FM 352 electronic cam controller
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SIMATIC
S7-300
FM 352 electronic cam controller
Operating Instructions
05/2011
A5E01071724-03
Preface
1
Product overview
2
Cam control basics
3
Installing and removing the
FM 352
4
Wiring the FM 352
5
Installing the software
6
Programming the FM 352
7
Commissioning the FM 352
8
Machine and cam data
9
Settings
10
Encoders
11
Diagnostics
12
Examples
13
Technical data
A
Connection Diagrams
B
Data blocks / error lists
C
Programming without
SFB 52 and SFB 53
D
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 relevant 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 product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
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 complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of 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
A5E01071724-03
Ⓟ 06/2011
Copyright © Siemens AG 2011.
Technical data subject to change
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 3
Table of contents
1 Preface ...................................................................................................................................................... 7
2 Product overview ..................................................................................................................................... 11
2.1 The FM 352..................................................................................................................................11
2.2 Fields of application of FM 352....................................................................................................12
2.3 Configuration of an electronic cam control with FM 352..............................................................13
3 Cam control basics .................................................................................................................................. 15
3.1 Properties of the cam types .........................................................................................................15
3.2 Tracks and track result.................................................................................................................18
3.2.1 Standard tracks............................................................................................................................18
3.2.2 Special tracks...............................................................................................................................20
3.3 Hysteresis ....................................................................................................................................22
3.4 Dynamic adjustment ....................................................................................................................24
3.5 Interfaces of the cam controller....................................................................................................25
4 Installing and removing the FM 352......................................................................................................... 27
5 Wiring the FM 352 ................................................................................................................................... 29
5.1 Before you start wiring .................................................................................................................29
5.2 Description of the encoder interface ............................................................................................30
5.3 Connecting the encoder...............................................................................................................31
5.4 Terminal assignment of the front connector ................................................................................32
5.5 Wiring the front connector............................................................................................................34
6 Installing the software.............................................................................................................................. 37
7 Programming the FM 352 ........................................................................................................................ 39
7.1 Basics of Programming an FM 352 .............................................................................................40
7.2 FC CAM_INIT (FC 0) ...................................................................................................................42
7.3 FB CAM_CTRL (FB 1) .................................................................................................................43
7.4 FB CAM_DIAG (FB 2)..................................................................................................................47
7.5 Data blocks ..................................................................................................................................49
7.5.1 Templates for data blocks............................................................................................................49
7.5.2 Channel DB..................................................................................................................................49
7.5.3 Diagnostic DB ..............................................................................................................................50
7.5.4 Parameter DB ..............................................................................................................................51
Table of contents
FM 352 electronic cam controller
4 Operating Instructions, 05/2011, A5E01071724-03
7.6 Interrupts ..................................................................................................................................... 52
7.7 Evaluation of a hardware interrupt .............................................................................................. 53
7.8 Evaluating a diagnostics interrupt ............................................................................................... 54
7.9 Technical data............................................................................................................................. 55
7.10 High-speed access to module data............................................................................................. 56
7.11 Parameter transmission paths .................................................................................................... 58
8 Commissioning the FM 352 ..................................................................................................................... 61
9 Machine and cam data ............................................................................................................................ 67
9.1 Machine and cam data................................................................................................................ 67
9.2 Writing and enabling machine data............................................................................................. 68
9.3 Read machine data..................................................................................................................... 70
9.4 Writing cam data ......................................................................................................................... 71
9.5 Reading cam data ....................................................................................................................... 72
9.6 Physical units system.................................................................................................................. 73
9.7 Machine data of the axis ............................................................................................................. 75
9.8 Determining the correct absolute encoder adjustment ............................................................... 82
9.9 Example: Adjusting the absolute encoder................................................................................... 84
9.10 Machine data of the encoder ...................................................................................................... 86
9.11 Resolution ................................................................................................................................... 91
9.12 Quantity framework and track data ............................................................................................. 94
9.13 Interrupt enable........................................................................................................................... 96
9.14 Cam data..................................................................................................................................... 97
10 Settings.................................................................................................................................................. 103
10.1 Influence of settings on the switching characteristics of time-based cams .............................. 103
10.2 Set Actual Value/Set Actual Value on-the-fly/Cancel Set Actual Value.................................... 104
10.3 Set zero offset ........................................................................................................................... 107
10.4 Set reference point.................................................................................................................... 110
10.5 Change cam edges................................................................................................................... 112
10.6 Perform "Fast Cam Parameter Change"................................................................................... 114
10.7 Executing "Length measurement and edge detection"............................................................. 116
10.8 Retrigger reference point .......................................................................................................... 120
10.9 Disabling software limit switches .............................................................................................. 124
Table of contents
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 5
10.10 Simulating ..................................................................................................................................126
10.11 Read "count values of counter cam tracks" ...............................................................................128
10.12 Read "position and track data"...................................................................................................130
10.13 Read encoder data ....................................................................................................................131
10.14 Read cam and track data...........................................................................................................132
10.15 Setting control signals for the cam controller.............................................................................133
10.16 Querying checkback signals for the cam controller ...................................................................134
10.17 Setting the return signals for diagnostics...................................................................................135
11 Encoders ............................................................................................................................................... 137
11.1 Incremental encoders ................................................................................................................137
11.2 Proximity switches .....................................................................................................................140
11.3 Absolute encoder .......................................................................................................................141
12 Diagnostics............................................................................................................................................ 145
12.1 Possibilities for error evaluation.................................................................................................145
12.2 Meaning of the error LEDs.........................................................................................................146
12.3 Diagnostic interrupts ..................................................................................................................147
12.3.1 Enable diagnostic interrupts.......................................................................................................147
12.3.2 Reaction of FM 352 to errors with diagnostics interrupt ............................................................148
13 Examples............................................................................................................................................... 151
13.1 Introduction ................................................................................................................................151
13.2 Requirements.............................................................................................................................152
13.3 Preparing the examples .............................................................................................................153
13.4 Displaying the code of the examples .........................................................................................153
13.5 Testing the example...................................................................................................................154
13.6 Reusing an example project ......................................................................................................154
13.7 Sample program 1 "Getting Started"..........................................................................................155
13.8 Sample Program 2 "Commissioning".........................................................................................156
13.9 Sample program 3 "One Module" ..............................................................................................157
13.10 Sample program 4 "Interrupts"...................................................................................................160
13.11 Sample program 5 "MultiModules".............................................................................................162
Table of contents
FM 352 electronic cam controller
6 Operating Instructions, 05/2011, A5E01071724-03
A Technical data ....................................................................................................................................... 165
A.1 General technical data .............................................................................................................. 165
A.2 Technical data........................................................................................................................... 166
B Connection Diagrams ............................................................................................................................ 169
B.1 Encoder types ........................................................................................................................... 169
B.2 Connection Diagram for Incremental Encoder Siemens 6FX 2001-2 (Up=5V; RS 422).......... 170
B.3 Connection Diagram for Incremental Encoder Siemens 6FX 2001-2 (Up=24V; RS 422)........ 172
B.4 Wiring Diagram of the Incremental Encoder Siemens 6FX 2001-4 (Up = 24 V; HTL) ............. 174
B.5 Connection Diagram for Absolute Encoder Siemens 6FX 2001-5 (Up=24V; SSI) ................... 176
C Data blocks / error lists .......................................................................................................................... 177
C.1 Content of the channel DB........................................................................................................ 177
C.2 Content of the parameter DB .................................................................................................... 185
C.3 Data and Structure of the Diagnostic DB .................................................................................. 187
C.4 Error classes ............................................................................................................................. 190
D Programming without SFB 52 and SFB 53 ............................................................................................ 199
D.1 Overview of the Programming without SFB 52 and SFB 53 section ........................................ 199
D.2 Basics of Programming an FM 352........................................................................................... 200
D.3 FC CAM_INIT (FC 0)................................................................................................................. 201
D.4 FC CAM_CTRL (FC 1).............................................................................................................. 202
D.5 FC CAM_DIAG (FC 2)............................................................................................................... 206
D.6 Data blocks ............................................................................................................................... 208
D.6.1 Templates for data blocks......................................................................................................... 208
D.6.2 Channel DB............................................................................................................................... 208
D.6.3 Diagnostics DB.......................................................................................................................... 209
D.6.4 Parameter DB ........................................................................................................................... 210
D.7 Interrupts ................................................................................................................................... 211
D.8 Evaluation of a hardware interrupt ............................................................................................ 212
D.9 Evaluating a diagnostics interrupt ............................................................................................. 213
D.10 Technical specifications ............................................................................................................ 214
D.11 Fast access to module data ...................................................................................................... 215
D.12 Parameter transfer routes ......................................................................................................... 217
Index...................................................................................................................................................... 219
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 7
Preface 1
Purpose of the manual
This manual gives you a complete overview of the FM 352 function module. It helps you
during installation and commissioning. The procedures involved in installation, wiring,
parameter assignment, and programming are described.
This manual is intended for the programmers of STEP 7 programs and for those responsible
for configuring, commissioning, and servicing automation systems.
Basic knowledge required
This manual presumes general knowledge in the field of automation engineering.
In addition, you should know how to use computers or devices with similar functions (e.g.,
programming devices) under the Microsoft® Windows® operating systems and have a
knowledge of STEP 7 programming.
Scope of the manual
This manual contains the description of the FM 352 electronic cam controller as valid at the
time it was published. We reserve the right to publish modifications of FM 352 functionality in
a separate Product Information.
The manual with the number in the footer applies to the FM 352 with order number
EWA 4NEB 720 6004–01 6ES7 352-1AH00-0AE0
EWA 4NEB 720 6004–01 a 6ES7 352-1AH01-0AE0
C79000–G7000–C352–03 6ES7 352-1AH01-0AE0
A5E01071724-01 6ES7 352-1AH01-0AE0
A5E01071724-02 6ES7 352-1AH02-0AE0
A5E01071719-03 6ES7 352-1AH02-0AE0
Content of this manual
This manual describes the hardware and software of the FM 352 electronic cam controller.
It comprises the following sections:
● Fundamentals part (Chapters 1 to 8)
● Reference part (Chapters 9 to 13)
● Appendices (A, B, C, and D)
● Index
Preface
FM 352 electronic cam controller
8 Operating Instructions, 05/2011, A5E01071724-03
Standards
The SIMATIC S7-300 product series is compliant with IEC 61131-2.
Recycling and disposal
The FM 352 is low in contaminants and can therefore be recycled. For ecologically
compatible recycling and disposal of your old device, contact a certificated disposal service
for electronic scrap.
Additional support
If you have any further questions about the use of products described in this manual and do
not find the right answers here, contact your local Siemens representative
(http://www.siemens.com/automation/partner):
A guide to the technical documentation for the various products and systems is available on
the Internet:
● SIMATIC Guide manuals (http://www.siemens.com/simatic-tech-doku-portal)
The online catalog and online ordering systems are also available on the Internet:
● A&D Mall (http://www.siemens.com/automation/mall)
Training center
To help you get started with automation technology and systems, we offer a variety of
courses. Contact your regional Training Center or the central Training Center in D-90327
Nuremberg, Germany.
● Internet: SITRAIN homepage (http://www.sitrain.com)
Preface
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 9
Technical Support
You can access technical support for all A&D projects via the following:
● Online support request form: (http://www.siemens.com/automation/support-request)
Service & Support on the Internet
In addition to our documentation, we offer a comprehensive online knowledge base on the
Internet at:
Industry Automation and Drive Technologies - Homepage
(http://www.siemens.com/automation/service&support)
There you will find the following information, for example:
● The newsletter that provides up-to-date information on your products.
● The documents you need via our Search function in Service & Support.
● A forum for global information exchange by users and specialists.
● Your local partner for Automation and Drives.
● Information about on-site service, repairs, and spare parts. Much more can be found
under "Services".
Preface
FM 352 electronic cam controller
10 Operating Instructions, 05/2011, A5E01071724-03
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 11
Product overview 2
2.1 The FM 352
The FM 352 function module is a single-channel, electronic cam controller for integration in
the S7-300 automation system. It supports rotary and linear axes. The module supports
initiators and incremental or absolute encoders (SSI) for position feedback. When operating
in slave mode, the FM 352 can listen in on the SSI frame of an absolute encoder.
You can specify up to 128 position-based or time-based cams that you can assign to 32 cam
tracks as required. The first 13 cam tracks are output via the digital outputs on the module.
For information about the functions and settings of the cam control, refer to the next
chapters.
You can operate several FM 352 stations simultaneously. The module also supports
combinations with other FM/CP modules. A typical application is the combination of the
module with an FM 351 positioning module.
You can operate an FM 352 in a central and distributed configuration on PROFINET or
PROFIBUS-DP.
Table 2- 1 Configuration of a SIMATIC S7-300 with FM 352
Graphics Description
Configuration package containing the parameter
assignment interface, the blocks, and the
manual
Programming device (PG) with STEP 7, and the
FM x52 parameter assignment interface
6
)0
CPU with the user program and blocks of
FM 352
Product overview
2.2 Fields of application of FM 352
FM 352 electronic cam controller
12 Operating Instructions, 05/2011, A5E01071724-03
2.2 Fields of application of FM 352
Example: Applying glue tracks
In the following example, glue tracks are applied to wooden boards. Each cam track controls
one glue nozzle via a digital output.
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Figure 2-1 Example of an electronic cam control
Example: Press control
The automation of an eccentric press using a cam controller is another typical application.
Press operation is based on a rotary motion, i.e. the rotary axis moves by 360 degrees, and
then starts the next cycle at zero.
Typical tasks of an electronic cam controller:
● Switching a lubricating system on and off
● Enabling material feed and discharge (for example, gripper control)
● Stopping the press at the "upper dead center"
Example: Packaging unit
Preserves are packed on an automatic rotary turntable. The electronic cam controller
triggers actions at specific angular positions:
● Inserting and unfolding the cardboard box on the automatic rotary turntable
● Filling the preserves into the cardboard boxes
● Closing the cardboard boxes
● Transfer of the cardboard boxes to a conveyor
Product overview
2.3 Configuration of an electronic cam control with FM 352
FM 352 electronic cam controller
Operating Instructions, 05/2011, A5E01071724-03 13
2.3 Configuration of an electronic cam control with FM 352
Components of the electronic cam control
The figure below shows the components of an electronic cam control. These are described
briefly below.
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Figure 2-2 Electronic cam control
Power drive and safety system
The motor is controlled by the power drive. The power drive may consist of a contactor
circuit which is controlled by an FM 351 positioning module.
The power drive shuts off the motor if the safety system responds (EMERGENCY STOP or
limit switch).
Motor
The motor drives the axis, controlled by the power drive.
Product overview
2.3 Configuration of an electronic cam control with FM 352
FM 352 electronic cam controller
14 Operating Instructions, 05/2011, A5E01071724-03
FM 352 electronic cam controller
The electronic cam controller determines the actual position value of the axis based on an
encoder signal. It evaluates the encoder signals (for example, by counting the pulses) which
are proportional to the distance traveled. Based on the actual position value, it sets or resets
the digital outputs ("cams"). The processing stations are controlled by signals at the digital
outputs.
Encoder
The encoder returns position and direction data.
CPU
The CPU executes the user program. The user program and the module exchange data and
signals by means of function calls.
PG/PC
The electronic cam controller is programmed and assigned its parameters using a PG or PC.
● Assigning parameters: You assign parameters for the FM 352 using the parameter
assignment interface or the parameter DB.
● Assigning parameters: You program FM 352 functions you can implement directly in the
user program.
● Testing and commissioning: You test and commission the FM 352 with the help of the
parameter assignment interface.
