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6ES7134-4FB51-0AB0
Siemens 6ES7134-4FB51-0AB0 Operating Instructions
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SIMATIC ET 200S ET 200S Posi
tioning
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Overview
1
1STEP 5V
/204kHz
2
1PosInc/Digital
3
1PosInc/Analog
4
1PosSSI/Digi
tal
5
1PosSSI/Analog
6
1PosUniversal/Digita
l
7
SIMATIC
ET 200S
Positioning
Operating Instructions
05/2007
A5E00124871-04
2
Table of Contents
Default Chapter
3
Table of Contents
3
ET 200S Positioning Operating Instructions, 05/2007, A5E00124871-04
11
1 Overview
13
1 STEP 5V/204Khz
15
Product Overview
15
Example: Commissioning 1STEP 5V/204Khz
16
Figure 2-1 Terminal Assignment for the Example
17
Terminal Assignment Diagram
21
Table 2-1 Terminal Assignment of the 1STEP 5V/204Khz
21
Safety Concept
23
Figure 2-2 Design of a Positioning System with a Stepping Motor (Example)
23
Fundamentals of Positioning
24
Overview
24
Parameters and Settings
25
Traversal Curve of the 1STEP 5V/204Khz
26
Figure 2-3 Traversal Curve of the 1STEP 5V/204Khz
26
Figure 2-4 Torque Characteristic Curve of a Stepping Motor
27
Setting the Base Frequency
29
Table 2-2 Ranges for the Start-Stop Frequency, Output Frequency, and Acceleration
30
Functions of the 1STEP 5V/204Khz
31
Overview
31
Search for Reference
31
Sequence of Execution of the Search for Reference
33
Figure 2-5 Search for Reference, Start before REF
33
Figure 2-6 Search for Reference, Start after REF
34
Figure 2-7 Search for Reference, Start at REF
34
Figure 2-8 Start at the Limit Switch in Start Direction
34
Figure 2-9 Defective Reference Cam, Start before REF
35
Figure 2-10 Defective Reference Cam, Start at LIMIT_P
35
Incremental Mode, Relative
36
Stopping the Stepping Motor
37
Pulse Enable
39
Changing Parameters During Operation
40
Behavior of the Digital Inputs
41
Behavior at CPU-Master-STOP
42
Parameter Assignment
43
Feedback and Control Interface
44
Assignment of the Feedback and Control Interfaces
44
Table 2-3 Assignment of the Inputs (I): Feedback Interface
44
Table 2-4 Assignment of the Outputs (O): Control Interface
45
Starting the Positioning Job
48
Figure 2-11 Starting the Positioning Job
48
Figure 2-12 Carrying out a Parameter Change
49
Figure 2-13 Error Acknowledgment
50
Technical Specifications
51
1 Posinc/Digital
53
Product Overview
53
Brief Introduction to Commissioning the 1Posinc/Digital
54
Terminal Assignment Diagram
59
Figure 3-1 Relay Contact in the Output Circuit
60
Safety Concept
61
Figure 3-2 Design of a Positioning Control System (Example)
61
Fundamentals of Controlled Positioning Using Rapid/Creep Feed
62
Figure 3-3 Switching Points and Switching Differences
62
Functions of the 1Posinc/Digital
64
Overview of the Functions
64
Figure 3-4 How the 1Posinc/Digital Works
64
Figure 3-5 Control and Feedback Signals with Modes
65
Figure 3-6 Control and Feedback Signals with Jobs
66
Axis, Drive and Encoder
67
Figure 3-7 Digital Outputs with Control Mode 0
67
Figure 3-8 Digital Outputs with Control Mode 1
68
Effect of the Directional Enables
70
Stop (MODE 0)
70
Reference Point Run (MODE 3)
71
Figure 3-9 Sequence of Execution of the Search for Reference
72
Figure 3-10 Search for Reference Point Run with Reducing Cam and Zero Mark
74
Figure 3-11 Reference Point Run with Minus Limit Switch
75
Figure 3-12 Reference Point Run with Reversal of Direction at the Plus Limit Switch
76
Figure 3-13 Reference Point Run Only with Zero Mark
76
Inching (MODE 1)
78
Figure 3-14 Execution of Inching
78
Absolute Positioning (MODE 5)
80
Figure 3-15 Execution of Absolute Positioning
81
Relative Positioning (MODE 4)
84
Figure 3-16 Execution of Relative Positioning
84
Canceling JOB Processing (JOB 0)
87
Setting the Actual Value (JOB 1)
88
Changing the Switch-Off Difference (JOB 3)
90
Changing the Switchover Difference (JOB 4)
91
Evaluating the Reference Signal (JOB 9)
92
Latch Function (JOB 10)
94
Setting the Monitoring of the Direction of Rotation (JOB 11)
95
Displaying Current Values (JOB 15)
97
Error Detection/Diagnostics
99
Table 3-1 Causes of Errors for POS_ERR
102
Table 3-2 Causes of Errors for JOB_ERR
103
Cpu/Master Stop and RESET State
104
Parameter List
105
Control and Feedback Signals
107
Technical Specifications
110
1 Posinc/Analog
113
Product Overview
113
Brief Instructions on Commissioning the 1Posinc/Analog
114
Table 4-1 Terminal Assignment of the 1Posinc/Analog
115
Terminal Assignment Diagram
120
Table 4-2 Terminal Assignment of the 1Posinc/Analog
120
Figure 4-1 Relay Contact in the Output Circuit
121
Safety Concept
122
Figure 4-2 Design of a Positioning Control System (Example)
122
Fundamentals of Controlled Positioning Using the Analog Output
123
Figure 4-3 Switching Points and Switching Differences
123
Functions of the 1Posinc/Analog
125
Overview of the Functions
125
Figure 4-4 How the 1Posinc/Analog Works
126
Figure 4-5 Control and Feedback Signals with Modes
127
Figure 4-6 Control and Feedback Signals with Jobs
128
Axis, Drive and Encoder
129
Table 4-3 Interpretation of Bits 5 and 6
132
Effect of the Directional Enables
133
Stop (MODE 0)
134
Reference Point Run (MODE 3)
136
Inching (MODE 1)
143
Absolute Positioning (MODE 5)
145
Relative Positioning (MODE 4)
149
Canceling JOB Processing (JOB 0)
152
Setting the Actual Value (JOB 1)
153
Changing the Switch-Off Difference (JOB 3)
155
Changing the Switchover Difference (JOB 4)
156
Changing the Voltage for Rapid Feed (JOB 5)
157
Changing the Voltage for Creep Feed (JOB 6)
159
Changing the Acceleration Tacc (JOB 7)
160
Changing the Deceleration Tdec (JOB 8)
162
Evaluating the Reference Signal (JOB 9)
164
Latch Function (JOB 10)
166
Setting the Monitoring of the Direction of Rotation (JOB 11)
167
Displaying Current Values (JOB 15)
169
Error Detection/Diagnostics
171
Table 4-4 Causes of Errors for POS_ERR
174
Table 4-5 Causes of Errors for JOB_ERR
175
Cpu/Master Stop and RESET State
176
Parameter List
178
Control and Feedback Signals
181
Technical Specifications for the 1Posinc/Analog
184
1 Posssi/Digital
189
Product Overview
189
Brief Introduction to Commissioning the 1Posssi/Digital
190
Terminal Assignment Diagram
196
Safety Concept
198
Fundamentals of Controlled Positioning Using Rapid/Creep Feed
199
Functions of the 1Posssi/Digital
201
Overview of the Functions
201
Axis, Drive and Encoder
204
Figure 5-8 Digital Outputs with Control Mode 1
205
Effect of the Directional Enables
207
Stop (MODE 0)
207
Inching (MODE 1)
208
Absolute Positioning (MODE 5)
210
Relative Positioning (MODE 4)
214
Canceling JOB Processing (JOB 0)
217
Setting the Actual Value (JOB 1)
218
Moving the Encoder Range (JOB 2)
220
Changing the Switch-Off Difference (JOB 3)
221
Changing the Switchover Difference (JOB 4)
222
Latch Function (JOB 10)
223
Setting the Monitoring of the Direction of Rotation (JOB 11)
224
Displaying Current Values (JOB 15)
226
Error Detection/Diagnostics
228
Table 5-1 Causes of Errors for POS_ERR
231
Table 5-2 Causes of Errors for JOB_ERR
232
Cpu/Master Stop and RESET State
233
Parameter List
234
Control and Feedback Signals
236
Technical Specifications
238
1 Posssi/Analog
241
Product Overview
241
Brief Instructions on Commissioning the 1Posssi/Analog
242
Table 6-1 Terminal Assignment of the 1Posssi/Analog
243
Terminal Assignment Diagram
248
Table 6-2 Terminal Assignment of the 1Posssi/Analog
248
Safety Concept
250
Fundamentals of Controlled Positioning Using the Analog Output
251
Functions of the 1Posssi/Analog
253
Overview of the Functions
253
Axis, Drive and Encoder
257
Table 6-3 Interpretation of Bits 5 and 6
260
Effect of the Directional Enables
262
Stop (MODE 0)
262
Inching (MODE 1)
264
Absolute Positioning (MODE 5)
266
Relative Positioning (MODE 4)
270
Canceling JOB Processing (JOB 0)
273
Setting the Actual Value (JOB 1)
274
Moving the Encoder Range (JOB 2)
276
Changing the Switch-Off Difference (JOB 3)
278
Changing the Switchover Difference (JOB 4)
279
Changing the Voltage for Rapid Feed (JOB 5)
280
Changing the Voltage for Creep Feed (JOB 6)
281
Changing the Acceleration Tacc (JOB 7)
282
Changing the Deceleration Tdec (JOB 8)
284
Latch Function (JOB 10)
286
Setting the Monitoring of the Direction of Rotation (JOB 11)
287
Displaying Current Values (JOB 15)
289
Error Detection/Diagnostics
291
Table 6-4 Causes of Errors for POS_ERR
294
Table 6-5 Causes of Errors for JOB_ERR
294
Cpu/Master Stop and RESET State
296
Parameter List
298
Control and Feedback Signals
300
Technical Specifications of the 1Posssi/Analog
303
1 Posuniversal/Digital
307
Product Overview
307
Brief Instructions on Commissioning the 1Posu
309
Table 7-1 Terminal Assignment of the 1Posu
310
Terminal Assignment Diagram
315
Table 7-2 Terminal Assignment of the 1Posu
315
Safety Concept
317
Fundamentals of Controlled Positioning Using Rapid/Creep Feed
318
Functions of the 1Posu
320
Overview of the Functions
320
Axis, Drive and Encoder
324
Figure 7-7 Digital Outputs with Control Mode 0
325
Effect of the Directional Enables
328
Stop (MODE 0)
328
Inching (MODE 1)
329
Reference Point Run (MODE 3)
331
Relative Positioning (MODE 4)
338
Absolute Positioning (MODE 5)
341
Canceling JOB Processing (JOB 0)
345
Setting the Actual Value (JOB 1)
346
Moving the Encoder Range (JOB 2)
348
Changing the Switch-Off Difference (JOB 3)
350
Changing the Switchover Difference (JOB 4)
351
Evaluating the Reference Signal (JOB 9)
352
Latch Function (JOB 10)
354
Setting the Monitoring of the Direction of Rotation (JOB 11)
356
Displaying Current Values (JOB 15)
358
Error Detection/Diagnostics
360
Table 7-3 Causes of Errors for POS_ERR
365
Table 7-4 Causes of Errors for JOB_ERR
366
Cpu/Master Stop and RESET State
367
Parameter List
368
Control and Feedback Signals
374
Technical Specifications
376
Index
379
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Siemens 6ES7134-4FB51-0AB0 Specifications
General
Brand
Siemens
Model
6ES7134-4FB51-0AB0
Category
I/O Systems
Language
English
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