Siemens SIMATIC FM 351 - Page 104

Modes and Jobs
9-18
FM 351 Positioning Module
C79000-G7076-C351-02
Sequence of the “Incremental Approach” Mode with Incr. Dim. Number 1 – 100
Absolute Incremental Approach Relative Incremental Approach
Incremental dimension number 1 – 100
1. Set the control signal for the “absolute
incremental approach” mode
(MODE_IN=5).
1. Set the control signal for the “relative
incremental approach” mode
(MODE_IN=4).
2. Enter the incremental dimensions in the tables (TRGL1; TRGL2).
3. Write the incremental dimension tables (TRGL1/2WR_EN=1).
4. Set the control signal for drive enable (DRV_EN=1).
5. Set the function switch for “do not evaluate enable input” (EI_OFF=1) or wire up the
enable input for the relevant channel.
6. Enter the incremental dimension number (MODE_TYPE=1...100).
7. Set the control signal:
• Linear axis:
– START: The only possible direction
is determined by the target and the
current actual value.
• Rotary axis
– START: The target is approached
along the shortest path.
– DIR_P; Start in plus direction
– DIR_M; Start in minus direction
7. Set the control signal:
• Linear axis:
– DIR_P; Start in plus direction
– DIR_M; Start in minus direction
• Rotary axis
– DIR_P; Start in plus direction
– DIR_M; Start in minus direction
8. Call FC ABS_CTRL.
Steps 2 and 3 are only required if no incremental dimensions already exist or if you want to
modify the existing incremental dimensions.
Sequence of the “Incremental Approach” Mode with Incr. Dim. Number 254
Absolute Incremental Approach Relative Incremental Approach
Incremental Dimension Number 254
1. Set the control signal for the “absolute
incremental approach” mode
(MODE_IN=5).
1. Set the control signal for the “relative
incremental approach” mode
(MODE_IN=4).
2. Set the control signal for drive enable (DRV_EN=1).
3. Set the function switch for “do not evaluate enable input” (EI_OFF=1) or wire up the
enable input for the relevant channel.
4. Enter the incremental dimension number (MODE_TYPE=254).
5. Enter the incremental dimension for incremental dimension number 254
(TRG252_254).
6. Set the trigger bit for writing the incremental dimension (TRG252_254_EN=1).