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        • Lifecycle status

          Discontinued / Obsolete by OEM
          For 6FM1721-3AA20, Apter Power offers quotations, manuals, product selection, and model matching.

        6FM1721-3AA20

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        1001 reviews ｜ Need a Specific Revision?
        Siemens 6FM1721-3AA20 is a WF 721 single-axis positioning module that reads encoder position, processes motion commands, and outputs an analog drive command.
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        Ships by Wednesday, October 28
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        Warranty Policy
        We provide 1 year warranty for all remaining parts.
        The warranty period is one year from the date of shipment, unless otherwise stated in the parts description. We guarantee that the project will not exhibit functional defects that may occur under normal operating conditions during the warranty period.
        Return Notice
        The warranty period is one year from the date of shipment, unless otherwise stated in the parts description. We guarantee that the project will not exhibit functional defects that may occur under normal operating conditions during the warranty period.
        In the event of a defect, we will send new equipment, repair equipment or refund the purchase price based on our availability. You must contact us to obtain a return authorization and return the defective device to us within 14 days of reporting the defect.
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        Apter Power offers a wide range of components, products and services related to industrial automation. We also supply new products from a variety of quality manufacturers.
        How to order
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        Technical specifications for 6FM1721-3AA20

        • Manufacturer:
          Siemens
        • Part Number:
          6FM1721-3AA20
        • Product Family:
          Siemens Simatic S5
        • Product Type:
          WF 721 Single-Axis Positioning Module
        • Stock:
          1
        • Controlled Axes:
          1
        • Actual-Position Input:
          Incremental or serial encoder
        • Maximum Incremental Frequency:
          250 kHz
        • Serial Encoder Rate:
          125 kbit/s
        • Analog Command Output:
          -10 to +10 V
        • Analog Output Current:
          0 to 2 mA
        • Digital Inputs:
          7
        • Digital Outputs:
          7
        • Maximum Output Current:
          500 mA per channel
        • External Field Supply:
          24 V DC
        • Permitted Field-Supply Range:
          20 to 30 V DC
        • Internal 5 V Supply:
          1.0 A without encoder load
        • Maximum Encoder Current:
          0.3 A
        • Operating Temperature:
          0 to +55 °C
        • Storage Temperature:
          -40 to +70 °C
        • Weight:
          1.323 lbs (0.6 kg)
        • Tariff Code:
          85389091
        • Country of origin:
          Germany
        • Place of shipment:
          Xiamen,Fujian,China
        By purchasing this item, you agree to the Terms & Conditions, ApterPower is not an authorized distributor for listed manufacturers or tradenames and therefore the manufacturer's warranty does not apply. All our products come with ApterPower's 1-year warranty.

        More Information

        Overview Manuals Position Loop Encoder Field I/O Rack Setup

        Features:

        • One internal position loop compares the host command with encoder feedback.
        • An analog output sends the calculated command value to the connected drive.
        • Seven inputs and seven outputs coordinate motion-related field conditions.
        Siemens 6FM1721-3AA20 converts host position commands and encoder feedback into one controlled-axis result.

        Connector X4 supplies the actual-position signal used by 6FM1721-3AA20 for the position comparison.

        The analog output and field I/O of 6FM1721-3AA20 connect the calculation to the drive and machine signals.

        The Siemens 6FM1721-3AA20 WF 721 Single-Axis Positioning Module may still be available for purchase and support from Apter Power beyond End-Of-Life (EOL) by the manufacturer (OEM).
        Siemens 6FM1721-3AA20 WF 721 Single-Axis Positioning Module Manuals,Datasheets,Link Important Notice: Other accessories, manuals, cables, calibration data, software, etc. are not included with this equipment unless listed in the above stock item description. All prices are shown in USD.

        Command and Feedback Flow

        • Host command: The SIMATIC program transfers the requested motion and parameter data to the module.
        • Encoder feedback: X4 receives incremental pulses or serial position information from the measuring system.
        • Internal comparison: The module calculates the position difference and motion response for one axis.
        • Drive command: X3 sends the resulting -10 to +10 V analog command to the drive.

        Actual-Position Interfaces

        • Incremental input: Pulse feedback is accepted up to the documented 250 kHz limit.
        • Serial input: A serial encoder can transfer position data at 125 kbit/s.
        • Encoder supply: The internal 5 V path can feed the connected encoder within its current limit.
        • Commissioning: Encoder type, direction, scaling, zero reference, and wiring must match the parameter set.

        Machine Signals and Supply

        • Channel count: The module provides seven digital inputs and seven digital outputs.
        • X7 group: Six input/output channels and the external 24 V DC field supply use connector X7.
        • Enable path: The documented control-enable signal is carried on the command interface.
        • Output limit: Each digital output must remain within the specified 500 mA current boundary.

        SIMATIC Addressing and Software

        • Host exchange: Commands, parameters, status, and position data pass through the SIMATIC rack interface.
        • Addressing: Module addresses must match the selected S5 or S7-400 hardware arrangement.
        • Adapter use: The documented adapter casing is required where the target rack demands it.
        • Backup scope: Preserve the PLC blocks, module parameters, addresses, encoder data, and machine interlocks.
        Description
        Siemens 6FM1721-3AA20 is a WF 721 single-axis positioning module for SIMATIC-based machine control. It receives a position command from the host system, evaluates encoder feedback, and generates the analog command value used by the connected drive.

        Encoder feedback enters 6FM1721-3AA20 through connector X4 as either incremental pulses or serial position data. The module compares actual and commanded positions internally, while connector X3 carries the analog drive command and the documented control-enable signal.

        Seven digital inputs and seven digital outputs on 6FM1721-3AA20 coordinate limit switches, reference-point logic, status, and external motion conditions. Six input/output channels use connector X7, which also brings the external 24 V DC supply into the field-side circuits.

        The host rack exchanges commands, parameters, status, and position values with 6FM1721-3AA20 through the documented SIMATIC interface. Address assignment and the software blocks must match the installed S5 or S7-400 arrangement, including any adapter casing used by the module.
        Alternative Names
        6FM17213AA20 6FM1721 3AA20 6FM 1721 3AA20 Siemens 6FM1721-3AA20 6FM1721-3AA20 WF 721 6FM1721-3AA20 Positioning Module 6FMI721-3AA20 6FM1721-3AA2O
        Technical notes
        Encoder feedback at X4 and the analog command at X3 form the closed positioning path of Siemens 6FM1721-3AA20, while X7 carries field I/O and 24 V DC.
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        FAQS

        The following is a list of questions commonly asked by our customers. Please contact us if you have a question about our process that is not answered below.
        VIEW ALL FAQS
        Why can 6FM1721-3AA20 show encoder movement but not drive motion?
        Check the 6FM1721-3AA20 control enable, analog command at X3, drive readiness, axis parameters, limits, interlocks, and digital output state.
        What must be saved before replacing 6FM1721-3AA20?
        Preserve the 6FM1721-3AA20 module parameters, SIMATIC addresses, PLC blocks, encoder type, scaling, reference data, digital I/O map, and drive settings.
        Why does the actual position of 6FM1721-3AA20 move in the wrong direction?
        Verify the 6FM1721-3AA20 encoder wiring, counting direction, serial format, scaling sign, mechanical direction, analog command polarity, and drive configuration.
        How should a reference-point fault on 6FM1721-3AA20 be investigated?
        Inspect the 6FM1721-3AA20 reference input, switch state, field-supply voltage, search direction, speed parameters, encoder response, and PLC sequence.
        Why can one digital output of 6FM1721-3AA20 fail under load?
        Measure the 6FM1721-3AA20 external 24 V DC supply, channel current, load wiring, short circuit, output state, common return, and protective response.
        What should be tested after installing 6FM1721-3AA20?
        Validate the 6FM1721-3AA20 rack address, software blocks, encoder counts, reference routine, analog command, enable signal, every field I/O point, and axis limits.

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