Terminal Module 41; Simotion Mode - Siemens SINAMICS S120 Function Manual

6.23

Terminal Module 41

Terminal Module 41 is characterized by the following features:
● Pulse encoder emulation, TTL signals according to the RS422 standard (X520)
● 1 analog input
● 4 digital inputs
● 4 bidirectional digital inputs/outputs
Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) - and outputs them
via interface X520. The signals are based on speed setpoints, which are transferred via
process data words (p4400 = 0), or using the actual position value of a leading encoder
(p4400 = 1). The emulated incremental encoder signal can, for example, be evaluated by a
controller or other drives. The TM41 may be connected to all of the permissible encoder
types.
For all referencing modes of the drive object, zero marks with an adjustable offset can be
emulated.
The number of pulses output (virtual pulses) per revolution is independent of the leading
encoder and can be set in a wide range. The number of pulses that are output can be scaled
(up or down) with respect to the leading encoder.
With the additional inputs and outputs, these can be used for example to input an analog
speed setpoint or control and status signals, for example OFF1 / ON, "ready for operation" or
fault.
6.23.1

SIMOTION mode

The SIMOTION mode is set using parameter p4400 = 0. The incremental encoder emulation
is based on the speed setpoint.
A speed setpoint r2060 is received via PROFIdrive telegram 3, which is interconnected to
p1155. The speed setpoint can be filtered using a (p1414.0) PT2 element that can be
activated (p1417 and p1418). The speed setpoint can be delayed with the dead time p1412.
The number of encoder pulses per revolution can be set using parameter p0408. The
distance between the zero marks and the position when enabling the A/B tracks (r4402.1) is
entered into parameter p4426 and enabled with p4401.0 = 1.
Note
Signaling faults
To be able to signal encoder emulation faults of the TM41 to a higher-level controller,
parameter r2139.0...12 CO/BO: Status word faults/alarms 1 must be interconnected via
BICO with a digital output (TM41 or CU). The output can then be read from the external
control system.
Drive functions
Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3
Basic functions
6.23 Terminal Module 41
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