Programming the FM 351
6-8
FM 351 Positioning Module
C79000-G7076-C351-02
Control Signals
If there is a STOP signal or operator error or if the drive enable is not set, the block
resets the control signals START, DIR_M and DIR_P.
You can start a positioning operation again after acknowledging the operator error
(OT_ERR_A=1). With this acknowledgment, it is not possible to send further jobs
and control signals.
The block sets the acknowledgment of an operator error (OT_ERR_A) to 0 when
no operator error has been detected.
The block resets the start signals START, DIR_P and DIR_M when the channel
signals that a positioning operation has started (except in the “Jogging” mode).
The block holds back all control signals with the exception of the operator error
acknowledgment OT_ERR_A if the axis has not had parameters assigned.
Jobs and Control Signals
You can send several jobs at the same time even along with the control signals
necessary for the positioning operation. If at least one write job is sent at the same
time as the control signals START, DIR_M or DIR_P, the block holds back the
control signals until the write jobs have been executed.
Jobs During an Active Positioning Operation
If the write jobs listed in the table below are sent during a positioning operation,
they are held back until the end of the operation and are only executed the next
time the block is called.
Address Name Type Initial Value Comment
34.0 PLOOP_ON BOOL FALSE 1 = loop traverse in plus direction
34.1 MLOOP_ON BOOL FALSE 1 = loop traverse in minus direction
34.2 EI_OFF BOOL FALSE 1 = do not evaluate enable input
35.1 MD_EN BOOL FALSE 1 = activate machine data
35.2 DELDIST_EN BOOL FALSE 1 = delete remaining distance
35.3 AVALREM_EN BOOL FALSE 1 = cancel set actual value
35.6 REFPT_EN BOOL FALSE 1 = Set reference point coordinate
35.7 AVAL_EN BOOL FALSE 1 = set actual value.
36.4 DELDIAG_EN BOOL FALSE 1 = delete diagnostic buffer
Startup
When the module or CPU starts up, call FC ABS_INIT (see Section 6.2, page 6-4).
Among other things, the function switches are reset. FC ABS_CTRL acknowledges
the module startup. During this time, RET_VAL and JOBBUSY are set to 1.
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