Siemens IP-Module Manuel

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Page 1 - Positioning Module

SIMATIC S5IP 266Positioning ModuleManualEWA 4NEB 812 6057-02

Page 2 - Copyright© Siemens AG 1991

IP 266 Introduction• Remarks FormThe Remarks Form is provided for your comments and suggestions.ConventionsThe following conventions are used in thi

Page 3

Machine Data, Modes and Traversing Programs IP 266Note:If your drive system is not free from backlash, care must be taken that the drivebe adjusted

Page 4 - IP 266 Preface

IP 266 Machine Data, Modes and Traversing ProgramsThe IP 266 provides two options for establishing a reference point:• Approach reference point• Set

Page 5 - Introduction

Machine Data, Modes and Traversing Programs IP 266Before approaching a reference point, you must make a distinction between fourdifferent situations

Page 6 - Introduction IP 266

IP 266 Machine Data, Modes and Traversing Programs6. An edge change from 1 to 0 in the signal from the reference point switch setsan internal Enable

Page 7 - Reference literature

Machine Data, Modes and Traversing Programs IP 266Example B: The drive is positioned to the reference point switch Figure 5-15. Reference Point Ap

Page 8

IP 266 Machine Data, Modes and Traversing ProgramsExample C: The drive is behind the reference point switch.Figure 5-16. Reference Point Approach

Page 9 - IP 266 Introduction

Machine Data, Modes and Traversing Programs IP 266Example D: The drive is positioned to the hardware end limit switch.Figure 5-17. Reference Point

Page 10 - Conventions

IP 266 Machine Data, Modes and Traversing ProgramsActual-value display following a reference point approachThe reference point is set when the posit

Page 11

Machine Data, Modes and Traversing Programs IP 266Figure 5-19. Reproducibility of the Reference Point for Reference Point Coordinate 0ForwardLocatio

Page 12

IP 266 Machine Data, Modes and Traversing ProgramsSet reference pointMode 5 allows you to set a reference point without moving the axis. To do so,se

Page 13 - 1 System Overview

1 System Overview1.1 Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1- 21.2 Axis Types . . . . . . . . . . . . . . . . . .

Page 14 - 1.1 Application

Machine Data, Modes and Traversing Programs IP 2665.3.6 Increment Mode Absolute (Mode 6)Linear axisIncrement mode absoluteModeOverride 1 to 200%Ab

Page 15 - 1.2 Axis Types

IP 266 Machine Data, Modes and Traversing ProgramsExample for Figure 5-20You start mode 6 with the following parameters: • Override 100%• Absolute t

Page 16 - System Overview IP 266

Machine Data, Modes and Traversing Programs IP 266The table below lists the permissible functions in absolute increment mode forboth rotary and line

Page 17 - IP 266 System Overview

IP 266 Machine Data, Modes and Traversing Programs5.3.7 Increment Mode Relative (Mode 7)Increment mode relativeModeOverride 1 to 200%DistanceParamet

Page 18

Machine Data, Modes and Traversing Programs IP 266Example: Relative increment mode is to be invoked at starting positions A(-10 mm) and B (60 mm).

Page 19

IP 266 Machine Data, Modes and Traversing Programs5.3.8 Automatic Mode (Mode 8)Automatic modeModeStart/StopFunctionProgram numberParametersA travers

Page 20

Machine Data, Modes and Traversing Programs IP 266The remaining distance to go is retained until the next positioning operation.Interruption of the

Page 21

IP 266 Machine Data, Modes and Traversing ProgramsInterruption points in a traversing program in single block modeTable 5-11 lists the points at whi

Page 22

Machine Data, Modes and Traversing Programs IP 2665.3.10 Enable Teach-In (Mode 10)Enable teach-inModeStartFunctionProgram numberParametersThis mode

Page 23

IP 266 Machine Data, Modes and Traversing ProgramsTarget positionYou can approach a target position in various modes. A new block is not writtenunti

Page 24

Figures1-1. Positioning with Three Axes . . . . . . . . . . . . . . . . . . . . . . . . .1- 21-2. Linear Axis with Range Limit Switches(not to scale)

Page 25

Machine Data, Modes and Traversing Programs IP 266The figure below illustrates the use of the various speeds.Figure 5-22. The Use of Speeds in Mod

Page 26

IP 266 Machine Data, Modes and Traversing ProgramsExample:Generating a new traversing program in "Teach-in" mode:The table below lists the

Page 27

Machine Data, Modes and Traversing Programs IP 2665.3.11 Disable Teach-In (Mode 11)Disable teach-inModeStartFunctionParametersThis mode disables tea

Page 28

IP 266 Machine Data, Modes and Traversing ProgramsNote:If mode 12 is restarted, the old ZO is replaced by the new ZO.The IP 266 also provides other

Page 29

Machine Data, Modes and Traversing Programs IP 266Positive offset: Offset 32767.999 - |Software start limit switch|Example: The drive is at the ab

Page 30

IP 266 Machine Data, Modes and Traversing ProgramsRotary axis:When using a rotary axis, you may specify an absolute zero offset value outsidethe bou

Page 31

Machine Data, Modes and Traversing Programs IP 2665.3.13 Relative Zero Offset (ZO) (Mode 13)ValueRelative zero offsetModeForward/ReverseFunctionPara

Page 32 - - External ground

IP 266 Machine Data, Modes and Traversing ProgramsExample: The drive is at the absolute position + 150 mm. Zero offsets of 300 mm,- 200 mm, - 150 mm

Page 33

Machine Data, Modes and Traversing Programs IP 2665.3.14 Delete Zero Offset (ZO) (Mode 14)Delete zero offsetModeStartFunctionParametersThis mode del

Page 34 - 2.5.3 External Stop (Pin 6)

IP 266 Machine Data, Modes and Traversing ProgramsThe direction of the tool offset is determined by• the sign of the offset value and• the Start fun

Page 35

IP 266 System Overview1 System OverviewThe IP 266 intelligent I/O module adds yet another powerful positioning unit tothe already wide range of S5-1

Page 36

Machine Data, Modes and Traversing Programs IP 266Example: Tool offset with mode 15A drilling program used to drill a hole 15 mm in depth is to carr

Page 37

IP 266 Machine Data, Modes and Traversing ProgramsExample: Tool change and TOWhen the tool has reached a length at which a tool offset is no longer

Page 38

Machine Data, Modes and Traversing Programs IP 266Example: The traversing range of a linear axis lies between the software limitswitches; a referenc

Page 39

IP 266 Machine Data, Modes and Traversing Programs5.3.16 Disable Tool Offset (TO) (Mode 16)Disable tool offsetModeStartFunctionParametersThis mode r

Page 40 - 2.5.8 Examples

Machine Data, Modes and Traversing Programs IP 2665.3.18 Enable Drift Compensation (Mode 18)Enable drift compensationModeStartFunctionParametersPrer

Page 41 - End of program

IP 266 Machine Data, Modes and Traversing ProgramsFigure 5-26. Voltage - Speed Characteristic with Drift CompensationVDnDn ratedn-10V+10VMax. atta

Page 42 - Example 2

Machine Data, Modes and Traversing Programs IP 266Figure 5-27. Erroneous Following Error Characteristic in Conjunction withDrift CompensationSV actV

Page 43

IP 266 Machine Data, Modes and Traversing Programs5.3.20 EEPROM (Mode 26)DirectionEEPROMModeStartFunctionParametersYou can use this mode to transfer

Page 44 - 2.6 Fault LED

Machine Data, Modes and Traversing Programs IP 2665.3.21 Information Modes (Mode 71, Mode 72, Mode 73)Current information can be called up from the

Page 45 - 2.7.1 Encoder Monitor

IP 266 Machine Data, Modes and Traversing ProgramsRead distance to go (mode 73)Read distance to goModeStartFunctionParametersSelect this mode when y

Page 46

System Overview IP 2661.1 ApplicationIn an assembly line, a gripper takes a workpiece from a conveyor belt andforwards it to an automatic assembling

Page 47

Machine Data, Modes and Traversing Programs IP 2665.4 Elements of the Traversing ProgramA traversing program is a cohesive sequence of traversing op

Page 48 - 2.8 Technical Specifications

IP 266 Machine Data, Modes and Traversing Programs5.4.1 Program HeaderThe program header comprises• the program identifier• the program number• max.

Page 49

Machine Data, Modes and Traversing Programs IP 2665.4.2 Traversing BlocksTable 5-18 lists all functions permitted in a traversing program.Table 5-18

Page 50

IP 266 Machine Data, Modes and Traversing ProgramsIn the following example, the processing order does not change. The order inwhich blocks are proce

Page 51

Machine Data, Modes and Traversing Programs IP 266The G functionThe first function to follow an N function may also be a G function. A G functionis

Page 52 - 3 Installation Guidelines

IP 266 Machine Data, Modes and Traversing Programs• G00: Rapid traverseA defined target is approached at maximum speed. The target must be speci-fie

Page 53 - C A U T I O N :

Machine Data, Modes and Traversing Programs IP 266Example 1: Changing the speed during a positioning movementV5001000M30 M31 M32Program without G10

Page 54

IP 266 Machine Data, Modes and Traversing ProgramsExample 2: Alternating M functionssV5001000M10 M11 M12Program without G10N10 X50 F1000 M10N20 X100

Page 55

Machine Data, Modes and Traversing Programs IP 266When G10 and M00 (programmed stop) are programmed in the same block,M00 has priority. To continue

Page 56

IP 266 Machine Data, Modes and Traversing Programs• G20: End of loopG24: Start of loopLoops may be nested. Subroutines which themselves contain loop

Page 57

IP 266 System Overview1.2 Axis TypesYou can operate either • rotary axesor• linear axes on the IP 266. Initialization and operator servicing are dep

Page 58

Machine Data, Modes and Traversing Programs IP 266• G25: Approach target over the shortest pathG26: Approach target in a clockwise directionG27: App

Page 59

IP 266 Machine Data, Modes and Traversing ProgramsResult: The IP 266 chooses the preferred direction. Due to the programmedbacklash, the movement ta

Page 60 - 4 Fundamentals of Positioning

Machine Data, Modes and Traversing Programs IP 266Table 5-20. Tool Offset10015 mm15 mm10 mm-5 mm+5 mmSet-point100908085Prior to tooloffsetFollowin

Page 61

IP 266 Machine Data, Modes and Traversing ProgramsThe following TO limiting values apply for the resulting tool length change:ValuesMaximum offset v

Page 62

Machine Data, Modes and Traversing Programs IP 266You are now acquainted with the various options for tool offsets, i. e. the tooloffset initiated w

Page 63

IP 266 Machine Data, Modes and Traversing Programs• G53: Cancel zero offsetsG54-G57: Enable offset 1-4These functions effect a relative shift in the

Page 64 - 4.3.1 Positioning

Machine Data, Modes and Traversing Programs IP 266Rough structure of the program:1. ZO forward + 10 mm (e. g. ZO 1)2. Call subroutine for the th

Page 65

IP 266 Machine Data, Modes and Traversing Programs• G53: Cancel offsetsThis function disables the zero offsets enabled in the traversing program.Tab

Page 66 - 4.3.3 Relationships Between a

Machine Data, Modes and Traversing Programs IP 266Figure 5-32. Overview of Zero OffsetsMode invoked in STEP 5 program or viaCOM 266Mode 13Positive

Page 67 - 4.4 IP 266 Modes

IP 266 Machine Data, Modes and Traversing Programs• G70: Dimensions in 0.1 inchG71: Dimensions in mmThe IP 266 positioning module always interprets

Page 68

System Overview IP 266The linear axisA linear axis is an axis with a limited traversing range. The traversing range isrestricted via• programmable s

Page 69

Machine Data, Modes and Traversing Programs IP 266• G74: Approach to reference pointThis function can be used to approach an existing physical refer

Page 70

IP 266 Machine Data, Modes and Traversing Programs• G90: Absolute position specificationsG91: Relative position specificationsThese two G functions

Page 71

Machine Data, Modes and Traversing Programs IP 266The F functionHow an F function is interpreted depends on the function which precedes it.Table 5-2

Page 72

IP 266 Machine Data, Modes and Traversing Programs• M02: End of programThis function must be programmed in the last block of a main program orsubrou

Page 73 - 5.1 Machine Data

Machine Data, Modes and Traversing Programs IP 2665.4.4 Syntax Diagram of a BlockFigure 5-33. Syntax Diagram of a BlockG26G27G40G43 G44G53G54G55G5

Page 74

1 System Overview2 Technical Description of the IP 2663 Installation Guidelines4 Fundamentals of Positioning5 Machine Data, Modes and Traversing Progr

Page 75 - 5.1.1 Hardware Description

Figures6-1. KOMI Screen Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 36-2. "CONFIGURATION" Form; COM 266 Screen

Page 76

Tables6-1. Contents of the Fields in the Header Lines . . . . . . . . . . . . . 6 - 56-2. Mode-Dependent Output Fields . . . . . . . . . . . . . . . .

Page 77

IP 266 Fundamentals of COM 2666 Fundamentals of COM 266The COM 266 software provides user-friendly support for programming theIP 266 and putting it

Page 78

Fundamentals of COM 266 IP 266 To call this utility,• enter DSKMAINT <1> if you are using an older version of PCP/M-• or DISK <1> if you

Page 79 - 5.1.3 Traversing Range

IP 266 System OverviewThe emergency limit switches, which are routed directly to the power section,must also take the deceleration distance into acc

Page 80

IP 266 Fundamentals of COM 2666.1.3 Starting COM 266You can start the COM 266 program from either the hard disk or the floppy.• Preparations for a p

Page 81 - 5.1.4 Speeds

Fundamentals of COM 266 IP 266The "CONFIGURATION" formFigure 6-2. "CONFIGURATION" Form; COM 266 Screen LayoutCopyright (c) SIE

Page 82

IP 266 Fundamentals of COM 266Header:The two-line header for each screen form comprises six subfields.Figure 6-3. Format of the Header LinesField

Page 83 - 5.1.5 Acceleration Rates

Fundamentals of COM 266 IP 266Data area:The data area of a screen form provides information on• the machine data• the defaults• the configuration pa

Page 84 - 5.1.6 Controller Parameters

IP 266 Fundamentals of COM 266Function key menu:• The function key menu shows the functions which can be invoked in a screenform. A function is sele

Page 85

Fundamentals of COM 266 IP 266"PRESETS" formFigure 6-4. Initializing the IPDrive : AFilename : ExamplePlant designation : Linear axisGen

Page 86

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldField nameDrive:Filename:Generated by:Type Descrip

Page 87 - 5.1.7 Correction Parameters

Fundamentals of COM 266 IP 266"Type" column: I = input field, O = output field* The contents of these fields can be changed only when the

Page 88

IP 266 Fundamentals of COM 266Function key menu:<F1> This key• takes you to the next screen form and• forwards the initialization data to the

Page 89

Fundamentals of COM 266 IP 2666.2 The "FUNCTION SELECT" MenuFigure 6-5. "FUNCTION SELECT" MenuDrive : AFilename : ExamplePlant

Page 90

System Overview IP 2661.3 Installing the IP 266 in a SIMATIC S5 SystemFigure 1-3. The IP 266 in a SIMATIC S5 SystemIP266Data bus9 VDataGNDPLCinter

Page 91

IP 266 Fundamentals of COM 266Function key menu:<F1> Press this key to branch to the screen forms for entering• machine data and• traversing (

Page 92

Fundamentals of COM 266 IP 2666.3 Hierarchical Structure of COM 266The Figure below illustrates the hierarchical structure of COM 266. The diagramsh

Page 93

IP 266 Fundamentals of COM 266Enter the machine data prompted on your screen. <F1> takes you from the "FUNCTION SELECT" menu to the

Page 94

Fundamentals of COM 266 IP 266In the following, each input form is preceded by a graphic of the path to thatform.Figure 6-8. Data Block SelectionD

Page 95 - 5.3.1 Jog 1 (Mode 1)

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input fieldField nameData BlockBlock No.TypeIDescriptionUse <F7> to switc

Page 96

Fundamentals of COM 266 IP 266And what now? Position the cursor to the "Data Block" field.Select MACHINEDATA using <F7>. Using the

Page 97

IP 266 Fundamentals of COM 2666.4.1 Entering Machine Data"INPUT MACHINEDATA" form (page 1)Figure 6-9. Machine Data Page 1F2PREVIOUSPAGE

Page 98 - 5.3.2 Jog 2 (Mode 2)

Fundamentals of COM 266 IP 266Header:The header contains the following:• Name of the screen form (fields 1 and 2): INPUT MACHINE DATA• Name of the s

Page 99 - 5.3.4 Follow-Up Mode (Mode 4)

IP 266 Fundamentals of COM 266Function key menu:<F1> Press this key to screen the next page of the "INPUT MACHINEDATA"form. This fun

Page 100 - EWA 4NEB 812 6057-02

Fundamentals of COM 266 IP 266"INPUT MACHINEDATA" form (page 2)Figure 6-10. Machine Data Page 2INPUT SIMATIC S5/COM266M A C H I N E D A

Page 101

IP 266 System Overview1.4 Operator Servicing Options (PLC and PG) and Their PrioritiesThe IP 266 can be controlled via a programmer (PG) or via the

Page 102 - 0.000 mm

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldField nameModuleMeas.SystemAxis typeTypeOOODescrip

Page 103

Fundamentals of COM 266 IP 266"INPUT MACHINEDATA" form (page 3)Figure 6-11. Machine Data Page 3F2PREVIOUSPAGEF3 F4PRINTMDAT F5 F7 HELP

Page 104

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldWhen an error occurs during execution of the STEP

Page 105

Fundamentals of COM 266 IP 266Data area (continued)"Type" column: I = input field, O = output fieldField nameMax. followingerrorTypeIDescr

Page 106

IP 266 Fundamentals of COM 266"INPUT MACHINEDATA" form (page 4)Figure 6-12. Machine Data Page 4INPUT SIMATIC S5/COM266M A C H I N E D A

Page 107

Fundamentals of COM 266 IP 266Data area for a linear axis:"Type" column: I = input field, O = output fieldField nameRef. pointcoordinateSo

Page 108 - 0 1 2 5 9-1-2

IP 266 Fundamentals of COM 266Data area for a rotary axis:If you are using the IP 266 to operate a rotary axis, the two fields for the softwarelimit

Page 109

Fundamentals of COM 266 IP 266"INPUT MACHINEDATA" form (page 5)Figure 6-13. Machine Data Page 5F2PREVIOUSPAGEF3 F4PRINTMDAT F5 F7 F8

Page 110

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldTypeField nameModuleMeas.SystemAxis typeZero offse

Page 111

Fundamentals of COM 266 IP 266"INPUT MACHINEDATA" form (page 6)Figure 6-14. Machine data Page 6INPUT SIMATIC S5/COM266M A C H I N E D A

Page 112 -

STEP ® SINEC ® and SIMATIC ® are registered trademarks ofSiemens AG.Subject to change without prior notice.The reproduction, transmission or use of th

Page 113

System Overview IP 266Programmer portThe IP 266 can be serviced via a programmer connected over the programmerport. To do this, you must use the COM

Page 114

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldTypeField nameModule:Meas.System:Axis type:Maximum

Page 115 - 5.3.8 Automatic Mode (Mode 8)

Fundamentals of COM 266 IP 266"INPUT MACHINEDATA" form (page 7)Figure 6-15. Machine Data Page 7INPUT SIMATIC S5/COM266M A C H I N E D A

Page 116

IP 266 Fundamentals of COM 266Data area:"Type" column: I = input field, O = output fieldTypeField nameModule:Meas.System:Axis type:Referen

Page 117

Fundamentals of COM 266 IP 266Function key menu:With the exception of <F7>, the function key menu is identical to that on page 1of this screen

Page 118

IP 266 Fundamentals of COM 266Printing out the machine dataThe following print menu is displayed when you start a printout by press-ing <F4>:F

Page 119

Fundamentals of COM 266 IP 266Data area:The entries you make in the upper portion of the data area indicate how youwant to end your printout. The in

Page 120

IP 266 Fundamentals of COM 266Function key menu:<F4> Press this key to start the printout. The following message is displayed on the error li

Page 121 - Store as block 2

Fundamentals of COM 266 IP 2666.4.2 Entering Traversing (Machining) ProgramsThe structure of traversing (machining) programs corresponds in all esse

Page 122

IP 266 Fundamentals of COM 266"INPUT MACHINING PROGRAM" formFigure 6-18. Program Type Select FormINPUT SIMATIC S5/COM266M A C H I N I N

Page 123

Fundamentals of COM 266 IP 266Data area:The input field for "Program type" is subdivided into two sections, the first ofwhich is for entry

Page 124

2 Technical Description of the IP 266 2.1 IP 266 Hardware Configuration . . . . . . . . . . . . . 2 - 12.2 Interface to the Programmer . . . . . . .

Page 125

IP 266 Fundamentals of COM 266• Entering programs to DINThe following screen form is displayed when you press <F1> in the "INPUTMACHINING

Page 126 - positive

Fundamentals of COM 266 IP 266Data area:The program header for the traversing (machining) program is displayed on thefirst line in the data area.&qu

Page 127

IP 266 Fundamentals of COM 266• Entering traversing (machining) programs in Text modeThe following screen form, in which only one block may be enter

Page 128

Fundamentals of COM 266 IP 266Data area:"Type" column: I = input field, O = output fieldField name TypeODescriptionThe current physical un

Page 129

IP 266 Fundamentals of COM 266"Type" column: I = input fieldTypeField nameIDescriptionEnter a number in this field when you want to invoke

Page 130

Fundamentals of COM 266 IP 266Function key menu:<F1> Page down through the blocks to the end of the program.<F2> Page up through the blo

Page 131 - Example: Tool change and TO

IP 266 Fundamentals of COM 266And what now? Enter a traversing (machining) program. Before doing so, select either DIN mode by pressing <F1>o

Page 132

Fundamentals of COM 266 IP 2666.5 Transferring an Existing Machine Data Record or aTraversing (Machining) ProgramOnce you have generated machine dat

Page 133

IP 266 Fundamentals of COM 266"TRANSMIT" (TRANSFER) formFigure 6-21. "TRANSFER" FormData Block: MachinedataSource TargetDevice

Page 134

Fundamentals of COM 266 IP 266Header:• The header is as follows before you start the "Transfer" function by pressing<F4> in the &quo

Page 135

Figures2-1. IP 266 Block Diagram with Interfaces . . . . . . . . . . . . . . . . . 2 - 12-2. Module Overview Diagram . . . . . . . . . . . . . . . . .

Page 136

IP 266 Fundamentals of COM 266Source DestinationFieldSelect one of the following with <F7>:• Module/IP 266• Programmer/PG• Disk drive/FDThe ne

Page 137 - 5.3.20 EEPROM (Mode 26)

Fundamentals of COM 266 IP 266Function key menu:If the IP is disconnected from the mains power, or if a power failure occurs, thedata in its RAM is

Page 138

IP 266 Fundamentals of COM 266And what now?Machine data must be available on the IP 266 before you can proceed to the"TEST" form.If no val

Page 139

Fundamentals of COM 266 IP 266Figure 6-22 shows the hierarchical structure of the "TEST" form. There are two "TEST" modes:When t

Page 140

IP 266 Fundamentals of COM 2666.6.1 "Actual-Value Display" ModeFigure 6-23. "TEST" FormSIMATIC S5/COM 266T E S T DEVICE: IP 26

Page 141 - 5.4.1 Program Header

Fundamentals of COM 266 IP 266Header:Header field 2 shows the name of the on-screen form, which consists only of theword "TEST", in spaced

Page 142 - 5.4.2 Traversing Blocks

IP 266 Fundamentals of COM 266Data area:"Type" column: O = output fieldField nameActual value:TypeODescriptionThe current position of the

Page 143

Fundamentals of COM 266 IP 266"Type" column: O = output fieldField nameTool ref. pt.:TypeODescriptionThe word "set" appears in t

Page 144

IP 266 Fundamentals of COM 266Overview of the output fields in the "TEST" formTable 6-2 provides an overview of TEST" form output fie

Page 145

Fundamentals of COM 266 IP 266Function key menu:<F1> Press this key to screen the "Mode Select" form. The actual-value display is &q

Page 146

IP 266 Technical Description of the IP 2662 Technical Description of the IP 266The IP 266 is used for controlled positioning of a drive.It is utili

Page 147

IP 266 Fundamentals of COM 2666.6.2 "Mode Select" ModeFigure 6-24. Mode Select FormF1ACT. VALUESF2STARTF3STOPF4 F5 F7 HELPF8 EXITF6

Page 148

Fundamentals of COM 266 IP 266Data area:"Type" column: I = input field, O = output fieldField nameActual value,distance to go,following er

Page 149

IP 266 Fundamentals of COM 266Function key menu:The function key menu in this screen form is mode-dependent. Table 6-3 showsthe allocation of the fi

Page 150

Fundamentals of COM 266 IP 266Auxiliary screen form for Mode SelectDifferent modes require different entries in the "TEST" form's inp

Page 151

IP 266 Fundamentals of COM 266The Help menu lists all modes and their numbers.Header:The header does not change when you screen the Help menu.Data a

Page 152

Fundamentals of COM 266 IP 2666.7 OutputThe "Output" form is invoked by pressing function key <F2> in the "FUNCTIONSELECT"

Page 153

IP 266 Fundamentals of COM 266The structure of each "OUTPUT" form is identical to that of the corresponding"INPUT" form; the onl

Page 154

Fundamentals of COM 266 IP 2666.8 Delete Screen the "DELETE" form by pressing <F5> in the "FUNCTION SELECT"menu.Figure 6-

Page 155

IP 266 Fundamentals of COM 266Header:• Prior to first-time execution of the "DELETE" function:You will see only the word "DELETE"

Page 156

Fundamentals of COM 266 IP 266Function key menu:<F5> When you have specified the file you want to delete, press this key tostart the Delete op

Page 157

Technical Description of the IP 266 IP 266Processor+operating system: For coordinating all IP 266 tasksProgrammer interface: For servicing the IP 26

Page 158

IP 266 Fundamentals of COM 2666.9 InformationYou can invoke this function to screen an overview of all machine data ortraversing (machining) program

Page 159

Fundamentals of COM 266 IP 266Header:The header contains the following information:• Screen form name: INFORMATIONI N F O R M A T I O N• Name of the

Page 160

IP 266 Fundamentals of COM 266Function key menu:<F1> The Information function outputs the IP 266's data directory.<F2> The Informat

Page 161

Fundamentals of COM 266 IP 2666.10 COM 266 Error MessagesIn all COM 266 screen forms, one line is reserved to display error codes and thecorrespondi

Page 162

7 Communication Between the CPU and the IP 2667.1 Output Frame (PLC CPU IP 266) . . . . . . . . . . . . 7 - 27.1.1 Byte 0: Mode . . . . . . . . . .

Page 163 - 5.4.3 Last Block

Figures7-1. Example of Data Interchange Between CPUand IP 266 (in slot 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7- 17-2. In

Page 164

IP 266 Communication Between the CPU and the IP 2667 Communication Between the CPU and the IP 266The IP 266 can be plugged into slots 0 to 7 of the

Page 165

Communication Between the CPU and the IP 266 IP 266The IP 266 interchanges data with the programmable controller's CPU over the100U bus. To mak

Page 166

IP 266 Communication Between the CPU and the IP 266Table 7-3. Overview of the Output Frame1 Bit 70 Mode codesTOGGLEBit 60Bit 50Bit 4TRANSBit 3REVB

Page 167

Communication Between the CPU and the IP 266 IP 2667.1.1 Byte 0: ModeByte 0 is used for coding the modes, which you can invoke via a STEP 5 program.

Page 168 - 6 Fundamentals of COM 266

IP 266 Technical Description of the IP 266Locations of the interfaces on the IP 266The IP 266 communicates with the I/Os over three interfaces locat

Page 169 - 6.1.2 System Configuration

IP 266 Communication Between the CPU and the IP 2667.1.2 Byte 1: CommandsThe commands for executing a mode depend on the mode specified in byte 0.Ta

Page 170 - 6.1.3 Starting COM 266

Communication Between the CPU and the IP 266 IP 266The IP 266 scans this TOGGLE bit in each firmware cycle, and starts a new jobwhere appropriate (s

Page 171

IP 266 Communication Between the CPU and the IP 2667.1.3 Byte 2: Program Number, Reference Point orEEPROM RAM ParametersThe contents of this byte

Page 172

Communication Between the CPU and the IP 266 IP 266Example:Assuming you want to operate your drive in mode 1 (JOG 1) with an overridefactor of 75%.

Page 173

IP 266 Communication Between the CPU and the IP 266Binary-coded positions15 bits are provided for the integer portion of the number. It is thus poss

Page 174

Communication Between the CPU and the IP 266 IP 266Example 1:The drive is to be moved a distance of - 50.500 mm in "relative increment mode&quo

Page 175

IP 266 Communication Between the CPU and the IP 2667.1.6 Example of a Complete Output FrameThe drive is to be moved backward - 35.750 mm in "re

Page 176 - Data area:

Communication Between the CPU and the IP 266 IP 2667.2 Input Frame (IP 266 PLC CPU)The allocation of the bytes in the input frame depends on the s

Page 177

IP 266 Communication Between the CPU and the IP 266Table 7-8. Overview of the Input Frame0 Current modeByte DescriptionRecommen-ded dataformatKF1

Page 178

Communication Between the CPU and the IP 266 IP 2667.2.1 Byte 0: ModeThe IP 266 acknowledges the mode in byte 0. This value can be read in KF (fixed

Page 179

Technical Description of the IP 266 IP 2662.2 Interface to the ProgrammerYou can connect a programmer to the IP 266 via the programmer port. Theprog

Page 180

IP 266 Communication Between the CPU and the IP 2667.2.3 Byte 2: Status BitsBit 71Bit 61Bit 51Bit 41Bit 31Bit 21Bit 11Bit 01No valid machine dataNo

Page 181

Communication Between the CPU and the IP 266 IP 266Bit 3 = 1 The controller is on. This bit is always set when the position controlleris on.= 0 This

Page 182

IP 266 Communication Between the CPU and the IP 266Example 1:The reference point is set:The IP 266 services a job request in a controlled mode (e. g

Page 183

Communication Between the CPU and the IP 266 IP 266Example 2:The IP 266 receives a request to position the axis in a controlled mode (mode 1, 2or 7)

Page 184

IP 266 Communication Between the CPU and the IP 2667.2.5 Bytes 4 to 7: Input Values for the Monitoring FunctionsIn each firmware cycle, the IP 266 r

Page 185

8 Start-Up8.1 Configuring the System . . . . . . . . . . . . . . . . . . . . 8 - 18.1.1 IP 266 Limit Switches . . . . . . . . . . . . . . . . . . . .

Page 186 - 6.4.1 Entering Machine Data

Figures8-1. Location of the Programmer Interface andConnector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . .8- 58-2. Linear Axis

Page 187

IP 266 Start-Up8 Start-Up8.1 Configuring the SystemBefore putting the IP 266 into operation, you must check to make sure that youare using the right

Page 188

Start-Up IP 266 Check the following carefully:- The hardware start limit switch defines the start of the traversing range,and must be connected to

Page 189

IP 266 Start-Up8.1.2 The Power Section on the IP 266's Analog OutputThe power section must be connected to the IP 266's analog output. Ch

Page 190

IP 266 Technical Description of the IP 266C A U T I O N :Like the encoder interface, the programmer port is a 15-pin interface, and it istherefore p

Page 191

Start-Up IP 2668.1.4 The Incremental Position EncoderControl precision depends on the location of the encoder in the drive system. Asequence of move

Page 192

IP 266 Start-Up8.1.5 ProgrammerThe module is equipped with two 15-pin D subminiature interfaces. The pro-grammer must be connected to the one at the

Page 193

Start-Up IP 2668.1.6 Checking the Wiringok Check all cabling- Make sure that the control cable and the power cable aresufficiently far apart and wi

Page 194

IP 266 Start-Upok- 24 V supply- After making sure that all components are off circuit, attach thecables and screw them down.ok8.2 Computing the Mach

Page 195 - Data area for a linear axis:

Start-Up IP 266The following values are computed on the basis of this data:Table 8-2. Formulas for Computing the Machine DataMaximum velocity (spe

Page 196

IP 266 Start-UpComputing a set of machine data:Limits ExampleMachine data item0 to 99mm, in, deg.Linear, rotary11mmLinearThe following applies for a

Page 197

Start-Up IP 266All speeds must be lower than Vmax1 to 65000 mm/min1 to 65000 mm/minfwd./rev.1 to 65000 pulses/rev.0.001 to 400.000 mmyes, nopos/neg1

Page 198

IP 266 Start-Up8.3 Initializing the IP 266Before you can use the IP 266, you must first supply it with valid machine data.You have two options for e

Page 199

Start-Up IP 2668.4 Executing the Start-Up TestThe drive must be within the permissible traversing range before the IP 266 canbe tested together with

Page 200

IP 266 Start-UpFor testing, a set of machine data and a traversing program are stored onEEPROM. Since this data does not necessarily coincide with y

Page 201

Technical Description of the IP 266 IP 266Figure 2-4. Position Encoder Interface Location and Pin AssignmentsFAULTANALOGOUTENCODER6PG1514131211109

Page 202

Start-Up IP 266Testing the encoder's direction of rotationC A U T I O N :If the encoder rotates in the wrong direction, there is direct feedbac

Page 203

IP 266 Start-Up Select mode 3 (Controlled jog). Select a low speed (approx. 1-5 %) via "Override". Select the "Forward" funct

Page 204

Start-Up IP 266Refer to the following figure when you want to simulate tripping of a limit switchwithin the traversing range:Figure 8-2. Linear Ax

Page 205

IP 266 Start-UpTesting the following error Travel a considerable distance in mode 1 or 2 ("Jog 1" or" Jog 2"), observe thefollo

Page 206

Start-Up IP 266Possible errors:1. The drive does not move although "Reference point set" is displayed.You have accidentally executed a &qu

Page 207

IP 266 Start-UpTeach-In Select mode 10 ("Teach-in on"). Specify a program number. Start mode 10. Return info: Teach-in: onok Approach

Page 208

Start-Up IP 266 Generate an error such as "External STOP".The error is flagged on the programmerok Start mode 17. The error is acknowle

Page 209

9 STEP 5 Programming9.1 What to Observe when Programming . . . . . . . 9 - 19.1.1 General Information on Program Structure . . 9 - 19.1.2 Edge Evalu

Page 210 - F1 F7 F1 F3

Figures9-1. Using a Linear Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9- 9EWA 4NEB 812 6057-02

Page 211

IP 266 STEP 5 Programming9 STEP 5 Programming9.1 What to Observe when Programming9.1.1 General Information on Program StructureWhen programming the

Page 212 - F1 F7 F3 F2

IP 266 Technical Description of the IP 266In addition to incremental position encoders made by Siemens, you may also usenon-Siemens encoders which c

Page 213

STEP 5 Programming IP 2669.1.2 Edge Evaluation and ModesThe preferable technique to ensure a readout of the latest status info is edgeevaluation.Seq

Page 214

IP 266 STEP 5 Programming9.1.3 Programming the TOGGLE BitA change in the value of the TOGGLE bit informs the IP 266 that a new jobrequest is waiting

Page 215

STEP 5 Programming IP 2669.1.5 Automatic Synchronization in OB 1Mode 99 is the first mode the IP 266 will accept. Only then can one of the modes1 to

Page 216

IP 266 STEP 5 Programming9.2 Switches, Indicators and Flags in the Sample ProgramsMaintained-contact/momentary-contact switchesAll control elements

Page 217

STEP 5 Programming IP 266Indicator elements/outputsOutput Lights when/is on whenQ 2.0 No external start enable signal (IP pin 7)Q 2.1 IP not initial

Page 218

IP 266 STEP 5 ProgrammingFlags, auxiliary flags and edge flagsFlag FunctionF 4.0 Auxiliary flag for STARTF 4.1 Edge flag for STARTF 4.2 Auxiliary fl

Page 219

STEP 5 Programming IP 266Flag Function RemarksF 6.0 STARTF 6.1 STOPF 6.2 FORWARDF 6.3 REVERSEF 6.4 TRANSFERF 6.5F 6.6F 6.7FB 6 is transferred to byt

Page 220

IP 266 STEP 5 Programming9.3 Description of Sample Program 1A workpiece is to be machined on an assembly line comprising several assemblybays. The f

Page 221

STEP 5 Programming IP 2669.4 Sample Program 1: Overall StructureFor better readability, many subfunctions have been programmed in separateFBs. The d

Page 222 - 6.6 COM 266 Test Mode

IP 266 STEP 5 Programming9.4.1 Cold S5-100U RestartBefore you can work with the IP 266 following a cold S5-100U restart, you mustwait for completion

Page 223

12345System OverviewTechnical Description of the IP 266Installation GuidelinesFundamentals of PositioningMachine Data, Modes and Traversing ProgramsKe

Page 224

Technical Description of the IP 266 IP 266Figure 2-5. Connection Diagram for the Encoder Connecting CableA10.576910111234215681341110212Shield on

Page 225

STEP 5 Programming IP 2669.4.2 Cyclic Operation with OB 1At the beginning of each OB 1 cycle, a check must be made to see whether theIP 266 has been

Page 226

IP 266 STEP 5 Programming Call FB for IP 266 synchronization viamode 99 in dependence on the statusbits in the input message.AN I 66.0S F 5.0JC FB

Page 227

STEP 5 Programming IP 2669.4.3 FB 26: Control FB for the IP 266The following steps are executed in succession in this FB:• Read input message (PII)•

Page 228

IP 266 STEP 5 ProgrammingCall FB 20 FB 20 Invoke mode 4ErrorWrong positioncontrol direction orbreak in positioncontrol loopyesnoJump to StopExternal

Page 229

STEP 5 Programming IP 266Set outputsaccording to RLO2FB 5FB 2 Job ter-minated and axis notin position?Set output accordingto RLO 3 Referencepoint mi

Page 230

IP 266 STEP 5 Programming3FB 6FB 8FB 9FB 21 StartFB 23 FWD/REVFB 24 TRANS4Mode 6selected?yesnoMode 8selected?yesnoMode 9selected?yesnoMode 5, 6, 8

Page 231

STEP 5 Programming IP 266 4UnconditionalSTOP callFB 22 STOPEdgeflag set?yesFB 25 TOGGLEENDUnconditional STOP callSTOP JU FB 22NAME STOPCall the TOGG

Page 232 - Function key menu:

IP 266 STEP 5 Programming9.4.4 Selecting Modes via IB 4All modes are selected in FB 26. In almost all cases, the number of the FB is iden-tical to t

Page 233

STEP 5 Programming IP 266FB 2: Jog 2 with override specificationWhen the mode number has been entered into QB 64, input 3.6 is scanned. Selectan ove

Page 234

IP 266 STEP 5 ProgrammingFB 4: Follow-up modeThe only entry made in this FB is the mode number. In the sample program, thismode cannot be selected v

Page 235 - 6.7 Output

IP 266 Technical Description of the IP 2662.4 Interface to the Motor Power SectionThe IP 266 can output an analog setpoint speed of ±10 V over the 9

Page 236

STEP 5 Programming IP 266FB 6: Increment mode absoluteIn addition to the mode number, this mode requires specification of an overridefactor and an a

Page 237 - 6.8 Delete

IP 266 STEP 5 Programming Enter modeENDOverride 60 %Target -360.600 mmOverride 30%Target+360.800 mmI 4.5= 1yesnoSTARTFB 6 - NAME:MO6Selecting mode 6

Page 238

STEP 5 Programming IP 266FB 8/FB 9: Automatic mode/Automatic single block modeIn both cases, enter the number of the mode in QB 64 and the number of

Page 239

IP 266 STEP 5 Programming"External start enable" switchThe "External start enable" switch must be wired as an NC contact. The IP

Page 240 - 6.9 Information

STEP 5 Programming IP 266Every "Command FB" includes the following code-evaluation routine: Input setAND auxiliary flagnot set?Edge flag =

Page 241

IP 266 STEP 5 ProgrammingThe edge flag for programming the TOGGLE bit is also required (FB 25/FB 26). FB 21 - NAME:STARTSTARTJob in progress?noyesEv

Page 242

STEP 5 Programming IP 266 FB 22 - NAME:STOPSTARTEvaluate auxiliaryand edge flagsLoad bit 1 = 1(QB 65) into FY 6ENDEdge flag = 0?yesnoProgramming the

Page 243 - 6.10 COM 266 Error Messages

IP 266 STEP 5 ProgrammingFB 23 - FORWARD/REVERSETwo inputs are scanned in this FB to gather the information required to programthe auxiliary and edg

Page 244

STEP 5 Programming IP 266FB 24 - TRANSFERIn the example, the TRANSFER command is allowed only as long as the job is notyet "TERMINATED". I

Page 245

IP 266 STEP 5 Programming Bit 7 is set to "1" inFY 6 (preset inFB 21 to 24).FY 6 is loaded intoQB 65.Was TOGGLEbit="1"?Bit 7 is

Page 246

Technical Description of the IP 266 IP 266C A U T I O N :The connection information provided by the power equipment manufacturerand the general inst

Page 247

STEP 5 Programming IP 266Reading of the input frame (PII) is only outlined. In practice, you would programthe response to specific system states to

Page 248

IP 266 STEP 5 Programming9.5 Sample Program 2: Traversing to Two Fixed TargetPositionsA second sample program is to be written to move the drive fro

Page 249 - 7.1.1 Byte 0: Mode

STEP 5 Programming IP 266In FB 11, flag 3.0 is set in dependence on the Job Terminated bit. If this flag is notset, FB 11 is simply exited. If it is

Page 250 - 7.1.2 Byte 1: Commands

IP 266 STEP 5 ProgrammingSTARTFB 12 - NAME:LOADProgram outputbytes 64 and 67 to 71ENDMode 7 requires the following data:• Mode number in QB 64• Over

Page 251

STEP 5 Programming IP 266When a job request is allowed and the output frame has been programmed, thestart command must be loaded into QB 65 and the

Page 252 - 7.1.4 Byte 3: Override Factor

IP 266 STEP 5 Programming"Automatic" positioning sequence as per example 2State 1: Job terminated and flag 3.0=0; no job initiated, drive

Page 253

10 Troubleshooting10.1 Types of Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 - 110.2 List of Errors and Possible Causes . . . .

Page 254

IP 266 Troubleshooting10 TroubleshootingThis section provides detailed information on the errors which may occur whenusing the IP 266.During direct

Page 255

Troubleshooting IP 266Machine dataerrorsTraversingprogram errorsMass storageerrorsIM 511 errors(programmer)Module errorsGeneral errorsF02 Wrong reso

Page 256

IP 266 Troubleshooting10.2 List of Errors and Possible CausesDue to the exceptionally large number of errors which may be flagged on thePLC, it is n

Page 257

IP 266 Technical Description of the IP 266C A U T I O N :Always connect reference potential L- (pin 2 on the terminal block) with theprogrammable co

Page 258

Troubleshooting IP 266Recovery ProceduresWrong resolutionThe resolution must lie in the range from 0.1 to 99.9, and is computed asfollows:The unit o

Page 259 - 7.2.2 Byte 1: M Function

IP 266 TroubleshootingF09 Vmax is too lowThe low limit of the programmed maximum speed depends on theresolution A [µm/pulse] ("travel per encod

Page 260 - 7.2.3 Byte 2: Status Bits

Troubleshooting IP 266TroubleshootingError CodeCross-ReferenceZero offset too largeEvery zero offset may assume values in the range +/-32767.999 mm.

Page 261

IP 266 TroubleshootingError CodeRecovery ProceduresCross-ReferenceF15 Field cannot be exited Section 5.4F14 Block syntax incorrect Section 5.5.4F13

Page 262 - The reference point is set:

Troubleshooting IP 266Error CodeRecovery ProceduresCross-ReferenceBlock number missingF26Block complete Function keyF27Momentary (current) G-funct

Page 263 - 7.2.4 Byte 3: Error Flags

IP 266 TroubleshootingError CodeRecovery ProceduresCross-ReferenceFile missingF3CDirectory fullF3DDisk fullF3EIncorrect fileF3FSyntax or name not co

Page 264

Troubleshooting IP 266Error CodeRecovery ProceduresIncorrect hardware limit switch polarityThe only permissible values are "0" (NO contact

Page 265

IP 266 TroubleshootingError CodeRecovery ProceduresSpeed range exceededEither the override factor is not within the range 1% to 200% or the speedsel

Page 266

Troubleshooting IP 266Error CodeRecovery ProceduresF8C Wrong PCB (module) numberOnce the positioning module contains at least one correct machine da

Page 267 - 8 Start-Up

IP 266 TroubleshootingError CodeRecovery ProceduresOperating mode prohibited in Teach-InOnly jog modes 1 to 3 and increment modes 6 and 7 are permit

Page 268 - Start-Up IP 266

Technical Description of the IP 266 IP 2662.5.2 Reference Point Switch (Pin 4)The drive system is synchronized by reference point approach. The refe

Page 269 - 8.1.3 Drive System Mechanics

Troubleshooting IP 266Error CodeRecovery ProceduresCross-ReferenceSub-program DB-No too largeThe DB number must lie in the range from 1 to 255.FA4Wa

Page 270

IP 266 TroubleshootingError CodeRecovery ProcedureCross-ReferenceInvalid position control directionThe encoder's position control direction is

Page 271 - 8.1.5 Programmer

Troubleshooting IP 266Error CodeRecovery ProceduresCross-ReferenceFB6 Error in position control loopThere is no change in the actual position even t

Page 272

IP 266 TroubleshootingError CodeRecovery ProceduresCross-ReferencePrinter not initialized!COM 266 takes the printer parameters from S5-DOS to print

Page 273 - IP 266 Start-Up

IndexEWA 4NEB 812 6057-02

Page 274

IP 266 IndexIndexAAcceleration rate 5-11- Forward 5-11, 6-22,6-23- Reverse 5-11, 6-22,6-23Actual position 2-15, 5-13- Read 5-66Actual value 4-5, 4-6

Page 275

Index IP 266Blank cycle 9-1Braided shield 3-3Bus module slot 3-5CCable- Connection 3-2- Length 8-4- Shielding 3-2, 3-3Calibrating- Axis 5-9- Power s

Page 276

IP 266 IndexDeceleration rate b max- Maximum 5-11, 6-22,6-23, 8-8- Reverse 5-11, 6-22,6-23Decimal digit 7-8, 7-9, 7-19Degrees 5-4Delete 6-70DELETE-

Page 277 - 8.3 Initializing the IP 266

Index IP 266Encoder- Monitor 2-23- Signal 2-5- Symmetrical 2-5, 6-25- Type 5-4, 6-24, 6-25Encoder (5 V)- Symmetrical 8-4Encoder (24 V)- Asymmetrical

Page 278

IP 266 IndexForward (FWD) 6-65, 7-3, 7-5Frame 7-1FUM 2-10, 2-15- Signal 8-6Function 5-23- 1 (L) 6-45, 6-47- 2 (G) 6-45, 6-47- 3 (X) 6-45, 6-47- 4 (F

Page 279

IP 266 Technical Description of the IP 2662.5.4 External Start Enable (Pin 7)"External Start Enable" allows you to make the start of a pos

Page 280

Index IP 266Increment mode relative 5-41Incremental encoder 8-14Incremental position encoder 2-5, 8-3, 8-4Incremental speed 5-10, 5-47,5-48, 6-32,6-

Page 281

IP 266 IndexKKOMI screen form 6-3Kv (servo gain) factor 5-12, 5-13,5-19, 6-24,6-25, 8-8LL function 5-71Last block 5-91Latching 5-72LED flashes 2-22L

Page 282

Index IP 266Mode- Screen form 6-63- Select 6-66- Table 6-56Mode select- Auxiliary screen form 6-65- Help form 6-66- Mode 6-56, 6-63Mode select form

Page 283

IP 266 IndexOutput message 7-1, 7-2- Overview 7-3Override 6-57, 6-60,6-63, 6-64- Factor 5-24, 5-25,6-64, 7-7Overswing 5-19Overview- Input frame 7-13

Page 284

Index IP 266Printer 6-21, 6-36,6-39, 6-75- Initialization 6-38Printout 6-21, 6-39- Function 6-37- Machine data 6-37- Procedure 6-21- Screen form 6-3

Page 285

IP 266 IndexRepresentation- DIN 66 025 6-40- Text mode 6-40Reproducibility- Reference point 5-20, 5-35,5-36Reset 5-63, 8-5Reverse 6-65REVERSE (REV)

Page 286

Index IP 266Speed 5-9, 5-46,5-47, 5-90,6-59, 6-61- Controller 1-6- Incremental 6-32, 6-33- Motor 8-7- Setpoint 4-2Standstill (zero-speed) monitor 6-

Page 287

IP 266 IndexTest- Axis 8-13- Start-up 8-12- Screen form 6-56”TEST” form- Hierarchical structure 6-56- Output fields 6-61Test mode 6-55, 8-13- Exit 6

Page 288

Index IP 266VVelocity- Ramp 4-7- Setpoint 4-2Voltage-speed- Characteristic 5-63WWatchdog 5-63Wirebreak 3-1Wiring 8-6Write cycle 5-65XX function 5-89

Page 289 - 9 STEP 5 Programming

REMARKS FORMYour comments and recommendations will help us to improve the quality andusefulness of our publications. Please take the first available o

Page 290 - STEP 5 Programming IP 266

Technical Description of the IP 266 IP 266Table 2-2. Effect of "External Start" on Single Job Orders and Automatic ProgramsIP 266 actions

Page 291 - 9.1.4 Error Analysis

Siemens AGAUT E1114BPostfach 1963Werner-von-Siemens-Str. 50D-92209 AmbergFed. Rep. of GermanySuggestions and /or correctionsFrom:NameFirm/Dept.Address

Page 292

IP 266 Technical Description of the IP 2662.5.5 Function Signal FUM (Pin 8)The IP 266 outputs the FUM signal when it is ready for operation and has

Page 293 - IP 266 STEP 5 Programming

Technical Description of the IP 266 IP 266Figure 2-9. "Position Reached" Signal as a Function of Zero-Speed Monitoringa: Setpoint charac

Page 294

IP 266 Technical Description of the IP 266Table 2-3 shows the conditions under which the "Position Reached" signal is set.Table 2-3. Swi

Page 295

IP 266 PrefacePrefaceThe IP 266 is a powerful intelligent I/O "positioning" module that was developedspecially for installation in the S5-

Page 296

Technical Description of the IP 266 IP 266ExceptionsA large non-compensated drift or a large load may result in the setpoint reachingthe target posi

Page 297

IP 266 Technical Description of the IP 266Example 1This example examines the performance characteristics of the IP 266 when the"External Start

Page 298

Technical Description of the IP 266 IP 266Example 2The machining program described in example 1 is started, but the "External StartEnable"

Page 299 - 9.4.1 Cold S5-100U Restart

IP 266 Technical Description of the IP 266 The "External Start Enable" signal starts the first block of the machiningprogram. A short pu

Page 300

Technical Description of the IP 266 IP 2662.6 Fault LEDThe module is equipped with a red fault LED which is located at the right of theanalog output

Page 301 - IP synchron

IP 266 Technical Description of the IP 2662.7 IP 266 MonitorsThe IP 266 is equipped with a number of monitors for monitoring its I/Os. Some ofthese

Page 302

Technical Description of the IP 266 IP 266Note:Software monitoring is possible only in the closed-loop control (automatic)modes.In the event of an &

Page 303 - Invoke mode 4

IP 266 Technical Description of the IP 266Error recoveryRectify the error by interchanging the signal lines.Symmetrical encoders (5 V) Asymmetrical

Page 304 - Reference

Technical Description of the IP 266 IP 2662.8 Technical SpecificationsElectrical SpecificationsPower loss : 4.5 W typ.Microprocessor : iAPx80C188Pro

Page 305

IP 266 Technical Description of the IP 266Electrical SpecificationsInput currents 5 V : to RS 42224 V : 7.3 mA typ.Digital inputsInput voltage rang

Page 306

IP 266 IntroductionIntroductionThe information presented below is aimed at simplifying use of the manual.ContentsThe contents of the manual can be s

Page 307

3 Installation Guidelines3.1 Safety Requirements . . . . . . . . . . . . . . . . . . . . . . . 3 - 13.2 Cable Connections on the IP 266 . . . . . . .

Page 308

Figures3-1. Linear Axis with Range Limit Switches . . . . . . . . . . . . . . . . 3 - 23-2. Shielding the Cables to the IP 266 in a Cabinet . . . . .

Page 309

IP 266 Installation Guidelines3 Installation Guidelines3.1 Safety RequirementsIt is absolutely essential to the overall safety concept that the swit

Page 310

Installation Guidelines IP 266Figure 3-1. Linear Axis with Range Limit Switches100UStart ofmachineEnd ofmachineTableN AH AS AS EH EN ETraversing r

Page 311

IP 266 Installation GuidelinesThe following applies as regards cable shielding:• The cable shields must be placed on a shield bus near the cable inl

Page 312

Installation Guidelines IP 266The diagram below illustrates the principle of bilateral shielding.Sheath wireCabinet I/O (power section/encoder)Figur

Page 313

IP 266 Installation GuidelinesThe IP 266 can be addressed in the same manner as an analog module in slots0 to 7.To install the IP, you need a free b

Page 314

Installation Guidelines IP 2663.4 Replacing the Position EncoderThe steps you must take to remove the encoder for repair or replacement arelisted be

Page 315

4 Fundamentals of Positioning4.1 Positioning Methods . . . . . . . . . . . . . . . . . . . . . . . 4 - 14.2 Components of a Position Control System .

Page 316

Figures4-1. Positioning Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 14-2. Open-Loop Positioning . . . . . . . . . . . . .

Page 317

Introduction IP 266• Fundamentals of COM 266This section provides information on how to- make a back-up copy of the COM 266 floppy- install COM 266

Page 318

IP 266 Fundamentals of Positioning4 Fundamentals of PositioningPositioning means bringing a load to a certain position within a specific period ofti

Page 319

Fundamentals of Positioning IP 266A setpoint generator is required for programmable positioning operations,regardless of whether positioning is in a

Page 320

IP 266 Fundamentals of PositioningClosed-loop positioningWhen positioning under closed-loop control, the drive's current actual position iscomp

Page 321 - Positions

Fundamentals of Positioning IP 2664.2 Components of a Position Control SystemThe IP 266's position controller enables precise positioning of th

Page 322

IP 266 Fundamentals of Positioning• I/OThe term "I/O" is used collectively for all other auxiliary facilities.The most important of these

Page 323

Fundamentals of Positioning IP 266Driven by the power section, the drive travels a specific path. In accordance withthe distance traversed, the posi

Page 324 - Was the last

IP 266 Fundamentals of Positioning4.3.3 Relationships Between a(t), v(t) and s(t)In order to position to a defined target, the drive must be mo

Page 325

Fundamentals of Positioning IP 266The IP 266 takes into consideration only a constant acceleration or decelerationrate for each direction. This resu

Page 326

5 Machine Data, Modes and Traversing Programs5.1 Machine Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5- 15.1.1 Hardware Description .

Page 327 - 10 Troubleshooting

5 Machine Data, Modes and Traversing Programs (continued)5.3.15 Enable Tool Offset (TO) (Mode 15) . . . . . . . . . 5 - 565.3.16 Disable Tool Offset

Page 328 - Troubleshooting IP 266

IP 266 IntroductionTraining coursesSiemens offers an extensive range of training courses for the SIMATIC STEP 5system.For details, please contact yo

Page 329 - IP 266 Troubleshooting

Figures5-1. Encoder Signal Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 75-2. Linear Axis with Range Limit Switches (not to scal

Page 330 - Pulses

Figures (continued)5-26. Voltage - Speed Characteristic with Drift Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 331 - A [µm/pulse] · 60

Tables5-1. IP 266 Machine Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 25-2. Speeds for Jog Mode . . . . . . . . . . . . . .

Page 332

IP 266 Machine Data, Modes and Traversing Programs5 Machine Data, Modes and Traversing ProgramsThe IP 266 can execute positioning operations only wh

Page 333

Machine Data, Modes and Traversing Programs IP 266Table 5-1. IP 266 Machine DataMachine Data ItemMachiningrange Section 5.1.3Software limit switc

Page 334

IP 266 Machine Data, Modes and Traversing ProgramsTable 5-1. IP 266 Machine Data (continued)Parameter ValueSpecificationsMachine Data ItemPermissi

Page 335

Machine Data, Modes and Traversing Programs IP 2665.1.2 Position Decoding and ResolutionUnit of measureYou may use one of the following units of mea

Page 336

IP 266 Machine Data, Modes and Traversing ProgramsPulses per encoder revolutionThe "pulses per encoder revolution" can be found in the dat

Page 337

Machine Data, Modes and Traversing Programs IP 266Example 1:An incremental encoder generates 1000 pulsesper revolution. During this time, the refere

Page 338

IP 266 Machine Data, Modes and Traversing ProgramsEncoder direction of rotationThe direction in which the encoder revolves is ascertained from the e

Page 339

Introduction IP 266• Electronic Feed Drives for Machine ToolsHans GroßOrder No.: ISBN 3-8009-1338-0ConventionsTo improve readability, the manual has

Page 340

Machine Data, Modes and Traversing Programs IP 266Note:The software limit switches are active only when a valid reference point is set.Target specif

Page 341

IP 266 Machine Data, Modes and Traversing ProgramsReference coordinateThe reference point is used to calibrate the axis. Its location can be specifi

Page 342

Machine Data, Modes and Traversing Programs IP 266Jogging speedFor jog mode, you must define four speeds in the machine data.Table 5-2. Speeds for

Page 343

IP 266 Machine Data, Modes and Traversing Programs5.1.5 Acceleration RatesIn order to reach the speed initialized for the specified mode, the drive

Page 344

Machine Data, Modes and Traversing Programs IP 266Example 2:When the drive reaches a hardware limit switch, it decelerates at the maximumdeceleratio

Page 345 - IP 266 Index

IP 266 Machine Data, Modes and Traversing ProgramsThe maximum Kv factor depends on• the drive's design or dynamic response and• the quality of

Page 346 - Index IP 266

Machine Data, Modes and Traversing Programs IP 266Figure 5-7. Following Error in Dependence on Setpoint and Actual Valuest0tt1 saba: Setpoint charac

Page 347

IP 266 Machine Data, Modes and Traversing ProgramsFollowing error monitoringYou can choose between "ENABLE" and "DISABLE". If yo

Page 348

Machine Data, Modes and Traversing Programs IP 266Example: Using a zero offset (ZO)Figure 5-8. Using a Zero Offset0 10 20 30 40 50

Page 349

IP 266 Machine Data, Modes and Traversing ProgramsAlso note that• the software limit switches• the reference point and• the actual valueare recomput

Page 350

IP 266 Introduction• Information of particular importance is flanked by two gray bars. A key wordor phrase in the upper bar indicates the type of in

Page 351

Machine Data, Modes and Traversing Programs IP 266Tool offset (TO)The tool offset is a coordinate shift, and is used to compensate for tool wear.The

Page 352

IP 266 Machine Data, Modes and Traversing ProgramsFigure 5-9. Backlash Outside the Control Loop (compensatible)BacklashM : Motor T: Tachogenerator

Page 353

Machine Data, Modes and Traversing Programs IP 2665.1.8 Miscellaneous ParametersDirection of the reference point approachTo enable exact reproducibi

Page 354

IP 266 Machine Data, Modes and Traversing Programs5.2 Modes and How to Invoke ThemThe IP 266 provides a large variety of options for positioning, co

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Machine Data, Modes and Traversing Programs IP 266The table below provides an overview of all IP 266 modes and a section referencefor each. You can

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IP 266 Machine Data, Modes and Traversing Programs5.3 IP 266 ModesA mode is invoked on the IP 266 by entering an operator command. An operatorcomma

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Machine Data, Modes and Traversing Programs IP 266Figure 5-11 illustrates a positioning operation in the "Jog 1" mode. "Forward"

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IP 266 Machine Data, Modes and Traversing ProgramsIf you want to change the speed during travel, simply forward the appropriateOverride factor to th

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Machine Data, Modes and Traversing Programs IP 2665.3.2 Jog 2 (Mode 2)Jog 2ModeOverride 1 to 200%ParametersForward/Reverse/Stop/ExecFunctionIn essen

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IP 266 Machine Data, Modes and Traversing ProgramsIf the power section is correctly calibrated, the speed displayed and the actualspeed are identica

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