configured screens.

FM 353

Para Autom MDI BA_An IBN Diag Anwen

Fig. 8-5 Main screen, PIC7

This screen is displayed to you after the OP 17 is enabled. The FM353 values are
display values. The soft keys (F1 - F8) are used to request the continuation
screens. The first and last soft keys (User) are kept free for the user to insert his/
her own screens (e.g. including additional FMs).

FM 353

Frq.–Stufe1 Hz
Frq.–Stufe2 Hz
Tipp Steu Refpk SMR MDI AutoE Autom
Fig. 8-6 Operating mode selection, PIC75

This screen permits you to enter the operating mode, velocity levels or control lev-
els or the incremental value.

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FM 353

set
Fig. 8-7 Teach In PIC735

This illustration displays the actual value for you. You can enter the values for
Teach In.

FM 353

MDIfl set
Fig. 8-8 MDI block entry PIC74

The fields identified by an X are text fields and can be toggled back and forth be-
tween “X” and “ ”. You can enter the values of the MDI block.

FM 353

MDI set
Fig. 8-9 MDI block on the fly PIC741

Handling of the MDI block on the fly corresponds to that of the MDI block.

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FM 353

aktSA folSA %Wahl Teach P-sel P-ed

Fig. 8-10 Automatic main screen PIC73

This screen contains only display fields.

In the screens PIC736 ”Part program overview (P-sel)” and PIC737 ”Part program
Edit (P-ed)”, you can select programs and read/write traversing program blocks.

FM 353

SAvor SArü set

Fig. 8-11 Program selection PIC734

This screen features input/output fields. It is upward and downward selectable.

FM 353

folgSA
Fig. 8-12 Current block PIC731

This screen contains only display fields.

FM 353

aktSA
Fig. 8-13 Continuation block PIC732

This screen contains only display fields.

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FM 353

IWset IWrü ZPOset

Fig. 8-14 Parameters, PIC72

The sum of the offsets and the actual value display are display fields.

FM 353
Frequency output value Hz
Switch readjustment in ref.:
Diff. betw. act. and setpoint pos.:
Pulse output counter
Einst MD
Fig. 8-15 Startup PIC76

The FM 353 values (service data) are display values.

FM 353

Fig. 8-16 Startup settings PIC761

The fields in which an “X” is entered are display fields.

FM 353

lesen aktiv set

Fig. 8-17 Machine data PIC763

Value input is password protected.

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Human-machine Interface

FM 353

Meld Alarm Res Quit

Fig. 8-18 Diagnostic, error message PIC77

This screen displays the FM 353 errors. The fields are display fields.

FM 353

Meld Fehler Res

Fig. 8-19 Interrupt messages PIC772

This screen displays the FM 353 errors. The fields are display fields.

The screen “PICZ_MESS_EVENT” contains factory-supplied default “ProTool/Lite”

screens for the OP17.

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8.2 Analysis of the user DB by the user program for operator

control

Overview
The Table below tells you which Write requests must be submitted by the user pro-
gram and which signals are written directly to the FM.

Table 8-2 Analysis of the user DB by the user program

OP 07/17 User program see PIC...

Triggered by User
User DB, ... Function DB, OP 07 OP 17
DBX...
DBX...
499.5 FM 353 Diagnostic interrupt – 7
499.6 Data error
499.7 Operator/traversing error
499.1 = 1 SK “IWset” Transfer data for “Set actual value” from the 38.7 714 72
user DB to the FM
499.2 = 1 SK “NPVset” Transfer data for “Set zero point offset” from the 39.1 7141
user DB to the FM
37.6 = 1 SK “IWrü” Transfer “Rescind actual value setting” to the 714
FM
37.2 = 1 SK “SAvor” Transfer “Block advance” to the FM 7132 734
37.3 = 1 SK “SArü” Transfer “Block return” to the FM
498.3 = 1 SK “set” Transfer data for “Program selection” from the 39.5
user DB to the FM
498.4 = 1 SK “set” Transfer data for “Teach-in” from the user DB to 39.7 711 735
the FM
498.2 = 1 SK “set” Transfer data for “MDI block entry” from the 38.3 7124 74
user DB to the FM
499.0 = 1 SK “set” Transfer data for “MDI block on-the-fly” from the 38.4 – 741
user DB to the FM
34.0 TF “servo en- To change “Servo enable”, transfer yes/no to 723 761
able” the FM
34.6 TF “parking To change “Parking axis”, transfer yes/no to the
axis” FM

SK = Softkey, TF = Text field

1) The relevant code for the operating mode (BA) is to be entered in DBB16 of the user DB.
2) Code = 254 in DBB17 of the user DB
3) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 1
4) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 4, DBD200 of DBD502
5) User DB, DBBX499.5 must be acknowledged with DBX515.7; DBX399.6 and DBX399.7 must be acknowl-
edged with DBX515.6

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Human-machine Interface

Table 8-2 Analysis of the user DB by the user program

OP 07/17 User program see PIC...

Triggered by User
User DB, ... Function DB, OP 07 OP 17
DBX...
DBX...
514.6 = 1 SK “Tipp” Transfer data for “Jog” mode and “Jog” mode 1) 38.0 – 75
to the FM
514.0 = 1 SK “Steu” Transfer data for “Control” mode and “Control” 38.1
mode 1) to the FM
514.1 = 1 SK “Refpk” Transfer “Reference point approach” mode 1) to
the FM
514.2 = 1 SK “SMR” Transfer data for “Incremental relative” mode 38.22)
and “Incremental relative” mode 1) to the FM
514.3 = 1 SK “MDI” Transfer “MDI” mode 1) to the FM
514.4 = 1 SK “AutoE” Transfer “Automatic single block” mode 1) to the
FM
514.5 = 1 SK “Autom” Transfer “Automatic” mode 1) to the FM
35.6 TF “software To change “Disable software limit switch”, trans- 723 761
limit switch fer yes/no to the FM
off”
37.5= 1 TF “Restart Transfer “Restart axis” to the FM 723
axis”
37.1= 1 TF “Delete Transfer “Delete distance-to-go” to the FM –
distance to
go”
498.1 = 1 SK “read” Read MD No. from the user DB, retrieve its 3) 722 763
value from the FM, and enter that value in the 39.3
user DB 43.3
37.0 = 1 SK “active” Transfer “Activate MD” to the FM
498.0 = 1 SK “set” Transfer MD No. and its value from the user DB 4)
to the FM 39.3
515.7 = 1 SK “Res” Error acknowledgement “Res” in the FM 353 5) 73 77
(diagnostic interrupt)
515.6 = 1 SK “Ack” Error acknowledgement “Ack” in the FM 353
(data error, operator/traversing error)

SK = Softkey, TF = Text field

1) The relevant code for the operating mode (BA) is to be entered in DBB16 of the user DB.
2) Code = 254 in DBB17 of the user DB
3) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 1
4) User DB, DBB196 = 1, DBB197 from DBW500+1, DBB198 = 1, DBB199 = 4, DBD200 of DBD502
5) User DB, DBBX499.5 must be acknowledged with DBX515.7; DBX399.6 and DBX399.7 must be acknowl-
edged with DBX515.6

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Variables in the user DB

The Table below contains the signals/data that must be entered in the user DB via
the OP (FM interface).
For a detailed description of the structure of the user DB, see Section 6.6.

Table 8-3 Variables for the user DB

Variable
User DB Description User DB
type
DBB17 BYTE Velocity or frequency level 1, 2 [BP] –
BOOL Single functions Internal
DBX34.0 Servo enable Write re-
DBX34.6 Parking axis quest
DBX35.6 Disable software limit monitoring
BOOL Single commands Internal
DBX37.0 Activate machine data Write re-
DBX37.1 Delete distance-to-go quest
DBX37.2 Automatic block advance
DBX37.3 Automatic block return
DBX37.5 Restart
DBX37.6 Undo set actual value
DBD140 DINT Zero offset DBX39.1
DBD144 DINT Set actual value DBX38.7
DBD156 DWORD Setpoint for incremental dimension DBX38.2
DBD160 DWORD Speed level 1 DBX38.0
DBD164 DWORD Speed level 2
DBD168 DWORD Frequency level 1 DBX38.1
DBD172 DWORD Frequency level 2
DBB176 STRUCT MD block DBX38.3
to
DBB195
DBB222 STRUCT MD block on-the-fly DBX38.4
to
DBB241
DBB242 BYTE Program selection – program number DBX39.5
DBB243 BYTE Program selection – block number
DBB244 BYTE Program selection – direction
DBB250 BYTE Teach In – program number DBX39.7
DBB251 BYTE Teach In – block number
DBW500 WORD MD No. –
DBD502 DINT/ MD value –
relev. MD
DBB506 BYTE SM No. –

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8.3 Data block for status messages (DB-SS)

Overview
The following table lists the parameters/data that can be read out during operation.

Table 8-4 Parameters/data of the DB-SS (DB No. 1000)

Byte Variable type Value Significance of the variables Comment

0...35 DB header
36...59 Internal header information
Offset1) Variable type Value Significance of the variables Comment
24 8 x BOOL Control signals Byte 0
25 8 x BOOL Control signals Byte 1
26 2 x BYTE Control signals Byte 2, 3
28 2 x BYTE Control signals Byte 4, 5
30 8 x BOOL Checkback signals Byte 0
31 8 x BOOL Checkback signals Byte 1
32 BYTE Checkback signals Byte 2
33 8 x BOOL Checkback signals Byte 3
34 BYTE Checkback signals Byte 4
35 8 x BOOL Checkback signals Byte 5
36 12 x BYTE Reserved
48 DWORD Velocity level 1
52 DWORD Velocity level 2
56 DWORD Frequency level 1
60 DWORD Frequency level 2
64 DWORD Setpoint for incremental value
68 STRUCT MDI block MDI block
struc.
88 16 x BOOL Single functions
90 16 x BOOL Single commands
92 DINT Zero offset
96 DINT Set actual value
100 DINT Set actual value on the fly
104 16 x BOOL Digital inputs/outputs
106 STRUCT MDI block MDI block on the fly
struc.

1) A variable in the S7 protocol is addressed by the DB No. and, depending on data format, by the DBB, DBW
and DBD No. (offset in DB), as well.

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Table 8-4 Parameters/data of the DB-SS (DB No. 1000), continued

Offset1) Variable type Value Significance of the variables Comment

126 BYTE Program selection Program number
127 BYTE Program selection Block number
128 2 x BYTE Program selection Direction, free
130 4 x BYTE Request application data Application data 1-4
134 BYTE Teach In Prog. no.
135 BYTE Teach In Block number
136 DINT Reference coordinate
140 4 x DINT Free
156 DINT Actual position Basic operating data
160 DINT Actual velocity Basic operating data
164 DINT Distance-to-go Basic operating data
168 DINT Target position Basic operating data
172 DINT Sum of current tool offset Basic operating data
176 DINT Rotational speed, rotary axis Basic operating data
180 DINT Free
184 DINT Free
188 STRUCT NC block Active NC block
struc.
208 STRUCT NC block Next NC block
struc.
228 DINT Code application 1 Application data
232 DINT Code application 2 Application data
236 DINT Code application 3 Application data
240 DINT Code application 4 Application data
244 DINT Actual position on leading edge Length measurement/
inprocess meas.
248 DINT Actual position on trailing edge Length measurement
252 DINT Length measurement value Length measurement
256 DINT Actual value at ext. block change
260 DINT Frequency output value Servicing data
264 DINT Pulse output counter (0...216-1) Servicing data
268 DINT Free
272 DINT Free
276 DINT Difference between setpoint and actual Servicing data
positions
280 DINT Free

1) A variable in the S7 protocol is addressed by the DB No. and, depending on data format, by the DBB, DBW
and DBD No. (offset in DB), as well.

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Human-machine Interface

Table 8-4 Parameters/data of the DB-SS (DB No. 1000), continued

Offset1) Variable type Value Significance of the variables Comment

284 DINT Switch readjustment in “Reference point Servicing data
approach” mode
288 DINT Free Servicing data
292 8 x DINT Free
324 BYTE Override Add. operating data
325 BYTE NC part program no.
326 BYTE NC block no. Add. operating data
327 BYTE No. of callup subroutine loops Add. operating data
328 BYTE G90/91 Active Add. operating data
329 BYTE G60/64 Active Add. operating data
330 BYTE G43/44 Active Add. operating data
331 BYTE Active D No. Add. operating data
332 8 x BOOL Status messages 1 Additional operating
332.1 BOOL S Velocity limitation to limit value from data
MD
333 8 x BOOL Status messages 2
333.0 BOOL S Start/Stop frequency
333.1 BOOL S Frequency value f. accel. switching
S Acceleration/delay value is limited
333.3 BOOL
334 2 x BYTE Free
336 4 x 8 x BOOL Diagnostics, system-specific
340 4 x BYTE Diagnostics, channel-specific Identifier
344 2 x 8 x BOOL Diagnostics, channel-specific Channel error
346 4 x 8 x BOOL Free
350 2 x BYTE Error number DS 162 Operator/travel error
352 BYTE Free
353 BYTE Free
354 2 x BYTE Error number DS 163 Data error
356 BYTE Free
357 BYTE Free
358 2 x BYTE Error number DS 164 Operational error
360 BYTE Free
361 BYTE Free
362 32 x BOOL Process interrupt

1) A variable in the S7 protocol is addressed by the DB No. and, depending on data format, by the DBB, DBW
and DBD No. (offset in DB), as well.

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 Human-machine Interface

The control and checkback signals in Table 8-4 can be the following signals:

Bit 7 6 5 4 3 2 1 0
Byte
Control signals:
24 BFQ/ TFB
FSQ
25 AF SA EFG QMF R+ R– STP ST
26 BA
27 BP
28 OVERR
29
Checkback signals:
30 PARA DF BF/FS TFGS
31 PBR T-L WFG BL SFG
32 BAR
33 PEH FIWS SRFG FR+ FR– ME SYN
34 MNR
35 AMF

The following table describes the control and checkback signals in German and En-
glish.

Table 8-5 Control and checkback signals

German English Description

Control signals
TFB TEST_EN Switch P bus interface to “Start-up”
BFQ/FSQ OT_ERR_A Acknowledge operator and traversing errors
ST START Start
STP STOP Stop
R– DIR_M Negative direction
R+ DIR_P Positive direction
QMF ACK_MF Acknowledgement for M function
EFG READ_EN Read Enable
SA SKIP_BLK Skip block
AF DRV_EN Drive Enable

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Human-machine Interface

Table 8-5 Control and checkback signals, continued

German English Description

BA MODE_IN Mode Code
Jog 01
Control 02
Reference point approach 03
Incremental relative 04
MDI 06
Automatic 08
Automatic single block 09
BP MODE_TYPE Operating parameters Code
Speed levels 1 and 2
Frequency levels 1 and 2
Incremental dimension selection 1...100, 254
OVERR OVERRIDE Override
Checkback signals
TFGS TST_STAT Switching of P bus interface completed
BF/FS OT_ERR Operator/traversing errors
DF DATA_ERR Data error
PARA PARA Channel initialized
SFG ST_ENBLD Start Enable
BL WORKING Execution in progress
WFG WAIT_EI Waiting for external Enable
T-L DT_RUN Dwell time running
PBR PR_BACK Reverse program scanning
BAR MODE_OUT Active mode
SYN SYNC Channel synchronized
ME MSR_DONE Measurement completed
FR– GO_M Negative travel
FR+ GO_P Positive travel
SRFG ST_SERVO Servo enable status
FIWS FVAL_DONE On-the-fly setting of actual value completed
PEH POS_RCD Position reached. Stop.
MNR NUM_MF M function number
AMF STR_MF M function modification

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Description of Functions 9
Chapter Overview

Section Section Header Page

9.1 Control and checkback signals 9-2
9.2 Operating modes 9-14
9.3 System data 9-37
9.4 System of measurement 9-59
9.5 Axis type 9-60
9.6 Determining the position 9-63
9.7 Stepper motor control system 9-66
9.8 Digital inputs/outputs (Read request in the user DB, DBX43.4) 9-77
9.9 Software limit switches 9-80
9.10 Process interrupts 9-81

Overview
This chapter describes the functions of the FM 353.
You can activate these functions via the user program by calling the appropriate
standard function blocks or technology functions.

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Description of Functions

9.1 Control and checkback signals

Overview
The POS_CTRL block transfers the control signals from the user DB to the module
and transfers the checkback signals from the module to the user DB.

Bit 7 6 5 4 3 2 1 0
Byte
Control signals:
14 BFQ/ TFB
FSQ
15 AF SA EFG QMF R+ R– STP ST
16 BA
17 BP
18 OVERR
19
Checkback signals:
22 PARA DF BF/FS TFGS
23 PBR T-L WFG BL SFG
24 BAR
25 PEH FIWS SRFG FR+ FR– ME SYN
26 MNR
27 AMF
28
29
ACT_POS 1)
30
31

1) With FM firmware version V3.7.6 in conjunction with the blocks of the “FM353_354” library.

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 Description of Functions

9.1.1 Control signals

Overview
The axis is operated and controlled by means of control signals.
Table 9-1 describes the control signals and their functions.
Table 9-1 Control signals

Symbol
Name Function
English German
TEST_EN TFB Sw./over Interrupts communication with the user program, and switches over
P-bus the P bus interface for operation with the start-up user interface.
interface
OT_ERR_A BFQ/ Ack- ... resets an error message. Before acknowledging the error, correct
FSQ nowl. its cause.
opera-
tor/
travel
error
START ST Start ... starts movement in “Automatic”, “MDI” and “Reference-point ap-
proach” modes.
STOP STP Stop ... interrupts movement or processing of the program
... cancels reference point approach.
DIR_M R– Direc- ... moves axis in negative direction.
tion mi- S In Jogging and Control modes, moves axis in negative direction
nus (level-dependent).
S Starts movement in negative direction in Incremental relative and
Reference-point approach modes.
S Specifies direction of movement for rotary axes in MDI and Auto-
matic modes.
DIR_P R+ Direc- ... moves axis in positive direction.
tion plus S In Jogging and Control modes, moves axis in positive direction
(level-dependent).
S Starts movement in positive direction in Incremental relative and
Reference-point approach modes.
S Specifies direction of movement for rotary axes in MDI and Auto-
matic modes.
ACK_MF QMF Ac- ... only “acknowledge-driven” during M function output (seemachine
knowl- data list in Table 5-4, MD32).
edge M ... acknowledges receipt of M function. Program sequence can be
function continued.
READ_EN EFG Read-in ... prevents read-in (processing) of the next block
enable ... has effect only in Automatic mode.
The read-in enable is required in order to read in the next traversing
block during program execution.
SKIP_BLK SA Skip ... skips identified blocks in the program
block ... has effect only in Automatic mode.

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Description of Functions

Table 9-1 Control signals, continued

Symbol
Name Function
English German
DRV_EN AF Drive ... enables movement.
enable When the signal is reset, a deceleration of the movement takes
place.
If MD 37.15 = 0, program execution or the movement is aborted and
the distance to go deleted.
If MD 37.15 = 1, the following applies (machining resumed after
emergency stop):
S Rapid deceleration of the movement.
S On axis standstill FR+ or FR– = 0; BL = 1
the drive remains activated and Servo Enable active
S If an error occurs in this state (e.g. the user starts the movement
without a Start Enable, etc.), the relevant error response is initi-
ated, e.g. the distance to go is deleted; BL = 0 (a new path must
be specified).
MODE_IN BA Operat- Operating mode (see Section 9.2) Code
ing Jogging 01
mode Open-loop control 02
Reference point approach 03
Incremental relative 04
MDI 06
Automatic 08
Automatic single block 09
MODE_ BP Mode ... selects speed levels in Jogging mode
TYPE parame- ... selects frequency levels in Control mode
ter
... selects increment in Incremental relative mode (value 1 – 100 or
254).
OVERRIDE OVERR Override ... affects response of traversing movement. Range: 0-255%
... override has no effect in Control mode
S Velocity override
Range: 0-255%
Speed adjusted by percentage
Example: Override doubled from 100% to 200%
v

200 %
vact

100 %
vprog

t
– speed v is doubled
–
acceleration and deceleration values are not affected
vprog Override
vact =
100
The positioning time is not cut in half.

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 Description of Functions

Table 9-1 Control signals, continued

Symbol
Name Function
English German
OVERRIDE OVERR Override S Time override
If you parameterize the “time override” function in MD37, there
are two ranges:
– range 100-255%: speed override operates as described
above
– range 0-100%: time override operative
Speed, acceleration and deceleration are changed in such a way
that the time necessary for the traversing movement is directly
correlated with the override value.

Example: Cut override in half, from 100% to 50%

v
100 % v prog

50 % vact
fss

t
– speed v is cut in half
– acceleration and deceleration are quartered
– Cut override in Start/Stop frequency
vprog Override a Override2 t 100
vact = aact = tact =
100 1002 Override
Positioning time is doubled.
Taking the override into account as a time override presupposes
the following additional condition:
If a traversing movement consists of multiple positioning blocks
with block change on-the-fly (the axis does not stop between
blocks), changing the override value affects only the speed.
Acceleration and deceleration are additionally affected only after
the axis comes to a stop (e.g., reversal of direction).
Note:
Time override has effect only in the MDI and Automatic modes.

Note
For further functions, settings and commands concerning open-loop control, see
Section 9.3.2 and Section 9.3.3.

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Description of Functions

9.1.2 Checkback signals

Overview
The checkback signals indicate the processing status of the axis and report it to
the user program.
Table 9-2 describes the checkback signals and their functions.

Table 9-2 Checkback signals

Symbol
English Ger- Significance Function
man
TST_STAT TFGS Sw./over P Communication with the user program is not possible, since the
bus interface P bus interface has been switched over for operation with the
complete start-up tool.
OT_ERR BF/FS Operator/ ... signaled to the user if an operator-control error or travel error is
travel errors pending (e.g., unallowed control signal has been set, (R+) and
(R–) set simultaneously) An error message causes the move-
ment to be canceled.
See Section 11
DATA_ERR DF Data error ... is reported to the user when a data error occurs.
see Section 11
PARA PARA Parameterize ... module parameterized. All machine data applicable for control
of an axis are present on the module.
ST_ENBLD SFG Start enable ... signals that the FM 353 is ready for positioning and output.
S “Start enable” is set:
– if no static stop or error is pending and the drive enable is
pending
– if the mode setting and mode checkback match (after
mode change)
– if no axis functions (including M output, dwell time) are
active, or after functions have been completed
– for further processing of a function interrupted with unpro-
grammed stop
– in Automatic mode, after program has been selected (one
program active) and after M0, M2, M30, or at end of block
with Automatic single-block
S “Start enable” is deleted:
– if a function has been started and is active, or
– if a start condition is active (stat.)
– if there is an error and an unprogrammed stop
S Without Enable Start, none of the functions that can be oper-
ated with Travel Plus, Travel Minus and Start can be exe-
cuted.

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 Description of Functions

Table 9-2 Checkback signals, continued

Symbol
English Ger- Significance Function
man
WORKING BL Processing ... indicates that a function has been started with Start or Travel
in progress Plus/Minus, and is active.
S “Processing in progress” is set with:
– “Jogging”, “Control” mode during the movement up to
standstill after cancelation of R+, R–
– Reference-point approach mode, during approach until
reference point is reached
– MDI, Incremental relative mode, during the positioning
process or while functions of the MDI block are being
processed
– Automatic mode, during processing of a traversing pro-
gram until the end of the program.
S “Processing in progress” is deleted:
– by errors and restarts
– by mode changes.
– after axis standstill
WAIT_EI WFG Wait for ex- ... takes effect only if a digital input has been parameterized by
ternal enable means of MD34 (see Section 9.8.1).
Set: if the enable input has not yet been set or has been reset
when a movement has been activated.
DT_RUN T-L Dwell time ... only active in Automatic and MDI mode.
in progress As soon as a traversing block with a dwell time has been pro-
cessed, (T-L) is output during the programmed time period.
PR_BACK PBR Program ... is set after a Start in Automatic mode if a program is being
processing processed in reverse.
in reverse
MODE_OUT BAR Active mode The selected mode is not fed back until it is internally active. For
a mode change, for example, a movement must be stopped be-
fore another mode can become active (does not apply to switch-
ing between Automatic and Automatic single-block modes).
SYNC SYN Synchronism ... module is synchronized (see Section 9.6.1)
Required for axis motion in modes:
S Incremental Relative
S MDI
S Automatic
MSR_DONE ME End mea- ... signals an executed measurement (see Section 9.3.10)
surement

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Description of Functions

Table 9-2 Checkback signals, continued

Symbol
English Ger- Significance Function
man
GO_P FR+ Travel plus ... means the axis is traveling in the direction of increasing actual
values or in the direction of frequency output “+” in Control mode
GO_M FR– Go_minus ... means the axis is traveling in the direction of decreasing ac-
tual values or in the direction of frequency output “–” in Control
mode.
S As soon as an active traversing movement is pending, the
messages (FR+) or (FR–) are output depending on the tra-
versing direction. They can only be pending as alternatives.
S “Travel Plus” or “Travel Minus” is actuated at the start of the
acceleration phase and remains active until the axis comes
to a standstill or the POS_ROD target area has been
reached.
ST_SERVO SRFG Servo enable S Feedback of servo enable status after single function has
status been activated
S See also Section 9.3.2 ”Servo enable”
S See also Section 11.1, error reaction ”Everything OFF”
FVAL_ FIWS Set actual ... set Actual value on-the-fly is executed.
DONE value on-the- The signal is reset when “Set actual value on-the-fly” is activated
fly complete (see Section 9.3.6).
NUM_MF MNR M function M command 0 – 99
number
STR_MF AMF Change M ... is indicated simultaneously with the M function number.
function S If M functions are programmed in a traversing block, their
output is signaled by setting “Change M function.”
S “Change M function” remains pending until:
– the specified time has expired, for time-controlled M func-
tions
– the user has acknowledged, for acknowledgment-con-
trolled M functions.

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 Description of Functions

Table 9-2 Checkback signals, continued

Symbol
English Ger- Significance Function
man
POS_RCD PEH Position S When the preset target position is reached correctly, (PEH) is
reached, actuated, and remains in effect until the next axis movement.
Stop (“PEH”) S (PEH) is actuated only in the following modes and cases:
– Reference-point approach: If the reference point has
been reached in full (including reference-point shift).
– MDI, Incremental relative: If the preset position has been
reached.
– Automatic: If a traversing block has been positioned in full
and the axis remains motionless until the next traversing
movement.
S It is not set if no synchronization is available yet.
ACT_POS ACT_ Actual posi- The firmware version V3.7.6 of the FM 353 positioning module in
POS tion conjunction with the blocks of the “FM353_354” block library pro-
vides direct access to the actual value. This is stored in the
checkback signals during the module cycle (2 ms) and read by
the POS_CTRL block. In addition, as previously, the actual value
is included as a DINT variable in the basic operating data read
request.

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Description of Functions

9.1.3 General handling information

Overview
Before data/settings can be transferred to the FM 353, an operating mode must be
active (e.g. “Jogging” mode = 1 and MODE = 1). That means that communication
with the FM 353 has been initiated and the FM 353 has access to valid machine
data.

Operating modes Relevant Relevant Required data/

(codes) control signals checkback signals settings
Jogging (01) [R+], [R–], [STP], [AF], [BL], [SFG], [FR+], [FR–], Speed levels 1, 2
[OVERR], [BP] = 1 or 2 [SYN], [WFG] (User DB, DBX38.0)
Servo Enable
(User DB, DBX34.0)
Control (02) [R+], [R–], [STP], [AF], [BP] [BL], [SFG], [FR+], [FR–], Frequency levels 1, 2
= 1 or 2 [WFG] (user DB, DBX38.1)
Reference point ap- [R+], [R–], [ST], [STP], [AF], [BL], [SFG], [FR+], [FR–], Servo Enable
proach (03) [OVERR] [WFG], [SYN], [PEH] (User DB, DBX34.0)
Incremental relative [R+], [R–], [STP], [AF], [BL], [SFG], [FR+], [FR–], Speed levels 1, 2
(04) [OVERR], [BP] = 1...100 for [WFG], [SYN], [PEH] (user DB, DBX38.0)
increment table or 254 Servo Enable
(user DB, DBX34.0)
Setpoint for incremen-
tal dimension
(user DB, DBX34.2)
(only if BP = 254; if
BP is = 1 to 100, the
relevant incremental
dimensions must be
parameterized)
MDI (06) [ST], [STP], [AF], [QMF], [BL], [SFG], [FR+], [FR–], MDI block
[OVERR] [WFG], [SYN], [PEH], (user DB, DBX38.3)
[AMF], [MNR], [T-L] Servo Enable
(user DB, DBX34.0)
Automatic (08) [ST], [SA], [EFG], [STP], [BL], [SFG], [FR+], [FR–], Program selection
Automatic single block [AF], [QMF], [OVERR] [WFG], [SYN], [PEH], (user DB, DBX 39.5)
(09) [AMF], [T-L], [PBR], (assuming that the
[MNR] relevant traversing
program was parame-
terized)
Servo Enable
(user DB, DBX34.0)

Error condition:
S Reported via BF/FS – acknowledgement with BFQ/FSQ
S Reported via DF – acknowledgement with next correct data transfer
S Reported via diagnostic interrupt – acknowledgement with “Restart”
(user DB, DBX37.5)

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 Description of Functions

Hints to the user

Here are a few hints for starting a movement and about the response of the
FM 353 to a change of the status of the S7-300 CPU:
It is assumed that the FM 353 has been parameterized correctly.
S First a mode must be set. The servo enable must subsequently be set in order
to prevent the axis from “running away,”.
S Before starting a movement in any mode, the relevant data (e.g. speed levels)
must be transferred and the override must be > 0.
S It is only possible to start the movement when the start enable is set and the
enable input is set (if parameterized).
Enable Start is set if:
– No error occurred
– Mode is active
– No Stop is called
– Drive enable is set
S A static Stop signal prevents all movements or block processing.
S Response of the FM 353 to transition of the S7-300 CPU from RUN to ST OP
state:
– As described for Restart (see Section 9.3.3)
– The digital outputs are switched off
– Interface to the user program is switched off
S Response of the FM 353 to transition of the S7-300 CPU from ST OP to RUN
state:
A cold restart of the module is executed.

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Description of Functions

Module control
The following table lists the control signals used to start a movement.
Prerequisite: Drive enable [AF] = 1, Stop [STP] = 0,
Start enable [SFG] = 1

Mode (BA) Parameters Command /

Activation of movement
Signal state
Jogging (mode = 01) Velocity level R+, R– / R+ or R– with “Level” = 1
BP = 1 = level 1 Level (R+ and R– simultaneously error)
BP = 2 = level 2
Control (mode = 02) Frequency level R+, R– / R+ or R– with “Level” = 1
BP = 1 = level 1 Level (R+ and R– simultaneously error)
BP = 2 = level 2
Reference point ap- – Start, R+, R– / Direction as in MD
proach Edge R+ or R– = 0/1 or Start = 0/1
(mode = 03) (speed as in MD)
Incremental relative BP = 1...100 R+, R– / Edge R+ = 0/1 or R = 0/1
(mode = 04) BP = 254 (speed level 1)
MDI (mode = 06) – Start / Edge Start = 0/1 (R+, R– relevant only for rotary
axis with absolute measure specified for
direction selection)
Automatic – Start / Edge Start = 0/1 (according to program preset-
(mode = 08) ting)
Automatic single – Start / Edge Start = 0/1
block (mode = 09)

Stat. pending start condition

“Processing in progress” remains active after the end of machining and there is no
start enable as long as the start condition is not reset.

Switching edge
(e.g. R+, R–, Start,
according to mode)

Processing in progress
Enable start

Axis movement with

preset path

Preset path executed

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 Description of Functions

The following table lists the control signals used to interrupt/terminate a movement.

Mode (BA) Interrupt move- Continue movement Interrupt/

ment end movement, Stop
Jogging (mode = 01) Stop = 1 or Stop = 0 or R+ or R– with “Level” = 0
Enable input1) = 0 Enable input1) = 1 or mode change
Drive enable = 02)
Control (mode = 02) Stop = 1 or Stop = 0 or R+ or R– with “Level” = 0
Enable input1) = 0 Enable input1) = 1 or mode change
Drive enable = 02)
Reference point ap- – – Stop = 0/1 or ref. received or
proach mode change or enable input1)
(mode = 03) =0
Drive enable = 02)
Incremental relative Stop = 1 or Stop = 0 or Position reached or mode change
(mode = 04) Enable input1) = 0 Enable input1) = 1, Drive enable = 02)
with R+ or R–
MDI (mode = 06) Stop = 1 or Stop = 0 or Position reached or “block” pro-
Enable input1) = 0 Enable input1) = 1, cessed or mode change
with Start = 0/1 Drive enable = 02)
Automatic Stop = 1 or Stop = 0 or Program end or mode change
(mode = 08) Enable input1) = 0 Enable input1) = 1, New program selected after stop
with Start = 0/1 Drive enable = 02)
Automatic single Stop = 1 or Stop = 0 or Program end or mode change
block Enable input1) = 0 Enable input1) = 1, New program selected after stop
(mode = 09) with Start = 0/1 Drive enable = 02)

1) Prerequisite: Digital input defined in MD34; see Section 9.8.1

2) if MD37.15 not defined, see Table 9-1 Control signal [AF]

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Description of Functions

9.2 Operating modes

Overview
The following operating modes are implemented on the FM 353:
S Jogging (ER) Code 01
S Open-loop control (STE) Code 02
S Reference point approach (REF) Code 03
S Incremental relative (SMR) Code 04
S MDI (Manual Data Input) Code 06
S Automatic (A) Code 08
S Automatic single block (AE) Code 09

Selecting the mode

By calling POS_CTRL, the mode (coding) entered by the user program in the user
data block is called to transfer the operating mode (code) to the FM 353.
The axis is controlled by enabling and disabling appropriate control signals.

Checkback signal for mode

When the specification is allowed, the FM 353 feeds back the specified mode to
the user program. If this checkback mode matches the specified one, the mode is
active.

Changing modes
Changing modes triggers an internal stop.
If a mode change is attempted while a traversing movement is in progress, the
modes are not switched until the axis comes to a stop. The mode checkback is
performed after the movement in the old mode is completed.
This does not apply to changes between Automatic and Automatic Single-Block
mode.

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 Description of Functions

9.2.1 Jogging

Overview
In Jogging mode, axis traversing movements are specified by way of the direction
keys (R+ or R–) and by speed.

Velocity
Before the axis can be moved, speeds (velocities) 1 and 2 must first be transferred
to the FM 353 (user DB, DBX38.0).
You can choose between two mutually independent velocities (level 1 and level 2)
with the mode parameter (BP).
The velocity can also be controlled using the override, and can be changed during
the movement.

Name Lower input limit Upper input limit Unit

Speed 10 500 000 000 MSR/min

MSR stands for measurement system raster (see Section 5.3.1)

Handling by the user

The table below gives you an overview of how to handle this mode.

Triggering of Ievel selection Speed

movement, Direc-
tion (R)

R+ or R– BP = 1 Value for speed level 1

“level-controlled” BP = 2 Value for speed level 2

Note
Please see also Section 9.1.3!

Control actions
Preconditions:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S Drive Enable [AF] = 1 (control signal in user DB, DBX15.7)
S Stop [STP] = 0 (control signal in user DB, DBX15.1)
S Servo Enable (RF) = 1 (user DB, DBX34.0)
S Speed levels have been transferred.

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Description of Functions

Table 9-3 Control actions for “Jogging” mode (examples)

Signal name Level Explanation

Control action 1, enable “Jogging” mode
Control signal:
Mode [BA] The user initiates a [BA] command.
Checkback signals:
Active mode [BAR] The module returns [BAR] and [SFG].
Start enable [SFG]

Control action 2, move axis – positive direction

Control signals:
Direction plus [R+] When [SFG] and [AF] are active, [R+] is actuated.
Drive enable [AF]
Checkback signals:
Travel plus [FR+] The axis cancels the [SFG] and outputs messages
Start enable [SFG] [BL] and [FR+]
Processing in progress
[BL]
Control action 3, deactivate axis – positive direction
Control signal:
Direction plus [R+] [R+] is canceled
Checkback signals:
Travel plus [FR+] When the axis has come to a standstill, the [BL] and
Start enable [SFG] [FR+] messages are canceled and [SFG] is activated.
Processing in progress Before the axis comes to a standstill, it is possible to
[BL] define a new direction “through start”.

Control action 4, move axis – negative direction

Control signals:
Direction minus [R–] [R–] is actuated in combination with velocity level 2.
Velocity level [BP]
Checkback signals: The axis travels at velocity level 2, and returns [BL]
Travel minus [FR–] and [FR–]. The [SFG] signal is canceled.
Processing in progress
[BL]
Control action 5, switch over set-up velocity
Control signal:
Velocity level [BP] A switchover from [level 2 to level 1] causes a dynamic
transition between velocity levels 1 and 2.

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 Description of Functions

Table 9-3 Control actions for “Jogging” mode (examples), continued

Signal name Level Explanation

Control action 6, ambiguous direction command (special situation)
Control signals:
Direction plus [R+] [R+] is actuated while the axis is traversing with [R–].
Direction minus [R–]
Checkback signals: The ambiguous direction command causes the axis to
Travel minus [FR–] stop and [BF/FS] to be output. [FR–] and [BL] are re-
set.
Processing in progr. [BL]
Start enable [SFG]
Operator/travel error [BF/
FS] Only when [R+] is canceled and the error is acknowl-
edged [BFQ/FSQ] is [SFG] actuated again and a new
Control signals:
direction command can be initiated.
Direction minus [R+]
Error acknowledgement
[BFQ/FSQ]
Checkback signal:
Start enable [SFG]
Control action 7, cancel drive enable (special situation)
Control signal:
Drive enable [AF] [AF] is deactivated during the traversing movement.
Checkback signals:
Travel minus [FR–] The axis is stopped immediately. [FR–] and [BL] are
Processing in progr. [BL] canceled.

Control action 8, reset during axis motion (special situation)

Single command Restart is defined during the traversing movement.
“Restart “, (DBX37.5)
Checkback signals: The axis is stopped immediately. [FR+] and [BL] are
Travel plus [FR+] cleared.
Processing in progr. [BL]
Control action 9, change direction
Control signal:
Direction plus [R+] Only when [R+] is canceled is [SFG] reactivated.
Checkback signal:
Start enable [SFG]
Control action 10, change mode
Control signal:
Mode [BA] A new [BA] 1 is preselected during the traversing
Checkback signal: movement.
Active mode [BAR] The axis is stopped.
[FR+] and [BL] are deleted.
Travel plus [FR+]
Processing in progress
[BL]

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Description of Functions

9.2.2 Open-loop control

Overview
In the “Control” mode, a frequency with selectable magnitude is specified and then
used to perform a controlled movement. The direction of movement is determined
by way of direction keys (R+ or R–).
The actual value of the axis is updated at the same time.

Note
A closed-loop controller, which may have been activated by a servo enable, is in-
terrupted while the frequency is being output. After the Jogging signals R+ or R–
have died off, servo control is referred to the new actual value, and reinstated after
the axis comes to a stop, if the servo controller enable is still active when the axis
stops.

Frequency values
The frequency is specified in the user DB, DBX38.1.
You can choose between two mutually independent frequency levels (level 1 and
level 2) with the mode parameter (BP).

Name Lower input limit Upper input limit Unit

Frequency 0 200 000 Hz

The values of the frequency levels can be altered during movement.

Handling by the user

The table below gives you an overview of how to handle this mode.

Triggering of Level selection Speed

movement, Direc-
tion (R)

R+ or R– BP = 1 Value for frequency level 1

“level-controlled” BP = 2 Value for frequency level 2

Note
Please see also Section 9.1.3!

Control actions
The control and checkback signals are handled in the same way as in “Jogging”
mode.

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 Description of Functions

9.2.3 Reference point approach

Overview
In Reference-point approach mode, the direction keys (R+ or R–) or Start are used
to position the axis to a point (reference-point coordinate MD16) specified in the
machine data.
The axis is thus synchronized (see Section 9.6.1).
The override is set at 100% for the reducing speed.
An active zero offset or Set actual value is reset.

Machine data
The following table lists the machine data that is of significance for reference-point
approach:

MD Designa- Value/Meaning Comments/

tion Unit
16 Reference- –1,000,000,000 – +1,000,000,000 [MSR]
point coor-
dinate
18 Type of ref- 0 = direction +, current-sourcing pattern zero/
erence- zero pulse external, to right of reference point switch
point ap- 1 = direction +, current-sourcing pattern zero/
proach zero pulse external, to left of reference point switch
2 = direction – , current-sourcing pattern zero/
zero pulse external, to right of reference point switch
3 = direction – , current-sourcing pattern zero/
zero pulse external, to left of reference point switch
4 = direction +, reference point switch center
5 = direction – , reference point switch center
8 = direction + , reference point switch edge
9 = direction – , reference point switch edge
27 Reference- –1,000,000,000 – +1,000,000,000 [MSR]
point shift
28 Referencing 10 – vmax (MD23) [MSR/min]
speed
29 Reducing 10 – x (see Machine data list, Table 5-4) [MSR/min]
speed
34 Inputs 5 = reference point switch for Assigned
reference point approach depending
6 = reversing switch for reference point approach on input

MSR stands for measurement system raster (see Section 5.3.1)

Handling by the user

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

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Description of Functions

With reference point switch (RPS)

It is necessary to connect the reference point switch (RPS) to a digital input and
parameterize it in MD34.

Sequence of motions
Triggering of move-
Type of reference- (reference point offset = 0)
ment, direction for
point approach VA – referencing velocity
synchronization (R)
VR – reducing velocity

1st situation
Current-sourcing VA VR
pattern zero or
zero pulse exter-
nal, to right of – +
RPS
RPS Ref. pt.
2nd situation
VA V
Current-sourcing
pattern zero or R
zero pulse exter-
nal, to left of RPS – +
RPS
3rd situation
R+ (“edge-con- RPS centered VA
trolled”) or Start (no zero pulse V
necessary) R

– +
RPS
4th situation
VA
RPS edge
(no zero pulse V
necessary) R

– +
RPS
1st situation equals R+ 2nd situation
see above mirrored
2nd situation equals R+ 1st situation mir-
see above rored
3rd situation equals R+ 3rd situation
R– (“edge-con- RPS centered mirrored
trolled”) or Start (no zero pulse
necessary)
4th situation equals R+ 4th situation
RPS centered mirrored
(no zero pulse
necessary)

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 Description of Functions

When crossing the RPS, a signal length of Δt w 2@FM cycle must be assured!
The following table shows you the exact location of the synchronization point on
the current-sourcing pattern zero or zero pulse external.

Synchronization point encoder Selec- Applicable for type (0 – 3) of the refer-

tion in MD37 ence point approach per MD18
Current-sourcing pattern zero VR

RPS

Zero pulse external (NIX) VR

RPS NIX

Center

Using a reversing switch

If it is possible for the axis to be “behind” the reference point switch when you start
reference point approach, a reversing switch can be installed at the end of the axis
in the approach direction, in order to reverse the axis in the direction of the refer-
ence point switch.
On axis movements with referencing feed, a signal length of Δt w 2@FM
cycle must be assured for the reversing switch!
Example

Axis position Approach direction from MD18

RPS Reference point Reversing Emergency

switch limit switch

The value for the reference-point shift (MD27) is traveled after the synchronization
point is reached.

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Description of Functions

Without reference-point switch (RPS)

The following table describes how a reference can be recorded without a refer-
ence-point switch.

Recording of syn- Sequence of movements

chronization
R+, R– 1. Instantaneous position is defined as reference point (reference-
or Start point coordinate).
2. Value for reference-point shift is traveled.

Note
Please see also Section 9.1.3!

Control actions
Preconditions:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S Drive Enable [AF] is = 1 (control signal in the user DB, DBX15.7)
S Stop [STP] = 0 (control signal in the user DB, DBX15.1)
S Servo Enable (RF) is = 1 (user DB, DBX34.0)

Table 9-4 Control actions for “Reference point approach” mode (examples)

Signal name Level Explanation

Control action 1, enable “Reference point approach” mode
Control signal:
Mode [BA] The user initiates a [BA] command.
Checkback signals:
Active mode [BAR] The module returns [BAR] and [SFG].
Start enable [SFG]

Control action 2, move axis – positive direction

Control signal:
Direction plus [R+] When [SFG] is active, [R+] or [Start] are actuated, for
Checkback signals: example.
Travel plus [FR+] The axis cancels [SFG], outputs the [BL] and [FR+]
messages and travels here in the positive direction
Start enable [SFG]
(defined in MD).
Processing in progr. [BL]
An existing synchronization is reset.
Synchronization [SYN]

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 Description of Functions

Table 9-4 Control actions for “Reference point approach” mode (examples), continued

Signal name Level Explanation

Control action 3, reference point switch (RPS) reached
RPS When the RPS is reached, the velocity is reduced. The
Encoder zero marker encoder is synchronized when the zero marker is de-
tected. The axis is positioned by traversing through the
Checkback signals:
reference point offset to the reference point (the direc-
Travel plus [FR+] tion is reversed if necessary).
Travel minus [FR–]
Synchronized [SYN]

Control action 4, approach reference point

Checkback signals: When reference point is reached.
Travel minus [FR–] [FR–] is removed.
Position reached, stop [PEH] is set.
[PEH] [BL] is also removed.
Processing in progress [SFG] is set.
[BL]
Start enable [SFG]
Control action 5, ambiguous direction command (special situation)
Control signals:
Direction plus [R+] [R+] is defined although [R–] is active.
Direction minus [R–]
Checkback signals:
Travel minus [FR–] The ambiguous direction command causes the axis to
stop. [FR–] and [BL] are canceled, and an error is out-
Processing in progress
put.
[BL]
Control signals:
The [SFG] does not reappear until [R+] and [R–] have
Direction plus [R+]
been canceled].
Direction minus [R–]
Checkback signal:
Start enable [SFG]
Control action 6, cancel servo enable (special situation)
Single function ”Servo En-
able” (DBX34.0) The “servo enable” is deactivated during the traversing
Checkback signals: movement.
Oper./travel error [BF/FS]
Travel minus [FR–] The axis is stopped immediately and outputs an error.
Processing in progr. [BL] [FR–] and [BL] are canceled.
Control signal:
Acknowledge operator/
travel error [BFQ/FSQ] When the error is acknowledged, the error message is
Checkback signals: canceled and the start enable is activated.
Start enable [SFG]

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Description of Functions

9.2.4 Incremental relative

Overview
In the Incremental Relative mode it is possible to execute single positionings over
relative distances using user-definable increments.
The traversing movement is triggered with the direction keys (R+ and R–).

Defining the position

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

Handling by the user

The table below gives you an overview of how to handle this mode.

Triggering of Increment selection Position,

movement, Direc- Distance to be traveled
tion (R)
BP = 254 in accordance with the setpoint
for incremental dimension (user
R+ or R– DB, DBX38.2)
BP = 1...100 as in SM table (DB-SM)

Position setting

Name Lower input limit Upper input limit Unit

Increment 0 1 000 000 000 MSR

MSR stands for measurement system raster (see Section 5.3.1)

Note the following when interrupting a movement with “Stop”:
S To continue movement in the same direction - the residual distance is pro-
cessed with the appropriate direction key.
S To continue movement with “delete distance to go” (user DB, DBX37.1), the
remaining distance to go is deleted and the incremental dimension is again trav-
eled (provided the incremental dimension was not changed).
S To position in the opposite direction - the residual distance is deleted automati-
cally.

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 Description of Functions

Note
Please see also Section 9.1.3!

Control actions
Prerequisites:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S The Drive Enable [AF] = 1 (control signal in the user DB, DBX15.7)
S Stop [STP] = 0 (control signal in the user DB, DBX15.1)
S The Servo Enable (RF) = 1 (user DB, DBX34.0)
S Speed levels have been transferred.
S The axis is synchronized.

Table 9-5 Control actions for “Incremental relative” mode (examples)

Signal name Level Explanation

Control action 1, enable “Incremental relative” mode
Control signal:
Mode [BA] The user initiates a [BA] command.
Checkback signals:
Active mode [BAR] The module returns [BAR] and [SFG].
Start enable [SFG]

Control action 2, define position

Transfer incremental di- When the incremental dimension has been transferred
mension (DBX38.2) and selected, [R+] can be specified.
Select increment (254)
Control signal:
Direction plus [R+]
Checkback signals:
e.g. Travel plus [FR+]
Start enable [SFG] The axis cancels the [SFG] and outputs messages
Processing in progress [BL] and [FR+]
[BL]

e.g. Travel plus [FR+] When the defined position has been reached, the axis
Processing in progress enables [PEH]; [SFG] and checkback signals [FR+]
[BL] and [BL] are reset.
Position reached, stop
[PEH]

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Description of Functions

Table 9-5 Control actions for “Incremental relative” mode (examples), continued

Signal name Level Explanation

Control action 3, stop during positioning
Control signal: If Stop is enabled during positioning, the axis stops.
Stop [STP] [FR–] is reset, and [SFG] is activated. [PEH] is not out-
put, since positioning is not complete.
Checkback signals:
Before the axis comes to a standstill, it is possible to
Travel minus [FR–]
define a new direction “through start”.
Start enable [SFG]
Control action 4, error during traversing movement
Checkback signals: The axis moves.
Travel plus [FR+] An error is output during the traversing movement.
Processing in progress [FR+] and [BL] are canceled, and [BFQ/FSQ] is en-
[BL] abled.
Control signal:
Acknowledge operator/
travel error [BFQ/FSQ]
Checkback signals: When the error has been acknowledged, the start en-
Start enable [SFG] able is activated. The movement can be restarted with
[R+].
Control signal:
Direction plus [R+]
Checkback signals:
[FR+] and [BL] are activated.
Travel plus [FR+]
[SFG] is canceled.
Processing in progress
[BL]
Control action 5, change mode
Control signal:
Mode [BA] [BA] is deactivated during the traversing movement.
Checkback signals:
Active mode [BAR] The axis is stopped. [FR+] and [BL] are deleted.
Travel plus [FR+]
Processing in progress
[BL]

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 Description of Functions

9.2.5 MDI (Manual Data Input)

Overview
In the MDI mode it is possible to execute single positionings by way of traversing
blocks. These traversing blocks are provided by the user program.
The MDI block and MD block on-the-fly have an identical block structure.

MDI block
The structure of the MDI block is identical to that of the traversing blocks (see
Chapter 10 resp. Section 9.3.12) except that it has neither a program number nor a
block number.
The user program passes the “MDI block” (user DB, DBX38.3) to the FM 353, and
the block can then be executed. The block can be executed repeatedly, since it is
stored internally. The feedrate is override-dependent.
The MDI block remains in effect until it is overwritten with a new MDI block. A new
block can be transmitted while another block is being processed.

Table 9-6 MDI block (see Chapter 10 for command structure)

Name Lower input Upper input Unit

limit limit
Position X / –1,000,000,000 + 1,000,000,000 MSR from MD7
Dwell time t 2 100,000 ms
Speed F 10 500 000 000 MSR from MD7/min
G function group 1 G04 Dwell time
G90 Absolute
dimensions –
G91 Incremental
dimensions
G function group 2 G30 100%
Override
G31 10%
Acceleration/ –
to
Deceleration
G39 90%
M function group 1, 2, 3 M1 – 17
User functions
M19 – 96
M99
M97, 98 Change signal –
programmed as digital
output
M2, M30 Not allowed

MSR stands for measurement system raster (see Section 5.3.1)

For rotary axes with absolute programming, the commands [R+], [R–] are defined
as direction commands. They must be available before positioning starts.

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Description of Functions

MDI block on-the-fly

The MDI block currently being processed is canceled when the user program out-
puts an “MDI block on-the-fly” (user DB, DBX38.4).
Transfer of “MDI block on-the-fly” interrupts the active “MDI block”. The new block
is executed immediately without “Start”.
The MDI block on-the-fly is not saved in the FM 353.
With software version 3.6 of the FM 353 and higher, the error ”On-the-fly MDI
block inoperative” (Class 2/No.22) is signaled when ”MDI block flying” is provided
and [BL] has already been reset or [PEH] = 1.

Block structure
The following table shows the block structure of the MDI block.
X/t Position/dwell time programmed (fills in value 1)
G1 – G2 G function group 1 – 2
M1 – M3 M function group 1 – 3
F Speed programmed (fills in value 2)

Example1) Byte Data format Bit

7 6 5 4 3 2 1 0
0 0 Byte 0
0 1 Byte 0
Bits 0, 1, 4 set 2 8 x bits 0 0 0 X/t 0 0 G2 G1
Bit 0 set 3 8 x bits 0 0 0 0 M3 M2 M1 F
90 4 Byte G function 1
30 5 Byte G function 2
0 6 Byte 0
0 7 Byte 0
100,000 8 DINT 32-Bit-value 1
5,000 12 DINT 32-Bit-value 2
0 16 Byte M function 1
0 17 Byte M function 2
0 18 Byte M function 3
0 19 Byte 0
1) Traversing block with absolute dimensions (G90), an end position of 100,000 DSG as
per MD7, and a speed of 5,000 DSG/min.

Note:
When the assignment bit (byte 2 and byte 3) is not set, the associated values must
be deleted.

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 Description of Functions

Handling by the user

The table below gives you an overview of how to handle this mode.

Triggering of movement Type of movement

as defined by “MDI block”
Start
(user DB, DBX38.3)
“MDI block on-the-fly” transmitted as defined by “MDI block on-the-fly”
to the FM 353 (user DB, DBX38.4)

Note
Please see also Section 9.1.3!

Control actions
Prerequisites:
S The FM 353 has been initialized.
S The mode has been selected and acknowledged.
S Drive Enable [AF] is = 1 (control signal in user DB, DBX15.7)
S Stop [STP] is = 0 (control signal in user DB, DBX15.1)
S Servo Enable (RF) is = 1 (user DB, DBX34.0)
S Axis is synchronized.

Table 9-7 Control actions for “MDI” mode (examples)

Signal name Level Explanation

Control action 1, define position
Transfer MDI block When the MDI block has been transferred, [ST] can be
(DBX38.3) initiated.
Control signal:
Start [ST]
Checkback signals:
e.g. Travel plus [FR+] The axis cancels the [SFG] and outputs messages
Start enable [SFG] [BL] and [FR+]
Processing in progr. [BL]

e.g. Travel plus [FR+] When the defined position has been reached, the axis
enables [PEH]; [SFG] and checkback signals [FR+]
Processing in progr. [BL]
and [BL] are reset.
Position reached, stop
[PEH]

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Description of Functions

Table 9-7 Control actions for “MDI” mode (examples), continued

Signal name Level Explanation

Control action 2, change position during positioning
Transfer MDI block on- If a new “MDI block on-the-fly” is transferred during
the-fly (DB38.4) positioning, the current positioning operation is can-
Checkback signals: celed immediately, and the new positioning operation is
started on-the-fly. In this case, for example, this causes
Travel plus [FR+]
the direction to be changed from [FR+] to [FR–].
Travel minus [FR–]
Control action 3, stop during positioning with new start signal for resumed positioning
Control signal: If Stop is enabled during positioning, the axis stops.
Stop [STP] [FR–] is reset, and [SFG] is activated. [BL] remains
active and [PEH] is not output, since positioning is not
Checkback signals:
complete.
Travel minus [FR–]
Start enable [SFG]
Control signal:
If [ST] is initiated again, [FR–] and [SFG] are reset and
Start [ST] positioning is completed.
Checkback signals: Before the axis comes to a standstill, it is possible to
Travel minus [FR–] define a new direction “through start”.
Start enable [SFG]
Control action 4, stop during positioning with new start signal and new MDI block
Control signal: If Stop is enabled during positioning, the axis stops.
Stop [STP] [FR+] is reset, and [SFG] is activated.
Checkback signals:
Travel plus [FR+] When a new MDI block has been transferred, [ST] is
enabled again. “Delete residual path” is also enabled.
Start enable [SFG]
Transfer MDI block (job
no. 6)
Transfer “delete residual
path” (job no. 11) The axis deletes the residual path of the old positioning
Control signal: operation, and starts executing the new traversing
block.
Start [ST]
Checkback signals:
[FR–] is enabled, and [SFG] is reset.
Travel minus [FR–]
Note:
If no new “MDI block” is transferred, execution of the
current “MDI block” is repeated from the start.
Without “delete residual path”, the interrupted position-
ing operation would be continued (see control action 3)

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 Description of Functions

9.2.6 Automatic

Overview
In the Automatic mode (following-block mode), the FM 353 processes traversing
programs autonomously. These programs are created with “Parameterize FM 353”
(see Chapter 5, 5.3.4) and stored as a data block. The traversing programs contain
information about movement sequences and outputs (see Chapter 10).

Program selection
Programs are selected (user DB, DBX39.5) by way of the user program, by speci-
fying a program number and an optional block number, as well as the direction of
machining. A program can be selected only when other programs have been inter-
rupted or terminated or at the start of a program.
A selected program remains active until it is inactivated by selecting program num-
ber = 0, or overwritten by selecting another program.
If modifications are made to a preselected program, including the subprogram, pre-
selection of the program is canceled. You must then select the program again. A
modification can be made to a program when BL = 0 (start of program/end of pro-
gram) and on Stop.

Triggering Select program Type of movement

of move- (according to programmed blocks)
Block Processing
ment
No. direction
0 forward Start at beginning of program, process by as-
cending block number
0 reverse Start at end of program, process by descending
block number
Start
e.g. 30 forward Block search forward to block No. 30, by as-
cending block number
e.g. 30 reverse Block search in reverse to block No. 30, by de-
scending block number
1. Automatic block search forward to interrup-
Start with tion point
automatic
2. Positioning to interruption point (if a move-
block forward
ment was performed in another mode)
search for-
ward 3. Process the interrupted block and continue
the program
1. Automatic block search in reverse to inter-
Start with ruption point
automatic
2. Positioning to interruption point (if a move-
block reverse
ment was performed in another mode)
search in
reverse 3. Process the interrupted block and continue
the program

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Description of Functions

User DB allocation

Data format Significance

Byte 0 Program number
Byte 1 Block number
Byte 2 Direction of machining: 0 = process forward
1 = process in reverse

Forward processing
The program processes the block numbers in ascending order.
Processing begins at Start, with the first block (specified block number = 0).
If processing is to begin at some other point of the traversing program, specify the
desired block number.
Processing will take place by searching forward to this block, then processing for-
ward until the program end command is recognized.

Backward processing
The program processes the block numbers in descending order.
Processing begins at Start, with the last block (specified block number = 0).
If processing is to begin at some other point of the traversing program, specify the
desired block number. Processing will take place by searching back to this block,
then processing in reverse until the program beginning is recognized.

Note
If reverse processing is to execute the same sequence of movements as the for-
ward movement, the effects of the corresponding commands must be taken into
account in the programming. For example:
S M outputs should be written separately in a block;
note M output (MD32) and G60/G64.
S Note change between G60/G64 and G90/G91.
S Note start and end of tool offsets.
S M18 is not executed.
S M02 and M30 at the end of the program are not processed.

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 Description of Functions

Block advance
The program is prepared up to the end point of the target block; the tool offset, M
commands and dwell times are output; and the traversing movements are sup-
pressed.
When processing traversing programs with a forward block search, there are a
number of special cases:
S The external forward block search (G50) is not executed.
S Continuous travel with functions to set (G88, 89) or delete (G87) an actual
value on-the-fly is not executed.
S The blocks under G50, G87, G88, G89 (in the processing direction) should con-
tain a path in absolute coordinates.

Block return
Similar to block advance

Automatic block advance/return

Automatic block advance/return means that, after the interruption of an active auto-
matic program (by an operating mode change), you can continue execution from
this point of interruption in the appropriate direction of processing.
With forward block search, the interrupted program must previously have been go-
ing in the forward direction.
With block search in reverse, the interrupted program must previously have been
going in the reverse direction.
The command for automatic forward or reverse block search is evaluated in the
FM 353 at Start, and a forward or reverse block search to the interruption point is
executed in the ”Jog” mode at the velocity of stage 1. Positioning to the interruption
point takes place (if positioning has taken place previously in some other mode),
and then the interrupted block is processed, including any required output.

Control actions
Prerequisites:
S The FM 353 has been inititalized.
S The mode has been selected and acknowledged.
S Drive Enable [AF] is = 1 (control signal in user DB, DBX15.7)
S Stop [STP] is = 0 (control signal in user DB, DBX15.1)
S Servo Enable (RF) is = 1 (user DB, DBX34.0)
S Axis is synchronized.

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Description of Functions

Table 9-8 Control actions for “Automatic” mode (examples)

Signal name Level Explanation

Control action 1, Automatic/Automatic single block mode
Control signals:
Mode [BA] The user initiates [BA] and [EFG].
Read-in enable [EFG]
Checkback signals:
Active mode [BAR] The module returns [BAR] and [SFG].
Start enable [SFG]
Control action 2, positioning by program selection
Program selection When [SFG] appears, the program can be activated by
(DBX39.5) [ST] when [EFG] is active.
Control signal:
Start [ST]
Checkback signals:
Travel plus [FR+] or Travel Processing commences, e.g. with a positioning opera-
minus [FR–] tion. [FR+] or [FR–] and [BL] are activated. [SFG] is
reset.
Start enable [SFG]
Processing in progress
[BL]
Control action 3, M function output
Checkback signals: 2nd M command If M function output is acknowledgement-driven, for
Change M function [AMF] example, the user program can continue to process
the [MNR] when [AMF] appears.
M function number [MNR]
Control signal:
M function output is complete. [QMF] acknowledges
Acknowledge M function
the M function, and [AMF] and [MNR] disappear.
[QMF]

Control action 4, M function output and positioning

Control signal: Block with M output (same as control action 3) and
Acknowledge M function position is started.
[QMF] The program is resumed on completion of the M func-
Checkback signals: tion output. [FR+] and [FR–] are activated and [PEH] is
reset.
Position reached, stop
[PEH]
Travel plus [FR+] or Travel
minus [FR–]

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 Description of Functions

Table 9-8 Control actions for “Automatic” mode (examples), continued

Signal name Level Explanation

Control action 5, traversing block with dwell
Checkback signals: During processing of a traversing block with dwell, the
Travel plus [FR+] or Travel dwell time t0 [T-L] and [PEH] are output.
minus [FR–]
Dwell time running [T-L]
Position reached, stop
[PEH] t0

Control action 6, cancelation of the read-in enable during program execution (special situationl)
Control signal: If [EFG] is canceled during program execution, the
Read-in enable [EFG] current block is processed up to the end, and program
execution is then suspended.
Checkback signals:
[FR+] and [FR–] are reset.
Travel plus [FR+] or Travel
minus [FR–] [PEH] is actuated.
Position reached, stop
[PEH]
Control action 7, resume program execution after read-in enable (special situation)
Control signal: The program resumes on [EFG].
Read-in enable [EFG]
Checkback signals:
Travel plus [FR+] or Travel [FR+] and [FR–] are reset.
minus [FR–] [PEH] is reset.
Position reached, stop
[PEH]
Control action 8, stop during positioning with new start signal for resumed positioning
(special situation)
Control signals: Interrupt with Stop
Stop [STP] [FR+] is cleared when the axis comes to a standstill,
Start [ST] and [SFG] is enabled (if Stop is not active). [PEH] re-
mains cleared, since the defined position has not yet
Checkback signals:
been reached.
Position reached, stop
Start clears [SFG] and enables [FR+] again.
[PEH]
[BL] remains enabled.
Travel plus [FR+]
Before the axis comes to a standstill, it is possible to
Start enable [SFG]
define a new direction “through start”.
Processing in progress
[BL]
Control action 9, end of program reached
Checkback signals: The end of the program is indicated by the enabling of
Travel plus [FR+] or [PEH], output of M2, M30 and resetting of [BL].
Travel minus [FR–]
Processing in progr. [BL]
Position reached, stop
[PEH]
M function number [MNR]
Start enable [SFG]

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Description of Functions

Table 9-8 Control actions for “Automatic” mode (examples), continued

Signal name Level Explanation

Control action 10, delete start signal and residual path (special situation)
Control signal: If “delete residual path” is also preselected on [ST], the
Start [ST] block interrupted by Stop is not executed up to the
end, but the next block is started immediately.
Transfer “delete residual
path” (DBX37.1)
Control action 11, positioning for rotary axis (special situation)
Control signals: If the axis is operated as a rotary axis, the FM always
Direction plus [R+] or attempts to select the shortest path during positioning.
direction minus [R–] This direction preference can be suppressed by speci-
fying [R+] or [R–].
Start [ST]
Control action 12, deactivate operating mode during program execution (special situation)
Control signal: If a new operating mode is selected during active pro-
Mode [BA] gram execution, the axis is stopped.
Checkback signals: [FR+] or [FR–] and [BL] are reset.
Old mode [BAR]
Travel plus [FR+] or
Travel minus [FR–]
Processing in progress
[BL]
New mode [BAR]

9.2.7 Automatic single block

Overview
Functions, same as “Automatic” mode
Whereas in “Automatic” mode the FM 353 automatically starts processing the next
block after completing a given block, in “Automatic single-block” mode the axis
waits for a new Start signal after processing each block that contains a traversing
path, dwell time or M command (except for blocks with G50, G88 or G89).
You can change between Automatic single-block and Automatic mode at any time,
without stopping the movement or interrupting the output.

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 Description of Functions

9.3 System data

Overview
This chapter describes settings and functions that apply in multiple modes, and
that are likewise necessary in order to control and operate the FM 353, and data of
the FM available for checkback messages.
S Change parameters/data (Write request in user DB, DBX39.3), page 9-38
S Single functions (user DB, DBB34 and 35), page 9-42
S Single functions (user DB, DBB36 and 37), page 9-44
S Zero offset (Write request in the user DB, DBX39.1), page 9-46
S Set actual value (Write request in the user DB, DBX38.7), page 9-48
S Set actual value on-the-fly (Write request in the user DB, DBX39.0), page 9-49
S Request application data (Write request in the user DB, DBX39.6), page 9-50
S Teach in (Write request in the user DB, DBX39.7), page 9-51
S Set reference point (Write request in the user DB, DBX38.6), page 9-51
S Measured values, page 9-52
S Basic operating data (Read request in the user DB, DBX42.0), page 9-55
S Active NC block (Read request in the user DB, DBX42.1),
next NC block (Read request in the user DB, DBX42.2), page 9-56
S Application data (Read request in the user DB, DBX43.6), page 9-57
S Actual value block change (Read request in the user DB, DBX42.3), page 9-57
S Servicing data (Read request in the user DB, DBX42.4), page 9-57
S Additional operating data (Read request in the user DB, DBX43.5), page 9-58
S Parameters/data (Read request in the user DB, DBX43.3), page 9-58

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Description of Functions

9.3.1 Change parameters/data (Write request in user DB, DBX39.3)

Overview
You can use this function to modify parameters and data in the FM 353 data blocks
or to define parameters and data which can then be read out with a Read request
(user DB, DBX43.3) (see Section 9.3.17).

Structure of Write request

The following table shows which parameters or data can be changed or read by
setting the indicated codes.

Addr. in Data
Symbol Description
user DB format
196 Byte DB type type 1 = MD 2 = SM 3 = TO 4 = NC (travers-
ing program)
197 Byte Number Info 1 MD No. SM No. (1 – TO No. Progr. No.
(5 – 45) 100) (1 – 20) (1 – 199)
198 Byte Number Info 2 Number of Number of 0 = Tool offset Block No.
MDs, con- SMs, con- complete (1 – 255)
secutive secutive 1 = Tool length
(1 – 5) (1 – 5) only
2 = Wear value
abs. only
3 = Wear value
add. only
199 Byte Job 1 = Read job parameters
2 = Write parameters
4 = Write parameters and save retentively1)
200 – de- Data S MD: Data format of machine data see Table 5-4 or
219 pends field S SM: Data format of increments see Table 5-5 (DWORD) or
on type
S WK: Data format of tool offset see Table 5-6 (DINT) or
S NC: Block format see Section 9.3.12 ”Active NC block”

1) not with cyclic operation under 10 s

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 Description of Functions

Example 1
The software limit switches (MD21, MD22) for the axis are to be set to the values
100 mm and 50,000 mm. These values are to remain in effect only until the unit is
shut down.
DB type =1
Data number = 21
Number of data =2
Job type =2
Data array
Byte 200 –203 = 100,000 (MD21, data format DINT)
Byte 204 – 207 = 50,000,000 (MD22, data format DINT)
Bytes from 208 on =0
For activation of the machine data, see Section 9.3.3

Notes
Please note the following when changing the parameter data:
S Machine data
Machine data can always be modified. Once you have modified the machine
data, the machine data have to be reactivated (for single command, see Sec-
tion 9.3.3).
S Increments
Modifications can be made in all operating modes (even in “Incremental rela-
tive” mode) during movement. The modifications of the increments must always
be complete before a new movement is started in “Incremental relative” mode.
If this is not the case, the error message “incremental dimensions do not exist”
is output Cl. 2/No. 13.
S Tool offset data
Modifications can be made in all operating modes and during movement. If
modifications are made during starting or at block transitions when the tool
compensation is active (internal access to offset values), the error message
“tool offset value does not exist” is output Cl.3/No.35.
S Traversing programs
– Programs which are not selected can always be modified.
– If modifications are made to a preselected program, including the subpro-
gram, preselection of the program is canceled. You must then select the pro-
gram again. A modification can be made to a program when BL = 0 (start of
program/end of program) and on Stop.
Delete block: Specify the program no. and the block no. in the “data field”.
The other data/bits must not be assigned.
Insert block: The block number does not exist in the selected program.
The contents should be entered in accordance with
the “block format”.
Modify block: The block with the corresponding block number is
overwritten with the contents in accordance with “block format”.

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Description of Functions

Example 2
Procedure for changing the actual value and the velocity in block 10 of traversing
program 1.
1. Submit job request to read the block. Enter the following values in the user DB:
DB type = 4
Number = 1
Number of data = 10
Job type = 1
Data array = 0
2. Set Write request (user DB, DBX39.3).
3. Following termination of the Write request (one cycle later), read out the block
by setting the Read request (user DB, DBX43.3).
4. Save the data read out from DBB 446 to 469 of the user DB in DBB196 to 219.
5. Enter the actual value in data array DBB208 to 211 in the user DB (data type
DINT).
6. Enter the velocity in DBB212 to 215 of the user DB (data type DINT).
7. Enter a 4 in DBB199 of the user DB (request) (retentive storing of the block).
8. Set Write request (user DB, DBX39.3).

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 Description of Functions

Retentive storage of parameter data

Please note the following when using the function “Write parameters with retentive
storage” (byte 4, job type 4):
Retentive writing must only occur on demand (not cyclically)!
Retentive data are stored on FEPROM (maintenance-free, no battery required).
This memory has a physical limit for the possible number of delete/reprogram
cycles: minimum 105, typically 106. The possible number of delete/reprogram
cycles can be multiplied, from the user’s viewpoint, by providing a larger retentive
memory capacity (much larger than the parameter data memory) and organizing
the memory accordingly.

64 000  106 (typical)

Number of delete/ =
reprogram cycles Block size (in bytes), in which param-
eter data are modified

Block sizes:
DB machine data 284 bytes
DB increments 468 bytes
DB tool offset data 308 bytes
DB traversing programs 108 + (20 x no. of traversing blocks) bytes
Example:
Assuming a service life of 10 years and 24-hour operation, a typical limit = 10 6.

Parameteriza- DB size Number of possible delete/ Number of possible delete/

tion data reprogram cycles reprogram cycles per min-
ute
MD 284 by- 237.04  106 46
tes
Traversing pro- 508 by- 125.49  106 24
grams (20 tes
blocks)

Note
SDB w 1 000 (system data block, created for module replacement), contains pa-
rameter data which were valid at the time of start-up. If data/parameters are modi-
fied during operation and stored retentively on the FM, these data are not con-
tained in SDB w 1 000. These modifications are lost when the module is replaced,
and should be traceable in the user program.

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Description of Functions

9.3.2 Single functions (user DB, DBB34 and 35)

Overview
You can use this function to transfer single settings to the FM 353 and activate the
corresponding functions. These settings are:
S Length measurement
S Inprocess measurement
S Retrigger reference point
S Switch off enable input
S Switch off software end position monitoring
S Servo enable
S Rotation monitoring
S Parking axis
S Simulation

Callup of single settings

The individual functions remain activated until they are reset.

Length measurement, in-process measurement

Since both functions use the same digital input on the FM 353, only one function
can be executed at a time. In double activations, both functions are switched to
inactive. An error message is issued.
For function description, see Section 9.3.10

Retrigger reference point

A precondition for retrigger reference point is that the axis has been synchronized
by reference point approach.
With this setting, the axis resynchronizes upon overrunning the synchronization
point when the direction of travel is the same as the direction of reference point
approach. Regardless of the current speed, the reference point coordinates are
allocated to the current actual position, taking into account any active shift.
When overrunning the reference point switch, a signal length of Δt w 2@FM
cycle must be ensured!
The resulting change in the actual value causes no internal changes in the target.
When a Set Actual Value On-the-Fly is pending, activation of Retrigger Reference
Point is interlocked.

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 Description of Functions

Start Target

– RPS +
Zero pulse Zero pulse for
synchronization

Reference-point switch input of the FM 353

Hint to the user:

You can use Retrigger Reference Point, for example, to compensate for slippage
of the trolley in a high-bay warehouse during operation, without having to resyn-
chronize the axis with the Reference-Point Approach mode. When retriggering in
reference point approach with a zero pulse, be careful that the total slippage be-
tween the reference point switch and the stepper motor does not become so great
that the synchronizing zero pulse migrates to an “adjacent” zero pulse!

Switch off enable input

With the “switch off enable input” function, you can switch off evaluation of the en-
able input (see Section 9.8.1).

Deactivate end position monitoring

You can use this function to deactivate monitoring of the software limit switches
(see Section 9.9).
It can be switched on or off only if “Processing in progress” = 0.

Rotation monitoring
Rotation monitoring is performed in all operating modes. It is automatically inter-
rupted as the synchronization mark is passed in “Reference point approach” mode
and in “Retrigger reference point” function.
The “rotation monitoring” function is described in Section 9.7.3.

Servo enable
You can use this function to:
S Activate the control function “Positioning”
S Switch the signal through to the drive as indicated in MD37

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Description of Functions

Parking axis
You can use this function to achieve the following:
S Pending error messages are deleted and no new ones are triggered (including
diagnostic interrupts)
S Digital outputs are inactive
The setting can be switched on or off if “Processing in progress” = 0.

Simulation
You can use this function to:
S Test function sequences without the drive and measuring system.
A drive, if any connected, must be switched off.
S Evaluate all digital inputs (Caution, if you are going to simulate sequences that
use such signals, they should be connected to the inputs of the FM 353 - e.g.
for Reference-Point Approach).
S The servo simulates a controlled system; “Controller Ready” is not necessary.
S The setting can be switched on or off if “Processing in progress” = 0.
S All internal function sequences behave as in normal operation.
When the function is deactivated, the axis is reset internally (see Restart,
Section 9.3.3).

9.3.3 Single commands (user DB, DBB36 and 37)

Overview
You can use this function to transfer single commands to the FM 353. These com-
mands are:
S Activate machine data
S Delete residual distance
S Automatic block search in reverse
S Automatic block advance
S Restart
S Remove setting actual value

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 Description of Functions

Callup of single commands

The single commands are activated when the corresponding data record is trans-
mitted to the FM 353.
The commands are deleted in the FM 353 after execution.

Activate machine data

Once you have downloaded the machine data (MD) or the MD block (from the pro-
gramming device), the machine data have to be activated. At the first parameter-
ization, the machine data is transferred automatically. In terms of effects, the
FM 353 distinguishes between “K” and “E” machine data.

MD category Effect in FM 353 after activation

“K” “Reset” of the FM
S As long as “Reset” is in progress, it is not possible to transfer
other data
S For internal response, see Restart
“E” FM operating condition is maintained

For machine data, see Section 5.3.1.

This command is possible only when the axis is not in motion (“Processing in prog-
ress” = 0). An operating mode must be selected.
An MD block is likewise activated by switching on or off.

Delete residual path

You can use this command to delete a residual distance that remains after a job
has been canceled.
S Effective only in “Incremental Relative”, “MDI”, and “Automatic” modes after a
stop (SFG = 1 and BL = 1). If processing is not interrupted with a stop, the “De-
lete Distance to Go” request is suspended in the FM 353.
S On starting after a Delete Residual Distance in MDI mode, the active MDI block
is processed from the start.
S On starting after a Delete Residual Distance in Incremental Relative and Auto-
matic modes, processing continues with the following block.

Automatic block advance

This command is described in Section 9.2.6.

Automatic block return

This command is described in Section 9.2.6.

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Description of Functions

Restart
You can use this command to reset the axis.
S Pulse output is interrupted.
S The instantaneous processing status is canceled, and synchronization in incre-
mental encoders is deleted.
S Active compensation values are deleted.
S An acknowledge signal is issued for all errors.

Undo set actual value

You can use this command to reset coordinates modified with the functions “Set
actual value” and “Set actual value on-the-fly” to their original value (if the axis is
not in motion).

9.3.4 Zero offset (Write request in the user DB, DBX39.1)

Function of zero offset

A selection, change or cancellation of a zero offset takes effect with the next posi-
tioning action. With a zero offset, the instantaneous shift of the coordinate system
is canceled, provided that a zero offset was already active and the specified shift
change (ZONPVnew – ZOold) was executed with the first positioning. All coordi-
nates and software limit switches, the reference point and the actual value are up-
dated accordingly.
The reference of the workpiece coordinate system is provided via the zero offset.
The actual values read from the FM 353 refer to the machine coordinate system.
The position specification in a traversing block is referred to the workpiece
coordinate system.

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 Description of Functions

Example of a zero offset:

Machine Working range, Target posi- Working range,

axis Start = 0 tion = 120 End = 200

Actual posi-
tion = 100
Zero offset by –50
(shift of reference
point)

Working range, Target posi- Working range,

Workpiece
Start = 50 tion = 120 End = 250
coordinates

–50
Actual position
= 150
– Zero point

Fig. 9-1 Zero offset

The zero offset can be deleted by:

S Transmitting shift value = 0
S Starting Reference-Point Approach mode
S Set reference point
S Eliminating axis synchronization (e.g. by a restart).

Rotary axis
The following restriction applies to a rotary axis:
Zero offset < Rotary-axis range. The actual value is normalized.
Example:

Range start/Range end 0/360° After shift value = –50°

Actual value 40°
Actual value 350°
Range start/
Range end 0/360°

The start and end of the range are shifted –50°.

Exceptions:
In the Incremental Relative, MDI and Automatic modes, a zero of fset is not pos-
sible until the block has been processed (position reached, programmed stop set),
i.e. it is not possible when the axis is stationary after execution is interrupted with
an abnormal stop.

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Description of Functions

9.3.5 Set actual value (Write request in the user DB, DBX38.7)

Overview
You can use this function to assign a new value to the current actual value.

Function of set actual value

By transmitting the coordinates, the actual value is set to this value when the axis
is not in motion (after selecting “Processing in progress” = 0). The coordinates of
the software limit switches remain unchanged.
Example of setting actual value:

Machine Working range, Target pos. Working range,

axis Start = 0 = 120 End = 200

Actual position
Set actual
= 100
value to 150

Machine Working range, Target posi- Working range,

axis Start = 0 tion = 120 End = 200

Actual position = 150

Fig. 9-2 Set actual value

The coordinates can be reset to their original value by:

S Including synchronization in Reference Point Approach mode
S Set reference point
S Remove setting actual value
S Restart

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 Description of Functions

9.3.6 Set actual value on-the-fly (Write request in the user DB,
DBX39.0)

Overview
You can use this function to assign a new value to the actual value by means of an
external event.

Function of set actual value on-the-fly

By transmitting the coordinates (new actual value), set actual value on-the-fly is
activated.
However, the Set Actual Value function is not triggered via the appropriate digital
input until “Processing in progress” = 1.
Set actual value on-the-fly can be activated again by transmitting Set actual value
on-the-fly again.
The coordinates can be reset to their original value by:
S Including synchronization in Reference Point Approach mode
S Set reference point
S Remove setting actual value
S Restart
Note:
For “set actual value on-the-fly” in “Automatic” mode, see Section 9.2.6

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Description of Functions

9.3.7 Request application data (Write request in the user DB,

DBX39.6)

Overview
A selection of up to four display data items whose values can be read out with
“read application data” (see Section 9.3.13).
Code table:

Code Significance
0 No parameter request
1 Actual position
2 Actual speed
3 Residual distance
4 Set position
5 Total current coordinate shift
6 Rotational speed
16 Frequency output value
17 Pulse output counter (0...216–1) [pulse]
20 Difference between target and actual position [MSR]
22 Switch adjustment in “Reference point approach” mode

The code should be entered in CODE_AP1 – AP4.

These values are always updated in the FM cycle.
The selection is stored on the FM, i.e. you need make the selection only once to
read the corresponding values cyclically afterwards (user DB, DBX43.6).

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 Description of Functions

9.3.8 Teach in (Write request in the user DB, DBX39.7)

Overview
In a program block selected with the program number and block number, the cur-
rent actual position is entered as a position setpoint (Caution: This is an absolute
position).
The Teach-in facility is possible only in the following modes:
S Jogging
S Incremental Relative
S MDI
and while the axis is not in motion.
The program and the appropriate program block must be present on the FM 353
(see Parameterization, Chapter 5).

9.3.9 Set reference point (Write request in the user DB, DBX38.6)

Overview
You can use this function to synchronize the axis without reference point approach.

Function
With Set Reference Point, a position value at the instantaneous position of the
axis, indicated as a parameter, is accepted as an actual value.
”Set reference point” is not possible during machining ([BL] = 1) and will only come
into effect after machining ([BL] = 0).
This function is not effective in “Automatic” mode (mode 08) or in “Automatic
Single block” mode (mode 09).

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Description of Functions

9.3.10 Measured values

Prerequisites
The following prerequisites must be fulfilled to execute the “Measuring” function:
1. Connect a bounce-free switching-signal encoder (sensing probe) to a digital
output of the FM 353.
2. Parameterize “Measurement” for this input in MD34.

Activating the measuring function

The “Individual settings” function (AW-DB, DBB34 and 35) can be used to activate
a “length measurement“ or “in–process measuring”.
Because both functions use the same digital input of the FM 353, only one function
can be performed at a time. If both functions are activated at the same time, both
functions are deactivated, and an error message is output.

Function description
Measurement functions can be executed in all modes. An executed measurement
is signaled by the checkback signal “ME” and optionally also by a process inter-
rupt.
Inprocess measurement
The present actual position is captured at each rising edge of the touch probe. At
the same time, the axis movement is interrupted (servo-controlled braking).

Measurement taking place

Inprocess measurement On

Measurement input

Process interrupt

S1
S1 – execution of measurement

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 Description of Functions

Length measurement
The current actual position value is acquired at both the rising and the subsequent
falling edge of the sensing probe. In addition, the distance (absolute value) actually
traversed between the two edges is determined.
Length measurement On
Measurement input

Process interrupt
Measurement taking place

“Measured length value” ΔS

S1 Δt S2
S1 – start of length measurement
S2 – end of length measurement
ΔS – Measured length value
Δt – minimum signal length at the digital input: w 2@FM cycle

The measured length is determined as follows under certain supplementary

conditions:
S Retrigger the reference point:
The measured length constitutes the difference of the edge positions.
S Set the actual value: The measured length constitutes the distance actually
traversed.
S Zero offset:
The “Zero offset” function does not change the actual position of the axis and is
thus not relevant for evaluations regarding the “Length measurement” function.
S Rotary axis:
The measured length is the path actually traversed over several rotations of the
rotary axis.
S Direction reversal:
The axis can change the traversing direction within the length to be measured
as often as you want.
– Case 1:
The axis passes the falling edge in the traversing direction of the rising
edge: The measured length is the difference of the edge positions.
– Case 2:
The axis passes the falling edge in the opposite direction to the rising edge:
End of the length measurement with output of an error message.

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Description of Functions

Error messages
The following table lists the errors that can occur in the execution of the Measure-
ment function.

Error Significance
Travel er- The “Digital input not parameterized” error is signaled when a measurement function is
rors selected without a digital input having been parameterized (see Troubleshooting, Table
11-7, Class 3 No. 30).
Operator The “Measurement function undefined” error is signaled when both measuring functions
contr. errors are selected (see Troubleshooting, Table 11-6, Class 2 No. 16).
Measuring An erroneous length measurement is indicated by signaling back the length “–1.” Possible
error causes include:
S Resynchronization in the Reference-Point Approach mode while a measurement is in
progress
S Execution of the Set Reference Point function while a measurement is in progress
S Direction of travel at the falling edge is opposite to the direction of travel of the previous
rising edge

Measurement–value checkback signals

The checkback signal ME (see Section 9.1) signals the status of function execu-
tion, as follows:

“ME” Inprocess measurement Length measurement

0 S the Length Measurement and Inpro- S the Length Measurement and Inpro-
cess Measurement functions are inac- cess Measurement functions are inac-
tive tive
S with Start after a prior measurement S with front edge of the touch probe sig-
nal after a prior measurement
1 With the front edge of the touch probe sig- With the back edge of the touch probe sig-
nal (= Inprocess Measurem. is in progr.) nal (= Length Measurement is in progress)

Reading out the measured values

After performing the “Length measurement” and “In–process measurement” func-
tins you can read out the measured values from the FM 353 by calling the
POS_MSRM block using the AW-DB read job, DBB43.7 (see Section 6.3.5).
The measured values read out are valid for the performed measuring process
starting from the “ME” checkback signal until the edge of the subsequent
measuring job arives.

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 Description of Functions

No. Value 0 Value “–1” All other posi- All other nega-
tive values tive values
1 the Length Measurement and Inprocess Actual position for rising touch-probe edge in Inpro-
Measurement functions are inactive cess Measurement and Length Measurement func-
tions
2 S the Length Measurement and Inprocess Actual position for falling touch-probe edge in
Measurement functions are inactive Length Measurement function
S always with the Inprocess Measurement
function
3 S the Length Measurement and Inprocess Erroneous Measured Nonexistent
Measurement functions are inactive length mea- length
S always with the Inprocess Measurement surement
function
S measured length 0 is actually possible,
because touch probe has been con-
nected while axis is stationary

9.3.11 Basic operating data (Read request in the user DB, DBX42.0)

Overview
The following display data are basic operating data:
S Actual position [MSR]
S Actual speed [MSR/min]
S Distance-to-go [MSR]
S Set position [MSR]
S Total of active coordinate shifts for tool offset, zero offset [MSR]
S Rotational speed (rotary axis only) [rpm]

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Description of Functions

9.3.12 Active NC block (Read request in the user DB, DBX42.1), next
NC block (Read request in the user DB, DBX42.2)

Active NC block
... are display data in “Automatic” mode
/ Skipped block
L Subprogram callup (fills in UP number)
P Number of runs for subprogram (fills in UP number of runs)
X/t Position/dwell time programmed (fills in value 1)
G1-G3 G function group 1-3
D Tool offset value number
M1-M3 M function group 1-3
F Speed programmed (fills in value 2)

Data for- Bit

Byte
mat 7 6 5 4 3 2 1 0
0 Byte NC program number
1 Byte NC block number
2 8-bit / L P X/t 0 G3 G2 G1
3 8-bit 0 0 0 D M3 M2 M1 F
4 Byte G function 1
5 Byte G function 2
6 Byte G function 3
7 Byte 0
8 DINT 32-bit value 1 (UP number, bytes)
12 DINT 32-bit value 2 (UP number of runs, bytes)
16 Byte M function 1
17 Byte M function 2
18 Byte M function 2
19 Byte D function

Next NC block
as described in “active NC block”

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 Description of Functions

9.3.13 Application data (Read request in the user DB, DBX43.6)

Overview
The values requested with “Request application data” (user DB, DBX39.6, see
Section 9.3.7) are returned by the FM 353 when the user submits the Read re-
quest (user DB, DBX43.6).

9.3.14 Actual value block change (Read request in the user DB,
DBX42.3)

Overview
The “actual value block change” function is described in Section 10.1, G50, G88,
G89.

9.3.15 Servicing data (Read request in the user DB, DBX42.4)

Overview
The following display data of the measuring circuit are servicing data:
S Frequency output value [Hz]
S Pulse output counter (0...2 16-1) [pulse]
S Difference between target and actual position [MSR]
S Switch alignment in BA “Reference point approach” [MSR]

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Description of Functions

9.3.16 Additional operating data (Read request in the user DB,

DBX43.5)

Overview
The following display data are additional operating data:
S Override [%]
S NC traversing program No.
S NC block No.
S UP callup counter
S G90/91 active, see Section 10.1
S G60/64 active, see Section 10.1
S G43/44 active, see Section 10.1
S D No. active, see Section 10.1
S Status messages 1 (data type: BOOL):
Velocity limitation to maximum frequency MD41
S Status messages 2 (data type: BOOL):
When the acceleration or time override is programmed, a displayed limitation of
the active limitation occurs in the event that the working range of the frequency
generator of the FM 353 is violated (compare the diagram “Working range, fre-
quency generator” Figure 5-5):
– Start/Stop frequency is limited (MD39)
– Frequency value for acceleration switchover limited (MD40)
– Acceleration/delay value is limited (MD42 – MD45)

9.3.17 Parameters/data (Read request in the user DB, DBX43.3)

Overview
This request is used to read the parameters and data modified by means of the
“Change parameters/data” function (Write request in the user DB, DBX39.3, see
Section 9.3.1).

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 Description of Functions

9.4 System of measurement

Overview
At the start of parameterization, you must fill in the basic machine data item sys-
tem of measurement (MD7). This item governs the input of values.

Variants of the system of measurement

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

Input of machine data

All value inputs and all value ranges refer to the setting in the system of measure-
ment.

Internal processing of values

In “Parameterize FM 353” and in the FM 353 itself, values are processed in the
following base units:
S 0.001 mm
S 0.0001 inch
S 0.0001 degree

Examples
The sample values in the table below illustrate the relation between the system of
measurement and internal values:

System of Internal values Input at interface

measurement
mm 10–3 mm 10 995@10–3 mm 10.995 mm
inches 10–4 in(ch) 10 995@10–4 in(ch) 1.0995 in(ch)
degrees 10–4 degree 3,600,000@10–4 degree 360.0000 degree
10–2 degree 36,000@10–2 degree 360.00 degree

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Description of Functions

Note
The measurement system (MD7) must match the measurement system specified
in the other DBs.
The measurement system raster (MSR) is the smallest distance unit in the active
system of measurement.
If at some point you have failed to take this precaution:
1. Delete all data blocks (which do not match the measurement system) or clear
the memory of the FM 353 completely.
2. Modify the other data blocks on the PG.
3. Reload the data blocks to the FM 353.

9.5 Axis type

Overview
You can select the axis type with machine data item MD8. Choose either of the
following types:
S Linear axis
S Rotary axis

Linear axis
A linear axis moves between two range limits (traversing range min –10 9, max
109). The range limits may be bounded by software limit switches (MD21, MD22)
to form the “working range.”
Linear axes have a limited traversing range. The limits are imposed by the:
S Resolution of the numerical scale
S The range covered by an absolute encoder.

Movement

M G

Motor Encoder

Fig. 9-3 Linear axis

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 Description of Functions

Rotary axis
With rotary axes, the actual value is reset to “0” after one revolution. Rotary axes
thus have an infinite traversing range.

0
9 999

5 000

Fig. 9-4 Rotary axis

Before you start a movement in “MDI” and “Automatic” modes, you can define a
fixed direction of rotation with R+ or R–.

Rotary axis end

Machine data item MD9 defines the value by which the FM 353 recognizes the end
of the rotary axis.
This value is the theoretical maximum that the actual value can reach. At this
value, display of the actual value switches back to 0.
The theoretical maximum, however, is never displayed, because it is physically
located in the same position as the start of the rotary axis (i.e. 0).
Example:
The following example in Figure 9-4 illustrates the behavior of the axis.
Assume you specify a value of 10,000 for the end of the rotary axis.
The value 10,000 will never be displayed. The display always rolls over from 9,999
to 0.
If the direction of rotation is negative, the display rolls over from 0 to 9,999.

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Description of Functions

Rotary axes are subject to certain restrictions in the choice of gear ratio, as shown
in Figure 9-5. These restrictions arise from the need to reproduce the actual posi-
tion accurately over several revolutions when referencing with one periodic zero
pulse per motor revolution (type of reference point approach < 4). See also “De-
pendencies”, Section 5.3.1).

Type of reference point approach?

MD18 w 4 MD18 < 4

Any rotary axis cycle Condition:

SRA = nSSZ
n = 1, 2, 3
Examples:

Rotary axis cycle SRA

Stepper motor cycle SSZ

Fig. 9-5 Restriction for rotary axis cycle

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 Description of Functions

9.6 Determining the position

Overview
The FM 353 operates without encoders.
The position resolution of the axis is determined by the traversing distance of one
motor increment.
The control frequency pulses emitted by the FM 353 are added internally to form a
position value.

Function parameters
The following table shows you how to adapt a stepper motor to the FM 353.

MD Designation Value/Meaning Comments/Unit

11 Distance/motor revolution 1...1 000 000 000 [MSR]
(division period) 1) (integer component)
12 Residual distance/motor 0...232–1 [2–32MSR]
revolution (division period) 1) (fractional compo-
nent)
13 Increments/motor revolu- 21...225 Entry per stepper
tion 1) motor data plate
(division period)

1) see Section 5.3.1, Dependencies

MSR stands for measurement system raster (see Section 5.3.1)

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Description of Functions

9.6.1 Synchronizing the stepper motor axis

Overview
When stepper motors are used, there is an unknown offset between the internal
position value and the mechanical position of the axis after the FM is switched on.
To establish the position reference, the value internal to the FM must be synchro-
nized with the real position value of the axis. Synchronization is performed by tak-
ing over a position value at a known point of the axis.

Reference point approach

is an operating mode used to position the axis at the reference point.

Reference point
is a fixed point on the axis. It is:
S The target coordinate in the Reference-Point Approach mode
S Removed from the synchronization point by the amount of the reference-point
shift, in axes with incremental encoders.

Reference point offset

Difference in distance between the synchronization point and the reference point.
The reference-point shift serves:
S for numeric adjustment of stepper motor.
S as a displacement reserve to brake the drive if the synchronization point is
overshot.

Reference point switch (RPS)

The reference point switch selects the synchronizing zero marker on the traversing
path of the axis.
S It is also the signal encoder for a speed reduction before the synchronization
point is reached.
S It is connected to a digital input of the FM 353.

Synchronization point
is a defined point on the traversing path of the axis. It is defined by the mechanical
position of a reference-point switch or in association with a cyclic zero mark of an
incremental encoder.

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 Description of Functions

Synchronization
Creating the position reference between the internal FM position value and me-
chanical position of the axis.

Measured value synchronization

Irrespective of the approach direction, the synchronization point can be located on
the side of the lower or the higher actual position values in relation to the reference
point switch position. It is demarcated by the rising edge of a zero pulse or by the
reference point switch. This selection is made by the MD18 (together with the ap-
proach direction).
Example

Current-sourcing pattern
zero or zero pulse external
Axis direction +
RPS

Measurement grid Cyclical zero mark Synchronization point

With reference to the synchronization point, the reference point can be located on
the side of the lower or the higher position actual values. In the “reference point
approach” operating mode the machine axis additionally traverses this distance,
during its last phase of motion, once the synchronization point has been found.
Consequently, the axis halts the motion, in each instance, exactly on the reference
point.
Example

Variant 1 Axis direction +

RV +

Variant 2 Axis direction +

RV –

Measurement grid Cyclical zero mark Synchronization point

RV – Reference point offset Reference point

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Description of Functions

9.7 Stepper motor control system

Overview
Actuation of the stepper drive for controlling the movement sequence takes place
by way of the signals “Pulse” (frequency) and “Direction”. These signals are gener-
ated by a frequency generator in each operating mode of the FM 353. The pulse
width is a constant 50% of the period of the maximum frequency parameterized.
The diagram 9-6 gives you an overview of the function units and the machine data
acting upon them.

MD30, MD31 MD39...MD47

Direction
s
Interpolator Backlash f generation
Setpoint compensation
value s f Pulse
v t
t

Stepper mo-
Phase current Boost/PWM
MD21 MD22 tor control
control

Enable servo controller

Current-sourcing pattern zero or Servo ready

zero pulse external

active/inactive high/low

MD21 – Software limit switches, beginning

MD22 – Software limits switches, end
MD30 – Backlash compensation
MD31 – Directional reference of backlash
MD37 – Special control signals
MD39 – Start/Stop frequency
MD40 – Frequency value for acceleration switchover
X1 X2
MD41 – Maximum frequency
MD42 – Acceleration 1
MD43 – Acceleration 2 Peripherals MD37 to the drive
MD44 – Delay 1
MD45 - Delay 2
MD46 – Minimum idle time between two positioning cycles
MD47 – Minimum traversing time at constant frequency

Fig. 9-6 Overview of stepper motor control system

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 Description of Functions

Software limit switches

Software limit switches MD21 and MD22 are used to limit the working area (see
Section 9.9). The value of MD21 must be less than the value of MD22 at all times.

MD Designation Value/Meaning Unit

21 Software limit switch, be- –1 000 000 000...<+ [MSR]
ginning 1 000 000 0001)
22 Software limit switch, end

1) see Section 5.3.1, Dependencies

MSR stands for measurement system raster (see Section 5.3.1)

Backlash compensation
Mechanical drive elements generally have a certain amount of backlash (play).
MD30 provides compensation of mechanical reversal backlash. With each reversal
of direction, the mechanical backlash runs through before any axis movement
takes place. This results in positioning errors.
– +

Spindle

Reversal play or backlash

A backlash figure entered in the MD30 is calculated, with correction, by the stepper
motor control as a factor of the current traversing direction of the axis. The result
is an approximate compensation of backlash during positioning.
In MD31, the “backlash-free” traversing direction of the axis is identified. When
MD31 = 0, that direction is considered to be “backlash-free” which corresponds to
the direction of the axis movement at the time synchronization is begun. This cor-
responds to the following correspondence, as a factor of MD18:
MD18 = 0,2,4,8: Plus direction is backlash-free
MD18 = 1, 3, 5, 9: minus-direction backlash-free

MD Designation Value/Meaning Unit

30 Backlash compensa- 0 to 10,000 [MSR]
tion
31 Directional reference 0 = as with reference point ap- –
backlash proach

The backlash is traversed at a speed of 1% of the maximum possible speed

(MD23).

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Description of Functions

Other function options

The particulars of backlash compensation can be defined with MD52 and MD53.

MD Function Value/Description Unit

52 Speed for backlash 0
compensation Backlash traversing speed 1 % of MD23
1 to 1 00
Backlash traversing speed in % of MD23 [%]
53 Mode for backlash 0= Backlash compensation prior to positioning –
compensation 1= Backlash compensation during positioning
The backlash traversing speed is added to the
programmed speed for the traversing
job affected by override.

Note the following carefully:

S If the interdependencies of the MDs are violated, an error is reported with
“range violation” as its cause.
S Backlash compensation goes into effect prior to reference point approach.
S A change in MD30 (backlash) takes effect only after a traversing movement in a
backlash-free direction (MD31).
S Backlash travel is started only if override > 0.

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 Description of Functions

9.7.1 Frequency generation

Function parameters
The following table shows you which parameters to use in matching frequency
generation to the selected stepper drive.

MD Designation Value/Meaning Unit

39 Start/Stop frequency (fss) 10 – 10,000 [Hz]
40 Frequency value for accelera- 500 – 75,000 [Hz]
tion switchover (feg)1) Minimum value: MD39
Maximum value: MD41
41 Maximum frequency (fmax) 500 – 200,000 [Hz]
42 Acceleration 1 (ab1)1) 10 – 10,000,000 [Hz/sec]
43 Acceleration 2 (ab2)1) 10 – MD42, 0 as with MD42 [Hz/sec]
44 Deceleration 1 (av1 )1) 10 – 10,000,000, 0 = as with [Hz/sec]
MD42
45 Deceleration 2 (av2)1) 10 – MD44, 0 = as with [Hz/sec]
MD43
46 Minimum idle time between 1 – 10,000 [ms]
two positioning cycles (tst)
47 Minimum traversing time at 1 – 10,000 [ms]
constant frequency (tvk)

1) see Section 5.3.1, Dependencies

Frequency profile
In controlling speed, special importance is attached to the drive-specific require-
ments regarding the shape of the frequency/time function. Based on this, a discon-
tinuous traversing movement is initiated or stopped below the Start/Stop frequency.
For higher traversing velocities, a ramp-shaped control cycle, which builds on the
Start/Stop frequency, takes place within two velocity ranges with acceleration val-
ues of different parameterization capability .
The following illustrations provide you with examples of frequency profiles for se-
lected traversing movements.
Maximum speed frequency profile
f
fmax

feg
ab2
av2

fss
ab1 av1
t

Fig. 9-7 Maximum speed frequency profile

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Description of Functions

Frequency profile with G64 or speed override

f
fmax
f2
feg
f1

f3
fss

t
N1 N2 N3
f1 – Frequency in set N1/Override value 1
f2 – Frequency in set N2/Override value 2
f3 – Frequency in set N3/Override value 3

Fig. 9-8 Frequency profile with G64 or speed override

Frequency profile with Stop or G60

Stop
f
fmax

feg

fss

t
tvk tst
N1 N2

Fig. 9-9 Frequency profile for Stop or G60

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9.7.2 Drive interface

Overview
As a minimum, actuation of the stepper drive for controlling the movement se-
quence takes place by way of the signals “Pulse” and “Direction”. By way of these
signals for specifying distance beyond the stepper drive, the FM 353 optionally pro-
cesses additional signals from different drive ports.

Standard signals “pulse”, “direction”

Through the FM 353, pulse length is automatically set to Τ = 0.5@MD41.
Direction of rotation for the stepper drive is controlled with the direction signal.
The level of both signals can be parameterized.

MD Designation Value/Meaning
37 Special control signals
37.8 Pulse output inverted 0: Pulse high active Output signal
1: Pulse low active
37.9 Direction output inverted 0: low sign. = direction + Output signal
1: low sign. = direction –

Optional signals “servo enable”, “servo ready”

These signals are used to activate the drive. The “Servo ready” signal can be con-
nected to the FM 353 either via the X2 connector at TTL level, or X1, with the 24 V
level (see Section 4).
The active level for both signals can be parameterized.

MD Designation Value/Meaning
37 Special control signals
37.0 Controller enable active 0: Signal not used Output signal
1: Signal used
37.2 Controller ready active 0: Signal not connected Input signal
1: Signal is connected
37.3 Controller ready inverted 0: Controller ready high active
1: Controller ready low active
37.4 Controller ready input 0: at Front panel connector X1 (RM)
selection 1: at D Sub connector X2
(Ready1_N)

In all operating modes except Control mode, the “servo enable” signal is required
for the duration of every traversing movement, irrespective of the parameter defini-
tions. If the servo enable is not detected or is deactivated during the movement,
the “servo enable missing” message is triggered (see Table 11-5, Class 3/No. 61).

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Description of Functions

In all operating modes except Control mode, the “servo ready” signal is required for
the duration of every traversing movement when the parameter is active (MD37.2).
If the servo ready is not detected or is deactivated during the movement, the
“servo not ready” message is triggered (see Table 11-5, Class 3/No. 62).

Optional signal “Boost” / “PWM”

The interface signal “Boost” or “PWM” (pulse width modulation) permits optimized
operation of the stepper drive using phase current control. The FM 353 implements
these two functions via an output. This is done by alternate machine data selec-
tion.
The active level of the signal can be parameterized.
Signal response:

Movement status Output signal Output signal “PWM”

“Boost”
Idle inactive pulse duty factor per
MD 51
Acceleration/delay active static active
Constant travel inactive pulse duty factor per
MD 50

The following table shows you the available machine data for parameterizing the
function.

MD Designation Value/Meaning
37 Special control signals
37.16 Boost active 0:Boost function not used Output signal
1:Boost function used
37.17 Boost inverted 0:Boost signal high active
1:Boost signal low active
37.18 PWM active 0:PWM function not used
1:PWM function used
37.19 PWM inverted 0:PWM pulse high active
1:PWM pulse low active
48 Boost duration absolute 1 – 1,000,000 ms
49 Boost duration relative 1 – 100%
50 Phase current travel Pulse duty factor [%]
51 Phase current idle

Function, PWM:
The signal is generated as a 20 kHz frequency.
Boost function:
The signal is monitored with reference to the maximum absolute and relative active
phase.

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Effect: PWM
The motor phase current can be changed between 0 % and 100 %. Current modifi-
cation is possible at zero speed and during continuous travel. On acceleration/de-
celeration, the current is always 100 % (max).

fpulse

PWM

IPWM
100 %
MD50
MD51

Effect: Boost
During acceleration/deceleration, the activated boost signal triggers a current in-
crease on the drive unit. The amount of the increase is set on the drive unit. At
zero speed and during continuous travel, the current is always 100 %.

fpulse

t
IBoost

100 %

Optional signal “Current-sourcing zero” or “Zero pulse external”

To support stepper motor axis synchronization, the FM 353 processes a cyclic in-
put signal (which is dependent on the axis movement) as a zero marker (see Sec-
tion 4.4). This signal can be either the “Current-sourcing pattern zero” signal from
the stepper drive, or a “Zero pulse external” signal (e.g. initiator) generated once
per stepper motor revolution. The active level of the signal can be parameterized.

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Description of Functions

Note
When using this signal, the signal “Controller ready” can be processed only by way
of the D Sub connector X2 (Signal Ready1_N)!

The following cases must be distinguished:

Technical implementation Signal shape Parameter definition

Signal encoder on the motor axis Active phase over several motor in- “Zero pulse external”
(e.g. initiator) crements, one time per revolution
Cyclical signal generated by the stepper Active phase over one motor incre- “Current-sourcing pat-
drive one time per motor revolution (e.g. ment, one time per revolution tern external” and
zero trace of a motor-integrated incre- MD38=0
mental encoder)
Cyclical one-time signal in current- Active phase in current-sourcing “Current-sourcing pat-
sourcing pattern from stepper drive pattern zero of the stepper drive, n- tern external” and
times per revolution (n = current- MD38= MD13/n
sourcing pattern number)

The following table shows you the available machine data for parameterizing the
function.

MD Designation Value/Meaning
37 Special control signals
37.24 Current-sourcing pattern zero active 0:Current-sourcing pattern Input signal
zero not used
1:Current-sourcing pattern
zero used
37.25 Current-sourcing pattern zero in- 0:Current-sourcing pattern
verted zero high active
1:Current-sourcing pattern
zero low active
37.26 Zero pulse external active 0:Zero pulse external not
used
1:Zero pulse external
used
37.27 Zero pulse external inverted 0:Zero pulse external high
active
1:Zero pulse external low
active
38 No. of increments/current-sourcing 0...4001)
pattern cycle2)

1) Compare documentation from stepper drive manufacturer.

2) See Section 5.3.1, Dependencies

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9.7.3 Rotation monitoring

Prerequisites
The following prerequisites must be met for the “Rotation monitoring” function:
1. External zero pulse (NIX) which is generated cyclically, precisely once per mo-
tor revolution
Condition:
At the maximum speed of the stepper motor, a signal length of Δt w 2@FM
cycle must be assured for the external zero pulse!
2. Connection to the “Servo message” input of the FM 353’s front panel connector.
3. Parameterization of the external zero pulse (MD37.26)
4. Use of the current-sourcing pattern zero signal is not allowed!

Activation of rotation monitoring

For “rotation monitoring” single function, see Section 9.3.2.

Error message
The following errors are reported:
S Error “Digital input not parameterized” (see Troubleshooting, Table 11-5,
Kl. 3/Nr. 30)
Selecting function without parameterization for NIX
S “Rotation monitoring” error (see Troubleshooting, Table 11-5, Cl. 3/No. 66)
– Motor turns too slowly (during acceleration/travel)
– Motor turns too fast (during acceleration/travel)
– External zero pulse failed
– Incorrect number of increments per motor revolution parameterized (MD13)

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Description of Functions

Function description
The external zero pulse is used as described below to monitor the motor rotation
as specified in controlled operation (see Figure 9-10)
S The first NIX received synchronizes rotation monitoring.
S The first NIX must arrive within the period elapsing during two stepper motor
rotations + 45°. Otherwise, the ”Rotation monitoring” error message will be trig-
gered.
S With every further NIX received, the system verifies whether the current pulse
output of the stepper motor is within a window n  360° "45°. The error “Rota-
tion monitoring” is triggered by the occurrence of NIX edges which are outside
the allowed window.
S With every FM cycle the system verifies whether the pulse output is outside a
window " (360° + 45°) since receipt of the last NIX. Positioning outside this
allowable window also triggers the “Rotation monitoring” error.
S Stepper motor rotation without a specified setpoint value likewise triggers a
“Rotation monitoring” error in response to the NIX edges caused by the un-
wanted rotation. This occurs whenever the previous setpoint position falls within
the range outside the allowable window for the NIX edges. No error is triggered
if the previous setpoint position is within the admissible window as there is no
way of distinguishing between oscillation on a NIX edge position on account of
a fault or full motor rotation.
S Rotation monitoring is automatically discontinued whenever the synchronization
mark is passed over in the “Reference point approach” operating mode, and the
function “Retrigger reference point approach” is executed.

X
–45°
B

NIX

A
+45°

X – Permissible range for NIX

A – Following error trigger point on rotation + (after 1 rev. + 45°)
B – Following error trigger point on rotation – (after 1 rev. + 45°)
NIX – Zero pulse external
– (NIX center is synchronization point for rotation monitoring)

Fig. 9-10 Allowable range relative position for the external pulse

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 Description of Functions

9.8 Digital inputs/outputs (Read request user DB, DBX43.4)

Overview
Four digital inputs and four digital outputs of the FM 353 can be used specifically to
a given application.
The conventions and parameterization for this purpose are defined in the machine
data MD34 to MD36.
The signals are processed in the FM cycle.
The signal status of the digital inputs and outputs can be recognized by readback
(user DB, DBX43.4).

Function parameters
Table 9-9 shows you the functions assigned to each input/output.

Table 9-9 Function parameters for digital I/Os

MD Designation Data type, bit array/meaning

34 Digital inputs1) I0 I1 I2 I3
0 8 16 24 = External start2)
1 9 17 25 = Enable input
2 10 18 26 = External block change
3 11 19 27 = Set actual value on-the-fly
4 12 20 28 = Measurement (inprocess
measurement, length measurement2))
5 13 21 29 = Reference point switch for
reference point approach2)
6 14 22 30 = Reversing switch for
reference point approach2)
35 Digital outputs1) Q0 Q1 Q2 Q3
0 8 16 24 = Position reached, stop
1 9 17 25 = Axis movement forwards
2 10 18 26 = Axis movement backwards
3 11 19 27 = Change M97
4 12 20 28 = Change M98
5 13 21 29 = Start enable
7 15 23 31 = Direct output

1) see Section 5.3.1, Dependencies

2) Signal lengthw 2@FM cycle

Level adjustment

MD Designation Value/Meaning Comments

36 Input adjustment 8 = I0 inverted Front edge always activates
9 = I1 inverted the function
10 = I2 inverted
11 = I3 inverted

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Description of Functions

9.8.1 Function description for digital inputs

External start
The control signals of the axis include the start signal which triggers a positioning
operation in “Reference point approach”, “MDI” and “Automatic” modes. A logical
OR is established with the “External Start” digital input and the control signal (ST).
External start is connected to digital input I1.

Example
ST 1
w1 3
Control signal (Start)
Digital “External start” input 2

Input I1 not inverted (MD36) Input I1 inverted (MD36)

1
2

Minimum signal length at the digital input: w 2@FM cycle

Enable input
Setting the enable input is a prerequisite for positioning, movement or output of an
axis, if this is parameterized with MD34. A reset stops the movement (external
movement enable).
S In the Jogging and Control modes, the movement of the axis proceeds as long
as the AND link continues between the control signal (R+/R–) and the enable
input.

Example
R+ or R– 1
& 3
Positioning
2
Enable

1
2

S In the other modes, note the following:

If the enable input is not yet set after a Start edge, this Start edge is stored in-
ternally and “Waiting for enable” is additionally displayed in the checkback sig-
nals. When the input is set, movement begins and the stored Start edge is de-
leted (a Stop likewise deletes the stored Start edge).

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 Description of Functions

External block change See Chapter 10

Set actual value on-the-fly See Chapter 10 and Section 9.3.6

Measurement See Section 9.3.10

Reference point switch for reference point approach See Section 9.2.3

Reversing switch for reference point approach See Section 9.2.3

9.8.2 Function description for digital outputs (W rite request in the

user DB, DBX39.4)

Output of PEH, FR+, FR–, SFG

The following checkback signals: position reached, stop (PEH), axis movement
forward (FR+), axis movement in reverse (FR–), and enable Start (SFG), are addi-
tionally output via digital outputs. The output assignment is parameterized by way
of MD35.

Change output M97 and M98

The change M function checkback signal (AMF) for M functions M97 and M98 can
be output as a digital output (parameterization MD35). It allows these M functions
(switching signals) to be applied without being delayed by the user cycle time.

Direct output
Outputs Q0...Q3 (D_OUT1...D_OUT4), which are defined in MD35 as “direct out-
put”, can be used directly by the user program (user DB, DBX39.4) and can also
be controlled by the FM 353.
Since the same memory is used in the user DB for W rite request (user DB,
DBX39.4) and Read request (user DB, DBX43.4), the jobs cannot be used simulta-
neously in the cycle.

Note
The outputs are subject to deactivation on module errors of error classes with the
response “Everything Off”.

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Description of Functions

9.9 Software limit switches

Overview
To limit the working range, entries in the machine data (MD21 and MD22) specify
the start and stop limit switches. These limit switches are active at synchronization
of the axis.
If the limit switches are not needed, values lying outside the possible working
range should be entered in the machine data (MD21 and M22), or monitoring
should be switched off via the user program.

Warning
! The software limit switches do not replace the hardware limit switches for EMER-
GENCY STOP responses.

Effect of software limit switches in modes

Jogging mode
At the limit switch the traveling movement is stopped in the limit-switch position,
and an error is signaled.
Control mode
If the actual value is beyond the end position, the traveling movement is stopped
and an error is signaled. The limit-switch position is overshot by the amount of the
necessary deceleration distance.
Reference-point approach mode
No effect.
Incremental relative, MDI, Automatic mode
Movement is stopped, or not even started, as soon as read-in of the set position
reveals that the position lies outside the working range. An error is signaled.
The following special cases exist:
S Continuous travel (–) for Set Actual Value On-the-Fly (G88, see Chapter 10).
S Continuous travel (+) for Set Actual Value On-the-Fly (G88, see Chapter 10).

Effect of software limit switches in tracking mode

If the actual value is beyond the end position, an error is signaled.

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 Description of Functions

Response after error

Leaving end position or traveling into working range after error
1. Acknowledge the error message!
2. Travel to the working range with the Jogging, Control, Incremental Relative or
MDI mode.

Rotary axis
The end position of MDstart may be greater than MD stop.
When traveling into the working range (e.g. end position was previously switched
off), the shortest path is always chosen.
If both default values are parameterized the software limit switches are inactive.

9.10 Process interrupts

Overview
Process interrupts are interrupts that quickly signal states in the current process to
the user program.
The appropriate setting in the machine data (MD5) specifies which signals are to
be quickly communicated to the user program.

Process-interrupt generation
The process interrupt is generated by way of machine data item MD5:

MD Designation Significance
5 Process-interrupt genera- 0 = Position reached
tion (data type - bit field) 1 = Length measurement completed
3 = Change block on-the-fly
4 = Inprocess measurement

Hint to the user

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

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Description of Functions

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Writing Traversing Programs 10
Chapter Overview

Section Section Header Page

10.1 Traversing blocks 10-2
10.2 Program execution and direction of processing 10-16
10.3 Block transitions 10-16

Overview
To execute the desired operations of the machine axis (sequence, position, etc.) in
“Automatic” mode, the FM 353 needs certain information. This information is pro-
grammed with “Parameterize FM 353” (traversing program creation) in the form of
a traversing program, based in principle on DIN 66025.

Traversing programs
Each traversing program is stored under a program number.
A traversing program consists of not more than 100 traversing blocks.
The program number and traversing blocks are converted to an internal format
(see Section 9.3.12), are stored in the appropriate data block, and are transferred
to the module. where they are administered.
The possible number of programs depends on the amount of memory available
(max. 16 Kbytes) and on the length of the individual programs.
Program length in bytes: 108 + (20 x no. of traversing blocks)

Program name
Any program can be assigned a name (optional).
The program name may have up to 18 characters, and is saved with the program.

Program number
Programs may be numbered from % 1 to % 199.

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Writing Traversing Programs

Traversing block
A traversing block contains all the data required to perform a machining step.

Program structure
A program consists of several blocks. Each block number occurs only once, and
numbers are arranged in ascending order.
A sample program structure follows:

/ N G1 G2 G3 X/t F M1 M2 M3 D L P

5 90 500 000 100 000 10 Start of program =

... ... lowest block number
6 91
7 ...
.
.
.
45
End of program = M2
46 2 or M30

10.1 Traversing blocks

Block structure
The following Figure gives you an overview of the structure of traversing blocks.

/ N G1 G2 G3 X/t F M1 M2 M3 D L P

/ – Identifier for skipped block

N – Block number
G1 – G function of first function group
G2 – G function of second function group see Table 10-1
G3 – G function of third function group
X/t – Position/dwell time
F – Speed
M1 – M function of first function group
M2 – M function of second function group see Table 10-2
M3 – M function of third function group
D – Tool offset number
L – Call a program as a subprogram
P – Number of subprogram runs

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 Writing Traversing Programs

Skip block /
Program blocks which are not to be executed every time the program runs can be
identified as skippable blocks by an oblique “/ ”. When the program is being pro-
cessed, the “Skip block” control signal can be used to decide whether skippable
blocks are to be skipped. The last block may not be skipped.

Block number N
The program is executed in ascending order of block numbers (1 to 255) or in de-
scending order if executed in reverse.

G function group 1 – 3
In each traversing block only one G function may be entered from each G function
group.
The following figure shows an example.

/ N G1 G2 G3 X/t F M1 M2 M3 D

10 90 34 43 100 000 400 00 10

G functions
Table 10-1 lists the possible G functions and the individual G function groups.

Table 10-1 G functions

GNo. G Function G Function

group
041) Dwell time
87 Turn off measuring system shift for Set Actual Value On-the-Fly
881) Continuous travel for (–) for Set Actual Value On-the-Fly
1
891) Continuous travel for (+) for Set Actual Value On-the-Fly
90 Absolute dimensions
91 Incremental dimensions
30 100% override on acceleration/deceleration
31 10% override on acceleration/deceleration
32 20% override on acceleration/deceleration
. . 2
. .
. .
39 90% override on acceleration/deceleration

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Writing Traversing Programs

Table 10-1 G functions, continued

GNo. G Function G Function

group
43 Tool offset (+)
44 Tool offset (–)
501) External block change 3
60 Exact stop block change
64 Set actual value on-the-fly, continuous-path mode

1) These G functions take effect only on a block-by-block basis. The other G functions remain
active until canceled explicitly.

G30, G90 and G64 are the initial settings after the start of the program.

Dwell G04
A traversing block with dwell can only contain M functions and the time parameter
apart from this G function.
The following applies for dwell time:

Lower input Upper input

Name Unit
limit limit
Dwell time 2 100,000 ms

Odd input values are rounded upward. Dwell times take effect only on a block-by-
block basis.
If no value is input for G04 in the block, the lower input limit applies.

Block change G60, G64 (approach conditions)

With G60, the exact programmed position is approached and the feed movement
is stopped (exact stop block change).
G64 causes the next block to be processed immediately as soon as the point of
deceleration is reached (change block on-the-fly).
G60 and G64 are mutually exclusive and modal.
M commands have no effect on G64 operation.
(For a detailed description, see Section 10.3).

External block change (G50) with delete residual path

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

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 Writing Traversing Programs

Example of external block change

The following figures show the program structure and program flow of an example
of “External block change.”

/ N G1 G2 G3 X/t F M1 M2 M3 D

10 50 10 000 1 000
20 12 000 1 300

F
N10 N20
1 300
1 000

ÍÍ
E 10 000 12 000

E – digital input
ÍÍ X

Notes to the example of external block change

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

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Writing Traversing Programs

Set actual value on-the-fly G87, G88, G89

The “Set actual value on-the-fly” function is programmed and triggered by a digital
input; the block change occurs on the fly and the actual value is set to a new di-
mension (programmed coordinate) at the same time. The digital input must be
parameterized with the “Set actual value on-the-fly” function by way of machine
data item MD34.

Example of set actual value on-the-fly

The following figures show the program structure, program flow and actual-value
curve for an example of “Set actual value on-the-fly.”

/ N G1 G2 G3 X/t F M1 M2 M3 D

10 90 100 400 000

15 89 (88) 50 200 000
20 90 300 400 000
25 87 400 400 000

V
N10 N15 N20 N25

t
Reversal of direc-
I tion

Í t

I
N10 N15 N25

X System of measure-
0 50 100 150 200 250 300 350 400 ment normal

N20

System of X
measurement
0 50 100 150 200 250 300 350 400
shifted

I – digital input

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 Writing Traversing Programs

Notes to the example of set actual value on-the-fly

This changes blocks on-the-fly from N10 to N15, with G89 causing movement in a
positive direction and G88 causing movement in a negative direction at the speed
programmed in N15.
The axis now travels in the specified direction until a positive edge change occurs
at the digital input. This triggers the following responses:
S Block change on-the-fly and immediate processing of block N20
S Set actual value on-the-fly to the block position from N15 (50 in the example),
and resulting shift of the coordinate system
S Save current actual value.
The programmed position in block N20 refers to the shifted coordinate system.
At the block change from N20 to N25, G87 cancels the shift of the coordinate sys-
tem and causes reference-measure programming to the block position of N25.
The saved actual value can be read out with “Actual value block change.”
The shift of the coordinate system is maintained until it is canceled by G87 or by a
mode change. It is possible to use the existing shift of the coordinate system in
different programs. The coordinate system can be shifted again without previously
canceling an existing coordinate system shift.
G88, G89 can be programmed multiple times. The shift in each case refers to the
original state. The software limit switches are always shifted concurrently.
If the signal change of the digital input does not occur, the axis runs until it reaches
the limit switch.

Note
The G functions G87, G88 and G89 take effect only on a block-by-block basis and
must be reselected if necessary.

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Writing Traversing Programs

Dimensions G90, G91

The traversing movement at a specific point can be described by
S Absolute measure input G90 or
S Relative measure input G91
You can switch back and forth at will between absolute and incremental input.
The status at startup is reference-measure programming, G90.
G90 and G91 are modal.

Absolute dimensioning G90

Absolute dimensioning is the method used to specify dimensions that generally
refer to the coordinate system.

/ N G1 G2 G3 X/t F M1 M2 M3 D
90 20 100
Programmed Actual position
position

0 10 20 30 40 50 mm

Fig. 10-1 Reference-measure input G90

Note
To ensure precise reproduction of the program, the first block should contain refer-
ence-measure programming.

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 Writing Traversing Programs

Incremental dimensioning G91

Incremental dimensioning is the method used to specify incremental dimensions
that refer to the last actual position.

/ N G1 G2 G3 X/t F M1 M2 M3 D
91 –30 100

Programmed Actual position

position

0 10 20 30 40 50 mm

Fig. 10-2 Incremental input G91

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Writing Traversing Programs

Axis as rotary axis

If the axis is operated as a rotary axis, the measuring system must be adjusted in
such a way that the measurement scale refers to the full circle (e.g. 0 _ and 360_).
S Reference-measure input G90
In a full circle with 360_, reference-measure programming (G90) has the pecu-
liarity that there are always two options for reaching the set position.

Option 1 Option 2
Set position 0_ Actual position Set position 0_ Actual position
315_ 45_ 315_ 45_

270_ 90_ 270_ 90_

225_ 135_ 225_ 135_

180_ 180_
with direction R+ specified

/ N G1 G2 G3 X/t F M1 M2 M3 D
10 90 315 100

Fig. 10-3 Rotary axis

Option 1:
With G90, the axis autonomously always takes the shortest path to reach the
set position of 45_, going via 0_ to 315_.
Option 2:
The control signals (R+) or (R–) force the respective direction of the axis - in
this example 45_ via 180_ to 315_. (R+) or (R–) must already be pending when
positioning is activated (START).

Note
The direction (R+) or (R–) must be specified sufficiently in advance. A traversing
direction cannot be forced on a traversing block that is already active, or on the
traversing blocks (up to 4) that have already been calculated in advance in G64
operation.
Operation with option 1 or option 2 is at the user ’s discretion.

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 Writing Traversing Programs

S Incremental input G91

With incremental programming G91, the direction of rotation of the rotary axis is
defined by the sign of the position setpoint. Multiple rotations can be pro-
grammed by setting a value > 360 _ as the position setpoint.

Acceleraton override G30...G39

The acceleration override is used to control acceleration and deceleration during
positioning movements. The acceleration and deceleration values are set by ma-
chine data. G30 through G39 in the traversing block can be used to achieve a per-
centage reduction in both values. These functions are modal.
G Function
30 100% override for acceleration/deceleration
31 10% override for acceleration/deceleration
to
39 90% override for acceleration/deceleration
Changing the acceleration override in the program prevents block change on-the-
fly. Consequently G60 response is forced in the preceding block.
The acceleration override is turned off by:
S Mode changes
S Resetting the axis with a Restart (single command)
S Changing or ending the program.

Tool compensation G43, G44

Tool compensation allows you to continue using an existing machining program,
even when the tool dimensions have changed.
Tool offset is selected with G43 or G44, as applicable, and the tool offset number
D1 – D20. Tool offset is turned off with G43 or G44, as applicable, and the tool off-
set number D0.
A total of 20 tool offset storage areas and tool wear storage areas are available.
The values are loaded to the module with the “Tool offset data” data block and are
saved permanently. When selected, changed or turned off, the tool offset is not
taken into account until the next positioning action.
A selected tool offset is maintained in effect until it is either turned off or replaced
with a new one. Likewise a mode or program change, or the end of a program, will
turn tool offset off.

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Writing Traversing Programs

Variants in tool offset

Tool offset is made up of two correction-value components:
S Tool length offset
The tool length offset is the actual tool length from tool zero to the tool tip.
S Tool length wear value
The tool length wear value allows the change in tool length due to wear to be
compensated in two ways:
Absolutely: by specifying a fixed wear value
Additively: by adding an “offset value” to the current tool length wear value
contents.

Tool new Tool wear a Tool wear b

É É ÉÉ
É Tool zero

DVadd DV
DVabs
DL

Fig. 10-4 Tool offset

Notes to the figure:

The tool offset thus consists of the tool length compensation and the tool length
wear value:
D = D L – DV
DV = DVabs + DVadd
D – Tool compensation
DL – Tool length compensation (positive or negative)
DV – Tool length wear value (positive or negative)
DVabs – Wear, absolute (positive or negative)
DVadd – Wear, additive (positive or negative)
If the additive wear is modified on-line, the FM computes the new absolute wear
and resets the additive wear to zero.

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 Writing Traversing Programs

Direction of tool offset

The functions G44 (–) and G43 (+) correct the position value in such a way that the
tool tip reaches the programmed set position.
S Negative tool offset G44
As a rule, the tool points to the workpiece in a negative direction. With the in-
feed adjustment, the positioning value (traversing path) becomes smaller.
Referred to the measuring system, the following position is thus approached:
Xms = Xset + (D)
Xms – Position of measuring system
Xset – Programmed set position
D – Tool offset
S Positive tool offset G43
The positioning value (traversing path) becomes greater with the infeed adjust-
ment. The position value is corrected by:
Xms = Xset – (D)
To program a tool offset in the traversing block, at least the tool length offset must
be input. If no correction is to be applied even when the function has been se-
lected, the tool length offset and tool length wear value must be preset to 0.
A tool length wear value can be deleted by an absolute input of 0.

Position X
Positions may be input with a negative or positive sign. The plus sign on positive
values may be omitted.

Lower input Upper input

Name Unit
limit limit
Position – 1,000,000,000 + 1,000,000,000 MSR from MD7

Speed F
The input speed is calculated against the override. If the speed value is numeri-
cally greater than the maximum allowed speed, it is limited to the magnitude of the
machine data item. Speeds are modal and need to be re-input only when changed.

Lower input Upper input

Name Unit
limit limit
Speed 10 500 000 000 MSR from MD7/min

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Writing Traversing Programs

M functions
Up to three M functions can be programmed in one traversing block, with any as-
signment of M1, M2 and M3. The output sequence of the M functions is always
M1³M2³M3 (for information about output see Section 9.1).
The following figure shows an example.

/ N G1 G2 G3 X/t F M1 M2 M3 D

10 90 34 43 100 000 400 00 10 11 12 1

Table 10-2 M functions

M No. M Function M Function

group
0 Stop at end of block
2, 30 End of program
1, 3...17 User functions
18 Endless loop (skip back to start of program)
1, 2, 3
19...29, User functions
31...96
97, 98 Change signal programmable as digital output
99 User functions

M0, M2, M18 and M30 are always output at the end of the traversing movement.
M0, M2, M18 and M30 are mutually exclusive within a single block.

Stop at end of block M0

If M no. 0 is programmed in a traversing block, the program stops at the end of the
traversing block and M0 is output. Only a new START edge causes the traversing
program to be continued.

End of program M2, M30

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

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 Writing Traversing Programs

Infinite loop M18

M18 is always output as the last M function in the block.
Two cases are distinguished:
S M function M18 is output like any other M function. Only after the block has
been processed all the way to the end (including M18) does the axis skip back
to the start of the program.
S If M function M18 is programmed alone in the last block of a traversing pro-
gram, the M function is not output, and the axis immediately skips back to the
start of the program.

Change signal programmable as digital output M97, M98

If M97 or M98 is programmed in a block, the M function output proceeds via the
digital outputs as defined in machine data item MD35, in the same way as the
checkback signals.

Tool offset number D

Twenty tool offset numbers (D1 – D20) are available. D0 in conjunction with G43 or
G44 causes the tool offset to be switched off. The offset values must previously
have been loaded to the module. Nonstandard offset values have a value 0.

Subprogram call P, L
A block with a subprogram call (P is the “number of runs”, L is the “program num-
ber”) cannot contain any further information.
A maximum of 19 subroutines can be called up in one program. Nesting is not
possible.

Name Lower input limit Upper input limit

P = Number of subprogram runs 1 250

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Writing Traversing Programs

10.2 Program execution and direction of processing

Forward processing
As a rule, programs are processed by ascending block number.

Reverse processing
If programs are processed in reverse, the effects of commands must be taken into
account in the programming:
S Commands are modal (G90, G91, G60, G64, G30 – G39)
S Active tool offset (G43, G44, D0 – D20)
S Change of coordinate systems via G87, G88, G89.
For these reasons, a distinction can be made between forward processing and re-
verse processing, in terms of both geometry and block transition response.

10.3 Block transitions

Overview
This chapter describes the influence of certain commands on block transitions.

Exact positioning - G60

G60 mode is overlaid with G50 and G88 to G89 (force block change on-the-fly).
The program advances to the next block when the target range is reached.
The influence of M functions is as indicated in machine data item MD32.

Output of M function before positioning

Case 1 V Ni Ni+1

ÉÉÉÉÉ
ÉÉÉÉÉ
ÉÉÉÉÉ t

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 Writing Traversing Programs

Output of M function during positioning

Case 2 V Ni Ni+1

(“long block”)

ÉÉ
ÉÉ ÉÉ
ÉÉ
ÉÉ ÉÉ
ÉÉ
ÉÉÉÉ Ni Ni+1
t

(“short block”)

Output of M function after positioning

Case 3 V
Ni

M
Target range

ÉÉÉÉÉÉ
ÉÉ ÉÉ
ÉÉ
ÉÉÉÉÉÉ t

Change block on-the-fly - G64 (standard case)

Changing from one traversing block to the next proceeds without stopping the axis.
The acceleration and braking function is calculated for multiple blocks when the
G64 function is programmed. The number of blocks processed in advance is three.
When the block changes, the feed rate is changed in such a way that a higher
speed from a preceding block is never carried over into the next block, and a
higher speed from a following block never goes into effect while a given block is
still traversing its own path. This means that acceleration does not begin until the
starting point of the block, and deceleration to a lower speed for a following block is
initiated as with G60. When the speed of the following block is reached, the resid-
ual distance in the current block is processed at the feed rate of the following
block.

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Writing Traversing Programs

Sample programming (standard case)

The following figure shows a sample program with the programming flow.

/ N G1 G2 G3 X/t F M1 M2 M3 D
5 90 64 10 000 100 00
10 20 000
15 30 000 200 00
20 40 000 150 00
25 64 30 000 100 00

V
N5 N10 N15 N20 N25

3
4
1 2

1 – Block N10 is started at the point of deceleration of N5.

2 – N15 is started at the point of deceleration of N10. Acceleration to the higher traversing
speed begins when the set position of N10 is reached.
3 – N20 is started at a lower traversing speed at the braking point of N15.
4 – When the traversing direction is changed, the axis decelerates to a standstill.
5 – When the target range is reached, the axis accelerates in the opposite direction up to
the traversing speed of the new block.

To be able to approach a position correctly, the axis must calculate the point of de-
celeration. The relevant parameters for this calculation are the residual traversing
distance, the deceleration value and the current traversing speed.
The point of deceleration is also the earliest possible time for a block change.

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Change block on-the-fly - G64 (deceleration)

There are a number of conditions that may delay or prevent a block change on-the-
fly. Here a distinction is necessary between the case in which this type of block
change is suppressed intentionally, and the case in which the selected function
does not permit a block change on-the-fly.
S Block change on-the-fly is suppressed:
– By removing the Enable read-in control signal - this stops program process-
ing at the end of the current block. To continue the program, the enable must
be re-input.
– By output of the M function before or after positioning.
– By M function M0 (stop at end of block). To continue the program, the
START control signal must be reset.
– By a block with a dwell time.
– By processing a program in the Automatic/Single Block mode. Each block
must be activated individually.
– By a change in the acceleration override.
S Functions that themselves prevent block change on-the-fly:
– M functions (during positioning).

V 1 V 2 V 3

t t t
M
M M

ÉÉÉ ÉÉÉÉ ÉÉÉÉÉ

ÉÉÉ t
ÉÉÉÉ ÉÉÉÉÉ t t

1 – Since the M output is completed at the point of deceleration, a block change takes
place on-the-fly.
2 – The M output is not yet complete at the point of deceleration. The axis begins to brake.
At the end of the M output, the axis returns to speed (transition on-the-fly from
deceleration ramp to acceleration ramp).
3 – Axis comes to a complete standstill and waits for the end of M output.

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Writing Traversing Programs

Influence of M function on block change on-the-fly

Machine data can specify the output time for M functions:
S M function is output before or after positioning with a block change
M-function output and positioning proceed in alternation.
– M function output before positioning causes exact-positioning response in
the preceding block.
– M function output after positioning causes exact-positioning response within
the block.
S M function is output during positioning
M-function output and positioning proceed simultaneously.
The following figure shows a sample program with M function output “during
positioning”.

/ N G1 G2 G3 X/t F M1 M2 M3 D

5 90 10 000 100 00 10
10 20 000 20
15 30 000 30 40
20 60 40 000 97

V
N5 N10 N15 N20

1 2 3 4

X
10 000 20 000 30 000 40 000
M No.

10 20 30 40 97

1 – Output of M10 is not position-dependent, since no relevant position for a position

dependent M function is present.
2 – At the block change from N5 to N10, output is prepared. The axis the M function does
not proceed until the actual position has reached the programmed position of N5.
3 – If two M functions are programmed in a traversing block, the first M function is output
depending on position, followed by the second M function.
4 – The change signal for M97 or M98 is output with the G64 block transition (digital
output) if the actual position has reached the programmed position of the block.
The actual position runs behind the set position (difference = overtravel).

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Troubleshooting 11
Chapter Overview

Section Section Header Page

11.1 Error classes and module responses 11-3
11.2 Error messages 11-4
11.3 Error lists 11-9

Overview
The FM 353 provides diagnostics for the following:
S I/Os
S Module processes
This chapter “Troubleshooting” describes the different types of errors, their cause,
effect and elimination.

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Troubleshooting

Error localization
The FM 353 distinguishes according to the following criteria:
S Errors which trigger a diagnostic interrupt in the CPU, and
S Errors which the module reports by way of checkback messages.
In the event of diagnostic interrupt, STATUS LEDs light up in addition.

CPU FM 353
Diag-
RAM nostic External
inter- channel
OB 82 rupt errors
call SFC 52
Diagn.
Write diagn. interrupt information “Binary” diagn.
buffer of External
the CPU POS_DIAG Callup in interrupt infor- errors
user pro- P Bus mation
gram
Other error mes- Internal
OB 1
sage errors

POS_CTRL SSL
. Other er-
. Diagn.
. backup rors, op-
User DB error his- erator
tory control
DB-SS
K Bus errors

MPI

OP

Parameterize FM353 STEP 7-Info

SSL – System status list
PG (STEP 7) SFC – System function
DB-SS – Data block for status signals

Fig. 11-1 Overview of diagnostics/errors

Error evaluation by software

The following manuals describe how to include diagnostics-capable modules in
your user program, and how to evaluate the diagnostic messages:
S Programming manual System Software for S7-300/400; Program Design
(OB Types, Diagnostic Interrupt OB 82)
S Reference manual System Software for S7-300/400; System and Standard
Functions
A basic description of the diagnostic system of the S7-300 can be found in the user
manual Standard Software for S7 and M7, STEP 7.

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11.1 Error classes and module responses

Overview
The FM 353 contains monitoring circuits which are active during startup or during
continuous operation. Errors occurring during those times are reported to the sys-
tem and to the user program.
The table below lists the error classes and their meaning.

Table 11-1 Error classes, overview

Message Error class Response Significance

... are hardware faults in the module which are discovered
by diagnostics routines (e.g. memory errors).
Internal errors
(see Section 6.3.4 for diagnostic interrupt data and error list,
Table 11-4)
... are errors which can occur due to faulty module connec-
tion (e.g. parameters for initialization of module MPI station
External errors numbers are missing or are incorrect).
Diagnostic Everything
(see Section 6.3.4 for diagnostic interrupt data and error list,
interrupt OFF
Table 11-4)
... are measurement system errors or errors which can oc-
cur by connecting the digital outputs or during operation
External (operator control errors) of the FM 353 (e.g. cable break,
channel errors incremental value encoder).
(see Section 6.3.4 for diagnostic interrupt data and error list,
Tables 11-4 and 11-5)
... are errors (operator/travel errors) which can occur during
Operator con-
Feed operator inputs to the FM 353 (e.g. direction signals R+ and
trol and travel
STOP R– set at the same time, see Error List, Tables 11-6 and
Checkback errors
11-7).
signals
... are errors (data, machine data and traversing program
Data errors Warning! errors) which are detected on interpretation of invalid data
(see Error List, Table 11-8).

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Troubleshooting

Error response
Each error message triggers an appropriate response.

Table 11-2 Overview of internal error responses

Error Significance
response
Everything S Stop movement by way of voltage ramp (MD44/MD45)
OFF S Disable digital outputs
S Deactivate controller enable
S SYN is cleared after the error has been acknowledged with Restart
S No new travel jobs possible
Feed STOP S Stop movement
S Travel job is canceled and terminated.
S No new travel jobs possible
Warning S Message only
S Movement and control of axes not affected

11.2 Error messages

Introduction
The following approaches to error localization are available for the FM 353:
S Error display by LEDs
S Error messages to the system and to the user program

11.2.1 Fault indication by LED

Status and error displays

The FM 353 features the following status and error displays:

SF

DC 5V
DIAG

Fig. 11-2 Status and error displays of the FM 353

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 Troubleshooting

Meaning of the status and error displays

The status and error displays are explained in the order in which they are arranged
on the FM 353.

Table 11-3 Status and error displays

Display Meaning Explanations

SF (red) Group errors This LED indicates an error condition in the FM 353.
LED-ON Diagnostic interrupt (internal error, external error or external chan-
nel error)
To eliminate the error see Error List, Table 11-4.
5 V DC (green) Power supply This LED indicates that the hardware is ready for operation.
switched on If not illuminated, this may indicate one of the following condi-
tions:
S Your line voltage is not OK.
S Load current supply is faulty.
S Module is incorrectly connected.
S Your control circuit is configured incorrectly (sum of rated and
starting currents is too great), or
S The module is faulty.
DIAG (yellow) Diagnostics This LED indicates the various diagnostic conditions.
LED-ON Diagnostic interrupt (external channel error).
To eliminate the error see Error List, Table 11-4.
LED-blinking If this LED blinks when the LED “SF” is simultaneously activated,
this indicates a system error. If this occurs, then please consult the
appropriate sales department. The exact circumstances which re-
sulted in the error are of major importance in this case.

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Troubleshooting

11.2.2 Diagnostic interrupts

Overview
Internal errors, external errors and external channel errors are indicated to an inter-
rupt-capable system by means of diagnostic interrupts (see diagnostic interrupt
data in Tables 11-4, 11-5 and Section 6.3.4). This presupposes that the diagnostic
interrupt message was activated at the time of configuration (see Chapter 5). If the
system is not interrupt-capable, the diagnostic interrupt information must be read
out cyclically with POS_DIAG.

Error class Coding Message

Internal errors Byte-.Bit-No. 0.1 LED “SF”
Group error byte 2, 3
External errors Byte-.Bit-No. 0.2 LED “SF” and “DIAG”

External channel errors Byte-.Bit-No. 0.2, 0.3 LED “SF” and “DIAG”
Group error byte 8

A diagnostic interrupt is reported by the FM 353 as “incoming” or “outgoing”.

Diagnostic interrupt
Message to the CPU (precondition: interrupt message activated Message in the Entry in diag-
(see Section 5.2) “troubleshooting” nostic buffer
display of “Para-
No OB 82 OB 82 OB 1 meterize FM353”
exists ! CPU Menu: Test >
switches to Enters the Enters the Calls Troubleshooting
STOP diagnostic in- diagnostic in- POS_DIAG
formation in the formation in
diagnostic the user DB
buffer of the starting at ad-
CPU (4 bytes) dress 70 and
and calls SFC calls
52 POS_DIAG

Interrupt acknowledgement
If processing is to continue after a diagnostic interrupt, the diagnostic interrupt has
to be acknowledged with a restart (user DB, DBX37.5) when the error has been
remedied.
Internal errors cannot be acknowledged. External errors are self-acknowledging.

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11.2.3 Error messages in checkback signals

Overview
Operator/travel errors [BF/FS] and data errors/machine data errors/traversing pro-
gram errors [DF], are communicated to the user by way of checkback signals (call
of the POS_CTRL block) and operating errors by means of diagnostic interrupts
(see Section 6.3.4). The error-specification is stored in the form of an error number
(see error list in Table 11-6...11-8).
Error acknowledgement
Set/clear control signal [BFQ/FSQ]
or
on message [DF] ! write a new write job

Note
Invalid data are not accepted. The original data are retained.

Reading out the error number

The errors are identified by the detail event class (DEKL) and the detail event num-
ber (DENR).

Error technology class DEKL DENR Message

Operator control error 1 1–n Diagnostic interrupt
Operator errors 2 1–n Checkback signals
Travel errors 3 1–n Checkback signals
Data error 4 1–n Checkback signals
Machine data errors 5 1–n or
Data block
Traversing program errors 8 1–n

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Troubleshooting

11.2.4 Message in data block

Overview
Please note the following for direct access to DBs (e.g. using an OP).
If data errors/machine data errors/traversing program errors are detected when the
parameters are written to the data block (e.g. in the parameterization tool), an error
message is stored in the data block. The error-specification is stored in the form of
an error number in the corresponding data block (see error list in Table 11-8). The
error message occurs each time the data block is written to until the cause has
been eliminated.
It is recommended to scan the error message after every write operation.

11.2.5 Viewing the diagnostic buffer (PG/PC)

Overview
The last five error messages are stored in the diagnostic buffer.
There are two ways of proceeding:
1. In the S7 SIMATIC Manager select the menu File > Open > Accessible
Nodes.
2. In the Accessible Nodes window, select the MPI address of your module.
3. You can view the diagnostic buffer in the menu Target system > Module
status
or
1. Open your project in the S7 SIMATIC Manager.
2. Select the menu View > Online.
3. In the dialog box, select the FM 353 and the associated program.
4. You can view the diagnostic buffer in the menu Target system > Module
status

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11.3 Error lists

Note
In the following tables, please note:
The module response described under “Effect” refers to the error-specific module
response. The error response described in Table 11-2 occurs in addition.

11.3.1 Diagnostic interrupts

Overview
The diagnostic interrupts are listed according to error class in Tables 11-4, 11-5.

Table 11-4 Diagnostic interrupt

Byte. Error message, Message/

Bit error analysis and remedy Display
0.1 Internal errors Error response: “Everything Off”, as in Table 11-2
2.1 Communication disturbance SF
(8031) DC5V
Cause MPI/K-bus communication fault caused by unknown event
DIAG
Effect MPI interface inactive
Elimination S Check connection
S Check programming device/CPU
S Switch module on/off
S Replace module
2.3 Internal time monitoring circuit (Watchdog)
(8033)
Cause S Pronounced noise conditions on the FM 353
S Errors in the FM 353
Effect S Deactivate entire FM 353
S LED indicators: SF: ON
DIAG: Flashing cycle

Elimination S If this manual is observed, the errors should not occur

However, should this still be the case, please consult the re-
sponsible sales department. When doing so, it is vitally impor-
tant to also report the exact circumstances leading to the error.
S Replace the FM 353
Note: (xxxx) value = Hexadecimal notation in diagnostic buffer

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Troubleshooting

Table 11-4 Diagnostic interrupt, continued

Byte. Error message, Message/

Bit error analysis and remedy Display
0.1 Internal errors Error response: “Everything Off”, as in Table 11-2
2.4 Internal module power supply failure SF
(8034) DC5V
Cause S Drastic voltage dip
DIAG
S FM 353 power supply faulty
Effect Deactivate entire FM 353
Elimination S Check FM 353 power connection
S If FM 353 power supply defective, replace FM 353
3.2 FEPROM errors SF
(8042) DC5V
Cause Memory for firmware code faulty
DIAG
Effect
Elimination Replace the FM 353
3.3 RAM errors
(8043)
Cause S Faulty RAM data memory
S Faulty flash-EPROM data memory
Effect
Elimination Replace the FM 353
3.6 Process interrupt lost
(8046)
Cause S A process interrupt event was detected by the FM 353 and can-
not be reported, because the same event has not yet been ac-
knowledged by the user program/CPU.
S Faults on backplane bus
Effect
Elimination S Incorporate OB40 into user program
S Check bus connection of the module
S Deactivate using MD5 process interrupt
0.2 External errors Error response: “Everything Off”, as in Table 11-2
0.6 Module not parameterized SF
(8006) DC5V
Cause No MPI parameterization data received from the CPU
DIAG
Effect MPI interface is initialized with default values. MPI address = 12
Elimination Check parameterization, see S7-300 description

Note: (xxxx) value = Hexadecimal notation in diagnostic buffer

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Table 11-4 Diagnostic interrupt, continued

Byte. Error message, Message/

Bit error analysis and remedy Display
0.2, 0.3 External channel errors Error response: “Everything Off”, as in Table 11-2
8.2 Zero marker missing
SF
(8092)
Cause In “reference point approach” operating mode, no zero marker was DC5V
detected within one motor revolution after the reference point switch DIAG
was passed.
Effect
Elimination Check connection.
8.7 For operating errors, see Table 11-5
(8097)

Note: (xxxx) value = Hexadecimal notation in diagnostic buffer

Table 11-5 Operating errors

Error message, Mes-

error analysis and remedy sage/
Cl. No.
Dis-
play
Operating errors Error response: “Everything Off”, as in Table 11-2
1 (01) 1 (01) Software limit switch, beginning is passed Diag-
nostic
Cause Limit switch passed: in “Control” operating mode
inter-
Effect S The limit switch position is passed by the necessary stop- rupt
ping distance.
S Set actual value is not executed.
Elimination S Following acknowledgment of the error, it is possible to
traverse to the working range.
S Alter value of software limit switch (MD21)
S Switch off monitoring limit switch occasionally!
(With the limit switches (MD21/22) disabled, the
! travel range limits are established by the
maximum allowable values for the limit switches).

Cl. = Detail event class, No. = Detail event number

Note: Value (xx) = Hexadecimal notation of the error number

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Troubleshooting

Table 11-5 Operating errors, continued

Error message, Mes-

error analysis and remedy sage/
Cl. No.
Dis-
play
Operating errors Error response: “Everything Off”, as in Table 11-2
1 (01) 2 (02) Software limit switches, end is passed Diag-
nostic
Cause Limit switch passed: in “Control” operating mode
inter-
Effect S The limit switch position is passed by the necessary stop- rupt
ping distance.
S Set actual value is not executed.
Elimination S Following acknowledgment of the error, it is possible to
traverse to the working range.
S Alter value of software limit switch (MD22)
S Switch off monitoring limit switch occasionally!
(With the limit switches (MD21/22) disabled, the
! travel range limits are established by the
maximum allowable values for the limit switches).
1 (01) 3 (03) Beginning of traversing range passed Diag-
nostic
Cause When operating in “Control” operating mode with soft limits
inter-
disabled, the traversing range beginning was passed.
rupt
Effect The limit switch position is passed by the necessary stopping
distance.
Elimination Following acknowledgment of the error, it is possible to tra-
verse to the working range.
1 (01) 4 (04) Traversing range end passed Diag-
nostic
Cause When operating in “Control” operating mode with soft limits
inter-
disabled, the traversing range beginning was passed.
rupt
Effect The limit switch position is passed by the necessary stopping
distance.
Elimination Following acknowledgment of the error, it is possible to tra-
verse to the working range.
1 (01) 90 – 99 System errors Diag-
(5A – 63) nostic
Cause Internal errors in the module
inter-
Effect Undefined effects possible rupt
Elimination If this manual is observed, the errors should not occur LED
However, should this still be the case, please consult the “DIAG”
responsible sales department. When doing so, it is vitally blinking
important to also report the exact circumstances leading to
the error.

Cl. = Detail event class, No. = Detail event number

Note: Value (xx) = Hexadecimal notation of the error number

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11.3.2 Error messages

Overview
The errors are listed in Tables 11-6...11-8 according to error class.

Table 11-6 Operator errors

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Operator errors Error response: “Feed STOP” see Table 11-2
2 (02) 1 (01) Operating mode not allowed CBS
Cause The operating mode selected is not allowed.
Effect
Elimination Select an allowed operating mode
2 (02) 4 (04) Incorrect operating mode parameters CBS
Cause In the “Jogging” and “Control” operating modes, the speed or
frequency level selected is not 1 or 2. The setpoint number in
incremental operating mode is not allowed (1...100 and 254
allowed).
Effect
Elimination Set operating mode parameters to an allowable value.
2 (02) 5 (05) Start enable missing CBS
Cause A travel command was given in the absence of a start enable
(start, external start, R+ / R–)
Effect
Elimination Restore travel command and wait for start enable
2 (02) 9 (09) Axis is not synchronized CBS
Cause Synchronization of the axes is necessary in the “Incremental
relative”, “MDI” and “Automatic” operating modes.
Effect
Elimination Execute reference point approach
2 (02) 11 (0B) Direction specification not allowed CBS
Cause In operating modes “Jog”, “Control” or “Incremental relative”
the direction settings R+/R– are active at the same time. With
“Reference point operation” the direction setting no longer
agrees with the startup direction specified in the MD.
Effect
Elimination Per cause

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

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Troubleshooting

Table 11-6 Operator errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Operator errors Error response: “Feed STOP” see Table 11-2
2 (02) 12 (0C) Axis movement not possible CBS
Cause With an unacknowledged error, no drive enable or stop, a
traverse command was triggered.
Effect
Elimination Restore traverse command and switch acknowledge error or
Stop to inactive, or give drive enable.
2 (02) 13 (0D) Incremental value not in place CBS
Cause The setpoints defined by the operating mode parameters are
missing or a change in incremental dimensions occurred
when the operating mode started.
Effect
Elimination Parameterize and read in setpoint parameters
2 (02) 14 (0E) No program preselected CBS
Cause No program preselected at “Start.”
Effect
Elimination First preselect program then start.
2 (02) 15 (0F) Digital input not activated CBS
Cause The programmed target was reached in a block with external
block change (G50).
Effect
Elimination Check programming (MD34) and connection of digital input.
2 (02) 16 (10) Measurement function undefined CBS
Cause Length measurement and inprocess measurement selected
simultaneously
Effect No measurement function effective.
Elimination Reselect one of the two measurement functions.
2 (02) 21 (15) Activate machine data not allowed CBS
Cause Processing running is still active (Note Section 7.3.1)
Effect Activate machine data not executed
Elimination Terminate processing, repeat activate

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

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Table 11-6 Operator errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Operator errors Error response: “Feed STOP” see Table 11-2
2 (02) 22 (16) On-the-fly MDI block inoperative CBS
Cause MDI block inactive or already executed
Effect On-the-fly MDI block is not being processed
Elimination Delete error message and initiate execution as MDI block.

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

Table 11-7 Travel errors

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 1 (01) Software limit switch, beginning CBS
Cause Limit switch approached: in “Jogging” mode, in “Automatic”
operating mode if G88/89, without switching signal from the
corresponding digital input.
The axis is located to the left of the software limit switch be-
cause of actual value set.
Effect S Axis movement is stopped at the limit switch position.
S Set actual value is not executed.
Elimination S Following acknowledgment of the error, it is possible to
traverse to the working range.
S Alter value of software limit switch (MD21)
S Switch off monitoring limit switch occasionally!
(With the limit switches (MD21/22) disabled, the
! travel range limits are established by the
maximum allowable values for the limit switches).

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-15
Troubleshooting

Table 11-7 Travel errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 2 (02) Software limit switch, end CBS
Cause Limit switch approached: in “Jogging” mode, in “Automatic”
operating mode if G88/89, without switching signal from the
corresponding digital input.
The axis is located to the right of the software limit switch
because of actual value set.
Effect S Axis movement is stopped at the limit switch position.
S Set actual value is not executed.
Elimination S Following acknowledgment of the error, it is possible to
traverse to the working range.
S Alter value of software limit switch (MD22)
S Switch off monitoring limit switch occasionally!
(With the limit switches (MD21/22) disabled, the
! travel range limits are established by the
maximum allowable values for the limit switches).
3 (03) 3 (03) Traversing range beginning approached CBS
Cause S During traversing with soft limit switches disabled, the
traversing range beginning was approached.
S The axis is located to the left of the traversing range
beginning because of actual value set.
(Traversing range: "109)
Effect S Axis movement is stopped at the traversing range limit.
S Set actual value is not executed.
Elimination Travel in the opposite direction
3 (03) 4 (04) Traversing range end approached CBS
Cause S During traversing with soft limit switches disabled, the
traversing range end was approached.
S The axis is located to the left/right of the traversing range
end because of actual value set.
(Traversing range: "109)
Effect S Axis movement is stopped at the traversing range limit.
S Set actual value is not executed.
Elimination Travel in the opposite direction

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-16 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-7 Travel errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 5 (05) Target position not within traversing range CBS
Cause S The position to be approached is outside the working
range limited by the software limit switches.
S The rotary axis programming is specified as a reference
value which does not fall within the positive complete
circle.
S With G64 block sequences on rotary axes, a path has
been specified further than the traversing range in up to
five following blocks.
Effect
Elimination S Correct position to be approached.
S Alter value of software limit switch (MD)
S With G64 block sequences, program smaller positions in
several traversing blocks.
S Switch off monitoring limit switch occasionally!
(With the limit switches (MD21/22) disabled, the
! travel range limits are established by the
maximum allowable values for the limit switches).
3 (03) 23 (17) Target velocity zero CBS
Cause S Zero was entered as programmed velocity.
S No feed was programmed for positioning.
Effect
Elimination Input an allowable velocity value
3 (03) 28 (1C) M2/M30 missing CBS
Cause S In the last program set, block, no M2, M30 or M18 is pro-
grammed.
S The last program set, block is a skip block.
Effect Axis movement is prevented.
Elimination Per causes

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-17
Troubleshooting

Table 11-7 Travel errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 30 (1E) Digital input not parameterized CBS
Cause For the following functions, no necessary digital input is para-
meterized:
S Set travel with actual value on the fly (G88, G89)
S External block change (G50)
S Measurement
S Rotation monitoring
Effect Functions are not started.
Elimination Parameterization of the digital inputs by way of MD34 or
MD37
3 (03) 35 (23) Tool offset value not in place CBS
Cause No tool offset values are available on the FM 353 or tool off-
sets are accessed and modified when an override is active.
Effect
Elimination Parameterize and read in tool offset values
3 (03) 36 (24) Set actual value on the fly, incorrect value CBS
Cause Value is no longer within the range"109
Effect
Elimination Input a correct value
3 (03) 37 (25) MDI block on the fly, incorrect syntax CBS
Cause Incorrect M or G commands or incorrect block structure
Effect
Elimination Input a correct MDI block
3 (03) 38 (26) MDI block on the fly, incorrect velocity CBS
Cause Velocity not within the range between > 0 and max. allowable
traverse velocity (500 000 000 MSR/min)
Effect
Elimination Input a correct MDI block

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-18 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-7 Travel errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 39 (27) MDI-block on the fly, incorrect position or dwell time CBS
Cause Position or dwell time is outside allowable values.
Position: "109 MSR
Dwell time: > 100,000 ms
Effect
Elimination Input a correct MDI block
3 (03) 40 (28) MDI-block on the fly erroneous CBS
Cause Incorrect block syntax
Effect
Elimination Input a correct MDI block
3 (03) 61 (3D) Servo enable missing CBS
Cause Traverse command of the axis without servo enable (except
for “Control” operating mode)
Effect No axis movement
Elimination Set servo enable by way of user program
3 (03) 62 (3E) Servo not ready for operation CBS
Cause Axis started without Servo ready message
Effect No axis movement
Elimination S Check drive/connecting cables
S Analysis of the “Controller ready” message can be dis-
abled by MD37!
3 (03) 66 (42) Rotation monitoring CBS
Cause Increment loss, see Section 9.7.3
Effect
Elimination S Check drive
S Check MD39, MD51
3 (03) 67 (43) Boost duration absolute exceeded CBS
Cause Acceleration phase too long
Effect
Elimination S Check MD48
S Change drive configuration
S Change technology (axis traversing cycle)
Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-19
Troubleshooting

Table 11-7 Travel errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Travel errors Error response: “Feed STOP” see Table 11-2
3 (03) 68 (44) Boost duration relative exceeded CBS
Cause Acceleration phases too high in component compared with
idle/constant travel
Effect
Elimination S Check MD49
S Change drive configuration
S Change technology (axis traversing cycle)
Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

Table 11-8 General data errors, machine data errors, traversing program errors

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4 (04) 1 (01) Data at time of transmission unacceptable CBS
Cause Data not transmitted in appropriate operating mode or
DB
Effect Data not accepted
Elimination Transmit data in appropriate operating mode
4 (04) 2 (02) Velocity level 1 incorrect CBS
Cause Velocity not within the range between > 0 and max. allow- or
able traverse velocity (500 000 000 MSR/min) DB
Effect Velocity does not become effective
Elimination Input an allowed velocity value
4 (04) 3 (03) Velocity level 2 incorrect CBS
Cause Velocity not within the range between > 0 and max. allow- or
able traverse velocity (500 000 000 MSR/min) DB
Effect Velocity does not become effective
Elimination Input an allowed velocity value
4 (04) 4 (04) Frequency level 1 incorrect CBS
Cause Specified frequency does fall not within range of 200 kHz or or
less DB
Effect Frequency level does not become effective
Elimination Input an allowed frequency value

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-20 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4 (04) 5 (05) Frequency level 2 incorrect CBS
Cause Specified frequency does fall not within range of 200 kHz or or
less DB
Effect Frequency level does not become effective
Elimination Input an allowed frequency value
4 (04) 6 (06) Preset incremental value too high CBS
Cause Incremental value is greater than 109 MSR or
DB
Effect Original incremental value is retained
Elimination Input an allowable incremental value
4 (04) 7 (07) MDI block, incorrect syntax CBS
Cause Incorrect M or G commands or incorrect block structure or
DB
Effect Original MDI block is retained
Elimination Input a correct MDI block
4 (04) 8 (08) MDI block, incorrect velocity CBS
Cause Velocity not within the range between > 0 and max. allow- or
able traverse velocity (500 000 000 MSR/min) DB
Effect Original MDI block is retained
Elimination Input a correct MDI block
4 (04) 9 (09) MDI block, position or dwell time incorrect CBS
Cause Position or dwell time falls outside the allowable values or
Position: "109 MSR DB
Dwell time: > 100,000 ms
Effect Original MDI block is retained
Elimination Input a correct MDI block
4 (04) 10 (0A) Zero offset value, offset value incorrect CBS
Cause Value falls outside the range "109 MSR or
DB
Effect Does not become effective
Elimination Input a correct value
4 (04) 11 (0B) Set actual value, actual value incorrect CBS
Cause Actual value falls outside the software limit switches or out- or
side DB
the range "109 MSR
Effect Set actual value does not become effective
Elimination Input a correct value

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-21
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4 (04) 12 (0C) Set reference point value, reference point incorrect CBS
Cause Value falls outside the range "109 MSR or
DB
Effect Set reference point does not become effective
Elimination Input a correct value
4(04) 13 (0D) Digital output not possible CBS
Cause Output not available for direct output of the user program or
DB
Effect Output is not executed
Elimination S Correct user program
S Correct parameterization of the output assignment within
the MD35 to the desired assignment
4(04) 14 (0E) Request application data incorrect CBS
Cause Incorrect request code or
DB
Effect Old application data are retained
Elimination Request code 0-6, 16-23 and 25 possible
4(04) 15 (0F) Teach In, program number incorrect CBS
Cause The program was not parameterized or read in. or
DB
Effect Teach In is not executed
Elimination Parameterize and read in program or correct program num-
ber
4(04) 16 (10) Teach In, block number incorrect CBS
Cause The block number in the program selected is not in place. or
DB
Effect Teach In is not executed
Elimination Specify correct block number
4(04) 17 (11) Teach In, dwell time or subprogram request in block CBS
Cause The block number in the program selected is not in place or or
incorrect block number was selected. DB
Effect Teach In is not executed
Elimination Specify correct block number
4(04) 18 (12) Teach In, no axis stoppage CBS
Cause Axis is still in motion or
DB
Effect Teach In is not executed
Elimination Stop axis and repeat task

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-22 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4(04) 40 (28) Transmit non-relevant data CBS
Cause The data (data blocks) transmitted are unknown to the FM or
353 DB
Effect Data not accepted
Elimination Correct user program
4(04) 81 (51) Programmable modules communication: unauthorized DB type CBS
82 (52) Programmable modules communication: Info 1 incorrect or
83 (53) Programmable modules communication: Info 2 incorrect
DB
84 (54) Programmable modules communication: unauthorized task
85 (55) Programmable modules communication: data errors
Cause Incorrect data
Effect Task is not executed
Elimination Correct and retransmit
4(04) 120 (78) Measurement system grid deviates CBS
Cause The measurement system in the DBs “NC, SM, TO” does not or
agree with MD7. DB
Effect DB does not become effective and is non-retentively stored
Elimination Correct and retransmit
4 (04) 121 (79) Incorrect DB type in the module CBS
Cause A incorrect typeis of DB has been transmitted into the or
FM 353 DB
Effect DB does not become effective and is stored non-retentively
Elimination Delete DB, correct and retransmit
4 (04) 122 (7A) DB type or DB no. already exists CBS
Cause DB type already in place or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Delete corresponding DB prior to transmission
4 (04) 123 (7B) NC program number already exists CBS
Cause NC program number already exists or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Prior to transmission, delete corresponding DB with the pro-
gram number

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-23
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4 (04) 124 (7C) Parameter “Protect” incorrect CBS
Cause Coding not 0 or 1 or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Coding not 0 or 1
4 (04) 125 (7D) DB memory filed CBS
Cause The available memory is assigned or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Delete unnecessary programs (DBs) or compress memory
by way of parameterization interface
4 (04) 126 (7E) Allowable program length exceeded CBS
Cause Number of blocks too high or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct program and retransmit
4 (04) 127 (7F) Writing parameters/data is not possible CBS
Cause Axis does not come to a stop or
DB
Effect Parameters/data do not become effective
Elimination Stop axis
4 (04) 128 (80) Incorrect module identification CBS
Cause DBs which do not belong to the module were transmitted or
(no identification 353) DB
Effect DB does not become effective and is not stored modally
Elimination Transmit the DBs belonging to the FM 353
4 (04) 129 (81) Incremental value, incorrect value CBS
Cause Value range outside "109 or
DB
Effect Incremental value not effective
Elimination Transmit correct value
4 (04) 130 (82) Tool offset, incorrect value CBS
Cause Value range outside "109 or
DB
Effect Tool offset not effective
Elimination Transmit correct value

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-24 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
General data errors Error response: “Warning” see Table 11-2
4 (04) 131 (83) Not possible to insert block CBS
Cause Memory full or
DB
Effect Function is not executed
Elimination Delete unnecessary DBs and repeat function
4 (04) 132 (84) Not possible to delete block CBS
Cause Block does not exist, no “assignment bits” (bytes 2 and 3) or
enabled in block (when data available). DB
Effect Function is not executed
Elimination Check program and repeat function with correct block num-
ber
4 (04) 144(90) SDB cannot be loaded CBS
Cause Module not at standstill or
DB
Effect SDB is rejected
Elimination Stop module and retry load operation
4 (04) 145(91) SDB user data error CBS
Cause SDB contains value error or
DB
Effect SDB is rejected
Elimination Generate SDB with parameter assignment tool and retry
load operation

Machine data errors Error response: “Warning” see Table 11-2

5 (05) 7 (07) Measurement system CBS
Cause The measurement system grid (MSR) entered does not or
agree with the MSR in the other DBs of the module. DB
Effect DB does not become effective and is stored non-retentively
Elimination S Check MSR and correct as necessary
S When making correct input, delete the other DBs on the
module before retransmitting.
5 (05) 8 (08) Type of axis CBS
Cause No linear or rotary axis parameterized or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-25
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Machine data errors Error response: “Warning” see Table 11-2
5 (05) 9 (09) Rotary axis CBS
11 (0B) Travel per motor revolution or
12 (0C) Residual distance per motor revolution
DB
13(0D) Increments per motor revolution
16 (10) Reference point approach coordinates
Cause S Impermissible value range or
S dependency violation on no. 9, 11, 12, 13
(see Section 5.3.1)
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 18 (12) Type of reference point travel CBS
Cause Unacceptable type of reference point travel or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 21 (15) Software limit switch, begin CBS
22 (16) Software limit switch, end or
23 (17) Maximum velocity
DB
27 (1B) Reference point offset
28 (1C) Referencing velocity
29 (1D) Reducing velocity
30 (1E) Backlash compensation
Cause S Impermissible value range or
S dependency violation on no. 21, 22, 28, 29
(see Section 5.3.1)
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 31 (1F) Backlash vector reference CBS
Cause Backlash vector reference undefined or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 32 (20) Type of output, M-function CBS
Cause Type of output, M-function not defined or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-26 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Machine data errors Error response: “Warning” see Table 11-2
5 (05) 33 (21) Output time, M-function CBS
Cause Unacceptable value range or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 34 (22) Digital inputs CBS
Cause Inputs undefined or defined more than once or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 35 (23) Digital outputs CBS
Cause Outputs undefined or defined more than once or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 36 (24) Input adapter CBS
Cause Input adapter undefined or
DB
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 52 (34) Velocity for backlash compensation CBS
53 (35) Backlash compensation mode or
Cause Impermissible value range or dependency violation DB
(see Section 5.3.1).
Effect DB does not become effective and is stored non-retentively.
Elimination Correct and retransmit.
5 (05) 67(43) Special control signals CBS
68 (44) Number of increments per current-sourcing cycle or
Cause Impermissible value range or dependency violation on no. DB
68 (see Section 5.3.1)
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-27
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Machine data errors Error response: “Warning” see Table 11-2
5 (05) 69(45) Start/Stop frequency CBS
70 (46) Frequency value for acceleration switchover or
71 (47) Maximum frequency
DB
72 (48) Acceleration 1
73 (49) Acceleration 2
74 (4A) Delay 1
75 (4B) Delay 2
Cause S Impermissible value range, see “Working range, fre-
quency generator” or
S dependency violation on no. 70...75
(see Section 5.3.1)
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 76(4C) Minimum stoppage time between two positioning operations CBS
77(4D) minimum traversing time at constant frequency or
78(4E) Boost duration absolute
DB
79(4F) Boost duration relative
80(50) Phase current traversing
81(51) Phase current zero speed
Cause Unacceptable value range
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 96 (60) Software limit unacceptable CBS
Cause With linear axes: or
Software begin limit switch greater than software limit switch DB
end
with rotary axes:
Software begin/end limit switches not within rotary axis cycle
and not at maximum input value.
Effect DB does not become effective and is stored non-retentively
Elimination Correct and retransmit
5 (05) 99 (63) Impermissible actual value evaluation factor CBS
Cause Impermissible relationship in the assignments for distance or
per motor revolution (MD11, 12) and increments per motor DB
revolution (MD13) (see Section 5.3.1).
Effect DB does not become effective and is stored non-retentively.
Elimination Correct and retransmit.

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-28 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Machine data errors Error response: “Warning” see Table 11-2
5 (05) 102 (66) Limitation, software limit for linear axis CBS
Cause For step resolutions < 1 MSR, the permissible traversing or
range in the ratio of MSR to increments is limited (e.g. for 0.5 DB
μm per step to 0.5@109 MSR) (see Section 5.3.1).
Effect DB does not become effective and is stored non-retentively.
Elimination Correct and retransmit.

Traversing program errors Error response: “Warning” see Table 11-2

8 (08) 1 (01) Program selection, subprogram number incorrect CBS
Cause S The subroutine requested in the program is not in place or
on the FM 353. DB
S The subprogram called in the program contains another
subprogram call. Nesting is not possible.
Effect Program selection is not executed
Elimination S Parameterize and read in program, correct as necessary
S Select another program
8 (08) 8 (08) Program selection, program number not in place CBS
Cause The program was not parameterized, not in place on the or
FM 353. DB
Effect Program selection is not executed
Elimination S Parameterize and read in program, correct as necessary
S Select another program
8 (08) 9 (09) Program selection, block number not in place CBS
Cause The block number is missing in the program selected or
DB
Effect Program selection is not executed
Elimination S Correct program
S Select different block number
8 (08) 10 (0A) Program, block number unacceptable CBS
Cause Block number missing or outside of the number range or
DB
Effect Program is not stored
Elimination Correct program

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-29
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Traversing program errors Error response: “Warning” see Table 11-2
8 (08) 11 (0B) Program selection, direction specification incorrect CBS
Cause Direction specification incorrect or
DB
Effect Program selection is not executed
Elimination Correct program selection and repeat.
8 (08) 12 (0C) Program selection unacceptable CBS
Cause Another program was preselected during a movement or
DB
Effect Program selection is not executed
Elimination Use STOP to stop program in progress, or repeat program
selection at end of program.
8 (08) 20 (14) Error, program number CBS
Cause Program numbers in the blocks incorrect or
DB
Effect Program is not stored
Elimination Correct program, per cause
8 (08) 21 (15) No block in program CBS
Cause No block in program or
DB
Effect Program is not stored
Elimination Correct program, per cause
8 (08) 22 (16) Error, block number CBS
Cause Block number value range incorrect or
DB
Effect Program is not stored
Elimination Correct program
8 (08) 23 (17) Block number sequence incorrect CBS
Cause Block number not in ascending order or
DB
Effect Program is not stored
Elimination Correct program
8 (08) 24 (18) G function 1 unacceptable CBS
Cause S The number programmed as G function 1 is not allowed. or
S In block, other data besides M functions were pro- DB
grammed with dwell time (G04).
Effect Program/block not stored
Elimination Correct program, per cause

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-30 6ES7 353-1AH01-8BG0
 Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Traversing program errors Error response: “Warning” see Table 11-2
8 (08) 25 (19) G function 2 unacceptable CBS
Cause The number programmed as G function 2 is not allowed. or
DB
Effect Program/block not stored
Elimination Correct program, per cause
8 (08) 26 (1A) G function 3 unacceptable CBS
Cause S The number programmed as G function 3 is not allowed. or
S External block change (G50) was programmed in a block DB
together with continuous operation for setting actual
value on the fly (G88/89).
S A tool offset (G43, G44) was called up without D number.
S In selecting a D number, the direction specification is
missing for the tool offset (G43, G44).
Effect Program/block not stored
Elimination Correct program, per cause
8 (08) 27 (1B) M-function unacceptable CBS
Cause S The number programmed as M-function is not allowed. or
S At least two of the M functions M0, M2, M18, M30, which DB
cancel each other out, are found in one block.
Effect Program/block not stored
Elimination Correct program, per cause
8 (08) 28 (1C) Position/dwell time missing CBS
Cause S No dwell time specified in block with G04. or
S Target position missing with external block change DB
(G50).
S No new actual value programmed for the function contin-
uous operation with setting actual value on the fly
(G88/89).
Effect Program/block not stored
Elimination Correct program, per cause
8 (08) 29 (1D) Incorrect D-NO (>20) CBS
Cause The number for tool offset is greater than 20 or
DB
Effect Program/block not stored
Elimin. Correct program, per cause

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 11-31
Troubleshooting

Table 11-8 General data errors, machine data errors, traversing program errors, continued

Error message, Mes-

Cl. No. error analysis and remedy sage/
Display
Traversing program errors Error response: “Warning” see Table 11-2
8 (08) 30 (1E) Error, subroutine CBS
Cause Subroutine without number of runs or
DB
Effect Program is not stored
Elimination Correct program, per cause
8 (08) 31 (1F) Velocity missing CBS
Cause No velocity was programmed or
DB
Effect Program/block not stored
Elimination Correct program, per cause
8 (08) 32 (20) Error, callup subroutine CBS
Cause Block syntax for callup subroutine is incorrect or
DB
Effect Program is not stored
Elimination Correct program, per cause
8 (08) 33 (21) D function unacceptable CBS
Cause Block syntax for invoking a D function is incorrect or
DB
Effect Program is not stored
Elimination Correct program, per cause
8 (08) 34 (22) Incorrect program length CBS
Cause Maximum block number exceeded or
DB
Effect Program is not stored
Elimination Correct program, per cause

Cl. = Detail event class, No. = Detail event number, CBS = checkback signals, DB = data block
Note: Value (xx) = Hexadecimal notation of the error number

FM 353 Stepper Drive Positioning Module

11-32 6ES7 353-1AH01-8BG0
Technical Specifications A
Overview
This chapter describes the technical data for the FM 353 positioning module.
S General technical data
S Dimensions and weight
S Load memory
S Drive port
S Digital inputs
S Digital outputs

General technical data

General technical data include:
S Electromagnetic compatibility
S Shipping and storage conditions
S Ambient mechanical and climate conditions
S Data on insulation testing, protection class and degree of protection
This information contains standards and test values incorporated into the S7-300
with which it is also in compliance with, or according to whose criteria the S7-300
was tested.
The general technical data are described in the manual “Installing an S7-300.”

UL/CSA certifications
The following certifications are on record for the FM 353:
UL Recognition Mark
Underwriters Laboratories (UL) in compliance with
UL Standard 508, File E 164110
CSA Certification Mark
Canadian Standard Association (CSA) in compliance with
Standard C 22.2 No. 142

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 A-1
Technical Specifications

FM approval
The FM approval is on record for the FM 353:
FM certification in accordance with Factory Mutual Approval Standard Class Num-
ber 3611, Class I, Division 2, Group A, B, C, D.

Warning
! Potential for personal injury and property damage.
In areas where there is a risk of explosion, personal injury and property damage
may occur if you disconnect plugs while the S7-300 is in operation.
In areas where there is a risk of explosion, always cut off power to the S7-300 be-
fore disconnecting plugs.

Warning
! WARNING - NEVER DISCONNECT WHILE CIRCUIT IS LIVE
UNLESS LOCATION IS KNOWN TO BE NONHAZARDOUS

CE marking
Our products are in compliance with the EU Guideline 89/336/EEC “Electromag-
netic Compatibility” and the harmonized European standards (EN) which it embo-
dies.
The EC Declaration of Conformity in accordance with Article 10 of the EU Guide-
line referenced above can be found on the Internet at:
http://support.automation.siemens.com/WW/view/de/15257461

Application
SIMATIC products are designed for application in an industrial environment.

Application Requirement concerning

Noise emission Noise immunity
Industry EN 50081-2 : 1993 EN 61000-6-2 : 1999

Observe installation guidelines

SIMATIC products meet the requirements, provided you observe the installation
guidelines set forth in the manuals during installation and operation.

FM 353 Stepper Drive Positioning Module

A-2 6ES7 353-1AH01-8BG0
 Technical Specifications

Connected load
Technical data: Connected load

Table A-1 Connected load

Supply voltage 20.4 – 28.8 V

Power consumption from 24 V 0.3 A
Power loss 7W
Startup current 2.1 A
Power consumption from 5 V back- 100 mA
plane bus

Dimensions and weights

Technical data for dimensions and weights:

Table A-2 Technical data: dimensions and weight

Dimensions W H D [mm/in] 80 125 118

Weight [g/lb] approx. 550 / 1 lb, 3.3 oz

Memory for parameter data

RAM memory 16 Kbytes
FEPROM for retentive storage of parameter data

FM cycle
2 ms

Drive port
Technical data on drive port:

Table A-3 Technical data: on drive port

Signal voltage 5 V, RS422-compliant

Max. pulse frequency 200 kHz

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 A-3
Technical Specifications

Digital inputs
Technical data for digital inputs:

Table A-4 Technical data: digital inputs

Number of inputs 5 (including controller ready)

Supply voltage 24 V DC
(allowable range: 20.4 – 28.8 V)
Electrical isolation No
Input voltage S 0 signal: –3 – 5 V
S 1 signal: 11 – 30 V
Input current S 0 signal: ≤ 2 mA
S 1 signal: 6 – 15 mA
Input delay (DE1 – 4) S 0 → 1 signal: type 15 μs
S 1 → 0 signal: type 150 μs
Connecting a 2-conductor sensor Possible

Digital outputs
Technical data for digital outputs:

Table A-5 Technical data: digital outputs

Number of outputs 4
Supply voltage 24 V DC
(allowable range: 20.4 – 28.8 V)
Electrical isolation No
Output voltage S 0 signal: Residual current max. 2 mA
S 1 signal: (Power supply –3 V)
Output current on signal “1”
S at ambient temperature of
40_C
– Rated value 0.5 A (total current 2 A)
– Permissible value range 5 mA...0.6 A (over power supply range)
– Lamp load max. 5 W
S at ambient temperature of
60_C
– Rated value 0.1 A (total current 0.4 A)
– Permissible value range 5 mA...0.12 A (over power supply)
Output delay S 0 → 1 signal: type 300 μs
S 1 → 0 signal: type 300 μs
Short circuit Yes
Switching rate S Resistive load: max. 100 Hz
S Inductive load: max. 0.25 Hz

FM 353 Stepper Drive Positioning Module

A-4 6ES7 353-1AH01-8BG0
User Data Block (AW-DB) B
Table B-1 User data block (AW–DB)

Adresse
Variable Data type Comment
absolut
General addresses
0 MOD_ADR INT Module address
2...13.5 Reserved
13.6 MODE_BUSY BOOL Execution started
13.7 POS_REACHED BOOL Position
Control signals
14.0 Reserved
14.1 TEST_EN BOOL Switch to P bus Start-up
14.2 Reserved
14.3 OT_ERR_A BOOL Acknowledge operator/traversing error
14.4...14.7 Reserved
15.0 START BOOL Start
15.1 STOP BOOL Stop
15.2 DIR_M BOOL Negative direction
15.3 DIR_P BOOL Positive direction
15.4 ACK_MF BOOL Acknowledge M function
15.5 READ_EN BOOL Read-in enable
15.6 SKIP_BLK BOOL Block skip
15.7 DRV_EN BOOL Drive enable
16 MODE_IN BYTE Operating mode
17 MODE_ TYPE BYTE Operating mode parameters
18 OVERRIDE BYTE Override
19...21 Reserved
Checkback signals
22.0 Reserved
22.1 TST_STAT BOOL Switch to P bus completed
22.2 Reserved
22.3 OT_ERR BOOL Operator/traversing error

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-1
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
22.4 DATA_ERR BOOL Data error
22.5...22.6 Reserved
22.7 PARA BOOL Channel parameterizell
23.0 ST_ENBLD BOOL Start enable
23.1 WORKING BOOL Machining in progress
23.2 WAIT_EI BOOL Wait for external enable
23.3...23.4 Reserved
23.5 DT_RUN BOOL Dwell in progress
23.6 PR_BACK BOOL Reverse prog. scan
23.7 Reserved
24 MODE_OUT BYTE Active operating mode
25.0 SYNC BOOL Channel synchronized
25.1 MSR_DONE BOOL End of measurement
25.2 GO_M BOOL Negative travel
25.3 GO_P BOOL Positive travel
25.4 ST_SERVO BOOL Servo enable status
25.5 FVAL_DONE BOOL On-the-fly setting of actual value completed
25.6 Reserved
25.7 POS_RCD BOOL Position reached. Stop.
26 NUM_MF BYTE M function number
27.0...27.3 Reserved
27.4 STR_MF BOOL M function strobe signal
27.5...33 Reserved
28...31 ACT_POS DINT Actual position
32...33 Reserved
Initiation signals for single settings
34.0 SERVO_EN BOOL Controller enable
34.1 GAUG_FLY BOOL On-the-fly measuring
34.2...34.4 Reserved
34.5 TRAV_MON BOOL Rotation monitoring
34.6 PARK_AX BOOL Parking axis
34.7 SIM_ON BOOL Simulation on
35.0...35.1 Reserved
35.2 MSR_EN BOOL Length measurement
35.3 REF_TRIG BOOL Retrigger reference point
35.4 DI_OFF BOOL Enable input disabled

FM 353 Stepper Drive Positioning Module

B-2 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
35.5 Reserved
35.6 SSW_DIS BOOL Software limit positions disabled
35.7 Reserved
Initiation signals for single commands
36 Reserved
37.0 MD_EN BOOL Activate MD
37.1 DELDIST_EN BOOL Delete residual distance
37.2 SEARCH_F BOOL Automatic block advance
37.3 SEARCH_B BOOL Automatic block return
37.4 Reserved
37.5 RESET_AX BOOL Restart
37.6 AVALREM_EN BOOL Rescind setting of actual value
37.7 Reserved
Initiation signals for Write requests
38.0 VLEV_EN BOOL Speed levels 1, 2
38.1 CLEV_EN BOOL Frequency levels 1, 2
38.2 TRG254_EN BOOL Setpoint for incremental dimension
38.3 MDI_EN BOOL MDI block
38.4 MDIFLY_EN BOOL On-the-fly MDI block
38.5 Reserved
38.6 REFPT_EN BOOL Set reference point
38.7 AVAL_EN BOOL Set actual value
39.0 FVAL_EN BOOL On-the-fly setting of actual value
39.1 ZOFF_EN BOOL Zero offset
39.2 Reserved
39.3 PARCH_EN BOOL Modify parameters/data
39.4 DIGO_EN BOOL Digital outputs
39.5 PROGS_EN BOOL Program selection
39.6 REQAPP_EN BOOL Request application data
39.7 TEACHIN_EN BOOL Teach-in
40...41 Reserved
Initiation signals for Read requests
42.0 OPDAT_EN BOOL Basic operating data
42.1 ACT_BL_EN BOOL Active NC block
42.2 NXT_BL_EN BOOL Next NC block
42.3 BLEXT_EN BOOL Actual value block change

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-3
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
42.4 SERVDAT_EN BOOL Service data
42.5 OC_ERR_EN BOOL Operating error no.
42.6...43.2 Reserved
43.3 PARRD_EN BOOL Parameter/data
43.4 DIGIO_EN BOOL Dig. inputs/outputs
43.5 OPDAT1_EN BOOL Additional operating data
43.6 APPDAT_EN BOOL Application data
43.7 MSRRD_EN BOOL Read measured values
Ready signals (for Initiation signals, single settings)
44.0 SERVO_D BOOL Controller enable
44.1 GAUG_FLY_D BOOL On-the-fly measuring
44.2...44.4 Reserved
44.5 TRAV_MON_D BOOL Rotation monitoring
44.6 PARK_AX_D BOOL Parking axis
44.7 SIM_ON_D BOOL Simulation on
45.0...45.1 Reserved
45.2 MSR_D BOOL Length measurement
45.3 REF_TRIG_D BOOL Retrigger reference point
45.4 DI_OFF_D BOOL Enable input disabled
45.5 Reserved
45.6 SSW_DIS_D BOOL Software limit positions disabled
45.7 Reserved
Ready signals (for Initiation signals, single commands)
46 Reserved
47.0 MD_D BOOL Activate MD
47.1 DELDIST_D BOOL Delete residual distance
47.2 SEARCH_F_D BOOL Automatic block advance
47.3 SEARCH_B_D BOOL Automatic block return
47.4 Reserved
47.5 RESET_AX_D BOOL Restart
47.6 AVALREM_D BOOL Rescind setting of actual value
47.7 Reserved
Ready signals (for Initiation signals for Write requests)
48.0 VLEV_D BOOL Speed levels 1, 2
48.1 CLEV_D BOOL Frequency levels 1, 2
48.2 TRG254_D BOOL Setpoint for incremental dimension

FM 353 Stepper Drive Positioning Module

B-4 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
48.3 MDI_D BOOL MDI block
48.4 MDIFLY_D BOOL On-the-fly MDI block
48.5 Reserved
48.6 REFPT_D BOOL Set reference point
48.7 AVAL_D BOOL Set actual value
49.0 FVAL_D BOOL On-the-fly setting of actual value
49.1 ZOFF_D BOOL Zero offset
49.2 Reserved
49.3 PARCH_D BOOL Modify parameters/data
49.4 DIGO_D BOOL Digital outputs
49.5 PROGS_D BOOL Program selection
49.6 REQAPP_D BOOL Request application data
49.7 TEACHIN_D BOOL Teach-in
50...51 Reserved
Ready signals (for Initiation signals for Read requests)
52.0 OPDAT_D BOOL Basic operating data
52.1 ACT_BL_D BOOL Active NC block
52.2 NXT_BL_D BOOL Next NC block
52.3 BLEXT_D BOOL Actual value block change
52.4 SERVDAT_D BOOL Service data
52.5 OC_ERR_D BOOL Operating error read
52.6 OT_ERR_D BOOL Operator/traversing error read
52.7 DA_ERR_D BOOL Data error read
53.0...53.2 Reserved
53.3 PARRD_D BOOL Parameter/data
53.4 DIGIO_D BOOL Dig. inputs/outputs
53.5 OPDAT1_D BOOL Additional operating data
53.6 APPDAT_D BOOL Application data
53.7 MSRRD_D BOOL Read measured values
Error signals (for Initiation signals, single settings)
54.0 SERVO_ERR BOOL Controller enable
54.1 GAUG_FLY_ERR BOOL On-the-fly measuring
54.2...54.4 Reserved
54.5 TRAV_MON_ERR BOOL Rotation monitoring
54.6 PARK_AX_ERR BOOL Parking axis
54.7 SIM_ON_ERR BOOL Simulation on

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-5
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
55.0...55.1 Reserved
55.2 MSR_ERR BOOL Length measurement
55.3 REF_TRIG_ERR BOOL Retrigger reference point
55.4 DI_OFF_ERR BOOL Enable input disabled
55.5 Reserved
55.6 SSW_DIS_ERR BOOL Software limit positions disabled
55.7 Reserved
Error signals (for Initiation signals, single commands)
56 Reserved
57.0 MD_ERR BOOL Activate MD
57.1 DELDIST_ERR BOOL Delete residual distance
57.2 SEARCH_F_ERR BOOL Automatic block advance
57.3 SEARCH_B_ERR BOOL Automatic block return
57.4 Reserved
57.5 RESET_AX_ERR BOOL Restart
57.6 AVALREM_ERR BOOL Rescind setting of actual value
57.7 Reserved
Error signals (for Initiation signals for Write requests)
58.0 VLEV_ERR BOOL Speed levels 1, 2
58.1 CLEV_ERR BOOL Frequency levels 1, 2
58.2 TRG254_ERR BOOL Setpoint for incremental dimension
58.3 MDI_ERR BOOL MDI block
58.4 MDIFLY_ERR BOOL On-the-fly MDI block
58.5 Reserved
58.6 REFPT_ERR BOOL Set reference point
58.7 AVAL_ERR BOOL Set actual value
59.0 FVAL_ERR BOOL On-the-fly setting of actual value
59.1 ZOFF_ERR BOOL Zero offset
59.2 Reserved
59.3 PARCH_ERR BOOL Modify parameters/data
59.4 DIGO_ERR BOOL Digital outputs
59.5 PROGS_ERR BOOL Program selection
59.6 REQAPP_ERR BOOL Request application data
59.7 TEACHIN_ERR BOOL Teach-in
60...61 Reserved
Error signals (for Initiation signals for Read requests)

FM 353 Stepper Drive Positioning Module

B-6 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
62.0 OPDAT_ERR BOOL Basic operating data
62.1 ACT_BL_ERR BOOL Active NC block
62.2 NXT_BL_ERR BOOL Next NC block
62.3 BLEXT_ERR BOOL Actual value block change
62.4 SERVDAT_ERR BOOL Service data
62.5 OC_ERR_ERR BOOL Operating error read
62.6 OT_ERR_ERR BOOL Operator/traversing error read
62.7 DA_ERR_ERR BOOL Data error read
63.0...63.2 Reserved
63.3 PARRD_ERR BOOL Parameter/data
63.4 DIGIO_ERR BOOL Dig. inputs/outputs
63.5 OPDAT1_ERR BOOL Additional operating data
63.6 APPDAT_ERR BOOL Application data
63.7 MSRRD_ERR BOOL Read measured values
64...65 Reserved
Error messages/status signals from POS_CTRL
66 JOB_ERR INT Error code SFC 58/59 (POS_CTRL)
68.0 JOBBUSY_WR BOOL Write job active
68.1 IMPO_WR BOOL Write request not possible
68.2 JOBBUSY_RD BOOL Read job active
68.3 IMPO_RD BOOL Read request not possible
68.4...69.0 Reserved
69.1 JOBRESET BOOL Reset status/error
69.2...69.7 Reserved
Diagnostic interrupt data (POS_DIAG)
70.0 MDL_DEFECT BOOL Module/group errors (coming and going)
70.1 INT_FAULT BOOL Internal error/hardware error (group error DBB72,
73)
70.2 EXT_FAULT BOOL External error
70.3 PNT_INFO BOOL External channel error (group error bytes 78)
70.4...70.5 Reserved
70.6 NO_CONFIG BOOL Module not initialized
70.7 Reserved
71 MDL_TYPE BYTE Module type class for FM 453 = 08H / Channel in-
formation available
72.0 Reserved

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-7
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
72.1 COMM_FAULT BOOL Communication error (K bus)
72.2 Reserved
72.3 WTCH_DOG_FLT BOOL Response from watchdog timer
72.4 INT_PS_FLT BOOL Internal supply voltage to the module failed (NMI)
72.5...73.1 Reserved
73.2 EPROM_FLT BOOL FEPROM error
73.3 RAM_FLT BOOL RAM error
73.4...73.5 Reserved
73.6 HW_INTR_FLT BOOL Process interrupt lost
73.7 Reserved
74 POS_ID BYTE FM pos. ID (74H)
75 LEN_INFO BYTE Length of the diagnostic information (16)
76 CHEN_NO BYTE Number of channels (1)
77.0 CH_ERR_VE1 BOOL Channel error vector
77.1...78.6 Reserved
78.7 OC_ERR_EN1 BOOL Operating error for channel
79..85 Reserved
86 OC_ERR_NO BYTE Error number (DS 164) – Detail event class
87 OC_REE_CL BYTE Error number (DS 164) – Detail event number
88...89 Reserved
90 OT_ERR_NO BYTE Error number (DS 162) – Detail event class
91 OT_ERR_CL BYTE Error number (DS 162) – Detail event number
92...93 Reserved
94 DA_ERR_NO BYTE Error number (DS163) – Detail event class
95 DA_ERR_CL BYTE Error number (DS163) – Detail event number
96 DIAG_ERR INT Error code for POS_DIAG (return code SFC 51)
98 MSRM_ERR INT Error code for POS_MSRM
(return code SFC 59/SFB42)
100 ARRAY Internal, Reserved
[100 ..139]
BYTE

FM 353 Stepper Drive Positioning Module

B-8 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
Data for the requests
140 ZOFF DINT Zero offset
144 AVAL DINT Set actual value
148 FVAL DINT On-the-fly setting of actual value
152 REFPT DINT Set reference point
156 TRG254 DWORD Setpoint for incremental dimension
160 VLEVEL_1 DWORD Speed level 1
164 VLEVEL_2 DWORD Speed level 2
168 CLEVEL_1 DWORD Frequency level 1
172 CLEVEL_2 DWORD Frequency level 2
MDI block
176 MDIB STRUCT MDI block
+ 0...+1 Reserved
+ 2.0 G_1_EN BOOL G function group 1
+ 2.1 G_2_EN BOOL G function group 2
+ 2.2...+ 2.3 Reserved
+ 2.4 X_T_EN BOOL Position/ dwell
+ 2.5...+ 2.7 Reserved
+ 3.0 V_EN BOOL Speed
+ 3.1 M_1_EN BOOL M function group 1
+ 3.2 M_2_EN BOOL M function group 2
+ 3.3 M_3_EN BOOL M function group 3
+ 3.4...+ 3.7 Reserved
+4 G_1_VAL BYTE G function no. of group 1
+5 G_2_VAL BYTE G function no. of group 2
+ 6...+ 7 Reserved
+8 X_T_VAL DINT Value for position/dwell
+ 12 V_VAL DINT Value for speed
+ 16 M_1_VAL BYTE M function no. of group 1
+ 17 M_2_VAL BYTE M function no. of group 2
+ 18 M_3_VAL BYTE M function no. of group 3
+ 19 Reserved
END_STRUCT
Modify parameter/data
196 PAR_CHAN STRUCT Modify parameter/data
+0 TYP BYTE DB type

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-9
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
+1 NUMB BYTE Number
+2 COUN BYTE Quantity
+3 JOB BYTE Request
+4 DATA ARRAY Data array, structure/data type of Write data as per
[200 ..219] bytes 1 to 4 of this structure
BYTE
END_STRUCT
Digital inputs/outputs (for read and write)
220.0 D_IN0 BOOL Digital input 0
220.1 D_IN1 BOOL Digital input 1
220.2 D_IN2 BOOL Digital input 2
220.3 D_IN3 BOOL Digital input 3
220.4...7 Reserved
221.0 D_OUT0 BOOL Digital output 0
221.1 D_OUT1 BOOL Digital output 1
221.2 D_OUT2 BOOL Digital output 2
221.3 D_OUT3 BOOL Digital output 3
221.4...7 Reserved
On-the-fly MDI block
222 MDI_F STRUCT On-the-fly MDI block
+ 0...+ 1 Reserved
+ 2.0 G_1_EN BOOL G function group 1
+ 2.1 G_2_EN BOOL G function group 2
+ 2.2...+ 2.3 Reserved
+ 2.4 X_T_EN BOOL Position/dwell
+ 2.5...+ 2.7 Reserved
+ 3.0 V_EN BOOL Speed
+ 3.1 M_1_EN BOOL M function group 1
+ 3.2 M_2_EN BOOL M function group 2
+ 3.3 M_3_EN BOOL M function group 3
+ 3.4...+ 3.7 Reserved
+4 G_1_VAL BYTE G function no. of group 1
+5 G_2_VAL BYTE G function no. of group 2
+ 6...+ 7 Reserved
+8 X_T_VAL DINT Value for position/dwell
+ 12 V_VAL DINT Value for speed

FM 353 Stepper Drive Positioning Module

B-10 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
+ 16 M_1_VAL BYTE M function no. of group 1
+ 17 M_2_VAL BYTE M function no. of group 2
+ 18 M_3_VAL BYTE M function no. of group 3
+ 19 Reserved
END_STRUCT
Program selection
242 PROG_NO BYTE Program number
243 BLCK_NO BYTE Block number
244 PROG_DIR BYTE Direction of processing
245 Reserved
Request for application data
246 CODE_AP1 BYTE Application data 1
247 CODE_AP2 BYTE Application data 2
248 CODE_AP3 BYTE Application data 3
249 CODE_AP4 BYTE Application data 4
Teach-in
250 TEA_PROG_NO BYTE Program number
251 TEA_BLCK_NO BYTE Block number
252 FELD2_INTERN ARRAY Internal, Reserved
[252...309]
BYTE
Basic operating data
310 ACT_VAL DINT Actual position
314 SPEED DWORD Actual speed
318 REM_DIST DINT Residual distance
322 SET_POS DINT Setpoint position
326 SUM_OFST DINT Sum of active coordinate offset, tool offset, zero
offset
330 TRAV_SPE DWORD Rotational speed
334...338 Reserved
Active NC block
342 ACT_BL STRUCT Active NC block
+0 PROG_NO BYTE Program number
+1 BLCK_NO BYTE Block number
+ 2.0 G_1_EN BOOL G function group 1
+ 2.1 G_2_EN BOOL G function group 2
+ 2.2 G_3_EN BOOL G function group 3

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-11
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
+ 2.3 Reserved
+ 2.4 X_T_EN BOOL Position/dwell
+ 2.5 SR_L_EN BOOL No. of UP calls
+ 2.6 SR_N_EN BOOL UP call
+ 2.7 SKIP_EN BOOL Block skip
+ 3.0 V_EN BOOL Speed
+ 3.1 M_1_EN BOOL M function group 1
+ 3.2 M_2_EN BOOL M function group 2
+ 3.3 M_3_EN BOOL M function group 3
+ 3.4 TO_EN BOOL Tool offset
+ 3.5...+ 3.7 Reserved
+4 G_1_VAL BYTE G function no. of group 1
+5 G_2_VAL BYTE G function no. of group 2
+6 G_3_VAL BYTE G function no. of group 3
+7 Reserved
+8 X_T_VAL DINT Value for position/dwell
+ 12 V_VAL DINT Value for speed
+ 16 M_1_VAL BYTE M function no. of group 1
+ 17 M_2_VAL BYTE M function no. of group 2
+ 18 M_3_VAL BYTE M function no. of group 3
+ 19 TO_VAL BYTE Tool offset no.
END_STRUCT
Next NC block
362 NXT_BL STRUCT Next NC block
+0 PROG_NO BYTE Program number
+1 BLCK_NO BYTE Block number
+ 2.0 G_1_EN BOOL G function group 1
+ 2.1 G_2_EN BOOL G function group 2
+ 2.2 G_3_EN BOOL G function group 3
+ 2.3 Reserved
+ 2.4 X_T_EN BOOL Position/dwell
+ 2.5 SR_L_EN BOOL No. of UP calls
+ 2.6 SR_N_EN BOOL UP call
+ 2.7 SKIP_EN BOOL Block skip
+ 3.0 V_EN BOOL Speed
+ 3.1 M_1_EN BOOL M function group 1

FM 353 Stepper Drive Positioning Module

B-12 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
+ 3.2 M_2_EN BOOL M function group 2
+ 3.3 M_3_EN BOOL M function group 3
+ 3.4 TO_EN BOOL Tool offset
+ 3.5...+ 3.7 Reserved
+4 G_1_VAL BYTE G function no. of group 1
+5 G_2_VAL BYTE G function no. of group 2
+6 G_3_VAL BYTE G function no. of group 3
+7 Reserved
+8 X_T_VAL DINT Value for position/dwel
+ 12 V_VAL DINT Value for speed
+ 16 M_1_VAL BYTE M function no. of group 1
+ 17 M_2_VAL BYTE M function no. of group 2
+ 18 M_3_VAL BYTE M function no. of group 3
+ 19 TO_VAL BYTE Tool offset no.
END_STRUCT
Application data
382 APP1 DINT Application data 1
386 APP2 DINT Application data 2
390 APP3 DINT Application data 3
394 APP4 DINT Application data 4
Actual value block change
398 BLCK_EXT DINT Actual value block change
Service data
402 OUT_VAL DINT frequency output value
406 ENC_VAL DINT pulse output counter
410...414 Reserved
418 FOLL_ERR DINT Difference between setpoint and actual position
422 Reserved
426 OSC_ERR DINT Setpoint overshoot value/switch adjustment
430 Reserved
Additional operating data
434 OVERRIDE1 BYTE Override
435 PROG_NO1 BYTE NC traversing program no.
436 BLCK_NO1 BYTE NC block no.
437 LOOP_NO1 BYTE UP call counter
438 G90_91 BYTE Active G90/91

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-13
User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
439 G60_64 BYTE Active G60/64
440 G43_44 BYTE Active G43/44
441 TO_NO BYTE Active D number
442.0 Reserved
442.1 LIM_SP BOOL Speed limit
442.2... Reserved
442.7
443.0 LIM_FR BOOL Start/stop frequency limited
443.1 LIM_FV BOOL Frequency value for acceleration limited
443.2 Reserved
443.3 LIM_FS BOOL Acceleration/deceleration value limited
443.4... Reserved
445
Parameter/data
446 PAR_RD STRUCT Parameter/data
+0 TYP BYTE DB type
+1 NUMB BYTE Number
+2 COUN BYTE Quantity
+3 JOB BYTE Request
+4 DATA1 ARRAY Array, structure/data type according to data, to be
[450 ..469] read as per bytes 1 to 4 of this structure
BYTE
END_STRUCT

470 ARRAY Internal, Reserved

[470...485]
BYTE
Measured values
486 BEGIN_VAL DINT Initial value or on-the-fly measured value
490 END_VAL DINT Final value
494 LENGTH_VAL DWORD Measured length value
Operator control and monitoring
498 USR STRUCT Operator control and monitoring
+ 0.0 BITC_0 BOOL Write MD
+ 0.1 BITC_1 BOOL Read MD
+ 0.2 BITC_2 BOOL MDI block transferred
+ 0.3 BITC_3 BOOL Prog. sel. transferred
+ 0.4 BITC_4 BOOL Teach-in transferred

FM 353 Stepper Drive Positioning Module

B-14 6ES7 353-1AH01-8BG0
 User Data Block (AW-DB)

Table B-1 User data block (AW–DB), continued

Adresse
Variable Data type Comment
absolut
+ 0.5 BITC_5 BOOL Incremental dimension transferred
+ 0.6 BITC_6 BOOL Speed levels transferred
+ 0.7 BITC_7 BOOL Frequency levels transferred
+ 1.0 BITC_8 BOOL MDI block transferred on-the-fly
+ 1.1 BITC_9 BOOL Set actual value transferred
+ 1.2 BITC_10 BOOL Zero offset transferred
+ 1.3...+ 1.4 Reserved
+ 1.5 BITC_13 BOOL Diagnostic interrupt
+ 1.6 BITC_14 BOOL Data error
+ 1.7 BITC_15 BOOL Operator/traversing error
+2 MD_NO WORD MD number
+4 MD_VALUE DINT MD value
+8 INC_NO BYTE Incremental dimension number
+9 Reserved
+ 10 PICT_NO WORD Display number
+ 12 KEY_CODE WORD Keyboard code
+ 14...+15 Reserved
+ 16.0 BITA_0 BOOL Open-loop control mode
+ 16.1 BITA_1 BOOL Approach to reference point
+ 16.2 BITA_2 BOOL Incremental mode (relative)
+ 16.3 BITA_3 BOOL MDI
+ 16.4 BITA_4 BOOL Auto/single block mode
+ 16.5 BITA_5 BOOL Auto mode
+ 16.6 BITA_6 BOOL Jog mode
+ 16.7... Reserved
+17.5
+ 17.6 BITA_14 BOOL Acknowledge error
+ 17.7 BITA_15 BOOL Acknowledge diagnostic interrupt
END_STRUCT

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 B-15
User Data Block (AW-DB)

FM 353 Stepper Drive Positioning Module

B-16 6ES7 353-1AH01-8BG0
List of Abbreviations C
AS Automation system
BA Mode
BA “A/AE” “Automatic/Automatic single block” mode
BA “REF” “Reference point approach” mode
BA “SM” “Incremental approach” mode
BA “STE” “Open-loop control” mode
BA “T” “Jogging” mode
BP Mode parameter
BR Binary result
CPU Central Processing Unit of the SIMATIC S7
DB Data block
DBB Data block byte
DBX Data block bit
DB-MD Data block for machine data
DB-NC Data block for traversing programs
DB-SM Data block for increments
DB-SS Data block for status messages
DB-WK Data block for tool offset data
DEKL Detail event class
DENR Detail event number
DP Distributed I/O
EMC Electromagnetic compatibility
EN Enable (input parameter in LAD representation)
ENO Enable Output (output parameter in LAD representation)
EPROM Erasable programmable read-only memory
ESD Electrostatic sensitive device
EXE External pulse shaper
FB Function block

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 C-1
List of Abbreviations

FC Function
FEPROM Flash EPROM: Read/Write memory
FM Function module
HEX Hexadecimal
HMI Device for operating and monitoring of a process
I Input parameter
IM Interface module (SIMATIC S7)
I/Q Throughput parameter (initialization parameter)
LAD Ladder program
LED Light Emitting Diode
MDI Manual Data Input
MLFB Machine-readable order designation
MPI Multi Point Interface
MSR Measurement system raster
NMI Non-Maskable Interrupt
OB Organization block
OP Operator panel
PG Programming device
PLC Programmable controller
PS Power Supply (SIMATIC S7)
PWM Pulse width modulation
Q Output parameter
RFG Controller enable
RPS Reference point switch
S7-300 PLC of medium performance range
SDB System data block
SFC System Function Call (integrated fucntions)
SM Signal module (SIMATIC S7, e.g. input/output module)
SSI Synchronous Serial Interface
STEP 7 Programming device software for SIMATIC S7
STL Statement list
SZL System status list
TF Technology function
UP User program
J

FM 353 Stepper Drive Positioning Module

C-2 6ES7 353-1AH01-8BG0
Index
A Connecting an OP, 6-6
connecting cables, 4-3
absolute dimensioning, 10-8
MPI- connecting cable, 4-3
acceleration, 9-69, 9-73
setpoint cable, 4-3
acceleration-override, 10-11
control loop, 7-21
active NC-block, 9-56
Control signals, 6-12, 6-13, 6-30, 6-32
actual value-block change, 9-57
control signals, 8-23, 9-2, 9-3
additional operating data, 9-58
COROS equipment (operator panels), 8-3
alarms, 7-10
Creating the AW–DB, 6-27
application, A-2
CSA certification, A-1
application data, 9-57
request, 9-50
Automatic, 9-10
block advance, 9-33 D
block return, 9-33 data blocks, 5-7
program selection, 9-31 increments, 5-8, 5-20
automatic, 9-31 machine data, 5-7, 5-9
backward processing, 9-32 status messages, 8-3
forward processing, 9-32 status messages , 8-20
Automatic single block, 9-10 system data block, 5-8
automatic single block, 9-36 tool offset data, 5-8, 5-21
axis type, 9-60 traversing programs, 5-8, 5-23
linear axis, 9-60 data errors, 11-3
rotary axis, 9-61 data management, 9-41
rotary axis end, 9-61 deactivate software end position monitoring,
9-43
delete residual path, 9-45
B diagnostic buffer, 11-8
Diagnostic data, 6-23
backlash compensation, 9-67
Diagnostic information, 6-23
basic operating data, 9-55
diagnostic interrupts, 11-6, 11-9
block change, 10-4
external channel errors, 11-6
block library “FM353_354“, overview, 6-29
external errors, 11-6
block library ”FMSTSV_L”, overview, 6-9
internal errors, 11-6
operating errors, 11-11
diagnostics/errors (overview), 11-2
C Digital inputs, Messen, 9-52
CE-marking, A-2 digital inputs, 4-14, 9-77, 9-78, A-4
change parameters/data, 9-38 enable input, 9-78
changing direction, 9-71 external block change, 10-4
checkback signals, 8-23, 9-2, 9-6 external start, 9-78
Communication between the CPU and the FM reference point switch for REF, 9-20
353, 6-4 reversing switch for REF, 9-21
configuration, 5-4 set actual value on–the–fly, 9-49
configuring the interrupts, 5-5 set actual value on-the-fly, 10-6
connected load, A-3

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 Index-1
Index

digital outputs, 4-16, 9-77, 9-79, A-4 front connectors, 4-3

direct output, 9-79 front-panel elements, 1-7
dimensions, 10-8
dimensions of the FM 353, A-3
direction of machining, 9-32 G
Distributed configuration, OB 86, 6-6
G functions, 10-3
drive enable, 9-4
drive interface, 4-4
standard signals, 4-6, 9-71
drive unit, 4-11 I
drive-interface, 9-71 I/O interface, 4-12
optional signals, 4-6, 4-9, 4-14, 9-71 incremental dimensioning, 10-9
standard signals, 4-6 Incremental relative, 9-10
dwell, 10-4 incremental relative, 9-24
increments, 5-20
inprocess measurement, 9-52
E installing the FM 353, 3-3
interfaces, 1-7, 4-4, 4-12
EMC guidelines, 4-1
drive interface, 4-4
error class, 11-3
drive-interface, 9-71
external channel errors, 11-3
I/O interface, 4-12
external errors, 11-3
interpolator, 9-66
internal errors, 11-3
Interrupt processing, 6-44
error list, 11-9
Interrupts, 6-44
data errors, 11-20
Evaluating a diagnostic interrupt, 6-45
external channel errors, 11-11
Evaluating a process interrupt, 6-44
external errors, 11-10
Interrupt processing, 6-44
internal errors, 11-9
Lost process interrupts, 6-44
machine data errors, 11-25
interrupts, 9-81, 11-6
operating errors, 11-11
operator control errors, 11-13
travel errors, 11-15
traversing program errors, 11-29 J
error messages, 11-4 Job request status, 6-15, 6-33
LED indicators, 11-4 Jogging, 9-10, 9-15
Error messages from the FM, 6-21, 6-40
error response, 11-4
Evaluating a diagnostic interrupt, 6-45 L
Evaluating a process interrupt, 6-44
length measurement, 9-53
Executing mode control, 6-12, 6-30
linear axis, 9-60
external block change, 10-4
Lost process interrupts, 6-44

F M
FM approval, A-2
M functions, 10-14
FM cycle, 9-53, 9-75, 9-76, 9-77, 9-78, A-3
machine data, 5-9
frequency generation, 9-69
activation, 7-13, 9-45
working range of frequency generator, 5-19
dependencies, 5-16
frequency levels, 9-18
input limits, 7-3
front connector, 1-7, 4-12
interdependencies, 7-3
connecting cables, 4-18
machine data list, 5-11
Wiring up the front connector, 4-18

FM 353 Stepper Drive Positioning Module

Index-2 6ES7 353-1AH01-8BG0
 Index

MDI (Manual Data Input), 9-10, 9-27 POS_CTRL (FC 1) – data exchange, 6-12
measured values, 9-52 POS_DIAG (FC 2) – read diagnostic interrupt
inprocess measurement, 9-52 data, 6-22, 6-41
length measurement, 9-53 POS_INIT (FC 0) – Initialization, 6-10, 6-30
measurement, 9-52 POS_MSRM (FB 3) – read measured values,
mode parameter, 9-18 6-41
mode parameter , 9-15, 9-24 POS_MSRM (FC 3) – read measured values,
module replacement, 5-8 6-25
MPI connection, 1-4 position resolution, 9-63
positioning, 2-1, 7-20
assessment criteria, 7-21
N open–loop control, 2-2
status messages, 9-58
next NC-block, 9-56
process interrupts, 9-81
processing in progress, 9-7
Processing read and write requests, 6-12,
O 6-14, 6-30, 6-32
OP 07 menu tree, 8-5, 8-10 Processing Read requests, 6-18, 6-37
Open–loop control, 9-10 Processing Write requests, 6-17, 6-36
open–loop control, 2-2, 9-18 Program selection, block advance, 9-33
Operating control mode, 6-18, 6-37 program selection, 9-31
operating modes, 9-14 block return, 9-33
automatic, 9-31 Programming the technological functions, 6-1
automatic single block, 9-36 Communication between the CPU and the
incremental relative, 9-24 FM 353, 6-4
Jogging, 9-15 Fundamentals, 6-4
MDI, 9-27 Interface, user data blocks, 6-26, 6-42
open–loop control, 9-18 Sample applications, 6-57
reference point approach, 9-19 Structure of a user program, 6-5
operator control and monitoring, 8-1, 8-3 Symbolic programming, 6-27, 6-43
data blocks, 8-1 Testing the user program, 6-6
user data, 8-1 Writing the user program, 6-7
operator/travel errors, 11-3 Putting into operation, with the parameteriza-
optimization (machine axis), 7-21 tion tool, 6-8
dynamic response, 7-21
Optimized motion profile, 7-28
Override, 9-4 R
override
read data
acceleration-override, 10-11
active NC-block, 9-56
time-override, 9-5
actual value-block change, 9-57
velocity-override, 9-4
additional operating data, 9-58
application data, 9-57
basic operating data, 9-55
P next NC-block, 9-56
parameterization, 5-1, 5-25 parameters/data, 9-58
parameters/data, 9-58 servicing data, 9-57
parking axis, 9-44 read–in enable, 9-3
ports reference point, 9-64
drive -port, 1-8 Reference point approach, 9-10
drive-port, 1-7 reference point approach, 9-19
I/O port, 1-7, 1-8 reducing velocity, 7-24
SIMATIC bus connector-port, 1-7, 1-8 referencing velocity, 7-24
POS_CTRL (FB 1) – data exchange, 6-30 reference point coordinates, 7-24, 7-26

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 Index-3
Index

reference point offset, 9-64 single functions, 9-42, 9-44

reference point switch, 9-20, 9-64 inprocess measurement, 9-42
switch alignment, 9-57 length measurement, 9-42
reference point switch , switch alignment, 7-24 parking axis, 9-44
reference-point switch, 7-24 retrigger reference point, 9-42
removing the FM 353, 3-4 rotation monitoring, 9-43
Replacing modules, 3-5 servo enable, 9-43
restart, 9-46 simulation, 9-44
retrigger reference point, 9-42 software end position monitoring, 9-43
reversing switch, 9-21 switch off enable input, 9-43
rotary axis, 9-27, 9-47, 9-61 Single settings, 6-20, 6-21, 6-39, 6-40
rotary axis end, 9-61 slots for the FM 353, 3-2
rotation monitoring, 9-43, 9-75 software limit switches, 7-26, 9-80
Standard function blocks, 6-9
block library ”FM353_354”, 6-29
S block library ”FMSTSV_L”, 6-9
Overview, 6-9
safety rules, 4-1
POS_CTRL (FB 1) – data interchange, 6-30
EMERGENCY- OF-F devices, 4-1
POS_CTRL (FC 1) – data interchange,
Sample applications, 6-57
6-12
service data, 7-10
POS_DIAG (FC 2) – read diagnostic inter-
servicing data, 9-57
rupt data, 6-22, 6-41
servo enable, 9-43, 9-71
POS_INIT (FC 0) – Initialization, 6-10, 6-30
Servo ready, 9-71
POS_MSRM (FB 3) – read measured va-
Set actual value, 9-19, 9-46
lues, 6-41
set actual value, 9-48
POS_MSRM (FC 3) – read measured va-
set actual value on-the-fly, 10-6
lues, 6-25
set actual value on–the–fly, 9-49
start enable, 9-6
set actual value on–the–fly, 9-49
Starting the axis, 7-18
Set actual value on-the-fly, 9-8
startup, 7-7
set actual value on-the-fly, 10-6
Status signals, 6-12, 6-13, 6-30, 6-32
Set breakpoint, 6-6
step drive
set reference point, 9-51
Boost, 9-72
SIMATIC Manager, 5-4
direction, 9-71
simulation, 9-44
pulse, 9-71
Single commands, 6-20, 6-21, 6-40
PWM, 9-72
automatic block advance/return, 9-33
stepper drive, 9-66
single commands
stepper motor control, current-sourcing pattern,
activate machine data, 9-45
9-65
delete residual path, 9-45
restart, 9-46
undo set actual value, 9-46

FM 353 Stepper Drive Positioning Module

Index-4 6ES7 353-1AH01-8BG0
 Index

stepper motor control system, 9-66 traversing blocks, 10-2

backlash compensation, 9-67 axis as rotary axis, 10-10
current–sourcing pattern, 9-73 block change, 10-4
current-sourcing pattern, 9-75 block structure, 10-2
drive interface, 9-71 G functions, 10-3
frequency generation, 9-69 traversing programs, 5-23, 9-31
phase current control, 9-72 direction of processing, 10-16
rotation monitoring, 9-75 input, 5-24
stepper motor diagnostics, 9-72, 9-75 program name, 10-1
zero pulse external, 9-73, 9-75 program number, 10-1
Structure of a user program, 6-5 program structure, 10-2
Signal processing, 6-5 traversing block, 10-2
switch off enable input, 9-43 traversing blocks, 10-2
Symbolic programming, 6-27, 6-43
synchronization, 9-19, 9-64
synchronizing the stepper motor axis, 9-64 U
measured value-synchronization, 9-65
UL certification, A-1
reference point, 9-64
undo set actual value, 9-46
reference point approach, 9-64
user data, 8-1
reference point offset, 9-64
User data block, 6-46
reference point switch, 9-64
synchronization point, 9-64
system data, 9-37
change parameters/data, 9-38 V
measured values, 9-52 velocity levels, 9-15
set actual value, 9-48 velocity-override, 9-4
set actual value on–the–fly, 9-49
set reference point, 9-51
single functions, 9-42, 9-44 W
zero offset, 9-46
weights, A-3
system data block, 5-8, 5-26
wiring an FM 353, 4-2
system of measurement, 9-59
wiring the FM 353, 4-1
Wiring up the front connector, 4-18
working range of frequency generator, 5-19
T write data
Teach in, 9-51 request application data, 9-50
testing (machine axis), 7-7 Teach in, 9-51
time-override, 9-5 Writing the user program, 6-7
tool compensation, 10-11 writing traversing programs, 10-1
tool offset data, 5-21
Trace, 7-11
traversing block, 9-27 Z
zero offset, 9-19, 9-46
zero pulse, 7-24

FM 353 Stepper Drive Positioning Module

6ES7 353-1AH01-8BG0 Index-5
Index

FM 353 Stepper Drive Positioning Module

Index-6 6ES7 353-1AH01-8BG0