6ES7357-4AH01-0AE0 - SIEMENS

Product Brief January 2003

SIMATIC FM 357-2

Positioning- and Path Control Module

The reproduction, transmission or use of this document or its contents is

not permitted without express written authority. Offenders will be liable for

damages. All rights, including rights created by patent grant or registration

of a utility model, are reserved.

Siemens AG

Automation and Drives

Motion Control Systems Division

P.O. Box 3180, D- 91050 Erlangen

Exclusion of liability

We have checked that the contents of this publication agree with the hard-

ware and software described herein. Nonetheless, differences might exist

and therefore we cannot guarantee that they are completely identical. The

information given in this publication is reviewed at regular intervals and any

corrections that might be necessary are made in the subsequent printings.

Suggestions for improvement are welcome at all times.

Ó Siemens AG 1997-2003

Subject to change without prior notice.

Siemens Aktiengesellschaft Multi-Axis Module FM 357-2

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Positioning and Path Control Module FM 357-2

Contents

CONTENTS............................................................................................................................................. 3

APPLICATIONS........................................................................................................................................ 4

General............................................................................................................................................. 4

Areas of usage ................................................................................................................................. 4

DESIGN.................................................................................................................................................. 5

Hardware components ..................................................................................................................... 5

Software components....................................................................................................................... 5

Hardware design .............................................................................................................................. 6

The S7-300 CPU .............................................................................................................................. 7

Programming device with parameterization tool............................................................................... 8

Operator control and monitoring with Operator Panels .................................................................... 9

PC link ............................................................................................................................................ 10

DRIVE TECHNOLOGY............................................................................................................................. 11

Positioning ...................................................................................................................................... 11

Suitable drive systems ................................................................................................................... 12

APPLICATION OF THE FM 357-2............................................................................................................ 13

Preparatory steps ........................................................................................................................... 13

Creation of motion programs.......................................................................................................... 14

Program execution ......................................................................................................................... 15

Functions ........................................................................................................................................ 16

Technology blocks.......................................................................................................................... 17

Performance................................................................................................................................... 17

Data Storage .................................................................................................................................. 18

START-UP ............................................................................................................................................ 19

General........................................................................................................................................... 19

Operating modes ............................................................................................................................ 19

Monitoring functions ....................................................................................................................... 20

TECHNICAL DATA ................................................................................................................................. 21

4© Siemens AG 2003

Subject to technical changes

Applications

General

The FM 357-2 is a path and positioning control

module for intelligent motion control of up to four

axes. It allows a comprehensive range of

applications from independent single positioning

axes to interpolatory multi-axis path control.

The programming language for motion control in

accordance with DIN 66025 is also widely used

in mechanical engineering. It enables programm-

ing of simple "to and from" movements as well

as complex 3D curve movements with just a few,

powerful commands.

The positioning module excels in particular where flexible motion control is required. With its close

communication with the PLC system and its integrated independent real-time operating system, motion

sequences can be programmed according to any conceivable kind of external factor.

Areas of usage

The module is particularly suitable for the following application fields:

· For the metal, wood, plastics and stone processing

- Milling, shaping

- Engraving

- Cutting, deburring

- Bending, canting

· In the textile and packaging industry

- Sewing, embroidering

- Inserting

- Cutting to size

- Erecting, folding

- Palletizing, stacking

· For winding machines

- For electronic and electro-mechanical components

- For ropes and wires

· In handling applications

- Pick and place

- Loading machines

- Storage and retrieval machines

The FM 357-2 is capable of controlling both stepper drives and position-controlled servo drive axes.

Installation and start-up is facilitated by a user-friendly tool which is integrated into STEP7.

The parameterization wizard guides inexperienced users without the knowledge of "machine data"

through to successful installation and start-up.

Three firmware versions – FM 357-2 L, FM 357-2 LX and FM 357-2 Handling – are available to adapt

the module's functionality to the individual application field, thus offering an optimum price/performance

ratio.

The mechanical design of the module as well as the communication structure contribute to a perfect

integration into the SIMATIC S7-300 system.

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Design

Hardware components

Item Components Remarks

S7-300 PLC-System S7-CPU PLC CPU

I/O components

(optional)

Input/output modules,

communications processors

FM modules

FM 357-2 hardware S7-300 module Hardware module without firmware

Drive technology SIMODRIVE 611 A (analog)

or 611 U (analog or via

PROFIBUS)

POSMO C and POSMO SI

(via PROFIBUS)

MASTERDRIVES MC (analog

or via PROFIBUS) /

servo converter

or FM STEPDRIVE

stepper drive power module

Power converter for position-

controlled servo drives or stepper

motors

AC servo motors

SIMOSTEP stepper motors

Motors for axis drive

Operator component

(optional, for FM 357-2 H only)

Hardware

Handheld programming unit

MPI type or

Handheld terminal HT 6

SIMATIC HMI OP / TP / MP for

machine-level operator control and

monitoring

Particularly recommended: OP 17

Teach-in for FM 357-2 H only

Software components

FM 357-2 firmware

on coded memory card

System firmware on

memory card

Memory card for installing the

firmware on to the module

and for storing user data

Documentation Electronic documentation;

paperback manual can be ordered

separately

FM 357-2 configuration

package (identical for L, LX

and Handling)

Parameterization tool

"FM Param"

Configuration software; installed into

and called from STEP7

S7 technology blocks "Basic program" for S7 consisting of

FCs, FBs and DBs for data transfer

and communication

NC-VAR selector Auxiliary program for selection and

integration of FM-357-2 (NC-)

variables in the S7-CPU

Sample screen forms for

OP 17 / OP 27 and

TP 170B / MP 270B

Premade screen forms with standard

displays for demonstration of the

integration via data server or native

protocols

SIMATIC STEP 7 Floppy disks or CD with

authorization disk

Programming environment for

SIMATIC S7 PLCs

³ Version 4.02, recommended V5

SIMATIC HMI ProTool/Pro

(optional)

Floppy disks or CD Configuration software for all

SIMATIC HMI Panels

³ Version 2.51, recommended V3

"Edit-FM" program editor Floppy disk Stand-alone program editor for

editing and management of motion

programs on any PC with MPI

interface

6© Siemens AG 2003

Subject to technical changes

Hardware design

The FM 357-2 is inserted in a S7-300 system rack and requires at least an S7-CPU. The FM has 12

digital inputs and 8 digital outputs onboard which can be used freely within the program. If required,

these internal I/Os can be expanded by optional I/O modules (digital and/or analog).

In addition to the FM 357-2, further independent FM modules (such as counter modules or additional

positioning modules as auxiliary axes) can be inserted in the same rack. Up to three FM 357-2

modules (but only one FM 357-2 Handling) can be inserted in one rack.

To the right of the FM 357-2 digital and/or analog I/O modules can be used as local I/O (max. 2

modules). These modules can then be addressed directly as fast I/Os in the motion program in

addition to the digital onboard I/O (e.g. with the integrated CAMs or as path-velocity dependent analog

output).

If there is more than one FM 357-2 with local I/O to be used with one CPU, the second or third

FM 357-2 needs to be placed in a separate expansion rack using the interface modules IM360/361.

Up to 3 FM 357-2 can also be placed in ET 200M racks as distributed I/O and therefore can also be

integrated into an S7-400-System. With such decentralized configuration the performance of a central

installation will however not be reached.

With distributed operation it is not possible to implement a local bus segment, therefore no additional

high-speed inputs/outputs can be connected to the FM 357-2.

For applications in distributed configurations (via PROFIBUS) the FM 357-2 can also be operated

using a rack with a separate CPU (CPU 315-2DP) in line with the concept of "distributed intelligence".

All components required for motion control are installed in one place, which keeps data transfer to a

minimum and provides a modular software structure.

CPU

Local bus segment

FM 357-2 FM 357-2FM 357-2

3 FM 357-2 in a single rack,

one FM 357-2 with fast I/Os

in a local bus segment

3 FM 357-2 in multiple racks;

all FM 357-2 with local bus

segments and fast I/Os

(any combination possible)

CPU FM 357-2

360

FM 357-2

361

Local bus segment

FM 357-2

361

PROFIBUS

CPU

3xx/ 4xx

153-2 FM 357-2

CPU

315-2 FM 357-2

FM 357-2 as distributed I/O:

Connection to an S7-300 or

S7-400 system via PROFIBUS

and IM 153-2

(local bus segment not possible)

or e.g. CPU 315-2DP

(high-speed I/Os connectable to

a local bus segment) IM

153-2 FM 357-2

Local bus segment

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

The S7-300 CPU

The S7-300 CPU is the core part of the system. At least a CPU 315 (or CPU 314C) is required for

motion control with the FM 357-2, as approximately 10 KB CPU-memory are needed for the minimum

communication with the FM 357-2. For larger configurations we recommend a CPU 316 or CPU 318.

Alternatively, a C7-626 system or a C7-3xx can be used instead of the S7-CPU.

In most applications the motion program runs independently on the FM module whereby data and

status messages are cyclically exchanged with the CPU. From the motion program of the FM 357-2

"M commands" can be used to trigger actions in the S7-CPU and data can be read and/or written.

The S7-CPU can read out and influence the most important operating parameters of the FM 357-2,

providing full control of the traversing movements from the CPU. In this manner, "traversing blocks"

can even be written directly into the FM 357-2, for example, to obtain completely independent motion

sequences. However, this memory-intensive operating mode, called "PLC positioning axis", is only

recommended for simple motion sequences or in exceptional cases.

The powerful transfer of parameters is particularly suited for flexible motion programs. Thus the motion

program in the FM 357-2 is controlled via external parameters, for example allowing "scaling" of

contour movements from outside the FM without changes being made to the program.

The entire motion control program is generally programmed in the large user memory provided on the

FM 357-2 (approx. 770 KB), which offloads the S7-CPU.

The following are some of the functions frequently used within the communication between FM and

S7-CPU:

· Start/stop traversing movements

- Starting and stopping selected motion programs

- Direct triggering of independent positioning movements

· Specification of target positions

- Via transfer of parameters

- Via direct writing of values

· Selection of motion programs

· Setting and reading out operating modes

· Transfer/acceptance of parameters

- For setting parameters for motion programs

- For output and further processing of operating parameters

8© Siemens AG 2003

Subject to technical changes

Programming device with parameterization tool

A programming device or PC with MPI interface is required for start-up and maintenance.

The STEP 7 basic system forms the core component and is used in the usual way to create the PLC

user program.

The FM's configuration package includes a parameterization tool for parameterizing and programming

the FM 357-2. It is integrated into STEP 7 and can be called directly from the STEP 7 Hardware

configuration.

The FM 357-2 parameterization tool builds on the look and feel of the S7-FM module range and

Microsoft Windows. The tool can be used online on the premises or offline in the planning office. A

configuration that was created and stored on the PG/PC can be loaded into the module later.

(Parameterization tool - Parameterization wizard)

Various tools are integrated into the parameterization software such as:

· Parameterization wizard

A guided start-up routine allowing fast parameterization of the module – no need to input cryptic

machine data lists. All input data is preset with realistic empirical values and a technology-oriented

online help function completes the system for entry-level users.

· List-oriented expert mode

A mode where all parameters and machine data are displayed and processed in a list. Here the

experienced user is given the possibility to activate rarely used, system-critical functions.

· Program editor

A Windows ASCII editor is used for creating motion programs or importing and exporting existing

program code. The standards implemented support the use of third-party DIN code or customized

applications (such as export filters from CAD systems).

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

· Testing and operator control screen form

This tool permits offline operation in real-time mode. It allows the user to traverse single axes, test

programs and set operating modes. In addition, all main operating parameters are displayed online.

Error messages are displayed and saved online with context-oriented acknowledgement.

· Trace function

An integrated "storage oscilloscope" for recording positioning operations. If required, this can be

used to achieve optimum adaptation of the controller parameters to the mechanics and drive train

as well as for extended diagnostics.

Operator control and monitoring with Operator Panels

There are two possible ways to connect HMI components:

· the indirect connection via the S7-CPU

As all the important operating parameters of the FM 357-2 can be represented in the S7-CPU (for

example in data blocks), they are available in the entire automation system for visualization and

operating purposes. Therefore, all components can be used - ranging from a simple text display

right up to the visualization system WIN CC. However, due to the communication method there will

be a load on the S7-CPU.

· the direct connection via native protocol or data server

The OP 7 and OP 17 operator panels support direct communication with the FM 357-2 using a

"native protocol driver". By this means, virtually all relevant operating parameters can be displayed

and manipulated without loading the CPU, resulting in faster communication rates.

The following functions are supported:

- Stop/start program, control program

- Read, display and write variables directly

- Program list with selection dialog

- Output alarms in plain text

- Indirect axis selection via parameters (expanded multiplexing)

- > 125 R-parameters can be processed.

The functions can be configured directly and easily using ProTool V3.x or higher.

The FM 357-2 features an integrated data server for operator panels OP 27 and greater, allowing

them to communicate directly with the FM 357-2. However, this option has a few restrictions (no

program selection via lists, max. of 125 parameters, no direct configuration).

With ProTool Version 6 the S7-NC channel for direct communication with the FM is also available

for the Windows CE based OP/TP/MP from TP 170B upwards. However, program selection or

starting and stopping of programs is not possible directly and must be done via the CPU.

Basically, the SIMATIC HMI components can be used to set parameters for all motion programs, but it

is not possible to edit the programs directly from the HMI. For editing and creating motion programs the

parameterization tool is required.

10 © Siemens AG 2003

Subject to technical changes

PC link

An FM/NC channel DLL is available (on request) providing all important functions for WIN CC users.

The Edit-FM tool is available for linking additional PC applications.

It provides a program editor (like in the parameterization tool) and services for saving and loading NC

programs on the PC or into the FM. The use of Edit-FM does not require STEP7 to be installed on the

PC.

It can be used for the function modules FM 353/354/357-2 and FM453. For the communication with the

controller an MPI or PROFIBUS interface is needed in the PG/PC.

Edit-FM can also be remotely operated as an OLE server via external applications. This requires the

"Windows Scripting Host" services (supplied, included in Windows 98). The application can also be

remotely operated via customer applications (e.g. VBA) .

The following functions are available with Edit-FM:

· Connection setup with the FM

· Loading and saving/deleting programs on the FM

· Loading and saving/deleting programs on the PC

The control of the production process (e.g. starting/stopping programs) is not possible with Edit-FM.

However, it is possible to use the separate driver software "PRODAVE MPI" to establish

communication with the S7-CPU, from which the FM can be controlled.

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Drive technology

Positioning

Different tasks require different types of drive technology:

· Simple, slow positioning (several seconds to minutes) where the target points are always fixed is

directly controlled by means of the S7-CPU via limit switches and standard induction motors with

pulse converters.

· Simple and slow positioning (several seconds to minutes) with variable target points is

implemented with encoders via rapid traverse/creep feed positioning (for example, with the FM

351). Generally, induction motors with pulse converters are used for cost reasons (e.g. SIEMENS

Micromaster).

· High-speed positioning (seconds to less than 10 ms) with single axes that also require flexibility

and precision during the motion process (cm to sub-mm range) is implemented by means of

stepper motor systems with FM 353, FM STEPDRIVE and SIMOSTEP, or position-controlled

systems with FM 354 and SIMODRIVE 611 A/U or SIMOVERT MASTERDRIVES MC servo drives.

With three or four axes, the FM 357-2 module may be the most economical solution, too.

· High-speed positioning tasks requiring close coordination of axes up to interpolation and path

control, are implemented with an FM 357-2.

The FM 357-2 masters both operation of controlled or position-controlled stepper drives as well as

position-controlled servo drives. It is also possible to use high-performance frequency converters with

"vector control". The FM 357-2 does not support operation of controlled three-phase converters or

comparable systems.

The connection of drives via clock-synchronous PROFIBUS is possible, currently however only the

SIMODRIVE 611U, POSMO C or SI and MASTERDRIVES MC are supported (not with Firmware

Version H combined with a Handheld programming unit PHG or Handheld terminal HT 6). A mixed

operation of MASTERDRIVES and SIMODRIVEs via the clock-synchronous PROFIBUS is not feasible

with the FM-internal system configuration. Parallel operation of a PG/PC on the FM's PROFIBUS

interface for configuration of the drives via PROFIBUS is not possible. Parameterization of the

Profibus-drives can be done from the PG/PC via the MPI or PROFIBUS interface of the CPU or a

separate Ethernet module. This routing functionality requires STEP7 V5.2 and Drive ES.

The encoders can be either RS 422 (TTL) incremental encoders or SSI absolute encoders. The

encoders can be used at any location in the installation – linear scales via emulations (with

SIMODRIVE 611U) are also possible. Please note that the contact with the moving element must be

form-fitted.

12 © Siemens AG 2003

Subject to technical changes

Suitable drive systems

Type Application Reference

point

Rotation

monitoring

Remark

Stepper motor without

encoder

FM STEPDRIVE, SIMOSTEP

High-speed

positioning of

smaller masses,

positioning drives

Required Cyclical signal (e.g.

BERO) on high-

speed FM 357-2

input)

SIMOSTEP is

shock-load tolerant

Stepper motor with

incremental encoder

Fault-tolerance high-

speed positioning of

smaller masses,

positioning drives

Required Via position

controller of FM

357-2

Fully position-

controlled operation,

compact design of

power converters as

alternative to servo

drives

Stepper motor with

absolute encoder

Positioning drives

and high-speed

positioning of

smaller masses with

high safety

requirements

Not required Via position

controller of FM

357-2

Fully position-

controlled operation,

compact design of

power converters as

alternative to servo

drives

Servo drives with

incremental encoder

MASTERDRIVES MC;

SIMODRIVE 611A/U

POSMO C and SI

Fast motion of larger

masses, highest

dynamics for

handling systems

Required Via position

controller of FM

357-2, speed

controller monitoring

in the power

converter

Rotary and linear

drives

Servo drives with

absolute encoder

SIMODRIVE 611A/U

POSMO C and SI

Fast motion of larger

masses, highest

dynamics for

handling systems,

gantries.

Demands high

availability of

installation.

Not required Via position

controller of FM

357-2, speed

controller monitoring

in the power

converter

Frequency converter with

vector control

MASTERDRIVE VC/MC

Slow positioning of

larger masses.

(Acc. to the

measuring

system – see

servo drive)

(Acc. to the

measuring system –

see servo drive)

Necessary to modify

standard values for

position controller.

Can only be

operated with high-

performance control

– on request.

Hydraulics with linearized

servo valve or "NC amplifier"

(on request)

Slow positioning of

larger masses,

restricted dynamics

(type servo gain < 1)

(Acc. to the

measuring

system – see

servo drive)

Via position

controller of FM

357-2

High-quality servo

valve or "NC

amplifier" (e.g.:

Rexroth SVNC)

required. Pressure

controller possible.

The above mentioned drive systems can be used on the FM 357-2 in hybrid operation.

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Application of the FM 357-2

Preparatory steps

Analysis of mechanical and process conditions:

The FM 357-2 L and LX can be configured for rotary and linear axes in the Cartesian coordinate

system.

In addition to the above functions, the FM 357-2 H performs motions such as SCARA and articulated-

arm kinematics for handling and robotics applications. Special kinematics (eccentric, pantograph,

delta) can be linearized by the program via integrated real-time arithmetics with all firmware types.

Here, however, the necessary computation time must be taken into account.

The following distinctions must be made:

Positioning: A motion axis is traversed one-dimensionally from the start to the end point. The

behavior between the start and end point is generally only specified by a speed

limit ("to and from motion").

Examples: conveyor systems, hoisting devices and positioning drives

Synchronization: The motion of additional axes depends on another axis or an external master

value. Here variable conditions can be specified, for example, in tables. One axis

is the master, the others follow as slaves.

Examples: conveyor systems, tubular bag machines

Interpolation: The path between start and end position is calculated at a higher level based on

different mathematical functions and motion of all axes is controlled accordingly.

The resulting path of a tool therefore consists of a number of superimposed single

movements. Additional specifications such as velocity profiles and path

optimizations are also possible.

Examples: metal, wood and plastics processing, robotics, handling systems

The FM 357-2 supports operation of an interpolation or synchronization group with a maximum of 4

axes for one motion sum. Any remaining axes (e.g. 3 + 1) can be used as independent positioning

axes.

An external master value (e.g. an encoder on a shaft) can be connected via a measuring circuit, so

that 3 axes are still available for motion control.

The FM 357-2 supports up to 4 program channels for internal motion programs (FM 357-2 Handling: 1

channel) to which the 4 axes can be assigned in any combination (e.g. 2+2 axes, 3+1 axis, 4*1 axis).

Each axis channel operates as an "independent" module whereby the on-board I/Os can be addressed

by all channels equally. Additional FMs can be inserted into the S7-300 rack and controlled via the S7-

CPU for additional positioning tasks.

Interpolation

Positioning

(Application example - Handling system with positioning axis as conveyor drive)

14 © Siemens AG 2003

Subject to technical changes

Creation of motion programs

In general, motion sequences are controlled as follows:

1. as interpolating axis group in the motion program on the FM 357-2

2. as independent NC positioning axes (single axes) in the motion program on the FM 357-2

3. as "PLC positioning axes" by direct writing of motion commands into the NC memory

The motion program in the FM 357-2 is created in accordance with DIN 66025. This standard is widely

used in mechanical engineering to program motion sequences for metal processing. High-level

language elements (conditions, loops) and floating-point arithmetic are also supported.

The example below shows a typical command syntax of a motion program:

The FM 357-2 program memory has a capacity of approx. 770 KB and is fully available for motion

programming. The parameterization tool provides a program editor for editing and creating programs.

The editor features syntax coloring and a context-sensitive help function.

(Program editor - example program)

N10 G90 F1000 X10 Y20

N10 Block No. 10 (a block is a command line that is executed at the same time)

G90 G command "absolute dimensions" (supplementary conditions are defined here)

F1000 Velocity 1000 mm/min (dimensions can be configured)

X10 Y20 End point of the movement: X/Y-coordinate

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Program execution

The motion programs are executed sequentially. A program command ("program block") is only

executed when the preceding one has been completed. Several blocks are interpreted

simultaneously and analyzed (block pre-processing) in order to achieve continuous motion, i.e. the

next movement is prepared before completion of the current movement. Therefore, it is not

possible to change the motion blocks on-the-fly, that is, during motion – even if the block has not yet

been executed. About 10 blocks are pre-processed in advance.

If conditions are inserted, they are examined during program execution. However, please note that the

RLO is determined at the beginning of pre-processing, i.e. often several blocks in advance. This is

necessary to ensure that the gated position is also approached in continuous traversal.

If an updated (real-time) condition is to be examined, the block buffer must be cleared by the program

("STOPRE" command). The axis then stops and continues the movement after a short time according

to the new conditions.

If conditions are to be permanently examined in real-time operation and a response instigated, it is

necessary to set synchronous actions.

Synchronous actions are set via program commands ("Whenever" for cyclical processing, "When" for

once-only processing) and are then always executed if the conditions are fulfilled. In this manner

variables can be influenced or axes moved ("command axes") in real-time. However, block pre-

processing must be taken into account again for the application, i.e. even with immediate execution,

not all parameters are instantly effective (see manual). Parameters that are immediately effective

include velocity override, offset values or setting high-speed outputs.

Asynchronous subprograms (ASUB) can be used to interrupt a running program in order to execute a

"subroutine". The ASUB can be triggered by an external event (digital input) or a condition in the PLC.

Condition

Block 1

200 F100

Block 2

500 F80

Block 3

700 F50

Time

Block 1

200 F100

Block 2

500 F80

Block 3a

500 F80

Time

.... 800

Block 3b

200 F80

Block 1

200 F100

Block 2

500 F80

Block 3

500 F80

Time

Condition

Whenever

... do

Action

R26 = 2000

16 © Siemens AG 2003

Subject to technical changes

Functions

The program can be freely structured providing the syntax and programming rules are adhered to, and

it supports virtually all aspects of dynamic motion control. There are three function packages L, LX and

H available.

The version LX includes the functions of the version L plus further complex functions. The version H

extends the LX version by adding some handling functions.

Positioning and path control:

L Linear positioning of dependent/independent single axes

L Linear interpolation of up to 4 axes

L Circle and partly-circular (e.g. helical) interpolation

LInterpolation by means of interpolation tables of any size

L Programming of coupled-axis grouping (synchronized axes) of a max. of 1x3 or 2x2 axes

L Application of internal and external master values

LX Spline interpolation (linking interpolation points with curves)

LX Powerful portal function with rigid compensatory control ("gantry")

LX Superimposed oscillation motions, e.g. for spray-painting or grinding

LX Tangential control

LX Electronic gear (only with version LX)

Traversal

L Exact stop, transition rounding, look-ahead function for concatenated motions

L Acceleration behavior adaptable to technological characteristics (e.g. jerk reduction,

stepper drives)

L Rapid stop or emergency retraction programmable for collision detection ("ASUB")

L Fast resumption of the travel path after emergency stop with smooth acceleration

LControlled mode for drives that are difficult or impossible to control

LX Travel to fixed stop (torque output for pressure exertion motions)

Positional data

L Cartesian coordinate system, Polar coordinates

L Angle of rotation

L Manipulatable coordinate system (zero offset, rotation, mirroring)

L Programming of up to 4 Cartesian protection zones

HCoordinate transformation for SCARA and articulated-arm systems with up to 4 axes

Arithmetic

L Full floating-comma arithmetic with basic arithmetic types and higher mathematical functions

L Up to 100 arithmetic parameters available (can be expanded to max. 10,000)

L System variables (measurement values, actual values) can be read out and written to

L Program-controlled transfer of variables or actions to the S7-CPU (H or M functions)

Program control

L Program jumps, conditional and unconditional; Control structures (CASE, WHILE, ...)

LConditions ("IF ... then")

L Subroutine technique; event-triggered calls ("ASUB") or execution-oriented

L Simple interrupt routines (synchronous actions)

LX Expanded interrupt routines with linked commands and direct axis programming

HTeach-in operation with handheld programming unit or handheld terminal

Additional functions

L Limit switching signals (software cams)

L Addressing of digital and analog outputs as local I/Os

L Output of control commands (M and H functions) to S7-CPU

LX Fast measurement via delay-free probe assessment on 2 inputs

LX Path velocity-dependent variable control (e.g. analog output)

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Technology blocks

The coordination of the motion programs, starting and stopping of positioning processes as well as

parameter transfers are conducted by the STEP7 program. The configuration package contains

standard technology blocks for easy integration of the required functions into the user program.

The technology blocks provide general functions and services for the communication between CPU

and FM. The functions for initialization and diagnostics are executed during startup or in case of an

error. The basic functions and the often required communication functions have to be integrated into

the cyclical program of the CPU.

When parameterizing the FBs, motion sequences can be directly triggered by the S7-CPU without

programming the FM 357-2.

The following can be specified:

· the axis number of the axis to be traversed

· the end position in inch or mm (linear axis) or degrees (rotary axis)

· the traversing path (absolute or incremental)

· the feedrate

The positioning status is reported to the CPU via checkback signals and error messages.

Performance

The programs are executed sequentially in "Automatic" mode (comparable to "RUN" for S7-CPU). The

sample rate is 9 ms independent of the program and can be optimized to approx. 6 ms according to

the process if required.

The following times must be taken into account for assessing the expected performance:

1. The servo cycle (typ. 3 ms) corresponds to the sampling interval of the position controller

2. Coordination of the axes (interpolation) is calculated in the IPO cycle (typ. 9 ms)

3. Cycle time of the S7-CPU

4. Communication times between the FM and the S7-CPU

Communication

functions

DB "AXy"

xes data

DB "FMx"

FM data

FB 2

FM_GET

Reading

FB 3

FM_PUT

Writing

FB 4

FM_PI

Prog. interf.

FC 1

RUN_UP

Initialization

FC 5

BF_DIAG

Diagnose

FC 22

BFCT

Basic funct.

User data blocks Function blocks

General functions

Subject to technical changes

The following table shows the worst case times:

Data Storage

The data can either be stored on the start-up PG/PC or on the firmware memory card. The FM 357-2 is

capable of reading from or writing to the firmware memory card. During operation, the memory card

must be inserted in the module.

When storing the data on the memory card a module replacement or series commissioning is possible

without a PG/PC.

FM 357-2

Firmware

Memory Card

Start-u

switch

(Memory Card for data storage)

Data that is stored in the internal program memory is backed up by a battery and is therefore protected

in case of a power loss.

Procedure min. typical Remark

Response to positional

deviations

2 ms 3 ms Servo cycle

Software cams 6 ms 9 ms Output: recommended via digital outputs

High-precision cam 300 µs 350 µs Output: only via digital outputs

Synchronous actions 6 ms 9 ms

S7 cycle time

(without user program)

6 ms 9 ms For one FM 357-2

S7 cycle time

(without user program)

6 ms 11 ms For two FM 357-2s

Read/write NC variables 70 ms 80 ms Dependent on number and data quantity

Specify axis position (PLC

positioning axis)

6 ms 9 ms

Select program 75 ms 80 ms

Start program 6 ms 9 ms

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Start-up

General

During Start-up the following steps have to be carried out:

1. Ensure that the electrical and mechanical setup is correct

2. Start up the drive and set the parameters

3. Connect a PG/PC to the MPI interface on the CPU

4. Load the system firmware on the FM 357-2 via memory card

5. Load the S7 Technology blocks on the S7-CPU and call them in the cyclical program

6. Start the FM 357-2 parameterization tool from the S7 Hardware Configuration

7. Use the parameterization wizard to guide you through setting parameters for the FM 357-2

8. After reference point approach (if necessary), test the single axes with the start-up screen and

load or create a motion program (if required).

The FM 357-2 also provides a test mode (setting: "Simulation") where the controller is simulated

without drive operation.

Operating modes

The FM 357-2 positioning module can be operated in several modes. They can be selected in the S7

user program or in the start-up screen:

· Automatic mode

In this mode a program in the FM 357-2 is executed sequentially. A program must be selected

before it can be started.

Other programs can be created or edited at the same time using the start-up tool.

· Automatic single-block mode

An existing program is selected and then executed line by line, that is in single blocks.

The program stops after each block and must be started again.

· MDI mode (manual data input, only via parameterization tool)

Program lines (blocks) can be entered directly via the parameterization tool and immediately

executed one by one.

· Jog mode

Every single motion axes can be controlled separately by keys.

· Incremental mode

Single axes can be traversed manually in incremental mode.

· Reference point approach (homing)

This mode allows referencing of the axes (when using incremental encoders or stepper motors).

In conjunction with a handheld programming unit or handheld terminal, the FM 357-2 H version also

supports the "teach-in" function commonly used in robotics (for more information, please refer to our

separate datasheet).

Drives which are difficult or impossible to control can be operated in the controlled mode by

specifying a speed setpoint.

Subject to technical changes

Monitoring functions

Several internal monitoring functions are provided to ensure safe operation. A wide range of settings

are available via the parameterization tool or the program:

The following can be monitored:

· Correct approach to the position

· Motions in programmed standstill

· Following error (path deviations during traversal)

· Traversing speed for maximum values

· Encoder hardware

· With stepper motors: rotation monitoring via cyclical signals

· Hardware and software limit switches

Alarm messages can be stored in the S7-CPU in plain text. They can be output, for example, on OPs.

(Parameterization wizard: setting the monitoring functions)

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Technical Data

General data

Supply voltage 20.4...28.8 V

Power consumption 24 W

Backplane bus load 100 mA

Dimensions (WxHxD) in mm 200 x 125 x 118

Weight, approx. 1.2 kg

Degree of protection acc. to DIN 40050 IP 20

Certification CE, UL, CSA

Program memory approx. 770 KB

Memory type Retentive, battery backup (> 7 years)

Data backup On firmware memory card

or via parameterization tool

Number of program instructions Limited by memory capacity only

Max. number of arithmetic parameters Max. 10,000

Programming language DIN 66025

Subroutine levels 7

Number of subroutine passes < 9,999

Cycle time interpolator 9 ms

Cycle time servo 3 ms

Coordinate systems Cartesian, polar

Dimensions Inch/metric/degrees

Axes/measuring circuits 4

Documentation Contained in configuration package; also online help in

parameterization tool

Export The firmware versions FM 357-2 L, LX, H have no

export restrictions

Motion control

Interpolation Max. of 4 axes

Single axis positioning Max. of 4 independent axes,

available soon with interpolation groupings (e.g. 3+1)

Mode groups/channels 4

Maximum traversing velocity 300 m/s

Max. traversing range ± 9 decades

Override functions 0% to 200%

Acceleration Linear, jerk limitation (sin2), knee-shaped (stepper

drives)

HMI

Native protocol linking

with expanded functions

- SIMATIC HMI OP 7 / OP 17

- Windows CE based SIMATIC HMI OP/TP/MP

from TP 170B upwards with ProTool V6

(without program interface)

Data server with direct communication SIMATIC HMI

Connection via S7-CPU All SIMATIC HMI components

Start-up "FM Param" tool (configuration package) on PG/PC

separate standalone editor "Edit-FM"

Subject to technical changes

SIMATIC system data

Max. number of FM 357-2 modules on

one CPU

3 (1 with Firmware Version H)

Communication with S7 user program S7 technology blocks (FB, FC, DB)

STEP 7 Version 4.02 and higher

Memory requirements (work memory) approx. 10 KB for minimum,

approx. 16 KB for full communication with the FM357-2

for additional FM 357-2: approx. 800 bytes in addition

Supported CPUs CPU 314C, CPU 315, CPU 315-2 DP, CPU 316,

CPU 318, CPU 614

C7-626, C7-626 DP, C7-333, C7-334

S7-400 via PROFIBUS and distributed I/O *)

*) Observe restrictions for supported CPUs, a Slot CPU

is not supported

Distributed I/Os ET 200 IM 153-2 / ET 200M (reduced performance)

S7 program cycle time < 10 ms

Drive technology

Supported drives SIMODRIVE 611U servo drives with clock-synchronous

PROFIBUS *) or ± 10 V interface,

POSMO C and POSMO SI with clock-synchronous

PROFIBUS *)

MASTERDRIVES MC with clock-synchronous PROFIBUS *)

or ± 10 V interface

stepper drives with TTL interface,

frequency converter with vector control (on request)

hydraulics module with servo valves (on request)

*) PROFIBUS not possible with Firmware Version H in

combination with a PHG or HT 6

Connectors 50-pin Sub-D connector for all outputs,

4x15-pin Sub-D connector for encoder inputs

Supported encoders Incremental (RS 422) or absolute (SSI),

also in conjunction with stepper drives, EnDat – via

SIMODRIVE 611U and PROFIBUS or POSMO C and SI

Second encoder with PROFIBUS drives possible

Max. frequency for stepper motors 750 kHz

Voltage level on the stepper motor

output

5 V (TTL) for clock pulses and direction signal

Max. cable length for stepper motors 50 m, (35 m in hybrid operation with servo axes)

Number of steps for stepper drives 500–10,000 (FM STEPDRIVE, can be set on power

converter)

FM 357-2 Positioning and Path Control Module – Product Brief

Subject to technical changes

Ordering data

Components Order No.

SIMATIC FM 357-2 Hardware 6ES7 357-4AH01-0AE0

Front screw connector 6ES7 392-1AM00-0AA0

Backup-Battery 6ES7 971-1AA00-0AA0

FM 357-2 L, system firmware on coded memory card

incl. configuration package (German, English, French, Italian) *) 6ES7 357-4AH03-3AE0

FM 357-2 LX, system firmware on coded memory card

incl. configuration package (German, English, French, Italian) *) 6ES7 357-4BH03-3AE0

FM 357-2 Handling, system firmware on coded memory card

incl. configuration package (German, English, French, Italian) *) 6ES7 357-4CH03-3AE0

*) The configuration package for the FM 357-2 L, LX, H contains:

parameterization tool, S7 technology blocks,

screen forms for OP17 and OP27, documentation on CD-ROM

Printed manual for FM 357-2

German 6ES7 357-4AH00-8AG0

English 6ES7 357-4AH00-8BG0

French 6ES7 357-4AH00-8CG0

Italian 6ES7 357-4AH00-8EG0

Edit-FM - standalone editor for NC programs 6FC5 263-0AA03-0AB0

FM/NC channel (channel DLL) for WINCC On request

Supported encoders

Absolute encoder 6FX2 001-5... See Catalog NC 60

Incremental encoder 6FX2 001-2 .... See Catalog NC 60

SIMATIC S7 Components:

CPUs, Power supplies and accessories See Catalog ST 70

I/O and Function modules See Catalog ST 70

You can fi nd more Informati on about

SIMATIC based technology i n the Internet : To get in touc h with your contact person

near you, look i n the Internet under: Vistit the A&D Mall to order products

directly from the Internet:

http://www.siemens.com/simatic-technology www.siemens.de/automation/partner http://www.siemens.com/automation/mall

All designations in this Product Brief

marked with Ò are registered trade-

marks of the Siemens AG.

Siemens AG

utom at i on and Dri ves

Motion Control S ys teme

Postfach 3180, D- 91050 E rl angen

Germany

www.siemens.com/simatic-technology

Order No.

Subject to change without prior notice