SIMOTION C ___________________

Preface

___________________
Description 1

___________________
Operator control (hardware) 2
SIMOTION
___________________
Interfaces 3

SIMOTION C ___________________
Configuring and installing 4

___________________
Connecting 5
Operating Instructions
___________________
Addressing 6

___________________
Commissioning 7

___________________
Maintenance and servicing 8

___________________
Alarm, error, and system
messages 9

___________________
Technical data 10

___________________
Dimension drawing, spare
parts, and accessories 11

___________________
Standards, Certificates and
Approvals A
___________________
ESD guidelines B

Valid for SIMOTION C230-2, C240 and C240 PN

02/2012
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 Copyright © Siemens AG 2012.

Industry Sector All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Preface

Contents of manual
This document is part of the SIMOTION C documentation package.

Sections in this manual

The following is a list of sections included in this manual along with a description of the
information presented in each section.
● Description
This section explains the purpose and potential applications of the module.
● Operation (hardware)
This section describes the operator controls and how they are operated.
● Interfaces
This section includes a description of the interfaces and their functions.
● Installing
This section explains how to configure the mechanical design and how to install the
SIMOTION C components.
● Connecting
This section describes the wiring and networking of SIMOTION C.
● Addressing
This section contains the information you will require to define the module start addresses
for the modules you are using.
● Commissioning (hardware)
This section describes how you commission the hardware components and what you
must take into account.
● Service and maintenance
This section describes how you replace the module and update the SIMOTION Kernel.
● Interrupt, error and system alarms
This section provides information about the causes of alarms and the corrective actions
you must take.
● Technical data
This section describes the properties and features of the SIMOTION C.
● Dimension drawing
This section contains the dimension drawing of SIMOTION C.

SIMOTION C
Operating Instructions, 02/2012 3
Preface

● Spare parts/accessories
This section provides information on accessories and spare parts for SIMOTION C.
● Appendices with factual information for reference (for example, Standards and approvals,
ESD, etc.)
● Index to locate information

Standards and approvals

Our products meet the requirements of EU Directive 89/336/EEC Electromagnetic
Compatibility and the harmonized European Standards (EN) listed there.
You can find detailed information on approvals and standards in the appendix.
The current Declaration of Conformity is on the Internet at
[Link]

SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.3:
● SIMOTION Engineering System
● SIMOTION System and Function Descriptions
● SIMOTION Service and Diagnostics
● SIMOTION IT
● SIMOTION Programming
● SIMOTION Programming - References
● SIMOTION C
● SIMOTION P
● SIMOTION D
● SIMOTION Supplementary Documentation

SIMOTION C
4 Operating Instructions, 02/2012
 Preface

Additional information
Click the following link to find information on the the following topics:
● Ordering documentation/overview of documentation
● Additional links to download documents
● Using documentation online (find and search in manuals/information)
[Link]
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following e-mail address:
[Link]@[Link]

My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt this for the purpose of your own machine
documentation:
[Link]

Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
[Link]

FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages
in Product Support:
[Link]

Technical support
Country-specific telephone numbers for technical support are provided on the Internet under
Contact:
[Link]

SIMOTION C
Operating Instructions, 02/2012 5
Preface

Product disposal
SIMOTION C is an environmentally friendly product. It includes the following features:
● In spite of its excellent resistance to fire, the flame-resistant agent in the plastic used for
the housing does not contain halogens.
● Marking of the plastic materials as per ISO 11469.
● Less material used because the unit is smaller and with fewer components thanks to
integration in ASICs.
The product is to be disposed of in accordance with national regulations.
The product described in this manual can be recycled owing to its low pollutant content. To
recycle and dispose of your old device in an environmentally friendly way, please contact a
company that specializes in electronic waste.

SIMOTION C
6 Operating Instructions, 02/2012
Table of contents

Preface ...................................................................................................................................................... 3
1 Description............................................................................................................................................... 11
1.1 System overview ..........................................................................................................................11
1.2 I/O modules approved for SIMOTION .........................................................................................18
1.3 The fundamentals of motion control ............................................................................................20
1.4 Layout of the module ...................................................................................................................24
1.5 Nameplate....................................................................................................................................27
1.6 Versions of SIMOTION C.............................................................................................................29
2 Operator control (hardware)..................................................................................................................... 31
2.1 Control Elements .........................................................................................................................31
2.1.1 Mode selector...............................................................................................................................31
2.1.2 Micro Memory Card (MMC) .........................................................................................................32
2.2 Display elements..........................................................................................................................34
3 Interfaces................................................................................................................................................. 35
3.1 SIMOTION C interfaces ...............................................................................................................35
3.2 Ethernet interface.........................................................................................................................36
3.3 PROFINET interface (C240 PN) ..................................................................................................39
3.4 PROFIBUS DP interfaces ............................................................................................................42
3.5 Onboard drive interface (C230-2, C240) .....................................................................................45
3.6 Onboard measuring system interface (C230-2, C240) ................................................................52
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-
2, C240) .......................................................................................................................................63
3.7.1 Overview ......................................................................................................................................63
3.7.2 Configuration examples for C240: ...............................................................................................65
3.8 I/O interface..................................................................................................................................68
4 Configuring and installing ........................................................................................................................ 77
4.1 General requirements ..................................................................................................................77
4.2 Configuring an installation using SIMOTION C modules.............................................................78
4.2.1 Horizontal and vertical configuration............................................................................................78
4.2.2 Clearances ...................................................................................................................................79
4.2.3 Mounting dimensions of modules ................................................................................................80
4.2.4 Layout of modules on a rack........................................................................................................81
4.2.5 Layout of modules on several racks ............................................................................................82

SIMOTION C
Operating Instructions, 02/2012 7
Table of contents

4.3 Installing ...................................................................................................................................... 84

4.3.1 Installing mounting rails............................................................................................................... 84
4.3.2 Fitting modules on the mounting rail ........................................................................................... 87
4.3.3 After installation........................................................................................................................... 88
5 Connecting .............................................................................................................................................. 91
5.1 Wiring .......................................................................................................................................... 91
5.1.1 General requirements for wiring.................................................................................................. 91
5.1.2 Configuring the electrical installation .......................................................................................... 92
5.1.3 Overview of wiring diagram......................................................................................................... 94
5.1.4 Connecting the power supply.................................................................................................... 100
5.1.5 Connecting the drive units......................................................................................................... 103
5.1.6 Connecting the encoders (C230-2, C240) ................................................................................ 114
5.1.7 Wiring the front connector ......................................................................................................... 117
5.1.8 Connecting shielded cables via a shield connecting element................................................... 120
5.2 Networking ................................................................................................................................ 122
5.2.1 Configuring ................................................................................................................................ 122
5.2.2 Configuring a PROFIBUS subnet ............................................................................................. 122
5.2.3 Network components for a PROFIBUS subnet......................................................................... 125
5.2.4 Configuring an Ethernet subnet on the Ethernet interface........................................................ 127
5.2.5 Configuring an Ethernet subnet on the PROFINET interface (C240 PN)................................. 129
5.2.6 Factory setting........................................................................................................................... 131
5.2.7 MPI subnet ................................................................................................................................ 131
6 Addressing............................................................................................................................................. 133
6.1 Slot-oriented address allocation for modules (default addresses for centralized I/O) .............. 133
6.2 User-assignable addressing on the SIMOTION C (centralized and distributed I/O) ................ 135
6.3 Addressing signal modules ....................................................................................................... 136
6.4 Addressing the onboard digital inputs and outputs of the SIMOTION C .................................. 139
6.5 Addressing the onboard drive and measuring system interface of the C230-2, C240 ............. 140
7 Commissioning ...................................................................................................................................... 143
7.1 Requirements for commissioning.............................................................................................. 143
7.2 Inserting and changing the Micro Memory Card ....................................................................... 145
7.3 Initial Power ON ........................................................................................................................ 146
7.4 Writing, formatting and erasing the Micro Memory Card .......................................................... 147
7.5 User memory concept ............................................................................................................... 149
7.5.1 SIMOTION C memory model .................................................................................................... 149
7.5.2 Properties of the user memory.................................................................................................. 150
7.5.3 Operations and their effect on the user memory....................................................................... 152
7.6 Deleting data ............................................................................................................................. 154
7.6.1 Overview of data deletion.......................................................................................................... 154
7.6.2 SIMOTION C memory reset...................................................................................................... 154
7.6.3 Deleting user data from Micro Memory Card ............................................................................ 157
7.6.4 Setting SIMOTION C to factory settings ................................................................................... 158

SIMOTION C
8 Operating Instructions, 02/2012
 Table of contents

8 Maintenance and servicing .................................................................................................................... 159

8.1 SIMOTION kernel update ..........................................................................................................159
8.1.1 Kernel update for SIMOTION C230-2........................................................................................159
8.1.2 Kernel update for SIMOTION C240 / C240 PN .........................................................................161
8.2 Removal and replacement of the SIMOTION C ........................................................................162
8.3 Module replacement without programming device or PC..........................................................163
9 Alarm, error, and system messages ...................................................................................................... 165
9.1 Diagnosis using the LEDs..........................................................................................................165
9.2 Combinations of LED displays ...................................................................................................169
10 Technical data ....................................................................................................................................... 171
10.1 Technical data............................................................................................................................171
10.2 Real-time clock...........................................................................................................................179
10.3 Transportation and storage conditions for SIMOTION C...........................................................179
10.4 Mechanical and climatic environmental conditions for operation of the SIMOTION C..............180
10.5 Specifications for dielectric tests, safety class and degree of protection ..................................182
11 Dimension drawing, spare parts, and accessories................................................................................. 183
11.1 Dimension drawing ....................................................................................................................183
11.2 Spare parts and accessories .....................................................................................................184
A Standards, Certificates and Approvals................................................................................................... 185
A.1 General rules..............................................................................................................................185
A.2 Safety of electronic controllers...................................................................................................187
B ESD guidelines ...................................................................................................................................... 189
B.1 ESD definition ............................................................................................................................189
B.2 Electrostatic charging of individuals...........................................................................................190
B.3 Basic measures for protection against discharge of static electricity ........................................191
Index...................................................................................................................................................... 193

SIMOTION C
Operating Instructions, 02/2012 9
Table of contents

SIMOTION C
10 Operating Instructions, 02/2012
Description 1
1.1 System overview

C230-2 C240 C240 PN

Mode selector Rotary switch Toggle switch Toggle switch
Error and status displays X X X
Memory module slot for micro memory 32 MB 64 MB 64 MB
card
I/O interface X1 X X X
Drive interface X2 X X -
Measuring system interface X3 - X6 X X -
Ethernet interface X7 X X X
PROFIBUS DP1 interface X8 X X X
PROFIBUS DP2/MPI interface X9 X X X
Power supply X10 X X X
PROFINET interface X11 - - X11 P1
X11 P2
X11 P3
Bus connector for I/O BUS X X X
Diagnostics LED for Ethernet - - X
Diagnostics LED for PROFINET - - X

What capabilities does the SIMOTION C have?

The SIMOTION C is a motion control module for the control of servo drives.
As of V3.2, stepper drives with a pulse-direction interface can be connected to the onboard
drive interfaces.
The following configurations can be selected:
● C230-2 and C240: Up to four axes via the onboard drive interface or
● C230-2, C240 and C240 PN: Axes via PROFIBUS DP or
● C240 PN: Axes via PROFINET IO or
● Mixed operation with a maximum of four axes via the onboard drive interface (C230-2,
C240) and additional axes via PROFIBUS DP
The number of operable axes on the PROFIBUS DP or PROFINET IO depends on the
system cycle clock settings, i.e. more axes can be operated with longer cycle times.
The SIMOTION C controllers are powerful modules for positioning independent single axes
or motions in an axis grouping.
Both rotary axes and linear axes can be operated.

SIMOTION C
Operating Instructions, 02/2012 11
Description
1.1 System overview

The SIMOTION SCOUT engineering system (ES) is used to configure, parameterize,

commission, program perform diagnostics for the SIMOTION C.

Where can the SIMOTION C be used?

The C230-2, C240 and C240 PN can be used both for positioning and synchronous
operation (gearing, camming and path interpolation).
Typical areas in which the motion control module can be used are:
● Packaging industry
● Plastics industry
● Presses
● Textiles
● Printing industry
● Wood, glass, ceramic, stone

System integration
SIMOTION offers an optimized system platform for automation and drive solutions where
priority is given to motion control applications and technological tasks.
The SIMOTION modular system consists of the SIMOTION SCOUT engineering system and
a common runtime system for various hardware platforms.
The truly innovative aspect of SIMOTION is that it does away with the traditional separation
between pure automation functions and motion functions.

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SIMOTION C
12 Operating Instructions, 02/2012
 Description
1.1 System overview

SIMOTION can be used with all machines with motion control tasks. The focus is on a
simple and flexible solution to a wide variety of motion control tasks. In order to achieve this
in the best way possible, a new system approach has been introduced:
Motion control has been combined with two other open-loop control functions found in most
machines: PLC and technology functions.
This approach enables the motion control of axes and machine control within the same
system. The same applies to technology functions, such as pressure control of a hydraulic
axis. A seamless switch can be made from position-controlled positioning mode to pressure
control.
Combining the three open-loop control functions of motion control, PLC and technology
functions has the following benefits:
● Reduced engineering overhead and increased machine performance
● Time-critical interfaces between the individual components are no longer required
● Simple, uniform and transparent programming and diagnostics of the entire machine

SIMOTION C
Operating Instructions, 02/2012 13
Description
1.1 System overview

The following figures show system configurations with SIMOTION C230-2, C240 and
C240 PN.

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Figure 1-2 System overview of C240

SIMOTION C
14 Operating Instructions, 02/2012
 Description
1.1 System overview

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Components
The most important components of a SIMOTION application with SIMOTION C and their
functions are listed below.

Note
The modules and devices approved for the SIMOTION C are listed in the SIMOTION PM 21
Catalog. This document is supplied in electronic format with SIMOTION SCOUT.

SIMOTION C
Operating Instructions, 02/2012 15
Description
1.1 System overview

Centralized I/O

Table 1- 1 SIMOTION C with centralized I/O

Component Function
SIMOTION C ... is the motion control module. The SIMOTION C supplies the I/O
bus with 5 V; communicates over the I/O bus (backplane bus) with
the I/O modules.
You can use the integrated fast digital inputs of the SIMOTION C as:
 B1 to B4: As homing inputs (C230-2, C240)
 M1 and M2: As inputs for measuring inputs - local measuring
(C230-2, C240)
 B1 to B4: As inputs for global measuring (C240, C240 PN)
 Freely addressable process inputs
You can use the integrated fast digital outputs as:
 Fast output cams
 Freely addressable process outputs
Drive units with a ±10 V analog interface or stepper drives with a
pulse/direction interface can be connected to the onboard drive
interface (C230-2, C240). With the C240, the analog interfaces can
also be used as available process outputs.
Incremental encoders or absolute encoders can be connected to the
measuring system interface (C230-2, C240). With the C240, free
remaining encoder inputs of an axis channel can be used as the
input for a 16-bit up/down counter.
Power supply (PS) ... converts the line voltage (120/230 V AC) into an operating voltage
of 24 V DC to supply the SIMOTION C.
Signal modules (SM) ... adapt various process signal levels to the SIMOTION C (digital
input/digital output modules and analog input/analog output
modules).
Note:
All approved modules are listed in the PM 21 Catalog and in chapter
I/O modules approved for SIMOTION (Page 18).
Function modules (FM) ... relieve the CPU of computation-intensive tasks, for example,
counting.
Note:
All approved modules are listed in the PM 21 Catalog and in chapter
I/O modules approved for SIMOTION (Page 18).
Communications processors ... for data exchange
(CP) Note:
All approved modules are listed in the PM 21 Catalog and in chapter
I/O modules approved for SIMOTION (Page 18).

SIMOTION C
16 Operating Instructions, 02/2012
 Description
1.1 System overview

Distributed I/O

Table 1- 2 SIMOTION C with distributed I/O

Component Function
SIMOTION C ... is the motion control module.
 Communicates via two PROFIBUS DP interfaces with:
– Programming device (PG/PC)
– SIMATIC HMI devices
– SIMATIC S7 controllers with PROFIBUS DP interface
– SIMATIC ET 200 I/O systems
– Drive units
– Other SIMOTION controllers
 Communicates via an Ethernet interface with the programming
device (PG/PC)
 The C240 PN also communicates via the PROFINET IO interface
with:
– Programming device (PG/PC) via Ethernet
– SIMATIC HMI devices
– SIMATIC S7 controllers with PROFINET IO interface
– SIMATIC ET 200 I/O systems with PROFINET IO interface
– Drive units
– Other SIMOTION controllers
Note:
All approved devices are listed in the PM 21 Catalog and in chapter
I/O modules approved for SIMOTION (Page 18).

Table 1- 3 Further components that can be connected to the SIMOTION C

Component Function
Programming device (PG/PC) ... configures, parameterizes, programs and tests SIMOTION.
SIMATIC HMI device ... is used for operator control and monitoring functions. It is not an
essential requirement for the operation of a SIMOTION C.
Note:
All approved devices are listed in the PM 21 Catalog.
Drive units ... convert speed setpoints into signals for controlling the motor and
supply the power required to operate the motors.
Note:
All approved devices are listed in the PM 21 Catalog.

SIMOTION C
Operating Instructions, 02/2012 17
Description
1.2 I/O modules approved for SIMOTION

1.2 I/O modules approved for SIMOTION

Approved I/O modules

Preferred peripherals for use with SIMOTION C:
● Centralized peripherals:
SIMATIC S7-300 I/O modules
● Distributed I/O systems for PROFIBUS and PROFINET:
– SIMATIC ET 200M (distributed implementation of SIMATIC S7-300 I/O modules):
The modular I/O system for control cabinet installation and high channel density.
– SIMATIC ET 200S:
The bit-modular I/O system for control cabinet installation including motor starters,
safety technology and individual grouping of load groups.
– SIMATIC ET 200eco (only for PROFIBUS):
The compact, economical I/O system in IP 67 degree of protection for machine-level
use without a control cabinet with flexible and fast ECOFAST or M12 connection
system.
– SIMATIC ET 200pro
New modular I/O system in IP65/66/67 degree of protection for machine-level use
without a control cabinet; with new features such as small frame size, integrated
PROFIsafe safety technology, PROFINET connection and hot swapping of modules.
● Other PROFIBUS DP I/O:
– ADI 4 (Analog Drive Interface)
For the connection of drives with analog ±10 V setpoint interface.
– IM174 (interface module for 4 axes)
For the connection of drives with analog ±10 V setpoint interface, external encoders or
the connection of stepper drives with pulse-direction interface.

Note
Please note that not all modules of the above-mentioned I/O or I/O systems are
approved for SIMOTION. Moreover, system-related functional differences can come
into play when these I/O or I/O systems are used on SIMOTION vs. on SIMATIC. For
example, special process-control functions (e.g. insertion and removal under voltage,
etc.) are not supported by SIMOTION for the SIMATIC ET 200M distributed I/O
system.
A detailed, regularly updated list of the I/O modules approved for use with SIMOTION,
as well as notes on their use, can be found on the Internet at:
[Link]

SIMOTION C
18 Operating Instructions, 02/2012
 Description
1.2 I/O modules approved for SIMOTION

In addition to the I/O modules approved for SIMOTION, all certified standard slaves can, in
principle, be connected to SIMOTION if they support the following:
● Cyclic data traffic (DP-V0) and, possibly,
● Acyclic data traffic (DP-V1) or
● Isochronous data traffic (DP-V2)
These modules are integrated via the GSD file from the device manufacturer.

Note
Please note that in individual cases further boundary conditions must be fulfilled in order to
integrate a standard slave into SIMOTION. Some modules need "driver blocks", e.g. in the
form of function blocks, which make integration possible or much easier.
For modules approved for use with SIMOTION (e.g. S7-300 module FM 350-1, etc.), these
driver blocks:
 Up to V3.2 SP1: SIMOTION Function Library
 As of V4.0: SCOUT command library

SIMOTION C
Operating Instructions, 02/2012 19
Description
1.3 The fundamentals of motion control

1.3 The fundamentals of motion control

Position-controlled motion control for servo axes via the onboard drive interface (C230-2, C240)
These enable position-controlled motion control of up to four axes. The C230-2/C240
provides one analog output per axis for the speed setpoint and one encoder input per axis
for the cyclic measurement of the actual position value.

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encoder

Incremental encoder (C230-2, C240)

For position measurement, the encoders usually connected supply counting pulses
according to their resolution for the distances traveled. These can be rotary encoders or
linear scales.
Homing is necessary to determine the absolute position reference.

Absolute encoder (SSI, C230-2, C240)

Instead of conventional incremental encoders, which supply only a relative dimension for the
distance traveled, absolute encoders with a serial interface can be connected. No homing
operation need be performed for these encoders as they always supply the absolute position
as an actual value.
A one-time adjustment is required for an axis with an absolute encoder when the machine is
initially commissioned.

SIMOTION C
20 Operating Instructions, 02/2012
 Description
1.3 The fundamentals of motion control

Encoder emulation (C230-2, C240)

Modern motor/converter systems often have a high-resolution motor measuring system
(rotor position encoder) connected at the converter. Here the converter provides the position
information via an interface that emulates an incremental encoder (e.g. incremental shaft
encoder (WSG) interface with SIMODRIVE). A separate position measuring system is not
required in this case.

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Position-controlled motion control for servo axes (PROFIBUS DP)

SIMOTION C enables position-controlled motion control of axes via PROFIBUS DP.

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Figure 1-6 Servo system with converter, for example SIMODRIVE 611 Universal

SIMOTION C
Operating Instructions, 02/2012 21
Description
1.3 The fundamentals of motion control

Stepper motor control (C230-2, C240)

In addition to the analog setpoint outputs, the C230-2/C240 has pulse outputs for up to four
stepper motor axes. The stepper motor is controlled by means of cycle clocks, the number of
which determines the position and the frequency of which determines the rotational speed
(velocity). The actual position value is not measured during controlled operation; the position
controller takes the number of pulses output (position setpoint) as the actual value. With this
type of control circuit, the motor cannot lose any steps in order to enable exact positioning.

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Figure 1-7 Controlled stepper motor system with control circuit

Position-controlled stepper motor control (C230-2, C240)

The C230-2, C240 also provide the option of using one encoder input per axis to operate
stepper motors in closed-loop position control as a servo axis.

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SIMOTION C
22 Operating Instructions, 02/2012
 Description
1.3 The fundamentals of motion control

Position-controlled motion control for servo axes (C240 PN, PROFINET IO)
The C240 PN enables position-controlled motion control of axes via PROFINET IO.

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Figure 1-9 Servo system with converter, e.g. SINAMICS S120 with CBE20

SIMOTION C
Operating Instructions, 02/2012 23
Description
1.4 Layout of the module

1.4 Layout of the module

View of the C230-2

The following figure shows the C230-2 module, indicating the interfaces and components on
the front panel (fault and status displays).

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SIMOTION C
24 Operating Instructions, 02/2012
 Description
1.4 Layout of the module

View of the C240

The following figure shows the C240 module, indicating the interfaces and components on
the front panel (fault and status displays).

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Figure 1-11 Position of the C240 interfaces and front panel elements

SIMOTION C
Operating Instructions, 02/2012 25
Description
1.4 Layout of the module

View of the C240 PN

The following figure shows the C240 PN module, indicating the interfaces and components
on the front panel (fault and status displays).

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SIMOTION C
26 Operating Instructions, 02/2012
 Description
1.5 Nameplate

1.5 Nameplate

SIMOTION C type plates

The following figures explain all the information on the type plate.

Note
The contents of the individual type plate fields on the current module may differ from those
described in this manual (e.g. updated product status, approvals and markings not yet
issued, etc.).

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SIMOTION C
Operating Instructions, 02/2012 27
Description
1.5 Nameplate

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SIMOTION C
28 Operating Instructions, 02/2012
 Description
1.6 Versions of SIMOTION C

1.6 Versions of SIMOTION C

There are three different versions of the SIMOTION C: The previous C230-2, a more
powerful C240 and a C240 PN with PROFINET interface. The C240 and C240 PN also have
functional improvements, as compared to the C230-2.
Compared to the C230-2, the C240 and C240 PN have:
● A larger working memory
● A larger memory for retain data
● Higher performance
Instead of the onboard drive and measuring system interfaces, the C240 PN has a
PROFINET interface with three ports (X11 P1, X11 P2, X11 P3).
The following table lists the differences between the individual motion controllers:

Table 1- 4 Differences between C230-2, C240 and C240 PN

C230-2 C240 C240 PN

Order number of the module 6AU1 230-2AA01-0AA0 6AU1 240-1AA00-0AA0 6AU1 240-1AB00-0AA0
Order number of the Micro 6AU1 700-0AA02-0AA0 6AU1 720-1KA00-0AA0
Memory Card (MMC) Note: The MMC of the C240 and the C240 PN are identical.
Note: The MMC of the C240 / C240 PN cannot be operated in the C230-2 and vice-versa.
Uses of the analog drive  For analog drives  For analog drives  Not available
interface (X2)
 For stepper drives  For stepper drives
 For standard outputs
(analog/digital outputs)
Filter time for analog  With filter (C230-2-  With filter (C230-2-compatible)  Not available
outputs compatible)  Without filter
Repeatability when using 140 µs 70 µs 70 µs
the outputs as fast output
cams (X1)
Use of the inputs (X1:  As digital inputs  As digital inputs  As digital inputs
B1…B4)
 For external zero  For external zero mark signals  Measuring pulses for
mark signals  Measuring pulses for global global measuring
measuring (in addition to inputs
M1 and M2 for local measuring)
Use of measuring system  Encoder connection  Encoder connection  Not available
interface (X3 to X6)
 Counter input

SIMOTION C
Operating Instructions, 02/2012 29
Description
1.6 Versions of SIMOTION C

C230-2 C240 C240 PN

Mode selector (hardware) Key-operated switch Toggle switch Toggle switch
Switch positions: Switch positions: Switch positions:
 RUN  RUN  RUN
 STOPU  STOP  STOP
 STOP  MRES  MRES
 MRES
PROFINET interface (X11) Not available Not available 3x PROFINET
X11 P1, X11 P2, X11 P3

Note
In order to take the different versions into account, the product will be referred to in this
manual as "SIMOTION C". Specific product designations will be used for information that
applies only to one product version, e.g. for SIMOTION C230-2, C240 or C240 PN.

SIMOTION C
30 Operating Instructions, 02/2012
Operator control (hardware) 2
2.1 Control Elements

2.1.1 Mode selector

Certain operating modes can be selected using the mode selector.

Mode selector positions

The mode selector positions are explained in the order in which they are arranged on the
SIMOTION C.

Table 2- 1 Modes and switch settings

Operating Explanations
mode
RUN SIMOTION C executes the user program (UP) and the associated system functions:
 Reading process image of inputs
 Execution of the user programs assigned to the execution system
 Writing process image of outputs
The technology packages are active in this state. They can execute commands from
the user program.
Note:
With the C230-2, the key cannot be removed in this position.
STOPU SIMOTION C does not execute a user program.
 The technology packages are active. Test and commissioning functions can be
executed. The user program is not active.
 The I/O modules (SMs) are in a safe state.
With the C230-2, the key can be removed in this position so that no unauthorized
person can change the operating modes.
Note:
The toggle switch of the C240 / C240 PN does not have the "STOPU" switch setting.
You can switch to "STOPU" mode only via the SIMOTION SCOUT engineering
system.
In SIMOTION SCOUT, you can switch from the hardware settings "STOP" and "RUN"
to "STOPU" mode.

SIMOTION C
Operating Instructions, 02/2012 31
Operator control (hardware)
2.1 Control Elements

Operating Explanations
mode
STOP SIMOTION C does not execute a user program.
 It is possible to load a complete user program.
 All system services (communications, etc.) are active.
 The I/O modules (SMs) are in a safe state.
 The technology packages are inactive, i.e. all enables are deleted. No axis
motions can be executed.
Note:
With the C230-2, the key can be removed in this position so that no unauthorized
person can change the operating modes.
MRES Pushbutton position for memory reset on the SIMOTION C.
(memory A memory reset by means of a mode selector requires a specific sequence of
reset) operation, see chapter SIMOTION C memory reset (Page 154).

2.1.2 Micro Memory Card (MMC)

SIMOTION C230-2 micro memory card

The following micro memory card is available:
Order no.: 6AU1 700-0AA02-0AA0
The micro memory card for SIMOTION C230-2 can be used to save the SIMOTION Kernel
in order to run an update. See chapter SIMOTION kernel update (Page 159).
The SIMOTION Kernel should always be stored on the micro memory card.
As of SIMOTION V2.1, the SIMOTION Kernel is automatically copied to the micro memory
card during power-up if it does not already contain one.
The micro memory card is also needed to save the technology packages and user data
(programs, configuration data, parameterizations).

CAUTION

The micro memory card may only be inserted or removed when the control unit is
disconnected from the power supply.

SIMOTION C
32 Operating Instructions, 02/2012
 Operator control (hardware)
2.1 Control Elements

Micro memory card for SIMOTION C240 / C240 PN

The following micro memory card is available:
Order no.: 6AU1 720-1KA00-0AA0
The micro memory card is mandatory for operating the SIMOTION C240 / C240 PN.
The micro memory card is supplied in a bootable format with the latest SIMOTION Kernel. It
is not supplied with the SIMOTION C240 / C240 PN and must be ordered as a separate
component.
Note: The SIMOTION C240 / C240 PN does not contain any firmware.
The micro memory card for the SIMOTION C240 / C240 PN can be used to save the
SIMOTION Kernel.
The micro memory card is also needed to save the technology packages and user data
(programs, configuration data, parameterizations).

CAUTION

The micro memory card may only be inserted or removed when the control unit is
disconnected from the power supply.

Memory module slot

The micro memory card is inserted in the memory module slot.

SIMOTION C
Operating Instructions, 02/2012 33
Operator control (hardware)
2.2 Display elements

2.2 Display elements

LED displays
The following LED displays are on the front panel of the SIMOTION C. This table describes
the LEDs and their function.

Table 2- 2 Status and error displays

LED Meaning
SF (red) This LED indicates a fault on the SIMOTION C.
5 VDC (green) This LED indicates that the power supply for the electronics is ready.
RUN (green) - This LED indicates that the user program is running.
SIMOTION C in RUN mode
STOPU (yellow) - This LED indicates that the technology packages (for example,
SIMOTION C in STOP user synchronous operation and cam) are active. The user program is not
program mode active.
STOP (yellow) - This LED indicates that no user program is running. The technology
SIMOTION C in STOP mode packages are not active.
BUS1F (red) - This LED indicates a fault on the SIMOTION C PROFIBUS DP1
Group fault interface (X8).
BUS2F (red) - This LED indicates a fault on the SIMOTION C PROFIBUS DP2/MPI
Group fault interface (X9).
Q0 to Q7 , I0 to I11 , These LEDs show the status of the digital inputs/outputs.
B1 to B4, M1, M2 (green) -
Digital inputs/digital outputs

The following LED displays are arranged the front cover of the SIMOTION C240 PN. This
table describes the LEDs and their function.

Table 2- 3 Status and fault displays behind the front cover (C240 PN)

LED Meaning
Ethernet link (X7) (green) This LED indicates a physical connection of the Ethernet
interface.
Ethernet activity (X7) (yellow) This LED indicates a data transfer via the Ethernet interface.
PROFINET link (X11 Px) (green) This LED indicates a physical connection of the PROFINET
interface at port x.
PROFINET activity (X11 Px) (yellow) This LED indicates a data transfer via the PROFINET
interface at port x.
PROFINET fault (X11) (red) This LED indicates a fault at the PROFINET interface.
PROFINET sync (X11) (green) This LED indicates synchronization status of the PROFINET
interface.

See also
Diagnosis using the LEDs (Page 165)

SIMOTION C
34 Operating Instructions, 02/2012
Interfaces 3
3.1 SIMOTION C interfaces
The interfaces and their meaning are described in following table.

Table 3- 1 Interfaces

Interfaces Description
Bus connector Rear-mounted connector for connecting to other S7 modules via the
I/O bus
Drive interface (onboard) 50-pin Sub-D connector X2 for the analog connection of analog and
(C230-2, C240) stepper drives (max. 4 axes)
Measuring system interface 15-pin Sub-D sockets X3 to X6 for connection of encoders (max. 4)
(onboard) (C230-2, C240)
I/O interface 40-pin front connectors X1 for connecting the fast digital inputs/digital
outputs including measuring inputs and external zero mark and for
wiring the READY relay
Power supply connection 4-pin screw-type terminal connection X10 for connecting the 24 V
load power supply
Memory module slot Slot for micro memory card (MMC)
PROFIBUS DP1 interface 9-pin Sub-D socket X8 for connection to the PROFIBUS DP. This
interface can be used for isochronous operation
PROFIBUS DP2/MPI 9-pin Sub-D socket X9 for connection to PROFIBUS DP (factory
interface setting) or an MPI bus
This interface can be used for isochronous operation.
Ethernet interface 8-pin RJ45 socket X7 for connection to an Industrial Ethernet
PROFINET interface with 3 x 8-pin RJ45 sockets X11 P1, X11 P2 and X11 P3 for connecting to
three ports (C240 PN) PROFINET subnets

SIMOTION C
Operating Instructions, 02/2012 35
Interfaces
3.2 Ethernet interface

3.2 Ethernet interface

Definition
Interface for connecting an Industrial Ethernet.
Industrial Ethernet is a communication network with a transmission rate of 10/100 Mbit/s.
The SIMOTION C provides the following functions via the Ethernet interface:
● Communication with STEP 7 and SIMOTION SCOUT
● Communication with distributed I/O (e.g. SIMATIC HMI)
● Communication between SIMOTION and SIMATIC NET OPC
The "SIMATIC NET SOFTNET S7 (S7 OPC server)"
software must be installed on the PG/PC for this function.
Note:
SOFTNET-S7 is a superset of SOFTNET-PG, i.e. SOFTNET-S7 contains Protocol
TPC/IP RFC 1006 as well.
For more information about the software packages, see SIMOTION Motion Control System,
PM 21 Catalog. This documentation is supplied in electronic format with SIMOTION SCOUT.

Connectable devices
A PG/PC can be connected to the Ethernet interface via a Fast Ethernet network. The PG
must be equipped with an Ethernet card and the corresponding software must be available.

SIMOTION C
36 Operating Instructions, 02/2012
 Interfaces
3.2 Ethernet interface

Interface position
The following figures show the installation position and the designation of the interface on
the C230-2, C240 and C240 PN modules.

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Interface assignment
Designation: X7 (Ethernet)
Type: 8-pin RJ45 socket

Table 3- 2 X7 interface assignment

Pin Name Type Pin Name Type

1 TDP O 5 Not assigned
2 TDM O 6 RDM I
3 RDP I 7 Not assigned
4 Not assigned 8 Not assigned

SIMOTION C
Operating Instructions, 02/2012 37
Interfaces
3.2 Ethernet interface

Signal names
RDP, RDM - Receive Data +/-
TDP, TDM - Transmit Data +/-

Signal type
I - signal input
O - signal output

Note
You will find additional information about Ethernet in the SIMOTION SCOUT Communication
System Manual.

SIMOTION C
38 Operating Instructions, 02/2012
 Interfaces
3.3 PROFINET interface (C240 PN)

3.3 PROFINET interface (C240 PN)

Definition
A SIMOTION C240 PN provides an interface for connecting to PROFINET IO with three
ports (X11 P1, X11 P2, X11 P3) with a transmission rate of 100 Mbit/s. The PROFINET
interface supports the parallel operation of:
● IRT with the "high flexibility" and "high performance" options - isochronous real-time
communication:
– Equidistant transmission of input/output data between an IO controller and its IO
devices with high stability for time-critical applications (e.g. motion control). The
required bandwidth is in the bandwidth reserved for cyclic data. For "high flexibility", a
fixed bandwidth of the transmission resources is reserved for the real-time
communication. The "high flexibility" enables simple planning and expansion of the
system. For "high performance", a fixed bandwidth of the transmission resources is
also reserved for the real-time communication. The data traffic is further optimized and
accelerated through an additional topology planning. The "high performance" option
always requires a configuration of the topology.
– With the aid of IRT "high performance", IO devices (I/O modules and drive units) that
support IRT can be operated isochronously on PROFINET IO and data can be
exchanged between the SIMOTION devices via the controller-controller data
exchange broadcast.
● RT - real-time communication: Transmission of input/output data between an IO controller
and its IO devices in prioritized Ethernet message frames, but not isochronously. The
required bandwidth is in the bandwidth of PROFINET IO reserved for cyclic data.
● Standard Ethernet communication such as TCP/IP, UDP, HTTP, FTP, etc. as well as
communication with STEP 7 / SIMOTION SCOUT and communication with SIMATIC NET
OPC:
The required bandwidth is in the free bandwidth of PROFINET IO.
A SIMOTION C240 PN can be used as IO controller or I device. PROFINET IO differentiates
between an IO controller and the IO devices assigned to it. IO controller and IO devices form
a PROFINET IO system, comparable to a master-slave system on PROFIBUS DP.

SIMOTION C
Operating Instructions, 02/2012 39
Interfaces
3.3 PROFINET interface (C240 PN)

Connectable devices
The following devices can be connected to the PROFINET interface:
● PG/PC programming device
● SIMATIC HMI devices
● SIMATIC S7 controllers with PROFINET interface
● Distributed I/O (e.g. SIMATIC ET 200M) with PROFINET interface
● Drive units with PROFINET interface
● SIMOTION devices with PROFINET interface according to PROFIdrive profiles /
IEC61800-7
● Teleservice adapter
● Gateways

Note
All released modules and devices are listed in the PM 21 Catalog and in chapter I/O
modules approved for SIMOTION (Page 18). This documentation is supplied in electronic
format with SIMOTION SCOUT. Take note of the documentation on the individual
modules or devices!

Interface position
The following figure shows the mounting position and the designation of the PROFINET IO
interface on the module.

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Figure 3-3 X11 interface position (C240 PN), three ports P1, P2, P3

The following LED displays are arranged behind the front cover of the SIMOTION C240 PN.
For a description of the LED displays, see section Display elements (Page 34).

SIMOTION C
40 Operating Instructions, 02/2012
 Interfaces
3.3 PROFINET interface (C240 PN)

Interface assignment
Designation: X11 (PROFINET), three ports P1, P2, P3
Type: 8-pin RJ45 socket

Table 3- 3 X11 interface assignment (ports P1, P2, P3)

Pin Name Type Pin Name Type

1 TDP O 5 Not assigned
2 TDM O 6 RDM I
3 RDP I 7 Not assigned
4 Not assigned 8 Not assigned

Signal names
RDP, RDM - Receive Data +/-
TDP, TDM - Transmit Data +/-

Signal type
I - signal input
O - signal output

Note
You will find additional information about PROFINET in the SIMOTION SCOUT
Communication System Manual.

SIMOTION C
Operating Instructions, 02/2012 41
Interfaces
3.4 PROFIBUS DP interfaces

3.4 PROFIBUS DP interfaces

PROFIBUS DP interfaces (X8, X9)

The SIMOTION C provides two interfaces for connection to the PROFIBUS DP. Baud rates
up to 12 Mbits/s are possible. Both interfaces can be operated isochronously.
If both interfaces (X8, X9) are to be operated isochronously, then they must both be
configured with the same DP cycle clock.
Alternatively, the X9 interface can be used as an MPI interface with a transmission rate up to
12 Mbits/s.

Connectable devices
The following devices can be connected to the PROFIBUS DP interfaces:
● PG/PC
● SIMATIC HMI devices
● SIMATIC S7 controllers with PROFIBUS DP interface
● Distributed I/O (e.g. SIMATIC ET 200M)
The digital inputs/digital outputs are updated in the position control cycle clock.
● SIMOTION controller
● Teleservice adapter
● Drive units with PROFIBUS DP interface (e.g. SIMODRIVE 611 universal) according to
PROFIdrive profiles / IEC61800-7.

Note
A teleservice adapter can only be connected to one of the two interfaces.
All released modules and devices are listed in the PM 21 Catalog and in chapter I/O
modules approved for SIMOTION (Page 18). This document is supplied in electronic
format with SIMOTION SCOUT.
Take note of the documentation on the individual modules or devices!

SIMOTION C
42 Operating Instructions, 02/2012
 Interfaces
3.4 PROFIBUS DP interfaces

Interface positions
The following figure shows the mounting position and the designation of the interfaces on the
module.

'303,
& ; ; ;
6,(0(16



'3
581
 6723
  05(6

;
;




;
;'3 ;'303,
; ; ;

Figure 3-4 Position of connectors X8, X9

Interface assignments
Designation: X8, X9 DP1, DP2/MPI Type: 9-pin Sub-D socket connector

Table 3- 4 X8, X9 interface assignments

Pin Name Type Pin Name Type

1 Not assigned 6 P5 VO
2 M24 VO 7 P24 VO
3 B I/O 8 A I/O
4 RTS O 9 Not assigned
5 M5 VO

SIMOTION C
Operating Instructions, 02/2012 43
Interfaces
3.4 PROFIBUS DP interfaces

Signal names

Table 3- 5 Signal names

Signal name Meaning

A, B Data input/output (RS485)
RTS Transmission request
P5 5 V power supply 60 mA, short-circuit-proof
M5 5 V reference potential
P24 24 V supply 150 mA, short-circuit-proof, not isolated
M24 24 V reference potential

Signal type
O - signal output
I/O - signal input/output
VO - voltage output

SIMOTION C
44 Operating Instructions, 02/2012
 Interfaces
3.5 Onboard drive interface (C230-2, C240)

3.5 Onboard drive interface (C230-2, C240)

Connector to drive unit

Drive units with an analog interface (±10 V) or stepper motor power units with at least one
clock pulse input and direction input can be connected to the 50-pin Sub-D socket X2. Any
hybrid configuration can be used for up to four drives.
In addition, the C230-2 and C240 provide one enable signal per axis.
With the C240, this interface (X2) can also be used for standard outputs:
● 4 analog outputs
● 4 digital outputs

Position of the connector

The following figure shows the installation position and the designation of the connector on
the module.

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67(33(5&75/
& ; ; ;
6,(0(16   

581
6723
05(6

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; ; ;
;

Figure 3-5 Position of the X2 connector

SIMOTION C
Operating Instructions, 02/2012 45
Interfaces
3.5 Onboard drive interface (C230-2, C240)

Connector pin assignment

Onboard drive interface (servo interface, 4 axes)
Connector designation: X2 ANALOG OUT 1-4/STEPPER CTRL 1-4
Connector type: 50-pin Sub-D plug connector

Table 3- 6 X2 connector pin assignment

Pin Name Type Pin Name Type Pin Name Type

1 SETP1 VO 18 ENABLE1 O 34 REFPOT1 VO
2 REFPOT2 VO 19 ENABLE1_N O 35 SETP2 VO
3 SETP3 VO 20 ENABLE2 O 36 REFPOT3 VO
4 REFPOT4 VO 21 ENABLE2_N O 37 SETP4 VO
5 PULSE1 O 22 GND O 38 PULSE1_N O
6 DIR1 O 23 GND O 39 DIR1_N O
7 PULSE2_N O 24 GND O 40 PULSE2 O
8 DIR2_N O 25 GND O 41 DIR2 O
9 PULSE3 O 26 ENABLE3 O 42 PULSE3_N O
10 DIR3 O 27 ENABLE3_N O 43 DIR3_N O
11 PULSE4_N O 28 ENABLE4 O 44 PULSE4 O
12 DIR4_N O 29 ENABLE4_N O 45 DIR4 O
13 Not assigned 30 Not assigned 46 Not assigned
14 CTREN1.1 C 31 Not assigned 47 CTREN1.2 C
15 CTREN2.1 C 32 Not assigned 48 CTREN2.2 C
16 CTREN3.1 C 33 Not assigned 49 CTREN3.2 C
17 CTREN4.1 C 50 CTREN4.2 C

Signal names

Table 3- 7 Signal names for drives with analog interface

Signal name Meaning

SETP[1 to 4] Setpoint
REFPOT[1 to 4] Reference potential for setpoint (analog ground)
CTREN[1.1 to 4.1], CTREN[1.2 to 4.2] Controller-enable contact

Table 3- 8 Signal names for stepper drives:

Signal name Meaning

PULS[1 to 4], PULS[1 to 4]_N Clock pulse is inverted and not inverted
DIR[1 to 4], DIR[1 to 4]_N Clock pulse inverted and non-inverted
ENABLE[1 to 4], ENABLE[1 to 4]_N Controller enable inverted and non-inverted
GND Signal ground

SIMOTION C
46 Operating Instructions, 02/2012
 Interfaces
3.5 Onboard drive interface (C230-2, C240)

Signal type
O - signal output
VO - voltage output
K - switching contact

Drives with analog interface

Signals:
One voltage signal and one enable signal are provided per axis.
● Setpoint (SETP)
Analog voltage signal in the ±10 V range for the output of a speed setpoint.
● Reference potential (REFPOT)
Reference potential (analog ground) for the setpoint signal, connected internally to logic
ground.
● Controller enable (CTREN)
Contact assembly mated set (NO contact), used for axis-specific enabling of the drive,
e.g. a SIMODRIVE drive unit. The RF signal to the drive is set as soon as the controller
enable is signaled by the user program.
Note: When used as a digital output, the contact must be supplied with voltage.

WARNING

Brief voltage peaks may occur at the analog outputs when the supply voltage is switched
on or off.
For this reason, it is important to make sure that the enable signals are wired correctly and
that the necessary safety regulations are met.

SIMOTION C
Operating Instructions, 02/2012 47
Interfaces
3.5 Onboard drive interface (C230-2, C240)

Stepper drives
Signals:
One clock pulse signal, direction signal, and enable signal is provided as a true and negated
signal.
● Setpoint (PULS)
The clock pulses control the motor. The motor performs one step for each rising pulse
edge.
Thus, the number of pulses output determines the angle of rotation, i.e. the distance to be
traversed.
The pulse frequency determines the rotational speed, i.e. the traversing speed.

CAUTION

If your drive unit responds to falling pulse edges, you must replace the true pulse signal
with the negated pulse signal when performing the wiring; failure to do so can cause
deviations to occur between the position calculated by the controller and the actual
position.

● Direction signal (DIR)

The output signal level determines the direction of rotation of the motor.
Signal ON: "Rotation to the left"
Signal OFF: "Rotation to the right"

Note
If the direction of rotation of the motor is different, you can change the direction of rotation
by means of the "Reversal of traversing direction" configuration data element. Refer to
the technical documentation of your drive unit for the correct assignment of the signal
levels to the direction of rotation.

● Enable signal (ENABLE)

This signal is activated when the axis enable is set in RUN mode by the user program.
Signal ON: Power control circuit enabled
Signal OFF: Depending on the power unit, one or more of the following responses can
occur:
– Disable pulse input
– Deenergize motor
– Reset ring counter
– Delete error messages

Note
The ENABLE signal is output at the same time with controller enable contact RF.
Alternatively, you can also use the relay contacts.

SIMOTION C
48 Operating Instructions, 02/2012
 Interfaces
3.5 Onboard drive interface (C230-2, C240)

Signal parameters
All signals for stepper drives are output by means of differential signal line drivers in
accordance with the RS422 standard. For optimal reliability, the power unit should have
differential signal receivers or optical coupler inputs to enable symmetrical signal
transmission. An asymmetrical transmission is also possible, however, the maximum cable
length in this case is limited to 10 m.

Note
Because of the wide range of non-standardized input circuits of the drive units during
asymmetrical transmission, no responsibility can be taken for this function. In particular,
cable lengths and the limit frequency depend on the properties of the input circuit and the
cable being used. In addition, the GND reference potential should be isolated to prevent
electrical interference.

All outputs are electronically protected against short-circuit and thermal overload.

SIMOTION C
Operating Instructions, 02/2012 49
Interfaces
3.5 Onboard drive interface (C230-2, C240)

The following figure shows different possibilities for protective signal circuits.

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Figure 3-6 Possible protective signal circuits for the stepper motor interface

SIMOTION C
50 Operating Instructions, 02/2012
 Interfaces
3.5 Onboard drive interface (C230-2, C240)

Use as standard outputs (analog/digital output) for C240

The setpoint signals (connector X2, SETP1 to 4) can also be used on the C240 as four
analog outputs. The analog output (X2) has a filter that can be switched off.
The default setting is "with filter (C230-2-compatible)". This setting is active regardless of
whether the four outputs are used (actuating signal for axis of analog output). Output values
are interpolated linearly via the servo cycle clock.
Procedure:
1. Select the C240 in the rack.
2. Select the menu command Edit > Object Properties to open the Properties C240 -
(R0/S2) dialog.
3. You can set the filter time in the Onboard I/O tab.
The controller enable contacts (connector X2, CTREN1 to 4) can also be used on the C240
as four digital outputs. These digital outputs are isolated relay contacts (NO).

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Figure 3-7 Use as standard outputs

See also
Overview (Page 63)

SIMOTION C
Operating Instructions, 02/2012 51
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

3.6 Onboard measuring system interface (C230-2, C240)

Connectors to the encoder

A 15-pin Sub-D socket for the connection of incremental or absolute encoders (SSI) is
provided for each axis.
With the C240, this interface (X3 to X6) can also be used as a counter input.

Position of connectors
This figure shows the mounting position and the designation of the connector on the module.

& ; ; ; (1&2'(5
6,(0(16
;;



581
6723
05(6

;




; ; ;
;'3 ;'303, (1&2'(5

Figure 3-8 Position of connectors X3 to X6

SIMOTION C
52 Operating Instructions, 02/2012
 Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Connector pin assignment

Designation:
X3, X4, X5, X6 - ENCODER 1 to 4
Assignment of ENCODER - axis channel:
X3 - axis channel 1
X4 - axis channel 2
X5 - axis channel 3
X6 - axis channel 4
Type: 15-pin Sub-D socket connector

Table 3- 9 Assignment of connectors X3 to X6

Pin Encoder Type Pin Encoder Type

Incremental Absolute Incremental Absolute
1 Not assigned 9 MEXT VO
2 CLS O 10 Z I
3 CLS_N O 11 Z_N I
4 P5EXT VO 12 B_N I
5 P24EXT VO 13 B I
6 P5EXT VO 14 A_N DATA_N I
7 MEXT VO 15 A DATA I
8 Not assigned

Signal names

Table 3- 10 Measuring system interface signal names

Signal name Meaning

A, A_N Track A non-inverted and inverted (incremental encoder)
B, B_N Track B non-inverted and inverted (incremental encoder)
Z, Z_N Zero mark non-inverted and inverted (incremental encoder)
CLS, CLS_N SSI clock shift non-inverted and inverted (absolute encoder)
DATA, DATA_N SSI data non-inverted and inverted (absolute encoder)
P5EXT +5 V supply
P24EXT +24 V supply
MEXT Supply ground

Signal type
VO - voltage output (supply)
O - output (5 V signal)
I - input (5 V signal)

SIMOTION C
Operating Instructions, 02/2012 53
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Types of encoder that can be connected

Both rotary (shaft encoders, angle measurement systems) and linear (linear encoder, linear
measurement systems) measuring systems can be used. These can be built on the
machine/system (incremental encoder) or integrated in the motor (rotor shaft angle encoder).
The following table gives you an overview of the encoders that can be connected and what
you should take into account here.

Table 3- 11 Encoders which can be connected

Encoder Connection to X3 to X6 of the C230-2/C240

Rotary encoders
 Incremental encoders with 5 V encoder power  Direct
supply and TTL/RS422 interface
 Incremental encoders with 24 V encoder power  Direct
supply and TTL/RS422 interface
 Absolute encoders (single/multi-turn) with 24 V  Direct
encoder power supply and SSI interface
 Shaft position encoders with 5 V encoder  Direct
power supply and TTL/RS422 interface
 Rotor position encoder with SINE signals  Via SIMODRIVE drive control using
incremental shaft encoder (WSG) interface
 Resolver  Via SIMODRIVE resolver control using
incremental shaft encoder (WSG) interface
Linear encoders
 Length measurement systems with 5 V encoder  Direct
power supply and TTL/RS422 interface
 Linear encoders with SINUSOIDAL signals  Via EXE (external pulse shaper electronics)

Note
If you operate drives via the PROFIBUS DP, you do not need to connect any encoders to
this interface. The encoders are connected directly to the drive.

SIMOTION C
54 Operating Instructions, 02/2012
 Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Encoder emulation (incremental shaft encoder (WSG) interface)

If the drive unit is equipped with encoder emulation, this can be connected instead of an
encoder. The drive control analyzes the information from a rotor shaft angle encoder and
provides information on the actual position to this interface by emulating the signals of an
incremental encoder.

Note
Please note the drive manufacturer's wiring specifications. As the encoder interface of the
C230-2, C240 is non-isolated, it may be necessary to take special measures for EMC on a
case-by-case basis.

Encoder properties
Incremental encoder

Table 3- 12 Incremental encoder properties

Property Condition
Transmission procedure: Differential transmission using 5 V rectangular signals (as in RS422
standard)
Output signals:
Track A as non-inverted and inverted signal 8D8D

Track B as non-inverted and inverted signal 8D8D

Zero signal Z as non-inverted and inverted signal 8D8D

Max. output frequency: 1 MHz
Phase shift of Track A to 90° ± 30°
Track B:
Current consumption: max. 300 mA

SIMOTION C
Operating Instructions, 02/2012 55
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Signal forms of incremental encoders

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Figure 3-9 Signal forms of incremental encoders

Note
If you want to connect incremental encoders without zero signals, then you must connect the
corresponding pins in the connector with the encoder power supply:
Pin 10 with Pin 7 or 9 (MEXT)
Pin 11 with Pin 4 or 6 (P5EXT)

SIMOTION C
56 Operating Instructions, 02/2012
 Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Encoder connection via EXE

Encoders or EXEs (external pulse shaper electronics - for the connection of linear position
encoders) that can be connected directly must fulfill the above conditions:

Absolute encoder (SSI)

Table 3- 13 Properties of absolute encoders (SSI)

Property Features
Transmission procedure: Synchronous serial interface (SSI) with 5 V differential signal transmission
(as in RS422 standard)
Output signal: Data as non-inverted and inverted signal
Input signal: Clock shift as non-inverted and inverted signal
Format: Single/multi-turn
Resolution: max. 25 bits
Max. transmission rate: 1.5 Mbits/s
Current consumption: max. 300 mA

Configuration of absolute value encoders (SSI)

The configuration data of the TO axis and/or TO external encoder must perfectly match the
parameters of the SSI encoder. Encoders which transmit a greater number of data bits than
are to be read in the set SIMOTION C message length cannot be connected. The
configuration data can be set within the range of the maximum values specified in the
following message profiles (fir tree or right-justified).
Fir tree profile
The encoder always transmits the number of revolutions with the first 12 cycles. The
configured encoder pulses per revolution is monitored by the encoder driver for the
configured message length less these 12 cycles. The maximum configurable data width is
monitored for the number of bit digits needed for representation of the configured encoder
pulses per revolution in the telegram plus these 12 cycles.
Configuration data:

Message length: 13/21/25 cycles can be selected (asymmetric fir tree profile)
Encoder pulses per ≤ 2(message length -12)
revolution:
Data width: ≤ 12 + (log encoder pulses per revolution / log 2)
Note: The number of bit digits needed for representation of the
encoder pulses per revolution is calculated using (log encoder pulses
per revolution / log 2).

SIMOTION C
Operating Instructions, 02/2012 57
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

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Figure 3-10 Fir tree profile

Note
Please note the following:
 Bit 20 of the number of revolutions is fixed on the 12th cycle, followed on the 13th cycle by
the most significant bit of the number of increments/revolution.
 The leading and subsequent data bits transmitted by the encoder (or zeros) are not
evaluated by SIMOTION C.
 The encoder used in the example should be configured as follows:
– Encoder pulses per revolution: 256
– Data width: 16
– Message length: 21 bits (or 25 bits)
– Message profile: Fir tree

SIMOTION C
58 Operating Instructions, 02/2012
 Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Right-justified profile
The most significant data bit is transmitted by the encoder with the first cycle. The configured
data width is monitored by the encoder driver depending on the configured message length.
The maximum encoder pulses per revolution is monitored depending on the data width
configured.
Configuration data:

Message length: 13/21/25 cycles can be selected

Encoder pulses per ≤ 2(Data width)
revolution:
Data width: ≤ message length

SIMOTION C
Operating Instructions, 02/2012 59
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

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Figure 3-11 Right-justified profile

SIMOTION C
60 Operating Instructions, 02/2012
 Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Note
Please note the following:
 The most significant data bit for the encoder's entire range of values is transmitted by the
encoder with the first cycle.
 Subsequent data bits transmitted by the encoder (or zeros) are not evaluated by
SIMOTION C.
 The encoder used in the example should be configured as follows:
– Encoder pulses per revolution: 4096
– Data width: 12
– Message length: 13 bits (or 21 bits or 25 bits)
– Message profile: Right-justified

Encoder supply 5 V
The 5 V supply voltage for the encoders is generated inside the module and is therefore
present at the Sub-D socket. This means you can supply the encoders via the connecting
cable without the need for additional wiring. The voltage supplied is protected electronically
against short circuits and thermal overload, and it is monitored. The encoder supply is not
isolated from the load power supply to the module.

Encoder supply 24 V
For encoders with an operating voltage of 24 V, the 24 VDC power is supplied to the Sub-D
sockets. This means you can supply the encoders via the connecting cable without the need
for additional wiring. The voltage supplied is protected electronically against short circuits
and thermal overload, and it is monitored. The encoder supply is not isolated from the load
power supply to the module.

Behavior of the integrated measurement electronics

Pulses from connected incremental encoders are quadrupled (for pulse quadruplication, see
figure "Signal shapes of incremental encoders").
The actual encoder values are latched servo-synchronously in the C230-2/C240.

SIMOTION C
Operating Instructions, 02/2012 61
Interfaces
3.6 Onboard measuring system interface (C230-2, C240)

Note
With certain selected set values for the position control cycle clock, the measured value
sampling in the C240 takes place at time Ti before the position control cycle clock time, see
"Actual value latch time" table, in chapter Technical data (Page 171). This behavior is similar
to that of PROFIBUS DP encoders.

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Figure 3-12 Position control cycle

Connecting cable to the encoder

The maximum cable length depends on the specification for the encoder supply and the
baud rate. For problem-free operation, you must not exceed the following values when using
SIEMENS preassembled connecting cables (see Catalogs PM 21/NC 60/ST 70):

Table 3- 14 Maximum cable lengths, depending on the encoder power supply

Supply voltage Encoder supply voltage range Current Max. cable length
consumption
5 VDC 4.75 V to 5.25 V < 300 mA 25 m
5 VDC 4.75 V to 5.25 V < 210 mA 35 m
24 VDC 20.4 V to 28.8 V < 300 mA 100 m
24 VDC 10 V to 30 V < 300 mA 250 m

Table 3- 15 Maximum cable lengths, depending on the baud rate

Encoder type Frequency° Max. cable length

Incremental encoder 1 MHz 10 m
500 kHz 35 m
300 kHz 100 m
Absolute encoder (SSI) 1.5 Mbits/s 10 m
187.5 Kbyte/s 250 m

SIMOTION C
62 Operating Instructions, 02/2012
 Interfaces
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-2, C240)

3.7 Possible uses of onboard drive and measuring system interface in

the application (C230-2, C240)

3.7.1 Overview
The onboard drive interface and the measuring system interface can be used in the
application for the technology objects TO axis and TO externalEncoder, and for I/O variable.
The table below lists the combination possibilities for the C230-2/C240.

Table 3- 16 Combination possibilities for the C230-2/C240

Application Axis channel

Output (X2) Input (X3 to X6)
Position axis x x
Drive axis x -
External encoder - x
Also for C240:
Standard output (I/O variables)
 Analog output (PQW) x -
x -
 Digital output (PQ)
Standard input (I/O variables) 1)
 Counter input (PIW) - x

1) The incremental encoder used must not have a zero pulse

Note
A standard output and a drive cannot be used simultaneously on one axis channel.
The input (X3 to X6) used as a counter input cannot be used simultaneously as an encoder
input.
When a project is created and when a project is downloaded, a consistency check of the
permitted combinations per axis channel is automatically performed.

SIMOTION C
Operating Instructions, 02/2012 63
Interfaces
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-2, C240)

This results in the following possibilities in the application for the C240, for example:
● Configuration of hydraulic axes on the onboard resources of the C240
● Use of unassigned axis channels of the C240 as I/O variable for the user program
● Use of the analog outputs of the C240 as unassigned process outputs
Note: The resolution and the characteristic curve of the analog output of the C240 differ
from those of a SIMATIC S7 controller. The following table lists the digital values and
their associated analog values (characteristic curve).

Digital value (WORD data type) Analog value

16#7FFF ≙ 32767 +10 V
16#0000 ≙ 0 0V
16#8000 ≙ 32768 -10 V

See also
Connecting the drive units (Page 103)

SIMOTION C
64 Operating Instructions, 02/2012
 Interfaces
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-2, C240)

3.7.2 Configuration examples for C240:

Use as standard output on X2

Configuration procedure in SIMOTION SCOUT:
1. Start address is specified in the hardware configuration

2. Specification of standard output (16-bit analog and 1-bit digital)

SIMOTION C
Operating Instructions, 02/2012 65
Interfaces
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-2, C240)

Use as counter input on X3 to X6

An available encoder input of an axis channel (e.g. for a speed-controlled axis) can be used
as an input for a 16-bit up/down counter (90-degree pulse train of a connected TTL encoder,
zero pulse not required). The counter value can be accessed by means of an I/O variable.
Configuration procedure in SIMOTION SCOUT:
1. Specification of start address in the hardware configuration.

2. Use of the available encoder input as an additional counter using an incremental

encoder.

SIMOTION C
66 Operating Instructions, 02/2012
 Interfaces
3.7 Possible uses of onboard drive and measuring system interface in the application (C230-2, C240)

Note
Use of the drive and encoder interfaces as standard outputs and counter inputs is only
possible via their direct I/O address. Symbolic assignment is not available for this
application.

SIMOTION C
Operating Instructions, 02/2012 67
Interfaces
3.8 I/O interface

3.8 I/O interface

Front connector
Various encoders and actuators can be connected via digital inputs and outputs to the 40-pin
front connector X1 with single-wire connection.

Position of the connector

The following figure shows the position of the front connector.

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Figure 3-13 Position of connector X1

SIMOTION C
68 Operating Instructions, 02/2012
 Interfaces
3.8 I/O interface

Wiring diagram and block diagram

The following figure shows the terminal diagram and block diagram for digital inputs/outputs
on the SIMOTION C.

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Figure 3-14 Terminal and block diagram of digital inputs/outputs on the SIMOTION C

SIMOTION C
Operating Instructions, 02/2012 69
Interfaces
3.8 I/O interface

Connector pin assignment

Connector designation: X1
Connector type: 40-pin S7 front connector for single-wire connection

Table 3- 17 Front connector X1 pin assignment

Pin Name Type Pin Name Type

1 L+ VI 21 Unassigned
2 Q0 DO 22 B1 DI
3 Unassigned 23 B2 DI
4 Q1 DO 24 B3 DI
5 Unassigned 25 B4 DI
6 Q2 DO 26 M1 DI
7 Unassigned 27 M2 DI
8 Q3 DO 28 I0 DI
9 Unassigned 29 I1 DI
10 RDY.1 C 30 I2 DI
11 RDY.2 C 31 I3 DI
12 Unassigned 32 I4 DI
13 Q4 DO 33 I5 DI
14 Unassigned 34 I6 DI
15 Q5 DO 35 I7 DI
16 Unassigned 36 I8 DI
17 Q6 DO 37 I9 DI
18 Unassigned 38 I10 DI
19 Q7 DO 39 I11 DI
20 Moutput VI 40 Minput VI

SIMOTION C
70 Operating Instructions, 02/2012
 Interfaces
3.8 I/O interface

Signal names

Table 3- 18 Signal names of the I/O interface

Signal name Meaning

RDY.1 to 2 Ready (READY contact 1 to 2)
B1 to B4  Inputs B1 to B4 for external zero mark signals (C230-2/C240) or
 Measuring pulse inputs B1 to B4 for global measuring (C240/C240 PN) or
 Digital inputs B1 to B4
M1, M2  Measuring pulse inputs M1 and M2 for local measuring (C230-2/C240) or
 Digital inputs M1 and M2
I0 to I11 Digital inputs 0 to 11
Q0 to Q7 Digital outputs 0 to 7
L+ Supply for digital outputs
Moutput Reference potential for digital outputs
Minput Reference potential for digital inputs

Signal type
DI - digital input (24 V signal)
DO - digital output (24 V signal)
K - switching contact
VI - voltage input

DANGER

The 24 V power supply is to be designed as functional extra-low voltage with protective

separation in accordance with EN60204-1, Section 6.4, PELV (with G ground).

Note
The connecting cable between the voltage source and the load current supply connector L+
and the associated reference potential M should not exceed a maximum length of 10 m.

SIMOTION C
Operating Instructions, 02/2012 71
Interfaces
3.8 I/O interface

Digital inputs (onboard)

The SIMOTION C has 18 digital inputs. These can also be interconnected via symbolic
assignment using variables as of SIMOTION V4.2 for C240 and C240 PN.
Switches or proximity encoders (2- or 3-wire encoders) can be connected. Addresses are
allocated in the hardware configuration.
The digital inputs can be used as:
● User-addressable process inputs (I0 to I11). The inputs are subject to a signal delay (see
Technical data (Page 171)) and are scanned in a cycle of 125 μs.
The following inputs can be used for special functions:
● C230-2, C240: As inputs for measuring pulses for local measuring (M1, M2)
With a signal edge at the relevant input, the current actual values of one or more
encoders connected to X3 to X6 are measured with positioning accuracy to determine
lengths or distances.
The assignment of inputs is not fixed; the special use is activated in the SCOUT
engineering system during configuration of the Measuring Input TO via the measuring
input number.
● C230-2, C240: As inputs for external zero mark signals (B1 to B4)
With a signal edge at the relevant input, the current encoder value of the associated axis
is acquired with positioning accuracy in order to record the reference coordinates.
The assignment of the inputs to the encoders is fixed, and the special use is activated in
the SIMOTION SCOUT engineering system.
– B1 → axis 1 (encoder at X3)
– B2 → axis 2 (encoder at X4)
– B3 → axis 3 (Encoder at X5)
– B4 → axis 4 (encoder at X6)

SIMOTION C
72 Operating Instructions, 02/2012
 Interfaces
3.8 I/O interface

● As inputs for measuring pulses for global measuring (B1 to B4) on the C240/C240 PN
Alternatively to the "external zero mark signals" function, these inputs can be used on the
C240 / C240 PN for global measuring.
Note: The inputs for global measurement (B1 to B4) can be used in addition to the inputs
for local measurement (M1, M2).
With a signal edge at the relevant input, the current actual values of one or more
encoders are measured with positioning accuracy in order to provide information for
determining lengths or distances (possible with any encoders included in the project).
The assignment of inputs is not fixed; the special use is activated in the SCOUT
engineering system during configuration of the Measuring Input TO (see the configuration
example below for global measuring).
Up to two edges can be measured for each position-control cycle clock of the Measuring
Input TO.
The measured values must be read from the user program before they can be overwritten
by a new measurement.
Global measuring can be used for the following applications:
– Several Measuring Input TOs on one axis/encoder where they can be active
simultaneously
– Several Measuring Input TOs are assigned to one measuring input (where one
Measuring Input TO is interconnected to one measuring input and the remaining
Measuring Input TOs are configured as listening measuring inputs)
This functionality enables one measuring input to act on several Measuring Input TOs
and thus on several axes / external encoders.
– In addition to single measuring, cyclic measuring is also supported
– Measuring on virtual axes

SIMOTION C
Operating Instructions, 02/2012 73
Interfaces
3.8 I/O interface

Note
Local measuring (onboard) on SIMOTION C
A measurement is only undertaken when there are at least 2 servo cycles between the
_enableMeasuringInput command being called and the real switching signal expected
on the probe (positive/negative flank).
In order to reliably guarantee time-critical processes, the programming should be
undertaken in a synchronous task, e.g. IPO-synchronous task. It may take up to 2
servo cycles for the measurement to be available in
Messtaster.counterMeasuredValue1 after the status change in
[Link] (POSITIVE => NEGATIVE or vice versa).
When the measurement result is received, the measurement position is stored. Once
the measurement has been taken, the state variable is set to TRIGGER_OCCURRED,
and the measured values can be evaluated using the measuredValue1 and
measuredValue2 variables for two measured edges.
The counterMeasuredValue1 and counterMeasuredValue2 counter variables are
defined for the measuredValue1 and measuredValue2 system variables and are
automatically incremented by a value of one for each measurement input. New results
can be traced immediately and can also be read from non-IPO-synchronous tasks.
You will find detailed information on this subject in the SIMOTION Function Manual
Output Cams and Measuring Inputs.

SIMOTION C
74 Operating Instructions, 02/2012
 Interfaces
3.8 I/O interface

Configuration example for global measuring

Configuration procedure in SIMOTION SCOUT:
The measuring input must be configured as follows:
1. Activate global measuring.
2. Assign to the input e.g. PI 64.0 or use symbolic assignment (e.g. C240.B1 [B1, X1.22]).

Figure 3-15 Configuration example for global measuring (without symbolic assignment)

Figure 3-16 Configuration example for global measuring (symbolic assignment)

With a signal edge at the measurement input, the current actual value of the assigned
encoder is recorded with an exact position.

Digital outputs (onboard)

Eight digital outputs (Q0 to Q7) are provided on the SIMOTION C. These can also be
interconnected via symbolic assignment using variables as of SIMOTION V4.2 for C240 and
C240 PN.
These fast outputs (onboard) can be used as freely addressable process outputs or as "fast
output cams" (position switching signals). Addresses are allocated in the hardware
configuration. The outputs are subject to a signal delay, see Technical data (Page 171).
For repeat accuracy when using the outputs as fast output cams, see Versions of SIMOTION
C (Page 29).

SIMOTION C
Operating Instructions, 02/2012 75
Interfaces
3.8 I/O interface

READY output
The ready signal (RDY.1, RDY.2) is an isolated contact assembly (make contact).
The contact can be used for the safe shutdown of parts of the system, for example, through
integration in the EMERGENCY STOP circuit.
The following table describes the states of the enables and outputs in the respective
SIMOTION C operating states with an open or closed READY contact.

Table 3- 19 Statuses of enable signals and outputs:

Status of the READY SIMOTION C Status of enable signals and outputs:

contact
Open  During ramp-up  Controller enable deactivated
 During memory reset  Analog outputs at 0 V
 With fault condition  Digital outputs deactivated
 In STOP mode
 In STOPU mode
Closed  in RUN mode Enable signals and outputs controlled by user
program and technology

Additional references
You can find information about TO outputCam and Measuring Input TO in the SIMOTION
Output Cams and Measuring Inputs Function Manual.

SIMOTION C
76 Operating Instructions, 02/2012
Configuring and installing 4
4.1 General requirements

Overview
In this chapter we will explain how to design the mechanical configuration, prepare the
SIMOTION components for installation and install them.
During the installation of SIMOTION C modules, you must pay attention to the electrical
configuration. Therefore, also refer to the chapter Wiring (Page 91).

Open equipment
These modules are open equipment. This means they may only be installed in housings,
cabinets or in electrical service rooms that can be entered or accessed exclusively by means
of a key or tool. Housings, cabinets or electrical service rooms may only be accessed by
trained or authorized personnel.

SIMOTION C
Operating Instructions, 02/2012 77
Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

4.2 Configuring an installation using SIMOTION C modules

4.2.1 Horizontal and vertical configuration

Design
You can install the rack either horizontally or vertically. The horizontal configuration should
be used if possible.

Permissible ambient temperature

● Horizontal installation: 0 °C to 55 °C
● Vertical installation: 0 °C to 40 °C

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Figure 4-1 Horizontal and vertical configuration

SIMOTION C
78 Operating Instructions, 02/2012
 Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

4.2.2 Clearances

Rules
If you comply with the minimum clearances, you will:
● Ensure heat is dissipated from the modules
● Provide space to fit and remove modules
● Provide space to lay wiring
● Increase the mounting height of the rack to 205 mm!
To guarantee the functionality, clearances of 40 mm must be maintained.

Note
If you use a shield connecting element, the dimensions stated are measured from the
lower edge of the shield connecting element.

Clearances
The following figure shows the clearances between the individual racks and the clearance to
adjacent equipment, cable ducts, cabinet walls, etc.

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PP
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PP D

PP PP
PP

Figure 4-2 Clearances

SIMOTION C
Operating Instructions, 02/2012 79
Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

4.2.3 Mounting dimensions of modules

Overview of mounting dimensions

The following table shows the mounting dimensions of modules.

Table 4- 1 Mounting dimensions of modules

Modules Module width Module height Maximum

mounting depth
Power supply PS 307, 2 A 50 mm
Power supply PS 307, 5 A 80 mm
Power supply PS 307, 10 A 200 mm 130 mm or 180 mm
SIMOTION C 200 mm 125 mm, 185 mm with an open front
with shield cover of the
Signal modules (SMs) 40 mm SIMOTION C
connecting element
Function modules (FM) 40 mm or 80 mm
Communications processors (CP) 40 mm

Mounting rail lengths

Depending on the configuration you have chosen, you can use the following mounting rails:

Table 4- 2 Mounting rails

Mounting rail Usable length for modules Comments

160 mm 120 mm Mounting holes are provided
482.6 mm 450 mm Mounting holes are provided
530 mm 480 mm Mounting holes are provided
830 mm 780 mm Mounting holes are provided
2,000 mm Cut to required length Mounting holes must be drilled

SIMOTION C
80 Operating Instructions, 02/2012
 Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

4.2.4 Layout of modules on a rack

Rules
The following rules apply with respect to the layout of the modules on a rack:
● Up to eight modules can be inserted to the right of the SIMOTION C.
● The number of plug-in modules is also limited by their power consumption from the
backplane bus (see Technical data table for the individual modules in the S7-300
Automation Systems, M7-300 Module Data Manual).
The total power consumption from the backplane bus of all modules that are mounted on
a rack must not exceed 1.2 A.
This figure shows the order of the modules in an installation with eight I/O modules.

36 6,027,21& ,2PRGXOHV

Figure 4-3 Layout of modules on a rack

Installation of FM STEPDRIVE
The FM STEPDRIVE modules can be installed, in addition to the eight SMs. They have no
connection to the backplane bus and must therefore only be taken into consideration with
regard to the module width. In order to prevent the backplane bus from being interrupted, the
FM STEPDRIVE modules must always be configured as the last modules on the module
rack.

SIMOTION C
Operating Instructions, 02/2012 81
Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

4.2.5 Layout of modules on several racks

Overview
With the SIMOTION C, a 2-tier layout is possible.

Interface modules
Interface modules are required for the 2-tier layout which route the backplane bus from one
rack to the other. The SIMOTION C is always located on rack 0.

Table 4- 3 Interface modules

Interface module Usable for ... Order number

IM 365 SEND Rack 0 6ES7 365-0BA01-0AA0
IM 365 RECEIVE Rack 1

IM 365 interface modules

The two IM 365 interface modules have a fixed connection via a 1-meter long connecting
cable.
The total power consumption of the inserted I/O modules of both racks must not exceed 1.2
A; the power consumption from rack 1 is limited to 800 mA.

Rules
The following rules apply with respect to the layout of the modules on two racks:
● The interface module always occupies Slot 3 and is always left of the first signal module.
● No more than eight modules may be inserted per rack. These modules are always to the
right of the interface modules.
● The number of inserted modules is limited by the permissible power consumption from
the backplane bus. Total power consumption must not exceed 1.2 A (see Technical data
table for each module in the manual S7-300 Automation System, M7-300 Module Data).

SIMOTION C
82 Operating Instructions, 02/2012
 Configuring and installing
4.2 Configuring an installation using SIMOTION C modules

2-tier layout
The figure below shows the 2-tier layout with SIMOTION C.

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Figure 4-4 Layout of modules on two racks

SIMOTION C
Operating Instructions, 02/2012 83
Configuring and installing
4.3 Installing

4.3 Installing

4.3.1 Installing mounting rails

Installing a 2-meter mounting rail

You must prepare the 2-meter mounting rail for installation. Proceed as follows:
1. Shorten the 2-meter mounting rail to the required dimension.
2. Mark in
– Four holes for mounting screws (dimensions: see table below)
– One hole for a protective conductor mounting screw.
3. Is the mounting rail longer than 830 mm?
If so: you must drill additional holes for more mounting screws to stabilize the mounting
rail. Mark out these holes along the groove in the middle section of the rail (see the figure
below). These additional holes should be spaced approximately every 500 mm.
If not: no additional work required.
4. Drill the 6.5+ 0.2mm-diameter holes where marked for M6-size screws.
5. Fit an M6 screw to secure the protective conductor.

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Figure 4-5 Mounting holes in a 2-meter mounting rail

SIMOTION C
84 Operating Instructions, 02/2012
 Configuring and installing
4.3 Installing

Dimension drawing for mounting holes

The mounting hole dimensions for the mounting rail are shown in the table below.

Table 4- 4 Mounting holes for rails

"Standard" mounting rail 2-meter mounting rail

 PP
PP

 PP
PP

FD FD
PP PP

D E
PP

Mounting rail Distance a Distance b -

length
160 mm 10 mm 140 mm
482.6 mm 8.3 mm 466 mm
530 mm 15 mm 500 mm
830 mm 15 mm 800 mm

Mounting screws
Choose one of the following types of screw to mount the mounting rail:

Table 4- 5 Mounting screws

For you can use... Explanation

Outer mounting screws M6 cylinder-head screw per ISO Select a screw length that is
1207/ISO 1580 (DIN 84/DIN 85) appropriate to your configuration
M6 hexagonal screw per ISO You also need 6.4 mm washers
4017 (DIN 4017) per ISO 7092 (DIN 433)
Additional mounting screw (2- M6 cylinder-head screw to ISO
meter mounting rail only) 1207/ISO 1580 (DIN 84/DIN 85)

SIMOTION C
Operating Instructions, 02/2012 85
Configuring and installing
4.3 Installing

Installing mounting rails

Install the mounting rails as follows:
1. Fit the mounting rail in a position that will allow enough room for the modules to be
installed and for the heat to dissipate (a minimum of 40 mm above and below the
mounting rail; see Figure "Clearance distances").
2. Screw the mounting rail onto the surface where it is to be affixed (screw size: M6). Is this
substrate a grounded metal plate or a grounded equipment mounting plate?
If so: make sure that there is a low-resistance connection between the mounting rail and
the substrate. Use suitable electro-lubricant or contact washers with painted and
anodized metals, for example.
If not: no special action required.
3. Connect the mounting rail with the protective conductor. An M6 protective conductor
screw is provided on the mounting rail for this purpose.
Minimum cross-section of protective conductor line: 10 mm2.

Note
Always make sure that there is a low-resistance connection to the protective conductor
(see figure below). If the rack is mounted on a movable frame, for example, make sure
that the line to the protective conductor is flexible.

PE connection
The figure below shows the proper way of connecting the protective conductor to the
mounting rail.

Figure 4-6 Protective conductor connection on the mounting rail

SIMOTION C
86 Operating Instructions, 02/2012
 Configuring and installing
4.3 Installing

4.3.2 Fitting modules on the mounting rail

Accessories
Any accessories you need for installation are in the pack with the modules. Chapter Spare
parts and accessories (Page 184) contains a list of accessories and spare parts together
with the corresponding order numbers.

Table 4- 6 Module accessories

Module Accessories supplied Explanation

SIMOTION C One slot number plate For the assignment of slot numbers
Two keys (C230-2) The key is used to operate the mode selector
for the C230-2.
One labeling plate For labeling of integrated inputs and outputs
of the SIMOTION C
Signal module One bus connector To provide the electrical connections between
(SM) the modules
One labeling plate To label the inputs and outputs on the module

Sequence in which modules are affixed to the mounting rail

1. Power supply module
2. SIMOTION C
3. Signal module(s)

Installation sequence
The individual steps for the installation of the modules are described below:
1. Except for the SIMOTION C, each signal module is supplied with a bus connector. When
plugging in the bus connectors, always start with the SIMOTION C.
Take the bus connector from the next module and plug it into the bus connector of the
SIMOTION C. (The bus connector is located on the rear side, see Figure "Position of
interfaces and front panel elements").
You must not plug a bus connector into the "last" module in the row.
2. Fit the modules by hooking them into position, push them against the left-hand module
and lower them down into position.
3. Screw down the modules, applying a torque of 0.8 to 1.1 Nm.

SIMOTION C
Operating Instructions, 02/2012 87
Configuring and installing
4.3 Installing

4.3.3 After installation

Inserting the key (C230-2)

Once the C230-2 has been mounted on the mounting rail, you can insert the key in the
STOP or STOPU position on the C230-2.

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Figure 4-7 Inserting the key in the C230-2

Assigning the slot numbers

After mounting, you can assign each module a slot number. This eases the assignment of
the modules to the configuration table in the Engineering System. The table below shows the
slot number assignment.

Table 4- 7 Slot numbers for S7 modules and SIMOTION C

Slot no. Module Comments

1 Power supply (PS) -
2 SIMOTION C -
3 Reserved -
4 1. I/O module To the right of SIMOTION C
5 2. I/O module -
6 3. I/O module -
7 4. I/O module -
8 5. I/O module -
9 6. I/O module -
10 7. I/O module -
11 8. I/O module -

SIMOTION C
88 Operating Instructions, 02/2012
 Configuring and installing
4.3 Installing

Inserting slot numbers

This figure shows the proper way of inserting the slot numbers. The slot number labels are
included with the SIMOTION C.





Figure 4-8 Inserting slot numbers on the modules

SIMOTION C
Operating Instructions, 02/2012 89
Configuring and installing
4.3 Installing

SIMOTION C
90 Operating Instructions, 02/2012
Connecting 5
5.1 Wiring

5.1.1 General requirements for wiring

Basic rules
Because of the wide range of uses of a SIMOTION C, only the basic rules for electrical
installation can be included in this section. At a minimum, you must comply with these basic
rules to ensure problem-free operation.

Safety regulations
In order to ensure safe operation of your equipment, implement the following measures,
adapting them to suit your conditions:
● An EMERGENCY OFF concept in accordance with the generally accepted rules of
current engineering practice (e.g. European standards EN 60204, EN 418, and similar).
● Additional measures for end position limiting of axes (e.g. hardware limit switches).
● Equipment and measures for protection of motors and power electronics in accordance
with the installation guidelines of the used drive units.
In addition, in order to identify hazards, we recommend that a risk analysis be conducted on
the entire system in accordance with the basic safety requirements set out in Appendix 1 of
EU Machinery Directive 89/392/EEC.

Additional references
Please also note the information in the following sections of this manual:
● Guidelines on Handling Electrostatic Sensitive Devices (ESD guidelines)
● For additional information on installing a system containing S7-300 process I/O, refer to
the "Wiring" section of the S7-300 Automation System, Hardware and Installation, CPU
Data Manual.

Standards and specifications

When wiring the SIMOTION C, you must observe the appropriate VDE guidelines, in
particular VDE 0100 and VDE 0113 for tripping devices and short-circuit and overload
protection.

SIMOTION C
Operating Instructions, 02/2012 91
Connecting
5.1 Wiring

5.1.2 Configuring the electrical installation

General rules for operating a SIMOTION C

You must observe the following primary rules for integrating a SIMOTION C in an automation
system or plant.

System startup after certain events

The following table identifies considerations required for startup of a system following certain
events.

Table 5- 1 System startup

If there is ... Then ...

Startup after voltage drop or power All hazardous operating conditions must be avoided. If
failure necessary, force an EMERGENCY STOP.
Startup after releasing the must always be controlled and defined.
EMERGENCY STOP apparatus

Supply voltage
The following table identifies the considerations required for the supply voltage.

Table 5- 2 Supply voltage

Scope Requirement
Stationary systems without all-pole A power disconnect switch or a fuse must be provided in the
power disconnect switches electrical installation for the building.
Load power supply, power supply The set rated voltage range corresponds to the local supply
modules voltage.
All electric circuits The fluctuation/deviation of the supply voltage from the rated
value must be within the permissible tolerance (see Technical
data for S7-300 modules).

24 VDC supply
The following table identifies the considerations required for the 24 V supply.

Table 5- 3 24 V supply

Scope Requirement
buildings external lightning protection. Take lightning protection
measures
24 V DC supply lines, signal lines internal lightning protection (e.g. lightning conductors).
24 V supply Safe (electrical) isolation of extra-low voltage

SIMOTION C
92 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Protection from external electrical influences

The following table identifies the considerations required for protection against external
electrical phenomena or faults.

Table 5- 4 Protection against external electrical phenomena

Scope Requirement
All plants or systems in which the The equipment or system is connected to a protective
SIMOTION C or S7-300 is installed conductor to discharge electromagnetic interference.
Supply, signal, and bus lines The wiring arrangement and installation complies with
EMC regulations.
Signal and bus lines A wire or conductor strand break must not cause any
undefined installation or system states.

Rules for current consumption and heat loss in a central configuration

The I/O modules on the I/O bus take the current required for their operation from the I/O bus
as well as, when necessary, from an external load power supply.
● The current consumption of all I/O modules from the I/O bus must not exceed 1.2 A. This
is the current that the SIMOTION C can supply on the I/O bus.
● PS 307 power supply modules are available for different loads (2 A, 5 A, 10 A). The
selection of the appropriate power supply depends on the sum of the current
consumption of the SIMOTION C, the connected I/O modules and any other connected
loads fed by the load power supply.
● The power loss of all components used in a cabinet must not exceed the maximum
amount that can be dissipated from the cabinet.
Tip: When selecting the cabinet design, make sure that the temperature in the cabinet will
not exceed the permissible ambient temperature for the installed components, even if the
outside temperatures are high.
You will find information on the current consumption and heat loss of a module in the
technical data of the corresponding modules.

DANGER

All interfaces of the SIMOTION C must operate only on circuits with safety extra-low
voltage (SELV).

Pulling out and inserting I/O-bus I/O

I/O-bus I/O must not be pulled out or inserted during operation.

Note
The I/O bus will not work if I/O-bus I/O are pulled out during operation. The SIMOTION must
be switched off and back on again when these are reinserted.

SIMOTION C
Operating Instructions, 02/2012 93
Connecting
5.1 Wiring

5.1.3 Overview of wiring diagram

C230-2/C240 with servo drive (analog connection)

The figure below shows how the individual components are connected to the C230-2/C240
and the servo drive (analog connection).

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Figure 5-1 Overview of the cable connecting the C230-2/C240 to the servo drive (analog coupling) -
example

SIMOTION C
94 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

SIMOTION C with servo drive (digital connection) via PROFIBUS DP

The figure below shows how the individual components are connected to the SIMOTION C
and the servo drive (digital connection).

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Figure 5-2 Overview of the cable connecting the SIMOTION C to the servo drive (digital connection)
- example

SIMOTION C
Operating Instructions, 02/2012 95
Connecting
5.1 Wiring

C240 PN with servo drive (digital connection) via PROFINET IO

The figure below shows how the individual components are connected to the C240 PN and
the servo drive (digital connection).

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example

SIMOTION C
96 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

C230-2, C240 with stepper drive

The figure below shows how the individual components of the multi-axis controller are
connected to the C230-2, C240 and stepper drive.

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SIMOTION C
Operating Instructions, 02/2012 97
Connecting
5.1 Wiring

Overview of connections - connecting cable

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Figure 5-5 Overview of SIMOTION C connections

SIMOTION C
98 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

The setpoint and measuring system cables (see figure "Overview of connections" ) are
available in various lengths.
See PM 21 Catalog / NC 60 Catalog / ST 70 Catalog / CA 01 Catalog
For information about the PROFIBUS cable or Ethernet bus cable, see chapter Networking
(Page 122).
For additional information about PROFIBUS DP, PROFINET IO and Ethernet, see IK PI
Catalog

Front connector
For the wiring of the digital inputs/digital outputs, you need a 40-pole front connector (screw
type or spring tension type). This must be ordered separately.
Order no.: Screw type 6ES7 392-1AM00-0AA0
Spring type 6ES7 392-1BM01-0AA0
See ST 70 catalog/NC 60 catalog

SIMOTION C
Operating Instructions, 02/2012 99
Connecting
5.1 Wiring

5.1.4 Connecting the power supply

Screw-type terminal block

The required 24 VDC load power supply is connected at the screw-type terminal block.

Properties of the load power supply

DANGER

The 24 VDC should be configured as functional extra-low voltage with safe isolation.

Note
The connecting cable between the voltage source and the load current supply connector L+
and the associated reference potential M should not exceed a maximum length of 10 m.

Table 5- 5 Electrical parameters of load power supply

Parameters min max Unit Conditions

Voltage range - mean value 20.4 28.8 V
Ripple 3.6 Vpp
Transient overvoltage 35 35 V 500 ms duration
50 s recovery time
Rated current consumption 2.2 A see "Connection values" table in
chapter Technical data (Page 171)
Starting current 8 A

Pin assignment
The table below shows the pin connections on the screw-type terminal block.

Table 5- 6 Assignment of the screw-type terminal block

Terminal Pin assignment

Functional ground

M Ground
L+ DC 24 V
M Ground

If you want to ground the reference potential, you must not remove the jumper between
terminals M and functional ground on the SIMOTION C.

SIMOTION C
100 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Line buffering
The PS 307 load current supplies from the S7-300 system guarantee mains buffering for 20
ms.

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Supply system lines

Use flexible cables with a cross-section of 0.25 to 2.5 mm2 (or AWG 18 to AWG 14) for
wiring the power supply.
If you only use one wire per connection, a ferrule is not required.
You can use ferrules without an insulating collar in accordance with DIN 46228, Form A long
version.

Connecting comb
You can also use a connecting comb to connect the PS 307 power supply module to the
SIMOTION C. You will find the order numbers of the connecting comb required in chapter
Spare parts and accessories (Page 184).

Other 24 V connections
On the PS 307 power supply, there are 24 V connections available via the connecting comb
for connecting the supply of the I/O modules.

SIMOTION C
Operating Instructions, 02/2012 101
Connecting
5.1 Wiring

Wiring with the connecting comb

Proceed as follows to wire the PS 307 power supply module and the SIMOTION C.

WARNING

You could come into contact with live wires if the power supply module and any additional
load power supplies are switched on.
Ensure that the system is de-energized when you wire the system!

1. Open the front doors of the PS 307 and the SIMOTION C.

2. Release the clip for the cable strain relief on the PS 307.
3. Strip the power supply cable (230 V/120 V) (stripped length of 12 mm) and connect it to
the PS 307.
4. Tighten the clip for the cable strain relief.
5. Insert the connecting comb and tighten it.
6. Close the front doors

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Figure 5-7 Connect power supply module and SIMOTION C with connecting comb

SIMOTION C
102 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Setting power supply to the required supply voltage

Check whether the supply voltage selection switch is set correctly for your supply voltage.
The basic setting on the PS 307 is always 230 V. Proceed as follows to change the setting
for the supply voltage:
1. Remove the covering cap using a screwdriver.
2. Set the switch to the available supply voltage.
3. Refit the covering cap over the switch opening.

Reverse polarity protection

If the connection is correct and the power supply is switched on, the "5 VDC" LED is
illuminated green.

Note
Your module will not work in the case of reverse polarity. However, a built-in reverse polarity
protection will protect the electronics against damage.

Fuse
If a fault is present on the module, a built-in fuse protects the electronics against
consequential damage (e.g. fire). In this case, the module must be replaced.

5.1.5 Connecting the drive units

Connecting the connecting cable

Note the following:

Note
Only use shielded, twisted pair cables; the shield must be connected to the metallic or
metalized connector housing on the controller side. We recommend that you do not ground
the shield on the drive side. This is to separate low-frequency interferences from the analog
setpoint signal.
The pre-assembled cable available as an accessory provides the best possible immunity to
interference.

SIMOTION C
Operating Instructions, 02/2012 103
Connecting
5.1 Wiring

Connection of drives (e.g. SIMODRIVE 611 universal with analog setpoint interface) to the onboard
drive interface (C230-2, C240)
The figure below shows the connection of the C230-2, C240 to SIMODRIVE 611 universal
drive units.

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Figure 5-8 Connection of a SIMODRIVE 611 universal drive unit

Procedure:
1. Wire the free cable end of the connecting cable to the terminals on the drive unit. (The
terminal markings on the cable ends indicate the corresponding terminals for
SIMODRIVE devices.)
2. Open the front cover of the C230-2/C240 and connect the Sub-D socket (50-pin) to the
X2 connector.
3. Lock the connector using the finger screws. Close the front cover.

SIMOTION C
104 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Connecting cable
The connecting cable is a pre-assembled cable for four axes with an analog interface and
terminal designation for SIMODRIVE drive units.
The connecting cable is available in a choice of lengths.
See Catalog PM 21, NC 60, or ST 70
Wiring diagram

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Figure 5-9 Terminal diagram for C230-2/C240 and SIMODRIVE 611 universal with analog setpoint
interface

SIMOTION C
Operating Instructions, 02/2012 105
Connecting
5.1 Wiring

Setpoint assignment
The assignment of the setpoints for axes 1 to 4 is fixed.
Setpoint output signals (X2) for drives with analog interface:
● SW1, BS1, RF1.1, RF1.2 for axis 1
● SW2, BS2, RF2.1, RF2.2 for axis 2
● SW3, BS3, RF3.1, RF3.2 for axis 3
● SW4, BS4, RF4.1, RF4.2 for axis 4

Note
When using the drive interface for standard outputs (C240 only), proceed as described in
chapter Onboard drive interface (C230-2, C240) (Page 45). Wire the free ends of the
connecting cable according to your application.

SIMOTION C
106 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Connection of stepper drives (e.g. FM STEPDRIVE) to the onboard drive interface (C230-2, C240)
The figure below shows the connection of the C230-2, C240 to FM STEPDRIVE drive units.

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Figure 5-10 Connection of FM STEPDRIVE drive units

Procedure:
1. Insert the Sub-D socket (15-pin) in the FM STEPDRIVE module.
2. Open the front cover of the C230-2/C240 and connect the Sub-D socket (50-pin) to the
X2 connector.
3. Lock the connector using the finger screws. Close the front cover.

SIMOTION C
Operating Instructions, 02/2012 107
Connecting
5.1 Wiring

Connecting cable
The connecting cable is a preassembled cable for four FM STEPDRIVE stepper motor drive
units.
See Catalog PM 21, NC 60.1, or ST 70
Wiring diagram

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Figure 5-11 Wiring diagram for C230-2/C240 and FM STEPDRIVE

SIMOTION C
108 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Setpoint assignment
The assignment of the setpoints for axes 1 to 4 is fixed.
Setpoint output signals (X2) for stepper drive:
● PULSE1, PULSE1_N, DIR1, DIR1_N, ENABLE1, ENABLE1_N for axis 1
● PULSE2, PULSE2_N, DIR2, DIR2_N, ENABLE2, ENABLE2_N for axis 2
● PULSE3, PULSE3_N, DIR3, DIR3_N, ENABLE3, ENABLE3_N for axis 3
● PULSE4, PULSE4_N, DIR4, DIR4_N, ENABLE4, ENABLE4_N for axis 4

Connection of drives (e.g. SIMODRIVE 611 universal) to the PROFIBUS DP

The figure below shows the connection of the SIMOTION C to a SIMODRIVE 611 universal
drive unit.
Note that the "Motion Control with PROFIBUS DP" module must be fitted on the control unit
of your drive unit.

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Figure 5-12 Connection of SIMODRIVE 611 universal drive unit to PROFIBUS DP

SIMOTION C
Operating Instructions, 02/2012 109
Connecting
5.1 Wiring

Procedure:
1. Insert the Sub-D connector (9-pin) into the drive unit.
2. Open the front door of the SIMOTION C and insert the Sub-D connector (9-pin) into the
X8/X9 socket.
3. Lock the connector using the finger screws. Close the front cover.

Connecting cable
Details about the bus cable, bus connector and installation can be found in chapter
Networking (Page 122).

Note
The maximum cable length is 100 m.
The terminating resistor must be switched in (switch position "On") at the beginning and end
of the bus segment. See figure "Bus connector (6ES7 ...): Terminating resistor connected
and disconnected" in chapter Network components for a PROFIBUS subnet (Page 125)

SIMOTION C
110 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Connection of drives (e.g. SINAMICS S120) to PROFINET IO (C240 PN)

The figure below shows the connection of the C240 PN to a SINAMICS S120 drive unit.

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Figure 5-13 Connection of a SINAMICS S120 drive unit on the PROFINET IO

SIMOTION C
Operating Instructions, 02/2012 111
Connecting
5.1 Wiring

Procedure:
1. Insert the PROFINET connector into the drive unit.
2. Open the front door of the C240 PN and insert the PROFINET connector into the X11 P1,
X11 P2 or X11 P3 socket.

Note
The strain relief provided for the PROFINET cable must be used in particular for vibrating
machines. The cables should be secured close to the controller to achieve high vibration
strength.

Figure 5-14 Strain relief

Connecting cable
Details about the bus cable, bus connector and installation can be found in chapter
Networking (Page 122).

Note
The maximum cable length is 100 m.

SIMOTION C
112 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Mixed operation of analog drives and stepper drives (C230-2, C240)

Connecting cables for your configuration are available on request.
Follow the procedure outlined for connecting analog drives or stepper drives. The design
conditions determine whether you install a terminal block or perform the wiring directly with
pre-assembled cables.

Note
Ensure that the polarity assignment of the signals is correct. Refer to the technical
documentation for your drive unit (e. g. FM STEPDRIVE, Function Description manual) and
chapter Onboard drive interface (C230-2, C240) (Page 45) of these operating instructions to
ensure that the interconnection is correct.

Mixed operation of drives on the onboard drive interface and PROFIBUS DP

Drives with analog and digital connections and stepper drives can be operated together.
Proceed as described for the connection of drives to the onboard drive interface or
PROFIBUS DP.

Mixed operation of drives on the onboard drive interface and use as standard output (C240 only)
Follow the procedure outlined for connecting analog drives.

Mixed operation of drives on the PROFIBUS DP and drives on the PROFINET IO (C240 PN)
Drives can be used in mixed operation.
Proceed as described for the connection of drives on the PROFIBUS DP or on the
PROFINET IO.

See also
Overview (Page 63)

SIMOTION C
Operating Instructions, 02/2012 113
Connecting
5.1 Wiring

5.1.6 Connecting the encoders (C230-2, C240)

Connecting the connecting cable

Note the following:

Note
Always use shielded data cables. The shielding must be connected with the metallic or
metallized connector housing.
The pre-assembled cable available as an accessory provides the best possible immunity to
interference and adequately dimensioned cross-sections for the power supply to the
encoders.

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SIMOTION C
114 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Procedure for connecting encoders

Proceed as follows to connect the encoders:
1. Connect the cable to the encoders.
2. Open the front cover of the C230-2, C240 and insert the Sub-D connectors (15-pin) into
sockets X3 to X6.
3. Lock the connector using the finger screws. Close the front cover.

Connecting cables available for encoders

The following connecting cables are available (see figure "Overview of connections"):
● Pre-assembled cable for external encoder or EXEs (for the connection of linear position
encoders)
● Pre-assembled cable for built-in encoder with 17-pin round connector
● Pre-assembled cable for absolute encoders (SSI)
● Pre-assembled cable for SIMODRIVE 611 analog closed-loop control module 1FK6
motors with resolver
● Pre-assembled cable for SIMODRIVE 611 universal with incremental shaft encoder
interface
The incremental shaft encoder interface is used to emulate an incremental encoder. For
this, the actual position value is measured by the encoder connected to the drive unit and
transmitted to the C230-2, C240 as an incremental counting pulse.
The encoder supply provided on the C230-2 and C240 is not used. Make sure there is a
good ground connection between the controller and drive unit.
The connecting cables are available in a choice of lengths.
See Catalog PM 21, NC 60, or ST 70

SIMOTION C
Operating Instructions, 02/2012 115
Connecting
5.1 Wiring

Actual value assignment

Actual value assignment in the SIMOTION SCOUT axis wizard:
The assignment of actual values is only permanent for position axes with an encoderless
stepper motor. The corresponding encoder channel is required for actual value simulation in
the hardware.
Example:
For a position axis with an encoderless stepper motor on drive 2, encoder channel 2 is used
within the hardware for actual value simulation.
For stepper motors with an encoder or for analog axes, the assignment of encoder channels
is subject to no restrictions.
Connection options for encoders on the C230 or C240:
Encoders must be connected to actual value inputs X3 to X6.
The assignment between the drive and encoder channel is subject to no restrictions.
Connection example:
● The encoder for axis 1 is connected to actual value input X3
● The encoder for axis 2 is connected to actual value input X4
● The encoder for axis 3 is connected to actual value input X5
● The encoder for axis 4 is connected to actual value input X6

Note
The assignment between the drive and encoder channel is permanent for position axes with
an encoderless stepper motor as a result of the actual value simulation required in the
hardware.

SIMOTION C
116 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

5.1.7 Wiring the front connector

The following figure shows how the cables are routed to the front connector and how to
suppress line interference through the use of the shield connecting element.

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Connecting cables
Flexible cable, cross-section 0.25 to 1.5 mm2
Ferrules are not required.
You can use ferrules without an insulating collar in accordance with DIN 46228, Form A long
version.
You can connect two cables of 0.25 to 0.75 mm2 each in one ferrule.

Note
To achieve optimum interference suppression, a shielded cable must be used for connection
of measuring inputs or external zero mark.

Required Tools
3.5-mm screwdriver or power screwdriver

SIMOTION C
Operating Instructions, 02/2012 117
Connecting
5.1 Wiring

Procedure for front connector wiring

Proceed as follows for the terminal strip:
1. Strip 6 mm of insulation off the cable. It may be necessary to fit a connector sleeve.
2. Open the front cover. Move the front connector into position for wiring.
To do this, push the front connector into the module until it locks into position. In this
position the front connector will still protrude from the module.
The connector is locked in position, without electrical contact to the module.
3. If you route the wires out downwards, start the wiring at the bottom. If this is not the case,
start at the top. Also screw in terminals that are not assigned.
The tightening torque is 0.4 to 0.7 Nm.
4. Fit the cable strain relief provided around the wiring loom and the front connector.
5. Tighten the strain relief for the cable harness. Push in the strain relief to the left to
increase cable space.
6. Tighten the mounting screw to move the front connector into operating position.
Note: When the front connector is moved into operating position, a front connector keying
engages in the front connector. The front connector will then fit only this module type.
7. Close the front cover.
8. You can fill out the labeling field provided and insert it in the front cover.

Shielded cables
If a shielded cable is used, the following additional actions are required:
1. Attach the cable shield to a grounded shielding bus immediately after the cable entry
point in the cabinet (strip the insulation off the cable for this purpose).
You can use the shield connecting element. This is mounted on the rail and can
accommodate up to eight shielding terminals.
2. Continue routing the shielded cable as far as the module but do not make a connection to
the shield there.

Shield connecting element

This element can be inserted in the mounting rail to provide screening for shielded cables. It
can accommodate up to eight shielding terminals.
See chapter Connecting shielded cables via a shield connecting element (Page 120).

SIMOTION C
118 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Connection of measuring inputs or proximity sensors (external zero mark)

Procedure:
1. Wire the power supply for the encoders. This must meet the same criteria as the load
power supply for the SIMOTION C.
2. Connect the shielded signal line to the encoders.
3. Remove a sufficient length of the cable sheath at the control end so that you can connect
the shield to the shield connecting element and the free cable ends to the front connector.
4. Wire the signal line to the front connector.


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Note
For the assignment of the front connector and the description of the I/O interface, refer to
chapter I/O interface (Page 68).

Connection of additional actuators/encoders

If you wish to connect additional actuators/encoders to the SMs on the I/O bus, proceed in
the same way as for connecting digital inputs/digital outputs to the SIMATIC S7-300.
See the S7-300, M7-300 Automation Systems, Module Data Manual.
The digital inputs/digital outputs on the central I/O system are recorded/output at a refresh
rate of approx. 1 ms.

SIMOTION C
Operating Instructions, 02/2012 119
Connecting
5.1 Wiring

5.1.8 Connecting shielded cables via a shield connecting element

Application
With the shield connecting element, you can easily connect all the shielded wires of the
SIMOTION C or S7 modules to ground by directly connecting the shield connecting element
with the mounting rail.

Design of the shield connecting element

The shield connecting element consists of:
● Retaining bracket with two screw bolts to mount the shield connecting element on the
mounting rail (order no.: 6ES5 390-5AA00-0AA0)
● The shielding terminals
You must use the following shielding terminal, depending on the cable cross-section used:

Table 5- 7 Assignment of cable cross-sections and shielding terminals

Wire with shield diameter Shielding terminal

Order no.:
2 cables, each with 2 to 6 mm shield diameter 6ES7 390-5AB00-0AA0
1 cable with 3 to 8 mm shield diameter 6ES7 390-5BA00-0AA0
1 cable with 4 to 13 mm shield diameter 6ES7 390-5CA00-0AA0

The shield connecting element is 80 mm wide and provides space for two rows, each with
four shielding terminals.

SIMOTION C
120 Operating Instructions, 02/2012
 Connecting
5.1 Wiring

Fitting the shield connecting element

Fit the shield connecting element as follows:
1. Push the two threaded studs for the retaining bracket into the guide on the underside of
the rail. Position the retaining bracket under the modules to be wired.
2. Screw the retaining bracket tight on the mounting rail.
3. The bottom of the shield connection terminal consists of a web interrupted by a slot.
Place this part of the shielding terminal on edge a of the retaining bracket (see the
following figure). Press the shielding terminals down and pivot them into the required
position.
You can fit a maximum of four shield terminals on each of the two rows.

6KLHOGWHUPLQDO )L[LQJEUDFNHW

(GJHD

Figure 5-18 Fitting the shield connecting element

Laying the cables

Only one or two shielded cables can be attached per shielding terminal (see table
"Assignment of cable cross-sections and shielding terminals"). Attach the cable to the
stripped cable shield. The stripped section of cable shield must have a minimum length of 20
mm. If you require more than four shielding terminals, start the wiring on the back row of the
shield connecting element.
Tip: Make sure you allow a sufficient length of cable between the shielding terminal and the
front connector. This will, for example, ensure that if a repair is required, you can unplug the
front connector without also having to remove the shield terminal.

SIMOTION C
Operating Instructions, 02/2012 121
Connecting
5.2 Networking

5.2 Networking

5.2.1 Configuring
The SIMOTION SCOUT online help shows you how to design and configure a PROFIBUS or
Ethernet subnet for your application.

5.2.2 Configuring a PROFIBUS subnet

device = node
Convention: All devices connected in a subnet will be referred to hereafter as nodes.

PROFIBUS addresses
In order for all nodes to communicate with each other, you must assign a 'PROFIBUS-
address" to each node before connecting them:
You set the PROFIBUS addresses for each node individually using the programming device
or PC (also by a switch on the slave for some PROFIBUS DP slaves).
The factory settings on the SIMOTION C are address 2 and baud rate 1.5 Mbit/s for both
PROFIBUS DP interfaces X8 and X9.
Tip: Mark the set address on the housing of all nodes in a subnet. You can then always see
which address is assigned to which node in your plant.
The "highest PROFIBUS addresses" are preset for each PROFIBUS subnet. You can
change these default settings.

Rules for PROFIBUS addresses

Before assigning PROFIBUS addresses, note the following rules:
● All PROFIBUS addresses in a subnet must be unique.
● The highest PROFIBUS address in a subnet must be ≥ the largest actual PROFIBUS
node address in this subnet.

Recommendation for PROFIBUS addresses

Reserve PROFIBUS address "0" for a service programming device and "1" for a service
SIMATIC HMI device, which will be connected to the subnet if required.
Recommendation for the PROFIBUS address of the SIMOTION C in case of replacement or
service:
Reserve address "2" for a SIMOTION C. This prevents duplicate addresses when installing a
SIMOTION C with factory setting on the subnet (e.g. when a SIMOTION C is replaced). You
should therefore assign addresses greater than "2" to additional nodes in the subnet.

SIMOTION C
122 Operating Instructions, 02/2012
 Connecting
5.2 Networking

Segment
A segment is a bus cable between two terminating resistors. A segment with SIMOTION C
as the master can contain up to 64 slaves. In addition, a segment is limited by the permitted
cable length according to the baud rate (see chapter Onboard measuring system interface
(C230-2, C240) (Page 52)).

Rules for connecting nodes in a subnet

● Connect all nodes in a subnet "in series". In addition, integrate the programming devices
and SIMATIC HMI devices for commissioning or servicing in the subnet in series.
● If you are operating more than 32 nodes in one subnet, you must use RS 485 repeaters
to connect the bus segments (see also the description of the RS 485 repeater in the S7-
300 Automation Systems, M7-300, Module Data Manual).
In a PROFIBUS subnet, all bus segments combined must have at least one DP master
and one DP slave.
● Use RS 485 repeaters to connect ungrounded bus segments and grounded bus
segments.
● The maximum number of nodes per bus segment decreases with each RS 485 repeater.
That is, if a bus segment contains one RS 485 repeater, the bus segment can contain no
more than 31 additional nodes. However, the number of RS 485 repeaters does not affect
the maximum number of nodes on the bus.
Up to ten segments can be connected in series.
● Switch on the terminating resistor at the first and last node of a segment.

Components
Connect the individual nodes using bus connectors and the PROFIBUS cable, also refer to
chapter Network components for a PROFIBUS subnet (Page 125). Remember to provide a
bus connector with a programming device socket at the ends of the subnet. This will give you
the option of expanding the subnet if required (for example, for a programming device or
SIMATIC HMI device).
Use RS 485 repeaters for the connection between segments and for extending the cable.

Terminating resistor
A cable must be terminated with its own surge impedance to prevent line disturbances
caused by reflections. To this end, activate the terminating resistor at the first and last node
of a subnet or segment (see figure "Bus connector (6ES7...): Terminating resistor connected
and disconnected" in chapter Network components for a PROFIBUS subnet (Page 125)
Make sure that the nodes to which the terminating resistor is connected are always supplied
with voltage during power-up and operation.

SIMOTION C
Operating Instructions, 02/2012 123
Connecting
5.2 Networking

Example
The following figure shows an example configuration of a subnet with SIMOTION C.

6 ᆯ ᆯ

36 &38 56 03 36 6,027,21& 3*

5HSHDWHU
    
; ;
ᆯ ᆰ ᆯ ᆯ ᆱ ᆯ ᆰ ᆱ ᆯ

1HWZRUN
0D[P
PD[FDEOHOHQJWKP 0%DXG
IURPWHUPLQDWLQJUHVLVWRUWRWHUPLQDWLQJUHVLVWRU

(70
'ULYH
36 6,027,21& 6,02'5,9( 36 ,0 6060 60
XQLYHUVDO

; ;  

ᆯ ᆱ
ᆱ ᆱ

1HWZRUN

ᆯ7HUPLQDWLQJUHVLVWRUHQDEOHG
ᆰ'3PDVWHU
ᆱ'3VODYH
WR[352),%86'3DGGUHVVHVRIQRGHV

6XSSO\
+LJKHVW352),%86DGGUHVV 3RVVLEOH352),%86QRGHV
V\VWHP
  WR

  WR

Figure 5-19 Networking example

Segment in subnet
The baud rate determines the cable length of a subnet segment (see the following table).

Table 5- 8 Permitted cable lengths of a subnet segment for specific baud rates

Baud rate Max. cable length of a segment (in m)

9.6 to 187.5 bits/s 10001)
500 Kbits/s 400
1.5 Mbit/s 200
3 to 12 Mbits/s 100
1) With isolated interface

SIMOTION C
124 Operating Instructions, 02/2012
 Connecting
5.2 Networking

Greater cable lengths

You need to install RS485 repeaters for segments requiring cable lengths longer than the
allowed length. The maximum possible cable length between two RS 485 repeaters
corresponds to the cable length of a segment (see the previous table). You can connect up
to nine RS 485 repeaters in series.
Note that an RS 485 repeater must be counted as a subnet node when determining the total
number of nodes to be connected. This is true even if the RS 485 repeater is not assigned its
own PROFIBUS address.

5.2.3 Network components for a PROFIBUS subnet

PROFIBUS cable
We can offer you e.g. the following PROFIBUS cables:

Table 5- 9 PROFIBUS cable

Cables Order no.

PROFIBUS cable 6XV1 830-0EH10
PROFIBUS direct-buried cable 6XV1 830-3FH10
PROFIBUS drum cable 6XV1 830-3EH10

Properties of the PROFIBUS cable

The PROFIBUS cable is a two-core, twisted, and shielded cable with the following features:

Table 5- 10 Properties of the PROFIBUS cable

Features Values
Characteristic impedance Approx. 135 to 160 Ω (f = 3 to 20 MHz)
Loop resistance ≦ 115 Ω/km
Effective capacitance 30 nF/km
Damping 0.9 dB/100 m (f = 200 kHz)
Permissible conductor cross-section 0.3 mm2 to 0.5 mm2
Permitted cable diameter 8 mm ± 0.5 mm

SIMOTION C
Operating Instructions, 02/2012 125
Connecting
5.2 Networking

Rules for laying

PROFIBUS cables must not be twisted, stretched, or compressed.
When installing the indoor bus cable, you should also remember the following boundary
conditions (dA = outer diameter of the cable):

Table 5- 11 Boundary conditions for indoor routing of bus cable

Features Limitations/constraints
Bending radius for a single bend ≥ 80 mm (10 x dA)
Bend radius for multiple bends ≥ 160 mm (20 x dA)
Permissible temperature range for installation - 40° C to + 60° C
Shelf and static operating temperature range - 40° C to + 60° C

Bus connector
The bus connector is used to connect the PROFIBUS cable to the PROFIBUS DP interfaces
(X8, X9), thus establishing a connection to additional nodes.
The following bus connectors are available:
● Up to 12 Mbits/s, cable outlet 90°
– Without PG socket (6ES7 972-0BA12-0XA0 or 6ES7 972-0BA50-0XA0)
– With PG socket (6ES7 972-0BB12-0XA0 or 6ES7 972-0BB50-0XA0)
● Up to 12 Mbits/s, canted cable turn
– Without PG socket (6ES7 972-0BA41-0XA0)
– With PG socket (6ES7 972-0BB41-0XA0)

Inserting a bus connector in a module

Proceed as follows to connect the bus connector:
1. Plug the bus connector into the module.
2. Screw the bus connector tightly onto the module.
3. If the bus connector is located at the start or the end of a segment, you must connect the
terminating resistor ("ON" switch setting) (refer to the following figure).
Make sure that the nodes at which the terminating resistor is located are always supplied
with voltage during startup and operation.

7HUPLQDWLQJUHVLVWRU RQ 7HUPLQDWLQJUHVLVWRU RQ
VZLWFKHGLQ QRWVZLWFKHGLQ
RII RII

Figure 5-20 Bus connector (6ES7 ...): terminating resistor switched on and off

SIMOTION C
126 Operating Instructions, 02/2012
 Connecting
5.2 Networking

Unplugging a bus connector

You can unplug a bus connector with a looped-through bus cable at any time from the
PROFIBUS DP interface without interrupting data exchange on the bus.

WARNING

Data traffic error might occur on the bus!

A bus segment must always be terminated at both ends with the terminating resistor. This
is not the case if the last bus connector node is de-energized, for example. Because the
bus connector takes its voltage from the station, this terminating resistor is ineffective.
Please make sure that power is always supplied to stations on which the terminating
resistor is active.

5.2.4 Configuring an Ethernet subnet on the Ethernet interface

Overview
You can connect an Industrial Ethernet to the 8-pin RJ45 X7 socket, see Figure "Overview of
the cable connecting the SIMOTION C to the servo drive (digital connection) - example" in
chapter Overview of wiring diagram (Page 94).
Industrial Ethernet is a communication network with a transmission rate of 10/100 Mbits/s.
Communication between SIMOTION C, the PG/PC (e.g. STEP 7, SIMOTION SCOUT,
SIMATIC NET OPC), and the I/O devices provided for this purpose is supported by the
Ethernet.
A shielded twisted pair cable is used for the networking in this case. For additional
information, refer to the SIMATIC NET, Industrial Twisted Pair and Fiber Optic Networks
Manual. This document is supplied in electronic format with SIMOTION SCOUT.
The following connecting cables are recommended:
● SIMATIC NET, Ind. Ethernet TP XP CORD RJ45/RJ45, TP cable assembled with 2 RJ45
plugs, send and receive cables crossed
Order no.: 6XV1870-3R☐☐☐ (☐☐☐ - length code)
● SIMATIC NET, Ind. Ethernet TP CORD RJ45/RJ45, TP cable assembled with 2 RJ45
plugs
Order no.: 6XV1870-3Q☐☐☐ (☐☐☐ - length code)
You can obtain additional information about the different cable systems for Ethernet from
your SIEMENS contact.

Note
A crossover cable should be used for the direct connection of the controller to a PG/PC.

SIMOTION C
Operating Instructions, 02/2012 127
Connecting
5.2 Networking

Loading the Ethernet configuration via PROFIBUS DP (loading of the IP address)

For configuration using Industrial Ethernet, the SIMOTION C must be provided with an IP
address, the subnet mask and the router address.
To configure the Ethernet addresses and transfer them to the SIMOTION C, proceed as
follows:
1. Open your project.
2. Open HW Config. Double-click the SIMOTION C module to open the "Properties - C2xx"
dialog box.
3. On the "General" tab, click the "Properties" button of the Ethernet interface. The
"Properties - C2xx Ethernet Interface" dialog is displayed.
4. In this dialog, click "New". The "New Industrial Ethernet" subnet dialog is displayed. In
this dialog box, you can change the name of the new subnet or confirm the factory setting
with "OK".
5. The newly created Ethernet subnet is now shown under Subnet in the "Properties - C2xx
Ethernet Interface" dialog and must be selected.
6. In this dialog box, enter the required addresses for IP address and subnet dialog box.
Under Router, choose whether a router is to be used. If using a router, enter the router
address.
7. Confirm this dialog box with "OK".
8. Close the "Properties - C2xx" dialog with "OK".
9. Save and compile the modified hardware configuration.
[Link] the new hardware configuration to the SIMOTION C via PROFIBUS DP.

Loading the Ethernet configuration via Ethernet (loading of the IP address)

If a PROFIBUS DP is not available for the initial loading of the IP address, the following
procedure starting from Windows 2000 can be used: The "Automatically Assign IP Address"
setting must be enabled in the TCP/IP configuration of the PC.
1. Connecting a Windows PC and C2xx directly via RJ45 crossover cable.
2. Boot the Windows PC. The PC does not find a DHCP server and automatically selects an
IP address from the APIPA subnet (Automatic Private IP Addressing) [Link].
3. Load the new hardware configuration with the new IP address via Ethernet to IP address
[Link] (default IP address for the C2xx upon delivery).

Note
You can also write the user project and/or configuration with SIMOTION SCOUT and the
menu command "Load to file system" directly from the PC to the memory card (micro
memory card). To do this, select the device in the project navigator and execute the
"Load to file system" command in the context menu.

SIMOTION C
128 Operating Instructions, 02/2012
 Connecting
5.2 Networking

5.2.5 Configuring an Ethernet subnet on the PROFINET interface (C240 PN)

Overview
You can connect a PROFINET node to the 8-pin RJ45 X11 P1, X11 P2 and X11 P3 sockets,
see Figure "Overview of the cable connecting the C240 PN to the servo drive (digital
connection) - example" in chapter Overview of wiring diagram (Page 94).
PROFINET is a communication network with a transmission rate of 100 Mbit/s.
You can use a PG/PC to communicate with STEP 7, SIMOTION SCOUT, and SIMATIC NET
OPC.
A shielded twisted pair cable is used for the networking in this case. For additional
information, refer to the SIMATIC NET, Industrial Twisted Pair and Fiber Optic Networks
Manual. This document is supplied in electronic format with SIMOTION SCOUT.
All ports of the PROFINET interface support auto-MDI(X) in contrast to the Ethernet
interface. A crossover cable is therefore not required for a direct connection to the PG/PC.
The following connecting cables are recommended:
● SIMATIC NET, Ind. Ethernet FC TP standard cable GP
Order no.: 6XV1840-2AH10 (sold by the meter)
● SIMATIC NET, Ind. Ethernet FC TP trailing cable GP
Order no.: 6XV1870-2D (sold by the meter)
● SIMATIC NET, Ind. Ethernet TP XP CORD RJ45/RJ45, TP cable assembled with two
RJ45 plugs, send and receive cables crossed
Order no.: 6XV1870-3R☐☐☐ (☐☐☐ - length code)
● SIMATIC NET, Ind. Ethernet TP CORD RJ45/RJ45, TP cable assembled with two RJ45
plugs
Order no.: 6XV1870-3Q☐☐☐ (☐☐☐ - length code)
The following bus connectors can be used with the C240 PN:
● SIMATIC NET, Ind. Ethernet FC RJ45 plug 145
Order no.: 6GK1901-1BB30-0AA0 (1 item)
Order no.: 6GK1901-1BB30-0AB0 (10 items)
You can obtain additional information about the different cable systems for PROFINET and
Ethernet from your SIEMENS contact.

SIMOTION C
Operating Instructions, 02/2012 129
Connecting
5.2 Networking

Loading the PROFINET configuration via PROFIBUS DP (loading of the IP address)

For configuration using PROFINET, the SIMOTION C must be provided with an IP address,
the subnet mask and the router address.
To configure and transfer PROFINET addresses to the C240 PN, proceed as follows:
1. Open your project.
2. Open HW Config. Double-click the X11 "PNxIO" slot of the C240 PN module to open the
"Properties - PNxIO" dialog box.
3. Click the "Properties" button of the Ethernet interface. The "Properties - PNxIO Ethernet
Interface" dialog box is displayed.
4. In this dialog, click "New". The "New Industrial Ethernet" subnet dialog is displayed. In
this dialog box, you can change the name of the new subnet or confirm the factory setting
with "OK".
5. The newly created Ethernet subnet is now shown under Subnet in the "Properties -
Ethernet Interface" dialog box and must be selected.
6. In this dialog box, enter the required addresses for IP address and subnet dialog box.
Under Router, choose whether a router is to be used. If using a router, enter the router
address.
7. Confirm this dialog box with "OK".
8. Close the "Properties - PNxIO" dialog box with "OK".
9. Save and compile the modified hardware configuration.
[Link] the new hardware configuration to the C240 PN via PROFIBUS DP.

Loading the PROFINET configuration via Ethernet (loading of the IP address)

If a PROFIBUS DP is not available for the initial loading of the IP address, the following
procedure starting from Windows 2000 can be used: The "Automatically Assign IP Address"
setting must be enabled in the TCP/IP configuration of the PC.
1. Connecting a Windows PC and C240 PN directly via RJ45 crossover cable
2. Boot the Windows PC. The PC does not find a DHCP server and automatically selects an
IP address from the APIPA subnet (Automatic Private IP Addressing) [Link].
3. Load the new hardware configuration with the new IP address via Ethernet to IP address
[Link] (default IP address of the SIMOTION C as delivered)

Note
You can also write the user project and/or configuration with SIMOTION SCOUT and the
menu command "Load to file system" directly from the PC to the memory card (micro
memory card). To do this, select the device in the project navigator and execute the
"Load to file system" command in the context menu.

SIMOTION C
130 Operating Instructions, 02/2012
 Connecting
5.2 Networking

5.2.6 Factory setting

After resetting the SIMOTION C to the factory setting (see chapter Setting SIMOTION C to
factory settings (Page 158)) or when the module is delivered, the following addresses are
set:
● Baud rate = 1.5 Mbit/s
● PROFIBUS address for the interfaces X8 = 2 and X9 = 2
● Ethernet interface:
IP address = [Link]
Subnet mask = [Link]
Router address = do not use a router
● PROFINET interface X11 (C240 PN)
IP address = no valid address
Subnet mask = no valid address
Router: Do not use a router

5.2.7 MPI subnet

An MPI subnet has the same basic configuration as a PROFIBUS subnet. The installation
rules, stated in the chapter Configuring a PROFIBUS subnet (Page 122), therefore apply.

SIMOTION C
Operating Instructions, 02/2012 131
Connecting
5.2 Networking

SIMOTION C
132 Operating Instructions, 02/2012
Addressing 6
6.1 Slot-oriented address allocation for modules (default addresses for
centralized I/O)

Introduction
In the case of addressing based on the slot (default addressing), a module start address is
assigned to every slot number. Depending on the type of module, these are different
addresses for digital, analog, FM and CP modules (see table below). In this section we will
show you which module start address is assigned to which slot number. You need this
information to determine the module start addresses of the modules used.

Maximum configuration
The following figure shows a configuration of a rack and the possible slots. A 2-tier layout
with IM 365 is possible with SIMOTION C.

5DFN

6ORWQXPEHU         

5DFN

6ORWQXPEHU           

Figure 6-1 Slots for modules on rack (centralized I/O)

SIMOTION C
Operating Instructions, 02/2012 133
Addressing
6.1 Slot-oriented address allocation for modules (default addresses for centralized I/O)

Module start addresses

The following table shows the assignment of module start addresses to slot numbers and
racks.
In the case of input/output modules, the input addresses and output addresses start from the
same module start address.

Table 6- 1 Module start addresses of signal modules

Module Module start Slot number

carrier addresses
1 2 3 4 5 6 7 8 9 10 11
0 Digital PS SIMOTION C IM 365 S 0 4 8 12 16 20 24 28
Analog 1) 256 272 288 304 320 336 352 368
1 Digital - - IM 365 R 32 36 40 44 48 52 56 60
Analog 1) 384 400 416 432 448 464 480 496
1) The FM and CP modules are assigned to the analog address range.

Note
Do not insert any non-configured modules centrally. Modules that are installed but not
configured are repeatedly addressed via the I/O bus. This requires additional computing
time.

SIMOTION C
134 Operating Instructions, 02/2012
 Addressing
6.2 User-assignable addressing on the SIMOTION C (centralized and distributed I/O)

6.2 User-assignable addressing on the SIMOTION C (centralized and

distributed I/O)

User-assignable addressing
User-assignable addressing means you can assign an address of your choice to each
module or slot, for example, integrated inputs/outputs, drives. You make this assignment in
the hardware configuration (see SIMOTION SCOUT online help). Here you specify the
module start address on which all further module addresses will then be based.

advantages
Advantages of user-definable addressing:
● You can make the best possible use of the available address spaces because there are
no "address gaps" between the modules.
● When creating standard software, you can specify addresses which are independent of
the respective configuration of the SIMOTION modules.

SIMOTION C
Operating Instructions, 02/2012 135
Addressing
6.3 Addressing signal modules

6.3 Addressing signal modules

Introduction
The following section describes signal module addressing in the default setting. You need
the information so that you can address the signal module channels in the user program.

Addresses of digital modules

The address of an input or output of a digital module is made up of the byte address and the
bit address.

HJ ,

,QSXW %\WHDGGUHVV %LWDGGUHVV

Figure 6-2 Address of an input of a digital module - example

The byte address is governed by the module start address.

You can note the bit address on the module.
The figure below shows you the scheme by which the addresses of the individual channels
of the digital module are obtained.

%\WHDGGUHVV
0RGXOHVWDUWDGGUHVV

%\WHDGGUHVV
0RGXOHVWDUWDGGUHVV

%LWDGGUHVV

Figure 6-3 Addresses for the inputs and outputs of digital modules

SIMOTION C
136 Operating Instructions, 02/2012
 Addressing
6.3 Addressing signal modules

Example of digital modules

The example in the figure below shows which default addresses are derived when a digital
module is located in slot 4 (that is, when the module start address is 0).
Slot number 3 is reserved as no interconnection module is present in the example.

36 6,027,21& 60GLJLWDOPRGXOH

C240
$GGUHVV
$GGUHVV

581
6723
05(6 $GGUHVV

$GGUHVV
$GGUHVV

$GGUHVV

6ORW   
QXPEHU

Figure 6-4 Addresses for the inputs and outputs of the digital module in slot 4

Addresses of analog modules

The address of an analog input or analog output channel is always an even address.
The channel address is based on the module start address.
If the first analog module is in slot 4, then it has the default start address 256. The start
address of each additional analog module is raised per slot by 16 (see table "Slots for
modules on rack (centralized I/O)").
An analog input/analog output module has the same start addresses for the analog input and
analog output channels.

SIMOTION C
Operating Instructions, 02/2012 137
Addressing
6.3 Addressing signal modules

Example for analog modules

The example in the figure below shows you which default channel addresses are obtained
for an analog module located at slot 4. You will see that in the case of an analog
input/analog output module, the analog input and analog output channels are addressed
from the same address, the module start address.
Slot number 3 is reserved as no interconnection module is present in the example.

36 6,027,21& 60DQDORJPRGXOH

& ,QSXWV

&KDQQHO$GGUHVV(
&KDQQHO$GGUHVV(

581
6723
05(6 
2XWSXWV

&KDQQHO$GGUHVV$
&KDQQHO$GGUHVV$



6ORW   
QXPEHU

Figure 6-5 Addresses for the inputs and outputs of the analog module in slot 4

Addresses of the FM and CP modules

The FM and CP modules are assigned to the analog address range. In addition, the FM and
CP modules have extended interfaces (data sets). For a detailed description, see the
corresponding module's manual.

SIMOTION C
138 Operating Instructions, 02/2012
 Addressing
6.4 Addressing the onboard digital inputs and outputs of the SIMOTION C

6.4 Addressing the onboard digital inputs and outputs of the SIMOTION
C
The following figure shows the default start addresses of the onboard digital inputs/outputs.

2XWSXWV 6,027,21& ,QSXWV

$GGUHVV$  % $GGUHVV(
% $GGUHVV(
$GGUHVV$  % $GGUHVV(
% $GGUHVV(
$GGUHVV$  0 $GGUHVV(
0 $GGUHVV(
$GGUHVV$   $GGUHVV(
 $GGUHVV(
 $GGUHVV(

 $GGUHVV(
 $GGUHVV(
$GGUHVV$   $GGUHVV(
 $GGUHVV(
$GGUHVV$   $GGUHVV(
 $GGUHVV(
$GGUHVV$   $GGUHVV(
 $GGUHVV(
$GGUHVV$   $GGUHVV(

Figure 6-6 Addressing the onboard digital inputs/outputs

Note
These addresses can be modified by the user in the hardware configuration (see SIMOTION
SCOUT online help).
When used by a TO (e.g. measuring input/output cam), the address must be ≥ 64.
All start addresses/signal bits (64.4...64.7, 65.0...65.3, 65.6, 65.7, 67.4...67.7) not listed do
not have any defined values and consequently may not be used for evaluation.

As of SIMOTION V4.2, the onboard digital inputs/outputs of the C240 and C240 PN cannot
only be interconnected with variables via their direct addresses, by also by means of
symbolic assignment.

SIMOTION C
Operating Instructions, 02/2012 139
Addressing
6.5 Addressing the onboard drive and measuring system interface of the C230-2, C240

6.5 Addressing the onboard drive and measuring system interface of the
C230-2, C240
Use as a standard output is only possible by means of an I/O variable. The I/O variables
must be created on the addresses of the corresponding axis channel specified via the
hardware configuration (relating to the default start address).
Symbolic assignment is not available for this application.
The following figure shows the default start addresses of the onboard drive interface of the
C230-2/C240.

& &
$GGUHVV$ $QDORJ
$[LVFKDQQHO

$QDORJ
2QERDUGGULYHLQWHUIDFH VWHSSHUGULYH VWHSSHUGULYHRU
&& DQDORJRXWSXW

$GGUHVV$  'LJLWDORXWSXW

  $GGUHVV$ $QDORJ $QDORJ

$[LVFKDQQHO


VWHSSHUGULYH VWHSSHUGULYHRU
DQDORJRXWSXW

$GGUHVV$  'LJLWDORXWSXW
$[LVFKDQQHO

$GGUHVV$ $QDORJ $QDORJ

VWHSSHUGULYH VWHSSHUGULYHRU
DQDORJRXWSXW

$GGUHVV$  'LJLWDORXWSXW
  
$GGUHVV$ $QDORJ $QDORJ
$[LVFKDQQHO

VWHSSHUGULYH VWHSSHUGULYHRU
; DQDORJRXWSXW

$GGUHVV$  'LJLWDORXWSXW

Figure 6-7 Addressing the onboard drive interface

An available encoder input of an axis channel (e.g. for a speed-controlled axis) can be used
as an input for a 16-bit up/down counter (90-degree pulse train of a connected TTL encoder,
zero pulse not required). The counter value can be accessed by means of an I/O variable
(default start address of the axis channel). Symbolic assignment is not available for this
application.

SIMOTION C
140 Operating Instructions, 02/2012
 Addressing
6.5 Addressing the onboard drive and measuring system interface of the C230-2, C240

The following figure shows the default start addresses of the onboard measuring system
interface of the C230-2/C240.

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 $[LVFKDQQHO
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  $GGUHVV( (QFRGHULQSXW (QFRGHULQSXWRU
FRXQWHULQSXW
; ;

Figure 6-8 Addressing the onboard measuring system interface

SIMOTION C
Operating Instructions, 02/2012 141
Addressing
6.5 Addressing the onboard drive and measuring system interface of the C230-2, C240

SIMOTION C
142 Operating Instructions, 02/2012
Commissioning 7
7.1 Requirements for commissioning

Requirements

Table 7- 1 Requirements

Prerequisite action See ...

Your system with SIMOTION C is installed. ChapterInstalling (Page 84)
Your system with SIMOTION C is wired. ChapterWiring (Page 91)
For networking via PROFIBUS DP ChapterNetworking (Page 122)
 The PROFIBUS addresses of the bus nodes with which the
SIMOTION C communicates, are set.
 The terminating resistors are switched on (at segment ends).

ChapterConfiguring an Ethernet subnet on the

When networking via the Ethernet, the IP address / subnet mask of the Ethernet interface (Page 127)
bus nodes with which the SIMOTION C communicates, are set.

ChapterConfiguring an Ethernet subnet on the

When networking via PROFINET IO, the PROFINET device names of the PROFINET interface (C240 PN) (Page 129)
bus nodes with which the C240 PN communicates, are set

System requirements

Note
The readme file for the software version you are using provides information about the
hardware and software requirements.
Please take note of the information on the current CD for "SIMOTION SCOUT"!

For online operation, a connection must be established between the PG/PC and the
SIMOTION C via PROFIBUS DP, Ethernet or PROFINET (C240 PN), see chapter Overview
of wiring diagram (Page 94).
The programming device must be equipped with a PROFIBUS or Ethernet card.
You need an MMC adapter to write to the micro memory card (SIMOTION Kernel update) on
the PG/PC, see chapter Writing, formatting and erasing the Micro Memory Card (Page 147).

SIMOTION C
Operating Instructions, 02/2012 143
Commissioning
7.1 Requirements for commissioning

Connecting a PG/PC to a SIMOTION C

You can interconnect the programming device / PC
● with the PROFIBUS of SIMOTION C (connector X8 and/or X9) using a connecting cable
(see chapter Network components for a PROFIBUS subnet (Page 125)).
Information on the respective cable lengths for PROFIBUS DP can be found in chapter
Onboard measuring system interface (C230-2, C240) (Page 52).
● to the Ethernet of the SIMOTION C (connector X7) with a shielded twisted pair cable.
For information about cabling the Ethernet subnet, refer to chapter Configuring an
Ethernet subnet on the Ethernet interface (Page 127).
● to the PROFINET interface X11 (port P1, P2 or P3) of the C240 PN with a shielded
twisted pair cable.
For information about cabling the PROFINET subnet, refer to chapter Configuring an
Ethernet subnet on the PROFINET interface (C240 PN) (Page 129).

SIMOTION C
144 Operating Instructions, 02/2012
 Commissioning
7.2 Inserting and changing the Micro Memory Card

7.2 Inserting and changing the Micro Memory Card

Procedure:
1. Switch off the power supply module.
2. Is a micro memory card inserted? If yes: remove the memory card.
An ejector is located on the frame of the module receptacle to enable you to remove the
micro memory card.
Press the ejector and remove the micro memory card.
3. Applying slight pressure, insert the ("new") micro memory card into the slot of the
SIMOTION C until it snaps into place. Make sure the beveled edge of the micro memory
card faces the ejector (see the following figure).
4. Switch the power supply module on again.

(MHFWRUIRU
PLFURPHPRU\FDUG

Figure 7-1 Inserting the micro memory card into the SIMOTION C

Note
With the SIMOTION C240 / C240 PN, the micro memory card must always be inserted
for operation.
For the purpose of data backup, the contents of the micro memory card can be copied to
the hard drive of a PG/PC with an MMC card reader.

SIMOTION C
Operating Instructions, 02/2012 145
Commissioning
7.3 Initial Power ON

7.3 Initial Power ON

Requirements
● You have completed installation and the wiring of your system with SIMOTION C.
● The micro memory card is inserted.
● The mode selector must be set to STOP!

Initial Power ON
Switch on the power supply module.
● The 24 VDC LED on the power supply module is illuminated.
● On the SIMOTION C:
– The 5 VDC LED illuminates.
– All other LEDs light up briefly (approx. 2 seconds).

Note
For C230-2
With an empty micro memory card, the SIMOTION Kernel on the C230-2 is copied to
the micro memory card during power-up. This increases the duration of the power-up
by about 1.5 minutes.
For C240 / C240 PN
If a micro memory card is not inserted in the C240 or if the micro memory card does
not contain a SIMOTION Kernel, all LEDs except the RUN LED are illuminated on the
SIMOTION C240.

SIMOTION C
146 Operating Instructions, 02/2012
 Commissioning
7.4 Writing, formatting and erasing the Micro Memory Card

7.4 Writing, formatting and erasing the Micro Memory Card

Writing the micro memory card of SIMOTION C

You can write to the micro memory card as follows:
● Micro memory card is inserted in the SIMOTION C and is written with the "Copy RAM to
ROM" menu command (there must be a connection between the programming device
and SIMOTION C).
You can store the technology packages and user data (programs, configuration data,
parameter assignments) on the micro memory card (see SIMOTION SCOUT online help).
● Write to the micro memory card on the PG or PC.
You can write to the micro memory card directly via a PC using a suitable memory card
adapter.
This function is required for updating the SIMOTION C.
You can write the user project with SIMOTION SCOUT and the menu command "Load to file
system" directly from the PC to the memory card (micro memory card). To do this, select the
device in the project navigator and execute the "Load to file system" command in the context
menu.
Note the following information when handling a micro memory card.

Note
The micro memory card always comes formatted! With the C240 / C240 PN, the SIMOTION
Kernel is located on the micro memory card.
In order to ensure error-free functioning of the micro memory card in the SIMOTION C, the
card must not be repartitioned.
Using Windows media to modify or delete files on the micro memory card that were written
with "Copy RAM to ROM" can destroy the project.

With the C230-2, the following information must also be noted.

Note
The micro memory card for the C230-2 can only be formatted in the "SIMOTION SCOUT"
engineering system.
As of Kernel Version 3.1, you will no longer be able to format the micro memory card by
means of the C230-2 mode selector.
The card must not be formatted with the PC.
Any saved license keys are also deleted during formatting. The license key must then be
reentered via SIMOTION SCOUT.

SIMOTION C
Operating Instructions, 02/2012 147
Commissioning
7.4 Writing, formatting and erasing the Micro Memory Card

The micro memory card can be formatted by calling this function in "SIMOTION SCOUT"
(see SIMOTION SCOUT online help).

Note
As of Kernel Version 2.1 in the C230-2 and micro memory card 6AU1 700-0AA02-0AA0, the
C230-2 transfers its stored kernel to the micro memory card after formatting only after the
C230-2 has been restarted. When the kernel is transferred, all LEDs on the C230-2 flash. If a
specific kernel version is required, it must be placed on the micro memory card manually.
If the C230-2 is switched off or de-energized during commissioning, this could damage the
file system on the micro memory card (data on the card can no longer be read). If this
occurs, the micro memory card must be reformatted.
The micro memory card must not be removed when energized.

Repairing the micro memory card

You can repair the micro memory card, for example, if it is faulty. The MMC card can be
inserted in a USB Flash card reader and formatted by means of Windows (FAT file system).
After it is formatted, the boot sector of the card must be rewritten to by means of SCOUT
("Options" > "Write to Boot Sector…").
With the micro memory card for the C240, the SIMOTION Kernel must be copied to the
micro memory card again, see chapter Kernel update for SIMOTION C240 / C240 PN
(Page 161).

SIMOTION C
148 Operating Instructions, 02/2012
 Commissioning
7.5 User memory concept

7.5 User memory concept

7.5.1 SIMOTION C memory model

The following figure provides an overview of the SIMOTION C memory model.

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Figure 7-2 SIMOTION C memory model

In the following sections, you will learn information about the user memories and the steps
involved in certain operations.

See also
Overview of data deletion (Page 154)

SIMOTION C
Operating Instructions, 02/2012 149
Commissioning
7.5 User memory concept

7.5.2 Properties of the user memory

Non-volatile data (NVRAM)

Non-volatile data is used with the objective of retaining user- and system-relevant data when
the SIMOTION C is de-energized. You will find information about the area that can be used
for non-volatile data in the SIMOTION SCOUT Configuration Manual.
The following non-volatile data is available in a SIMOTION C:

Table 7- 2 Content of non-volatile data

Non-volatile data Content

Kernel data  Last operating state
 IP parameters (IP address, subnet mask, router address)
 DP parameters (DP addresses, baud rate)
 Diagnostic buffer
Retain variables  Variables in the interface or implementation section of a UNIT
declared with VAR_GLOBAL RETAIN
 Global device variables set with the "RETAIN" attribute
Retain TO  Absolute encoder offset

The non-volatile data of a SIMOTION C has the following properties:

Table 7- 3 Properties of non-volatile data

Property Meaning
Location In the NVRAM of the SIMOTION C, no back-up battery required
Backup time Unlimited

Note
IP and DP parameters in non-volatile data
If there is a configuration on the MMC, the IP and DP parameters are loaded from the MMC
during ramp-up, written to the non-volatile data and used by the SIMOTION C. The
SIMOTION C uses the addresses defined in these parameters to go online. The IP and DP
parameters in the non-volatile data are retained and used by the SIMOTION C if a ramp-up
is performed with an MMC that does not contain a configuration.
A SIMOTION C can therefore always go online if a configuration has been loaded at least
once with the SIMOTION SCOUT, or if the SIMOTION C has been ramped up once with an
MMC.

SIMOTION C
150 Operating Instructions, 02/2012
 Commissioning
7.5 User memory concept

Volatile data (RAM)

Definition of the properties of volatile data:
● The volatile data is located in the RAM memory of the SIMOTION C.
● The download data of SIMOTION SCOUT are written to this memory.
● This data is lost when the SIMOTION C is shut down.
● Contents of the "volatile data" area:
– SIMOTION Kernel
– Technology packages (TP)
– User data (programs, configuration data, parameterizations, task configuration)

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Non-volatile system
With the SIMOTION C230-2, the SIMOTION Kernel is stored as non-volatile data in a flash
memory. A C230-2 can therefore also ramp up without a memory card.

MMC memory card

The MMC contains the following data:
● SIMOTION Kernel
● Technology packages (TP)
● User data (programs, configuration data, parameterizations, task configuration)
● IP parameters (IP address, subnet mask, router address)
● DP parameters (DP addresses, baud rate)

SIMOTION C
Operating Instructions, 02/2012 151
Commissioning
7.5 User memory concept

7.5.3 Operations and their effect on the user memory

The next section describes the operations identified in the "SIMOTION C memory model"
figure by arrows and their effect on the user memory.

SIMOTION SCOUT download

The "Download" command transfers the following data from the engineering system to the
"volatile data" area:
● User data (programs, configuration data, parameterizations, task configuration)
● Technology packages
The IP and DP parameters are also saved to the "non-volatile data". Depending on the
setting in SIMOTION SCOUT, the retain variables are set to their initial values.
The "volatile data" is lost if the SIMOTION C is switched off after a download without having
performed a "Copy RAM to ROM".

Copy RAM to ROM

The "Copy RAM to ROM" command is used on the engineering system to save the following
data to the MMC:
● Technology packages and user data (programs, configuration data, parameterizations,
task configuration) of the "volatile data" area
● Depending on the setting in SIMOTION SCOUT, actual values can be copied to the
"volatile data" area before copying the data from RAM to ROM.

Note
The "Copy RAM to ROM" command does not save the actual values of the retain
variables to the MMC.

SIMOTION C ramp-up
During ramp-up, the SIMOTION Kernel is loaded to the "volatile data" area. A C230-2 loads
the kernel from the "non-volatile system" (integrated flash in the device), a C240/C240PN
loads the kernel from the MMC.
The following data is also loaded from the MMC during ramp-up:
● Technology packages and user data to the "volatile data"
● IP and DP parameters to the "non-volatile data"

SIMOTION Kernel update (only valid for SIMOTION C230-2)

An update writes the SIMOTION Kernel from the micro memory card to the "non-volatile
system". If a newer or an older version of the SIMOTION Kernel is to be installed, an update
can be performed with a micro memory card that contains the appropriate SIMOTION
Kernel.

SIMOTION C
152 Operating Instructions, 02/2012
 Commissioning
7.5 User memory concept

Backup of non-volatile data

The "_savePersistentMemoryData" system function is used to save the contents of "non-
volatile data" to the MMC. This backup prevents the retain variables and the absolute
encoder position from being lost if a component is replaced.
The backup copy is saved to the "[Link]" backup file in the "USER/SIMOTION"
folder. On the system side, this system function ensures that a consistent overall image of
the non-volatile data is always available the next time the unit is powered on, even if there is
a power failure during backup. An already existing backup file is renamed to
"[Link]" before a new backup file is generated. If the backup to this new file fails
(for example, due to insufficient storage capacity of the memory card), the existing backup
file is used in the next attempt to restore the content of the "non-volatile data". The backup
file is deleted if the new file was successfully created.

NOTICE

If you do not save the "non-volatile data" to the MMC, it is lost when a spare part is used (in
the event of a module defect).
If an absolute encoder overflow occurs after _savePersistentMemoryData, the actual
position value is no longer correct after the non-volatile data is restored. In this case,
homing (absolute encoder adjustment) must be repeated.

Power failure
The "non-volatile data" is saved to the NVRAM of the SIMOTION C during a power failure.
The "non-volatile data" is available again at the next ramp-up. Thus, the SIMOTION C is
immediately ready for operation without data loss.

SIMOTION C
Operating Instructions, 02/2012 153
Commissioning
7.6 Deleting data

7.6 Deleting data

7.6.1 Overview of data deletion

You can define the scope of data to be deleted from SIMOTION C memory described in the
"user memory concept". This enables you to determine whether data in your system should
be deleted completely or partially.
You have the following options for deleting SIMOTION C data:
● SIMOTION C memory reset
● Deleting user data from the micro memory card
● Setting SIMOTION C to factory settings

See also
SIMOTION C memory model (Page 149)

7.6.2 SIMOTION C memory reset

Introduction
During the memory reset, the "volatile data" in the RAM of the SIMOTION C and the "non-
volatile data" in the NVRAM, except for the communication configuration (baud rates,
network addresses, etc.), is deleted. The data on the MMC is retained during the memory
reset.
You must perform a memory reset of the SIMOTION C:
● When you want to undo changes you have made to your user data (programs,
configuration data, parameter assignments) that you have not backed up with the "Copy
RAM to ROM" menu command.
● If the SIMOTION C requests a memory reset with a flashing STOP LED (slow flashing)
(e.g. micro memory card has been removed).
● The "non-volatile data" does not match the project on the MMC and therefore an error
occurs.
You can perform the memory reset online via SIMOTION SCOUT or offline via the mode
selector on the SIMOTION C.

SIMOTION C
154 Operating Instructions, 02/2012
 Commissioning
7.6 Deleting data

Data deleted on memory reset

The following data is deleted during a memory reset:
● User data (programs, configuration data, parameterizations, task configuration)
● Technology packages
● Retain TO (absolute encoder adjustment)
● Retain variables
Retain variables are variables in the interface or implementation section of a UNIT that
are declared with VAR_GLOBAL RETAIN, or global device variables with the RETAIN
attribute.

Note
Absolute encoder data is deleted during a memory reset operation and must therefore be
readjusted after the memory reset.

Reset-proof data
The following data is retained during a memory reset:
● TCP/IP and DP parameters
● Diagnostic buffer
● Data that was saved with the _savePersistentMemoryData, _saveUnitDataSet,
exportUnitDataSet and RAMtoROM commands
If backup files ([Link]/[Link]) have been backed up with
_savePersistentMemoryData, the data in these files is backed up again to the non-volatile
data after the memory reset. Users can therefore force the restoration of non-volatile data
by means of memory reset.
● Licenses
The technology packages and user data (configuration data, programs, parameterizations)
that were previously backed up to the micro memory card using the "Copy RAM to ROM"
menu command will be transferred to the "non-volatile data" area of the SIMOTION C during
the next ramp-up. Thus, an existing configuration on the MMC is loaded to the SIMOTION
device following the memory reset.

Memory reset by means of SIMOTION SCOUT

1. In SIMOTION SCOUT, select the "Target system" > "Control operating mode" menu
command.
The dialog "C2xx: operating mode" is opened.
2. Select MRES mode to perform the memory reset.

SIMOTION C
Operating Instructions, 02/2012 155
Commissioning
7.6 Deleting data

Memory reset with the mode selector

Note
The operation for the memory reset with the toggle switch is described below. The operation
with the key-operated switch of the C230-2 is similar to the operation with the toggle switch.

Proceed as follows (see following figure):

1. Set the mode selector to STOP.
2. Move the switch to MRES and hold the switch in this position until the STOP LED
changes from flashing to steady illumination.
3. Within 3 seconds, you must release the switch and return it to the MRES position. The
memory reset will now be performed. All the LEDs will light up during this time. The
SIMOTION C completed the memory reset when the STOP LED lights up.
The SIMOTION C has reset the memory.

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Figure 7-4 Mode selector operation sequence for the memory reset

SIMOTION C
156 Operating Instructions, 02/2012
 Commissioning
7.6 Deleting data

7.6.3 Deleting user data from Micro Memory Card

Requirement
You can delete user data with SIMOTION SCOUT. To do so, you must be online on the
SIMOTION C. The following data is deleted during this operation:
● User data in the volatile data
● Non-volatile data, except for the IP and DP parameters
● User data on the MMC (user directories)
You can thus continue to go online to the SIMOTION C with your PG/PC. The licenses on
the MMC are retained.

Deleting user data

1. In SIMOTION SCOUT, open the project you want to modify.
2. Go online with the SIMOTION C.
3. Select the "Delete user data on card" option in the "Target system" menu.
4. Confirm the "Delete User Data from Card" prompt with "OK".
The user data are deleted.

SIMOTION C
Operating Instructions, 02/2012 157
Commissioning
7.6 Deleting data

7.6.4 Setting SIMOTION C to factory settings

Overview
SIMOTION C is supplied with preset parameters, such as the transmission rate or
PROFIBUS addresses. You can restore the factory settings with the mode selector. The
following data is deleted during this operation:
● "Non-volatile data" in the SIMOTION device
● The backup ([Link]/[Link]) of the non-volatile data on the MMC
● User data in the "volatile data" and on the MMC
● The communication configuration (IP and DP parameters) is set to the factory settings
The licenses on the micro memory card are retained.

Operations on the mode selector

Proceed as follows:
1. Switch off the power supply for SIMOTION C.
2. The micro memory card is inserted in the SIMOTION C.
3. Switch the mode selector to the MRES position. Keep this position selected and switch
the power supply for the SIMOTION C on. When the "STOPU" LED flickers, switch back
to the STOP position again.

Note
The communication configuration is now reset to the factory settings. The communication
configuration for the SIMOTION C must be repeated.

See also
Factory setting (Page 131)

SIMOTION C
158 Operating Instructions, 02/2012
Maintenance and servicing 8
8.1 SIMOTION kernel update

8.1.1 Kernel update for SIMOTION C230-2

Each C230-2 always contains the latest version of the SIMOTION Kernel when it is
delivered. The user can install newer or older versions via an update.
The corresponding SIMOTION Kernel version is included on the respective SIMOTION
SCOUT Add-On CD-ROM. (Proceed in the same way with a SIMOTION SCOUT DVD)
Note:
The SIMOTION Kernel and the technology packages must always have the same software
version. To avoid incompatibilities when replacing the C230-2, it is recommended that the
SIMOTION Kernel version of the current configuration is stored on the micro memory card.
You can use a PG/PC with the appropriate micro memory card adapter to copy the
SIMOTION Kernel to the micro memory card.
Proceed as follows:
1. Connect the SC card / MMC adapter to your PG/PC and insert the micro memory card in
the module slot of the adapter.
2. Insert the CD ROM containing the SIMOTION Kernel in the CD drive of your PG/PC.
3. Open Windows Explorer.
Note
The micro memory card must be visible as a drive with an arbitrary letter in the Windows
Explorer.
4. Delete all files and folders from the MMC except for the complete KEYS folder. The
[Link] file in this folder contains the license key and must be retained.
5. Unpack the firmware contained in the ZIP file
(\3_C2xx\Firmware_C230\V....\c230_2fw.zip) on the CD-ROM and copy the c230_2fw.bin
file using the Windows Explorer to the root directory of the micro memory card.
6. Remove the micro memory card from the PG/PC.
7. Switch off the power supply for the C230-2.

SIMOTION C
Operating Instructions, 02/2012 159
Maintenance and servicing
8.1 SIMOTION kernel update

8. Insert the prepared micro memory card into the C230-2.

9. Switch on the power supply for the C230-2.
The C230-2 compares the version of the SIMOTION Kernel on the micro memory card
with that on the C230-2 and automatically carries out an update.
– First, the version of the SIMOTION Kernel stored in the C230-2 is deleted. The "RUN",
"STOP" and "BUS2F" LEDs flash.
– Then the new version of the SIMOTION Kernel is transferred from the micro memory
card to the C230-2. During the data transfer, the "SF", "RUN", "STOPU", "STOP",
"BUS1F" and "BUS2F" LEDs illuminate in sequence.
Note: The C230-2 must not be switched off during this phase.
– After completing the SIMOTION Kernel update, the C230-2 performs a restart and
goes into the STOP mode.
The C230-2 can then be operated with the new SIMOTION Kernel.

Note
Following an update, if problems occur during restart, the "SF" LED will illuminate or the
"STOPU", "STOP", "BUS1F", and "BUS2F" LEDs will flicker. This means that the update was
not completed correctly.
To remedy this error, proceed as follows:
 Power OFF/ON
 Check whether the restart is being performed correctly
If the error occurs again, repeat the update or replace the module.

SIMOTION C
160 Operating Instructions, 02/2012
 Maintenance and servicing
8.1 SIMOTION kernel update

8.1.2 Kernel update for SIMOTION C240 / C240 PN

The C240 / C240 PN does not contain any firmware.
The micro memory card of the C240 / C240 PN always contains the latest version of the
SIMOTION Kernel when it is delivered. The user can install newer or older versions via an
update.
The corresponding SIMOTION Kernel version is included on the respective SIMOTION
SCOUT Add-On CD-ROM. (Proceed in the same way with a SIMOTION SCOUT DVD)
Note:
The SIMOTION Kernel and the technology packages must always have the same software
version.
You can use a PG/PC with the appropriate micro memory card adapter to copy the
SIMOTION Kernel to the micro memory card.
Proceed as follows:
1. Connect the SD card / MMC adapter to your PG/PC and insert the micro memory card in
the slot of the adapter.
2. Insert the CD ROM containing the SIMOTION Kernel in the CD drive of your PG/PC.
3. Open Windows Explorer.
Note
The micro memory card must be visible as a drive with an arbitrary letter in the Windows
Explorer.
4. Delete all files and folders from the MMC except for the complete KEYS folder. The
[Link] file in this folder contains the license key and must be retained.
5. Unpack the firmware contained in the ZIP file (\3_C2xx\Firmware_C240\V...\c240_fw.zip)
on the CD-ROM and copy the following files and folders to the root directory of the micro
memory card using Windows Explorer.
– c240_fw1.bin
– c240_fw2.bin
– c240_fw.bin
– [Link]
– [Link]
– SIEMENS\SIMOTION\[Link]
6. Remove the micro memory card from the PG/PC.
7. Switch off the power supply to the C240 / C240 PN.
8. Insert the prepared micro memory card into the C240 / C240 PN.
9. Switch on the power supply to the C240 / C240 PN.
The C240 / C240 PN can then be operated with the new SIMOTION Kernel.

Note
If the micro memory card does not contain a SIMOTION Kernel, all LEDs on the SIMOTION
C240 / C240 PN apart from the RUN LED are illuminated.

SIMOTION C
Operating Instructions, 02/2012 161
Maintenance and servicing
8.2 Removal and replacement of the SIMOTION C

8.2 Removal and replacement of the SIMOTION C

Overview
You can only replace SIMOTION C as a complete unit.

WARNING

The SIMOTION C can only be replaced when the load power supply is switched off.
You must therefore switch off the power supply, e.g. by means of the on/off switch on the
PS module.

Removing a faulty module

To remove the SIMOTION C, proceed as follows:
1. Switch off the power supply.
2. Remove the micro memory card.
3. Open the front door panels. If necessary, remove the labeling strips.
4. Undo the connections on the terminal strip for the power supply.
5. Depending on the controller used, disconnect the encoders (X3...X6), the drive unit (X2),
the PROFIBUS DP interfaces (X8, X9) as well as the Ethernet (X7) and PROFINET
interfaces (X11 P1 to X11 P3).
6. Loosen the mounting screw in the middle of the front connector (X1) and then pull out the
front connector, holding it at the gripping points provided.
7. Unscrew the module's mounting screws and swing it upwards and out.

Installing a new module

Procedure:
1. Remove the upper part of the front connector coding from the new module.
2. Insert a module of the same type, swing it down and screw it in tightly.
3. Insert the front connector and then tighten the mounting screw.
4. Depending on the controller used, connect the encoders (X3...X6), the drive unit (X2), the
PROFIBUS DP interfaces (X8, X9) as well as the Ethernet (X7) and PROFINET
interfaces (X11 P1 to X11 P3).
5. Connect the load power supply on the terminal strip.
6. Close the front panel doors and put in the labeling strips.
The controller is once again ready for operation and can be commissioned.
7. Insert the micro memory card.
8. Switch on the power supply.

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 Maintenance and servicing
8.3 Module replacement without programming device or PC

8.3 Module replacement without programming device or PC

Overview
If a defective SIMOTION C has to be replaced without using a PG/PC, you can transfer the
data of the defective module to the new module by simply inserting the micro memory card
of the defective module in the new module.

Requirement
When you commissioned your project, you must have used the menu command "Copy RAM
to ROM" of the SIMOTION SCOUT to save your project to the micro memory card, as
described in the chapter "User memory concept".
The following data are on the micro memory card and can be transferred to the new module:
● Technology packages (TP)
● User data (programs, configuration data, parameterizations, task configuration)
● DP parameters (DP addresses, baud rate)
● IP parameters (IP address, subnet mask, router address)
As the non-volatile data is in a memory within the module, it is lost when the module is
replaced.
If the non-volatile data is to be transferred to the new module, it must first be backed up on
the micro memory card of the module to be replaced. The restoration of the non-volatile data
must be triggered via a memory reset on the new module.

Note
If the non-volatile data is not restored, the retain variables are set to their initial values and
the diagnostics buffer with the history from the old module is no longer available.

SIMOTION C
Operating Instructions, 02/2012 163
Maintenance and servicing
8.3 Module replacement without programming device or PC

SIMOTION C
164 Operating Instructions, 02/2012
Alarm, error, and system messages 9
9.1 Diagnosis using the LEDs

Diagnostic LEDs
The LEDs are explained in the order in which they are positioned on the SIMOTION C.

Table 9- 1 Diagnostics LEDs of the SIMOTION C

Display Meaning Explanations

SF (red) System fault This LED indicates a fault on the SIMOTION C.
LED - ON An event which can be acknowledged is present (alarm, message, note).
(see documentation package SIMOTION System and Function
Descriptions)
LED - flashing No license exists for technology/optional objects under license.
(0.5 Hz) Technology/option objects under license include, for example:
 Cam (synchronous axes with connected cam)
 Ethernet (Ethernet interface)
 TControl (Temperature Control)
LED - OFF SIMOTION C is operating without error.
5 VDC (green) Power supply This LED indicates that the power supply is ready.
for the electronics
LED - ON The power supply of the SIMOTION C is operating without error.
LED - OFF If this is not illuminated, the reason may be:
 No connected or switched-on network
 No specified load power supply connected
 Module not connected correctly
 Module defective
RUN (green) SIMOTION C in RUN This LED indicates that the user program is running.
mode
LED - ON See RUN (green)
LED - flashing The time between selection of "RUN" mode until this mode has been
(2 Hz) attained is indicated by the LED flashing.
STOPU (yellow) SIMOTION C in STOP This LED indicates that the technology packages are active. A user
user program mode program is not being executed.
LED - ON See STOPU (yellow)
LED - flashing The time from when the "STOPU" operating mode is selected until this
(2 Hz) operating mode has been attained is indicated by the LED flashing.
LED - "flickering" Formatting the micro memory card

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Operating Instructions, 02/2012 165
Alarm, error, and system messages
9.1 Diagnosis using the LEDs

Display Meaning Explanations

STOP (yellow) SIMOTION C in STOP This LED indicates that a user program is not running. The technology
mode packages are inactive.
LED - ON See STOP (yellow)
LED - flashing The time from when the "STOP" operating mode is selected until this
(2 Hz) operating mode has been attained is indicated by the LED flashing.
LED - flashing A memory reset request is indicated by slow flashing, see chapter
(0.5 Hz) SIMOTION C memory reset (Page 154).
BUS1F (X8) (red) Fault on interface This LED indicates a fault on the PROFIBUS DP interface.
or
BUS2F (X9) (red)
LED - ON Interface configured as slave:
Bus fault
Search for baud rate
LED - flashing Parameterization error
(0.5 Hz) No cyclic data exchange
LED - OFF Cyclic data exchange
LED - ON Interface configured as master:
Bus fault (bus short circuit)
LED - flashing Bus fault (slaves have failed or cable faulty)
(0.5 Hz)
LED - OFF No fault or no interface configured

SIMOTION C
166 Operating Instructions, 02/2012
 Alarm, error, and system messages
9.1 Diagnosis using the LEDs

Table 9- 2 Status and fault displays behind the front cover

Display Meaning Explanations

Link X7 (green) Link status of Ethernet This LED indicates a physical connection of the Ethernet interface X7.
interface
LED - ON A device is connected and there is a physical connection to this device.
LED - OFF A device is not connected and there is no physical connection.
Activity X7 (yellow) Activity status of Ethernet This LED indicates a data transfer via the Ethernet interface X7.
interface
LED - flashing Data is being received or transmitted.
LED - OFF Data is not being received or transmitted.
Link X11 Px Link status of PROFINET This LED indicates a physical connection of the PROFINET interface X11
(green) interface at port x (1 to 3).
LED - ON A device is connected and there is a physical connection to this device.
LED - OFF A device is not connected and there is no physical connection.
Activity X11 Px Activity status of This LED indicates a data transfer via the PROFINET interface X11 at
(yellow) PROFINET interface port x (1 to 3).
LED flashing or Data is being received or transmitted.
LED ON
LED - OFF Data is not being received or transmitted.
Fault X11 (red) Fault status of This LED indicates a fault at the PROFINET interface X11.
PROFINET interface
LED - OFF PROFINET interface is operating without error; the data exchange to all
configured I/O devices is running.
LED - flashing (2 Bus fault
Hz)1)
 Failure of a connected I/O device.
 At least one of the assigned I/O devices cannot be addressed
 Incorrect or no configuration

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Operating Instructions, 02/2012 167
Alarm, error, and system messages
9.1 Diagnosis using the LEDs

Display Meaning Explanations

Sync X11 (green)2) Sync status of This LED indicates the synchronization status of the PROFINET interface
PROFINET interface X11.
LED - OFF The PROFINET interface has not synchronized yet to the send cycle of
IRT or PROFINET with IRT has not been configured (e.g. only RT or
TCP/IP operation). If no PROFINET IO with IRT has been configured,
then generally there is no synchronization of the PROFINET interface. If
isochronous data has been configured for the SIMOTION device, the
PROFINET interface generates a local substitute cycle of the same size
as the configured send cycle of IRT, as long as no synchronization has
been performed to the send cycle of IRT:
 The task system of SIMOTION has synchronized to the local
substitute cycle of the PROFINET interface.
 DP interfaces, if configured as isochronous, are synchronized to the
local substitute cycle of the PROFINET interface.
LED - flashing (2 The PROFINET interface has synchronized to the send cycle of IRT. If
Hz) isochronous data has been configured for SIMOTION, then the following
applies:
 The task system of SIMOTION has synchronized to the send cycle of
IRT.
 DP interfaces, if configured as isochronous, have not synchronized
yet to the send cycle of IRT.
LED - ON The PROFINET interface has synchronized to the send cycle of IRT. If
isochronous data has been configured, then the following applies:
 The task system of SIMOTION has synchronized to the send cycle of
IRT.
 DP interfaces, if configured as isochronous, are synchronized to the
send cycle of IRT.
If no isochronous data has been configured for SIMOTION, this state
indicates that only the PROFINET interface has synchronized to the send
cycle of IRT. The PROFINET interface is then used to forward the data.
Isochronous data means that data is exchanged with a further device on
PROFINET with configured RT class IRT and isochronous
application/device.

1) Minimum flashing duration 3 s

2) If no PROFINET IO with IRT has been configured, then generally no synchronization will be made to the send cycle.

Note
During ramp-up of the SIMOTION C, the LEDs on the housing front are briefly illuminated.
You can carry out a detailed diagnosis with a programming device or PC and the
engineering aystem.
Projects cannot be downloaded in STOPU mode.

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168 Operating Instructions, 02/2012
 Alarm, error, and system messages
9.2 Combinations of LED displays

9.2 Combinations of LED displays

Combination of LED displays

The following table provides an overview of all permissible and/or required LED display
combinations.
The meaning of the symbols used in the table is as follows:

1 LED on
0 LED off
0,5/1 LED flashing (0.5 Hz)
2/1 LED flashing (2 Hz)
☆ LED flickers
→ Running light
x LED may light up

Table 9- 3 Summary of LED displays

Meaning LED displays

SF 5 VDC RUN STOPU STOP BUS1F BUS2F
(red) (green) (green) (yellow) (yellow) (red) (red)
Ramp-up (C230-2) 1 1 1 1 1 1 1
0 1 0 ☆ 0 0 0
0 1 0 0 2/1 0 0
Ramp-up (C240 / C240 PN) 1 1 1 1 1 1 1
0 1 ☆ 0 0 0 0
0 1 0 ☆ 0 0 0
0 1 0 → → 0 0
0 1 0 0 2/1 0 0
STOPU → RUN x 1 2/1 1 0 x x
RUN x 1 1 0 0 x x
RUN → STOPU x 1 1 2/1 0 x x
STOPU x 1 0 1 0 x x
STOPU → STOP x 1 0 1 2/1 x x
STOP x 1 0 0 1 x x
STOP → STOPU x 1 0 2/1 1 x x
Defective operating mode 0 1 1 ☆ ☆ ☆ ☆
To correct or avoid errors:
 Switch SIMOTION C Off/On
 Check diagnostic buffer
Power supply is ready for operation x 1 x x x x x
Write to micro memory card x 1 0 0 ☆ x x
(copy RAM to ROM)

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Alarm, error, and system messages
9.2 Combinations of LED displays

Meaning LED displays

SF 5 VDC RUN STOPU STOP BUS1F BUS2F
(red) (green) (green) (yellow) (yellow) (red) (red)
Formatting the micro memory card x 1 0 ☆ 2/1 x x
Request for memory reset by the SIMOTION C x 1 0 0 0,5/1 x x
or via the mode selector of the SIMOTION C
Memory reset in progress 1 1 1 1 1 1 1
Memory reset complete x 1 0 0 1 x x
SIMOTION Kernel update is running → 1 → → → → →
(SIMOTION C230-2 only)
SIMOTION Kernel update is complete x 1 0 0 1 x x
(SIMOTION C230-2 only)
SIMOTION C240 without micro memory card 1 1 0 1 1 1 1
Copy SIMOTION Kernel to micro memory card 0,5/1 1 0,5/1 0,5/1 0,5/1 0,5/1 0,5/1
SIMOTION C is operating without error. 0 1 x x x 0 0
An interrupt that can be acknowledged (alarm, 1 1 x x x x x
message, note) is pending
Fault to which the user program cannot x 1 x ☆ ☆ ☆ ☆
respond.
The following actions may be required to rectify
the fault:
 Power OFF/ON
 Check micro memory card
 New commissioning procedure
 Replacement of SIMOTION C
No license exists for technology/optional 0,5/1 1 x x x x x
objects under license
SIMOTION - HOLD status x 1 0,5/1 1 1 x x
User program is running at the break point
PROFIBUS DP interface as slave
Bus fault x 1 x x x 1 1
Searching for baud rate
Parameterization error x 1 x x x 0,5/1 0,5/1
No cyclic data exchange
Cyclic data exchange x 1 x x x 0 0
PROFIBUS DP interface as master
Bus fault (bus short-circuit) x 1 x x x 1 1
Bus fault (slaves have failed or cable faulty) x 1 x x x 0,5/1 0,5/1
No fault or no interface configured x 1 x x x 0 0

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Technical data 10
10.1 Technical data

Memory for system data

Table 10- 1 Memory for system data

Data Memory size

C230-2 C240 C240 PN
Diagnostic buffer 200 messages
RAM (Random Access Memory) 20 MB 40 MB
RAM disk (load memory) 23 MB 23 MB
Retentive memory 13 KB 107 KB

For information about user data, refer to chapter Properties of the user memory (Page 150).

System clocks

Table 10- 2 System clocks

System clocks C230-2 C240 C240 PN

Basic cycle clock (isochronous bus cycle not 1.5 ms to 8 0.5 to 8 ms
activated) ms
DP cycle clock (isochronous bus cycle activated) 1.5 ms to 8 1.0 to 8 ms
ms
Position control cycle clock (servo cycle clock) ≥ 1.5 ms ≥ 0.5 ms
Interpolator cycle clock (IPO cycle clock) ≥ 1.5 ms ≥ 0.5 ms
Send cycle of PROFINET (C240 PN) - - 0.5 to 4 ms

A modification can be made in the engineering system.

For system cycle clock settings, refer to the SIMOTION SCOUT online help.

Note
With the SIMOTION C, errors can occur during Download or during the transition from STOP
to RUN if I/O bus modules and a system cycle clock > 8 ms (only with equidistant bus cycle)
are used. If an error occurs, set the system cycle clock ≤ 8 ms.

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Technical data
10.1 Technical data

DP slave connections

Table 10- 3 Number of DP slave connections

Number of DP slave connections Max. 64

PROFINET device connections

Table 10- 4 Number of PROFINET device connections

Number of PROFINET device connections Max. 64

Address areas

Table 10- 5 Address areas

Input address area, total  2 Kbytes for C230-2

 4 Kbytes for C240 / C240 PN
Output address area, total  2 Kbytes for C230-2
 4 Kbytes for C240 / C240 PN
Process image inputs 64 bytes
Process image outputs 64 bytes

Connection values

Table 10- 6 Connection values

Supply voltage 24 V DC (permissible range: 20.4 to 28.8 V)

Power consumption from 24 V  typically 0.9 A (inputs/outputs open)
 typically 1.2 A (with 4 encoders, 5 V)
 typically 1.9 A (with 4 encoders, 24 V)
Power loss 15 W
Starting current 8A
Encoder supply 5 V max. output current 1.2 A
Encoder supply 24 V max. output current 1.2 A

Dimensions and weight

Table 10- 7 Dimensions and weight

Dimensions W x H x D [mm] 200 x 125 x 118

Weight [g] Approximately 1,150

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172 Operating Instructions, 02/2012
 Technical data
10.1 Technical data

Onboard drive interface (C230-2, C240)

Analog

Table 10- 8 Onboard drive interface

Setpoint signal (analog output)

Number 4
Rated voltage range -10.5 to 10.5 V
Output current -3 to 3 mA
Electrically isolated No
Load impedance ≥ 3 kOhm
Resolution  16-bit, including sign (with filter)
 12-bit, including sign (without filter)
Filter time
 C230-2  With filter (C230-2-compatible)
 C240  With filter (C230-2 compatible) or without filter (can
be switched in HW Config)
Basic error limit (at 25° C)
 0 V to 10 V  -2 to +6 % (typically +3 %)
 -10 V to 0 V  -6 to +2 % (typically -3 %)

Relay contact controller enable

Number 4
Switching voltage max. 50 V
Switching current Max. 1 A
Switching capacity Max. 30 VA
Mechanical service life Usually 109 switching cycles
Electrical service life Typically 3 · 106 switching cycles at 24 V / 1 A

Cable length: Max. 35 m

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Operating Instructions, 02/2012 173
Technical data
10.1 Technical data

Stepper drive (C230-2, C240)

Table 10- 9 Stepper drive

5 V output signals according to RS422 standard

Differential output voltage VOD Min. 2 V (RL = 100 Ω)
Output voltage "1" VOH 3.7 V (IO = -20 mA)
4.5 V (IO = -100 μA)
Output voltage "0" VOL Max. 1 V (IO = 20 mA)
Load impedance RL : min. 55 Ω
Output current IO max. ±60 mA
Pulse frequency fP Max. 750 kHz

Cable length: Max. 50 m

● For mixed operation with analog axes, cable length: 35 m
● For asymmetrical transmission, cable length: 10 m

SIMOTION C
174 Operating Instructions, 02/2012
 Technical data
10.1 Technical data

Actual value latch time

The following table shows the different latch times Ti of the actual encoder values depending
on the position control cycle clock.

Table 10- 10 Actual value latch time

Position control cycle clock [µs] Actual value latch time Ti [µs]
C230-2 C240
1500 0 0
1750 0 0
2000 0 0
2250 0 0
2500 0 0
2750 0 2
3000 0 0
3250 0 64
3500 0 0
3750 0 127
4000 0 0
4250 0 189
4500 0 0
4750 0 252
5000 0 0
5250 0 314
5500 0 2
5750 0 377
6000 0 0
6250 0 439
6500 0 64
6750 0 502
7000 0 0
7250 0 564
7500 0 127
7750 0 627
8000 0 0

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Operating Instructions, 02/2012 175
Technical data
10.1 Technical data

Onboard measuring system interface (C230-2, C240)

Table 10- 11 Onboard measuring system interface

Position measuring  Incremental

 Absolute (SSI)
Signal voltages Inputs: 5 V as per RS422
Supply voltage and current consumption per  5 V/300 mA
encoder
 24 V/300 mA
Input frequency for incremental encoder Max. 1 MHz
Baud rate for absolute encoder (SSI)  187.5 / 375 / 750 Kbits/s
 1.5 Mbit/s
Cable length for incremental encoder
 5 V encoder supply  Max. 10 m at 1 MHz
(tolerance 4.75 to 5.25 V)  Max. 25 m at 500 kHz and max. 300 mA
 Max. 35 m at 500 kHz and max. 210 mA

 24 V encoder supply
 Max. 100 m at 300 kHz and max. 300 mA
(tolerance 10 to 30 V)
Cable length for absolute encoder (SSI)
24 V encoder supply  Max. 250 m at 187.5 Kbits/s
(tolerance 10 to 30 V)
 Max. 10 m at 1.5 Mbit/s
Electrically isolated No
Monitoring Short-circuit in encoder supply and faulty wire

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 Technical data
10.1 Technical data

Digital inputs

Table 10- 12 Digital inputs

Number of inputs 18
Supply voltage 24 V DC (permissible range: 20.4 to 28.8 V)
Input voltage  0 signal: -3...5 V
 1 signal: 11 to 30 V
Input current  0 signal: 15 mA
 1 signal: 6 to 30 mA (typically 8 mA)
Input delay (I0 to I11, B1 to B4, M1 to M2)  0 → 1 signal: 15 μs (typically 6 μs)
 1 → 0 signal: 150 μs (typically 40 μs)
Connection of a 2-wire encoder Supported
Permissible quiescent current 2 mA
Electrical isolation between inputs No
Electrical isolation between inputs and logic Yes
Insulation 500 V DC
Length of cable Max. 30 m

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Technical data
10.1 Technical data

Digital outputs

Table 10- 13 Digital outputs

Number of outputs 8
Supply voltage 24 V DC (permissible range: VL = 20.4 to 28.8 V)
Output voltage 1 signal: From VL1) - 0.8 V to VL1) V
Max. output current 1 signal: 5 mA. to 0.6 A (via supply voltage)
Total current of the outputs  max. 4 A (at 0 to 40° C)
 max. 2 A (at 40 to 55° C)
Extinguishing energy per output 400 mJ (not simultaneous)
Lamp load 5W
Switching rate  100 Hz (with resistive load)
 2 Hz (with inductive load)
Short-circuit protection Yes
Max. leakage current 0 signal: 2 mA
Output delay (Q0...Q7)  0 → 1 signal: 500 μs (typically 150 μs) with RL = 60 Ohm
 1 → 0 signal: 500 μs (typically 150 μs) with RL = 60 Ohm
Electrical isolation between No
outputs
Electrical isolation between Yes
outputs and logic
Insulation 500 V DC
Length of cable Max. 30 m
1) VL - Supply voltage of outputs

Note
The connecting cable between the voltage source and the load current supply connector L+
and the associated reference potential M should not exceed a maximum length of 10 m.

READY output (RDY)

Table 10- 14 Electrical parameters of RDY relay contact

RDY relay contact

Switching voltage DC max. 50 V
Switching current Max. 1 A
Switching capacity Max. 30 VA
Mechanical service life Usually 109 switching cycles
Electrical service life Typically 3 · 106 switching cycles at 24 V / 1 A

SIMOTION C
178 Operating Instructions, 02/2012
 Technical data
10.2 Real-time clock

10.2 Real-time clock

Properties and functions of the clock

This table lists the properties and functions of the SIMOTION C clock.

Table 10- 15 Properties of the SIMOTION C clock

Properties C230-2 C240 / C240 PN

Type Hardware clock (integrated "realtime clock")
Factory setting upon delivery DT#1992-01-01-[Link]
Backup Permanently installed accumulator
(maintenance-free goldcap)
Accuracy Max. deviation per day:
 With supply voltage on
0 to 55° C ±9 s -12 s to +4 s
 With supply voltage off ±2 s -1 s to +4 s
25° C +2 s to -9 s -9 s to +4 s
-20° C to 70° C
Backup time Typically 4 weeks (at 0 to 25° C)
Charging time 1h

With POWER OFF

The SIMOTION C clock continues to operate after POWER OFF for the battery backup time
(excluding software clock). The battery is recharged during POWER ON.
No error message is output if the backup function is defective. With POWER ON, the clock
resumes at the time at which POWER OFF occurred.
When the SIMOTION C is reset to the factory setting, the clock is also reset to the "factory
setting as delivered".

10.3 Transportation and storage conditions for SIMOTION C

With regard to transportation and storage conditions, the SIMOTION C surpasses the
requirements specified in IEC 1131, Part 2. The following conditions apply to modules that
are transported and stored in the original packaging.

Table 10- 16 Transportation and storage conditions for SIMOTION C

Type of condition Permissible range

Free fall ≤1m
Temperature (transport) From - 40° C to + 70° C
Atmospheric pressure 1,060 to 700 hPa (corresponds to an altitude of up to 3000 m)
Relative humidity (transport) 5% to 95%, without condensation

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Operating Instructions, 02/2012 179
Technical data
10.4 Mechanical and climatic environmental conditions for operation of the SIMOTION C

10.4 Mechanical and climatic environmental conditions for operation of

the SIMOTION C

Use conditions
The SIMOTION C is designed for use in a stationary, weather-protected installation.
The SIMOTION C satisfies the operating conditions for Class 3C2 in accordance with DIN
EN 60721 3-3 (operating locations with high traffic densities and in the immediate vicinity of
industrial equipment with chemical emissions).
The SIMOTION C must not be used in the following locations without additional measures
being taken:
● Locations with a high percentage of ionizing radiation
● Locations with severe operating conditions, e.g. due to:
– Dust accumulation
– Corrosive vapors or gases
● Installations requiring special monitoring, such as:
– Elevator installations
– Electrical installations in highly sensitive areas
An additional measure for the use of the SIMOTION C could be installation in a cabinet, for
example.

SIMOTION C
180 Operating Instructions, 02/2012
 Technical data
10.4 Mechanical and climatic environmental conditions for operation of the SIMOTION C

Climatic environmental conditions

The SIMOTION C may be used under the following climatic environmental conditions:

Table 10- 17 Climatic environmental conditions

Environmental conditions Range of application Comments

Temperature: -
Horizontal mounting: From 0 to 55° C
Vertical mounting From 0 to 40° C
Relative humidity From 5% to 95% Without condensation,
corresponds to relative humidity
(RH) severity level 2 in
accordance with IEC 1131-2
Atmospheric pressure 1,060 to 700 hPa Corresponds to an altitude of
mean sea level to 3,000 m
Contaminant concentration Test:
SO2: < 0.5 ppm; 10 ppm; 4 days
Relative humidity <60%,
no condensation
H2S: < 0.1 ppm; 1 ppm; 4 days
Relative humidity <60%,
no condensation
Moisture condensation and Not permitted
ice formation

Mechanical environmental conditions

The mechanical environmental conditions for the SIMOTION C are specified in the following
table in terms of sinusoidal vibrations.

Table 10- 18 Mechanical environmental conditions

Mechanical environmental Operation Transport (in packaging)

conditions
Vibration tested in 10 to 58 Hz: 0.35 mm 5 to 9 Hz: 3.5 mm
accordance with DIN EN 58 to 200 Hz: 50 m/s2 9 to 200 Hz: 10 m/s2
60068-2-68
Shock resistance tested in 10 g peak value, 6 ms duration 10 g peak value, 6 ms duration
accordance with 100 shocks in each of the 3 axes 100 shocks in each of the 3 axes
DIN EN 60068-2-27 vertical to one another vertical to one another

Reduction of vibration
If the SIMOTION C is subjected to greater shocks or vibrations, you must take appropriate
measures to reduce the acceleration or the amplitude.
Installation on damping material (e.g. rubber-bonded metals) is recommended.

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Operating Instructions, 02/2012 181
Technical data
10.5 Specifications for dielectric tests, safety class and degree of protection

10.5 Specifications for dielectric tests, safety class and degree of

protection

Test Voltages
During the routine test, the insulation resistance is tested at the following test voltage in
accordance with IEC 1131 Part 2:

Table 10- 19 Test Voltages

Circuits with rated voltage Ue relative to other Test voltage

circuits or ground
0 V < Ue ≤ 50 V 500 VDC

Safety class
Safety class I in accordance with IEC 536 (VDE 0106, Part 1), i.e. a protective-conductor
terminal is required on the mounting rail!

Protection against the ingress of foreign matter and water

IP 20 degree of protection in accordance with IEC 529, i. e. protection against contact with
standard probes.
Also: Protection against ingress of solid foreign bodies with diameters greater than 12.5 mm.
No special protection against ingress of water.

SIMOTION C
182 Operating Instructions, 02/2012
Dimension drawing, spare parts, and accessories 11
11.1 Dimension drawing



 

6,027,21&
6,(0(16

581
6723


05(6

Figure 11-1 SIMOTION C dimension drawing

SIMOTION C
Operating Instructions, 02/2012 183
Dimension drawing, spare parts, and accessories
11.2 Spare parts and accessories

11.2 Spare parts and accessories

Table 11- 1 Spare parts and accessories

Parts for SIMOTION C Order number Accessorie Spare parts

s
Bus connector 6ES7 390-0AA00-0AA0 - X
Connecting comb between power supply and SIMOTION C 6ES7 390-7BA00-0AA0 X -
2 keys for C230-2 (for mode selector) 6ES7 911-0AA00-0AA0 - X
SIMOTION C230-2 micro memory card 6AU1 700-0AA02-0AA0 X -
Micro memory card for SIMOTION C240 / C240 PN 6AU1 720-1KA00-0AA0 X -
Labeling plate (10 items) 6ES7 392-2XX00-0AA0 - X
Slot number plate 6ES7 912-0AA00-0AA0 - X
Front connector, 40-pin X -
 Screw-type 6ES7 392-1AM00-0AA0
6ES7 392-1BM01-0AA0
 Spring-tension type
Shield connecting element 6ES7 390-5AA00-0AA0 X -
Shield connection terminals for X -
 2 cables, each with 2 to 6 mm shield diameter 6ES7 390-5AB00-0AA0
6ES7 390-5BA00-0AA0
 1 cable with 3 to 8 mm shield diameter
6ES7 390-5CA00-0AA0
 1 cable with 4 to 13 mm shield diameter

SIMOTION C
184 Operating Instructions, 02/2012
Standards, Certificates and Approvals A
A.1 General rules

CE marking

Our products satisfy the requirements and protection objectives of the EC

Directives and comply with the harmonized European standards (EN).

Electromagnetic compatibility
Standards for EMC are satisfied, if the EMC Installation Guideline is observed.
SIMOTION products are designed for industrial use in accordance with product standard DIN
EN 61800-3, Category C2.

cULus Approval

Listed component mark for United States and the Canada Underwriters
Laboratories (UL) according to Standard UL 508, File E164110, File E115352,
File E85972.

EMC

USA
Federal This equipment has been tested and found to comply with the limits for a
Communications Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are
Commission designed to provide reasonable protection against harmful interference when
Radio Frequency the equipment is operated in a commercial environment. This equipment
Interference generates, uses, and can radiate radio frequency energy and, if not installed
Statement and used in accordance with the instruction manual, may cause harmful
interference to radio communications. Operation of this equipment in a
residential area is likely to cause harmful interference in which case the user
will be required to correct the interference at his own expense.
Shielded Cables Shielded cables must be used with this equipment to maintain compliance with
FCC regulations.

SIMOTION C
Operating Instructions, 02/2012 185
Standards, Certificates and Approvals
A.1 General rules

USA
Modifications Changes or modifications not expressly approved by the manufacturer could
void the user’s authority to operate the equipment.
Conditions of This device complies with Part 15 of the FCC Rules. Operation is subject to
Operations the following two conditions: (1) this device may not cause harmful
interference, and (2) this device must accept any interference received,
including interference that may cause undesired operation.

CANADA
Canadian Notice This Class B digital apparatus complies with Canadian ICES-003.
Avis Canadien Cet appareil numérique de la classe B est conforme à la norme NMB-003 du
Canada.

SOUTH KOREA

For sellers or other user, please keep in mind that this device in an A-grade electromagnetic wave
device. This device is intended to be used in areas other than home.
The EMC limit values to be observed for Korea correspond to the limit values of the EMC product
standard for variable-speed electric drives EN 61800-3 of category C2 or the limit value class A,
Group 1 to EN55011. By implementing appropriate additional measures, the limit values according to
category C2 or limit value class A, Group 1, are observed. For this purpose, additional measures,
such as the use of an additional RFI suppression filter (EMC filter) may be necessary. In addition,
measures for EMC-compliant configuration of the plant are described in this Manual and/or the
Configuration Manual "EMC Installation Guideline". Please note that ultimately it is always the label
on the device that provides the decisive information on the compliance with standards.

Declaration of conformity
The current Declaration of conformity is available on the Internet at Declaration of conformity
([Link]

General warning information

CAUTION

There is a risk of injury or of damage to assets. In hazardous areas, personal injury or

damage to assets can occur if plug-in connections are disconnected during operation.
Make sure that your system is always de-energized before disconnecting plug-in
connections in hazardous areas.

SIMOTION C
186 Operating Instructions, 02/2012
 Standards, Certificates and Approvals
A.2 Safety of electronic controllers

C-Tick

AUSTRALIA
This product meets the requirements of the AS/NZS CISPR 22.

A.2 Safety of electronic controllers

Introduction
The following remarks relate to fundamental criteria and apply irrespective of the type of
controller and the manufacturer.

Risk
A higher degree of safety standard applies to all applications and situations where there is a
risk of material damage or injury to persons if there is a failure. Special regulations specific to
the system apply to such applications. These must be taken into account for configuration of
the controller (e.g. VDE 0116 for furnaces).
For electronic controllers with safety responsibility, the measures required for preventing or
controlling faults depend on the hazard inherent in the plant. In this respect, the basic
measures listed above are no longer adequate once the hazard exceeds a certain potential.
Additional measures (e.g. double redundancy, tests, checksums, etc.) for the controller must
implemented and certified (DIN VDE 0801).

SIMOTION C
Operating Instructions, 02/2012 187
Standards, Certificates and Approvals
A.2 Safety of electronic controllers

The residual risk

When assessing his machine's risk in accordance with the EC Machinery Directive, the
machine manufacturer must take into account the following residual risks emanating from the
control and drive components:
1. Unintentional movements of driven machine components during commissioning,
operation, maintenance, and repairs caused by, for example:
– Hardware defects and/or software errors in the sensors, controllers, actuators, and
connection technology
– Response times of the controller and drive
– Operating and/or ambient conditions not within the scope of the specification
– Parameterization, programming, cabling, and installation errors
– Use of radio devices / cellular phones in the immediate vicinity of the controller
– External influences / damage
2. Exceptional temperatures as well as emissions of light, noise, particles, or gas caused by,
for example:
– Component malfunctions
– Software errors
– Operating and/or ambient conditions not within the scope of the specification
– External influences / damage
3. Hazardous shock voltages caused by, for example:
– Component malfunctions
– Influence of electrostatic charging
– Induction of voltages in moving motors
– Operating and/or ambient conditions not within the scope of the specification
– Condensation / conductive contamination
– External influences / damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a
risk to people with a pacemaker, implants or metal replacement joints, etc. if they are too
close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly

SIMOTION C
188 Operating Instructions, 02/2012
ESD guidelines B
B.1 ESD definition

What does ESD mean?

All electronic modules are equipped with highly integrated modules or components. Because
of the technology used, these electronic components are very sensitive to overvoltages and
thus to discharge of static electricity.
The acronym ESD has become the established designation for such Electrostatic Sensitive
Devices. The ESD designation is used internationally to refer to electrostatic sensitive
devices.
Electrostatic sensitive devices are identified by the following symbol:

Figure B-1 Symbol for identification of electrostatic sensitive devices

CAUTION

Electrostatic sensitive devices can be irreparably damaged by voltages that are far lower
than anything a person can perceive. These voltages occur if you touch a component or the
electrical connection of a module without having previously discharged any static from your
body. Any damage that occurs to a module as a result of overvoltage is generally not
recognized immediately and only comes to light after the equipment has been operating for
some time.

SIMOTION C
Operating Instructions, 02/2012 189
ESD guidelines
B.2 Electrostatic charging of individuals

B.2 Electrostatic charging of individuals

Any person who is not conductively connected to the electrical potential of the environment
can accumulate an electrostatic charge.
This figure indicates the maximum electrostatic charges that can accumulate on an operator
when he comes into contact with the indicated materials. These values comply with the
specifications in IEC 801-2.

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

SIMOTION C
190 Operating Instructions, 02/2012
 ESD guidelines
B.3 Basic measures for protection against discharge of static electricity

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

Ensure sufficient grounding

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

Avoid direct contact

You should only touch ESD components if unavoidable (for example, during maintenance
work). When you touch modules, make sure that you do not touch either the pins on the
modules or the printed conductors. If you follow these instructions, electrostatic discharge
cannot reach or damage sensitive components.
If you have to take measurements on a module, make sure that you first discharge any static
that may have accumulated in your body. To do this, touch a grounded metal object. Only
use grounded measuring instruments.

SIMOTION C
Operating Instructions, 02/2012 191
ESD guidelines
B.3 Basic measures for protection against discharge of static electricity

SIMOTION C
192 Operating Instructions, 02/2012
Index

In subnet, 124
Cables
shielded, 120
2 CE marking, 185
Characteristic impedance
2-tier layout, 83 see terminating resistor, 123
Clearances, 79
Clock, 179
A commissioning
Absolute encoder (SSI), 20, 52 System requirements, 143
Accessories, 184 Components
Actual value, 175 For PROFIBUS DP subnet, 123, 125
Actual value assignment, 116 Configuration examples, 65, 75
Address configuring
Default, 133 electrical design, 92
Address areas, 172 mechanical structure, 78
Technical data, 172 Connecting
Address assignment Bus connector, 126
based on module slot, 133 drive units, 103
user-assignable, 135 Encoder, 114
Addresses PG/PC, 144
analog module, 137 Power supply, 100
digital module, 136 Connecting cable, 99
FM and CP modules, 138 Ethernet-bus cable, 94
Ambient temperature for interface modules, 82
permissible, 78 Measuring system cable, 94, 114
analog module PROFIBUS DP cable, 94
Addresses, 137 Programming device, 94
Setpoint cable, 94
Connection values, 172
B cULus Approval, 185
Current consumption
Bus connector, 35 of a central configuration, 93
Connecting to module, 126
removing, 127
setting the terminating resistor, 126 D
Bus segment, 123
Declaration of conformity, 4, 186
Default address, 133
C Degree of protection, 182
IP 20, 182
C2xx Design
Disposal, 6 Configuring, 78
installation, 162 horizontal, 78
removal, 162 vertical, 78
replacement, 162 Diagnostics
wiring diagram - digital inputs/outputs (onboard), 69 LED display, 165
C2xx installation, 162 Digital input (onboard)
Cable lengths Connecting-up, 117

SIMOTION C
Operating Instructions, 02/2012 193
Index

Description, 72 F
Technical data, 177
Factory setting, 131
Digital input/digital output
Restore, 158
I/O bus, 119
Field of application, 12
digital module
Filter time, 51, 173
Addresses, 136
FM STEPDRIVE
Digital output (onboard)
Connection, 107
Description, 75
installation, 81
Technical data, 178
Front connector, 99
Wiring, 117
Front panel controls
Dimension drawings, 183
LED displays, 34
Dimensions, 172
DP slave
Connections, 123, 172
G
DP slave connections
Number, 123, 172 Global measuring
Drive interface C240/C240 PN, 73
as standard output, 51 Guideline
Signals, 47 ESD, 189
Drive- interface, 45
Assignment, 46
with analog interface, 47 H
Drive- interface
Highest PROFIBUS-address, 122
Stepper drives, 48

I
E
I/O modules, 18
Electrical design
Incremental encoder, 20, 55
Configuring, 92
Installation
Electromagnetic compatibility, 185
Layout of modules, 81, 82
EMC directives, 185
Installing, 84
EMC guidelines, 91
Modules, 87
EMERGENCY OFF concept, 91
Mounting rail, 84
Encoder, 52
Shield connecting element, 121
Absolute encoder, 52
Insulation test, 182
Connecting, 114
Integrated measurement electronics, 62
Incremental encoder, 52
Interface module, 82
Encoder power supply, 52
Connecting cable, 82
Environmental conditions, 180
Interface positions, 24, 25, 26
Climatic, 181
Interfaces, 35
Mechanical, 181
Drive- interface, 45
ESD guideline, 189
Ethernet interface, 36
Ethernet interface
I/O interface, 68
Assignment, 37
Measuring system interface, 52
Ethernet-subnet, 127
MPI, 42
External electrical interference
Power supply connection, 100
Protection, 93
PROFIBUS DP interface, 42
External zero marker, 72, 117, 119
IP 20, 182

SIMOTION C
194 Operating Instructions, 02/2012
 Index

K Technical data, 173

Onboard measuring system interface, 176
Kernel update
Open equipment, 77
C230-2, 159
Overall reset
C240, 161
with mode selector, 31
Key
Overview of connections, 99
inserting, 88

P
L
PE connection
Laying rules
on mounting rail, 86
PROFIBUS cable, 126
PG/PC
LED display
Connecting, 144
SIMOTION C diagnostics, 165
Power loss
LEDs, 165
of a central configuration, 93
Local measuring, 72
Power supply, 100
Setting supply voltage, 103
Probe, 117, 119
M
PROFIBUS address, 122
Measuring input, 72 Highest, 122
Memory model, 149 Rules, 122
Micro memory card, 32, 33 PROFIBUS cable, 125
Changing, 145 Laying rules, 126
inserting, 145 PROFIBUS device
Writing to, 147 Nodes, 122
Mode selector, 24, 25, 26 PROFIBUS DP subnet
Module Cable lengths, 124
Installing, 87 Components, 123, 125
Layout, 81, 82 PROFIBUS subnet
Mounting dimensions, 80 Segment, 124
Transportation and storage conditions, 179 PROFINET, 39
Module start address, 134 Protection against external electrical phenomena, 93
Module supply, 100 Protective signal circuits of the stepper motor
Motion control, 20 interface, 49
Mounting dimensions
of the modules, 80
Mounting rail R
Installing, 84
READY output, 76, 178
Length, 80
References, 4
PE connection, 86
Reliability
MPI subnet, 131
Risk, 187
MRES, 31
removing C2xx, 162
Replace module, 163
replacing C2xx, 162
N
Residual risk, 188
Network components, 125 Retaining bracket
Nodes, 122 Shielding terminal, 121
RUN, 31

O
Onboard drive interface

SIMOTION C
Operating Instructions, 02/2012 195
Index

S W
Safety class, 182 Weight, 172
Safety of electronic controllers, 187 Wiring, 91
Safety regulations, 91 Front connector, 117
EMERGENCY STOP devices, 91 Wiring diagram, 94
Segment, 123 Writing to
PROFIBUS subnet, 124 Micro memory card, 147
Setpoint, 175
Shield connecting element, 120
Shielding terminal, 120
SIMODRIVE 611 universal, connection, 104
SIMODRIVE 611-U, connection, 109
SIMOTION C memory reset, 154
Slot number, 88, 133
Allocating, 88
inserting, 89
Spare parts, 184
Standards and approvals, 4
Stepper drive, 48
Signals, 48
Stepper motor control, 22
Position-controlled, 22
STOP, 31
STOPU, 31
Supply voltage, 92
Setting, 103
System clocks, 171
System integration, 12
Components, 15
System overview, 11

T
Technical data, 171
Terminating resistor, 123
Adjusting to bus connector, 126
Test Voltages, 182
Type plate, 27

U
UL certification, 185
Use conditions, 180
User data
Deleting, 157
User-assignable addressing, 135

V
Vibration, 181

SIMOTION C
196 Operating Instructions, 02/2012