Siemens IP-Module Manual

SIMATIC S5IP 266Positioning ModuleManualEWA 4NEB 812 6057-02

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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).

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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

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

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

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

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%.

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

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

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

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

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

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

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

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

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

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

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)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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)•

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

IndexEWA 4NEB 812 6057-02

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

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

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-

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

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

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

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-

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

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

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

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

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)

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-

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 &

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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