TM15 / TM17 High Feature Operating Manual€¦ · This section describes step-by-step instructions for configuration and integration into your user program. ... You will find detailed

SIMOTION SIMOTION SCOUT TM15 / TM17 High Feature Operating Manual

____________________________________________________________________________________________________________________________________________

Preface

Description

1

Configuration/programming

2

Commissioning

3

Error messages

4

Application tips

5

Technical data

6

Version overview

7

EC Declaration of Conformity

A

ESD guidelines

B

List of abbreviations

C

SIMOTION

Terminal Modules TM15 / TM17 High Feature

Commissioning Manual

05/2009

Legal information Legal information Warning notice system

This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.

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

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

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

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

NOTICE indicates that an unintended result or situation can occur if the corresponding information is not taken into account.

If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.

Qualified Personnel The device/system may only be set up and used in conjunction with this documentation. Commissioning and operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes in this documentation qualified persons are defined as persons who are authorized to commission, ground and label devices, systems and circuits in accordance with established safety practices and standards.

Proper use of Siemens products Note the following:

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

Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AG Industry Sector Postfach 48 48 90026 NÜRNBERG GERMANY

Copyright © Siemens AG 2009. Technical data subject to change

TM15 / TM17 High Feature Operating Manual Commissioning Manual, 05/2009 3

Preface

Purpose of this manual This manual describes the functionality and application of the Terminal Modules TM15 and TM17 High Feature.

Note Numerous publications providing detailed explanations of the application of these terminal modules (TM) are available to assist you. This manual provides information about the TM hardware and applications of the Terminal Modules. In the SIMOTION manuals, you will find general information about working with the SIMOTION SCOUT engineering software, technology objects, etc.

Note In the "Supplemental SINAMICS System Components for SIMOTION" manual, you will find information about the design of Terminal Modules TM15 and TM17 High Feature as well as a description of the interfaces and installation.

Organization of information in this Manual / standards and approvals ● Description

This section describes the overall use of the TM15 and TM17 High Feature modules. ● Configuration/programming

This section describes step-by-step instructions for configuration and integration into your user program.

● Commissioning This section details what is required at power up and what should be observed during the power up process.

● Error messages This section provides diagnostic information regarding possible faults.

● Application tips This section contains practical information for interconnection and use of the Terminal Modules.

● Appendix The individual sections of the appendix contain reference information (e.g., on ESD, etc.), an overview of the operating modes, as well as information on system behavior, the message frames and a version overview.

● Index The index helps you to locate information in the Manual quickly and easily.

Preface

TM15 / TM17 High Feature Operating Manual 4 Commissioning Manual, 05/2009

Standards and approvals Our products meet the requirements of EU directive 89/336/EEC "Electromagnetic Compatibility" and the harmonized European Standards listed therein. You will find detailed information about approvals and standards in the "Supplemental SINAMICS System Components for SIMOTION" Manual. The EC Declaration of Conformity in accordance with the above EU directive, Article 10, is contained in this Manual.

See also EC Declaration of Conformity (Page 89)

Siemens Internet address The latest information about SIMOTION products, product support, and FAQs can be found on the Internet at: ● General information:

– http://www.siemens.de/simotion (German) – http://www.siemens.com/simotion (international)

● Downloading documentation Further links for downloading files from Service & Support. http://support.automation.siemens.com/WW/view/en/10805436

● Individually compiling documentation on the basis of Siemens contents with the My Documentation Manager (MDM), refer to http://www.siemens.com/mdm My Documentation Manager provides you with a range of features for creating your own documentation.

● FAQs You can find information on FAQs (frequently asked questions) by clicking http://support.automation.siemens.com/WW/view/en/10805436/133000.

Additional support We also offer introductory courses to help you familiarize yourself with SIMOTION. For more information, please contact your regional Training Center or the main Training Center in 90027 Nuremberg, Germany. Information about training courses on offer can be found at: www.sitrain.com

Preface


Technical support If you have any technical questions, please contact our hotline: Europe / Africa Phone +49 180 5050 222 (subject to charge) Fax +49 180 5050 223 €0.14/min from German wire-line network, mobile phone prices may differ. Internet http://www.siemens.com/automation/support-request

Americas Phone +1 423 262 2522 Fax +1 423 262 2200 E-mail mailto:[email protected]

Asia / Pacific Phone +86 1064 757575 Fax +86 1064 747474 E-mail mailto:[email protected]

Note Country-specific telephone numbers for technical support are provided under the following Internet address: http://www.automation.siemens.com/partner

Questions about this documentation If you have any questions (suggestions, corrections) regarding this documentation, please fax or e-mail us at: Fax +49 9131- 98 2176 E-mail mailto:[email protected]


Table of contents

Preface ...................................................................................................................................................... 3 1 Description................................................................................................................................................. 9

1.1 TM15 and TM17 High Feature modules - Introduction..................................................................9 1.2 Properties: TM15 / TM17 High Feature .......................................................................................13 1.3 Machine applications ...................................................................................................................16 1.3.1 Overview ......................................................................................................................................16 1.3.2 Application examples ...................................................................................................................17

2 Configuration/programming ..................................................................................................................... 19 2.1 Requirement.................................................................................................................................19 2.2 Configuring and programming TM1x modules.............................................................................20 2.2.1 Inserting new TM1x modules .......................................................................................................21 2.2.2 Configuring I/O channels – TM15 ................................................................................................22 2.2.3 Configuring I/O channels – TM17 High Feature ..........................................................................25 2.2.4 Other information .........................................................................................................................29 2.2.5 Generating message frames and TM1x drive objects .................................................................30 2.2.6 Aligning the configuration with the hardware ...............................................................................30 2.3 Accessing inputs and outputs in a user task................................................................................32 2.3.1 Linking symbolic I/O variables with TM1x terminal modules .......................................................32 2.3.2 Controlling the enable signal........................................................................................................34 2.3.3 Signal status of the enable signal ................................................................................................35 2.3.4 Read back function for outputs ....................................................................................................35 2.4 I/O assignment to technology objects..........................................................................................36 2.5 Power Up and Synchronization with the User Program ..............................................................37 2.5.1 Monitoring the synchronization with PeripheralFaultTask ...........................................................37 2.5.2 Monitoring synchronization by direct access to the module status word.....................................38 2.6 Export/import project....................................................................................................................39 2.7 Limitations of use .........................................................................................................................40 2.7.1 Maximum number of terminal modules........................................................................................40 2.7.2 Maximum number of drive objects...............................................................................................41 2.7.3 Maximum permissible message frame length .............................................................................42 2.7.4 Consistency checks .....................................................................................................................43

3 Commissioning ........................................................................................................................................ 45 3.1 Power-up......................................................................................................................................45 3.2 Updating the firmware..................................................................................................................46 3.3 Synchronous mode ......................................................................................................................48

4 Error messages ....................................................................................................................................... 51

Table of contents


5 Application tips......................................................................................................................................... 55 5.1 Tips on proximity switches .......................................................................................................... 55 5.1.1 Proximity switch cable shielding ................................................................................................. 56 5.2 Information on leakage currents ................................................................................................. 57 5.2.1 Input configuration....................................................................................................................... 57 5.2.2 Output configuration.................................................................................................................... 57 5.3 Power switches ("SmartFETs") ................................................................................................... 58 5.4 Input and output circuit................................................................................................................ 59 5.5 Other application examples......................................................................................................... 61 5.5.1 Use of inputs ............................................................................................................................... 61 5.5.2 Use of outputs ............................................................................................................................. 62 5.5.3 Connection of a proximity switch ................................................................................................ 63 5.5.4 Using the enable signal............................................................................................................... 64 5.5.5 Multiple µs-granular measuring ranges....................................................................................... 65 5.5.6 Acquisition of times / time-triggered output................................................................................. 66 5.6 Frequently Asked Questions (FAQs) .......................................................................................... 67

6 Technical data ......................................................................................................................................... 69 6.1 Operating modes......................................................................................................................... 69 6.1.1 Overview of operating modes ..................................................................................................... 69 6.1.2 Input modes ................................................................................................................................ 70 6.1.3 Output modes.............................................................................................................................. 72 6.2 System behavior ......................................................................................................................... 76 6.2.1 System behavior with binary inputs and outputs ........................................................................ 76 6.2.2 System timing for single measurement....................................................................................... 78 6.2.3 System behavior with cyclic measurement ................................................................................. 79 6.2.4 System behavior with outputs of output cam .............................................................................. 81 6.2.5 Interpolation ................................................................................................................................ 81 6.2.6 System Behavior of TM15 DI/DO................................................................................................ 81 6.3 Message frames.......................................................................................................................... 82

7 Version overview ..................................................................................................................................... 85 7.1 Version overview......................................................................................................................... 85

A EC Declaration of Conformity .................................................................................................................. 89 A.1 EC Declaration of Conformity...................................................................................................... 89

B ESD guidelines ........................................................................................................................................ 91 B.1 ESD definition ............................................................................................................................. 91 B.2 Electrostatic charging of individuals............................................................................................ 92 B.3 Basic measures for protection against discharge of static electricity ......................................... 92

C List of abbreviations................................................................................................................................. 93 Index........................................................................................................................................................ 95


Description 11.1 TM15 and TM17 High Feature modules - Introduction

Introduction The TM15 and TM17 High Feature terminal modules can be used to set up inputs of measuring inputs and outputs of output cams for the SIMOTION motion control system. In addition, these terminal modules provide drive-related digital inputs and outputs with short signal delay times. In particular, wherever standard I/O only permit one signal change per position control cycle clock, TM15 and TM17 High Feature can: ● Process up to two edges per position control cycle clock for inputs of measuring inputs or

outputs of output cams. ● Process input and output edges even within the position control cycle clock. The use of an internal timer means that the resolution for outputs of output cams and inputs of measuring inputs is in the microsecond range rather than the millisecond range (switching edges are acquired/output under timer control rather than in the IPO or position control cycle clock).

System integration As a result of the standardized modular design of the SIMOTION system, the Terminal Modules can be operated very easily by means of the Output Cam, Cam Track, and Measuring Input technology objects. In principle, there are two possibilities for integration of the TM15 and TM17 High Feature modules into a SIMOTION automation solution:



● System configuration with integrated drives In this configuration, the TM1x modules are connected directly – To SIMOTION D4x5 – To SIMOTION D410 (not shown) – To the CX32 expansion (not shown)

Figure 1-1 Integration of TM15/TM17 High Feature with SIMOTION D4x5

● System configuration with external drives In this configuration, the TM1x modules are connected to a SINAMICS S120 Control Unit CU320 or CU310, which is connected – To SIMOTION C, P or D (see figure) via PROFIBUS DP, or – To SIMOTION P or D via PROFINET IO



Figure 1-2 Integration of TM15/TM17 High Feature with SIMOTION C or P

A characteristic of both options is that the DIs, DOs, outputs of output cams, and inputs of measuring inputs can only be accessed from the SIMOTION controller (addressing via corresponding HW address). In addition, the TM15 module can also be used with DI/DO functionality alone (selection: TM15 DI/DO input/output component). In this case, the digital inputs and outputs are primarily available to the drive side and can be interconnected via BICO technology (similar to TB30 or TM 31). This type of integration enables the TM15 to be used on a SINAMICS S120 Control Unit even without SIMOTION. However, these DI/DO can be read/write-accessed from SIMOTION with an unassigned message frame.

Note This Commissioning Manual describes how to integrate the TM15 and TM17 High Feature into SIMOTION. Integration of the TM15 via BICO technology is not covered in this Commissioning Manual. You will find more information on integrating the TM15 via BICO technology in the SINAMICS S120 Commissioning Manual as well as in the SIMOTION D4xx Commissioning and Hardware Installation Manuals.



Structure The modules are mounted on a DIN rail in accordance with DIN EN 50 022 (35 x 15 / 7.5). They are connected to the SIMOTION/SINAMICS hardware via DRIVE CLiQ. Several TM1x modules can be installed on one DRIVE CLiQ line. The SINAMICS S120 Manuals provide more information on the system structure of SINAMICS S and associated hardware.

Note In the "Supplemental SINAMICS System Components for SIMOTION" Manual, you will find information about the design of Terminal Modules TM15 and TM17 High Feature as well as a description of the interfaces and installation.

See also Maximum number of terminal modules (Page 40)

Description 1.2 Properties: TM15 / TM17 High Feature


1.2 Properties: TM15 / TM17 High Feature

Figure 1-3 Terminal Module TM15 and Terminal Module TM17 High Feature

The properties of the Terminal Modules are presented below. This overview is intended to help you select the appropriate module for your application.

Properties The TM15 and TM17 High Feature Terminal Modules are terminal expansion modules designed to be mounted on a DIN rail in accordance with DIN EN 50 022. The Terminal Modules contain the following: ● 2 DRIVE CLiQ sockets ● Connection for 24 VDC electronic power supply ● The logical status of the I/O channel is indicated by the associated green status LED. ● The status of the TM15/TM17 High Feature is indicated by a multi-colored RDY LED. Each of the 24 DI/DO (TM15) or 16 DI/DO (TM17 High Feature) can be parameterized on a channel-specific basis as a digital input (DI), digital output (DO), input of a measuring input, or output of an output cam, and can also be inverted. The SCOUT engineering software is used for parameterization. ● Each channel can be parameterized as a digital input (DI) or digital output (DO). ● Each channel can be parameterized as an input of a measuring input. ● Each input of a measuring input has a selectable edge detection (falling edge, rising

edge, or both edges). ● Each channel can be parameterized as an output of an output cam.



The outputs are equipped with short-circuit protection, shutdown in case of overtemperature, and reverse-polarity protection. The actual signal state of each output channel can be read back on the SIMOTION side. The differences between the TM15 and TM17 High Feature Terminal Modules are defined by their range of application. The TM17 High Feature has fewer I/O channels than TM15, but offers increased functionality. The TM17 High Feature is distinguished by especially high resolution and accuracy as well as a parameterizable input filter and enable inputs. The enable inputs can activate inputs of measuring inputs or outputs of output cams (gate function). ● Level-controlled enable for inputs of measuring inputs ● Level- or edge-controlled enable for outputs of output cams In addition, TM17 High Feature supports cyclic measurement of up to 2 edges per position control cycle clock. Due to their high accuracy, the DI/DO channels of the TM17 High Feature are non-isolated.

Note The module hardware of the TM15 and TM15 DI/DO is identical, but there is a difference between the two modules in terms of system integration. For this reason, they must be configured as different input/output components. This Commissioning Manual describes how to integrate the TM15 and TM17 High Feature into SIMOTION. Integration of the TM15 DI/DO via BICO technology is not covered in this Commissioning Manual. You will find more information on integrating the TM15 DI/DO via BICO technology in the SINAMICS S120 Commissioning Manual as well as in the SIMOTION D4xx Commissioning and Hardware Installation Manuals.



Table 1- 1 Comparison table for module selection

Function TM15 1 TM15 DI/DO 1 TM17 High Feature 1 System integration Use only in conjunction with

SIMOTION (SIMOTION D, CX32 or CU310/CU320 with SIMOTION as the higher-level controller)

Use also in conjunction with CU310/CU320 (without SIMOTION)

Use only in conjunction with SIMOTION (SIMOTION D, CX32 or CU310/CU320 with SIMOTION as the higher-level controller)

Functionality 24 DI/O can be parameterized on a channel-specific basis as DI, DO, output of an output cam, or input of a measuring input; DI/O can only be addressed via SIMOTION controller

24 DI/DO-channels can be parameterized as DI or DO; DI/DO can only be interconnected via BICO technology

16 DI/O can be parameterized on a channel-specific basis as DI, DO, output of an output cam, or input of a measuring input; DI/O can only be addressed via SIMOTION controller

Short response time X X X Number of I/O channels 24 24 16 Electrical isolation of inputs and outputs

X X -

Grouping of channels 3 groups for every 8 channels

3 groups for every 8 channels

2 groups for every 8 channels

Inputs of measuring input (single measurement)

X - X

Inputs of measuring input (cyclic measurement)

- - X

Several measuring inputs per axis

X - X

One measuring input for several axes

X - X

Measuring on virtual axes X - X Outputs of the output cams X - X Resolution - inputs of measuring input

Typ. 125 µs 2 (firmware support)

Not applicable 1 µs (hardware support)

Resolution - outputs of output cam

Typ. 125 µs 2 (firmware support)

Not applicable 1 µs (hardware support)

Accuracy - inputs of measuring input

Typ. ±125 µs 2 Not applicable ≤ ±1 µs

Accuracy - outputs of output cam

Typ. ±125 µs 2 Not applicable ≤ ±10 µs

Input filtering 50 µs 50 µs 1 µs or 125 µs, user-assignable

Enable via external signal - Not applicable 6 channels, max. 1 "X" = available; "-" = not available. 2 corresponds to the DRIVE CLiQ cycle clock in use (125 μs, typical)

Description 1.3 Machine applications


1.3 Machine applications

1.3.1 Overview Many production machines require fast, precise detection of signals or exact switching of digital outputs. The measuring input and output cam feature of the TM15 and TM17 High Feature modules represents an optimal solution for a variety of industrial applications. Applications requiring fast, high-precision detection of signals include: ● Edge detection ● Quality monitoring (e.g. product OK/not OK) ● Product tracking (e.g. product available/not available) ● Print-mark detection ● Tool monitoring (e.g. presses) ● Machine status monitoring (e.g. plastic injection molding machines) ● Weft break monitoring (e.g. textile machines) Applications requiring fast, high-precision output of signals include: ● Position-dependent switching of actuators

– Camera trigger signal (quality assurance) – Control of an air nozzle for blowing away cut-offs – Control of nozzles for applying glue tracks

● Product extraction from production line ● Implementation of line motion control systems ● Output of pulse patterns



1.3.2 Application examples

Edge processing In this example, the movement of boards through a machine is controlled by fixed guides and clamping brackets. The sides of the boards are machined as they pass by a group of actuated cutters.

Figure 1-4 Example: Edge detection

The technology of the terminal modules includes: ● Exact encoder value measurements ● Exact edge acquisition ● Exact output of switching signals As a result, applications with increased line speed are possible. The switching conditions specific to each type of board are stored in a central controller. Depending on the exact position of the board (relative to its detected rising edge), the individual cutters are engaged and disengaged. The switching signal control relative to the detected edge is critical since cutting accuracy is directly dependent upon precise switching.



Application of glue tracks In the following example, glue tracks are applied to a workpiece. Each track controls one glue gun via a digital output.

Figure 1-5 Example: Electronic output cam control

The glue guns are activated via outputs of an output cam based on the axis position. The axis position is measured by an encoder that connects an SMC encoder interface to SIMOTION D via DRIVE-CLiQ. The SIMOTION Output Cam or Output Cam Track technology object controls the digital outputs of the TM15 based on the axis position. The output delay times (output delay times of DO / actuators, etc.) are compensated in the technology object. This compensation ensures that the glue placement is always accurate regardless of machine speed.


Configuration/programming 22.1 Requirement

To begin using the terminal modules, you need the following:

Hardware requirements ● TM15 or TM17 High Feature ● One of the following components:

– SIMOTION D (TM is connected directly to SIMOTION D or CX32) – SIMOTION D (TM is connected to a Control Unit, which is connected via

PROFIBUS/PROFINET to SIMOTION D) – SIMOTION C (TM is connected to a Control Unit, which is connected via PROFIBUS

to SIMOTION C) – SIMOTION P (TM is connected to a Control Unit, which is connected via

PROFIBUS/PROFINET to SIMOTION P) – DIN rail in accordance with DIN EN 50 022 (35 x 15 / 7.5) – DRIVE-CLiQ cable – PROFIBUS or PROFINET cable – External 24 VDC power supply (note the requirements for the TM15 and TM17 High

Feature terminal modules)

Software requirements This documentation describes ● SIMOTION V4.1 incl. SP1 and ● SINAMICS V2.5 incl. SP1 Previous SIMOTION and SINAMICS versions do not include all the functions described in this Manual.

See also Version overview (Page 85)

Configuration/programming 2.2 Configuring and programming TM1x modules


2.2 Configuring and programming TM1x modules

Requirement Once the terminal module hardware is mechanically and electrically installed, it must be integrated in the application project using the SCOUT engineering software. The procedures contained in this chapter assume that the user has a general understanding of SCOUT. In addition, a SCOUT project must be generated, for example, with SIMOTION D.

Note The following description relates to the configuration of Terminal Modules TM1x, which are connected to the integrated drive of SIMOTION D. The dialogs encountered during the configuration of Terminal Modules TM1x may differ slightly if the TM1x are connected to a SINAMICS Control Unit CU310 or CU320, which is connected via PROFIBUS or PROFINET to SIMOTION.



2.2.1 Inserting new TM1x modules

Procedure 1. Click the "+" next to "Input/output component". An expanded project tree similar to the

one below will be displayed.

Figure 2-1 "Insert input/output component" window

2. Double click "Insert input/output component". A window similar to the one shown below will appear.

Figure 2-2 "Insert input/output component" window



The "Name" field may be used to give the module a unique name (e.g. TM15_1). A drop-down list box containing the various module types will be displayed under Operating type. – TM15 (SIMOTION) for digital inputs/outputs as well as inputs of measuring inputs and

outputs of output cams – TM15 DI/DO for digital inputs/digital outputs (can be interconnected via BICO

technology) – TM17 (SIMOTION) for digital inputs/outputs as well as inputs of measuring inputs and

outputs of output cams for the most stringent accuracy requirements – Additional modules, which are not presented in greater detail here

"TM15 (SIMOTION)" has been selected in the figure. The "Author", "Version", and "Comments" fields can be used to further describe the module.

3. Click "OK" to insert the new module.

2.2.2 Configuring I/O channels – TM15

Procedure 1. "TM15_1" will now appear in the project tree. Open the directory tree underneath it, and double-click "Configuration". The "Configuration" window shown below will appear.

Figure 2-3 SCOUT – "TM15_1 - Configuration" window



Table 2- 1 Function of the buttons

Button Function

Configuration of I/O channels Display of component overview

Display of DRIVE CLiQ topology When you click this button (available online only),

the selected module can be identified by its RDY LED, which will flash (red-green).

2. Once you are satisfied that the displayed information is correct, you can configure the individual TM15 (SIMOTION) I/O channels. Click the "24 Isolated bidirectional digital inputs/outputs" button. (You can also double-click "Inputs/outputs" in the project tree instead.) The window shown below will open.

Figure 2-4 SCOUT – graphical configuration screen form for the TM15 (SIMOTION)

You can use the drop-down menus in the "Function" column to select the type of I/O channel to be used (i.e. DI, DO, input of measuring input, or output of output cam). One of four possible functions can be assigned to each channel.



Table 2- 2 "Function" column: Options in the drop-down menu

Menu option Description DI Channel used as a digital input DO (standard output1) Channel used as:

- Digital output, or - Output of the output cam (without high switching accuracy)

Measuring input Channel used as an input of a measuring input Output cam (fast output2) Channel used as a fast output of output cam (with high switching

accuracy) 1 The output of the output cam is calculated by the SIMOTION technology object in the IPO cycle clock or position control cycle clock. (That is, the resolution is one IPO cycle clock or one position control cycle clock.) 2 The switching instant of the output of the output cam is calculated by the TM15. For this reason, the resolution is less than the position control cycle clock. The value in the "Offset" column will later be added to the module address when the technology object is configured. The result will be the absolute address of the respective I/O channel. Depending on which function has been selected, you can switch between the input or output using the symbol displayed under "Inverter".

Table 2- 3 "Inverter" column: Description of symbols

Symbol Description

Signal not inverted

Inverted input

Inverted output



2.2.3 Configuring I/O channels – TM17 High Feature To begin configuring the TM17 High Feature Terminal Module, you can follow the procedure described in the chapter on "Configuring I/O Channels – TM15". The window shown below will open.


The "Inverter", "Function", and "Offset" columns are identical to those in the TM15 display. Additional configuration settings for the TM17 High Feature can also be made (see figure below).

Filter You can select a 1-µs or 125-µs filter for the inputs via the drop-down menus in the "Filter" column". The shortest pulses can be detected using the 1 μs filter; however, the 125 μs filter will provide higher noise immunity.



Measurement modes You can select the measurement mode from the dropdown menu in the "Mode" column.

Table 2- 4 "Mode" column: Description of symbols

Symbol Measurement mode

Single measurement

Cyclic measurement

The main difference between the Single Measurement and Cyclic Measurement modes is that with Single Measurement, a measurement job must be issued by the Measuring Input technology object for each measurement. The measurement job remains active until the measurement result has been obtained or until the job is terminated by a command. The measuring process must be reactivated for each new measurement. : In contrast, the measuring function need only be activated once for Cyclic measurement mode. The measuring function remains active until it is deactivated again. Up to two edges can be measured in each execution cycle of the Measuring Input TO (IPO interpolation cycle clock, IPO2 interpolation cycle clock or position control cycle clock). The measured values must be read out by the user program before new measured values are accepted. Result: ● A maximum of two edges can be evaluated per IPO cycle clock if the scan routine of the

user program is in the IPO synchronous task. ● A maximum of two edges can be evaluated per position control cycle clock if the scan

routine of the user program is in the servo-synchronous task. The servo-synchronous task is the lowest possible time level for a user program.



Table 2- 5 Measuring functions in conjunction with TM15 and TM17 High Feature

Single measurement Cyclic measurement Supported terminal modules TM15 and TM17 High Feature TM17 High Feature only Measurement operation Measurement job must be

issued for each measurement Measuring function need only be activated once. The measuring function remains active until it is deactivated again.

Time between 2 measurements Several IPO cycle clocks or several position control cycle clocks1)

1 IPO cycle clock or 1 position control cycle clock 1

Measuring range for measuring input can be defined (as TO function)

possible possible

1) If scan routine is in the servo-synchronous task

See also System timing for single measurement (Page 78) System behavior with cyclic measurement (Page 79)

Enable function With the "Enable" drop-down menu, the inputs of measuring inputs or outputs of output cams for channels 0 to 5 can also be enabled by an enable signal of channels 10 to 15. If you select the enable function for channels 0 to 5, the following symbols in the "Function" column will be automatically selected for the assigned enable channels 10 to 15: ● Enable (for level-triggered enable) ● Measuring Input (for edge-triggered enable)

Note If the enable input is to be used with an "inverted" output of an output cam, the inversion must be parameterized for the TM17 High Feature Terminal Module and not for the Output Cam or Cam Track technology object.

An inversion of the output on the "Output Cam TO" or "Cam Track TO" always causes a low level to be output when the enable is missing (with the desired inversion, however, this would correspond to a driven output cam). By contrast, when inversion is parameterized for the TM17 High Feature Terminal Module, it only takes effect once the enable signal has been sent, thus bringing about the desired result.



Table 2- 6 "Enable" and "Function" columns: Description of symbols

Symbol for enable signal selection (Enable column)

Symbol for assigned input of enable signal (Function column)

Explanation

No enable input No enable signal and therefore no enable input selected.

Level-triggered enable signal. The

channel assigned for the enable signal is displayed as an enable.

Edge-triggered enable signal

(setting option only available for outputs of output cam). The channel assigned for the enable signal is displayed as a measuring input. A Measuring Input technology object must be configured in SIMOTION for the input of the measuring input. The Measuring Input technology object can be used to evaluate the positions of the enable edges.

The enable signal polarity depends upon the selection you have made in the "Inverter" column, as follows:

Table 2- 7 "Inverter" column: inverter options for enable signals

Enable signal selection (Enable column)

Inverter options (Inverter column) Not inverted

Inverted

Level-triggered

Enable signal is high active Enable signal is low active

Edge-triggered

Enable signal takes effect on a rising edge

Enable signal takes effect on a falling edge



2.2.4 Other information

Note When parameters are reassigned for the I/O channels, the new parameters do not take effect until you restart (power on or hot restart) the SINAMICS or SIMOTION D device.

Note Additional information and parameter setting options are available in the project tree next to "Configuration" and "Inputs/Outputs" (e.g. Control logic, diagnostics, etc.). However, this information is most relevant for modules that are configured via BICO technology, e.g. for TM31. These registers are irrelevant to the user in TM15 and TM17 High Feature.

Note When you click "TM15_1" or "TM17_1" in the project tree, a number of parameters are displayed at the bottom of the symbol browser window. These parameters are irrelevant to the user.

Note TM15 and TM17 High Feature with vector drives or servo drives If DRIVE CLiQ cycle clocks ≠ 125 µs are used with vector drives, inaccuracies will occur when detecting signals via the Measuring Input technology object or when outputting signals via the Output Cam/Cam Track technology objects. The same phenomenon may arise with servo drives if you set sampling times via p112 that result in DRIVE CLiQ cycle clocks ≠ 125 µs. In the case of vector drives, the DRIVE CLiQ cycle clock is calculated by the Control Unit during ramp-up. The SCOUT Engineering System must be aware of this DRIVE CLiQ cycle clock (p4099) that is set automatically by the Control Unit. The same phenomenon may arise with servo drives if sampling times are set via p112 that result in DRIVE CLiQ cycle clocks ≠ 125 µs. In such cases, you should proceed as follows: 1. Carry out a project download. 2. Establish an online connection. 3. Upload to the SINAMICS drive. The updated p4099 parameter is read in as a result of the

upload. 4. Delete the Fast I/O configuration via SCOUT. Select the SIMOTION CPU in the project

tree and right-click to open the context menu. Delete the configuration with the menu Fast IO > Delete Configuration.

5. Switch to SCOUT OFFLINE mode. 6. Carry out a HW Config alignment. SCOUT uses this procedure to calculate internal

system data that is required for outputting/detecting signals with a high level of position accuracy.



2.2.5 Generating message frames and TM1x drive objects The message frames are automatically generated (or updated if they previously existed) when you select the "Close" button in the graphical configuration screen form.

Note Do not make any changes to the parameters in the Expert list, as these changes will not be automatically updated in the message frame and could therefore lead to errors.

See also Message frames (Page 82) Maximum permissible message frame length (Page 42)

2.2.6 Aligning the configuration with the hardware I/O addresses must now be assigned to the message frame so that the runtime system can access it. These addresses are generated/updated by the hardware configuration tool included in SCOUT. 1. To begin assigning addresses in this example, double-click "Configuration" under

"SINAMICS_Integrated" in the project tree. A window will appear showing the I/O address assignment of the message frame. The addresses of the inputs and outputs are updated when you click "Transfer to HW Config" followed by "Yes".

Figure 2-6 Aligning the configuration with the hardware



2. Note that the addresses have been assigned automatically. These addresses are the logical start addresses of the module in the message frame. You must later add the offset values from the graphical configuration screen form to these addresses if you want to determine the addresses for the individual I/O channels.

Note When a TM1x is reconfigured, the structure of its message frame is changed, thus necessitating a realignment with HW Config. This process will create new (modified) addresses for the inputs and outputs. In addition, the I/O address assignment of the technology object must be updated. Even if the operating mode of a measuring input is changed (once/cyclically), realignment with HW Config is required, although this does not generate any new (changed) addresses for the inputs and outputs.

Note Before making changes in the configuration screen forms of the TM15/TM17 High Feature Terminal Modules, you must close the screen form for aligning the hardware (see figure above).

Configuration/programming 2.3 Accessing inputs and outputs in a user task


2.3 Accessing inputs and outputs in a user task

Note The terminal module must be powered up before it can be accessed via I/O access. Otherwise, an I/O access error will occur and the CPU will go to STOP mode.

See also Power Up and Synchronization with the User Program (Page 37)

2.3.1 Linking symbolic I/O variables with TM1x terminal modules You have the option of addressing digital I/O channels in the user program with symbolic variables. The input and output addresses from the following figure are used in the addressing examples below.

Figure 2-7 Aligning the configuration with the hardware



Refer to the following figure for the offset in the example.


Input DI The base "I-address" of the TM17 High Feature is "288". Now add the offset of 3.0. For DI 0, the resulting address is "291.0".

Output DO The base "O-address" of the TM17 High Feature is "280". Now add the offset of 3.1. For DO 1, the resulting address is "283.1". The procedures for generating symbolic variables and for using the process image or direct I/O access are described in the SIMOTION SCOUT Manual.

Note You cannot use I/O variables to output to a digital output that is being used simultaneously by an Output Cam or Cam Track technology object. An error message will be output when the project is downloaded to the target system. Please also note that the Terminal Module must have ramped up before it is accessed via I/Os. You can also configure an error strategy for I/O (CPU stop, substitute value or last value). Note that byte-specific setting is the minimum possible setting. You cannot assign a substitute value for an output byte if individual bits have been allocated to an Output Cam or Cam Track technology object.

See also Power Up and Synchronization with the User Program (Page 37)



2.3.2 Controlling the enable signal If the enable signal has been selected for one of the channels on the TM17 High Feature terminal module, the user program can control this hardware function by writing values to the output address assigned to the channel for the enable signal. The control bit of the enable signal has the following function (= force function): ● "0" → The I/O channel (e.g., channel 0) is controlled by the channel for the enable signal

(e.g., channel 10). ● "1" → The I/O channel (e.g., channel 0) is enabled irrespective of the channel for the

enable signal (e.g., channel 10). If the I/O channel is activated by a HW enable signal during forcing, this enable is retained even after the forcing function is terminated (provided that the enable conditions are still fulfilled).

Table 2- 8 Addressing the channel for the enable signal

Channel for enable signal Assigned to I/O channel I/O address of enable input (output address)

10 0 (Module address + 2).2 11 1 (Module address + 2).3 12 2 (Module address + 2).4 13 3 (Module address + 2).5 14 4 (Module address + 2).6 15 5 (Module address + 2).7

Example In the example, DI 13 on the TM17 High Feature terminal module is used as the channel for the enable signal. The output address for controlling the enable signal DI 13 is "280" plus an offset of "2.5". Consequently, the output address to control the enable signal is 282.5.

See also Linking symbolic I/O variables with TM1x terminal modules (Page 32)



2.3.3 Signal status of the enable signal If required, the user program can read the signal state of the enable signal using the assigned input address. The binary value reflects the logic state for Tin.

Example In the example, DI 13 on the TM17 High Feature terminal module is used as the channel for the enable signal. The input address for DI 13 is "288" plus an offset of "2.5". Consequently, the input address used to read the signal state of the enable signal is 290.5.

See also System behavior with binary inputs and outputs (Page 76) Linking symbolic I/O variables with TM1x terminal modules (Page 32)

2.3.4 Read back function for outputs The user program can read back the signal state of each output channel on the TM15 or TM17 High Feature Terminal Modules using the assigned input address. The digital value reflects the signal state for Tin.

Example In the present example, the actual signal state of DO 1 on the TM17 High Feature Terminal Module is to be read back. The input address for reading back DO 1 is "288" plus an offset of "3.1". Consequently, the input address for reading back the signal state of DO 1 is "291.1".

Note If an inverted output channel is parameterized, the inverted terminal status is read during the read-back.

See also System behavior with binary inputs and outputs (Page 76) Linking symbolic I/O variables with TM1x terminal modules (Page 32)

Configuration/programming 2.4 I/O assignment to technology objects


2.4 I/O assignment to technology objects

Linking Technology Objects with Terminal Modules Inputs of measuring inputs and outputs of output cams are operated with the associated technology objects (TOs). A general understanding of the use of technology objects is therefore needed to perform the desired configurations.

Note The terminal module must be powered up before it can be accessed by technology objects. Otherwise, a technology alarm will be triggered.

Inputs of measuring inputs are addressed in the same way as inputs (DI), and outputs of output cams are addressed in the same way as outputs (DO). You will find a detailed description of linking technology objects with terminal modules in the "SIMOTION Motion Control - Technology Objects for Output Cams and Measuring Inputs" Manual.

See also Power Up and Synchronization with the User Program (Page 37) Linking symbolic I/O variables with TM1x terminal modules (Page 32)

Configuration/programming 2.5 Power Up and Synchronization with the User Program


2.5 Power Up and Synchronization with the User Program An isochronous bus is required for operation of the TM1x terminal modules. The terminal modules must have powered up and reached the synchronized state before they can be read- or write-accessed. Synchronization of the terminal modules requires at least 18 position control cycle clocks. Until synchronization, the digital outputs are disabled (low level at the terminal). The TM1x terminal modules are not ready to operate until they are successfully synchronized with the SIMOTION CPU. During this startup phase, the input and output variables must not be accessed directly or else an I/O access error will occur and the CPU will go to STOP mode. In addition, all access attempts of the Measuring Input, Output Cam, or Output Cam Track technology objects in a non-synchronized state will trigger a technological alarm. The start-up operation can be monitored by directly accessing the TM1x module status word or via the PeripheralFaultTask.

2.5.1 Monitoring the synchronization with PeripheralFaultTask During the transition from STARTUP to RUN, all TM1x Terminal Modules are in the "NOT_SYNCHRONIZED" state. ● As soon as the Terminal Modules have been successfully synchronized, the

PeripheralFaultTask with interrupt ID "_SC_IO_MODULE_SYNCHRONIZED" (=214) is called.

● If synchronization fails, the PeripheralFaultTask with interrupt ID "_SC_IO_MODULE_NOT_SYNCHRONIZED" (=215) is called.

Example To synchronize the user task, a user variable TM_SYNC is set to FALSE in the StartUpTask and set to TRUE in the PeripheralFaultTask with interrupt ID = SC_IO_MODULE_SYNCHRONIZED. The status of TM_SYNC is queried in the user task before the (first) direct access operation. The following TaskStartInfo is supplied in the PeripheralFaultTask every time it is called: DINT TSI#logBaseAdrIn // valid only when not equal to _SC_INVALID_ADDRESS DINT TSI#logBaseAdrOut // valid only when not equal to _SC_INVALID_ADDRESS DINT TSI#logDiagAdr // valid only when not equal to _SC_INVALID_ADDRESS DWORD TSI#details // set to 0 UINT TSI#eventClass // set to 0 UINT TSI#faultId // set to 0

Configuration/programming 2.5 Power Up and Synchronization with the User Program


The TaskStartInfo contains the logical address of the relevant module. TSI#logDiagAdr, TSI#details, TSI#eventClass, and TSI#faultId are irrelevant for TM15/TM17 High Feature Terminal Modules. For additional information on the TaskStartInfo, refer to the "SIMOTION ST Structured Text" Manual.

2.5.2 Monitoring synchronization by direct access to the module status word The synchronization of the TM1x terminal modules is displayed cyclically to the SIMOTION motion control system via the module status word. The module status word address corresponds to the input address of the module. A WORD variable must be created for the module status word. The synchronization bit SYNC is located in bit 8 of the module status word: Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Function - - - - - - ERR SYNC - - - - - FPGA PS MF

"-" means reserved, cannot be used Synchronization bit (bit 8): SYNC = 0 → Module is not synchronized SYNC = 1 → Module is synchronized

If you want to monitor the synchronization using I/O accesses, we recommend that you either configure an input WORD variable on the TM1x module status word with "substitute value=0" or perform the access by means of the secured getSafeValue system function. The user program must always use a WORD variable to access the status word (individual bits must be isolated by masking). As soon as SYNC bit = 1, the module is synchronized and may be accessed directly by I/O or technology objects.

Configuration/programming 2.6 Export/import project


2.6 Export/import project A consistent project, which uses TM15 or TM17 High Feature Modules, can be consistently exported and reimported via Project Export/Import. If only the SIMOTION CPU is exported, the message frame configuration for TM1x is not exported with it. Thus, the current message frame configuration is not changed as a result of an import to a CPU. If only the SINAMICS drive unit is exported, the message frame configuration for TM1x is not exported with it. The TM1x configuration must be completely deleted after an import. Select the SIMOTION CPU in the project tree and right-click to open the context menu. Delete the configuration with the menu Fast IO --> Delete Configuration. Regenerate the data. Open the Configuration under SINAMICS_Integrated in the project tree. The data is regenerated by individually aligning each slave using the Transfer to HW Config button.

Configuration/programming 2.7 Limitations of use


2.7 Limitations of use

Overview The maximum possible number of terminal modules per SIMOTION D, SINAMICS Control Unit or CX32 depends on the following factors: ● Maximum number of terminal modules ● Maximum number of drive objects ● Maximum permissible message frame length ● Other limitations

2.7.1 Maximum number of terminal modules The following maximum quantity structures apply when using Terminal Modules: ● The total number of TM15 (without the TM15 DI/DO variant) and TM17 High Feature

Terminal Modules permitted per DRIVE CLiQ line is 3. This also applies when using a DRIVE CLiQ Hub Module DMC20. If there are more than three TM15 or TM17 High Feature Terminal Modules connected to a Control Unit in total, the maximum number of TM15 or TM17 High Feature Terminal Modules that can be installed on one DRIVE CLiQ line is two.

● The total number of all TM15 and TM17 High Feature Terminal Modules permitted per SIMOTION D4x5, SINAMICS CU320 or CX32 is 8.

● The total number of all TM15 and TM17 High Feature Terminal Modules permitted per SIMOTION D410 or SINAMICS CU310 is 3.

Note For details of any other applicable restrictions, refer to the SIMOTION D and SINAMICS Manuals.

The TM15 and TM17 High Feature Terminal Modules require a DRIVE CLiQ cycle time of at least 125 µs. At present, the DRIVE CLiQ cycle time always corresponds to the currently set current controller cycle clock. If a TM15, for example, is operated in conjunction with vector drives with a DRIVE CLiQ cycle time > 125 µs, the resolution/accuracy of inputs of measuring inputs or outputs of output cams deteriorates (resolution/accuracy identical to the DRIVE CLiQ cycle time). Resolution and accuracy on the TM17 High Feature are not related to the cycle time in use. The computing load of each TM15/TM17 High Feature must be considered equivalent to one half of a SINAMICS axis, which can lead to a reduction in the number of axes on the part of drive control (does not apply for TM15 DI/DO).



If the TM15 or TM17 High Feature Terminal Module is operated on a DRIVE CLiQ line with a cycle time less than 125 µs, communication with these modules is not possible.

Note Exceeding the allowable number of Terminal Modules on a given DRIVE CLiQ line can cause the DRIVE CLiQ interface to cease communication.

2.7.2 Maximum number of drive objects The maximum permissible number of drive objects per SIMOTION D, SINAMICS CU, or SINAMICS CX32 is dictated by the installed controller/control unit. ● SIMOTION D4x5, SINAMICS CU320 or SINAMICS CX32:

maximum of 16 drive objects ● SIMOTION D410 or SINAMICS CU310:

maximum of 5 drive objects Examples of drive objects: ● CU320 control unit ● Closed-loop infeed ● CX32 expansion module ● Motor modules (one double motor module constitutes 2 drive objects) ● TB30 ● TM modules



2.7.3 Maximum permissible message frame length Each Terminal Module uses two message frames to communicate with the SIMOTION Motion Control System: ● Setpoint message frame – contains the programmed setpoints and is sent by the

SIMOTION Motion Control System to the TM. ● Actual value message frame – contains the current state of the I/O and is sent by the TM

to the SIMOTION Motion Control System. The maximum length of either the setpoint message frame or the actual value message frame is ● With integrated drives (SIMOTION D/CX32): 512 bytes ● With external drives (CU320/CU310):

– On PROFIBUS DP: 244 bytes – On PROFINET IO: 1,380 bytes

However, because the message frames are user-configured, the length of the message frames is determined by the current configuration (i.e. the actual length can be less than 244 bytes, 512 bytes, or 1,380 bytes). Message frames contain all data for the drive unit, including: ● Message frame length for all modules of type TM15/TM17 High Feature ● Message frame length for all axis message frames (e.g.: Standard message frame 5 has

"PZD 9/9" → 9 words [18 bytes] in each direction) ● Message frame length for all Line Modules (e.g.: SIEMENS telegram 370 for infeed with

PZD 1/1 → 1 word [2 bytes] in each direction) ● ........ If the message frame contains too much data, the number of TMs must be reduced.

See also Message frames (Page 82)



2.7.4 Consistency checks To ensure that applicable restrictions are not violated, SCOUT has the following built-in consistency checks: ● At any time, from the SCOUT main menu, "Check consistency" can be selected from the

"Project" drop-down menu. (For more information, refer to the SCOUT online help.) This allows you to verify that the programmed configuration is consistent with the defined hardware configuration.

● Before downloading the hardware configuration, "Consistency Check" can be selected from the HW Config "Station" menu. (For more information, refer to the SCOUT online help.) This allows you to verify the integrity of the defined hardware configuration for such things as PROFIBUS settings, timing settings, SINAMICS parameters, etc.

● Before saving a project in SCOUT, you can check the consistency of the network by selecting the "Check consistency" option in the "Network" menu of NetPro. (For more information, refer to the SCOUT online help.) This allows you to verify the integrity of the network and ensure that such things as redundant network addresses, unconnected nodes, subnets that have only one node, inconsistent connections, etc., are not present.

● When the SIMOTION Motion Control System is powering up, a "topology test" is automatically carried out to ensure that the hardware is consistent with the programmed configuration.


Commissioning 33.1 Power-up

Once the terminal module is physically installed and connected electrically, power may be applied to the unit.

DANGER Ensure that installation and operation are in accordance with the instructions provided in this Manual, and in accordance with the Safety Guidelines provided at the beginning of this Manual. Failure to do so can result in serious injury or death.

Status LED (RDY) of module The status of the module and the DRIVE-CLiQ interface are indicated by means of a multicolored LED on the front panel of the TM. The individual colors are explained in the following table. The error display is the same as that used on other SINAMICS components.

Table 3- 1 Module status

LEDs Color Status Description - Off Electronics power supply outside the

permissible tolerance range. Green Continuous light The component is ready for operation and

cyclic DRIVE-CLiQ communication is taking place.

Orange Continuous light DRIVE-CLiQ communication is being established.

Red Continuous light This component has at least one fault. Green/Red Flashing 2 Hz Firmware is being downloaded. Green/Orange Flashing 2 Hz Component detection: no faults detected.

READY

Red/Orange Flashing 2 Hz Component detection: fault(s) detected.

Note Interruption of module power supply: If the power supply to the module is interrupted, all outputs will switch to 0 V until synchronous communication resumes.

Commissioning 3.2 Updating the firmware


3.2 Updating the firmware The module firmware can be updated using a CompactFlash Card, which is inserted in the SIMOTION D or SINAMICS S120 Control Unit.

Procedure 1. Online connection for SCOUT

In the project tree, click "SINAMICS_Integrated". Go online by clicking the "Connect to target system" symbol in the main toolbar at the top. SCOUT is now connected to the SINAMICS device.

Figure 3-1 SCOUT project tree – Topology

2. Selection of Terminal Module Double-click "Configuration" under "SINAMICS_Integrated". A window with two tabs ("PROFIBUS message frames" and "Version overview" will appear (similar to screen below). The "Version overview" tab contains all the components that are connected to the SINAMICS Control Unit. The FW version currently installed on the component is displayed in the FW version column. The first two digits stand for the version, i.e. 24.... stands for version V2.4.

Figure 3-2 Screen displaying components connected to the Control Unit

Commissioning 3.2 Updating the firmware


3. Updating the firmware Right-click the "Firmware Update button". A window will open (similar to screen below).

Figure 3-3 Firmware update

You can now select either "Select all" or an individual component in the "FW Update" column; in the latter case, click the "Identification via LED" button first to check whether the correct module is selected: The RDY-LED on the selected component flashes green/orange (if no faults are detected) or red/orange (if faults are detected). Select "Start firmware update", to perform the FW update for the selected components. The firmware update process may take a while - a message is displayed to indicate when it has been completed. During the update, the RDY-LED flashes green/red. Now switch off the power supply for all drive components (SINAMICS Control Unit, CX32 expansion module, SIMOTION D, Terminal Module, etc.) and switch it back on to activate the new firmware.

Note The SIMOTION or SINAMICS CompactFlash Card always contains the most recent firmware version for the module.

Commissioning 3.3 Synchronous mode


3.3 Synchronous mode

Note This chapter pertains only to systems with external drives since this type of drive must be synchronized during configuration of PROFIBUS/PROFINET. Conversely, systems with integrated drives (i.e., one using SIMOTION D or CX32) use an integrated PROFIBUS that is pre-configured and synchronized.

The TM15 and TM17 High Feature terminal modules must operate isochronously with the SIMOTION Motion Control System. This is achieved by exchanging sign-of-life signals. Therefore, isochronous operation must be selected ● for PROFIBUS both on the master (SIMOTION) as well as the slave (SINAMICS) ● for PROFINET both on the master (SIMOTION) as well as the device (SINAMICS)

PROFIBUS procedure To make this selection in SINAMICS: 1. Right-click the SINAMICS component in the project tree. 2. In the drop-down menu, select the "Open HW Config" option. 3. Right-click the SINAMICS icon. 4. In the drop-down menu, select the "Object properties" option.

Figure 3-4 SCOUT - "DP Slave Properties" window

5. Select the "Isochronous operation" tab. 6. Select the "Synchronize drive with equidistant DP cycle" check box. If synchronization is lost (due to multiple consecutive transmission disturbances or interruption of the bus), a flag is set in the module's status word. Also, the module stops operation and all outputs are set to 0 V level. The module automatically attempts to restore the synchronization and to restart. This takes only a few position control cycle clocks if the restart is successful.

Note To ensure error-free operation, we recommend that you program a synchronous status query in the user program before issuing control commands to technology objects or read/write accessing modules via I/O access.

Commissioning 3.3 Synchronous mode


See also Error messages (Page 51) Power Up and Synchronization with the User Program (Page 37)

PROFINET procedure The basic procedure with PROFINET corresponds to PROFIBUS. However, you must enable synchronization in the properties of the device's PROFINET interface module on the "Application" tab. You must also select a sync domain with the RT class "IRT top" on the "Synchronization" tab.


Error messages 4

Introduction The error messages generated by the TM15 or TM17 High Feature modules are reported cyclically to the SIMOTION Motion Control System via the module status word as well as the diagnostic interrupt. The input address of the status word is identical to the start address (I-address) of the module.

Status word structure The error bit corresponds to bit 9 of the module status word. ERR = 0: No error ERR = 1: Error. The cause of error is indicated via

error bits MF, PS, and FPGA. For hotline purposes, drive parameter P2122 contains a detailed error code. Error class if ERR = 1 is set MF: Internal module error PS: No I/O power supply FPGA: Error in FPGA code

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Function - - - - - - ERR SYNC - - - - - FPGA PS MF

-: Reserved, must not be used ERR Error bit; indicates that the module is not

ready; more details are specified with bits MF, PS and FPGA

SYNC SYNC = 1 indicates that the TM1x module is synchronized

Error messages


Errors cannot be acknowledged. The error message is automatically deleted as soon as the device has been restarted or the cause of error has been corrected.

Note The user program must always use a WORD variable to access the status word (individual bits must be isolated by masking).

Diagnostic Interrupt If the module error bit ERR is set, a diagnostic interrupt _SC_DIAGNOSTIC_INTERRUPT (=201) is triggered with the following TaskStartInfo: DINT TSI#logBaseAdrIn // valid only when not equal to

_SC_INVALID_ADDRESS DINT TSI#logBaseAdrOut // valid only when not equal to

_SC_INVALID_ADDRESS DINT TSI#logDiagAdr // valid only when not equal to

_SC_INVALID_ADDRESS DWORD TSI#details // Supplementary information UINT TSI#eventClass // 0x39 = fault has occurred

// 0x38 = fault has been corrected UINT TSI#faultId // 0x42

TSI#details supplies the following supplementary information: Bit 31-17 16 15-12 11-8 7-2 1 0 Function 0 0 0 1111 0 ERR Fault

Bit 0 = 1 Module fault (set when ERR is set) Bit 1 = 1 ERR (internal error) Bit 11 to 8 Contains "digital I/O module" identifier

In addition to the diagnostic alarm, an entry is made in the diagnostic buffer if at least one of the bits is set. "Module fault" is displayed. For further information on the TaskStartInfo, refer to the "SIMOTION ST Structured Text" Manual.

Error messages


Error codes

Table 4- 1 Error codes (for hotline)

ERROR CODE 35... BITS DESCRIPTION REMEDY ...801 to ...905

MF Internal module error or communication problem on DRIVE CLiQ interface

Replace the module and contact your local technical support.

...906 PS At least one of the terminals for the I/O power supply is not connected or the I/O power supply is outside of the specified range. If the error is no longer present, the error code is retracted automatically.

Check all terminals for the I/O power supply.

...907 FPGA FPGA programming error (TM17 High Feature only)

Try to update the firmware. If error is still present, replace the module and contact your local technical support.

The error code (see table above) is stored as parameter P2122 in the SINAMICS Control Unit. This code can be read by the user task with the "readDriveParameter" system function (see SIMOTION documentation "Reference List – System Functions / Variables"). Another option is to use the BICO technology editor to link parameter P2122 with an I/O word that has been added to one of the axis message frames of the SINAMICS Control Unit. This enables cyclic reading of the error code.

Error messages


Error correction If problems arise during commissioning of the TM15 or TM17 High Feature, please verify the following: ● Make sure that the planned application is permitted. Note the information in the

SIMOTION constraint list (see SCOUT CD). ● Check the firmware version of the TM15/TM17 High Feature and update it if necessary. ● Delete the Fast I/O configuration via SCOUT. Select, for example, the "D435" controller in

the project tree. Right-click to open the context menu and select FastIO --> Delete configuration. Then execute Transfer to HW Config in the SINAMICS configuration screen form.

● If necessary, delete the user data on the CompactFlash Card and completely reload the project. Then execute Copy RAM to ROM.

● Restart (power on or hot restart) the SINAMICS or SIMOTION D device. The new I/O channel parameters do not take effect until you execute the restart.

See also Updating the firmware (Page 46)


Application tips 55.1 Tips on proximity switches

Proximity switches can be used in conjunction with the terminal modules to sense the presence or absence of a metallic surface. The advantages of using proximity switches over mechanical switches include the ability to perform non-contact sensing and a longer switch life. Proximity switches contain electronic circuits in a compact, rugged enclosure. Note the following when using proximity switches: ● Use a shielded conductor from the switch to the DC input connection. This conductor

should not be routed through a multi-signal connector. ● If an in-line connector is needed, use a shielded connector for each proximity switch

cable. Do not route any other signals through this connector. This prevents crosstalk between pins of noisy cables and sensitive receive signals. If enough noise is injected on the 24 V supply (e.g., through testing or as a result of natural machine noise), the proximity switch circuitry will be re-initialized, causing faulty operation.

● The 24 V source (whether supplied from the TM or a separate power source) should originate at the module and should be included within the shield over the entire distance.

Figure 5-1 Proximity switch

Application tips 5.1 Tips on proximity switches


5.1.1 Proximity switch cable shielding

The proximity switch shield should be grounded to the metal case on the switch side and to the shield connection on the terminal module at the other end. This grounding to the machine frame should be made in such a way that it will not corrode. Machine safety and well-shielded grounding connections require good conductive connection between metal parts of machine components. Coatings and corrosion compromise the electrical continuity of the machine.

Application tips 5.2 Information on leakage currents


5.2 Information on leakage currents

5.2.1 Input configuration Terminal module inputs occasionally receive their signal from an electronic device. Such a device can produce leakage current when the device is in de-energized state (OFF). If this current causes the input voltage at the terminal module to exceed 5 Volts, the circuit may not be able to detect whether this device is switched on or off. This may lead to faulty operation. If this occurs, a resistor must be added in parallel with the input circuit to divert a portion of this leakage current so that the input voltage does not exceed 5 VDC. The input resistance of the terminal module must be taken into account when selecting this resistor(2.8 kOhm for TM15 and TM17 High Feature). The wattage of the resistor must be great enough that the current consumption can be adapted to the output voltage of the switched-on source device.

5.2.2 Output configuration Based on its design, the terminal module produces only 10 µA of leakage current for each output circuit. This is well below the level that would cause an electronic device to erroneously interpret an OFF state as an ON state. Therefore, unlike some output circuits that can have leakage currents as great as 2 mA, the TM requires no external resistor to divert leakage current.

Application tips 5.3 Power switches ("SmartFETs")


5.3 Power switches ("SmartFETs") The power switches used for outputs have built-in protection from excessive load currents and short circuits at the output. The hardware of the module monitors the overcurrent/over temperature signal.

Note If the power switch is switched OFF due to an over temperature or overcurrent condition but the "ON" command persists, the output will be switched on again once the over temperature or overcurrent condition is eliminated.

The green channel LED illuminates when the power switch of the channel is switched on. A diode at each output protects the power switch from a reverse overvoltage failure when an inductive load is switched off. You will find further information on handling inductive loads in our FAQs.

Application tips 5.4 Input and output circuit


5.4 Input and output circuit

TM15

Figure 5-2 Input and output circuit - TM15

Grounding scheme For TM15, the following are internally connected: ● Module power supply ground ● Logic ground ● TM chassis The ground for the I/O power supply (terminals M1, M2, and M3) is capacitively coupled to the three grounds indicated above. If terminal M1, M2 or M3 is connected to one of the three grounds indicated above, isolation for the associated group of I/O channels will be lost. The I/O power supply ground (terminals M1, M2, and M3) must be connected to the reference ground of the current source in order for their associated I/O channels to function.

Application tips 5.4 Input and output circuit


TM17 High Feature

Figure 5-3 Input and output circuit - TM17

Grounding scheme For TM17 High Feature, the following are internally connected: ● Module power supply ground ● Logic ground ● TM chassis The ground of the I/O power supply is connected directly to the three grounds indicated above. The ground connections for the I/O of the TM17 High Feature and not isolated. The ground of the I/O power supply (terminal M) must be connected to the reference ground of the current source in order for their associated I/O channels to function.

Application tips 5.5 Other application examples


5.5 Other application examples

5.5.1 Use of inputs The following figure shows an example of an input connection. Although TM15 is shown, the TM17 High Feature is wired in a similar manner. Note that no 24 VDC is required on the "L1+" terminal since it is only needed in an output application for the output driver. (See also "Supplementary SINAMICS System Components for SIMOTION" Manual.)

Figure 5-4 Example: Input circuitry on the TM15



5.5.2 Use of outputs The following figure shows an example of an indicator lamp connection. Although the TM15 is shown, the TM17 High Feature can be wired in a similar manner. Please note that 24 VDC is required on the "L1+" terminal for the output driver to operate. (See also "Supplementary SINAMICS System Components for SIMOTION" Manual.)

Figure 5-5 Example: Output circuitry on the TM15



5.5.3 Connection of a proximity switch The following figure shows an example of a proximity switch connection. Several "M" (ground) terminals are available. In this example, the switch is supplied with 24 VDC via a DI/O (DI/O 2 in the example below). This DI/O may also be used to supply multiple switches, up to a current load of 500 mA per channel. (Typically, a 3-wire proximity switch requires about 150 mA.) If DI/O 2 is configured as an inverted output, a 24 V (high level) supply is applied after system power up without being programmed. DI/O 3 must be configured as an input.

Figure 5-6 Example: Proximity switch connected to TM17 High Feature



5.5.4 Using the enable signal This example illustrates the use of enable signals with outputs of output cams. When a workpiece is in the proper position, the output of the output cam is activated via the enable input. This ensures that the output cam (and thus the glue) is output only when a workpiece is present.

Figure 5-7 Controlling a glue nozzle using the output of an output cam

See also Output modes (Page 72)



5.5.5 Multiple µs-granular measuring ranges A maximum of one measuring range can be specified for the Measuring Input technology object. Only measurements taken within this range are recorded. The resolution of the measuring range of the Measuring Input technology object conforms to the measuring input processing cycle clock (IPO interpolator cycle clock, IPO2 interpolator cycle clock, or position control cycle clock). If more than one measuring range is needed or if the measuring range is to be specified more precisely, this can be accomplished in the application as described below: ● Configure a Measuring Input technology object with level-triggered enable on the TM17

High Feature (measuring input e.g., DI/O 0; assigned enable input is therefore DI/O 10) ● Configure an output cam track, and output this to an output of an output cam of TM17

High Feature. (Output of output cam e.g., to DI/O 12) ● Connect the output of the output cam to the enable input of the measuring input The output cam track is used to define the measuring range for the measuring input in the application (each output cam corresponds to one measuring range and can therefore be specified on a µs-specific basis).



Figure 5-8 Multiple µs-granular measuring ranges

5.5.6 Acquisition of times / time-triggered output If it is necessary to acquire times (e.g., measure the duration of a pulse) or to output a signal for a specific time period (e.g., output a pulse for a certain duration), a Measuring Input technology object or an Output Cam / Output Cam Track technology object connection to a virtual axis can be used for this purpose. The virtual axis is moved at constant velocity, e.g., at 1,000 degrees per second. Accordingly, an angular degree of 0.1 degree would correspond to a time period of 100 µs.

Application tips 5.6 Frequently Asked Questions (FAQs)


5.6 Frequently Asked Questions (FAQs) Current FAQs on the Terminal Modules TM15 and TM17 High Feature are located at the following link: http://support.automation.siemens.com/WW/view/de/24332926


Technical data 66.1 Operating modes

6.1.1 Overview of operating modes Each channel can be individually configured for one of the following modes:

Table 6- 1 Operating modes

Mode of operation TM15 TM17 High Feature Digital input (DI) X X Input of measuring input (single measurement)

X X

Input of measuring input (cyclic measurement)

- X

Input of measuring input with level-triggered enable

- X (channels 0 to 5)

Enabling signal - X (channels 10...15) Digital output (DO) X X Output of output cam X X Output of output cam with level-triggered enable


Output of output cam with edge-triggered enable




6.1.2 Input modes

Digital input (TM15/TM17 High Feature) If an I/O channel has been configured as a DI, it operates as a standard digital input.

Input of measuring input (TM15/TM17 High Feature) If an I/O channel has been configured as an input of a measuring input, a time value is acquired with the input edge. This value represents the time of the event referenced to the local system time.

Note The resolution of the measuring time varies according to the type of module: • In the case of the TM15, the resolution corresponds to the DRIVE CLiQ clock cycle, but is

at least 125 µs. • In the case of the TM17 High Feature, the resolution is 1 µs.

Enable signals (TM17 High Feature only) Inputs of measuring inputs can be activated with enable signals (= gate function). Specifically, channels 10 through 15 – if programmed as enable signals – enable channels 0 through 5, respectively. Each enable signal is level-triggered.

Figure 6-1 Diagram – Control of inputs



Table 6- 2 Timing for input of measuring input

Timer TM15 TM17 High Feature Comments T1 125 µs 1 1 µs Resolution T2 ≥ 125 µs 1 ≥ 1 µs/125 µs TM17: Depends on selected

filter times T3 ≥ 125 µs 1 ≥ 1 µs/125 µs TM17: Depends on selected

filter times T4 Depends on ratio of IPO to servo T5 Not applicable

(TM15 does not have an enable function)

≥ 1 µs/125 µs TM17: Depends on selected filter times

Times specified for positive logic. IPO = Interpolator cycle clock 1 DRIVE CLiQ cycle clock, but at least 125 µs

See also System behavior with binary inputs and outputs (Page 76) System timing for single measurement (Page 78) System behavior with cyclic measurement (Page 79) Configuring I/O channels – TM17 High Feature (Page 25)



6.1.3 Output modes

Digital output (TM15/TM17 High Feature) If a channel has been configured as a DO, it operates as a standard digital output. See figure under "System behavior for digital inputs and outputs"

Output of output cam (TM15/TM17 High Feature) This operating mode treats output channels as outputs of an output cam (see section on "System Behavior"). The outputs are enabled and disabled depending on the time values calculated in the SIMOTION technology object. Switching times are specified by two time values (ON and OFF values) referenced to the local system time.

NOTICE The resolution of the switching times varies according to the type of module: • In the case of the TM15, the resolution corresponds to the DRIVE CLiQ clock cycle, but

is at least 125 µs. • In the case of the TM17 High Feature, the resolution is 1 µs.

See also System behavior with binary inputs and outputs (Page 76) System behavior with outputs of output cam (Page 81)

Output of output cam with enable signal (TM17 High Feature only) The "Output of output cam with enable" mode treats output channels as outputs of an output cam, for which an enable signal is required (available on channels 0 through 5 only). This mode is selected on a channel-by-channel basis during I/O configuration. Provided that an enable signal exists, output cams are output as a function of the time values calculated in the SIMOTION technology object. Switching times are specified by two time values (ON and OFF values) referenced to the local system time.

Note Provided that the enable function for outputs of output cams is used and the output cams are to be output "inverted", an inverted output must be assigned for TM17 High Feature (an inversion of the output on the Output Cam or Output Cam Track technology object causes a low level to be output whenever there is no enable, which would correspond in this case to an activated output cam).



Level-triggered enable With a level-triggered enable, output cams are only output to the output if the enable signal is applied statically before the output cam start. If the enable signal is retracted before the output cam end, the output cam is still output up to the end. New output cams are no longer output.

Figure 6-2 Diagram – Output of output cam with level-triggered enable signal

Table 6- 3 Timing of output of output cam

Timer TM15 TM17 High Feature Comments T1 125 µs 1 1 µs Resolution T2 ≥ 125 µs 1 ≥ 50 µs (typical)

≥ 100 µs (maximum)Depends on the load conditions of the output. See "Supplementary SINAMICS System Components for SIMOTION" Manual.

T3 ≥ 125 µs (typical) 1 ≥ 150 µs (maximum)

≥ 75 µs (typical) ≥ 250 µs (maximum)

Depends on the load conditions of the output. See "Supplementary SINAMICS System Components for SIMOTION" Manual.

T4 IPO or servo Depends on the technology object cycle time.

T5 Not applicable (TM15 does not have an enable function)

≥ 1 µs/125 µs Depends on selected filter times. See "Supplementary SINAMICS System Components for SIMOTION" Manual.

Times specified for positive logic. IPO = Interpolator cycle clock 1 DRIVE CLiQ cycle clock, but at least 125 µs



Edge-triggered enable With an edge-triggered enable, output cams are output at the output only if the enable status exists before the output cam start. The enable status is controlled by a configured Measuring Input Technology Object. For the Measuring Input TO, only the "one-time measuring" mode is permitted with the following edge detection: ● Rising edge ● Falling edge ● Both edges Measuring of "Both edges, first rising" and "Both edges, first falling" and the "Cyclic measuring" mode is not supported. Via the Measuring Input TO ● the positions of the enable edges can be evaluated (see "SIMOTION Motion Control -

Technology Objects for Output Cams and Measuring Inputs" Manual). Please note that the measuring range is monitored in the IPO, IPO2 or position control cycle clock, depending on the configured measuring input cycle clock.

● Set or reset the enable status. The enable status is set when the configured edge arrives. The enable status is reset – At the beginning of the measuring range configured at the Measuring Input TO (with

range setting: "Measure in specified range") – By program command _enableMeasuringInput (with range setting: "Measure without a

defined range")



The enable status can be monitored via the I/O area of the enable input. If the enable status is retracted before the output cam ends, the output cam is still output until the end if it has already started. New output cams are no longer output.

Figure 6-3 Diagram - Output of output cam with edge-triggered enable signal

Note Times T1 to T5 correspond to the times in the table in section on "Level-Triggered Enabling".

Technical data 6.2 System behavior


6.2 System behavior The following timing data relate to a clock cycle setting of IPO: Servo: Bus cycle clock = 1 : 1 : 1 and a scan routine in the IPO synchronous task.

Note The following describes the system behavior for PROFIBUS and can also, in principle, lay the basis for PROFINET configurations.

6.2.1 System behavior with binary inputs and outputs The system behavior for digital inputs and outputs is shown in the figure below:

Figure 6-4 System behavior with digital inputs and outputs (TM15 and TM17 High Feature) with user program in the IPO

synchronous task level

A digital input channel (DI) is always sampled at time Tin at the end of each IPO cycle clock. A digital output channel (DO) is always activated at time Tout at the beginning of the IPO cycle clock. If the user program is executed in the IPO synchronous task, a DI state change (TRUE) in the first IPO cycle clock (#1) is detected in the next IPO cycle (#2). If an output signal (FALSE) is activated in response, it is first processed in position control cycle clock #3 and then transmitted to the module via PROFIBUS at the beginning of the next IPO cycle clock #4 (assuming an IPO: servo ratio of 1:1).



Tin = Ti + 1 x DRIVE CLiQ cycle; SINAMICS: Ti ≥ 125 µs Tout = To + 1 x DRIVE CLiQ cycle SINAMICS: To ≥ 125 µs where Ti and To are isochronous PROFIBUS time parameters. The value of Ti and To depends on the other PROFIBUS nodes; you can read off the exact value from the "DP Slave Properties" screen form in "HW Config". (In PROFINET screen "Properties - CBE20-PN" of the device.)

Note If the user program is executed in the servo-synchronous user task rather than the IPO synchronous user task, the output signal is output one IPO cycle clock earlier.

Note In order to operate the TM1X, the cycle time of the DRIVE CLiQ line must be at least 125 µs.

It is also possible to run a user program in the servo-synchronous task level. In this case, a user-programmed response in position control cycle clock #3 (terminal-terminal response time) is possible when there is a DI state change in position control cycle clock #1.

Figure 6-5 System behavior with digital inputs and outputs (TM15 and TM17 High Feature) with user program in the

servo-synchronous task level



6.2.2 System timing for single measurement The system behavior for a single measurement is shown in the figure below:

Figure 6-6 System behavior for single measurement (call Measuring Input technology object and

user program in the IPO cycle clock)

If a measuring input event occurs in the shaded area in IPO cycle clock #1, then the actual event time Tevent is transferred at the beginning of the following IPO cycle clock. In the Measuring Input technology object (TO), Tevent is converted to a position value (POS) that is available to the user program in IPO cycle clock #3. The time-related behavior for single measurement depends on two parameters: ● The ratio between the IPO cycle time and the cycle time of the position control cycle clock

(i.e. ratio of IPO to servo). ● The time level to which the Measuring Input technology object is assigned. The following table shows the minimum sampling cycle. The minimum sampling cycle defines the time between two measurements (e.g. the time between detection of two print marks).

Table 6- 4 Minimum sampling cycle – Single measurement

TO executed in IPO cycle clock TO executed in position control cycle clock 5 position control cycle clocks + 2 IPO cycle clocks

6 position control cycle clocks + 1 IPO cycle clock

Each sampling cycle is started by a measurement command from the technology object. The TM15 and TM17 High Feature Terminal Modules are capable of sampling a maximum of two edges within one sampling cycle.



The minimum pulse width depends on the specified edge selection: Edge selection Minimum distance Explanation Rising edge Falling edge

Minimum sampling cycle (see "Minimum Sampling Cycle" table).

Each new edge requires a new measurement command.

Both edges Both edges are sampled within one sampling cycle.

Both edges, rising edge first Both edges, falling edge first

>1 µs/125 µs1 (TM17) >125 µs (TM15)

Minimum distance between first measurement edge and previous edge = 4 position control clock cycles

1 Depending on filter selection.

Note The parameter assignment screen for the Measuring Input technology object contains two fields for edge selection: • Edge selection for (single) measurement • Edge selection for cyclic measurement

6.2.3 System behavior with cyclic measurement Up to two edges can be measured in each execution cycle of the Measuring Input TO (IPO interpolation cycle clock, IPO2 interpolation cycle clock or position control cycle clock). The measured values must be read from the user program before they can be overwritten by a new measurement. Result: ● A maximum of two edges can be evaluated per IPO cycle clock if the scan routine of the

user program is in the IPO synchronous task. ● A maximum of two edges can be evaluated per position control cycle clock if the scan

routine of the user program is in the servo-synchronous task The servo-synchronous task is the lowest possible time level for a user program.



Figure 6-7 System behavior with cyclic measurement (call TO Measuring Input and user program in

the IPO cycle clock)

Note If no edges are measured in a clock cycle, the TM17 High Feature can measure up to 4 edges in the following clock cycle, whereby the 3rd and, if necessary, 4th edges are buffered (buffer of up to 2 edges). In the following cycle clock, the buffered edges are transferred first even if new edges were recorded; these new edges are buffered again.

Table 6- 5 Minimum time between two edges (cyclic measuring)

Edge selection Minimum distance Explanation Rising edge Falling edge

10 µs with filter setting of 1 µs 500 µs with filter setting of 125 µs

however, a maximum of 2 edges per task cycle of the scan routine

Both edges > 1 µs with filter setting of 1 µs > 125 µs with filter setting of 125 µs

however, a maximum of 2 edges per task cycle of the scan routine

Note The parameter assignment screen for the Measuring Input technology object contains two fields for edge selection: - Edge selection for (single) measurement - Edge selection for cyclic measurement



6.2.4 System behavior with outputs of output cam The system behavior for outputs of output cam is shown in the figure below:

Figure 6-8 System behavior with outputs of output cams (call TO Output Cam and user program in

the IPO cycle clock)

In order to switch an output of an output cam in the shaded area of IPO #3, the Output Cam technology object (TO) determines the switching positions in IPO #1. These switching positions are converted in the following position control clock cycle to time stamp Ton and Toff and then transferred at the beginning of IPO #3. The same system timing applies to the Output Cam Track technology object.

6.2.5 Interpolation A linear interpolation is used to calculate the output cam switching points and for the conversion of measuring input edges to axis positions. This can affect the accuracy in the event of strong axis acceleration. The time that elapses between the "state change on the terminal" and the "calculation in the technology object" can be obtained from the timing diagrams.

See also System timing for single measurement (Page 78) System behavior with cyclic measurement (Page 79) System behavior with outputs of output cam (Page 81)

6.2.6 System Behavior of TM15 DI/DO The exact timing of TM15 DI/DO is described in the Motion Control Function Manual; basic functions are described in chapter "Integration of drive I/O".

Technical data 6.3 Message frames


6.3 Message frames The maximum length of either the setpoint message frame or the actual value message frame is ● With integrated drives (SIMOTION D/CX32): 512 bytes ● With external drives (CU320/CU310):

– On PROFIBUS DP: 244 bytes – On PROFINET IO: 1,380 bytes

Please be aware, however, that this maximum length applies to the entire PROFIBUS slave or the entire PROFINET device and therefore contains all data for the SINAMICS drive unit, including: ● Message frame length for all modules of type TM15/TM17 High Feature ● Message frame length for all axes ● Message frame length for all Line Modules If the message frame contains too much data, the number of allowable TMs may be reduced. The message frame length of a TM1x module can be calculated using the following formulas: N = number of time-driven output channels (i.e. outputs of output cam). M = number of time-driven input channels (i.e. inputs of measuring input or edge-triggered enable inputs). ● TM15: (N + M ≤ 24)

Length of setpoint message frame (output address area) = 12 + 2 · N (max. = 60 bytes) Length of actual value message frame (input address area) = 12 + 2 · M (max. = 60 bytes)

● TM17 High Feature: (N + M ≤ 16)

Length of setpoint message frame (output address area) = 8 + 4 · N (max. = 72 bytes) Length of actual value message frame (input address area) = 8 + 4 · M (max. = 72 bytes)

Technical data 6.3 Message frames


Example: Assume a TM17 High Feature is configured with: ● 4 inputs of measuring inputs ● 6 outputs of output cams ● 3 digital inputs ● 3 digital outputs The following applies: ● Length of setpoint message frame (output address area)

= 8 + 4 · 6 = 32 bytes ● Length of actual value message frame (input address area)

= 8 + 4 · 4 = 24 bytes

Note Outputs of output cams without high switching accuracy (i.e. no time-driven output channels are used) count as a digital output.

See also Maximum permissible message frame length (Page 42)


Version overview 77.1 Version overview

Function Available as of TM15/TM17 High Feature Use of TM15 and TM17 High Feature with SIMOTION D4x5 or on a SINAMICS S120 Control Unit CU320, which is connected via PROFIBUS DP to SIMOTION C, P, or D

Since delivery release (SIMOTION V3.1.1, SINAMICS V2.1)

TM15 and TM17 High Feature with CX32 SIMOTION V3.2, SP1 SINAMICS V2.3

Use of TM15 or TM17 High Feature on a SINAMICS S120 Control Unit CU320, which is connected to SIMOTION P or D via PROFINET IO.

SIMOTION V4.1 SINAMICS V2.5

Use of TM15 or TM17 High Feature on a SINAMICS S120 Control Unit CU310, which is connected to SIMOTION via PROFIBUS DP or PROFINET IO.

SIMOTION V4.1, SP1 SINAMICS V2.5

Use of TM15 and TM17 High Feature with SIMOTION D410 SIMOTION V4.1, SP1 SINAMICS V2.5, SP1

Use of TM15, TM17 High Feature with DRIVE CLiQ Hub Module DMC20


TM15 DI/DO The module hardware of the TM15 and TM15 DI/DO is identical, but there is a difference between the two modules in terms of system integration. For this reason, they must be configured as different input/output components. The I/O of the TM15 DI/DO can be assigned drive functions or interconnected to a drive message frame via BICO interconnection technology, which transfers the I/O states between SINAMICS and SIMOTION via PROFIBUS DP or PROFINET IO. You will find more information about integrating the TM15 DI/DO using BICO interconnection in the SINAMICS S120 Commissioning Manual. Use of TM15 DI/DO on a SINAMICS S120 Control Unit CU320 SIMOTION V3.2, SP1

SINAMICS V2.3 Use of TM15 DI/DO on a SINAMICS S120 Control Unit CU310 SIMOTION V4.0

SINAMICS V2.4 Use of TM15 DI/DO on SIMOTION D4x5 or CX32 SIMOTION V4.0

SINAMICS V2.4 Use of TM15 DI/DO with SIMOTION D410 SIMOTION V4.1, SP1

SINAMICS V2.5, SP1 Use of TM15 DI/DO with DRIVE CLiQ Hub Module DMC20 SIMOTION V4.0

SINAMICS V2.4



Function Available as of Axis types (servo/vector) Use of TM15 and TM17 High Feature in conjunction with servo axes

Since delivery release (SIMOTION V3.1.1, SINAMICS V2.1)

Use of TM15 and TM17 High Feature in conjunction with vector axes

SIMOTION V4.1, SP1 SINAMICS V2.5

Use of TM15 DI/DO in conjunction with servo and vector axes SIMOTION V3.2, SP1 SINAMICS V2.3

Measuring input/output cam functions Edge-triggered enable of outputs of output cams SIMOTION V3.2

SINAMICS V2.2 Cyclic measurement in conjunction with TM17 High Feature (max. 2 edges per IPO)


Cyclic measurement in conjunction with TM17 High Feature (max. 2 edges per servo)

SIMOTION V4.0

Measuring on virtual axes with TM17 High Feature SIMOTION V3.2 Measuring on virtual axes with TM15 SIMOTION V3.2, SP1 Several measuring inputs per axis SIMOTION V3.2 One measuring input for several axes (monitoring measuring input) SIMOTION V4.0 Measuring range for measuring input with cyclic measurement can be defined (as TO function)

SIMOTION V4.0

Quantity structures Total number of all TM15 and TM17 High Feature Terminal Modules per SIMOTION D4x5, CU320, or CX32

Up to SINAMICS V2.2: 2 max.; (0 CX32) up to SINAMICS V2.3: 3 max. SINAMICS V2.4, or later: 8 max.(up to 3 thereof per DRIVE CLiQ line)

Total number of all TM15 DI/DO per SIMOTION D4x5, CU320 or CX32

8 max.

Total number of all TM15 DI/DO per D410/CU310 3 max. Total number of all TM15, TM17 High Feature per D410/CU310 3 max. Maximum permissible number of drive objects per SIMOTION D4x5, SINAMICS CU320, or CX32

Max. 10 drive objects SIMOTION V3.2 and SINAMICS V2.2, or later: Max. 16 drive objects

Maximum permissible number of drive objects per D410/CU310 5 max. Maximum permissible message frame length per slave (PROFIBUS)

244 bytes SIMOTION V4.0 and SINAMICS V2.4, or later: 512 bytes with integrated drives of SIMOTION D4x5, D410, or CX32

Maximum permissible message frame length per DEVICE (PROFINET)

1,380 bytes max.

Miscellaneous Servo-synchronous user task (SIMOTION Task System) SIMOTION V4.0



Note The SIMOTION version information always refers to the use of the respective SIMOTION SCOUT version, the SIMOTION runtime version as well as the corresponding version of the "CAM" or "CAM_EXT" technology package (including Measuring Input, Output Cam and Cam Track technology objects). The SINAMICS version information always refers to the SINAMICS runtime version including the respective firmware status of the Terminal Modules as well as the corresponding version of the STARTER. Older TM15 and TM17 High Feature modules must be upgraded to the new firmware version before the new functions can be used.

See also Updating the firmware (Page 46)


EC Declaration of Conformity AA.1 EC Declaration of Conformity

The Declaration of Conformity can be found on the following website: http://support.automation.siemens.com/WW/view/de/15257461


ESD guidelines BB.1 ESD definition

What does ESD stand for? All electronic modules are equipped with large-scale integrated ICs or components. Because of the technology used, these electronic components are very sensitive to overvoltages and thus to electrostatic discharge. These Electrostatic Sensitive Devices/Modules are commonly abbreviated ESD. The ESD designation is used internationally to refer to electrostatic sensitive devices. Electrostatic sensitive devices are identified by the following symbol:

Figure B-1 Symbol for identification of electrostatic sensitive devices

CAUTION Electrostatic sensitive devices can be irreparably damaged by voltages that are far lower than anything a person can perceive. Voltages of this kind occur as soon as a component or an assembly is touched by a person who is not grounded against static electricity. Any damage that occurs to a module as a result of overvoltage is generally not recognized immediately and only comes to light after the equipment has been operating for some time.

ESD guidelines B.2 Electrostatic charging of individuals


B.2 Electrostatic charging of individuals Any person who is not conductively connected to the electrical potential of the environment can accumulate an electrostatic charge. The following figure indicates the maximum electrostatic charges that can accumulate in a person who is operating equipment when he comes into contact with the materials shown in the figure. These values comply with the specifications in IEC 801-2.

1

3

1

2

3

2

Voltage in kV

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

(kV)

5 10 20 30 40 50 60 70 80 90 100 Relative humidity in %

Synthetic material

Wool

Antistatic material, e.g., wood or concrete

Figure B-2 Electrostatic voltage that can accumulate on operating personnel

B.3 Basic measures for protection against discharge of static electricity

Ensure sufficient grounding When working with electrostatically sensitive devices, make sure that the you, your workstation, and the packaging are properly grounded. This prevents the accumulation of static electricity.

Avoid direct contact Never touch electrostatically sensitive devices if this can be avoided (for example, during maintenance work). When you touch modules, make sure that you do not touch either the pins on the modules or the printed conductors. If you follow these instructions, electrostatic discharge cannot reach or damage sensitive components. If you have to take measurements on a module, make sure that you first discharge any static that may have accumulated in your body. To do this, touch a grounded metal object. Only use grounded measuring instruments.


List of abbreviations C

Refer to this list for an understanding of the abbreviations and acronyms that are used in this Manual: BiCo Binector/Connector CU Control unit DI Digital input DI/O Digital input/output DO Digital output I/O Input/output FPGA Field programmable gate array IPO Interpolator cycle clock Lx+ Load power supply M Ground Mx Reference ground TM Terminal Module TO Technology object


Index

A Abbreviations, 93 Access to I/O channels, 32 Addresses

Logical start address, 31 Offset, 24

Alignment HW Config, 30

Application Examples, 17

B BICO interconnection

TM15 DI/DO, 11 Booting, 37, 45

C Channel selection, 24 Circuit

TM15, 59 TM17 High Feature, 60

Comparison TM15 / TM17 High Feature, 27 TM15/TM17 High Feature, 15

Computing load, 40 Configuration

Channel inversion, 24 Channel selection, 24 Enable function, 27 Filter, 25 Measurement modes, 26 Module selection, 21 TM15, 22 TM17 High Feature, 25

Connection Terminals, 12

Consistency checks, 43 Control logic, 29 CU310/CU320

Max. number of modules, 40 System integration, 10

CX32 Max. number of modules, 40 System integration, 10

Cyclic measurement Configuration, 26 Timing, 79

D Declaration of conformity, 89 DI

Address, 33 Example of input circuitry, 61 Operating mode, 70

Diagnostic Interrupt, 52 DO

Address, 33 Example of output circuitry, 62 Example of proximity switch connection, 63 Operating mode, 72 Reading back signal state, 35

DRIVE CLiQ Configuration rules, 40 Cycle time, 40

Drive objects, maximum number, 41

E Edge-triggered enable

Configuration, 28 Description, 74

Enable, 27 Enable function

Configuration, 27 Enable signal

Connection example, 64 Function, 70

Enabling signal Force function, 34 Signal state, 35

Errors Diagnostics, 51 Error codes, 53 Error correction, tips, 54 Evaluating via diagnostic interrupt, 52 Evaluating via parameter, 53 Evaluating via status word, 51 LED display, 45

ESD guideline, 91

Index


F FAQs, 67 Fields of application

TM15/TM17 High Feature, 16 Filter selection for TM17 High Feature, 25 Firmware update, 46

H Hardware requirements, 19 HW Config

Alignment, 30

I I/O access, 32 Inductive loads, 58 Input of measuring input

Accuracy, 15 Availability, 15 Fields of application, 16 Minimum pulse width (single measurement), 79 Minimum sampling cycle (single measurement), 78 Minimum time between measurements, 78 Operating mode, 70 Resolution, 15

Interpolation of values, 81 Interruption of power supply, 45 Inversion of the channels, 24

L Leakage currents, 57 LEDs, 45 Level-triggered enable

Configuration, 28 Description, 73

M Measuring input

Address, 36 Edge clearance (cyclical measuring), 80 General, 9 several measuring ranges, 65

Message frames Example calculation, 82 Max. permissible length, 82 Maximum permissible message frame length, 42

N Number

Maximum number of Terminal Modules, 40 Number of edges for measurement modes, 26

O Offset, 24 Output of output cam

Accuracy, 15 Address, 36 Availability, 15 Edge clearance, 73 Fields of application, 16, 64 General, 9 Operating mode, 72 Resolution, 15 Used with enable signals, 70, 72

P Parameters, 29 PROFIBUS DP, system integration, 10 PROFINET IO, system integration, 10 Project

Export, 39 Import, 39

Project export/import, 39 Properties

TM15/TM17 High Feature, 13 Proximity switch, 55

Q Quantity

Maximum number of drive objects, 41

R RDY, 45 Recording times, 66 Response time, 76

S SCOUT

Topology test, 43 Servo drives


Index


SIMOTION D Max. number of modules, 40

SINAMICS 120 CU310/CU320, 10

Single measurement Configuration, 26 Timing, 78

Software requirements, 19 State

Booting, 38 Errors, 51

Structure TM15/TM17 High Feature, 12

Synchronization General, 37 Monitoring via module status word, 38 Monitoring via PeripheralFaultTask, 37 PROFIBUS settings, 48 PROFINET settings, 49

System integration CU310/CU320, 10 CX32, 10 External drives, 10 Integrated drives, 10 SIMOTION D, 10

T Technology object

General, 9 Linking with Terminal Modules, 36

Terminals Connecting, 12

Time-controlled output, 66 Timing

Cyclic measurement, 79 DI and DO, 76 Outputs of output cam, 81 Single measurement, 78 TM15 DI/DO, 81

TM15 Circuit, 59 Function overview, 15 Servo drives, 29 Vector drives, 29

TM15 DI/DO, 11 BICO interconnection, 11 Function overview, 15

TM15/TM17 High Feature Comparison, 15 Fields of application, 16 Maximum number of Terminal Modules, 40

Properties, 13 Structure, 12

TM17 High Feature Circuit, 60 Function overview, 15 Servo drives, 29 Vector drives, 29

U Updating firmware, 46 User program, module integration, 32

V Vector drives


Version overview, 85

SIMOTION SIMOTION SCOUT TM15 / TM17 High Feature Operating Manual Commissioning Manual, 05/2009 98

SIMOTION SIMOTION SCOUT TM15 / TM17 High Feature Operating Manual Commissioning Manual, 05/2009 99

Documents

TM15 / TM17 High Feature Operating Manual€¦ · This section describes step-by-step instructions for configuration and integration into your user program. ... You will find detailed