Purpose of the Getting
Started 1
Requirements 2
Installing the configuration
package on the PG 3
SIMATIC
FM 351, installing and wiring 4
Function modules
FM 351 First Steps in 5
FM 351, programming
Commissioning
FM 351, testing 6
Getting Started
Linking to the user program 7
07/2007
A5E01092707-01
Safety Guidelines
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.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
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 Ordernumber: A5E01092707-01 Copyright © Siemens AG 2007.
Automation and Drives Ⓟ 11/2007 Technical data subject to change
Postfach 48 48
90327 NÜRNBERG
GERMANY
Table of contents
1 Purpose of the Getting Started .................................................................................................................. 5
2 Requirements ............................................................................................................................................ 7
3 Installing the configuration package on the PG.......................................................................................... 9
4 FM 351, installing and wiring ................................................................................................................... 11
5 FM 351, programming ............................................................................................................................. 13
6 FM 351, testing ........................................................................................................................................ 15
7 Linking to the user program ..................................................................................................................... 17
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 3
Table of contents
FM 351 First Steps in Commissioning
4 Getting Started, 07/2007, A5E01092707-01
Purpose of the Getting Started 1
Introduction
This Getting Started is intended to lead you through the five steps in commissioning a fully
functional application. Based on a practical example, it shows you how to execute a motion
via channel 1, and introduces the basic functions of FM 351 hardware and software, and
application-specific parameters. The references to the manual should give you an initial
overview of the information it contains.
It will take between 1 and 2 hours to work through the example, depending on your
experience.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 5
Purpose of the Getting Started
FM 351 First Steps in Commissioning
6 Getting Started, 07/2007, A5E01092707-01
Requirements 2
Requirements
Hardware and software requirements:
● An S7-300 station, consisting of a power supply module and a CPU.
● STEP 7 (≥V4.02) is properly installed on your PG. The instructions below, however, are
only relevant to STEP 7 (V5.0)
● You have configured a project for the S7-300 station.
● The PG is connected to the CPU.
● You have an FM 351 module and its configuration package, an external 24 VDC power
supply, an encoder, a drive, and all necessary accessories such as bus connectors, front
connectors and wiring material.
● You have installed hardware limit switches and EMERGENCY OFF switches to protect
your operating personnel and the plant.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 7
Requirements
FM 351 First Steps in Commissioning
8 Getting Started, 07/2007, A5E01092707-01
Installing the configuration package on the PG 3
Installing the configuration package on the PG
The FM 351 configuration package contains a configuration software, the necessary
functions (FC) and function blocks (FBs), the data structures (UDTs), and a sample program.
1. Place the CD into the CD drive.
2. In Windows, run the software setup dialog by double-clicking "Add/Remove Programs" in
the "Control Panel."
3. Click Install...
4. Select the "FMx51\Disk1" folder on your CD, run "Setup.exe", and then follow the setup
instructions.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 9
Installing the configuration package on the PG
FM 351 First Steps in Commissioning
10 Getting Started, 07/2007, A5E01092707-01
FM 351, installing and wiring 4
FM 351, installing and wiring
1. Switch off the power supply, then set the mode selector switch of the CPU to STOP.
2. Connect the bus connector included with your FM 351 to the bus connector of the CPU.
3. Hang the FM 351 on the rail, tilt it downwards, and screw it into place. You can find a
detailed explanation in the manual.
4. Wire the front connector as in the following image. You can find the complete allocation of
the front connector in the manual.
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5. Insert the front connector into the FM 351. An audible click tells you that it has properly
engaged.
6. Connect the encoder to the SUB D socket “ENCODER CH1.” To do this use a if possible
a cable set plug-in cable. You can find the complete allocation of the SUB D socket in the
manual.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 11
FM 351, installing and wiring
FM 351 First Steps in Commissioning
12 Getting Started, 07/2007, A5E01092707-01
FM 351, programming 5
FM 351, programming
1. Open your project in SIMATIC Manager.
2. Open the "HW Config" configuration table in your project.
3. In the hardware catalog, select the FM 351 with the correct order number, then drag-and-
drop it to the relevant slot of your hardware configuration. Note down the module address.
You will need this value when you integrate the module in your user program.
4. Double-clicking on the FM 351 leads you to the "Positioning module -
[FM 351 FIX. SPEED (Slot) (Setting Parameters) – – Projectname\Stationname]" window
of the configuration software.
5. Select the following settings on the programming interface (leave all other settings
unchanged, because they are not initially required for commissioning):
Channel: 1 (you only wired this channel)
Measuring mm (3 decimal places)
system:
Drive: Control mode: 1
Target range: 1,000 mm
Monitoring time: 2,000 ms
Stationary range: 1,000 mm
Stationary speed: 30,000 mm/min
Switchover difference plus: > Switch-off difference plus:
Switchover difference minus: > Switch-off difference minus:
Switch-off difference plus: > 1/2 x target range
Switch-off difference minus: > 1/2 x target range
After you have successfully completed your basic program, determine the
appropriate plant-specific values of the plus and minus switchover /
switch-off differences, and then adapt the parameters to suit your system
requirements.
Axis: Linear axis/ rotary axis: Application-specific
Software limit switches: Application-specific
End of the rotary axis: Application-specific
Encoder: Encoder type: Select the encoder you are using.
All further encoder settings are device-
and plant-specific.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 13
FM 351, programming
6. Accept the FM 351 parameters in your configuration by selecting "File > Save", then
close the configuration software with "File > Exit".
7. Save your configuration to your project with "Station > Save and compile".
8. When the CPU is in STOP, select "PLC > Load to module..." to download the
configuration.
The data is now transferred directly to the CPU and FM 351. As long as all configuration
data remains backed up in CPU memory, the CPU always transfers these to the FM 351 at
each STOP to RUN transition.
FM 351 First Steps in Commissioning
14 Getting Started, 07/2007, A5E01092707-01
FM 351, testing 6
FM 351, testing
1. In HW Config, once again double-click the FM 351 to open the "Positioning module –
[FM 351 FIX. SPEED (slot) (parameter assignment) – – Project name\station name]".
2. Open the commissioning screen [FM 351 FIX. SPEED (slot) (Commissioning) – –
Projectname\Stationname] with Test > Commissioning.
3. Select "Mode", then select "Jog" to enter the required velocity (rapid speed or creep
speed.)
4. Click "On" at "Drive enable." This action highlights the "Start enable" entry in green color
on the commissioning screen. If you have not wired the enable input at FM 351, select
"Additional Test functions", set the "Function switch" option "Do not evaluate enable
input", and then click "Apply."
5. Click DIR_M or DIR_P: The drive will keep moving as long as you press the mouse
button. You can now monitor the setpoint and actual value of the velocity.
Note
The actual value changes according to the directional input DIR_M (move in minus
direction) or DIR_P (move in plus direction.) If the count direction is not correct, select
"Edit parameters" to open the "Encoder" dialog box, then change the count direction from
"Normal" to "Inverted." Download your changes to the CPU and FM 351 by selecting PLC
> Download channel > 1. The actual values of the rapid speed and creep speed indicate
whether or not the digital outputs of FM 351 are properly wired.
Any errors detected in this test are reported at the "Error" display. Acknowledge those
operating errors by selecting "Test > Error evaluation" and continue testing. In the next step,
adapt the switchover / switch-off differences to correct your positioning parameters.
6. Select "Mode", then select "Incremental Absolute Approach", and then enter the value
255 at "Incremental Dimension Number": The view shows you the "incremental
dimension," "switchover difference" and "switch-off difference" fields.
7. Enter a positive positioning target value at the "Incremental Dimension" field. Enter the
value set in the drive screen form at the "switchover difference" and "switch-off
difference" fields. Make sure the incremental dimension is higher than the switchover and
switch-off difference.
8. At "Additional Test Functions", select "Set Reference Point", enter the reference point
0.000 mm, and then click "Apply." This action synchronizes the axis. The system returns
the message "Channel Synchronized."
9. Select "Additional Test Functions > Function Switches > Do Not Evaluate Enable Input",
and then click "Apply".
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 15
FM 351, testing
10.Set drive enable: The system returns the message "Start enabled." Click "Start" to
position the axis to the default incremental dimension. The "Distance to go" and "Position
reached -- Stop" displays indicate the positioning accuracy. You can improve positioning
accuracy by reducing or increasing the switchover and switch-off differences.
11.You also obtain the "Position reached -- Stop" message by increasing the target range.
Adjust those parameters until you receive the "Position reached -- Stop" message and the
actual positioning value is close enough to being equal to the incremental dimension.
Note down the values you have thus determined for the positive switchover / switch-off
differences.
12.Select a negative incremental dimension to determine the negative switchover and
switch-off differences.
13.Select "Change Parameters For > Drive", open the drive parameter view, then enter the
determined values at the relevant parameters.
14.Click "File > Save" to save your settings, then exit the configuration software by clicking
"File > Exit".
15.Save your configuration to your project with "Station > Save and compile".
16.When the CPU is in STOP mode, choose "PLC > Download to module..." to download the
configuration.
FM 351 First Steps in Commissioning
16 Getting Started, 07/2007, A5E01092707-01
Linking to the user program 7
Integration in the user program
1. In SIMATIC Manager, choose "File > Open... > Libraries" to open the FMx51LIB library.
This library contains two program folders:
– FM 351,451 ABS V1
– FM 351 ABS V2
– For the FM 351 you can always use the function blocks (FB) and functions (FC) from
both program folders. However, for new applications you should utilize only the
FM 351 ABS V2 program folder. The blocks in the FM 351 ABS V2 program folder
also support access to a distributed FM 351 configuration via PROFINET.
2. Copy FC 0 and FB 1 from the "FM 351 ABS V2 / Blocks" folder of the FMx51LIB library to
the "Blocks" folder of your project.
3. Choose "Insert > S7 Block > Data Block" to insert DB1 as an instance DB of FB1 and
choose "Insert > S7 Block > Organization Block" to insert the OB 100 into the "Blocks"
folder of your project.
The instance DB for FB1 is referred to as a channel DB.
4. Now, open OB 1 and OB 100 in your project. In OB 1, call FB 1 and in OB 100 the FC 1
5. In OB 100, enter the module starting address of the FM 351 that you configured in
HW Config.
6. Then, open FC 0 using the DB number of the channel DB as a parameter.
OB 100:
CALL FC 0
DB_NO := 1
OB 1:
CALL FB 1, DB 1
7. Choose "File > Save" to save OB 1 and OB 100.
8. Select blocks FC 0, FB 1, DB 1, OB 1, and OB 100 in your project. Choose "PLC >
Download" to download your program to the CPU.
FM 351 First Steps in Commissioning
Getting Started, 07/2007, A5E01092707-01 17
Linking to the user program
Test
Use the "Monitor and modify variables" function to monitor the selected channel.
1. In the symbol editor, assign DB1 a symbol named "ABS."
2. Select the "Blocks" container of your project. Choose the "Insert > S7 Block > Variable
Table" menu command to insert the VAT 1 variable table, and then confirm with "OK".
3. Open variable table VAT 1, then make the following entries in the "Symbol", "Display
format" and "Modify value" columns:
Address Symbol Display format Status Modify value Meaning
value
DB1.DBX 22.3 ABS OT_ERR BIN 0 Operating error
DB1.DBX 14.3 ABS.OT_ERR_A BIN 0 Acknowledge operating error
DB1.DBX 15.0 ABS.START BIN 0 Start positioning
DB1.DBX 15.1 ABS.STOP BIN 0 Stop current motion
DB1.DBX 15.2 ABS.DIR_M BIN 0 Direction minus
DB1.DBX 15.3 ABS.DIR_P BIN 1 Direction plus
DB1.DBX 15.7 ABS.DRV_EN BIN 1 Enable drive
DB1.DBX 34.2 ABS.EI_OFF BIN 1 Do not evaluate enable input
DB1.DBB 16 ABS.MODE_IN DEC 1 Requested mode: 1 = jogging
DB1.DBB 17 ABS.MODE_TYPE DEC 1 Start velocity in jogging mode
DB1.DBD 26 ABS.ACT_POS DEC Current axis position
4. Choose "Table > Save" to save the variable table VAT 1.
5. Choose "PLC > Connect To > Configured CPU" to switch to online.
6. Choose "Variable > Monitor" to switch to monitoring.
CAUTION
In the next two test steps you will start the drive.
Options of stopping the drive again:
• Reset the direction modify value to zero and activate it
• Reset the drive enable modify value to zero and activate it
• Set the CPU to STOP
7. Set the CPU to RUN-P.
8. Choose "Variable > Activate Modify Values" to activate the modify values.
9. This starts the drive. At the "Status value" column, you can now monitor the actual
position value ACT_POS.
FM 351 First Steps in Commissioning
18 Getting Started, 07/2007, A5E01092707-01
Linking to the user program
Diagnostics
Errors may occur due to improper operation, faulty wiring, or inconsistent parameters. The
manual describes how to analyze such errors and messages.
Example
In the zEn18_02_FMx51 project you will find more examples for the use of blocks from the
FM 351 ABS V2 folder. You can use these examples as a guide and adapt them to your
application.
FM 351 First Steps in Commissioning
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Linking to the user program
FM 351 First Steps in Commissioning
20 Getting Started, 07/2007, A5E01092707-01
