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Machine Data, Modes and Traversing Programs IP 266

Before approaching a reference point, you must make a distinction between four

different situations. The criteria for making this distinction are

• the position of the drive prior to the reference point approach (position A, B,

C or D)

• the direction from which the reference point is approached

The four examples below describe a reference point approach in dependence on

the starting position of the drive.

The prerequisites listed in Table 5-6 apply to all four examples.

Table 5-6. Prerequisites for the Reference Point Approach (Examples A to D)

Data item

Reference point coordinate

Reference point approach speed 2

Reference point approach speed 1

Direction of reference point approach

Value/Specification

2000 mm/min

200 mm/min

0.000 mm

Reverse

Machine Data

Example A: The drive is in front of the reference point switch.

Start the reference point approach with "Start". The drive then executes the

following movements in succession:

1. First, the axis accelerates in a forward direction, the IP 266 accelerating it at

the specified acceleration rate. The drive thus accelerates toward the refer-

ence point switch.

2. When reference point speed 1 has been reached, the drive continues at a

constant speed.

3. The movement is decelerated when

- the drive has reached the reference point switch and

- this switch is once again opened.

4. When the drive has come to rest, the IP 266 changes the direction of the

reference point approach (to reverse). The drive again accelerates until it

reaches reference speed 1.

5. When the edge of the signal from the reference point switch goes to 1, the

IP 266 decelerates the drive to reference speed 2.

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EWA 4NEB 812 6057-02

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Siemens IP-Module Manual Pagina 102