SIEMENS
SIMATIC
S5
Positioning Module
1P
247
for Stepper Motors
Manual
.,
f
Order No.: 6ES5998-5SB22
Release 02
Contents
Warning
C79000-R8576-C707
Information
Suggestions/Corrections
Reference Manual
C79000-B8576-C707 -02
List of Contents
Notes on Using the Manual
Fundamentals of Positioning
Reference Manual
Hardware
InstructIons
Functions
Reference Manual
COM 247 Communications Software
User’s Guide
Standard Function Blocks
FB164
and
FB165
User’s Guide
Planning, Installation and Service
Installation and Start-up Guide
Index
6ES5998-5SB22, Release 02
1
2
3
5
6
7
9
10
We have checked
the
conteots of
th!s
manual for agreement
wtth
the The reproductmn, tra”smmslon
or
use
01
thts
document or
IIS
con.
hardware and software descr!bed Since devlat!ons cannot be pre. tenfs
IS
not perm!tted without express wrtlten author!ly.
eluded
entcrely,
we cannel guarantee full agreement However, the Offenders
WIII
be Itable for damages All rights, Including rights
data
,.
!h,
s manual are
reww?wed
<egularly
and
any
necessary correc. created by patent grant or regmfratmn of a
ut;
ltty model
or
destgn,
tmns Included
In
subsequent edllmns.
Suqgeslsons
for improvement are reserved
are welcomed
Techntcal data subfect to chanqe
Copyr#ght
a
Slemens
AG
1990 All Rights Reserved
Siemens Aktiengesellschaft 6ES5998.5SB22
Eleklronlkwerk Karlsruhe
Pr,
”ted in
the
Fedwal
Republ!c
of
Germany
I
.
. .
Guidelines for Handling
Electrostatically Sensitive Devices
(ESD)
1 What is
ESD?
VSLI chips (MOS technology) are used in practically all
SIMATIC
S5 and TELEPERM M mod-
ules. These VLSI components are, by their nature, very sensitive to
overvottages
and thus to
electrostatic discharge:
They are therefore defined as
“Electrostatically
sensitive
@vices”
“ESD”
is
the abbreviation used internationally.
The following warning label on the cabinets,
subracks
and packing indicates that electrostatically
sensitive components have been used and that the modules concerned are susceptible to touch:
#k\
\,
AL
ESDS
can be destroyed by voltage and energy levels which are far below the level perceptible to
human beings. Such voltages already occur when a component or a module is touched by a
person who has not been electrostatically discharged. Components which have been subjected
to such overvoltage cannot, in most cases, be immediately detected as faulty; the fault occurs
only after a long period in operation.
An electrostatic discharge
- of 3500 V can be felt
of 4500
V
can be heard
must take place at a minimum of 5000 V to be seen.
But just a fraction of this voltage can already damage or destroy an electronic component.
The typical data of a component can suffer due to damage, overstressing or weakening caused
by electrostatic discharge; this can result in temporary fault behavior, e.g. in the case of
- temperature variations,
mechanical shocks,
vibrations,
- change of load.
Only the consequent use of protective equipment and careful observance of the precautions for
handling such components can effectively prevent functional disturbances and failures of
ESD
modules.
o
s,mn~
AG
c7goo0-D80?&cxj3
-01
1
I
.
ESD
Guidelines
m
.
.
.
2
When is a Static Charge Formed?
One can never be sure whether the human body or the material and tools which one is using
are not electrostatically charged.
Small charges of 100 V are very common; these can, however, very quickly rise up to 35000 V.
Exampfes
of static charge:
-
Wafking
on a carpet up to 35000 v
- Walking on a PVC flooring up to 12000 v
-
Sitting on a cushioned chair
I@
to 18000 V
- Plastic
desoldenng
unit
I@
to 8000 V
- Plastic coffee cup up to 5000 v
- Plastic bags up to 5000 v
-
Books, etc. with a plastic binding
Up
to 8000 V
3 important Protective Measures against Static Charge
. Most plastic materials are highly susceptible to static charge and must therefore be kept as
far away as possible from
ESDS.
. Personnel who handle
ESDS,
the work table and the packing must all be carefully grounded.
4 Handling of
ESD
Modules
One basic rule to be
obsewed
is that electronic modules should be touched by hand
only if this is necessary for any work required to be done on them. Do not touch the
component pins or the conductors.
Touch components only if
- the person is grounded at all times by means of a wrist strap
or
- the person is wearing special anti-static shoes or shoes with a grounding strip.
Before touching an electronic module, the person concerned must ensure that
(s)he
is
not carrying any static charge. The simplest way is to touch a conductive, grounded
item of equipment (e.g. a blank metallic cabinet
p-,
water pipe, etc.) before
touching
the module.
Modules should not
be
brought into contact with insulating materials or materials which
take up a static charge, e.g. plastic foil, insulating table tops, synthetic clothing, etc.
Modules should only be placed on conductive surfaces (table with anti-static table top,
conductive foam material, anti-static plastic bag, anti-static transport container).
Modules should not be placed in the vicinity of monitors, TV
sets (minimum distance
from screen > 10 cm).
O
s,emen~
#@
c7goo0-DEo76-C333
-01
I
ESD
Guidelines
The diagram below shows the required protective measures against electrostatic discharge.
Standing position
Q
n
r%
b
d
e
a
f
\
+
[
f
+
b
\
r
1
c
a
\
Standing/sitting position
aConductive
flccmng
b
Arm=smc
table
c
AntMabc shoes
d
Arm-smc
coat
e
Grounding wrist strap
f
Grounding common of the cabinets
Sitting position
5 Measurements and Modification to
ESD
Modules
Measurements on modules may only be earned out under the following conditions:
The measuring equipment is grounded (e.g.
via
the PE conductor of the power supply
system) or
when electrically isolated measuring equipment is used, the probe must be discharged
(e.g. by touching the metallic casing of the equipment) before beginning measurements.
Only grounded soldering irons may be used.
6 Shipping of
ESt)
Modules
Anti-static packing material must always be used for modules and components, e.g.
metalized
plastic boxes, metal boxes, etc. for storing and dispatch of modules and components.
If the container itself is not conductive, the modules must be wrapped in a conductive material
such as conductive foam, anti-static plastic bag,
alummium
foil or paper.
Normal
plastic
bags or
foils should not be used under any circumstances.
For modules with built-in batteries ensure that the conductive packing does not touch or
short-
circuit the
battery
connections; if necessary cover the connections with
insulating
tape or
material.
@
S,ernens
AG
C79000-D8076-C333 -01
3
Contents
Contents
1
1.1
1.2
2
2.1
2.2
2.3
2.3.1
2.4
2.5
2.5.1
2.5.1.1
2.5.1.2
2.5.2
2,5.2,1
2.5.2.2
2,5.3
2.5.3.1
2.5.3.2
2.5,3.3
2,5.3.4
2.5.3.5
2.5.3.6
2.5.3.7
2.5.3.8
2,5.3.9
Notes
Notes on Using the Manual
Important Notes on Safety
Fundamentals of Positioning
Introduction
A Brief Introduction to the IP247
Positioning Axes
What is Positioning?
How Does the IP247 Execute a Positioning Job?
Machine Data and their Structure
Machine Data for the Power
Unit
Polarity
Pulse Duration
Machine Data for the
Steppel
Motor
Pulses per Revolution
Number of Excitation Patterns
Machine Data for the plant
Axis Type (Linear or Rotary Axis)
The Linear Axis
The Rotary Axis
Transmission Ratio
Maximum Frequency
Start-Stop Frequency
Rate of Frequency I
ncrease
Range Limits (Software Limit Switches)
Backlash Compensation
2,5,3,1
()
The polarity of
”the
Hardware Limit Switches
2.5.4
2.5.4.1
2.5.4.2
2.5.4.3
2.5.4.4
2.5.4.5
2.5.4.6
2.5.5
2.5.5.1
2.5.5.2
2.5.6
2.6
2.6.1
2,6.2
2.6.3
2.6.4
Machine Data for Operation
Measurement System
Speeds
Reference Point Synchronized
Reference Point Coordinate
Reference Direction
Target Information from PC is BCD-Coded
Machine Data for Machining Programs
Tool Length Offset
Zero Point Offset
Other Parameters
Machining Programs and their Structure
General
Program Header
Program Statements
The N-function
1-1
1-1
1-4
2-1
2-1
2-2
2-4
2-4
2-6
2-7
2-8
2-8
2-10
2-1o
2-10
2-11
2-11
2-11
2-12
2-13
2-14
2-14
2-15
2-15
2-18
2-19
2-20
2-21
2-21
2-21
2-23
2-23
2-24
2-25
2-26
2-26
2-27
2-28
2-30
2-30
2-31
2-32
2-33
Siemens
AG”c79000-B8576-c707-ol
o-1
Contents
2.6.5
The L-Function 2-33
2.6,6
The G-Functions 2-34
2.6.6.1
-GOO:
RapidTraverse
2-34
2.6.6.2
-G04:
Dwell Time 2-35
2.6.6.3
-G1 O: Flying Change
2-35
2.6.6.4 LoOPS
2-37
2.6.6.5 Direction of Approach to the Target Point with a Rotary Axis
2-38
2,6,6.6 Tool Length Offset
2.6,6.7 Zero Point offset
2.6.6.8 Dimensional Units in Machining Programs
2,6,6.9 ReferencePoint
2.6,6,10 Absolute and Relative Dimensions
2.6.7
2.6.8
2.6.9
2.6.10
2.7
2,7.1
2.7.2
2.7.3
2.7.4
2,7,5
2.7.6
2.7.7
2.8
2.8.1
2.8.2
2.8.3
2.8.4
2.9
3
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3.2
3.2.1
3.2.2
3.3
3.3.1
3.3.2
0-2
TheX-Function
The F-Function
The M-Function
Programming Restrictions and Syntax Diagram
Axis Attributes
Machine Data does not Exist
Measurement System
Reference Point does not Exist
Teach-in On
Reference Point Synchronized
Axis Status “Finished” or “Running”
“PositionReached’i Message
Digital Inputs/Outputs and their Effects
Inputs and Outputs to the Power Unit
The’’ Position Reached” Message
The Digital Inputs for Hardware Limit Switches
External Start/Stop
BASPSignal
Hardware
Technical Description
Mode of Operation
Application
Design
Technical Data
Installation
Inserting and Removing the Module
Connecting the Signal Lines
Operation
Position of the Jumpers and Switches
Setting the Module Address
2-39
2-42
2-46
2-46
2-46
2-47
2-47
2-47
2-50
2-52
2-53
2-53
2-53
2-53
2-53
2-54
2-54
2-54
2-54
2-55
2-56
2-57
2-59
3-1
3-1
3-1
3-3
3-3
3-5
3-8
3-8
3-8
3-9
3-9
3-9
Siemens
AG°C79000-B8576
-C70i’-Ol
I
contents
3.3.3
3.3.4
3.3,5
3.4
4
4.1
4.1,1
4.2
4,2,1
4.2.2
4.2.3
4,2,4
4.2.5
4.2.6
4.2.7
4.3
4.3,1
4,3,2
4.3.3
4.3,4
4.3,5
4,3,6
4.3.7
4.3,8
4.3,9
4,3,10
4,3,11
4.3,12
4.3,13
4.3.14
4.3.15
4.3,16
4,3,17
4,3.18
4,3.19
4,3.20
4,3.21
4.3,22
4,3.23
4.4
Connecting Stepper Motor Power Units
Digital Inputs/Digital Outputs
PG Interface 20 mA
Connecting Cables
Functions
Principle of Operation
Operating Instruction
Description of the Individual Operating Modes
JOG Speeds 1 and 2 (Modes 1,2)
Axis Off (Mode 4)
Reference Point (Mode 5)
Reference Point Approach
Set Reference point
Incremental Approach Absolute (Mode 6)
Incremental Approach Relative (Mode 7)
Executing Machining Programs
Automatic (Mode 8)
Automatic Single Statement (Mode 9)
Interrupting and Continuing Machining Programs in BA 8 and BA 9
Teach-in On/Off (Modes 10/1 1)
Zero Offset Absolute (Mode 12)
Zero Offset Relative (Mode 13)
Clear Zero Offset (Mode 14)
Tool Length Offset (Mode 15)
Tool Offset Off (Mode 16)
Clear Error (Mode 17)
Machine Data Processing (Modes 20,21,64,67 and 68)
Enter Machine Data (Mode 20)
Delete Machine Data (Mode 21)
Read Machine Data Directory (Mode 64)
Read Machine Data (Mode 67)
Machine Data Overview (Mode 68)
Executing Machining Programs (Modes 22,23,65 and 69)
Enter Machining Program (Mode 22)
Delete Machining Program (Mode 23)
Machining Program Information (Mode 65)
Read Machining Program (Mode 69)
Enter SYSID (Mode 24)
Read SYSID (Mode 70)
Description of the Individual Monitoring Modes
3-11
3-14
3-15
3-18
4-1
4-1
4-3
4-6
4-7
4-8
4-8
4-9
4-15
4-15
4-16
4-17
4-17
4-18
4-20
4-26
4-28
4-30
4-31
4-31
4-34
4-34
4-35
4-35
4-36
4-37
4-37
4-37
4-38
4-39
4-40
4-41
4-41
4-42
4-43
4-43
Siemens
AG°C79000-B8576
-C707-01
o-3
Contents
5
COM247 Communications Software
5-1
Introduction
5.1
5-1
5-5
5.2
Definition of Terms
5.3
5.3.1
5.3.2
5.3.3
5.3.3.1
5.3.3.2
5.3.4
5.3.4.1
5.3.4.2
Getting Started
5-6
5-6
5-6
5-6
5-6
5-7
5-7
5-7
5-8
5-1o
5-15
5-17
5-18
5-18
5-19
5-30
5-32
5-35
5-35
5-35
5-37
5-39
5-42
5-42
5-43
5-44
5-44
5-46
5-49
Consignment
Setting the Configuration Register
Working Copy of the
COM247
Diskette
Programmers with one Floppy Disk Drive
(PG685)
Programmers with two Floppy Disk Drives
(PG675,
PG635)
System Configuration
Programmers without a Hard Disk
(PG675)
Programmers with a Hard Disk (e.g.
PG685)
5.4
Starting COM247
5.5
Function Selection
5.6
5.6.1
5.6.1.1
5.6.1.2
5.6.1.3
5.6.1.4
5.6.2
5.6.2.1
5.6.2.2
5.6.2.3
5.6.2.4
Input
Entering Machine Data
General Information about Machine Data
Compiling Machine Data
Print Machine Data
Assigning Printer Parameters
Entering Machining Programs
General Information about Machining Programs
Generating Machining Programs
Entering Machining Programs According to DIN
Entering Machining Programs in the Text Mode
output
Output Machine Data
5.7
5.7.1
5.7.2
Output Machining Program
5.8
5.8.1
5.8.2
5.8.3
Test
Starting the Test Mode
Modes
Mode Table
5.9
Transfer
5-51
5-!53
5-55
5.10
Delete
5.11
Information
6
Standard Function Blocks
FB164
and
FB165
6-1
6.1
General Notes
6.1.1
Overview
6-1
6-1
6.1.2
Notes
6.1.2.1
Overview of the Data Handling Blocks
6.1.2.2 Installing an Interface in
OB20,
OB21
or
OB22
with the
S5-135U
6.1.2.3 Use of
FB164/165
in the Various Programmable Controllers
6-2
6-2
6-2
6-3
0-4
Siemens
AGQ
C79000-138576-C707-02
Contents
6.1.3
6.2
6.2.1
6.2.2
6.2.2.1
6.2.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.6.1
6.2,6.2
6.2.7
6.2.7,1
6.2.7.2
6,2.8
6.2.9
6.2.9.1
6.2.9.2
6.2.9.3
6.2.9.4
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.3.6
6.3.7
6.3.7.1
6.3.7.2
6.3.8
6.3.8.1
6.3.8.2
6.3.8.3
6.3.8.4
6.3.8.5
6.3.8.6
6.3.8.7
6.3.9
6.3.10
6.3.11
6.4
Using the Positioning Module in Multiprocessor Operation
(applies tothe S5-135U and S5-155U)
The Standard Function Block FBI
64
Functional Description
Calling Function Block FBI 64
S5-135U,S5-1 50U,S5-155U
S5-11 5U
Overview of the Parameters
Explanation of the Parameters
Notes on using Actual Operands
Relationship between the Parameter
TBIT
and the current Checkback Signals
General
The Parameter
TBIT
with the Individual Modes
DataArea Requirements
Indirect Assignment of ParameterstoFB164
Structure of the Axis Data Block
Technical Data of FBI 64
Using Function Block FBI 64
Special Feature of the Parameter STOP
Special Features of the Parameters VORW and RUCK
BCD
Output
BCD
Output with the S5-1 15U
Standard Function Block FB165
Functional Description
Calling Function Block FBI 65
Overview of the Parameters
Explanation of the Parameters
Notes on using Actual Operands
Overview of the Permitted and Advisable Parameter Area for the Standard
Function Block FBI 65
Data Area Requirements
Indirect Assignment of Parameters to FBI 65
Structure of the Axis Data Block for an Axis
Structure of the Source or Destination Data Blocks in the PC Memory for the
Individual Modes
Structure of a Machine Data DB in the PC Memory
Structure of a Machining Program DB in the PC Memory
Structure of the SYSID of the IP247 in the PC Memory
Structure of the Machine Data Directory
Structure of the Machining Program Directory
Occupation of the Data Word when Reading Actual Values
Structure of the Machine Data Overview
Technical Data
Notes on Starting Up the IP247 Positioning Module via the PC Interface
Using the Function Block
Examples
6-5
6-6
6-6
6-7
6-7
6-7
6-8
6-9
6-14
6-14
6-14
6-15
6-18
6-19
6-20
6-25
6-26
6-28
6-28
6-28
6-28
6-29
6-29
6-30
6-30
6-31
6-34
6-35
6-36
6-36
6-37
6-38
6-38
6-41
6-43
6-44
6-45
6-47
6-49
6-50
6-51
6-52
6-54
Skmens
AG@c79000-B8576
-c707-ol
o-5
Contents
6.4.1
6.4.2
6.4.3
6.4.3.1
6.4,3.2
6.4.3.3
6.4.3.4
6.4.3.5
6.4.3.6
6.4.4
6.4.4.1
6.4.4.2
6.4.4.3
6.4.4.4
6.4.5
6.4.5.1
6.4.5,2
6.4.6
6.4.6.1
6.4.7
6,4,8
7
7.1
7.1.1
7,1.2
7.1.3
7.1.4
7.1.5
7.1.5.1
7.1,5.2
7.1.5.3
7.1.6
7.2
721
7.2.2
7.2.3
7.3
7.3.1
7.3.2
7.3.3
7.4
0-6
General Notes on the Examples
Hardware Requirements
Assignments for the Examples
Digital Inputs: (valid for all Programmable Controllers)
Digital Outputs: (validforS5-135U, S5-150U and S5-155U)
Digital Outputs: (valid for S5-1 15U)
Occupation of the Data Area
Occupation of the Flag Area
Block Assignments
Schematic Diagrams of the Organization Blocks (Program Framework)
OB1
The Interrupt
OBS
OB21
and
OB22
withS5-115U
OB20 and
OB22
with S5-135U
OB20withS5-150U andS5-155u
OB21withS5-135U, S5-150U andS5-155U
OB22withS5-150U
Example of Function BlockFB164
Function Block FB53 (Schematic Diagrams)
Function Block FB54 (Schematic Diagrams)
Example of Function Block FB165
Overview of the Relationship between the Mode and the Data Blocks
in the RAM of the CPU and the Positioning Module
Function Block
FB51
(Schematic Diagrams)
Function Block FB52 (Schematic Diagrams)
Planning, Installation and Service
Planning
Basic Considerations
Selection Criteria for the Stepper Motor
Determining the Motor Characteristics
Planning the Machine Data
Installation
Preliminary Requirements
Preparing the Module
Preparing the Power Units
Controlling the I P247 by means of the Programmable Controller
Troubleshooting
Machine Data Errors and their Causes
Module Errors and Possible Causes
PG Interface Errors
Supplementary Notes
Keyboard Character Buffer
Multiprocessor Operation
Restarts
Troubleshooting Questionnaire
6-54
6-55
6-56
6-56
6-56
6-57
6-57
6-57
6-58
6-60
6-60
6-61
6-61
6-61
6-62
6-62
6-65
6-66
6-67
6-70
6-72
7-1
7-1
7-1
7-1
7-1
7-6
7-9
7-9
7-10
7-11
7-18
7-19
7-32
7-33
7-36
7-37
7-37
7-37
7-37
7-38
Siemens
AG”c7g000-B8576
-c707-01
Notes on Using the Manual
1
Notes
1.1
Notes on Using the Manual
This manual describes a system for position control of three independent drives.
The
system comprises the following components:
IP247
positioning module
COM 247 communications software
standard function blocks FBI 64 and FBI 65
The
IP247
positioning module represents the link between your plant and the programmable
controller (PC). The standard function block FBI 64 is used for operating and monitoring, and
FB165 for assigning parameters to the
IP247.
With the programming package
COM247,
you can
generate, save and print machining programs and machine data.
COM247
is also used to test
the
IP247
online with the plant connected.
This manual refers to the following products:
The
module
IP247
e
The version for ventilated operation, single width, without additional heat sink, order
num-
ber6ES5247-4UA31.
#
The version for non-ventilated operation, double width, with additional heat sink, order
number6ES5247-4 UA41.
The communications software
COM247
From release
A02.0,
order number
6ES5
895- 5SB22.
The standard function blocks
FB164
and
FB165
For the
S5-1
15,
order number
6ES5
845-
8TA01,
9
For the
S5-135
with
CPU922
or928,
order number
6ES5
842-
8TBOI.
9
For the S5-150,
order number
6ES5
844-
8TA01.
For the S5-155,
order number
6ES5
846-
8TA01.
Siemens
AG°C7900WS57S-C70741
1-1
Notes on Using the Manual
The manual is structured to allow you to become familiar with the system and can later be used
as a reference work to look up specific points.
Part 2:
‘Fundamentals of Positioning” introduces terms you require to work with the
positioning module, e.g.:
machine data,
b
machining programs,
axis attributes,
messages,
By familiarizing yourself with these terms, you will also gain a better understanding
of the functions and concept underlying the
IP247,
Part
3:
“Hardware” deals with the hardw~e requirements necessary to use the
IP247
in a
variety of situations. This covers the following topics:
4
connections,
jumper settings,
switch settings,
Part 4:
‘Functions” introduces you to the operating concept of the
IP247.
lllis
is based
on the following:
operating functions,
monitoring functions,
These functions and their effects are described in this part,
Part
!5:
“COM247CommunicationsSoftware” explains how to assign parameters to the
I P247 and how to test it using this software package. The following aspects of
COM247 are covered:
b
generating machine data and machining programs,
saving the generated data,
storing the data in the memory of the PG,
printing machine data records and machining programs,
testing the
IP247
with the plant connected,
1-2
Siemens
AG°C79000-B8576
-C707-01
Notes on Using the Manual
Part 6:
“Standard Function Blocks
FB164and
FB165”
describes the assignment of para-
meters, operation and monitoring of the
IP247
by the CPU. This description dis-
cusses the following:
FBI 64 for operating and monitoring the
IP247,
FBI 65 for assigning parameters to the
IP247,
the structure of the machine data and machining programs in a STEP 5
block,
examples of parameter assignment for an axis.
Part 7:
‘Planning, Installation and Service” cont~ns the following:
notes on planning the drive and the machine data,
guidelines for installing and starting the module,
an overview of troubleshooting routines,
instructions for diagnosing problems.
Part
8;
“Index” lists the most important terms used in the handbook.
Siemens
AG”c79000-68576
-c707-ol
1-3
/rnPortar7t
Notes
on
Safetv
1.2
Important Notes on Safety
Note
.
A
I
Before starting up the system, the plant must be equipped with emergency stop
limit switches , which directly affect the power supply.
If the plant is operated from the PG, the emergency stop switch, to switch off the
whole plant must be accessible from the
PG.
If the positioning module is linked into the programmable controller, an emer-
gency stop switch must be integrated in the control panel used for operation.
Despite extensive measures both in development and production to achieve the high reliability
of
S1
MATIC S5, errors can never be completely excluded. Whenever an error could lead to dam-
aged equipment or even personal injury, all measures must be taken to ensure
a
safe configura-
tion according to the pertinent regulations.
The commissioning and starting up of a drive always demands particular care, The possibility
that the drive might start moving unexpectedly for whatever reason can never be fully excluded.
Such a movement can, for example, result from accidental triggering of commands or from
faults in the electronics.
To be able to stop the, in some cases, enormous energy of a moving drive, emergency stop limit
switches at the ends of the traversing range, which switch off the power supply directly, must al-
ways be present, Depending on the type of drive, these limit switches must also be combined
with mechanical brakes and buffers to prevent any possible damage.
The positioning module has inputs for two limit switches for each axis, however, these can never
be a substitute for emergency stop limit switches directly connected to the power supply.
1-4
%=Twns
,4
GQC79000-E18576
-C707-01
I
/mportant Notes on Safety
To power
Digital Digital
To power
supply
input
IP247
input
IP247
supply
\\
Hardware
limit switch Hardware
limit switch
start
end
/
i
I
+-
1
1“
4
1-
Traversing \
ss
s
s
\
brake brake blase brake
Ma;hine range
Machine’
start
=
braking distance
end
‘brake
Fig, 1/1 Linear axis with limit switches
The positioning module also has a further stop input.
There is a digital input “external
starVstop”
for each axis, which must be wired up before starting
the system. This allows an axis to be stopped at any time regardless of whether it is being
operated from the PC or from the PG. Once again, this input cannot be regarded as a substitute
for emergency stop limit switches. Remember that depending on prior operation, this input can
also have the effect of an internal start signal.
When operating the plant with a PG, remember the following points:
If an axis is started from the programmer during installation and initial start-up, it continues to
move even if you exit the test display in which the start was triggered or switch off the program-
mer. Depending on the particular operation, the axis only stops when the target or a limit
sw]tch
is reached. It is therefore strongly advised that you remain in the test display while the axis is tra-
versing.
When characters are entered at the programmer keyboard, they are written to a buffer. If charac-
ters are entered more quickly than they can be processed, they are stored temporarily in this
buffer. This can become noticeable in the test display of COM247 when entering commands, if,
for example, the commands “forward” and “reverse” are entered in quick succession. The execu-
tion then lags behind the input. A stop command is therefore only executed, when all the
commands stored before
it
in the character buffer have been processed.
The
last
job is completely executed unless it contradicts the second to last job.
Siemens
AG”c79000-B8576-c707-ol
1-5
hfrocfucfion
2
Fundamentals of Positioning
2.1
Introduction
This part introduces you to the
IP247.
It provides you with certain information about positioning
and briefly describes the function of the
IP247
positioning module and its firmware, which repre-
sents the heart of the module.
The following terms, which must be familiar when working with the
IP247,
are then explained:
machine data,
machining programs and
axis attributes.
Finally, this part provides you with information about the digital inputs and digital outputs made
available by the
IP247
and an explanation of the limit switch concept and its effects with the
IP247.
Siemens
AGQ
C79000-B8576-C707-02 2-1
A Brief Introduction to the IP247
2.2
A Brief Introduction to the
IP247
Using the positioning module
IP247,
you can move and position three independent axes. From
the positioning jobs and the machine data, the module calculates pulse trains which are output
to the connected stepper motor power unit, The number of pulses decides the distance
travelled,
the pulse frequency corresponds to the speed, A direction signal is also output to specify the
direction of the movement,
~
Communications
prccessm
mternd
S5 bus
~
Central
proc,
unit
r-
~
~G730
PC AT
Fig. 2/1 The
IP247
inthe SIMATIC S5system
Due to its adaptability, the module must have parameters assigned to it. Parameter assignment
is simple and is performed at the monitor of a programmer (PG) using the software package
COM247, You can assign parameters to the IP247 via the PC interface, however, without the
user-friendly support of the COM247 software package,
In the test mode, the COM247 software package allows you to test all the functions of the IP247
and therefore the positioning functions of your plant.
Two standard function blocks FBI 64 and FBI 65 are used to incorporate the functions of the
IP247 in a user program, allowing all the functions of the IP247 to be executed from the CPU.
These are stored in an EPROM cartridge in the CPU. The data handling blocks for communica-
tions processors are subordinate to the function blocks.
The module can be operated both from a PG and from a PC, however, the functions of the inter-
faces differ from each other. With the software package COM247, the PG is used for convenient
parameter assignment, starting up and testing the module. The PC interface is used to execute
the functions of the IP247 during normal plant operation.
2-2
Siemens
AG@C79000-B8576
-C707-01
A Brief Introduction to the IP247
Jobs can be sent to the IP247 via the PG interface and via the PC interface simultaneously.
When requested, the IP247 sends status messages via both interfaces.
Fig, 2/2 Communication with the PC and PG
Each positioning operation of the
IP247
is based on a machine data record specific to the axis,
which must be transferred to the memory of the I P247 via one of the two interfaces. An axis is
only functional when a correct machine data record exists on the module. By making entries in
this data record, you stipulate the electrical and mechanical limits of your plant. These include
the maximum rate of frequency increase of the axis, the maximum pulse frequency, the per-
mitted traversing range of your axis and the type of axis (linear or rotary).
With the I
P247,
positioning jobs can be issued in two ways, as follows:
machining programs, i.e. a connected series of traversing jobs, dwell times, corrections
and
switchovers,
which are stored in the memory of the
IP247,
single jobs, sent to the IP247 via an interface.
You can input and delete a machining program both via the PG and the PC interface.
It is possible to take into account changing tool lengths and to execute zero point offsets.
Siemens
AG”c79000-B8576-c707-o~
2-3
Positioning Axes
2.3 Positioning Axes
2.3.1
What is Positioning?
Positioning means approaching a previously specified point or previously specified coordinate
automatically following a procedure established by parameter assignment. Such an operation
can be controlled by either closed-loop or open-loop control systems.
Positioning
I
/
Open-loop control I
J
\
Closed-loop control
,..
Fig,
2/3
Types of positioning
When using closed-loop control, the physical variable to be controlled is measured and com-
pared and matched to another value.
Once parameters can be assigned for the positioning
opera?ion,
a
setpoint
generator is neces-
sary, regardless of whether closed-loop or open-loop control is to be used. This
setpoint
gener-
ator supplies an output value, which depends both on the difference between the current
position of the axis and the required target point, as well as on the parameters,
e.g.
speed, accel-
eration or deceleration. The more opportunities for parameter assignment and for modifying par-
ameters during the positioning operation provided by the setpoint generator, the more complex
and comprehensive is its structure. In the simplest version, the output value of the
setpoint
gener-
ator is switched on and off. Specifying the maximum speed and maximum acceleration and
deceleration according to the mechanical capabilities of the plant improves the efficiency of the
operation.
Positioning
control
with the
IP247
is open-loop.
The actual position of the drive is not monitored. The actual position specified by the IP247 is cal-
culated from the axis data and number of pulses output.
2-4
Siemens
AG°C79000-68576
-C707-01
Positioning Axes
Traversi
job
Fig. 2/4 Open-loop position control
Stepper motors are drives which rotate by going through a sequence of individual step angles. If
the stepper motor receives a pulse, it revolves through a fixed angle; if the number of pulses and
their frequency is increased, a continuous rotation is gradually achieved.
A pulse train is applied to the stepper motor power circuitry; the number of pulses determines
the distance travel led, the frequency of the pulses determines the speed.
Example
Stepper motor with 500 steps/revolution, per step the motor travels through an angle of
0,72’.
If 10,000 pulses are output, the stepper motor rotates through 20 complete revolutions.
If the pulses are output at a frequency of 1 kHz, the motor requires 10 seconds for the 20
revolutions.
A direction signal is required to control the direction.
Based on the technical data of the plant (machine data) and the required traversing job (target
position, speed), the IP247 positioning module supplies a corresponding pulse train and the re-
quired direction of travel.
The stepper motor drive (stepper motor and power circuitry) converts these pulse trains into a
traversing movement.
The advantage of positioning with stepper motors is that the motor remains at a fixed position
when it is at a standstill, In contrast to this, the drive in closed-loop systems always oscillates
slightly.
%rnens
AG”c79000-B8576
-c707-ol 2-5
‘“‘-
I
How Does the
IP247
Execute a Positioning Job?
2.4
How Does the
IP247
Execute a Positioning Job?
IP247
Machine
data
record
,
u
L
,,
r
Positioning
job list
~
!
,
L
Machining program
execution
,,
Ramp
‘ab’e
r
I
Job
I
F
..,
.
.
.
section :##
buffer
::~~
II
Operating instruction target
direction
speed
Fig, 2/5 Structure of job processing
Since there is no feedback of the physical actual value of the system, and it is therefore not
possible to compensate for any step losses, it is extremely important that stepper motors are cor-
rectly dimensioned.
d
Note
I
e
Incorrect
dimensioning of the stepper motor can lead to a loss of steps and
therefore to incorrect positioning.
2-6Siemens A&
C79000-B8576-C707
-01
Machine Data and their Structure
2.5
Machine Data and their Structure
Before a positioning module such as the
IP247
can execute a positioning operation automat-
ically, it must be provided with information about the connected drive. This information is known
as machine data. Machine data is stored in a data block along with other parameters. This has a
constant length. Machine data can be divided into the following parameter groups:
4
specific to the power unit
specific to the stepper motor
specific to the plant
specific to the operations
specific to the machining program
Using the
COM247
software package, machine data records can be generated efficiently and
easily at the programmer and transferred to the positioning module. Once on the module they
can be read again, corrected or deleted. Both
COM247
and the module perform consistency
checks. If machine data are sent to the IP247 via the PC interface, they are only checked by the
I
P247.
It is therefore possible to assign bad machine data to an axis on the module.
Bad in this case means that either data in the machine data record exceed the stipulated limit
values, or that certain combinations of machine data are not permitted.
If a bad machine data record is transferred to the positioning module, the IP247 signals the error
“error in machine data” via the PG and PC interface. The type of error itself, e.g. “wrong axis/mod-
ule number” is stored by the firmware of the positioning module in the machine data block
(=>
Part 7, “Planning, Installation and Service”). If you enter the machine data using the
COM247
soft-
ware package, the type of machine data error is displayed in plain text in the error message line
on the PG. The message “error in machine data” is then overwritten.
If you wish to position using all the axes of the
IP247,
a machine data block
(DB)
must be stored
on the module for each axis. You can assign a machine data block with the same
DB
number to
different axes.
If no correct machine data are stored on the
IP247
for an axis, the axis is not operational. If oper-
ating instructions are sent to the axis, the job is rejected with the error message “wrong or no ma-
chine data”.
If you edit the machine data record using the COM247 software package, all the required ma-
chine data are requested in plain text using a menu technique. Following the input field, the de-
fault dimensional unit and the permitted range of values is displayed. This is explained in detail in
Part 5“COM247 Communications Software”.
Since no special software is available for planning the machine data in the CPU, the following de-
scription of the individual machine data includes the data formats as required for entry or storage
in the CPU. A table in Part 6 “Standard Function Blocks FBI 64 and
FBI
65” provides an overview
of these formats.
-%mens AGQC79000-68576-C707-01 2-7
Machine Data and their Structure
DW
n+O
DW
n+5
Last data word
Data header
Machine data
Fig.
2/6
The machine data record in the CPU
2.5.1
Machine Data for the Power Unit
2.5.1.1
Polarity
Length: 140 bytes (70 words)
Any number
(except DB 164 and DB 165)
The manual for the power unit will tell you whether or not the power unit reacts to the negative or
positive edge at its pulse input. With this information, you can set the level (active high or active
low) of the outputs of the
IP247
using the machine data “polarity”.
2-8Siemens
AG°C790(XM38.!j7tj.C707.
r)l
Machine Data and their Structure
4
Polarity: positive edge
Tx
Tx
RPx
RPx
Tx
Tx
RPx
RPx
FORWARD
I
REVERSE
P
4
Polarity: negative edge
I
I
FORWARD
I
REVERSE
b
t clock pulse
t
t direction
t
t clock pulse
t
t direction
t
1
Fig, 2/7 Output level
1) = pulse duration
By stipulating the polarity, you also decide the direction of forward and reverse movements, At
the end of the axis which is approached in a “forward” direction, there are software and hardware
end limit switches; at the end approached in the “reverse” direction there are software and hard-
ware start limit switches.
Siemens
AG”c79000-B8576
-c707-ol
2-9
Machine Data and their Structure
Note
A
I
Once the drive has been installed and started up correctly, this machine data
must not be changed, otherwise the wiring of the limit switches and parameters
for the software limit switches must also be changed.
The manual for your power unit specifies the minimum pulse duration required for trouble-free
operation.
The pulse duration can be set in the intervals
1
ILSs
minimum pulse duration
<
0.5 x period of the maximum frequency
or
1
!Ls
<
2.5.2
minimum pulse duration <31
vs.
Machine Data for the Stepper Motor
An important characteristic of a stepper motor is the mode “full step or half step”. This is usually
a hardware setting on the power unit. This characteristic is not specified
a
separate machine
data, but is taken into account in the “pulse/revolutions” and “pulse pattern number” machine
data,
This machine data specifies the number of steps of the motor, The number of steps for the full
step mode is usually specified on the rating plate of the motor. If this is not the case, you can cal-
culate the number of steps for the
full step mode from
the step angle, as follows:
pulses per revolution = 360/step angle
I n the
half step mode,
you must double this number.
2-10%N_iWW
AGDC79000-B8576
-C707-01
I
Machine Data and their Structure
2.5.2.2
Number of Excitation Patterns
The phases of a stepper motor must be excited in a sequence which the rotor can follow
step-by-
step.
The number of possible phase excitations is calculated as follows for the
full step mode:
number of excitation patterns
=
2 x number of phases
For the
half step mode
this number must be doubled,
2.5.3 Machine Data for the Plant
2.5.3.1 Axis Type (Linear or Rotary Axis)
All three axes of a module can be assigned parameters as linear axes or as rotary axes inde-
pendently, From version
A02.O
onwards, the software package
C0M247
supports rotary axes.
The assignment of the following parameters depends on whether you selected a linear axis or a
rotary
axis
as the ““axistype”
the software limit switches or range limits and
the resolution.
Operator input also depends on the type of axis
with incremental approach,
with zero or tool length offsets and
in the automatic mode,
These differences are explained in detail in the appropriate section, Some fundamental aspects
are, however, discussed below.
Siemens AGGC79000-B8576
-C707-01
2-11
Machine Data and their Structure
2.5.3.2 The Linear Axis
A linear axis or open axis is an axis with a limited traversing range. The traversing range of a
linear axis is limited with the IP247 by assigning the software limit switches. This is effective only
when the reference point exists.
To the Digital Digital in-
Dower
input
IP247 put IP247
To power
circuitry
circuitry
I
Machine Machine
start
s
=
braking distance
end
brake
Fig. 2/8 Linear axis with limit switches
If
the
permitted traversing range of a linear axis is exceeded, the equipment will almost always be
damaged. For this reason, particular care must be taken that the axis type and the assignment of
limit switches are correct.
A
Note
I
If the axis type “rotary axis” is accidentally selected instead of a linear axis, the
values assigned in the data double words
DD
n+29
and
DD
n+31
(machine
data in the CPU) will not be evaluated as limit switches. The data double words
are then only used to identify the display range for the actual value. If these
values are exceeded, the drive is not stopped.
2-12
Siemens
AG°C79000-B8576
-C707-01
Machine Data and their Structure
2.5.3.3
The Rotary Axis
A rotary axis or closed axis is an axis without restrictions in terms of the traversing range. This
might be, e.g.
a round table (e.g. 360 degree divisions),
continuous tape which can be divided into metric units or
a tape winder.
With a rotary axis, the start of the range and end of the range are physically the same point on
the axis (closed axis). If degrees are used as the dimension, the traversing range is not limited to
360degrees.
The traversing range must be a whole multiple of the positioning resolution. If the reference point
must be reproducible, the following must apply:
Traversing range
=
whole multiple of
re~~~~~~n
~
travel resolution
Start of range
and
360° / 0° end of range
Start of range
and
J“”
O m / 10 m
end of range
180”
Fig. 2/9 The rotary axis and range limits
The absolute traversing range of a rotary axis is between the start of the range and the end of the
range. If the actual position value exceeds the end of the range, the actual value indication is
automatically set again to the coordinate of the start of the range.
Absolute targets must remain within the specified traversing range. If, however, a traversing
movement is specified relative to the current actual value (e.g. 500 degrees forward), distances
greater than the traversing range can also be travelled.
With the rotary axis, there is no limitation of the traversing range by software limit switches. The
digital inputs of the hardware limit switches are, however, evaluated and can be used to limit the
traversing range to values less than 1 revolution or as additional safety switches.
siemens
AG”c79000-B8576
-c707-ol
2-13
Machine Data and their Structure
The transmission ratio describes the distance travelled per motor revolution, Within this data, for
example, the lead screw pitch of an axis is taken into account. The distance
travelled
is in the set
dimension.
The positioning resolution is obtained from the quotient of the transmission ratio and the pulses
per revolution.
Positioning resolution
[uniUpulse]
= transmission ratio/pulses per revolution
The maximum positioning resolution is:
0.001 [mm/pulse],
0.0001 [inches/pulse] or
0,001 [degrees/pulse]
The minimum position resolution is:
33.333 [mm/pulse]
3.333 [inches/pulse] or
33.333 [degrees/pulse]
~
Note
The positioning resolution is directly proportional to the distances travelled and
to the speed. To ensure that the distances
travelled
correspond exactly to the
specified distances, the positioning resolution must correspond exactly to the
technical “reality”.
2.5.3.5 Maximum Frequency
This is not the maximum possible frequency which the motor or power unit can cope with!
The maximum frequency is the frequency output when the axis is intended to move at maximum
speed, At this frequency, the motor must still have sufficient torque to move its load.
2-14
siemens
/&
C79000-B8576-C707-01
I
Machine Data and their Structure
A
MD
M
ML
I
——.—..——
t
b
I
f
fmax
fmax motor
Fig. 2/1 O Torque characteristic curve of a stepper motor
The torque characteristic curve is specified by the stepper motor manufacturer for full and half
step operation. frn~ should be determined with the appropriate curve. You should allow for suffi-
cient reserve.
2.5.3.6 Start-Stop Frequency
The start-stop frequency is the frequency to which the motor can jump under load without disen-
gaging and stopping.
The start-stop frequency
f~~
is entered in the torque characteristic curve for the unloaded motor.
The value of
f~~
depends on the inertia of the load. The simplest way of determining this is by
trial and error.
2.5.3.7 Rate of Frequency Increase
Siemens
AG”
C79000-B8576-C707
-01 2-15
Machine Data and
their
Structure
When the machine data is input, an acceleration and deceleration ramp are generated.
The acceleration ramp is generated using the formula
f = F
x
(1 - e
‘“tb’T))
+
f~~
Definition of the variables used:
fss
: start-stop frequency
fmax
: maximum frequency
F
: theoretical maximum frequency =
(fmax-
fSS)/O.95
tb
: acceleration time [0...3
~]
r
: constant for the ramp up time
The deceleration ramp is the mirror reflection of the acceleration ramp.
f
t
f-
.
.
Lm.E-f510??fss_
fmax —/— —
/
I
/
fss
i
b
Ill
t
Fig, 2/1 1
\
‘-r
3T
,
Acceleration and deceleration ramp of a job
To generate the ramps, three machine data are required:
Maximum frequency
fmax:
this frequency is output at the maximum traversing speed.
Start-stop frequency
fk
this frequency is the maximum frequency at which the stepper
motor can start up from stationary (taking into account the load
and half and full step modes) and from which it can brake
immediately to become stationary,
Rate of frequency increase a: quotient of the theoretical maximum frequency F and the ramp
up time constant
~
a =
F/z
[Hz/ins]
r
is a third of the required acceleration time
tb.
The acceleration time
tb
is the time allowed to accelerate from a stationary position to
frn~,
2-16
siemens
AG@
C79000-B8576-C707 -01
I
Machine Data and their Structure
The maximum acceleration time is 7.8 seconds. The minimum acceleration time is 15 ms. This
means that
~
must be between 5 ms and 2.6 seconds, The maximum and minimum frequency
increase is obtained as follows:
*in
=
(tm)c-f..)fo.95
2.6s
~mw
=
(fma-f.J’o,95
5ms
With all traversing movements carried out at maximum speed (frequency), the full acceleration
and deceleration ramp is used for acceleration and deceleration. With traversing movements at
lower speeds, the acceleration is continued only until the required speed (frequency
fv)
is
achieved.
(fmax-fss)/0.95+fss
fmax – -–-–-–-– – –
–-
–-–-–-
fv
fss
I
Ill
b
?’
t
37
Fig.
2/1
2 Acceleration to frequencies less than
frnm
The advantage of this acceleration and deceleration ramp is that a greater distance is travelled
than with linear acceleration within the same time.
ANote
To avoid the drive being damaged when the traversing movement is aborted,
e.g. by a software or hardware limit switch, there must be sufficient braking dis-
tance after the limit switches.
The braking distance for any speed (frequency f.) can be calculated as followed:
Ramp up time
tv
to traversing frequency
fv
tv
=
-~
x
In (1 -
fv
/ F)
The acceleration and braking distance can then be calculated as follows:
Distance = positioning resolution x (F
x
(tv
+
~
x (e
(-
“T) - 1)) +
f%
x
tv
Siemens
AG”
C79000-B8576-C707
-01
2-17
Machine Data and their Structure
Note
A
I
From now on, in the representation of traversing movements in the speed/time
or speed/distance diagram a linear frequency increase will be used instead of
the exponential increase, to help simplify the representation.
[f
the distance to be travelled is shorter than the sum of the acceleration and braking distances,
the traversing frequency f. is reduced for the positioning job until it is certain that the positioning
job not only includes the acceleration and deceleration ramp but also a section to be traversed
at a constant speed.
2.5.3.8
Range Limits (Software Limit Switches)
Ail distances are specified in the dimensional unit selected in the “measurement system” parame-
ter. The traversing range is characterized by the following:
the start of the traversing range (software start limit switch), X
A
the end of the traversing range (software end limit switch), X
E
For a linear axis, the start of the traversing range is the software start limit switch, the end is the
software end limit switch. Targets can only be approached within this range. If a software limit
switch is tripped during operation, the axis is braked.
The following must apply:
XA
<
Xef
c XE
For a rotary axis, the traversing range must be a whole multiple of the value
pulses/revolutions . positioning
r=olmion
to ensure that the reference point is reproducible.
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Machine Data and their Structure
Example:
Pulses/revolutions = 400 (half step mode)
Positioning resolution = 4
mdeg
Traversing range = 360,000
mdeg
Traversing range
pulses/rev. xpos. res.
=
225 (whole number)
Example
of a rotary axis
A round table is divided into 360 degrees. The start of the range is at O degrees, and the end of
the range at 360 degrees. O and 360 degrees are the same point on the round table and can both
be specified as the target coordinate.
When using degrees, the traversing range is not necessarily from O degrees to 360 degrees. It
may, e.g. be from 400 degrees to 800 degrees. The only restrictions are the numerical range of
the individual parameters and the rule that the coordinate for the start of the range must be
smaller than the coordinate for the end of the range.
2.5.3.9 Backlash Compensation
The backlash compensation value is used to compensate
mechnical
backlash (play in the drive).
If there is backlash greater than zero, there is a discrepancy between the detected actual value
and the real distance
travelled
whenever the direction is reversed. The actual value of the axis
position is displaced by the amount of the backlash. Using the backlash compensation parame-
ter, this error can be adjusted, providing the backlash is measured exactly. Whenever the direc-
tion is changed, the positioning module includes the backlash in the distance to be travelled and
therefore eliminates the backlash of the mechanical equipment. Since the actual position of the
axis does not change until the backlash has been taken up when the direction is reversed, the ac-
tual value also remains unchanged in this area, although the motor is turning.
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Machine Data and their Structure
Backlash
L
I
M : Motor
I
T : Tacho-generator
I
Fig, 2/1 3 Backlash
The backlash can be a value between O and 64,999 mm (0,1 inches or degrees).
The backlash can only be taken into account when the carriage can be moved directly by the
drive, This is always the case when a distance greater than the backlash has been travel led. In a
reference point approach this is always fulfilled,
(=>
Section 4.2.3,1 “Reference Point Ap-
proach”). After “setting” the reference point you must make sure that this movement takes place
(to take up any play),
The backlash compensation value is ignored until a distance is travelled which is equal to or
greater than the selected backlash compensation value. Correct detection or display of the ac-
tual position is not affected.
A backlash less than the positioning resolution cannot be compensated. The backlash compen-
sation value is always a multiple of the resolution.
2.5.3.10 The Polarity of the Hardware Limit Switches
In addition to the software limit switches, two hardware limit switches are also evaluated via digi-
tal inputs, These should normally be after the software limit switches. If they are in front of the
software limit switches, they limit the traversing range instead of the software limit switches,
These hardware limit switches can either both be stipulated as normally closed (“1”) or both as
normally open (“O”) using the parameter “polarity HW limit switches”. A normally open switch
generates a positive edge at the corresponding digital input and is therefore high-active, A nor-
mally closed switch generates a negative edge and is therefore low-active. For safety reasons,
you should use normally closed switches as the hardware limit switches. The IP247 then recog-
nizes a wire break during operation as the tripping of a limit switch and stops the movement. The
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Machine Data and their Structure
tripping of a hardware limit switch is, however, only recognized when the axis is moving or
should move in the direction of the activated switch.
When machine data are transferred to the module, the assignment of parameters for the hard-
ware limit switches is checked. The IP247 can only detect incorrect parameter assignment when
neither of the hardware limit switches is active when the machine data are input. If a rotary axis
has been selected, the digital inputs for hardware limit switches are also evaluated, If, however,
no limit switches are connected, the polarity must be set to “normally open” (COM247:
“pos”,
PC
interface ’’O”).
2.5.4 Machine Data for Operation
Regardless of whether you operate your axis as a linear or rotary axis, the IP247 allows the fol-
lowing dimensional units to be used:
metric system with a basic unit of 0.001 mm,
inches with a basic unit of 0.0001 inches and
degrees with a basic unit of 0.001 degrees.
The basic units are the smallest values permitted in machine data, machining programs and com-
mand inputs. All positions, speeds and the resolution relate to the dimensional unit selected for
the axis.
2.5.4.2 Speeds
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Machine Data and their Structure
Speeds for the various modes are assigned in the machine data record. The speeds must be
selected as follows, depending on the dimensional unit:
in mm/min for metric input,
in 0.1 inches/rein for dimensions in inches or
in degrees/rein for dimensions in degrees
The maximum range of values is 1 to 65000.
The starting point is the maximum
speed.
This is the speed at which the drive travels when the
pulse generator outputs the maximum frequency to the power unit. This speed and frequency
must be determined exactly from the technical specifications of the drive.
Speed [dimensional unit/rein] = frequency x positioning resolution . RI
Example
fmex
Transmission ratio =
Pulses
Positioning resolution =
30 kHz
1 mm/revolution
500 pulses/revolution
1 mm/500 pulses = 0.002 mm/pulse
Maximum-speed [mm/min]
= 30000
x
0.002
x
60=
2600
mm/min
Note
I
A
I
The positioning resolution is directly proportional to the traversing distances and
the speed. To ensure that the distances travelled and the speeds correspond ex-
actly to those selected, the positioning resolution must correspond exactly to
the technical reality.
Minimum speed
The minimum speed Vmin is calculated as
follows:
[1
Unin
~
=
fmirl
[/+]
xres.
[~n]
X#j+j
Vrni”
must be greater than 1
mm/min.
frni”
is within the interval [1 ...15 .25 Hz]
The value of
f~in
is determined when the ramp table is generated from the machine data.
Maximum frequency, start-stop frequency and rate of frequency increase.
No speed can exceed the maximum speed.
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Machine Data and their Structure
The speeds to be specified areas follows:
JOG speed 1 for the first JOG mode,
JOG speed 2 for the second JOG mode,
the incremental speed for the modes absolute and relative incremental approach
reference speed for the reference point approach,
The reference speed is the speed at which the axis travels to the reverse point and from therein
the reference direction to the start of the
precontact.
The reverse point can be a hardware limit
switch or the
precontact
itself.
The reference speed must not exceed the maximum speed and must be greater than the speed
achieved at the start-stop frequency.
In the modes “JOG” and “incremental approach”, the speeds contained in the machine data are
only used if a “O” is transferred in the speed parameter of the job.
2.5.4.3 Reference Point Synchronized
This machine data decides whether or not the zero reading of the excitation pattern counter
should be taken into account when locating the reference point during a reference point ap-
proach (see “reference point approach/set reference point”). This then specifies the type of refer-
ence point approach.
The location of the reference point when synchronization is set is to some extent dependent on
the dispersion of the edge of the
precontact.
2.5.4.4 Reference Point Coordinate
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Machine Data and their Structure
This machine data contains the position of the reference point in the current coordinate system.
This coordinate can be assigned to the current position in the “set reference point” mode or can
be assigned to a point on the axis determined by a
precontact,
the reference direction and type
of reference point approach in the “reference point approach” mode (see Section 2.5.4.5 “Refer-
ence Direction”).
2.5.4.5 Reference Direction
The reference direction specifies whether the reference point is to be approached in a forward
direction
(“0”;
for a rotary axis, in a clockwise direction), or in a reverse direction (“1”; for a rotary
axis, anti-clockwise) If the axis is not exactly on the
precontact
at the beginning of the reference
point approach, the axis first travels in the opposite direction to the specified reference direction,
as far as the reverse point and then in the reference direction until the reference point is detected
(=>
%CtiOfl
4.2.3.1 “Reference Point
Approach”).
A
Note
I
The reference point can only be reproduced when it is always determined in the
same direction.
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Machine Data and their Structure
Precontact
7012345670 ~ 2345670123Excitation number
(
,
,
11
of the half-steps
*
Reference direction: forward not synchronized synchronized
Reference point location
701234567012345670123Excitation number
,,
;
+
!
:
i
I
1
of the half-steps
.–—
synchronized not synchronized Reference direction: reverse
Reference point
Fig.
2/1 4
Reference direction
Using the parameter “PC
BCD-coded”,
you can inform the module whether target information,
tool offsets and zero offsets (in the modes “JOG
“, “incremental approach” also speeds) sent by
the PC to the I P247 are in binary or
BCD
format.
Remember that each speed, each tool length offset and each zero offset of the corresponding
axis is interpreted in the selected format by the I P247 and this selected format will be used until a
different coding is specified in the machine data record.
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Machine Data and their Structure
A
Note
I
9
The machine data does
not
influence the output of the actual value or the dis-
tance to go in the function block.
A double word (32 bits) is available for each piece of information, Each digit in a
BCD-coded
number requires four bits, and the sign in STEP 5 format also requires four bits. The maximum
representable value in
BCD
format is therefore 9999999 pm.
Speeds use the byte and word parameter.
For a binary coded speed, the value between O and 65000 is only transferred in the word parame-
ter, the byte parameter is ignored.
With
BCD
coded speeds, the byte parameter informs the module whether the actual speed or a
tenth of the speed is located in the word parameter.
If a 1 is entered in the byte parameter, the IP247 multiplies the value in the word parameter by 10,
If actual values (actual position value, distance to go), transferred by the IP247 via the PC inter-
face to the CPU are to be output in
BCD
format, you must set this in FBI 64
(=Part
6 “Standard
Function Blocks FBI 64 and FBI 65”).
2.5.5 Machine Data for Machining Programs
With a linear axis, the theoretical range of values for the tool length offset is from O to +/-
99.999999 m. For a rotary
axis,
the tool length offset is limited to values less than the traversing
range fixed by the range limits. The following points must also be taken into account:
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Machine Data and their Structure
the coordinates of the software end limit switch (end of range) plus the tool length offset
must be less than or equal to + 99.999999 m and
the coordinates of the software start limit switch (start of range) plus the tool length offset
must be greater than or equal to -99.999999 m.
Remember that the tool length offset has a sign.
The tool length offset assigned in the machine data can be called in machining programs with
G43
(“positive tool length offset on”) or
G44
(“negative tool length offset on”), and is then added
to an already existing tool length offset or subtracted from it. This can be repeated. At each call,
the system checks whether the new tool length offset will exceed the limits outlined above, If
either of these limits would be exceeded, the machining program is stopped and an error mes-
sage output.
Using
G40
(“clear tool length offset”), you can clear all the active tool length offsets in the whole
machining program.
An active tool length offset means that the tip of the tool approaches the specified position, inac-
tive tool length offset means that the tool holder (e.g. drill chuck) approaches the required posi-
tion,
An overall positive value for tool length offset means that the positioning module reduces the
set-
point by such an amount that the position is reached with the length of the tool. When the soft-
ware limit switches are checked, the tool length offset is, however, not taken into account, i.e. the
tool holder can use the same traversing range as without an offset,
(=>
Section 4.3.8 “Tool
Length Offset”.)
A total of four zero point offsets can be assigned in the machine data record and can be called in
machining programs using the G-functions
(=>
Section 2,6.6 “The G-Functions”). These can
have values throughout the whole traversing range
(+/-
99.999999 m).
If a zero offset is executed, all coordinates (software limit switches, reference point coordinates
and actual value) are corrected by the amount of the offset.
When the machine data are entered, the IP247 checks whether one of the four assigned offsets
exceeds the permitted traversing range of
+/-
99.999999 m. Such offsets are not executed, and
cause an error message.
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Machh?e
Data and thejr Structure
The zero offsets are called in machining programs using functions
G54
to
G57
and are
cancelled
with G53. They can only be enabled as alternatives, If an offset has already been executed with
the zero offset modes
(=>
Part 4 “Functions”), the offsets activated by
G54
to
G57
are added to
those already existing. For this reason, a check is made during the execution of a machining pro-
gram to ensure that the activation of a zero offset does not exceed the maximum range. If the
maximum range would be exceeded by the offset, the machining program is stopped.
2.5.6 OtherParameters
This section discusses the following parameters:
number of the machine data record,
module number,
axis (number), for which the machine data record is valid,
machine data errors,
A DB number from 0...255 can be assigned to a machine data record.
The left byte (DL
n+2)
must always have the bit pattern shown above.
Each positioning module can control three axes, with the fixed designation axis 1,
axis
2 and axis
3. Each module is also assigned a module number between O and
99.
This information uniquely
identifies an axis, To be able to assign a machine data record to an axis, this must contain both
values,
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Machine Data and their Structure
———. . . .
Each machine data record also contains an error variable. Some of the possible input errors
made when generating the machine data record on the programmer are detected by the soft-
ware package CC)
M247,
Further checks are made by its firmware when the machine data are
entered into the positioning module. If an error is detected, the corresponding error number is
written to the error variable of the machine data record and the error message “error in machine
data” is output.
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Machining Programs and their Structure
2.6
Machining Programs and their Structure
2.6.1
General
A machining program is a connected series of traversing jobs, dwell times and offsets. Machin-
ing programs are made up of individual statements. Each statement is itself a complete and
feasible job for the positioning module. The machining programs can be stored in the RAM of the
positioning module, from there they are executed either as a series of statements or in the single
statement mode. The machining programs accepted by the positioning module generally corre-
spond in terms of their structure to a subset of the representation described in
DI
N 66025, Only
this subset is explained here. COM247 provides you with user-friendly support when generating
a machining program. Deviations from the permitted subset of DIN 66025 are
signalled
immedi-
ately when generating the program.
A
Note
I
Machining programs are independent of the axes. A machining program can be
executed simultaneously on all three axes. It is of little importance whether the
particular axis is linear or rotary.
Machining programs do not include dimensions. Position information and
speeds are always interpreted in the unit assigned to the axis in the machine
data record,
Machining programs can be interrupted and continued from the same point.
The programs consist of a sequence of ASCII characters. The following restrictions apply:
a maximum total of 6000 ASCI
I
characters can be stored on the I P247
these can be divided into 255 programs
a maximum of 1023 ASCII characters are permitted per program.
Repeat loops and subroutines are possible in the programs up to a common nesting depth of
5.
If a statement is inserted in an existing machining program using the machining program editor
of COM247, or if a statement is appended to a program, 50 characters are reserved for this state-
ment. If the maximum length of a machining program would be exceeded by this addition,
COM247 generates an error message.
A machining program created with COM247 cannot be loaded in the CPU directly. If you wish to
store a machining program in the CPU, you must transfer the machining program to the IP247
and then to an S5 data block on the CPU. The machining program number is entered in the ma-
chining program header. Program numbers 0...255 are permitted.
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Machining Programs and their Structure
Program header
Statements of the
machining program
Final statement: program end
Fig. 2/1 5 Structure of a machining program with program number 33
The machining program always has a program header and a final statement. The final statement
has the special identifier M02 at the end. The length of individual statements can vary.
2.6.2 Program Header
The program header is generated automatically by COM247 when the machining program is
created at the PG.
The header includes the following:
The program identifier:
Y.
= main program
L = subroutine,
The program number (maximum three characters) .
DB
number of the data block
A text with a maximum of 58 characters (selected as required)
<LF>
(line feed) to complete the header.
Example:
%5 this is a main program in DB5
<LF>
L12
this is a subroutine in DB12
<LF>
The difference between main programs and subroutines is simply of documentary interest, the
module does not distinguish between them, so that a program can be used both as a main
program and a subroutine.
Recursive or reciprocal program calls are, however, not permitted.
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Machining Programs and their Structure
2.6.3 ProgramStatements
A statement in a machining program consists of a series of functions which have a fixed order
and must be separated by at least one blank. Each statement must be completed by a line feed
(<
LF>).
The length of a statement is limited to 50 characters, including
cLF>.
Blanks before
and after the line feed are not necessary, but permitted. Blanks following a line feed are included
in the length of the next statement.
The following functions are available:
N-function statement type and statement number
L-function subroutine call
G-function preparation of traversing conditions
X-function target function
F-function speed, time, loop execution
M-function auxiliary function
It is not necessary to include all functions in a statement, however, they must not occur more
than once in a statement. All the functions used must be in the order listed here. Some functions
must be the last in a statement or can only be followed by certain other functions.
The N-function in a statement and the completion by
<LF>
are obligatory, as is the function
M02
in the final statement of the machining program. No further statement can follow this.
Example
%9 program example
N1 O G74 Ml O
approach the already known reference point
Ml O is output at the start of the statement
N20G24 F5 beginning of a repetition loop with five repetitions
N30L36
call subroutine 36
N40X50F2000 approach point 50 mm at
2000
mm/min
*
N50G20 end of the repetition loop
N60
M02
final statement, program end
Whe example applies to the presets “dimensional unit mm” and “target specification absolute”.
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2.6.4 The N-function
The N-function is the first function in a statement and specifies the number of the statement. This
function is obligatory and consists of the character ‘N’, followed by a maximum three digit num-
ber between O and 999.
The statement numbers can be entered in any order, and can be used more than once in a ma-
chining program.
The execution of the statements is always in the order in which they are entered in
the machining program.
All statements are treated as “normal statements” according to
DI
N 66025. The statement identifi-
ers “/N” for skippable statement and
“:N”
for main statement are permitted, but are of no signifi-
cance.
2.6.5 The L-Function
A different program can be called as a subroutine in a program statement. This call must follow
the N-function immediately, The function consists of the character ‘L’ followed by the machining
program number of the program to be called.
No further functions can follow the L-function and the statement is completed with
<LF>.
Examples
N1O L123
<LF> call subroutine 123
N20 L5
<LF> call subroutine 5
Subroutines can be nested. The nesting of loops and subroutines must not exceed a nesting
depth of 5.
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Machining Programs and their Structure
2.6.6 The G-Functions
A G-function can follow an N-function. It is identified by the letter ‘G’, followed by a two digit num-
ber. Only one G-function is permitted in a statement. Only the following G-functions are per-
mitted:
GOO:
rapid traverse
G04: dwell time
G1 O: flying change
G20: loop end
G24: loop start
G25:
approach target by shortest route (*)
G26: approach target in clockwise direction (*)
G27: approach target in anti-clockwise direction (*)
G40: clear tool length offset
G43: positive tool length offset on
G44: negative tool length offset on
G53: clear offsets
G54: offset 1 on
G55: offset 2 on
G56: offset 3 on
G57: offset 4 on
G70:
dimensions in 0,1 inches (*)
G71:
dimensions in mm (*)
G74: reference point approach
G90:
position specifications absolute (*)
G91: position specifications incremental (*)
(*)
=
latchin9
(retentive)
functions
At the beginning of a program the following G-functions are automatically active:
G25:
approach target by shortest route
G90:
position specifications absolute
If the machine data of the axis on which the machining program is to be executed are in mm,
G71
(dimensions in mm) is also the default. If the machine data are in
0.1
inches, then G70 (di-
mensions in 0.1 inches) is the default.
If degrees are selected, neither G70 nor
G71
are defaults, since it is not possible to change the di-
mensional unit.
With the G-functions implemented on the IP247, the following preparatory conditions, offsets
or
switchovers can be executed.
2.6.6.1
GOO:
Rapid Traverse
The target position programmed in this statement is approached at the maximum speed (see ma-
chine data). Specifying the speed using the F-function is then not permitted.
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Example
N50
GOOXI
000
M23
output the auxiliary function
M23
at the beginning of the
statement..
At maximum speed to target point 1000.
2.6.6.2 G04: Dwell Time
A dwell time is executed in this statement. The duration can be set using the F-function in units of
100
ms.
Example
N38G04
F1
O
M34
output of auxiliary function
M34
at the beginning of the
statement.
Wait for 10
~
100 ms
2.6.6.3
G1O:
Flying Change
The statement following the statement containing G1
O
is carried out without stopping the
axis.
The following can therefore be achieved:
speed changes during a traversing movement (example 1 ) 01
changing the M-function during a continuous traversing movement (example 2).
Example 1: initial point at program start x = O
N30(GIO)X50F1000
M30
N32 (Gl O) Xl 00 F500
M31
N34X150F1
OOOM32
N36M02
to target point 50 mm at
1000
mtimin
to target point 100 mm at 500
mtimin
to target point
150
mm at 1000
mtimin
final statementiprogram end
A
‘1
[mm/m in]
without
G1
O
.with
G1O
~
M30
[
T
M31
M32
I
M02~
Fig. 2/1 6 Flying change with speed change
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Machining Programs and their Structure
Example2: initial point at program start x = O
N40
(G1O)
X50 F1 000
M40
to target point 50 mm at 1000 mm/min
N42(GIO)Xl00F1000
M41
to target point 100 mm at 1000
mtimin
N44
Xl 50 F1OOO
M42
to target point 150 mm at 1000 mm/min
N45M02
final statemerrt/program end
If no different M-functions were required, the movement could be brought together in one state-
ment (e.g. N1OX150 F1 000
M40).
v
I
withoul
G1 O
[mmlmin]
— with
(31
O
1000
—.. .- —.—. .—. ..——.—.—
+
o
~M40
~M41
~.,,
1:02+
I
1
1
I
M function output
Fig.
2/1
7 Flying change without speed change
A
Note
A machining program may be aborted sporadically on an axis with the error
message “statement not yet fully interpreted”, when:
I
the IP247 has a high workload (e.g. machining programs with
G1O
active on
all axes
a statement with a short processing time is followed by a statement with
flying change
Special features of “flying change”
The “position reached” message
(=>
Section 2.7 “Axis Attributes”), is not set on completion of a
statement with
G1
O.
Statements connected by the flying change are treated as one statement in the mode BA9 “auto-
matic single statement” (execution of the machining program statement by statement). This
means that there is no stoppage between these statements. If G1 O and an MOO (“programmed
halt”) are programmed in one statement, MOO has priority.
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Machining Programs and their Structure
A “flying change” cannot be executed under the following conditions. The program is then
stopped with the error message “flying change could not be executed”:
when the statement following the flying change specifies the opposite direction,
when the statement following the flying change contains a dwell time,
when the statement following the flying change only contains an M02,
when the traversing distance following the flying change is shorter than the braking dis-
tance of the previous statement,
when the statement following the flying change is too short to achieve the required final
speed,
when the statement following the execution of the statement containing G1 O could not be
interpreted or
when the statement following the flying change contains a
switchover,
tool offset or zero
offset.
* Note the following points with a rotary axis*
If individual target positions cannot all be reached via the shortest route, then the direction in
which the flying change is to be executed should be stipulated with
G26
or G27. If you do not do
this, the flying change is aborted with the message “Change of direction illegal with flying
change”.
2.6.6.4 Loops
Loops can be nested within each other. Subroutines containing further loops can be called in
loops. The nesting depth for subroutines and loops must not exceed a total value of 5. Closed
(endless) loops can only be programmed at the highest level, A closed loop cannot therefore be
included in a program called with an L-function.
G20: loop end
A statement containing
G20
is the end of a repetitive loop and must not contain any other func-
tions.
Example
N80G20
end of the repetitive loop.
G24: loop start
A statement containing
G24
is the start of a loop. The number of repetitions is specified by the
F-
Functions. FO means a closed loop, The statement must not contain any further functions, includ-
ing M-functions,
Siemens
AG@c790~-B8576-c707-ol
2-37
Machining Programs and their Structure
Example
N1 O
G24 FO
N20G74
N30G24 F5
N40L30
N50G04 F1 O
N60L30
N70G20
N80G20
N90 M02
start of a closed loop
approach reference point
start of a loop with 5 repetitions
call subroutine 30
wait one second
recall subroutine 30
end of the inner loop
end of the closed loop
final statement/program end
2.6.6.5
Direction of Approach to the Target Point with a Rotary Axis
With a rotary axis, absolute target points can either be approached by the shortest route
(G25)
or clockwise
(G26)
or anti-clockwise
(G27).
If machining programs containing these G- functions
are executed on a linear axis, they are ignored.
G25: approach target by shortest route (default at program call)
With a rotary axis, the function
G25
means that all absolute targets are approached by the short-
est route. The module itself determines the direction of approach. If the distance to the target is
the same both in a clockwise and anti-clockwise direction, the clockwise direction will always be
selected (= preferred direction). When deciding the direction of approach, backlash compensa-
tion is ignored.
Example
A backlash compensation value was selected in the machine data.
The target is to be approached by the shortest route
(G25).
The current
position is O degrees.
Ignoring the reversal backlash, the travel distance is the same in both directions.
The direction of the previous job was anti-clockwise.
=>
The distance travelled is longer owing to the backlash. The traversing movement therefore
takes
ionger
in the preferred direction than in the opposite direction.
0/360 degrees 01360 degrees 0/360 degrees
Actual value
h
‘—
4
Backlash
\
270 270
—i
+
90
I
180 ’180
{“
1
180
\Actual value
-———
Last traversing movement Traversing movement Traversing movement
taking up the backlash of further 180 degrees
Actual value still at 0/360 degrees Actual value at 180 degrees
Fig. 2/1 8 Reversal backlash with a rotary axis
2-38Siemens
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Machining Programs and their Structure
G26:
approach target in clockwise direction
All absolute targets are approached in a clockwise direction (forward) when
G26
is selected.
On a linear axis, a G26 is ignored and does not cause a stoppage of the machining program.
G27:
approach target in anti-clockwise direction
All absolute targets are approached in an anti-clockwise direction (reverse) when
G27
is
selected. On a linear axis, a G27 is ignored, and does not cause a stoppage of the machining
program.
Example
Rotary axis, traversing range O degrees to 360 degrees
N1 OG74 Ml O
approach the reference point by the shortest route
N20G27
change direction: reverse
N30X180F1
OOOM30
approach 180 degrees in reverse direction
N40G25XOF500
approach O degrees/360 degrees by the shortest route, here
the preferred direction forwards
N50G26 change direction: forwards
N60XOF1
OOOM60
one revolution of the rotary axis forwards
N70G25X360F500
switchover
to the shortest route. No traversing movement
since shortest route.
N80M02 final statement/program end
Note
~
The G-functions G26 and G27 are only effective when “position specifications ab-
solute”
(G90)
is set.
2.6.6.6
Tool Length Offset
By using a tool length offset in the machining program, a change in the length of the tool during
execution of the program (usually wear on the tool) can be taken into account. This is added to a
tool length offset executed with mode BA15 (“tool length offset”).
The value of the tool length offset used in the machining program is stored in the machine data.
Each time a tool length offset is called in the machining program, the value stored in the machine
data record is added to the already existing offset. The following limit values apply to the result-
ing tool length offset:
For a linear axis:
value of the offset maximum 100 m,
software end limit switch + offset value
<100
m and
software start limit switch + offset
>-100
m
For a rotary axis:
offset less than the traversing range. (Range end - range start),
%mefw
AG6C79000-B8576-C707-01
2-39
I
Machining Programs and their Structure
If the tool length offsets implemented by a machining program during its execution are not reset
with
G40
(“clear tool length offset”), they are retained on completion of the machining program.
The offset implemented in the machining program can then only be cleared using modeBA16
(“tool length offset off”). However, a basic tool length offset activatedbyBA15 (“tool length off-
set”) is also deleted. If a new tool offset is activated by BA15 when a machining program is
completed, the cumulative tool length offset achieved during the machining program is no longer
effective,
Tool change
BA 15; 10Omm, forwards
1
Machining program start
G44
G44
Machining program end
1
Tool change
1
BA 15;
200mm,
forwards
Tool length
offset
BA 15/16
1
OOmm
OOmm
OOmm
200mm
Tool
length
Xfset
nachining program
o
-1 Omm
-20mm
o
Total
1
OOmm
90mm *
80mm
*
80mm
80mm
200mm
* In the machine data record: tool length offset =lOmm
Fig. 2/1 9 Tool length offset
G40:
clear tool length offset
A statement containing
G40
switches off all the active, positive or negative tool length offsets in
this machining program. This also applies to subroutines. The G-function G40 does not affect the
tool length offset set with mode BA15 (“tool length offset on”).
G43: positive tool length offset on
A statement containing
G43
causes a tool length offset in a forwards direction by the length
specified in the machine data
(=>
Section 4.3.8 “Tool Length Offset”). This occurs each time
the function is executed.
2-40
%?mens
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I
I
Machining Programs and their Structure
G44:
negative tool length offset on
A statement containing
G44
causes a tool length offset in a reverse direction by the length
specified in the machine data
(=>
Section 4.3.8 “Tool Length Offset”). This occurs each time
the function is executed.
Example
The tip of a tool with a basic length of 40 mm must approach coordinate O. During each
machining operation, the tool is reduced in length by
5 mm, The tip of the tool is at posi-
tion -65 mm before
the first machining operation. The home position of the tool holder is -
105 mm.
The following must be programmed:
in the machine data: tool length offset =
+5mm
in the machining program: N1 OXOFI 000
N15G44X-65F2000
This means that the tip of the tool is at the same position following each machining operation
In this example, the tool holder does not return to the home position when it is retracted.
If the tool holder must always return to the basic position when it is retracted (e.g. owing to inter-
locks), you should set the reference point at this position, In a reference point approach, or with
G74 in an automatic program, the tool holder always returns to the same position both with or
without offsets. However, the corrected value (coordinate of the tip of the tool) is displayed as
the
actua~
value.
The machining program is then as follows:
N1
OXOF1
000
N15G74
N20G44
Siemens
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‘“‘-
Machining Programs and their Structure
1st reach,
op.
2nd reach. op. 5th reach. op.
40
111(11
m
I
F
Actu I pos.: -70 mm
“r
.—
——.
———
Actual
pos.
Fig.
a20
Tool
length
offset
Fig. 2/21 Tool length offset
2.6.6.7 Zero Point Offset
You can program a relative displacement of the coordinate system of your axis during a machin-
ing program. This offset is added to offsets executed with mode BA12 (“zero offset absolute”) or
BA13 (“zero offset relative”).
I n machining programs, only one of the four offset values selected in the machine data can be ac-
tivated (G54...G57). If a second zero offset is activated, the first is no longer effective.
The direction of the offset depends on the sign in the machine data,
On completion of a machining program, the offsets activated in the machining program are auto-
matically switched off again, This is, however, not the case if the machining program stops owing
to an error message or because of a stop command. In this case, the basic coordinate system
can only be established again by clearing all offsets with operating mode BA14 (“clear zero off-
set”), G53 also clears offsets executed in subroutines.
2-42
$3iemens
AG°C79000-B8576
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Machining Programs and their Structure
Zero offsets executed in a subroutine are not cleared following the return to the main program.
They are only reset on completion of the main program.
A zero offset changes the limits of the traversing range, the reference point and the actual posi-
tion value according to the value of the offset, With a positive zero offset, the zero point of the
coordinate system is displaced in a positive direction, i.e. the individual points on the axis have a
more negative value. A negative zero offset has the opposite effect.
G53:
clear offsets
G53 deactivates ail the zero offsets active in the machining program. Offsets set with the mode
“zero offset absolute or relative”
(=>
Sections 4,3.5 or 4,3.6 “Zero Offset Absolute or Relative”),
are not changed.
G54
-G57: offsets 1-4 on
A statement containing one of the G-functions
G54-G57
executes a relative zero offset.
G54
-zero
offset 1
G55
-zero
offset 2
G56
=zero
offset 3 and
G57
=zero
offset 4
The following example contains both types of zero offset, After stipulating the coordinate system
[
Mode BA 5 Parameter approach Start command,
a relative zero offset 10 mm forwards is executed.
Mode BA 13
Parameter 10000
~m
Command forward
(zero offset relative)
The actual position value is displaced from O mm to -10 mm. Following this, a traversing move-
ment to point O mm is executed.
r-
!
Mode 9A 6
Parameter
!
(incremented absolute) Starl command
O mm
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-ol
2-43
Machining Programs and their Structure
Here, machining program 1 is started.
Mode BA 8 Parameter
Start command
I
(automatic)
1;
Subroutine 9 is called in this machining program. By means of Ml O, this program controls the
drilling of three holes (at O mm, 10 mm and 20 mm). The three coordinates are specified as abso-
lute values. Following each execution of subroutine 9, coordinate 40 mm is approached in ma-
chining program 1 and a relative zero offset of 40 mm is executed via
G54,
G55 and
G56,
The
values of the offsets are assigned in the corresponding machine data record. Subroutine 9 is
called a total of three times. Before the end of the program, the tool holder is brought to its home
position at the reference point by
G74.
Since the offsets are still effective, the actual position
value is now displayed as -130
mm,
At the end of the main program, all the zero offsets activated
in the machining program are cleared again. An offset of
+1
O mm remains, which was executed
at the beginning with BA13.
Example
Values in the machine data:
zero offset 1 : 40 mm
zero offset 2: 80 mm
zero offset 3: 120 mm
Machining programs:
7.1
main program
N1
L9
N2X40.000F500
N3G54
N4 L9
N5X40.000F500
N6G55
N7 L9
N8X40.000F500
N9G56
N1
OG74
N11
M02
call subroutine 9
to coordinate 40 mm at 500
mnlmin
zero offset by 40 mm
call subroutine 9
to coordinate 40 mm at 500
mm/min
zero offset by 80 mm / G54 no longer effective
call subroutine 9
to coordinate 40 mm at 500
mrn/min
zero offset by 120 mm/
G55
no longer effective
approach reference point
program end
L9
subroutine
N1
XOF100 Ml O to coordinate O mm at
100
mdmin
N2
G04
F50
Ml O wait 5
sec
N3X1OF100 to coordinate 10 mm at 100
mtimin
N4
G04
F50
Ml O wait 5
sec
N5X20F100 to coordinate 20 mm at 100
mnlmin
N6
G04
F50
Ml O wait 5
sec
N7
M02
program end
2-44
Siemens
AG°C79000-B8576
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Machining Programs and their Structure
o
10 20 30 40 50 60 70 80
90 100
110 120
I
I
I
I
II
I
II
I
II
I I I I
I I I
I
I
I
{-+-++
--+-+
-+--+
+-+-1
!
I
I
I I
I
I
I
I
1
/
\
[
)1
BA 5
:
I
I
I I I I
I
II
II
I
I
[=)
~
‘“ 20 30 40 50 ‘0 70 80 ‘“ ’00 “0 ’20 30
-$-f-&
I
20 30
BA6
I
I
v
o
N1O
o
10 20 0
40
N9
f
I
1
III
I
II
1
v
-130
:
-90 -80 -70 -60 -50 -40 -30
-20
-:0
o
Program end
)
1
II
I
I
I
I
I
I
-lo 0 10
30 50 70 90 100
110 120
Fig, 2/22 Example of zero offsets
Slemens
AGQC79000-68576
-C707’-01
!=
reference edge of the tool holder
2-45
Machining Programs and their Structure
2.6.6.8
Dimensional Units in Machining Programs
The IP247 positioning module interprets machining programs in the dimensional unit specified in
the machine data,
i.e.:
machine data in 0,1 inches
=
>G70
default
machine data in mm
=
>G71
default
machine data in degrees =
>G70
and
G71
disabled
G70:
dimensions in 0.1 inches
Following the function
G70,
all further distances are interpreted in 0.1 inches and all further
speeds as 0.1 inches/rein.
G71:
dimensions in mm
Following the function
G71,
all further distances are interpreted in dimensional unit mm and all
further speeds as dimensional unit
mm/min.
2.6.6.9 Reference Point
A statement containing
G74
moves the carriage or tool holder to the known reference or home
point at the incremental speed. No reference point approach for calibration purposes is ex-
ecuted, The carriage always moves to the physically stipulated reference point, regardless of
whether the coordinate has been changed by a zero offset. Following the movement, the display
of the actual position value takes into account both a zero offset and a tool length offset.
Example
reference point coordinate . 0 mm
effective zero point offset
. +500 mm and
effective tool offset = 20 mm
After G74 is executed, the axis is positioned at the physically specified reference point. The tip of
the tool juts out 20 mm from this point. -480 mm is indicated as the actual position.
2.6.6.10 Absolute and Relative Dimensions
G90:
position specifications absolute (default at program call)
All target information (X-functions) following
G90
is interpreted as absolute until
G91
is entered.
G91:
position specifications relative
All target information (X-functions) after
G91
is interpreted as relative until
G90
is entered.
2-46
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Machining Programs and their Structure
2.6.7 The X-Function
The X-function is the target function of the statement. It consists of the character “X”, followed by
an optional sign and a number
which specifies a distance in the units
mm, 0.1 inches or degrees.
The number consists of five digits and three decimal places.
The maximum range of values is
X-99999,999 .. X+99999.999
Examples
X50, X50., X-.5, X+12345.678,...
If the decimal point is missing, it is assumed to beat the last place in the number,
2.6.8 The F-Function
The F-function describes one of the following:
the speed,
a dwell time or
the number of loop repetitions.
it consists of an ‘F’ and a maximum five digit, signless whole number.
As a speed, it indicates the units
mm/min,
0,1
inches/rein or degrees/rein. The range of
values is then
1
.,. 65000.
As a dwell time, it specifies a multiple of 100 ms and can have values between 1 and
65000,
If the F-function is interpreted as a number of loop repetitions, the whole range of O to
65000 is possible. If O is specified, the loop is repeated continuously.
2.6.9 The M-Function
The M-function consists of the character ‘M’ and a
two digit number. Permitted values are 0...99.
The significance of the number is only fixed for M02 and MOO.
An M-function is only output in conjunction with a traversing job (X-function or G74) or a
dwell time
(G04)
to the programmable controller and to the programmer. M-functions stand-
ing alone in a statement or alone with switchovers or offsets in a statement are ignored (ex-
ception: MOO). and
IIQIoutput
Siemens
AG@c790m-68576-c707
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2-47
Machining Programs and their Structure
Each M-function is output at the beginning of the execution of a statement (traversing job or
dwell time) and remains valid until the next M-function at the start of the next statement (tra-
versing job or dwell time) containing an M-function is output.
In the control program, M-functions can be used to trigger user- specific actions, e.g. the switch-
ing on and off of plant during the traversing movement of the
axis.
If several statements with consecutive different M-functions are programmed with the help of the
“flying change” (G I O) the new M-function is output after the transition.
If statements without M-functions are programmed at the beginning of a machining program,
M255
is output. This is output until a statement (traversing job or dwell time) containing an
M-
function is executed. If a machining program does not contain any M-functions except for
M02,
then
M255
will be output during the whole program.
Examples
N05
G91
M-function not feasible, output
M255
N05G91
N1 OG74
N15G24F3
N20X1
OOOF2000M1
O
N30G57
N35X-500F2000
N45G20
N50
G74
M20
N60X500F1
OOM30
N65 G26
N70X1
000 F2000 M60
N75M02
M-function not feasible, output
M255
output
M255
M-function not allowed, output
M255
output M 10
M-function not feasible, output Ml O
output Ml O
M-function not allowed
Output
M20
output M30
M-function not feasible, output
MEKI
output M60
final statement/program end
Certain special factors apply to
M02
and MOO as follows:
M02
M02
means “program end”. Main programs and subroutines are completed with
M02.
It must be
specified in the final statement of the machining program. Following this, no further statements
can be appended to the machining program. The final statement can simply consist of the
N-
function and
M02.
If
M02
is specified in a traversing statement, no further M-function can be
specified in the statement.
MOO
MOO means “programmed halt”. A statement with a MOO has the effect that the next programmed
traversing movement (X-function or
G74)
or dwell time
(G04)
is only executed following an enter
command. Offsets (e.g. G57 or G43) and switchovers (e.g.
G91
) following an MOO and before a
traversing movement or dwell time are, however, executed before the halt.
N1
OX1 OOF1
OOOMOO
(!
=
break point)
N20
! G04 F200 MOO
program halt before the dwell time
N30 ! X200 F500 program halt before the traversing movement
N40X1
OOFI
OOOMOO
N50G57 ! X200 F500 break point after the zero offset
2-48
%?mens
AG”c790~-68576-c707
-01
Machining Programs and their Structure
——
If MOO “programmed halt” and
G1O
“flying change” are programmed in one statement,
the programmed halt has priority.
N10G1OX100 F500 MOO
(!
=
break point)
N20
! X200
F1 000 separated owing to MOO
MOO can stand alone or alone with an offset or a switchover following the N-function in a state-
ment. In this case, MOO acts as if it is programmed in conjunction with a traversing job with tra-
versing distance O. This means that several enter commands may be required following a stop to
start the next traversing movement or dwell time.
N1O
G1O
X1OO F1OOO MOO
(!
=
break point)
N20
! MOO
N30
G56
! MOO
N40 ! X500
F1
000 three enter commands are required from Xl 00 to X500
If in conjunction with a traversing movement or a dwell time only offsets or
switchovers
follow the
MOO or if
M02
(program end) follows directly in the next statement, the machining program is no
longer stopped.
N1
OX1
OOF1
OOOMOO
N20
M02 MOO no longer effective
I n the mode
BA9
(“automatic single statement”) MOO has no further significance, since in this
mode each traversing movement and each dwell time is always started by an enter command.
The stop does not need to be acknowledged twice.
N1
OX1
OOF1
OOOMOO
(!
=
break point)
N1 O ! G04
F1
O
in
BA9
only one enter command necessary to continue processing
Remember, however, that each MOO either alone or alone with an offset or a switchover following
the N-function in a statement is handled as a traversing job with a traversing distance of O. This
means that although the MOO in mode 9 is ignored, the traversing job with the traversing distance
O must still be started with an enter command.
N1OX100 F1 000
(!
=
break point)
N20
! MOO
halt due to
BA9.
After enter, execution of the
traversing job with traversing distance O
N30
G57
! MOO
halt due to
BA9,
After enter, execution of the
traversing job with traversing distance O
Siefnens AG’DC79000-B8578
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2-49
Machining Programs and their Structure
2.6.10 Programming Restrictions and Syntax Diagram
To generate feasible statements in machining programs, there are several restrictions and rela-
tionships between the functions which are automatically checked by COM247.
Following an L-function (subroutine call) only the end of the statement is permitted. In the
DIN representation, this means that no further entry can be made in this line, in the text
representation, only the selection of another statement is possible.
The X-function (target) must follow the function
GOO
(rapid traverse) directly.
No X-function can follow the function
GOLI
(dwell
time), an F-function (time) is required.
No further function can follow
G20
(end of loop) in the statement,
The X-function (target) is not permitted with G74 (reference point approach).
If an X-function is programmed without
GOO,
the F-function (speed) must follow.
Unless an X-function, G04 (dwell time) or
G24
(repetition) is programmed, no F-function
can be used.
The statement syntax is represented in the following diagram.
2-50Siemens
AG@c79000-68576
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Machining Programs and their Structure
L--
.
I
Awiliafy
functbn
A
m
.
,
Flying
change
.
m
. . . . . . . . . . . . . .
.
.
r
(
Shcftt?st
mute
F
=
r
. . . . . . . . . . . . . .
.
Forw?#ds
(ckxWise)
F
=
F
Reverse
(anticl&kwise)
r
m
.
Clea
tcd
offset
LI-%&$%j
.
PWtt,ve
twl
offset
on
.
=,
Negative
td
cffset
on
m
Cl-
zero
offsel
.
m
F
Offsef
1
m
k
m
. . . . . . . . .
.
r
offset 2
m
v
&#JjjJ
.
offset 3
m
.
_
.
Dffsel 4
m
. . . . . . . . . . . .
.
.
=
r
Dimensicms
in
0.1
iIcFe5
T
m>’
Dirnens&s
in mm
&x#jJ
.
AtedMe
dlmensons
.
=
F
Rekmve dimensions
r
@Bj?J
r
Referemceltmne
tint
aix-=h
Fig. 2/23 Syntax diagram
Siefnens
AG”c79000-B8576-c707-ol
2-51
AxisAttributes
2.7 Axis Attributes
The axis attributes contain up-to-date information about the axis as follows:
b
the dimensional unit selected for position encoding,
whether the required position is reached or not,
(this signal is also output via a digital output of the
IP247),
whether the reference point location is synchronized or not,
whether the teach-in mode is on or off,
the existence of the reference point,
the existence of the machine data on the axis,
the axis status (“finished” or “running”).
The axis attributes are passed onto the control system via FBI 64 in the checkback signals. (DL
(n+l 2) of the axis
DB).
(=>
seCtiOfI
6.2.7.2 “Structure of the Axis Data Block”),
Bit O
r
1
L
2
3
4
5
6
7
E
Fig.
2/24 The axis attributes
Apart from the axis attribute which indicates whether the required position has been reached or
not, all axis attributes are indicated directly in the test axis selection and modes display in
COM247
(=>
Section 5.8 “Test”).
2-52
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Axis Attributes
2.7.1
Machine Data does not Exist
The bit indicating that machine data does not exist is only cleared in the
axis
attributes
(check-
back signals) when the machine data for an axis is transferred. The machine data which is then
located on the module, may, however, still contain errors. This is ignored at this point. Operating
instructions only cause the axis to move when the machine data is free of errors.
2.7.2 MeasurementSystem
In the test display of COM247, the dimensional unit is displayed beside the actual position value
and the distance to go.
2.7.3 Reference Point does not Exist
Movements to an absolute target are only possible when a coordinate system has been fixed.
The coordinate system is fixed using mode BA5, “reference point approach” or “set reference
point”, Following this, the axis attribute indicating the absence of the reference point is reset.
2.7.4 Teach-in
on
The axis attribute “teach-in on” indicates that the current actual position values of the axis can be
stored in a machining program as target information (X-functions). Teach-in is activated with
mode BA1 O and deactivated with mode BA11.
2.7.5 Reference Point Synchronized
This axis attribute indicates that the counters of the excitation pattern in the power unit and on
the
1P
are to be synchronized in the “reference point approach” mode. This information is stored
in the machine data. The counters are synchronized when the IP247 and power unit are switched
on together. If the
IP247
recognizes that the power unit has been switched off, (monitoring input
on the power unit) the synchronization is lost. Once the I P247 recognizes that the power unit has
been switched on again, the synchronization is re-established.
siWTV3M
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Digital inputs/Oufputs and their Effects
2.7.6 Axis Status ’’Finished”or “Running”
An axis can only be switched from one mode to another in the axis status “finished”. Providing
the job itself is correct, the axis status is changed from “finished” to “running”. In this respect,
there is no difference between traversing jobs and jobs which do not lead to a traversing move-
ment, e.g. coordinate transformations, or data transfer. On completion of the current job, the
axis status once changes to the “finished” status. In automatic operation, the axis status is only
set to “finished” on completion or interruption of the machining program (see next section).
2.7.7 “Position Reached” Message
The “position reached” axis attribute is closely related to the axis status. In positioning jobs with
absolute or relative target specifications, the “position reached” message signals the correct com-
pletion of the job. The “position reached” message is set when the target is reached.
One exception is to be found in automatic operation. While the axis status in automatic operation
only changes from “running” to “finished” on completion of the whole machining program, the
“position reached” message is generated after each traversing statement and each dwell time.
Response to abnormal termination of positioning jobs
If a job with absolute or relative target information is terminated before the target is reached, this
axis attribute is not set. The remaining distance to go to the actual target point remains indicated.
It is updated if you subsequently execute a tool offset, You can now send a relative traversing
job with the indicated “distance to go” to the module. The originally required target is then
reached.
2.8
Digital Inputs/Outputs and their Effects
2.8.1
Inputs and Outputs to the Power Unit
The I P247 positioning module has digital inputs and outputs via which it is connected to the
power units and to the plant. It has one input connected to the PC, via which the BASP signal
(block command output) can be received from the CPU.
Control and ready signals are exchanged with the power unit.
Control signals:
Positioning pulses Tx,
E
x = (axis 1,2, 3)
Direction
RPx,
RPx
Reset
RSx,
RSX
2-54
%3mem
AG”c79000-68576
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Digital Inputs/Outputs and their Effects
Ready signals:
+24 V from the module to the power unit 5BxL+ x = (axis 1, 2, 3)
Ready input feedback of the 24 V from the power unit to the
1P
BBx
Significance of the control signals:
The outputs “positioning pulses” and “direction” can be assigned parameters in the software.
Using the machine data “polarity”, the active pulse edge and therefore also the inactive level and
the signal level for the direction of rotation can be selected, (See machine data “polarity”.)
The output “reset” is used to disable the power unit when the axis is not installed, and to synchro-
nize the power unit and the module for a synchronized reference point approach, As long as
there is no machine data on the module, this output carries a high signal. As soon as there is
valid machine data on the axis, this output changes to low, At the beginning of the reference
point approach, a high signal is applied to this output for 100 ms. Providing the power unit has a
reset input, this synchronizes the power unit and the
IP247.
r
I
ANote:
If the reference point approach is to be synchronized and the power unit does
not have a reset input, you must make sure that the module and power unit are
switched on and off at the same time. The IP247 assumes that the excitation pat-
tern counter of the power unit is at zero when it is switched on. This is always
the case after the power unit has been switched on or reset.
Ready signal BBx:
The power unit can be monitored for overload and power down via the digital input
BBx.
To do
this, you can loop the 24 V available at output
BBxL+
via a floating contact of the power unit to
the input
BBx.
When the power unit is switched off, the contact must close.
2.8.2 The ”Position Reached” Message
The “position reached” message is supplied both to the CPU as well as to a digital output. You
can find a detailed description of the “position reached” message in Section 2.7 “Axis Attributes”,
siemens
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I
Digita/ /rrpuLs/O@ds and their Effects
2.8.3 The Digital Inputs for Hardware Limit Switches
The hardware limit switches are evaluated regardless
of the axis type. With a rotary axis, hard-
ware limit switches are generally not required, but can be used as an additional safety measure.
The polarity of the two hardware limit switches can be assigned in the machine data record. You
can select both limit switches as normally closed or both as normally open switches using the
“polarity HW limit switches” parameter.
The hardware limit switches are only detected during a traversing movement.
If the module recognizes that a hardware limit switch has tripped, the traversing movement is
stopped and the current traversing job is terminated.
A
I
Note
A hardware limit switch is only detected if the traversing movement is towards
it. If a limit switch responds, further movement in the direction of the activated
limit switch is not possible. This traversing direction is only enabled again
when the module has detected that the axis has left the hardware limit
switch in the opposite direction or
when a hardware limit switch has been tripped and is tripped again in the
opposite direction.
If
a hardware limit switch is tripped either manually or by some other external event, movement
in this direction is blocked. This direction can be released again by starting a traversing job in
the opposite direction, tripping the hardware limit switch again and then returning
it
to the
neutral position.
A blocked direction is also released when the axis reaches the
precontact.
Afler completing the parameter assignment and starting up your system, each axis (linear axis)
has two software limit switches. These should always be assigned so that the hardware limit
switches can never be reached during operation. Since the IP247
only starts to brake when a
-.
software limit switch is reached, the hardware limit switches should be set far enough away
frolm
the software limit switches to allow for the maximum braking distances.
2-56
%3TEns
AG”
C79000-68576-C707
-01
Digjtal inputs/Oufputs and
thei
Effects
The maximum braking distance can be calculated for
tv
=
3
~
as
follows:
%mke
= pos. resolution . (F . (tv + -c
~
(e
(+tv/T)
.
1))
+
fe,s
x
b)
Where:
fss
: start-stop frequency
fmax : maximum frequency
F
: theoretical maximum frequency =
(frnax
-
f~J/O.95
tv
: acceleration time
10.,.3c]
T
: ramp-up constant = F/a
a
: rate of frequency increase
2.8.4 External Start/Stop
The digital input “external start/stop” has two functions. A signal change from “O” to”1” serves
as an “external stop”, the change from “1” to “O” serves as an “external start enable”.
External stop
During the processing of a traversing job, a signal change from “O” to”1” at this digital input
causes the error message “external stop received”, the traversing job and current mode are ter-
minated. If the external stop is received while processing a machining program (automatic
mode), the machining program is interrupted.
External start
If a”1” is set at this digital input before the start of a traversing job, the traversing job is inter-
preted by the IP247 but is not executed. If the job is permissible, you will obtain the message
“motor waiting for external start”. The negative edge of the signal at the digital input causes the
traversing job to be executed.
Only one single job can be waiting for execution. Other jobs during the waiting time are not al-
lowed. If a further operating instruction is sent to the
IP247,
the job currently waiting for execu-
tion is deleted, A stop command in conjunction with any mode causes error-free termination.
The message “motor waiting for external start” is reset. Any command other than “stop” leads to
the error message “job not permitted”.
The external start enable is also effective in the automatic mode with traversing jobs and dwell
times. If the signal “1” is set at this digital input before the start of the automatic mode (mode 8),
the machining program starts with the start command and is executed up to the first traversing
job or the first dwell time. The dwell time or traversing job then causes the message “motor wait-
ing for external start”. The negative edge at the digital input enables the traversing movement or
dwell time. A further statement within the started machining program cannot be blocked with the
“external start enable”, since the positive edge of the signal at the digital input is then evaluated
as “external stop”. (Exception: module waiting for “enter signal” after “programmed halt” (M OO).)
If a”1” is set at this digital input before the start of the “automatic single statement” mode (mode
9), the start command also leads to the execution of the machining program up to the first pro-
grammed traversing job or first dwell time. The
“enter
command” then causes the message
“motor waiting for external start”. The first traversing job or the first dwell time and all the offsets
and switchovers programmed after it are then executed on the negative edge of the signal at the
digital input, If signal “1” is set again at the digital input during the execution of the traversing job
siefnens
AGQ
ci’9000-B85i’6-ci’
07-ol 2-57
Digital Inputs/Outputs and their Effects
or dwell time, this acts as “external stop”; the machining program is terminated. If, following the
completion of the traversing movement (“position reached” message set), a”1” is set at the digi-
tal input, the machining program is also interrupted. The message “FC1 (65) machining program
waiting to continue” is output. After “enter”, the message “motor waiting for external start” ap-
pears. If the lP247 then detects a negative edge change, the statement is executed.
Example:
N1
X1OO
F2500
MOO
N2 X200
F1
000 M20
N2 .,..
t
Fig. 2/24 External start-stop
2-58
Siemens AG@C79000-B8576
-C707-ol
BASPSignal
2.9
BASP Signal
Whether or not this signal is evaluated depends on a jumper setting on the IP247 (see I
nstruc-
tions). If the signal is active and is evaluated, the PEx outputs are switched to low, the traversing
jobs on the axes are aborted and the message “PC failure” is output.
Siemens
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-c707-ol
2-59
I
Technical Description
3
Hardware
3.1
Technical Description
3.1.1
Mode of Operation
The IP247 as an intelligent
1/0
module controls positioning equipment driven by stepper motors.
The IP247 outputs pulse trains to the connected stepper motor power unit corresponding to the
target position and the traversing speed, The number of pulses output determines the distance
travelled, the frequency of the pulses determines the speed of travel. A direction signal to indi-
cate the direction of travel is also output.
The module has the following features:
16-bit microprocessor with internal timer and interrupt controller (801 86)
16 Kbyte local RAM, backed up by the PC battery
EPROM cartridge interface for loading the firmware
dual-port RAM, backed up by the PC battery
bus interface to S5 programmable controllers
serial interface to S5 programmers
three interfaces to stepper motor power units
twelve 24 V digital inputs
three 24 V/l 20
mA
digital outputs
two status
LEDs.
The operation of the positioning module is controlled by the microprocessor according to the
operating program (firmware) stored in an exchangeable EPROM cartridge. The parameter as-
signment, programming and start- up are performed via the PG interface using the software pack-
age COM 247. If the data is stored in the CPU, parameter assignment and programming can also
be performed via the PC
intertace,
e.g. when exchanging a
rmodule.
Providing the module re-
mains plugged into a battery-backed PC frame, the machine data and machining programs
stored in the RAM of the IP247 are retained if a power failure occurs.
Communication with the programmable controller is via the S5 bus interface and a dual-port
RAM with a capacity of 4 Kbytes.
To connect stepper motor power units, the I P247 module has three identical interfaces with out-
puts at connectors X4,X5 and X6. You can connect both power units with
optocoupler
inputs (5
v/20
mA,
24 V/20
mA,
15 V/20
mA
if
an external
voltage
of
5...24
v
is
Swplied)
as
well
as
5
v
differential inputs. You select the type of input by setting jumpers on the module. When operat-
ing with voltages between 5 V and 24 V, you must apply this voltage to connector X7.
Siemens
AG@c79000-B8576-c707
-ol 3-1
Technical Description
Connectors on the front panel
6ES5247-4UA31/4uA4i
Axis
1
Axis 2
Axis 3
Tab connector for 24
V-
Ioad voltage L+
($~:$~~:::~:~’~otential)
- LED red
=ERR;
fault
- LED green =RUN, operation
Outputs to control a
stepper motor power unit
Input for ready
signal from power unit
(Pin assignment, see Figs
9-pin socket connector
Outputs to control a
stepper motor power unit
Input for ready
signal from power unit
(Pin assignment, see Figs
9-Pin socket connector
Outputs to control a
stepper motor power unit
Input for ready
signal from power unit
(Pin assignment, see Figs
3/7
or 3/8)
3/7 or 3/8)
3/7 or 3/8)
9-pin socket connector
Digital inputs and outputs
for all three axes
(Pin assignment, see Section
3.3.4)
25-pin socket connector
PG interface
(71Y)
(Pin assignment, see Fig. 3/9)
15-pin socket connector
Fig, 3/2 Front panel
3-4Siemens
AG”c79000-B8576
-c707-ol
Technical Description
3.1.4 Technical Data
Interfaces to stepper motor drives (front panel connectors X4,
X5, X6)
Output signals (per axis)
(n = axis number 1,2 or 3)
Clock pulse
Clock pulse inverted
Direction level
Direction level inverted
Reset
Reset inverted
Output voltages
with + 5 V supply:
with L+ = 24 V supply:
with
IJ~
=
15 V
SUPPIY:
Output current
Input for ready signal
Isolated
Input voltage
Input current
Voltage for contact
BBn+
(ready signal)
Load current
Permitted cable length
Tn
Fn
RPn
Wn
signal O
signal 1
signal O
signal 1
signal O
signal 1
signal O
signal 1
max.
0.4
V
min 4.5 V
max. 0.4V
min. L+ -0.4 V
max.
0,4V
min. U
S
-0.4 V
20
mA
BBn
no
-33
v...+
3 v
10.5V...33V
typ. 7
mA
24 V (from backplane connector X2)
max. 20
mA
(short-circuit
proof)
100
m
(screened)
Skmens
AG@c790m-B8576-c707-ol
3-5
Technical Description
Digital inputs
(front connector X7)
Rated input voltage
24V
Number of inputs per axis
4
Isolated
no
Input voltage
signal O
-33
V...6V6V
signal 1
13V.,.33V
Input current
typ,
9,5
mA
You can use two-wire BEROS with a supply voltage of 22 V...33 V.
Digital outputs
(front connector X7)
Rated supply voltage L+
Number
of
outputs per axis
isolated
Range of supply voltage
Switching current
Max. total load of the outputs at 60”C
24V
1
no
20 v to 30 v
max. 120 mA, short-circuit proof
10070
Power supply
Supply voltage from system bus
+5
v
~
570
Current consumption
approx.
0.8A
supply voltage L+ (front connector)
Rated value
24V
Ripple
UPP
3.6V
permitted range (including ripple)
20 v to 30 v
Special voltage
U,
(applied if necessary via X7, ground via
Mext
contact)
Rated value
15V
Permitted range 5to 30 v
Current consumption without load
from L+ (24
V)
from U,(15
V)
typ.
50
mA
typ.
35
mA
3-6
%m’Ims
AG”c79000-B8576
-c707-01
Technical Description
Battery voltage (back-up)
Current from the battery
Safetytest
Surge voltage test according to
IEC
255-4
inputs and outputs to
L-
1
nterference voltage test according to
IEC
255-4
inputs and outputs to
L-
Mechanical data
2.7..
.5.25V
typ. 5
wA;
max. 250
PA
Us
= 1
kV;
12/’50
LLS
Us
= 1
kV,
1 MHz
Dimensions
(W
x
H
x
t))
version with forced ventilation
(-4UA31)
20 mm x 233 mm x 160 mm
self -ventilated version (-4UA41) 40 mm x 233 mm x 160 mm
Weight approx.
0.4 kg
Ambientconditions
Operating temperature
version with forced ventilation
(-4UA31)
0...6CC’C
self-ventilated version (-4UA41)
0...5!?C
Storage and transport temperature -40...+70‘c
Relative humidity max. 95% at 25°C
Siefnens
AG°C79000-B8576
-C707-01
3-7
Installation
3.2
Installation
3.2.1
Inserting and Removing the Module
The module can only be plugged into the slots interided for CPS in the PC or
EU.
The module
may only be removed when the programmable controller or the expansion unit is switched
off.
3.2.2 Connecting the
Signai
Lines
The signal lines are connected via the connectors on the front panel, The braided shield is con-
nected to the
metallized
part of the connector cover.
Connecting cables to the power units should be laid with shield clamps at the device reference
potential, as recommended in the Installation Instructions C79000-B8576-C452, Section 7.7.
A
Note
With the exception of the PG interface, the insertion and removal of the front
connectors during operation of the module is not permitted.
3-8
Siemens
AG°C79000-B8576
-C707-01
Operation
3.3 Operation
3.3.1
Position of the Jumpers and Switches
6 . . . . . . 1 321 321
.UILLl”
17
=“4
i)
’10
*
1)
,.,
‘.
’..
Firmware
4
X12
X13
*
1)
J3
J1
.:.:’:,
Jl=S79200-G97A901/- 123
.T1
~.
J3=S79200-G97-A902/-
xl 1
;~j
w
X15
1.)
Y
2)
1
321
b
z.
X18
T
Xl 6
3 L- 2.)
2)
Connection to power circuitry
r~~~~x,o
o
24 V/l AT
X19 Fuse
-12.3
—*
OV]
321
T
X31
]
‘-2 —
‘“
I
123
2.)
7T
X21
Digital outputs with BASP 7.!
I
—.
can be disabled
--+
2-3
cannot be
disabl~
1-2
1.) Test points: jumpers Xl O, Xl 1, Xl 2 and Xl 3 must always be plugged in.
2,)
Jumpers inserted at the factory.
Fuse:
GWK-NO.
W7W54-M1041-Tl~
Fig. 3/3 Jumpers and switches for the
lP247-4UA31/-4UA4l
3.3.2
Setting the Module Address
Data is exchanged between the CPU and the IP247 via the S5 bus interface and a dual-port RAM
with a memory capacity of 4
Kbytes,
divided into four “pages”.
Each axis to be controlled is as-
signed one page. The fourth page is used to transfer machining programs.
Thepagesfor all IP247s are in the address area from OF400H to OF7FFH (61
Kbytesto
62 Kbytes
-1 ), which is set at the factory. You must simply set the page number for the first page (first axis),
0,.,252 (in multiples of four).
Siemens
AG”c79000-B8576-c707”ol
3-9
ODeration
The four pages of a module must have consecutive numbers. The addresses for the following
pages are calculated automatically by the
IP247,
after you have set the base address.
When supplied, each module is set with the same address area for the page number (switch S1
and jumpers Xl 4, Xl 5 and Xl 6).
Address area OF400H to OF7FFH (61 Kto62 K-1)
Switch S1
off
on
Jumpers X14 / 2-3
xl 5 / 1-2
Xl 6 / 2-3
Xl 7/2-3
Xl 8/2-3
ADB 10 . . 15
Fig, 3/4 Switch setting at switch S1
You must set the page number of the module (even-numbered base address of the first axis) be-
tween O and 252 in
stem
of four, using switch S2.
i
Switchs2
654321
27
:26
:25
‘24
~
23
22
:
Fig, 3/5 Switch setting at switch S2
The page addresses 85, 86, 87 for the following pages are automatically decoded by the module.
The first page address of the next module can then be set to 88.
Disable Command Output
The
BASP
signal (disable command output), which is triggered by the PC (e.g. when it changes
to STOP or if the load voltage drops below 15 V), can be used to disable the digital outputs on
the module.
Jumper X21/1 -2 inserted
digital outputs are not disabled when
BASP
is output
Jumper X21/2 -3inserted
digital outputs are disabled when
BASP
is output
3-10 Siemens
AG@C79000-B8576
-C707-0
1
Operation
3.3.3
Connecting Stepper Motor Power Units
Three stepper motor power units can be connected to the module (X4, X5, X6). The signals
“clock pulse” (T), “direction level” (RP) and “reset”
(RS)
are supplied via special output stages,
which can be operated with 5 V, 24 V or with
a
special voltage
US
(5 V to 24
V),
This allows power
units with 5 V differential inputs
(RS
422) or
optocoupler
inputs (5 V/20
mA,
24 V/20
mA)
b
be
connected. If a special voltage
US
(5 V to 24
V)
is used via connector X7, the outputs of the mod-
ule can also be operated with this voltage,
The three interfaces must be operated with the same voltage.
The output circuit is shown schematically in the following figure for an output signal (e.g. clock
pulse 1).
+
xl 9
Load power supply
unit 24 V
‘m:
X7J23
us
=
E7&3egT1
---+
1
-_E!?l’
l)-
*“9’
L
-t
321
QbQ
L--
Chassis
~3+
(M
(
exiern
OV L-
Fig. 3/6 Output circuit for controlling power units
Connection of power units with 5 V differential inputs
You must set the jumpers on the module as follows:
jumper X30/2-4 inserted (5
V)
jumper X31/2-3 inserted (O
~
You must connect the power unit as shown in Fig. 3/7.
Siemens
AG”c79000-68576
-c707-01 3-11
Operation
BBnL+
BBn
RPn
RPn
RSn
RSn
-1
————.————
+-
1
I
I
+-
-
+-
.
+
-4
/
i
----f-(”
>
*----
I
I
I
———
Connector
.
b
casing
1
= twisted cable
Fig, 3/7 Connection of power units with 5 V differential inputs to connectors X4/X5/X6 of the
lP247 module
To reset the power unit, the module outputs a high-active pulse for each axis, If a low-active
pulse is required, you must change over the connections at
pins 1 and
2 of the connector. The
polarity of the clock pulse and direction level can be programmed.
Connecting power units with 5V optocoupler inputs
On the module, you must make the same jumper setting as for 5 V differential signals:
jumper X30/2-4 inserted (5
V)
jumper X31/2-3 inserted
(OV)
You must connect the power unit as shown in Fig. 3/8.
Connecting power units with 24V
optocoupler
inputs
You must make the following jumper setting on the module:
jumper X30/3-4 is inserted (24
V)
jumper X31/1 -2 is inserted (L-)
You must connect the power unit as shown
Fr
Fig. 3/8.
3-12
$%=WIS
AG”c79000-B8576
-c707-01
Operation
Connecting power units with
5...24
V optocoupler inputs
You must make the following jumper setting on the module:
jumper X30/4-6 inserted (US)
jumper X31/1 -2 inserted (L-)
if
YOU
are using a special voltage, the voltage US must be supplied via connector x7/23,
24,
25
(see Fig. 3/6).
You must connect the power units as shown in Fig. 3/8.
Fig. 3/8 Connection of power units with
opto-coupler
inputs to the connectors X4/xW@
on
the
lP247module.
Pin assignment of the connectors for connecting power units (X4, X5, X6)
The pin assignment of the three connectors for axes 1 (X4), 2 (X5) and 3 (X6) is the same.
Siemens
AG@C79000-B8576
-c707-ol
3-13
I
Operation
3.3.4
Digital Inputs/Digital Outputs
The digital inputs/outputs for all three axes are connected to the 25-pin connector X7 on the front
panel. You can connect current sourcing switches (contacts or two-wire
BEROS)
to the inputs.
The function signals (position reached) are output via short-circuit proof digital outputs.
Pin assignment of connector X7 for digital inputs/digital outputs
Socket Connection for:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17...22
23
24
Limit switch axis 1
Reference switch axis 1
Limit switch axis 1
External start/stop axis 1
Limit switch axis 2
Reference switch axis 2
Limit switch axis 2
External startlstop axis 2
Limit switch axis 3
Reference switch
axis
3
Limit switch axis 3
External
statistop
axis 3
Position reached axis 1
Position reached axis 2
Position reached axis 3
Not used
Special voltage
Special voltage
I
I
I
I
I
I
I
I
I
I
I
I
Q
Q
Q
Q
25 Special voltage
I
I = input; Q = output
ANF1
BERO1
END1
START-N/STOPl
ANF2
BER02
END2
sTART-N/sToP2
ANF3
BER03
END3
sTART-N/sToP3
PE1
PE2
PE3
u.
u.
us
T
The chassis for the special voltage is supplied via the Mext contact;
i.e.
W
minus pole of the special voltage must be applied to the common chassis pole.
3-14
Siemens
AG@C79000-B8576
-C707-01
Operat;on
3.3.5
PG Interface 20 mA
The programmers PG 635, PG 675, PG 685, PG 695, PG 730 and PG 750 can be connected to
the I P247 at connector X8 via connecting cables (e.g. 6ES5 731- 1.. .0).
20
mA
-’m)-
20
I
——
–-)
1
+
Pot.
recewe
%
‘“x”
(+2o mA)
Pot,
B
N
Z%J
,
‘xD-
+
Pot,
:)send
~
.
I
9 ! Rx” +
—r.–-–.
.—
J
I
Connecting cable 6ES5 731-1 ---4
Fig, 3/9 Connecting the programmer to the IP247
To set the transmission rate of the programmer
(PG),
you must connect pins 2, 3, 4, 17 together
in the connector on the PG side (transmission rate 9600 bps). When using standard cables, this
speed is already set.
In the programmable controllersS5-135U and S5-1
55U,
you can also use the PG interface via
the backplane bus. To do this, you must insert the module in a suitable slot. The module is then
operated via the coordinator module (for details, refer to the Coordinator Instructions).
Siemens
AG”c79000-B8576-c707-ol
3-15
Operation
Pin Assignment of Connector X8 for the PG Interface
Socket
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Connection for:
Shield
RxD
-
---
24V
---
TxD
+
TxD
-
Shield
RxD
+
Ground
-20 mA/transmitter
-..
-20
mA/receiver
---
Backplane Connectors
Xl/X?
and Memory Cartridge Connector X3
dbz
2
Ground
+5
v
4
UBAIT
6
ADB
12
ADB O
8
ADB
13
ADB 1
/MEMR
10 ADB
14
ADB2 /MEMW
12
ADB
15
ADB
3
/RDY
14
ADB4
DB
O
16
ADB
5
DB
1
18
ADB6
DB
2
20
ADB7
DB
3
22 ADB
8
DB
4
24
ADB9
DB
5
26 ADB
10
DB
6
28
/DS1
ADB
11 DB
7
30
BASP
32
L
Ground
Fig. 3/1 O Backplane connector Xl
3-16 Siemens
AG°C79000-68576
-c707-ol
I
Operation
I
I --
12
/-“-1---–—+---–”--”””
1-..
14
--L–-
—---+-—------—-----’
/NAU
16 -
I
.+.—
18
-
..--.-.j_———
20
I
22
TxDSn–
24
I
—–-.—.—.—––..
.T..—
2F
RxDSn
;
28
30
Gnd 24V
Gnd24V
32 Ground
+24 V
,
Fig. 3/1 1 Backplane Connector X2
d b
z
1
SADB12
Ground
+5 v
2SADBO
SADB
1
SADB2
3
SADB3 SADB4 SADB5
4
SADB6 SADB7 SADB8
5
SADB9
SADB
10
SADB11
6
SADB13 SADB14
/RD
7
+5volt
SDB8 SDB9
8
SDB
10
SDB
11
SDB
12
9
SDB
13
SDB
14
SDB
15
10
SDB
O
SDB
1
SDB2
11
SDB3 SDB4 SDB5
12
SDB6 SDB7
13
/ucs Iucs
1
Fig, 3/1 2 Memory Cartridge Connector X3
Siemens
AGQC79000-B8576
-C707-01
3-17
Connecting Cables
3.4 Connecting Cables
To make the connection of power units and digital inputs/outputs easier, connecting cables are
available with one end open.
Connecting cable for power units 6ES5 704-4...0
(cable end open, . .
.
=
length key for connecting cables)
RS
1
bl
RS 2
rd
T
3
q
7
4
ye
1 Ring
1
RP
5
gn
RP 6
br
BB L+
7
Wt
BB
8bk
9
bl
2 Rings
Casing Shield
Fig, 3/1 3 Connecting cable for power units
3-18
Siemens
AG°C79003-B8576
-C707-01
Connecting
Cables
Connecting cable for digital inputs/outputs 6ES5 704-5...0
(cable end open, ...=
length key for connecting cables)
I
ANF
1
1
+
bl
I
BERO
1
2
rd
I END 1
3
r
ISTART/STOPPl
4
ye
1
Rin:
I
ANF
2
5gn
I BER02
6
br
I
END 2
7
Wt
lsmART/sT(3pp2
8bk
I
I
ANF
3
9
bl
I
BERO
3
10 rd
I END 3
11
gr
lsTART/sToPP3
12
ye
J
2Ring
Q PE 1 13
gn
4
Q PE 2
14
br
~
Q PE 3
‘15
‘m
j
——.
16
I bk
—&-–—–
I = input, Q = output
Fig, 3/1 4 Connecting cable for digital
inpdshutputs
Siemens
AGQC79000-B8576-C707-01
3-19
Principle of Operation
4
Functions
4.1
Principle of Operation
The module is operated by means of commands and instructions, regardless of whether they are
sent to the
IP247
by the CPU or by a programmer. Commands are divided into two basic groups:
instructions for “operating” and
commands for “monitoring”.
Operating instructions are used for the following:
to setup an axis (input of machine data),
to set (change) modes,
to start the execution of a mode,
to abort the execution of a mode
The reaction to an operating instruction depends on various factors.
The instruction must be feasible.
It must be feasible in the currently set mode and during execution of the mode.
It must not contradict the “axis attributes” which determine whether or not an operating
mode is permissible at a given time
(=>
Section 2.7 “Axis Attributes”).
It must not contradict the mode of the other axes, if they have already been set by pre-
vious operating instructions (e.g. “teach-in” or “delete program”).
If all these conditions are fulfilled, the operating instruction will be processed, otherwise an error
message is output and with a few exceptions processing is terminated.
Operatinginstructions
are entered in the appropriate PC or PG job list on the IP247 in the order
in
which they are received. In each
IP247
cycle an attempt is made to fetch and interpret the
oldest valid job in this list. If the job is permitted in the current axis status, it is executed immedi-
ately. If it contradicts the current mode, the mode is terminated and an error message output.
A
Note
An operating instruction which causes a mode to start should only be transferred to
the module when the previous job is complete.
While an axis is braking, further jobs are accepted, however, not interpreted since they would
trigger a stop and the module is already braking. If several jobs are sent to the IP247 during this
phase, it is possible that an entry cannot be made in the job list. These jobs are then lost. The
IP247, however, outputs the error message “PC (or PG) job list is full”.
Siemens
AG°C79000-B8576
-C707-01
4-1
Principle of Operation
With certain operating instructions (transferring a machine data to the IP247), data are also sent
to the module along with the instruction. The reactions in this case are explained in the descrip-
tion of the modes.
Monitoring commands are used to fetch the axis attributes
(checkback
signals), the module er-
rors and information about the actual value and distance to go from the module cyclically. They
are independent of the operating instructions and can be sent to the module at any time. They
are processed immediately. The next monitoring command can only be input to an interface
when the previous command has been processed. Monitoring commands can be sent to the
positioning module simultaneously by both interfaces, without the commands interfering with
each other.
Fig, 4/1 Operating instructions and monitoring commands
Error messages resulting from incorrect operation or an external event (e.g. limit switch re-
sponded) are not reset until they are acknowledged by the input of a new operating instruction at
one of the two interfaces. Between the error message and the acknowledgement, any number of
monitoring commands can be entered: the unacknowledged error will continue to be output
along with the monitoring information.
Each of the axes is always in one of the operating modes. After power on, the “axis off” mode
(see below) is set. Within each mode, an axis can be active or idle. This is expressed by the “axis
status” which can have the values “running” or “finished”
(=>
Section 2.7 “The Axis Attributes”).
The axis status can be interrogated via both interfaces. The axis status appears in the test dis-
play on the PG; on the PC side it can be read in the
checkback
signals using FBI
64.
(=>
“Standard Function Blocks FB164 and
FB165”).
4-2
Siemens AG°C79000-B8576 -C707-Ol
Principle of Operation
In the axis status “finished”, an axis can be changed from one operating mode to any other oper-
ating mode, unless prevented by the restrictions mentioned above. The operating instruction in-
cludes the required operating mode number and a “command”. The command can be “start”,
“stop”, “forward”,”
reverse” or “enter”. The axis then changes to the required mode, The mode is,
however, only executed when the set mode and the command represent a feasible combination,
i.e. “jog speed 1, forward”. The relationship between commands and individual modes is ex-
plained in more detail in the description of the modes.
If the input is correct, the axis begins to execute the mode. The axis status changes from
“finished” to “running”. Once the mode is completed, the axis returns to the status “finished” and
can be started again.
If the execution of a mode is to be terminated, you once again send an operating instruction
specifying a mode and the command “stop” or the mode “axis off” and “start” to the module. The
axis then changes to the “finished” status of the terminated mode, Modes used for data transfer
or coordinate transformation cannot be terminated, since this could lead to inconsistencies.
In the “jog” and “incremental” modes (BA 1,2,6 and 7) it is also possible to specify a speed at the
start which differs from the speed in the machine data. The speed must be in the valid range
from I -65000 mm/min (or 1 -650000.1 in/rein or 1-65000 decjmin) and must not
exceed
the
maximum speed (max. frequency) programmed in the machine data record. If the maximum
speed would otherwise be exceeded, the speed is changed to the maximum upper or lower limit
and the error message “speed range exceeded” is output. If the value “O” is transferred, the
speed selected for this mode in the machine data will be used.
4.1.1
Operating Instruction
An
operating instruction consists of the following parts:
-
Axis 1, e.g. jog - According to - Start
- Axis 2 or
incremental
the mode - stop
- Axis 3
automatic e.g. speed - Forward
etc.
- Reverse
- Enter
Fig, 4/2 Structure of an operating instruction
The relationship between modes, operating instructions and the axis status can be seen in the fol-
lowing diagram:
Siemens
AG°C79000-B8576-C707
-01
4-3
I
Principle of Operation
- Stop command
- Automatically
owing to error
- Operator error
Operator error
“Enter” command (continuation)
1
I
I
I
start
L_ forward
reverse
Fig, 4/3 Relationship between operating instruction and
axis
status
You can only change or start a mode in the axis status “finished”, This is achieved by the start,
forward or reverse command in conjunction with the required mode.
Operating instructions entered while a mode is running result in the error message “job not per-
mitted” and the current action is terminated. If an operating instruction is simply incorrect, the
axis remains in the “finished” status.
The axis can change from the “running” status to the “finished” status for a number of reasons.
These include the following:
a stop command in a mode,
a start command in the “axis off” mode,
an operator error (e.g. “enter” command with a different mode),
an error resulting from an external event (e.g. external stop command or a limit switch
being tripped) or
the correct completion of a job (e.g. approach to a particular target point or entry of ma-
chine data).
The enter command is required for the following tasks:
to trigger a single traversing movement in the “automatic single statement” mode,
to acknowledge a “programmed
ha!t”
in the “automatic” or “automatic single statement”
modes,
to continue
an
interrupted machining program,
b
to store statements in the teach-in mode.
4-4
Siemens
AG°C79000-B8576-C707
-01
PrincirYe
of Operation
Note
A
When entering instructions at the PG, remember that everything you enter faster
than can be processed by the PG or by the COM247 software is written to a key-
board buffer in the PG. If all the stored inputs are feasible and correct, they will be
entered in the PG
iob
list in the order in which they were
inP@
and then Processed
by the I
P247.
This-can lead to a stop command being delayed.
The modes of the IP247 can be selected both by the PC and PG interfaces.
The operating modes of the
IP247.
The following modes can be called directly by COM247 and by the PC via FBI 64:
.
BA 1- Jog speed 1
BA 2- Jog speed 2
BA 3- Free
BA 4- Axis off
BA 5- Reference point (approach or set)
BA 6- Incremental (target approach) absolute
BA 7- Incremental (target approach) relative
BA 8- Automatic
BA 9- Automatic single statement
BA 10- Teach-in on
BA 11- Teach-in off
BA 12- Zero offset absolute (set actual value)
BA 13- Zero offset relative (offset coordinate system by value specified)
BA 14- Clear zero offset
BA 15- Tool length offset
BA 16- Tool length offset off
BA 17- Clear error
Siemens
AG%79000-B8576-C707
-01
4-5
I
Description of the Individual Operating Modes
The following modes are used by COM247 automatically in
the
test mode and can be catted by
the PC via FBI 64:
Modes BA 71, BA 73, BA 74: (for monitoring modes, see Section
4.4
“Description of the
in-
dividual
Monitoring Commands”)
The following modes can be called indirectly by
COM247
by means of function keys and by the
PC via
FBl
65:
b
BA 20- Enter machine data
BA 21- Delete machine data
BA 22- Enter machining program
BA 23- Delete machining program
BA 24- Enter SYSID (module identifier)
BA 64- Read machine data directory
BA 65- Read machining program directory
BA 66- Read actual values (monitoring mode)
BA 67- Read machine data
BA 68- Machine data overview
BA 69- Read machining program
BA 70- Read
SYSID
(module identifier)
4.2
Description of the Individual Operating Modes
In this description of the modes, it is assumed that you are familiar with the terms “machine
data”, “machining program” and “axis attributes”. You can read a detailed description of these
terms in Part 2 “Fundamentals of Positioning” in the Sections:
2,5 Machine Data and their Structure,
2.6 Machining Programs and their Structure and
2.7 Axis Attributes.
Note
AIn the following graphics, the representation has been simplified, so that exponen-
tial functions are represented as ramps,
4-6
Siemens
AG”c79000-68576
-c707-0
I
Description of the Individual Operating Modes
4.2.1
JOG Speeds 1 and 2 (Modes 1,2)
In these two operating modes, you can move an axis at a constant speed. The basic speeds
themselves are contained in the machine data. You can traverse at JOG speed 1 or 2 by entering
a
“0”
in the speed parameter.
After selecting one of the two operating modes, you can start an axis moving in the required
direction by setting the commands “forward” or “reverse”. By pressing the stop key on the PG
you can stop the axis again. From the programmable controller’s side,
FB164
provides a special
feature. On the signal edge of the “forward” or “reverse” command from O to 1, the axis is moved
in the selected direction and is stopped again when the signal changes from
1
to O. The axis also
stops if a stop command is entered
(=>
Section 6.2.9.2 “Special Features of the Parameters
VORWandRUCK”),
1
stop Reverse
d: distance v: speed
Fig. 4/4 Traversing in the jog mode
You can also switch from one jog speed to the other while the axis is moving. The axis then
stops and continues its movement in the new jog mode.
In the jog mode
(BA
1 and 6A 2) and in the incremental mode
(BA
6 and 6A 7), you can traverse
at speeds different from those in the machine data, by entering a value between 1 and 65000 in
the speed parameter, Values outside this range are restricted to the limit values. The traversing
movement is then executed at the limit speed. You
cannot change the speed while the axis is
moving.
v’
VI
o
V2
Forward stop
J/”
4
—.—
—.
—.
—.
—.
—.—.—
//
‘\
—.
—————.—
\
[
t
:
time o : speed from the MDt
Fig. 4/5 Traversing in the jog mode with variable speeds
%?mens
AG”c79000-B8576
-c707-ol
4-7
Description of the Individual
Opera!jng
Modes
Note
A
I
Traversingspeedsspecifiedinthespeedparameterm"~tnotexceedthem*im"m
speed achieved at maximum frequency. The limits are 1-65000 mm/min (or 1-
650000,1
irlmin
or 1-65000
decJmin).
If this speed range would otherwise be
exceeded, the speed is changed to the lower or upper limit and the error message
“speed range exceeded” is output.
4.2.2
Axis Off (Mode
4)
After the IP247 starts up, this is the default mode.
In this mode,
C0M247
can only enter a start command. FB 164 can enter any commands. These
commands are converted to a stop command for the current mode by the
IP247.
This means
that any positioning job can be aborted by a command in this mode. Aborting a mode with “axis
off” does not change the IP247 to the “axis off” mode. The
C0M247
test display and FB 164 still
contain the aborted mode along with the stop command.
4.2.3
Reference Point (Mode
5)
Mode 5 is used to calibrate the axis. This means the following:
Reference point approach: the reference point is located by a calibration run. The refer-
ence point precontact (e.g.
BERO)
and the zero reading of the excitation pattern counter
are identified (synchronization = yes).
Set reference point: the current position of the axis (at rest) is assigned the coordinate of
the reference point stored in the machine data. The excitation pattern counter is not
reset,
In each case, an error-free machine data record is required on the module. The coordinate of the
reference point is stored in the machine data. The direction of approach to the reference point
and the speeds for approaching the reference point are also contained in the machine data re-
cord.
Note
On correct completion of mode 5, the checkback signal “reference point set” is sent.
(=>
Sec-
tion 2.7 “AxisAttributes”).
If the reference point is not set, the software limit switches stipulated in the machine data are not
evaluated and the following operating modes are blocked:
“incremental absolute” (mode 6),
“automatic” (mode 8),
“automatic single statement” (mode 9) and
“teach-in on” (mode 10).
Zero offsets and tool length offsets which were active before the calibration of the axis
(=>
Sec-
tion 4.3.5 or Section 4.3.6 “Absolute/Relative Zero Offset” and Section 4.3.8 “Tool Length Offset”)
are retained and are included in the calculation of the reference coordinate.
4-8s.iemens A&
f379000-68576-C707
-01
Description of the Individual Operating Modes
Example
A
zero offset of 100 mm in the reverse direction was executed.
The mode “set reference point” was executed. The coordinate of the reference point in the ma-
chine data is O mm.
The actual value following “set reference point” is indicated as 100 mm.
E@D–
Reference edge
[ Status before executing mode 5 “set reference point”
1
Software limit switch
Actual position
not activated
\
value
Signal:
reference point cleared
Status after executing mode 5 “set reference point”
Indicated
Software limit switch
I
Software limit switch
coordinates
~,
I
-100
100
I
200
g
Coordinates from -200
0
‘00
Signal:
machine data reference point set
Fig. 4/6 Mode 5 with a zero offset
The reference point is lost when the positioning module is switched on and must be calculated
again,
The calibration of the axis is triggered by specifying operating mode 5 and the command “start”.
You must also decide whether the reference point is to be established using a reference point ap-
proach or by setting the reference point.
By starting mode 5, an existing reference point is cleared or overwritten
4.2.4
Reference Point Approach
Hardware requirements:
A reference signal generated by an NO contact (usually
BERO)
which has its faliing edge
in the “reference point direction”.
Possibly hardware limit switches, which restrict the traversing range and trigger the rever-
sal of direction during the reference point approach.
Siemens
AG”c790~-B8576-c707
-ol
4-9
Description of the Individual Operating Modes
For “reference point synchronized” the excitation pattern counter on the module must be
synchronized with the counter in the power unit.
Synchronization
“Reference point synchronized” has been selected with “yes” in the machine data.
The power unit is capable of being monitored. When the power unit is switched off, afloat-
ing contact is closed.
If the IP247 recognizes that this contact has closed (See digital inputs/outputs), it sets
its excitation pattern counter to “O”, The counter in the power unit is set to “O” when it is
switched on.
The power unit can be reset.
Before starting the “reference point approach” mode, the I P247 outputs a reset signal
for 100 ms (see digital inputs/outputs). This signal resets the excitation pattern counter
of the power unit. The counter on the
IP247
is also set to “O”.
The power unit cannot be reset and cannot be monitored.
In this case, the IP247 and the power unit must always be switched on and off together.
Sequence of the reference point approach
A reference point approach goes through the following steps: (see Fig. 4/7 “Reference point ap-
proach” with reversal at the limit switch.)
BA 5 (reference point); run; start
1)
2)
3)
4)
5)
6)
7)
Select “reference point” (mode 5) with the parameter “run”.
Send the start command.
The drive traverses in the opposite direction from the reference direction at the refer-
ence speed.
The direction is reversed at the hardware limit switch, the
axis
traverses at reference
speed until after the
precontact.
After leaving the precontact, the axis brakes and traverses in a direction opposite ref-
erence direction to the
precontact.
This movement is at the speed corresponding to
the start-stop frequency.
Once the
precontact
is recognized, the axis stops and then leaves the
precontact
in
single steps in the reference direction.
Depending on whether or not you have selected synchronization, the reference point
approach is completed at different positions:
Synchronization: no
Once the module recognizes that the
precontact
has been left, the reference point
approach is completed, the coordinate of the reference point is entered as the
actual value and the reference point is marked as existing (axis attribute).
4-10
Siemens
AG°C79000-B8576
-C707-01
Description of the Individual Operating Modes
Synchronization yes:
In this case, the reference point is only located after the axis has left the precontact
and the excitation pattern counter has reached zero.
Note
A
! Theprecontact is monitored.
lftheaxis
hasnotleftthe
COntaCtf0kwin92500
single steps, the reference point approach is aborted and the error message “FBB
(59) reference cam switch defective”.
1,
M
1
,,0,,
v
V3
V2
VI
o
- VI
- V2
- V3
301 2301 23Excitation pattern number
IIII
I
II I I
.
s
Limit switch : Precontact Limit switch s
Reference direction
VI: Single step (25 Hz) 1) Reference point with synchronization
V2: Start-stop frequency 2) Reference point without synchronization
V3: Reference speed
Fig. 4/7 Reference point approach with reversal at the limit switch
Special cases with reference point approach
Depending on the position of the drive before the reference point approach is executed, there
are three special situations which affect the sequence of movement. These can be seen in the fol-
lowing diagrams. In the opposite approach direction, these movements are reversed.
skrnens
AG°C7gO~-685T6-C707-01
4-11
Description of the Individual Operating Modes
“1“
“o”
v’
V3
V2
VI
o
- VI
- V2
- V3
Special case 1
If the IP247 detects the
precontact
before reaching the hardware limit switch, the direction
is reversed at the end of the precontact.
301 2301 23Excitation pattern number
IIIIII
s.
I
II
+
s
Limit switch Precontact
Limit switch s
+-i+
\
U-.-J
.
Reference direction
VI: Single step
(25Hz)
1) Reference point with synchronization
V2: Start-stop frequency 2) Reference point without synchronization
V3: Reference speed
Fig. 4/8 Reference point approach with reversal at the BERO
4-12
siemens
AG”c79000-B8576
-c707-ol
Description of the Individual Operating Modes
Special case 2
If the appropriate limit switch is activated when the approach is started, the drive starts im-
mediately in the reference point direction.
II,
1,
11~1,
v
v:
Vz
VI
o
-
VI
- V2
-
v:
301 2301 23Excitation pattern number
I
I
III
I I
I I
b
A
*
s
Limit switch
:
Precontact
,’
Limit switch s
1)
2):
s
4
Reference direction
VI: Single step (25Hz) 1) Reference point with synchronization
V2: Start-stop frequency 2) Reference point without synchronization
V3: Reference speed
Fig. 4/9 Reference point approach with start at the reversal limit switch
skM7efW
AG”c790~-B8576-c707-ol
4-13
Description of the Individual Operating Modes
b
4
“1“
“o”
v,
V3
V2
V1
o
- VI
- V2
- V3
Special case 3
If the precontact is activated when the reference point approach starts, the drive moves im-
mediately in the reference point direction in single steps.
301 2301 23Excitation pattern number
Limit switch Precontact
Limit switch s
Reference direction
VI: Single step (25Hz)
1 ) Reference point with synchronization
V2: Start-stop frequency 2) Reference point without synchronization
V3: Reference speed
Fig, 4/1 O Reference point approach with start at the
BERO
If one of the two limit switches is “out of bounds”, i.e. must not be reached, you must specify the
reference direction in the machine data so that the reversal of direction only occurs at the other
limit switch. If both limit switches are prohibited, the
axis
must be positioned in front of or on the
precontact
(BERO)
before the reference point approach is started, so that special case 1 or 3
comes into effect.
If the axis is already on the
precontact
at the beginning of the reference point approach, you can
be sure that no limit switch will be tripped. There is also no reversal of direction in the reference
point approach.
If the reference point approach is abandoned, there is no reference point even if there had been
one previously. The mode must be restarted and completed.
4-14
%2mens
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Description of the Individual Operating Modes
4.2.5
Set Reference Point
With the “set reference point” function, the axis is calibrated without movement. No hardware
limit switches and no
precontact
are required. The point at which the axis is located (actual posi-
tion) at the start of the “set reference point” function is assigned the reference point coordinate
programmed in the machine data record. Tool length and zero offsets are taken into account.
A reference point can be set at any axis position, even outside the hardware limit switches. You
must, therefore, make sure that your axis is in a permissible position within the hardware limit
switches before executing the “set reference point” function. Remember that the programmed
software limit switches may, under certain circumstances, be outside the hardware limit switches
mounted on the axis and therefore have no effect.
If a backlash compensation value is assigned other than O, the reference point must only be set
when there is no play in the drive. The first traversing movement (traversing distance greater
thanlequal to the assigned backlash) must be in the direction
in
which there is no play, since the
backlash is not yet taken into account with this traversing movement
(=>
Section 2,5.3.9
“BacklashCompensation”).
4.2.6 Incremental Approach Absolute (Mode 6)
in this mode, a target specified in absolute coordinates is approached. If you select “O” in the
speed parameter, the speed of the approach is the speed specified in the machine data
“in-
crementalspeed”.
You can vary this speed by specifying a value from 1 to 65000. The resulting
speed must, however, not exceed the maximum speed, (See “jog” modes 1, 2,) The target posi-
tion must be within the software limit switches or range limits, The mode can only be executed
when there is a reference point.
With a Iinearsxis the movement is triggered by the start command.
When operating a rotarysxis the terms below have the following meaning:
“Start” = approach the target by the shortest route.
If the distance is the same in both directions, the direction forwards (clockwise) has prior-
ity, Reversal backlash is in this case not taken into consideration. If the axis is already on
the target position, no movement is executed
(=>
Section 2,6.6.5 “Direction of Approach
to the Target Point with a Rotary Axis”).
“Forward” = approaching the target in a forwards direction (clockwise direction), If the
axis is already on the target position, the total traversing range is covered once.
b
“Reverse” = approaching the target in a reverse direction (anti-clockwise direction). If the
axis is already on the target position, the total traversing range is covered once.
Changing the target while the axis is moving is not possible.
%mens
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Description of the Individual Operating Modes
Speed
parameter
A
vStart after 200 mm
V2
““~”
“/-
– – – – – – – ,,
0
~~
“+
– ––– –
‘,,,
\
VI
“’”
““
\
\
d = 200 mm
\
\
\
\
d: Distance t: Time t
v: Speed
O: Speed in machine data
Fig, 4/1 1 Traversing in the incremental absolute mode
4.2.7 Incremental Approach Relative (Mode
7)
In this mode, a preset distance forwards or backwards is travel led from the current actual posi-
tion. The same conditions apply to the speed as for mode 6 “incremental approach absolute”.
This mode can also be executed when the reference point is deleted. The travel direction is deter-
mined by the operating instruction “forward” or “reverse”.
stop
v
T
Forward
200mm
(abort)
II
1
0
-
“1/
h
d =
200mm
I
t
d: Distance t: Time
v: Speed
O: Speed in machine data
Fig. 4/1 2 Traversing in the “incremental approach relative” mode
With a linear axis, the distance to be travelled must be such that the resulting target position with
a reference point set remains within the traversing range between the two software limit switches
(also taking into account zero point offsets). If this is not the case, the job is aborted and the
error “traversing range exceeded” is displayed. With a rotary axis, the distance travel led is limited
to +/-200 m
(+/-20
000 inches, +/-200 000 degrees). If this limit is not adhered to, the job is
also aborted and the error message “illegal
dist.
spec.
” is generated.
4-16
Siemens AG°C79000-B8576
-C707-01
Executing Machining Programs
4.3 Executing Machining Programs
4.3.1
Automatic (Mode 8)
A series of traversing movements, dwell times and loops can be stored on the module as a ma-
chining program. The structure and effects of machining programs or of functions in machining
programs is discussed in Section 2.6 “Machining Programs and their Structure”. To execute a
machining program, you must specify the parameter “program number” in the operating instruc-
tion. The machining program is executed with the “start” command. You can interrupt the pro-
gram at any time with the “stop” command. The distance to go then remains unchanged until the
next traversing movement, You can start again from the first statement, (start command) or from
the point at which the program was interrupted (enter command). The program is terminated by
a further stop command or by starting a different mode. For the automatic mode, the reference
point must be set. While a machining program is being executed you can not change or delete
this program.
Machining programs stored on the module are not assigned to a particular axis. They can be
used by both axes simultaneously, If the machine data or your plant contradict the requirements
of the machining program, the IP247 recognizes the error while executing the machining pro-
gram. The machining program is then terminated for the corresponding axis and an error mes-
sage is displayed.
On the module, a machining program interpreter evaluates the individual statements of the ma-
chining program. This interpreter is normally several statements ahead of the statement currently
being executed. This means that an error such as “flying change could not be executed” may be
signalled before the illegal statement in the machining program has been executed.
Zero offsets can be programmed in machining programs, which are then automatically
cancelled
again after the program is completed. If the program is aborted before it is completed, these off-
sets are not automatically cleared, They must be eliminated with BA14 “clear zero offset”
(=>
Section 4.3,7 “Clear Zero Offset”).
Tool length offsets activated in the automatic mode are retained after the machining program is
completed or aborted.
If a machining program is executed on a rotary axis, the approach to the target by the shortest
route is the default. Since the IP247 calculates the shortest route itself and therefore determines
the direction, you must make sure when programming a flying change that the flying change is
permitted and does not lead to an error.
Siemens AGCC79000-B8576
-C707-01
4-17
I
Executing Machining Programs
Note
With a programmed halt (MOO) and a flying change (GI O) in one statement, the pro-
grammed halt has priority.
In mode 8 (“automatic”) an enter command is required for each “programmed halt”.
The point at which the program is halted is always immediately before the next traversing
movement or dwell time.
In the following example, a number of unnecessary MOO functions have been used. Before ap-
proaching target 200, the enter command must be given three times although the interrupt point
is directly before the movement.
N1O
X1OO
FICKKI
MOO
N15
!
Mm
N20
G56 ! MOO
N25
G43 ! X200 F1OOO M02
(!
=
break point)
4.3.2 Automatic Single Statement (Mode 9)
This mode runs, in principle, in exactly the same way as automatic. However, you must supply
the “enter” command before a traversing movement or dwell time is executed. Only one tra-
versing movement or one dwell time in the machining program is executed, any further move-
ment or dwell time must be triggered separately. The break point is always immediately before
the next traversing movement or dwell time.
The command sequence with “automatic signal statement” is as follows:
BA 9 (automatic single statement); program number; start.
The axis changes to the “automatic single statement” mode.
The axis searches for the machining program with the specified program number.
Within the machining program the statements are executed until the first dwell time or first
traversing movement.
The axis then waits for the enter command.
BA 9 (automatic single statement); program number; enter
When the enter command is received, all functions are executed until the next traversing
movement or dwell time.
etc.
BA 9 (automatic single statement); program number; stop
With this command, the “automatic single statement” mode is interrupted. This can occur both
between the execution of two statements or during a traversing movement or dwell time.
4-18
Siemens AG°C79000-B8576 -C707-Ol
Executing Machining Programs
Special features
Statements connected with a flying change are treated as one statement
N1O
G1O
X1OOO
F1OO
M1O
N20
X2000
F500
= > treated as one statement
Exception:
If “flying change” and “programmed halt” are used in one statement, “programmed halt”
has priority.
N1O
G1O
X1OOO
F1OO
MOO
N20
! X2000
F500
> separated owing to MOO
Offsets or
switchovers
are executed following the program start, following the previous tra-
versing movement or dwell time and following the programmed halt.
N1O
X1OO
F1OOO
M1O
NI 1
G56!
X200
F1OOO
Ml 1 = > The execution of the program is only interr-
upted after
G56
(! = break point)
A “programmed halt” is suppressed in conjunction with a traversing movement and dwell
times to avoid two enter commands being required.
N1O
X1OO
F1OOO
MOO
N11
G56
! X200
F1OOO
= > Despite “programmed halt” and single
statement execution, only one enter command
is required (! = break point)
N1O
G74
M1O
N15
G90 !
X1OO
F1OOO
MOO
N20
G56
! X200
F1OOO
M20= > Only one enter command is required
at both break points
In the following cases, the
‘“enter”
command is required twice:
Apart from the statement number, only MOO was programmed
(N1O
MOO)
In the statement with MOO, only an offset or switchover was programmed.
%?mm
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4-19
Executing Machining Programs
4.3.3 Interrupting and Continuing Machining Programs in BA 8 and BA 9
You can interrupt and then continue a machining program processed by the IP247 positioning
module. In the automatic modes (mode 8 or mode 9), you interrupt the machining program as
follows:
a stop command for any mode,
external stop or
an operator error during the automatic mode.
ANote
I
Data transfer jobs,
e.g.
inputting machine data, sent to the module while an auto-
matic mode is active, are not handled as an operator error and do not cause the
machining program to be interrupted. Since the axis is in operation, data manipula-
tion is not possible, This is rejected with the error message “axis active
=>
entry
not possible”,
Warnings or messages occurring during the processing of a machining program
(e.g. “axis active
=>
entry not possible”), are only displayed for your information
(cf. Section 7.2.2.2 “Module Errors and Possible Causes”). These messages do not
influence the current
oDeration.
If the program is interrupted, the error message “machining program waiting to continue” (PC:
65, COM247: FC1 ) is output. The axis status changes from “running” to “finished” (checkback sig-
nals), In this status, only the enter command in conjunction with the interrupted mode can con-
tinue the machining program.
Any other input, axis errors and the external stop change this status and delete or overwrite the
error message, If the new input is permitted and is consistent, it will be executed once the inter-
rupt status of the machining program is exited. The interrupted machining program can, how-
ever, no longer be continued. Zero offsets and tool length offsets already executed in the
machining program remain effective and must, if necessary, be cleared with mode 14 “clear zero
offset” or with mode 16 “tool length offset off”. If a machining program is interrupted and then
started again, the error message “machining program waiting to continue” is cleared and the ma-
chining program is started from the beginning.
Only dwell times
(G04)
and traversing jobs (X function, G74) can be interrupted. An interruption
is, however, possible between two jobs (dwell times or traversing jobs), e.g. if the program is
waiting to start the next statement during a programmed halt (MOO) or in mode 9 “automatic
single statement”.
Offsets (e.g. G57 or G43) and switchovers (e.g. G91 ) cannot be interrupted.
4-20
Siemens
AG@C79000-B8576
-C707-01
Executing Machining Programs
A
Note
I
Closed loops without traversing jobs and without dwell times are illegal.
The following pulse diagrams represent traversing movements as speed overtime, The distance
travelled at any point in time corresponds to the area below the curve. To simplify matters, accel-
eration and deceleration phases are assumed to be linear.
Interruption during a dwell time
If a machining program is interrupted during a dwell time, the system assumes that the dwell
time has elapsed. The dwell time is aborted, i.e. after the enter command to continue the machin-
ing program, the next traversing job or the next dwell time is processed.
When a dwell time is interrupted, all offsets (e.g. G57 or G43) and switchovers (e.g. G91 ) pro-
grammed before the next dwell time or next traversing job are executed. After this:
the error message “machining program waiting to continue” is set
“position reached” is signalled
the axis status changes to “finished”.
When a machining program is interrupted during a dwell time, the break point is therefore always
directly before the next dwell time or before the next traversing job.
N1
O G04
FI
000 Ml O
=
interrupt during this dwell time
N20 G56 ! X200 F500 M20 (!
=
break point in the program)
Interruption during
a
single traversing movement
A machining program can be interrupted at any phase of a single traversing movement. If the
program is interrupted by a stop command or by an operator error, the axis is braked.
A traversing movement can be interrupted as follows:
1, while the axis is accelerating or traveling at a constant speed or
2. in the deceleration phase of the traversing movement.
Siemens
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-C707-01
4-21
Executing Machining Programs
Situation 1
If the machining program is interrupted while the axis is accelerating or traveling at a constant
speed, the axis is braked. Since the target of the job is not reached, the following occurs:
“Position reached” is not set.
The
axis
status changes to “finished”.
The error message “machining program waiting to continue” is output.
The distance to go is displayed. This interrupted job can be continued.
Situation2
If the machining program is interrupted by a stop command or an operator error during the
deceleration phase of a traversing movement, the target of the job is reached. There is no dis-
tance to go. The following then occurs:
“Position reached” is set.
The axis status changes from “running” to “finished”.
The error message “machining program waiting to continue” is output.
In this case, offsets and switchovers are handled in the same way as described for dwell times.
If the program is interrupted by a stop command or by an operator error during the deceleration
phase, the break point is always directly before the dwell time or before the next traversing job.
N10Xl00F1000 Ml O = machining program interrupted during the deceleration phase
N20 G57 ! X200 F500 M20 (! = break point in program)
Interruption of a machining program during traversing jobs linked by “flying changes”
If a machining program is interrupted during a traversing job which is followed by a further tra-
versing job with a flying change (Gl O), the axis is braked.
“Position reached” is not set, even if the “intermediate target” has been reached exactly.
The axis status changes from “running” to “finished”,
The error message “machining program waiting to continue” is output.
4-22 Siemens
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Executing Machining Programs
The following different situations can therefore arise:
1. The axis stops before the intermediate target and the distance to go is sufficient to
achieve the programmed speed when the program is continued (see Fig. 4/13).
2,
The axis stops before the intermediate target. The distance to go is not sufficient to
achieve the programmed speed (see Fig. 4/1 4).
3. The axis stops after the intermediate target (see Fig. 4/15).
Situation 1
The distance to go following the interruption is sufficient to achieve the programmed speed when
the program resumes. The flying change is executed normally.
v
ng curve without interruption
Distance to go
>=
Start-up distance t
Fig. 4/1 3 Sufficient distance to go
Situation2
Following the interruption, the distance to go is not sufficient to achieve the programmed speed.
The distance to go of the interrupted job is added to the next traversing job.
~
Note
——
When the program continues, the M-function of the next job is
valid,
The distance to go displayed after the enter command is the difference between the new target
and the current actual position.
Siemens
AG”c79000-~576-c707-ol
4-23
Executing Machining Programs
Vf
Intermediate
target Traversing curve without interruption
stop
J
1/
.
Distance to go
<
start-up distance;
t
(distance to go = (1)
-
(2))
Fig. 4/1 4 Distance to go positive and less than the start-up distance
Situation3
When the interruption occurs, the braking distance is already greater than the current distance to
go to the intermediate target. This means that the intermediate target of the interrupted job is
overrun, This therefore leaves a negative distance to go.
Note
A
I
Althoughthe=isoverrunstheintermediatetargetwhendecelerating,theM-func-
tion of the interrupted job is still output, The M-function of the next job is only out-
put when the program is continued.
Vf
Intermediate
target Traversing curve without interruption
y,/--
Distance to go negative;
t
(distance to go = (1) - (2))
Fig. 4/1 5 Negative distance to go
4-24
Siemens
AG@C79000-B8576
-C707-01
Executing Machining Programs
A
I
Note
In situations 2 and 3, if the start-up distance is greater than the distance to go to
the next target, or if the distance to go is negative, jobs are combined until:
1. either the distance is sufficient to achieve the programmed speed
(see Fig. 4/1 6), or
2. the linking of the jobs is completed (see Fig. 4/17).
In both cases, when the program continues, the M-function of the last of the com-
bined statements is output, If this statement does not contain an M-function, the
last output M-function is valid.
Example:
N1 G1O X130 F1OOO Ml O
N2G1OXl80F1000 M20
N3
G1
O X230
F1
000 M30
N4
G1
O X280 F1 000 M40
N5G1OX330F1000 M50
N6 . . . . . .
v
M1O
*
stop
..:+:.:.>:,+:,::::::::::
+:,:,:.,
.,,,.....,.,.,
,,,
,,,
,,,
,,,
.
..........,,.,,,.,,,,,,,,,.,,,,,
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.:.:<.:.>X..>:
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.ii*&J?WW!&W.M*m*.
. . . . . . . . . . . . . . . . . .
.
,,,
,,
t
Positive distance to go ((1)
>
(2))
Fig. 4/1 6 Linking jobs until the distance is sufficient to achieve the programmed speed
Siemens
AG°C79000-B8576
-C707-01
4-25
Executing Machining Programs
Example:
N1 G1 O X130 F1 000 Ml O
N2G1OXl80F1000 M20
N3
X230
F1
000 M30
N4
M02
v?
Traversing curve without interruption
Fig, 4/1 7 Combining jobs until the linking is completed
4.3.4 Teach-in On/Off (Modes 10/1 1)
In the “teach-in” mode, only the JOG modes and modes “incremental approach absolute or rela-
tive” are permitted, other entries are not executed. If no position was stored in “teach-in”, the posi-
tioning module will have generated an empty machining program.
The following procedure must be followed to generate machining programs in “teach-in”:
the mode BA1 O must be activated and the required program number specified,
the required target points must be approached in “JOG” or in the mode “incremental ap-
proach absolute or relative”,
with the axis at a standstill (axis status = “finished”), the current actual position must be
stored in the selected program with the enter command. When you save the statement it is
signalled with the message “statement saved”. It is possible to transfer the position several
times. In this case, several identical machining program statements with consecutive N
functions are stored in the machining program,
when you have saved all target positions, switch off the “teach-in” mode with BA11
(“teach-
in off”). The program is then completed with M02 and entered in the program directory of
the module.
A program generated in this way can be used in both automatic modes by both axes.
In
the “teach-in” mode, all statements
are stored one after the other,
begin with NO1 and have consecutive N functions,
are assigned the “incremental speed” and
are stored without M functions.
4-26 Siemens AG°C79000-B8576 -C707-Ol
Executin.q
Machining
PrOCJrafT7S
When “teach-in” is switched on
the machine data record must be valid,
the reference point must exist,
there must be sufficient space in the program memory of the
IP247,
a machining program number must be specified which has not yet been used on the
IP247,
no other axis of the
IP247
must be in the “teach- in” mode and
machining program input must not be active on the data channel.
ANote
If the power supply to the positioning module is switched off during “teach-in” and if
statements have already been recorded, this machining program is lost. The “teach-
in” mode is no longer active. If the limit of maximum 6000 machining program char-
acters is exceeded in “teach-in”, the mode is automatically terminated, the last
stored statement is taken as the final statement.
The following command sequence is for example possible: (in the example, the incremental
speed in the machine data is 2500 mm/min)
BA 10 (teach-in on), program 7, start
“Teach-in” is switched on and machining program 7 is set
up.
%7
BA 1 (JOG speed 1), forward
The axis moves forward at JOG speed 1.
BA 1 (JOG speed 1), stop
The axis stops
(e.g.
at 1258.250 mm). After the “finished” message, the enter command can be
used to enter the machining program statement.
(=>
Section 2.7
“Axis
Attributes”).
IBA 1 (JOG speed 1), enterl
The axis is now stopped. With the enter command, the first statement NO1 X1258.25 F2500 of ma-
chining program 7 is generated.
O/oi’
Siemen$ AG@c79000-68576
-c707-ol 4-27
Executing Machining Programs
BA 6 (incremental approach absolute), 3000 mm, start
The axis travels to the absolute position 3000 mm and stops. The “finished” message is set.
\BA 6 (incremental approach absolute), enterl
N02 X3000 F2500 is entered in the second statement
(N2).
6A 11 (teach-in off),
start]
Machining program 7 is completed and the teach-in mode switched off. The statement N3
M02
is
appended to machining program 7 to indicate the end of the program.
The complete example appears as follows:
Y07
N1
X1258.250
F2500 : approach position 1258.250 at speed 2500 mm/min
N2
X3000.000
F2500
: approach position 3000000 at speed 2500
mnlmin
N3
M02 : final statement, program end
In the machining program, absolute distance specifications is the default. For a rotary axis these
are approached via the shortest route when executing a machining program generated in this
way, If you wish to change these presets or speeds or add further G or M functions, you can do
this easily with COM247. Output the generated machining program from the module, edit the pro-
gram and then store it again on the IP247.
4.3.5
Zero Offset Absolute (Mode 12)
When you start the mode “zero offset absolute”, the current actual position of the axis is as-
signed a new coordinate. This means that the whole coordinate system including the reference
point coordinate and the software limit switches or traversing range limits are transformed. A tra-
versing movement does not take place. The new coordinate for the current position must be
transferred with the start of the mode. It is then displayed as the actual value.
The coordinate required as the transfer parameter for the mode must not exceed the maximum
range
(+/-1
00
m;
+/-10000 inches; +/-100000 degrees). Greater values cause the mode to be
terminated and the error message “illegal
dist.
spec.”
is displayed. The displacement of the
coordinate system must be such that all the new coordinates still lie within the permitted range,
This is checked by the module, and if the coordinates are outside the range, the mode is termi-
nated and the error message “traversing range exceeded” is displayed.
Zero offsets can be stored
in
the machine data (zero offset 1...4) and called in the machining pro-
grams
(=>
Section 2.5.5.2 “Zero Point Offset”). These bring about an additional displacement of
the coordinates. At the end of a machining program, the offsets executed during the program are
cancelled, not however those generated by the modes “zero offset absolute” and “zero offset rela-
tive”,
4-28
Siemens AG@C79000-B8576
-C707-01
Executing Machining Programs
Coordinates before the transformation
II
Soflware limit switch
Reference point
Software limit switch
start from the Current position end
I
machine data
!I
J
Actual.alue
I
I
I
I
T
\
-.5ca
!-20Q
o
/
150
500
a
BA12 (zero offset
abolute);
400 mm; start
I
Coordinates after the transformation
I
Software limit switch
Reference point
Software limit switch
start Current position end
-----
II
-250 ’50
b50
+Actua’va’”e
-----k=
400
Fig,
4/1 8
Zero offset absolute with a linear axis
The coordinate of the current position is transformed from 150 mm to 400 mm. All other position
coordinates (software limit switches, reference point) are 250 mm more positive.
Effect of zero offset for a rotary axis
36010 degrees
\
before:
1
7001340
degrees
1
after:
ctual position value Position actual value
270
>
610
180 520
BA12 (zero offset absolute);
4CKI
degrees; start
I
Fig. 4/1 9 Zero offset absolute with a rotary axis
Siemens
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-C707-01 4-29
Executing Machining Programs
The current position of 60 degrees is assigned the coordinate 400 degrees. All other position
coordinates become more positive by the difference of 400 degrees -60 degrees i.e. 340
degrees, The range limits are then no longer at 0/360 degrees but at 340/700 degrees. Absolute
target specifications must have values within this range following the coordinate transformation.
The coordinate O degrees, for example, no longer exists after the zero offset.
You can execute any number of zero offsets one after the other. A zero offset is only possible
with valid machine data but can be executed without a reference point. When the axis is cali-
brated (BA5)
a
zero offset is taken into account. (See Section 4.2.4 “Example of Reference Point
Approach or Set Reference Point”. )
A
Note
I
After switching on the IP247 again, the reference point is lost, however, not the
zero offset.
If new machine data are entered to the
IP247
or if existing machine data are modified, zero
offsets are cleared.
4.3.6
Zero Offset Relative (Mode 13)
In this mode, the coordinate system is displaced by a value specified in the input parameter. An
offset “forward” means that the coordinates of the software limit switches or range limits and the
reference point coordinate as well as the current actual value become more negative by the
value specified. A “reverse” offset has the opposite effect. A sign entered with the parameter is
also taken into account. The command zero offset relative -50 mm reverse causes a zero offset
of 50 mm forwards.
The same requirements, conditions and limits apply as for mode
12.
Relative zero offsets are added to zero point offsets set with “zero offset absolute”.
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I
Carriaae
I
——
Reference edge
1
I
,
I
I
u u
Coordinates before the transformation
I
I
I
Soflware limit switch Reference point Software limit switch
start from the Current position end
machine data
+
Actual
value
I
I
-500
! -200
0
!
150 d
500
BA13 (zero offset relative); 330 mm; reverse
!
,
Coordinates after the transformation
I
Seftware
limit switch
Referenca
point Software limit
switch
stari
Current
position
end
F
--+0
+
Actual
value
-170
!330
480 830
a
Fig. 4/20 Zero offset relative
4.3.7 Clear Zero Offset
I
(Mode 14)
When this mode is started, all zero offsets, established by
*
“zero offset absolute”, BA12 or
“zero offset relative”, BA 13
or zero offsets which were not
cancelled
because a machining program was aborted are
cleared.
(=>
Section 4.3.1 “Automatic”).
If several zero offsets have been performed, it is not possible to clear individual offsets, only the
total zero offset can be cleared. The coordinate system is then once again as it was with mode
5.
4.3.8 Tool Length Offset (Mode 15)
The “tool offset” mode allows user programs and machining programs to be used when the tool
length changes without having to change the program.
In the operating instruction of mode 15, you enter the value and direction of the tool length off-
set, The direction is stipulated with the commands “forward” or “reverse”, Remember that the
sign before the offset value is taken into account. The command . . .
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IBA 15 (tool offset); -80 mm, reversel
. . ,corresponds to a tool length offset of 80 mm forwards.
When any positioning movement is carried out, the new tool tip is brought to the specified target
position. This also applies to the execution of machining programs. If mode 15 is called again,
the offset is replaced by a new value.
The mode “tool length offset” requires valid machine data, A reference point is not necessary, A
value within the limits of +/-100 m
(+/-
10000 inches or +/-100000 degrees) can be entered for
the tool length. Values outside these limits lead to termination of the program and to the error
message “illegal
dist.
spec.
”.
The value displayed as the actual position following a tool offset is the position at which the tip of
the tool is located. Following a tool offset, even if a software limit switch is tripped, the actual
value (tool tip) must not exceed the limits of+ /-100 m (+
/-1~
inch=,
+
/-100ooo
d~r=$.
This is checked when the tool offset is executed. If this condition is not met, the tool offset is not
accepted and the error message “traversing range exceeded” is set.
Example
A drilling program was written assuming that the drill is 100 mm long. The reference edge of the
chuck is position 50 when retracted. Enabling conditions were generated at this position for the
equipment, i.e. the chuck must always return to this retracted position. The target position of the
drill tip when operating is 200.
Implementation
BA6; 50 mm ;
start
;“incremental
approach absolute” to 50 mm
BA15; 100 mm;
forward
;“tool
length offset”
BA6;
200 mm;
start ;“incremental approach absolute” to 200 mm
BA16; start ;“tool
length offset” off
BA6;
50 mm ;
start
;“incremental
approach absolute” to 50 mm
In the parameter for mode 15, only the actual length of the
drill
is entered when a drill is
changed, This means that the required depth is always achieved.
Before the drill is retracted, the offset is
cancelled
so that the chuck returns to the basic position.
In the program, you must, of course, make sure that the individual jobs are only sent when the
axis status is “finished”.
Note
AThe detection of the software limit switch depends on the internal position setpoint.
The axis begins to brake when the reference edge of the tool holder passes a soft-
ware limit switch. Depending on the tool length offset, the tip of the tool may be
well outside the selected traversing range.
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You can also specify a tool offset in the machine data which can be switched on within machin-
ing programs by G43 or G44.
(=>
Section 2.6.6 “The G-Functions”). This offset is added to the
offset specified with mode 15 and can be called repeatedly. This allows, for example, the esti-
mated wear on a tool to be taken into account within the machining program by setting the tool
length with mode 15 and then calling the tool length offset from the machine data in the machin-
ing program to make up for the tool wear.
The tool length offsets executed in a machining program are not
cancelled
at the end of the pro-
gram. They are retained just as the tool offset set with mode 15, even after the
IP247
is switched
off, If however new machine data are entered or the existing machine data are modified, the ex-
isting tool offset is cleared.
Each new tool offset set with BA15 overwrites the previously effective tool offset. This applies to
offsets set with BA15 or switched on during a machining program.
Special features for a rotary axis
If a tool offset of 30 degrees forward (clockwise) is executed at position 60 degrees for a rotary
axis, the actual position is then signalled as 90 degrees (tool tip), The actual traversing range is,
however, still between O degrees and 360 degrees. The coordinate system is therefore turned.
On the other hand, with a zero offset the coordinate system is transformed to a different numeri-
cal range.
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Executing Machining Programs
360 /0 degrees
270
0
Iflternal=tpoint
Tool length offset 30
90 Position of the
degrees forward, start
\
/
tool tip
\
I
180
Fig. 4/21 Tool length offset with a rotary axis
The calculation of the shortest route in the incremental approach mode is always calculated from
the tool tip when a tool offset is set with a rotary axis.
Restrictions on tool offsets with a rotary axis
The value of the tool offset or value of the offset resulting from mode 15 and G43/G44 in a ma-
chining program must be less than the traversing range, i.e. less than the difference between
range end - range start.
If this condition is not met, either the tool offset set with mode 15 is not accepted and the error
message “illegal tool offset” is signalled or the machining program is aborted with this error mes-
sage.
4.3.9 Tool Offset Off (Mode 16)
When this mode is started, all tool offsets are
cancelled.
If you cancel tool offsets set with mode
15 using “tool offset off”, you also cancel the tool offsets set in a machining program
(=>
Sec-
tion 2.6,6.6 “Tool Length Offset”).
4.3.10 Clear Error (Mode 17)
Error messages resulting from incorrect operation or an external event (e.g. tripping a limit
switch or receiving an external stop command) remain active until they are acknowledged by en-
tering a new operating instruction on one of the interfaces. While the error message is active, any
number of monitoring commands can be sent to the module and the error will be output along
with the response from the module. In the
axis
status “finished” you can reset the error message
on all axes and the data channel with the command “clear error” “start”
(=>
Section 7.2 “Trou-
bleshooting”).
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4.3.11
Machine Data Processing (Modes 20,21,64,67 and 66)
The concept of the IP247 is that machine data records are generated initially using the com-
munications software COM247 at the PG. These data records are then stored as required on the
IP247,
in the programmer memory or on diskette/hard disk.
COM247
automatically uses the
modes for machine data processing and ensures that the data records are correctly structured
and transferred. Working with the
COM247
software is described in detail in Part5“COM247
Communications Software”.
Via the PC interface, you can exchange this data between the CPU and I P247 and process it in
the CPU using FBI 65. The procedure is as follows:
generate the machine data records with COM247, transfer them to the I
P247,
test and op-
timize the machine data
save the data on diskette or hard disk using COM247
if necessary, save the data with FBI 65 in a data block in the CPU
*
if required, store the data block from the CPU in an EPROM
if required, modify individual data for particular applications in the CPU and transfer the
data record again to the
IP247.
Remember that the same machine data record which you fetched from the CPU to diskette with
STEP 5 is not identical to the machine data record which you transfer to diskette using the soft-
ware package COM247.
The modes for machine data processing are as follows:
BA 20 “enter machine data”
BA21 “delete machine data”
BA
64
“read machine data directory”
BA
67
“read machine data”
BA 68 “read machine data overview”
4.3.12 Enter Machine Data (Mode 20)
Using this mode a complete machine data record is transferred via the PG interface or PC inter-
face to the\
P247.
COM247 uses mode 20 indirectly if you press the appropriate function key. If
you transfer a machine data record from the CPU to the
IP247,
you must assign parameters to
FB165 as described in Section 6.2 “Standard Function Block FBI 65”.
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Executing Machining Programs
You can only enter machine data when
the machine data record to be entered has the same module number as the SYSID (mod-
ule identifier), Otherwise you must first run through mode 24 “enter SYSID”
(=>
Section
4,3.22
’’EnterSYSl
D”)
the axis for which data is to be transferred is in the “finished” status,
A machine data record can only be transferred via the corresponding interface (page) to the
IP247.
After the transfer, the IP247 checks the consistency of the machine data. If the machine data is
correct, it is indicated as “existing” in the checkback signals.
If an error is detected in the machine data, the data record is marked by the I P247 by entering an
error number,
The error number and corresponding error text are displayed in the error message line of
COM247 on the
PG.
Via the PC interface the error number can be evaluated by reading the ma-
chine data (BA67) or by reading the machine data overview
(BA68).
A
Note
I
If the positioning module is removed from the programmable controller, the ma-
chine data stored on it is lost (battery back-up via the programmable controller). A
reference point is also lost.
Each time machine data are entered, zero offsets and tool length offsets are reset.
If a machine data record is deleted, the reference point remains set in the checkback signals.
After entering a machine data record, the reference point is not lost if the machine data listed
below have not changed from those of the old data record. The following data are relevant:
coordinate of the reference point,
pulses per revolution,
distance per revolution,
reference direction and
synchronization.
4.3.13 Delete Machine Data (Mode 21)
This mode is used to delete a machine data record on the IP247. The axis involved must be in
the “finished” status. COM247 uses this mode when you press the appropriate function key.
using
FBI
65
you
can
also
delete
a
machine
data record via the PC interface. T
O
do this, the
mode must be triggered by FBI 65 via the axis page.
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Executing Machining Programs
For more detailed information, refer to the description of FBI 65 in Section 6.3 “Standard Func-
tion Block FB 165”.
4.3,14
Read Machine Data Directory (Mode 64)
In this mode, you obtain information from the I P247 about
the machine data records stored on the
IP247
and
the axis for which the records are valid.
The information for all three axes is made available simultaneously. COM247 uses this mode with
the “information function”, If a destination data block is set up in the PC in which the information
can be entered, you can read the machine data directory using FBI 65 via the PC interface.
For more detailed information, refer to the description of FBI 65 in Section 6.3 “Standard Func-
tion Block FBI 65’
(
.
4.3.15 Read Machine Data (Mode 67)
With the “read machine data” mode, a machine data record is transferred from the IP247 either to
the CPU or using
COM247
to the PG or to diskette/hard disk, COM247 uses this mode when you
press the appropriate function key.
With FB1
65, you can transfer a machine data record via the
PC interface to the CPU. When doing this, remember that the machine data record
can be transferred via any page if the
DB
numbers are different,
must be transferred via the axis page if the
DB
numbers are the same,
must be entered in an adequately long destination data block set up in the CPU.
You should use this mode to save machine data in the CPU. Only in this way can you exchange
a module without using the PG.
For more detailed information about mode 67 refer to Section 6.3 “Standard Function Block
FBI 65”.
4.3.16 Machine Data Overview (Mode 66)
Using this mode, you can read the following information about the machine data on the I
P247
from the PC side:
the machine data number of the data record,
the module number for which the data record is intended,
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Executing Machining Programs
the axis number for which the data record is intended,
the length of the data record in words and
the machine data errors.
The overview is transferred simultaneously for all three module axes. You must first set up an
adequately long destination data block in the CPU.
For more detailed information, refer to Section 6.3 “Standard Function Block FBI 65”.
4.3.17 Executing Machining Programs (Modes 22,23,65 and 69)
The concept of the I P247 allows machining programs to be created easily using the communica-
tions software COM247 on the PG. These data records are then stored as required
on the
IP247,
in the programmer memory or
on diskette/hard disk.
COM247 automatically uses the modes for executing machining programs and makes sure that
the data records are correctly structured and transferred. Working with COM247 is described in
Part 5 “Communications Software COM247”.
You can also exchange and process data with FB165 between the CPU and IP247 via the PC in-
terface. To do this, proceed as follows:
create a machining program with COM247, transfer it to the I P247 and test it,
save the data on diskette or hard disk using COM247,
if necessary, save the data in a data block in the CPU using FBI 65,
if required, store the data block from the CPU in an EPROM,
if necessary, change the individual data in the CPU for the particular application and trans-
fer the data record to the I P247 again.
Remember that a machining program written to diskette from the CPU using STEP
5 is
not identi-
cal to the machining program transferred from the
IP247
to diskette using
COM247.
The modes for executing machining programs:
BA 22 “enter machining program”
6A 23 “delete machining program”
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b
BA 65 “read machining program directory”
b
BA 69 “read machining program”
are explained below.
4.3.18 Enter Machining Program (Mode 22)
In
this mode, a complete machining program is transferred to the IP247 via the PG or PC inter-
face.
C0M247
uses mode 22 indirectly if you press the corresponding function key. If you trans-
fer a machining program from the CPU to the IP247, FBI 65 must be assigned parameters as
described in Section 6.3 “Standard Function Block FBI 64”.
The structure of machining programs is described in Section
2.6
“Machining Programs and their
Structure”.
Since machining programs are not axis-related, they are transferred to the module via the data
channel (4th page of the module).
Machining programs are stored one after the other in the memory of the
I
P247 in the order in
which they are entered, A maximum of 255 machining programs can be stored on the module.
The total number of characters is limited to 6000.
Requirements for the transfer of machining programs areas follows:
the machining program number must not exist on the
IP247.
It is not possible to overwrite
a program from the PC side. The old program must be deleted first with BA23 (“delete ma-
chining program”),
there must be adequate space in the machining program memory of the
IP247.
(See notes
in Section 4,3.19, “Delete Machining Program”).
If you wish to execute a machining program after it has been created in the CPU, proceed as fol-
lows:
create a machining program in DIN representation with CC)
M247.
Fill in the input values
with blanks up to the maximum number of input characters (token characters). Having
done this, it is easy to change the machining program in the CPU at a later time,
transfer the machining program to the
IP247,
read the machining program with mode 69 using FB1
65,
The program structure is now set in the CPU data block. You can modify individual parameters in
the ASCII format.
delete the machining program on the
I
P247 with FBI 65,
enter the machining program to the IP247 using FBI 65 with mode 22.
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Executing Machining Programs
Note
~
If
the program is extended during the modification, you must update the program
length in the header information, otherwise the entry of the program is aborted with
an error!
If a machining program is created with
COM247,
the machining program can only be transferred
to the module if it is syntactically correct. The syntax check is made by COM247. If, however, the
machining program is transferred from the CPU to the
IP247,
the program is checked for syntacti-
cal errors by the firmware on the
IP247.
If an error occurs, the module error “machining program
error” is set. The machining program error itself is written in the machining program header in
DW
n+3
(=>
Section 6.3.8.2 “Structure of the Machining Program DB in the PC Memory”). A
machining program marked as containing errors is not listed in the machining program directory.
It cannot be edited using the software package COM247.
If an error is detected, you must proceed as follows:
read the machining program with mode 69 (“read machining program”) from the
IP247
to
the PC memory,
locate the machining program error in the program and correct it,
delete the program on the IP247 with mode 23 (“delete machining program”),
transfer the program to the IP247 again using mode 22 (“enter machining program”).
When a machining program is created using the software package COM247, a syntax check is
carried out. Whether or not the program is consistent with the machine data can, however, only
be determined when the program is executed.
4.3.19 Delete Machining Program (Mode 23)
Using this mode, a machining program is deleted from the
IP247
memory. The job is either trig-
gered using FBI 65 via the data channel or by the software package COM247 when you press
the delete key
<F5>
(=>
Section 5.10 “Delete”). The following requirement must be met:
the program to be deleted is not currently being executed.
If a program is deleted from the program memory of the IP247 while the IP247 is running another
program (“automatic” or “automatic single statement”) a gap may result in the memory area of
the I P247. You will then receive the error message “machining program only cleared from
directory”. This gap can be closed both with COM247 or from the PC as follows:
stop
all
machining programs on the axes,
read the machining program directory
(BA65)
from the
IP247,
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save the first program on diskette, hard disk or using mode 69 (“read machining program”)
in the CPU,
delete this program on the IP247 with mode 23. The memory of the IP247 is then com-
pressed,
transfer the saved program to the IP247 again using mode 22 (“enter machining pro-
gram”), The program now appears last in the machining program directory.
While the memory is being compressed make sure that no axis is executing a machining pro-
gram (“automatic”, “
automatic single statement” or “teach-in”). If one of these modes is being ex-
ecuted, only the memory area after the program currently being executed will be compressed
and no new memory space will be made available.
4.3.20 Machining Program Information (Mode 65)
With this mode, using FBI 65, you obtain a listing of all the machining programs contained on the
IP247. The machining program number and
length of the individual programs in words is out-
put. COM247 also uses this mode in the “information function”
(=>
Section 5.11 “Information”).
Here,
however, the length of the machining programs is shown in bytes.
Since machining programs are not axis related, the machining program directory can be read
out to the PC interface via any interface. The only condition is that the destination data block is
sufficiently long.
The programs are
listed in the order in which they are entered and
entered without gaps in the destination data block.
For more det~ied information, refer to the description of
FB165
in Section 6.3.8.5 “Structure of
the Machining Program Directory”.
4.3.21
Read Machining Program (Mode 69)
With the mode “read machining program”, a complete machining program is transferred from the
I P247 to the
CPU. COM247
uses this mode indirectly if you press the appropriate function key.
Via the PC interface, the transfer is made with FBI
65.
The transfer can be made via any page.
The only condition is that the destination data block in the
CPU is of adequate length.
When it outputs a machining program, the
IP247
adds information in the header. This includes
the following:
the length of the program in words,
the data block number of the machining program on the
IP247
(identical to the machining
program number),
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Executing Machining Programs
if applicable, the machining program error number and
if applicable, the number of the statement in which the error was recognized.
Following this, the machining program is output in ASCII characters.
4.3.22 Enter
SYSID
(Mode 24)
With mode 24
(SYSI
D input), a module identifier
(SYSID)
is entered on the I
P247.
This is neces-
sary when a module has been exchanged before you transfer machine data.
When operating the I P247 using
C0M247,
the SYSID input does not appear directly. It is trig-
gered when you press
<Fl>
(begin) in the presets display
(=>
Section 5.4 “Start
COM247”).
The data entered and displayed in the presets display is then written to the module.
From the PC side you can execute this mode with FBI 65 via the data channel.
The module identifier consists of the following elements:
Module type:
The type consists of the characters “IP247”. The module type cannot be changed.
Version:
This indicates the firmware version. For example,
A02.1
for firmware version 2,1. It consists of
five characters and cannot be changed.
Module number:
This is a number between O and 99 which you assign to differentiate between positioning mod-
ules. The same number must also be entered in the machine data of the three axes.
A
Note
The module number can no longer be changed once a correct machine data re-
cord (MD) exists on the module. If you attempt to change this number, the error
“correct MD - module number cannot be changed” is output.
Slot number:
This number can be selected between O and 255. It is only used for documentation
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I
Description of the Individual Monitoring Modes
Page number:
The page number can be selected between O and 252 and is simply used for documentation.
The page address set on the module can be entered here
(=>
Section
3,3.2
“Setting the Mod-
ule Address”), The number can then be read at the programmer without having to remove the
positioning module from the
PC,
No check is made as to whether the page address on the mod-
ule is the same,
4.3.23 Read SYSID (Mode 70)
Using mode 70 (read SYSID), you can read the module identifier of the IP247 using FBI 65. This
is possible via all pages. The parameters are explained in the previous section,
For more detailed information about calling mode 70 refer to the description of FBI 65 in Section
6.3.8.3 “Structure of the IP247 SYSID in the PC Memory”.
COM247 starts “read
SYSID”
when you press
<F2>
(ONLINE-OFFLINE) in the presets display,
The data read are then displayed in the appropriate fields
(=>
Section
5.4
“Start
COM247”),
4.4Description of the Individual Monitoring Modes
Using the monitoring modes, you can call current information from the module. The monitoring
modes are as follows:
Mode number Type Execute with
66
Read actual values FB165
71
Actual position value
FBI 64
73 Distance to go
FBI 64
74
Monitoring off
FB164
The monitoring modes do not appear directly on the PG interface. They are used internally by
the COM247 software package.
Monitoring modes do not influence the operating mode and can be executed at any time regard-
less of the axis status.
On the PC interface, the monitoring modes 71 and 73 are started with
FB1
64, the monitoring
mode 66 is started with FBI
65.
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1
Description of the Individual Monitoring Modes
Function block FBI 64 continues an activated monitoring function (71, 73) periodically. You can
stop these monitoring functions with mode 74.
In contrast, mode 66 (“read actual values”) supplies both actual values simultaneously using
FB1
65. These are stored in the destination data block
(=>
Section 6.3.8.6 “Occupation of the
Data Area when reading Actual Values”),
For more detailed information about the monitoring modes, refer to the description of function
blocks FBI 64 and FBI 65.
4-44 Siemens
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htroduction
5
COM247
Communications Software
5.1
Introduction
The programming package COM247 which runs on the PG, provides you with user-friendly
sup-
port for programming and starting up the
IP247,
All the functions are executed by means of
menu displays (input fields) and function keys.
If you create machine data or machining programs for the
IP247,
you can store the data on the
programmer
(PG),
on the module (I
P247)
or on a floppy or hard disk
(FD).
You start the COM247 software package by selecting the package from the
Komi
(command in-
terpreter). At the
Komi
level, a brief description of
COM247
is displayed if you press function key
<F3>,
By pressing <Fl
>,
COM247
is loaded and the first display, the configuration display,
appears. This displays the logo of COM247, The COM247 version and the serial number are dis-
played. From this display you branch to the presets display with <Fl
>
(START).
in the presets display, you must select the drive on which the data blocks are to be read and
saved. If you move the cursor to the appropriate input field, you can select the drive using the
HELP key
<F7>.
Again using
<F7>,
you can select files on the previously selected drive. If
there is no file on the selected drive, you must enter the name of a new file here. In addition to
the file name, the fields “plant designation” and “generated by” must be completed. After entering
this data, you can change to the next display with function key <Fl
>
(BEGIN). A file with the re-
quired file name is then generated on the selected drive. The documentary information “plant des-
ignation” and “generated by” are saved in the file. If the specified file already exists however, the
fields are completed with the stored information. Using
<F2>
(ONLINE-OFFLINE) you can set
the operating mode, The two possible modes are online and offline. Online, the mode “SYSID
output” (BA 70) is executed and the fields are completed with the module data of the IP247. The
date and time are read from the hardward clock in the PG and entered in the fields “PG date-
time”. The date and time can still be manipulated. Changes are, however, not transferred to the
hardware clock of the PG. If the hardware clock is wrong, it must be set with the
PCP/M-86
pro-
gram “date” at the operating system level.
By pressing <Fl
>
(BEGIN) you branch to the basic display. In the online mode, the operating
mode “SYSID input”
(BA
24) is executed when you change to the basic display, The module
data, module number, slot number and page address are transferred to the IP247. The slot num-
ber and page address are only used for documentation. You can only change the module num-
ber, on the other hand, when there are no machine data on the IP247. If there is machine data on
the
IP247,
whose module number is not identical with the entry “module no.”, the error message
“correct MD - module number cannot be changed” is displayed in the error line.
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Introduction
Using the function keys, you can now enter, output, modify, delete or transfer machine data and
machining programs, Test functions can be executed with the function key
cF3>
(TEST).
Remember that the following limits apply to files:
maximum number of machining programs per file: 250
maximum number of machine data per axis and file: 16
maximum number of files which can be selected in the presetting display with
<F7>:
32
The interactive menu displays of COM247 include the following elements:
fixed texts,
input fields and
output fields,
The displays are largely self-explanatory. It is, however, advisable to have the User’s Guide at
hand until you are completely familiar with them, The User’s Guide contains descriptions of the
displays and explains the significance of the input and output fields. The function keys for each
display are also explained,
You make entries in the input fields of the displays at the alphanumeric keyboard or using the
HELP key
<F7>,
These fields are displayed on the screen inversely, in this description they
have a
grey
shaded background. The menu line of each display is also on a
grey
shaded back-
ground, however, there are no input fields in this line.
Output fields in the displays are used to display COM247 statuses and parameters. Outputs ap-
pear on the screen as fixed text, In the following description, they are shown in boxes with a
broken line,
In
all the displays explained in the following sections, the input fields are already completed with
typical selections. The output fields also have values entered. These are in some cases fixed for
the particular display (operating status) or may change according to the previous entries (para-
meters).
By pressing the RETURN key, you jump to the next input field. To edit within the input fields, use
the arrow keys to move the cursor,
Error messages from the IP247 and from COM247 are always displayed in the last line (error
message line), In column 1, the identifier for the current
axis
is displayed, followed by the
delimiter character
I
and a blank. A O in column 1 stands for a general message. The error mes-
sage is then displayed preceded by the error code. From column 60 onwards the error codes of
the three axes are once again displayed (axis 1...3).
5-2
Siemens
AG°C79000-B6576
-C707-01
Introduction
Example:
1
j
F8A reference point missing F8AFO0
FOO
FOO
The message has the following significance
1
[
: the current axis is axis 1,
F8A reference point missing: axis 1 is not calibrated,
F8A
FOO
FOO
FOO:
axis 1 is signaling the module error 8A, axis 2, axis 3 and the data channel
are not signaling a module error,
%
——.
.
j
INPUT
~
SIMATIC
S5 / COM247
— — —
. . . . .
IMICHINE DATA1DEVICE
:~p=z7;
BLOCK :
DB
@3~
———.
L—
—.
Module :
@.: ‘is
:
P
:
Meas.
system
~m-~
——
Axis
type :~lNEAR 1
Maximum frequency r
~H;–
1
10:”
.
OOQ
‘— —
(001
2,,,100.000)
Start/stop frequency
‘::.:
j;.@p:
f
~H~
‘1
(0.001
,,,10.000)
Rate of freq. increase ,.;::5;;,~~~ r—~zim=
1
(0,020.,.2599.999)
Pulse duration
..,:$,~:
r ‘US7
(1
.,.31)
No.
of excitation patterns
:::;;;::::::::;.&
(4,,.40)
Polarity
:..~:~lv~::p#~;:::::;
, : :
:,,
, : : ; : . : : ; ;
:;,:.....
:
.:...:.:.:.:,.::,.,
::::::::’R41;;;
I
~$g~gz;;;
‘::::.j::~$f.~
‘&j;fiqf:;:
j;;gq,:;;:
:,,~:gg$g;
:g[#&$;;
ggf:gg~gj
. . . . . . . . . . .
. . . . . . . . .
.
.,
.,.
., .,
.,.,.,.,,
NEXT PREVIOUS PRINT
PAGE PAGE M.DATA
TRANSFER
EXIT
d
1 = header
2 = softkey menu
Fig. 5/1 Display for entering machine data
~———
1.
output
field
The displays are structured so that you can always recognize the current operating status. At the
top left INPUT and below this M A C H I N E D A TA may be displayed. This shows that the cur-
rent function involves input of machine data. The DEVICE output field displays the target device
and the BLOCK field displays the DB no. for these machine data. The output fields module, axis,
meas. system and axis type indicate the values selected
in
a previous display.
Siemens AGQC79000-B8576
-C707-01
5-3
Introduction
You can now enter the actual machine data in the nine input fields (shown on a grey back-
ground).
Travel data and speeds always refer to the measuring system selected in the machine data re-
cord. The appropriate dimension is therefore always displayed following input fields and output
fields involving dimensions.
Using the function keys <Fl
>
and
<F2>
you can call further machine data pages. With func-
tion key cF4> you can print out the machine data on a connected printer. By pressing function
key
<F6>
you can transfer all the machine data to the selected device.
<F8>
brings you back
to the basic menu without transferring the machine data.
5-4Siemens
AG”c790W-%8576-c707
-01
Definition of Terms
5.2
Definition of Terms
PC (or PLC) :
Operating system:
COM247:
Function key:
IP247:
Display:
Menu:
PG:
programmable controller for SIMATIC S5
COM247 runs under the operating system S5-DOS. Remember that S5-DOS
itself consists of the operating system PC P/M-86 and the additional functions
provided by the ZEFU diskettes. These functions are activated with “S5”. The
operating system is not supplied with COM247 and must be ordered sepa-
rately if not already available,
programming package for user-friendly operation of the intelligent l/O mod-
ule IP247 from a programmer.
in the programming package COM247, function keys are the eight keys indi-
cated by <Fl
>...<F8>
on
th
PG keyboard.
intelligent 1/0 module of the
SI
MATIC S5 range, With this module, you can
operate three independent stepper motor axes.
the display or screen form used for input and output of data on the monitor.
inverse display of function keys <Fl >...
<F8>
and a text to indicate the
function currently assigned to this key.
programmer for SIMATIC S5 (e.g. PG635, PG675, PG685, PG695, PG 730
and
PG750).
In
this User’s Guide, the following conventions have been used for all commands entered at the
programmer:
6
The equality sign (=) at the start of a line indicates the beginning of a new activity.
The greater than character
(>)
at the start of a line indicates a keyboard input.
Keyboard inputs start with the character displayed by the currently active program as a
system prompt. This is followed by the characters to
be
input shown in bold upper case
characters,
<CR>
stands for carriage return (the return key).
<Fl
>
. .
cF8> stand for the function keys
F1
. .
F8,
Siemens
AG°C79000-B8576
-C707-01
5-5
Getting
Stafled
5.3
Getting Started
5.3.1
Consignment
Under the order number 6ES5895-5SB22—, the manual includes, among other things, this
User’s Guide,
a 5
1/4 inch diskette anda31/2 inch diskette each with the file:
S5PEC1OX.CMD
The software package
COM247
runs under the operating system S5- DOS, which is not part of
the consignment.
5.3.2
Setting the Configuration Register
If the operating system
S5-DOS
has never run on your PG, you must set the configuration regis-
ter of the PG using the test diskette. You must enter the memory capacity, the drive configura-
tion and other important PG characteristics in the configuration register to be able to inform
various programs (e.g.
S5-DOS)
of the hardware configuration. To set the configuration register,
you must
insefi
the test diskette supplied with the PG in drive A: and start the PG either by turn-
ing on the power or by using the key switch. Answer the prompt “CHANGE CONFIGURATION?”
with “Y” and then
mak
the appropriate information with
“+”
and the incorrect information with
“-”. Once you have answered all the questions, you can remove the test diskette and continue
with PC P/M after a cold restart. The content of the configuration register is retained even when
power is switched off.
5.3.3
Working Copy of the
COM247
Diskette
Before you use the
COM247
diskette,
you
shouid
make a working copy and put the original
away for safekeeping. To make a copy, use the
PCP/M
utility
“DSKMAINT”,
with which you can
check, format and copy diskettes. (In more
re~nt
S5 versions,
‘DSKMAiNT’
has been replaced
by ‘DISK’.)
5.3.3.1
Programmers with one
Fioppy
Disk Drive
(PG685)
>
PCP/M
system diskette”1 of n“ in drive A:
Start the
PG by turning on the power or using the keyswitch
A>
DSKMAiNT
<R>
New
diskette in drive A:
<F5>
<Fl>
Y
<F8>
COM247
diskette in drive A:
<F3> <Fl >
Formatted diskette in drive A:
<Fl>
Y
insert the diskettes required by
DSKMAINT
in drive
A:,
the
COM247
diskette is the
source diskette and the newiy formatted diskette is the target diskette.
<F8*
<F8>
5-6
Siemens
A&C79C0MS576-C707-O
1
Getting
Staried
5.3.3.2
Programmers with two Floppy Disk Drives (PG675, PG635)
=
PCP/M system
diskette”1
of n“ in drive A:
=
Start the PG by turning on the power or using the
keyswitch
>
A> DSKMAINT
<CR>
=
New
diskette in drive A:
>
<F5><F1> Y
CF8>
C0M247
diskette in drive B:
>
<F3> <F3><F1
>
Y
>
<F8> <F8>
5.3.4
System Configuration
5,3.4.1
Programmers without a Hard Disk
(PG675)
To work with COM247 effectively, it is advisable to create a system diskette on which all the
re
quired programs are available, i.e. programs from the software package “PCP/M” should be
copied to one diskette:
.
>
=
>
>
>
>
=
>
>
>
>
>
>
>
>
>
>
>
PCP/M
system diskette”1 of n“ in drive A:
Start the PG by turning on the power or using the
keyswitch
A> DSKMAINT <CR>
New diskette in drive B:
<F5>
<F3>
Y
<F8>
<F8>
A> PIP <CR>
*B:= PCPM.SYS[RV] <CR>
*B:= CCP.CMD[RV] <CR>
ZEFU diskette”3 of n“ in drive A:
*B:=
S5WXZO0X.CMD[RVJ
<CR>
*B:= S5WX201X.CMD[RV] <CR>
*B:= S5WX202X.CMD [RV] <CR>
*B:=S5WX204X.CMD[RV]
<CR>
*B:=
S5WXOOOH.
CMD[RM <CR>
*B:=
S5WX1OOX.CMD[RV]
<CR>
*B:= S5KXS02X.CMD IRVl <CR>
*B:= S5KES02X.
DAT[RV]
<CR>
*B:=
S5KES01X.
DAT[RV]CCR
>
*B:= S5.CMD[RV] <CR>
*<CR>
This diskette now contains the operating system “PCP/M” and all the S5-DOS programs you re-
quire to work with
COM247,
If this system diskette is correct, you should make it read-only by
placing a protective tab over the notch, since you should only read from this diskette when work-
ing with
COM247.
To avoid having to repeat this operation if the diskette is damaged or lost, you
should make a further copy of this diskette and keep it in a safe place.
Siemens AG@C79000-B8576
-C707-01
5-7
Getting Started
Apart from the system diskette, you also require the
COM
diskette with the
COM
package which
will later also contain the machine data and machining programs in the form of data blocks. You
create this diskette by formatting a new diskette
(DSKMAINT),
Following this, the
COM
package
can be copied to this diskette.
.
PCP/M system diskette”1 of n“ in drive A:
>
A> PIP <CR>
Newly formatted diskette in drive B:
COM247 diskette in drive A:
>
*B:=
S5PEC1OX.CMD <CR>
>
*<CR>
With the PG635, you do not need to create your own system diskette, The PG635 is started with
the PC P/M-86 system diskette (booting). Following this, you take the system diskette from drive
A: and insert the ZEFU diskette. This diskette contains all the files mentioned above and “S5
DOS”, The COM247 diskette is inserted in drive
B:,
When you have loaded COM247 (the logo
“COM247” appears on the screen), the COM247 diskette can also be removed from drive B: and
a data diskette inserted in its place,
5.3.4.2 Programmers with a Hard Disk (e.g.
PG865)
Programmers with a hard disk have the advantage that almost all programs and data can be
accessed directly owing to the high capacity of the hard disk, This means that several SIMATIC
program packages can be located simultaneously on the same data medium.
Installing PC P/M
If your programmer is new and PC P/M is not yet installed, you must first format the hard disk
with the PC P/M utility “HDFORM6” (see PC P/M User’ sGuide, page 6-29).
Remember
From release 1.0/5 (1 .0/6 for
PG695)
HDFORM6 has been replaced by
HDPARTYPlease
refer to the manual for further information. On the PG 750, HDFORM6 has been replaced by
HDMAINT.
ACaution
When formatting the hard disk, all programs and data already on the
disk are
lost!!
PCP/M
system diskette”1 of n“ in drive A:
=
Start the PG by turning on the power or using the keyswitch
>
A> HDFORM6 <CR>
=
Enter the disk capacity,
e.g.
12 MBytes
>
12
>
Y
5-8
Siemens
AGQC79000-B8576
-C707-01
Getting Started
Remember
If your programmer has one floppy disk drive, the hard disk has the logical name “B”. The
operating system displays the prompt “B>”.
Next, the programs on the pCp/M diskette must be copied to the hard
disk,
as
follows:
=
PCP/M
system diskette”1 of n“ in drive A:
.Start the PG by turning on the power or using the
keyswitch
>
A> PIP <CR>
>
*B: =*.*
<CR>
If PC P/M was supplied on more than one diskette, the programs from the other diskette should
also be copied to the hard disk:
=
Next PCP/M diskette in drive A:
>
*B: =*.*
<CR>
After copying the last diskette, press
<CR>,
to complete the copying program “PIP”. NOW that
all the PCP/M system programs are on the hard disk, this can be selected as the default drive:
>
A> B: <CR>
The operating system now searches for all programs on the hard disk, unless a floppy disk is
specified explicitly.
To avoid the programs being deleted accidentally, and to make them accessible from
all
user
areas, assign the “read-only” (RO) and “system”
(SYS)
attributes using the “SET’ utility as follows:
B> SET B:*.WIRO
SYS]
<CR>
Installing COM246
The following description assumes that S5-DOS is installed on your
PG.
If this is not the case,
please read the section “installing PC P/M”.
To install COM247 on the hard disk, you simply copy the file
S5PDC1
OX.CMD
on the supplied
COM247 diskette to the hard disk and assign the attributes “RO” and “SYS” to it.
=
Start the PG by turning on the power or using the
keyswitch
without a diskette in the
drive
=
COM247 diskette in drive A:
>
B> PIP
B:=
A:
S5PEC1OX.CMI3
<CR>
>
B> SET B: S5PECIOX.CMD IRO
SYS]
<CR>
Siemens
AG°C79000-68576
-c707-ol 5-9
Starling
COM247
5.4
Starting COM247
The following description assumes that you have made the preparations described in “System
configuration” (you have created a system diskette or installed COM247 on the hard disk).
With
PGs
without a hard disk, the prepared system diskette is inserted in drive A and
the data diskette in drive B
With
PGs
with a hard disk, drive A: must not have a diskette inserted
Start the PG by turning on the power or using the
keyswitch
The S5 call loads the
KOMI
in the user memory of the PG. While this is being loaded, the KOMI
mask appears as shown below:
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
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.
SIMATICS5
S5 - Komi
Serial-No.: Xxxx-yyyy-zzzzzz All rights reserved
Copyright (c) 1986
S1
EM ENS AG
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
In the “SELECT PACKAGE” menu, you can
now
select the required program, in this case
COM247,
by moving the cursor with the arrow keys. If you then press <Fl
>
(PACKAGE) this
program is loaded from mass memory. Once the package is loaded, the first COM247 display,
the configuration display, appears.
5-10
siemens
AG@C790W-B8S76-C707
-01
Starting COM247
9
Copyright (C) SIEMENS AG
SIMATIC
S5 I C0M247
CO
N
F
I
G U RAT I ON
Cccccc 000000 MM
MM
222222 44 44
777777777
Cccccccc 0000000
tvlMMM
MMtvfM
22222222 44 44
777777777
cc 0000
Mlvt
MM MMtdM 22 22 44 44
77
cc 0000 MM M
MM 22
44 44
77
cc 0000
MM MM
22
444444444
77
cc 0000 MMMM 22
44 77
cc 0000 MM
MM
22
44
77
Cccccccc 0000000
MM
Mbl
2222222 44 77
Cccccc 000000 MM
MM
22222222
44
77
—— .
Version:
~02;]
Serial no~7994-0070-l 654321A
..,
,,..
. .
jjj~;’~~~j~:
;;~;g~;;~;
.(,;$;:E?:;:;:
‘:;;;,@::
:;$;;.?.~,$:
iiii(fia:$$:
~:;;~~~:~:
xiij~kiij.
. .
,.,
,..
.
.
...,.,..’..
START
EXIT
b
d
1— ‘
T
=
output
field
l———.
Fig. 5/2 Configuration display
This displays the COM247 logo and the version and serial number of COM247.
Description of
theoutput
fields
Version: this field displays the version of COM247
Serial number: each diskette has a serial number which is displayed in this field.
Significance of the function keys
<Fl >: With function key
cF1
> (START) you branch to the next display, the presets display.
<Fa>:
With this key you exit COM. You will be prompted to confirm that this is your real
intention.
Siemens
AG°C79000-B8576
-C707-01
5-11
Starting
COM247
*
Y
SIMATIC
S5 I COM247
——..——
~RESETS
1
——
-J
Drive
::L:
File name
*w,~~Ej;jj
Plant designation ~lN’~AR:’~rs::;:!::;:;:j
Generated by SMITH:;:;;’
—..
Generated on
;0;
,90
I
Mode
~NFN<
Module no.
“11
Slot no.
‘tlof
Page address
.’
twQ
Firmware~P~7–
1
:
rA~l
1
-.—
.,.
PG date-time
.10
f~
C&:’.
- ““~@
‘“:;<j;~:f!::.:’
$j$~z::;
““’’’’.~3;:
““’l+?
“r’”’”
:’/
‘“‘“”Fg
“’?:(fi~fg
g$$gg$:g
$~~:~g~g~
. . .
BEGIN ONLINE PRINTER HELP EXIT
OFFLINE PARAMETE
h
,,,
~~¡•ˆ§¡•,¨¡•ll‰•øY‰•pEŠŒðK»•”l‰•ÔY‰•Œk‰•pEŠŒxF»•˜Y‰••k‰
::
= input field
r –; =
output field
Fig. 5/3 Presets display
Description of the output fields
P R
E
S E T S is displayed in the header.
Generated on:
This field displays the date on which the selected file was created, if it already exists. If
you create a new file, the current date from the internal PG clock will be used as the
generation date.
Mode:
The mode selected with
<F2>
ONLINE or OFFLINE is displayed here,
Firmware:
I
mediately after “Firmware”, the module type
“IP247”
is displayed. The next output
field displays the release of the firmware.
5-12 Siemens
AG”c79000-B6576
-c707-01
Starting
COM247
Description of the input
fielcfs
Each
module has several characteristics
(SYSI
D), some of which cannot be changed and some
of which can be selected. There are other characteristics which must beset, such as the module
number, and some which can be set. The latter are mainly of a documentary nature and are not
checked.
Drive:
Here, you specify the drive in which the user data diskette is to be inserted. With the
PG685, the data can, of course, be stored on the hard disk. In this case “B” must then
be selected.
Filename:
The file name identifies the file in which the data blocks are stored (here, EXAMPLE).
This allows you to assign different files to different projects or plant sections. Using the
HELP key, you can display all the files on a current drive with the file type .247.
As you
page through the file names, the “plant designation”, “generated by” and “generated
on” fields are updated.
Plant designation:
In this field you can select a brief designation for the plant for which the data blocks are
intended (here, LINEAR AXIS). This designation is written into the file header. This field
must be completed, otherwise the error message “illegal input” is displayed.
Generated by:
As in the plant designation field, the name of the operator (here, SMITH) can be saved
in the file, Once again this field must be completed.
Module no.:
This is a number between O and 99 which you can specity to distinguish between
various positioning modules. A module number is also entered in the machine data re-
cords. If there is already machine data on the module, the module number entered
here must be identical
to
that contained in the machine data records. This means that
the module number can no longer be changed if one correct machine data record al-
ready exists on the module. (Only possible online.)
Slot no,: You can also assign this number as required, between O and 255. The number is
simply for documentation. (Only possible online.)
Page address:
The conditions for this are the same as for the slot number. The page address set on
the module can be read more easily
at
the PG than by reading the switch on the posi-
tioning module itself (only possible online). Differences between the switch setting and
the entry made here are not checked.
PG date - time:
The internal PG date and time are displayed here, If you modify anything in these fields,
this is taken as a date and time change and the software clock of the PG is set to these
values.
$km?ns
AG°C79000-B8576
-c707-ol
5-13
Starting
COM247
A
Note
I
After switching off the PG, this setting is lost. The hardware clock can
only be set at the system level.
Significance of the function keys
<Fl >:
<F2>:
<F6>:
<F7>:
<Fa>;
With BEGIN, you branch to SELECT FUNCTION and providing ONLINE is set, the
presets (module number, slot number, page address) are written to the module. These
values are, however, only accepted by the module when either no correct machine
data is stored on the module or the module number is identical to the module number
in the machine data
(=>
Section 4.3.18
“SYSID
Input”),
This key switches from OFFLINE to ONLINE and vice- versa. If you switch to ONLINE,
the values on the module “module number”, “slot number”, “page number” and
“firmware release” are read
(=>
Section 4.3.19 “Read
SYSID”)
and output in the
display. OFFLINE, these fields are deleted.
Branch to the printer parameter display. Here, you can stipulate control character
sequences,
HELP key to select possible drives and file names contained in them.
With the EXIT key, you return to the configuration display.
5-14
Siemens
AG@C79000-B6576
-C707-01
Function Selection
5.5
Function Selection
By pressing cF1 > (BEGIN) in the presets display, you branch to the “SELECTF UNCTION” dis-
play.
The presets are displayed once again. The fields are,
however,
no longer input fields, i.e. you can-
not change the displayed values. From this display you branch to the individual functions. If you
terminate a function with the EXIT key you always return to this display.
v
\
SIMATIC S5
/
COM247
——.
.—
~ELECT
FUNCTION
]
——————
Drive
~1
File name ~W—MP~E
1
————
Plant designation
:
fLINEAR AXIS J
Generated by
~Ml~
~
.=
——
Generated on
L15
09
89J
———
Mode
6NLXE~
——
Module
no.
FI
Slot
no.
@
Page address
pia
Firmware
~W=
~
~
l@~
——
PG date-time
r5/,@l,59/
-
c2z/
L—
.
. . .. :
.::
,:
:,,: ,,
.
. .
, ., ., . : . : . :
.,,
,.,.
. . .
.
., ., ., .: ., .:
.,.,.,...
~:~gg~~f
g~;;gg~g
;;;f:~~;:;;;
;~~:$#;;,.{:,.
:;$,;j~~;~j;
$$$;;~g$$;
ggg~ggg
gg~~ggg$
. . ,
:,:.:.:,:,:,,,:,,,:,:,:,:,:,,,:,:,:,:,:,:, ,.:,:,:,,,:,,.:.:.,.:.:,,,:,,.:,:,:.:,;,:,:.:,:
INPUT OUTPUT TEST TRANSFER DELETE fNFO EXIT
&
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
:,
= input field
r
;
=
output
fieId
Fig. 5/4 Basic display
Significance of the function keys
<Fl >: Branch to input of machine data/machining programs.
<F2>:
Branch to output of machine data/machining Programs.
<F3>:
Branch to test mode.
<F4>:
Branch to transfer of machine data/machining programs to the individual
media,
Siemens
AG°C79000-B857&
c707-f31 5-15
Function Selection
<F5>: Branch to deleting machine data/machining programs on the individual media.
<F7>: Branch to information (overview) about machine
datdmachining
programs as they
exist on the individual media.
<F8>; Return to the presets display.
5-16
Siemens
AG°C7900W36576-C707
-01
Input
5.6
Input
If you press
<Fl
> (INPUT) in the basic display (select function) you branch to data input.
Here, you can generate machine data or machining programs and store them on the module,
the PG or a data drive. You stipulate the destination device in this mask (function keys
<Fl
>...
<F3>),
SIMATIC S5 I
COM247
———.
[INPUT
1
DEVICE ‘ BLOCK :
DB
—————
I
PG FD
I
I
HELP
I
EXIT
.,.
.
.
.
.
.
.
::::~:
= input field
r
~
=
output field
Fig. 5/5 Block selection
Description of the output fields
I N P U T is displayed in the header. The other fields are still blank.
Description of the input fields
Data block:
Select machine data or machining program. This field can be manipulated with the func-
tion key <F7> (HELP).
Siemens AG°C79000-B8576 -C707-Ol 5-17
‘“’.-
1
Input
Block no.:
You select the data block number under which the generated data is to be stored. The DB
number can be a value between O and 255.
Description of the function keys
<Fl >:
<F2>:
<F3>:
<F7>:
<F8>:
5.6.1
5.6.1,1
The destination device is the IP247 module. You branch immediately to the next dis-
play, either to the first machine data or the first machining program display.
The destination device is the programmer. You branch immediately to the next display,
either to the first machine data or the first machining program display.
The destination device is the data drive entered in the configuration display. You
branch immediately to the next display, either to the first machine data or the first ma-
chining program display.
With the help key you can select the text “machine data” or “machining program” in the
“data block” input field.
If you press the EXIT key, you return to the basic menu (function selection).
Entering Machine Data
General Information about Machine Data
Before traversing movements can be executed, each axis requires the technical data of the drive.
This information is known as machine data
(=>
Section 2.5 “Machine Data and their Structure”).
When you input the machine data, the module checks that the data is consistent. If you make an
error, an error message is output and the program branches to the display in which the incorrect
value might be located. After correcting the value, you can once again transfer the data record to
the module.
The data block numbers of the machine data for the three axes can be identical.
When you delete and re-enter a machine data record, the reference point need not necessarily
be lost; this depends on the machine data in the new data record which have changed com-
pared with the old record
(=>
Section
4,3.21
“Machine Data Processing”). Zero offsets and tool
length offsets are, however, reset each time new machine data are input to the module.
The individual machine data are only explained briefly here. For more detailed information about
machine data, refer to Section 2.5 “Machine Data and their Structure”.
5-18siemens
AG”c790M-B8576-c707
-ol
Input
5.6.1.2 Compiling Machine Data
If you selected “machine data” in the data block selection display, specified the block number
and pressed one of the function keys <Fl
>...<F3>,
the axis selection display appears. The
destination device (I P247, PG, FD) is now fixed and can no longer be changed for this input.
As an example in this section, a machine data record (data block number 123) will be generated,
The destination device on which the data will be stored is the IP247 module, module number 11.
The data record refers to a linear axis, axis 1, with metric dimensions.
Axis
,
:,:.l
.
::
~
1-3)—
1
,:,
——
,::jl;:,::j
Module
..,.:,.
. .
.
70...99 )
1
———.
~eas,
system
Jjm’fi;;
“’
~mm,
in, deg)
I
———
Axis type :~~~~tigxfl
~tary,
linear
]
= input field
r
~
= output field
.—
Fig. 5/6 Axis selection
Description of the output fields
INPUT and MACHINE DATA are displayed in the header. The previously selected destination dev-
ice is displayed in the DEVICE field and the previously selected DB no. in the BLOCK field.
Siemens
AG%79000-!385i’
6-c707-01 5-19
lnDut
Description of the input fields
Axis: In this field, you enter the number of the axis for which the machine data record is to be
created. The number can be either 1, 2 or 3.
Module:
In this field, you can enter the number of the module for which the machine data record is
to be created. This is necessary, since several I P247 modules can be installed in a system.
Meas. system:
Here, you enter the required measuring system. mm stands for millimetres (basic unit pm),
in for inches (basic unit 0,0001 in) and deg for degrees (basic unit 0.001 degrees).
Axis type:
Using the help key
<F7>
you can select either a rotary axis “rotary” or linear axis “linear”,
These values are used as output values for all machine data pages.
Significance of the function keys
<Fl
>:
With function key <Fl > you branch to the first of four displays for machine data com-
pilation.
<F2>: From this display, you branch to the last machine data page.
<F4>:
Output all the machine data on the printer.
<F6>: Store all the machine data on the selected destination device. This is, however, only
possible when all the input fields of all the pages have had values entered.
<F7>:
Switchover
the measuring system or axis type, providing the cursor is located in the ap-
propriate input field.
<F8>:
Return to the basic mask (function selection) after confirmation.
5-20
Siemens
AG”c79000-88576
-C707-01
Input
Machine Data Page 1
✍✎
INPUT
1
L—— —-.
SIMATIC
S5 / COM247
———
mA~H~N
=D
A T A
7
——
DEVICE ~lP247
7
BLOCK:
DB
@3;
L_———— —---------------
——
———
~
1
ki~
~pe
I
IL~Wfl
J
~
1
Meas.
S@3TI
:
L“-J
Module :
yl:
Axis : —
~
——
Maximum frequency
~lg~;.~~j
~Hz
, (0.012...100.000)
Starl,Lstop
frequency
~iti:
;:..::..,:.::
— —
.,,,:,.:P:W:
[
kHz
J
(0001 ...10 .000)
——
———
Rate of
freq.
increase
;~~~:
;’&*:;
\
~z,m~
,
:
;;:.,::,,.:.,.,.,
,.
.,
.,.,
,,,
(0,020...2599.999)
Pulse duration
:::.:...:.:::
[
:
J
i::i::;tii::::::.:
— — —
(1,,.31)
No. of excitation patterns
::.:.,:.1;
\
_
J
;:::;;:i:ti.:.::
— — —
(4,,,40)
Polarity
“.
‘P:es[~iv~::~~G’~”:’;:
;~;;gj~#
~f~ffig~~
:$;:g~;~
:;;;~~;;;
j;;:,~:$$;;
,jjf~fi;;:,
jfi;$~g;~;;
~jj~~g~$
. . . . . . . . . . . . . . . . . .
:
.:.:.;.:.:.:.:.:.:.:,:,:.:.:.:.:.:.:.:,:,:
:
:::::::::::.:.:.:.:.:.:,:.:.:.:
NEXT PREVIOUS PRINT
PAGE
PAGE
M,DATA TRANSFER HELP EXIT
L
4
1
=
header
2. softkey menu
~
~
=
output
fieki
.
1
1
}
2
)
Fig. 5/7 Machine data page 1
In this display, you transfer the machine data required to generate the acceleration and decelera-
tion ramp. The acceleration up to the maximum frequency (speed) is calculated according to the
following formula:
f= F(I
-e-”’)
+
f~~
Where:
f:
frequency at given time
fss.:
start-stop frequency
t:
acceleration time
(0.
.,3-c)
‘c:
time constant
f~u:
maximum frequency
F:
(fr-nax
-
fs.)/o.95
Description of the output fields
The header remains the same as described in the section “Machine Data Compilation”.
Siemens
AG°C79000-B6576
-C707-01
5-21
Input
Module:
The previously entered module number is displayed here,
Axis: The previously selected axis number is displayed
here,
Meas.
system:
The previously selected dimension is displayed here.
Axis type:
The previously selected axis type (“LINEAR” or “ROTARY”) is displayed here.
Description of the input fields
Maximum frequency (fmax):
This is the highest frequency to be output to achieve the maximum speed in the selected
half or full step mode.
Start/stop frequency (f..):
The maximum frequency at which the stepper motor can startup from a standstill without
losing a step or can brake to a standstill immediately taking into account the load and half
or full step mode.
Rate of
freq.
increase (a):
a is the slope of the function
f(t) = F(I -e-VT) + F..
=>
a = F/1
Pulse duration:
This is the width of the pulse per period in microseconds. The pulse duration must always
be less than the period of the maximum frequency.
No. of excitation patterns:
For the stepper motor to move on, it must be excited differently from step to step until it re-
turns to a position corresponding to the initial position. From this position, it can once
again be moved with the same excitation pattern.
!n
this field, you enter the number of
steps that must be output between two equivalent positions. In the half step mode, this
number is twice as high as in the full step mode.
Polarity:
You select either “positive edge” or “negative edge” as the active edge of the pulse, to
which the power unit reacts. At the same time, the outputs also change their inactive
levels. (=> Part 4 “Functions”).
Significance of the function keys
<Fl >: Select the next machine data page.
<F2>: Select the previous machine data page.
<F4>:
print out all machine data,
<F6>: Store all machine data on the destination device.
<F8>:
Return to the basic display without saving the data
5-22
siemens
AG@C790W-B8576-c707
-of
Input
Machine Data Page 2
9
~PUT
——
_-
J
SIMATIC
S5 I COM247
———
—————
——.
L“~c~l
YE
~A~A—
_
~
DEVICE :
~p2=
~
BLOCK:
DB
@3;
Module :
F-j’
Axis :
~
~
Meas..
system:
~m~
Axis~pe:
~NmR–j
——
Pulses/revolution
::j:::::::::{:~~!;::!:!;
.,,
,..
,.,
[1 /rev]
( 12...1000)
———
Transmission ratio
‘:j~i,;
j,@ ([mm/rev] 7( 0.012...400.000 )
————
JOG speed 1
,...
L[mrn/rnin]
,.:::itib&:.
— — —
~
(1 ...65,000)
.
JOG speed 2
j~ij.
l-~m~mfi~
(1 ...65,000)
——
Incremental speed
‘100~j
~_jmm/min]
1
—.
(1
.,,65,
(X30)
Reference speed
.l.@iO,
~~mtim-fi
~
(1
.,,65,000)
$:zj:ggggi #$g$E#$?i
~j:~?;:;
‘~;,:gg;:
;~$f~~~
@@gg@g$:
g~gg~x~
!i3iiR3s3!.
. . .
.
. . . . .
.
,,’.
. . .
.
NEXT PREVIOUS PRINT
PAGE PAGE M.DATA TRANSFER EXIT
b
4
Fig. 5/8 Machine data page 2
Description of the output fields
The header remains as described in the section “Machine Data Compilation”.
Module, axis, meas. system, axis type: see machine data page 1.
Description of the input fieids
Pulses/revolution:
Steps of the stepper motor per revolution in full or half
step
mode. Half step mode means
twice the pulse count of full step mode.
Siemens
AG@C79000-B8576
-C707-01
5-23
Input
Transmission ratio:
The transmission ratio indicates the distance
travelled
for one motor revolution.
Resolution = transmission
EitiO/(pUk?S
per revolution)
Example:
A motor with 200 steps in full step mode connected directly to a
Ieadscrew
with 4 mm
pitch/revolution, is to be operated in the half step mode.
*
Pulses/revolution: 200.2 = 400 pulses/revolution
*
Transmission ratio: 4.00 mm/rev
3
Resolution:
S
=
a
Ioopul.
The maximum resolution is 1 pm/pulse.
JOG speed 1 (VJOGI):
This is the speed of travel in the mode “JOG speed 1“. This speed must correspond to a
frequency less than or equal to
fmax.
The following must apply:
VJOGI
=
Vmax
*
fJOGl
<
fmax
JOG speed 2
(VJOG2):
This is the speed of travel in the mode “JOG speed
2“.
This speed must correspond to a
frequency less than or equal to
fmax.
The following must apply:
1
VJOG2
<
Vmax
-
fJOG2
<
fmax
Incremental speed
(VinC):
This speed is used for the operating mode “incremental speed absolute” and “incremental
speed relative”. This speed must correspond to a frequency less than or equal to
fmax.
The following must apply:
Vine C
VrnaX
+
fine
<
fmax
Reference speed
(Vref):
This speed is used in the “reference point approach” until the reference point marker
(BERO)
is found for the first time. This speed must correspond to a frequency greater than
the start-stop frequency and less than or equal to the maximum frequency.
The relationship between frequency and speed is calculated from the machine data “pulses/revo-
lution” and “transmission ratio”.
5-24
Skfmw
AG
O
C79000-B8576-C707 -02
I
Input
The frequencies corresponding to the following speeds must be within the range of values of
fr?’lax
,
Example
JOG speed 1: 3600 mm/min
Pulses/revolution: 500 I/rev.
Transmission ratio:
1 OOOmm/rev.
I
f~o~l = VJo~I [mrnkec] ,
pul./rev.
[l/rev.]/transmission ratio
[mnWev.]
I
fJoGl
= 3600/60x 5000/10001/seC
= 30000 l/see
= 30 kHz
fJoGl
~f~u
(from the machine data)
Significance of the function keys:
<Fl >: Select the next machine data page.
<F2>: Select the previous machine data page.
<F4>: Print out all machine data.
<F6>: Store all machine data on the destination device.
<F8>: Return to the basic display without savng the data.
Siemens
AG°C79000-B8576
-C707-01
5-25
Input
Machine Data Page 3
9
>
@Pti
— —
~
SIMATIC
S5
I
COM247
rM~C~l
~E~A~A—
___DEVICE
:fip=7
;
BLOCK: DE
\~3~
——__————
Module :
p;
~i’
P
:
M’=’
‘y’tern
:
mm:
hi’
VP’
DN=A=_l
Ref. point synchronized
.;::::j:~,o.:::j’:::::;;:::;
(yes/no)
Reference direction
.:::’:rei:i:”
’:’’’::::::
(fwd/rev)
Ref, point coordinate
‘:’’;:l[’
.’OLX’!
I_[m-m]—
]
(+-99999,999)
FW~mit
swifis=fl
T
7
: – –
:1
.:@@
ooj
r[m;l
(+-99999,999)
.—__——
~W~mit~wiw
e=
‘):
,
‘:~~$.o~
~—~m~—l
(+-99999,999)
.—————
Polarity of limit switch
neg
(pos/neg)
PC BCD-coded yes (yes/no)
:;;:g#$;,’
::;’;:?*;..
:.
..,;;::~~;;
.,<:;;;E?:.;:{.
j;:;jj.~~;~ ~fi$~~~{j
gg$gggg”
:~~;;~~:y;
;,:,,:
:,,
.:
:,,
:,,
, :
.,,
. .,
.,..
.,..
...:.
,.,
. . .
.
. .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .
..,
:’.’...’.’.’..
‘.’:’.’::
. .
NEXT PREVIOUS PRINT
PAGE PAGE M.DATA TRANSFER HELP EXIT
b
/
1 ) Rotary axis: traversing range start
2) Rotary axis: traversing range end
- input field
]
– – 1 =
OUtlXJt
field
Fig. 5/9 Machine data page 3
Description of the output fields
The header remains as described in section “Machine Data Compilation”.
Module, axis,
meas.
system, axis type: see Machine Data Page 1.
Description of the input fields
Ref. point synchronized
No:
the reference point is set with the negative edge of the reference signal.
Yes: after the negative edge of the reference signal, the motor continues in single step
operation
u;til
the counter of the excitation patterns (software counter in the firmware)
reads zero.
Reference direction:
Here, you specify the direction in which the reference point is approached.
5-26 Siemens
AG@C79000-B6576-C707
-01
Input
Ref. point coordinate (Xref):
Xref <
)(E
SW limit switch start
(XA):
This value specifies the coordinate of the software start limit switch.
XA
<
Xref
ANote
I
The value of the software start limit switch must be less than the value of the ref-
erence point coordinate and less than the value of the software end limit switch.
All these coordinates must be within the hardware limit switches.
Traversing range start
(X4:
(For a rotary axis), This value indicates the start of the traversing range.
SW limit switch end
(XE):
This value indicates the coordinate of the software end limit switch. It must be greater than
the software start limit switch, and greater than the reference point coordinate and must
be within the hardware limit switches.
Traversing range end (XE):
(For rotary axis), This value indicates the end of the traversing range of the rotary axis.
This is physically the same point as the start point. The actual position display jumps auto-
matically from the end value to the start value.
Polarity of limit switch:
Here, you can decide whether the hardware limit switches are detected as having been ac-
tivated on a positive or negative edge.
To the
power
circuitry
\
Digital
Digital
in-
To power
input IP247 put IP247
circui~
\
Hardware
limit switch
Hardware
limit switch
start end
//
l“
4
~
~
Xref
!
ss
Traversing range
wake
x sb&e
sH*e
hake
x
~~
‘+
+
x
Machine
E
Machine
start
s
=
braking distance end
brake
Fig. 5/1 O Position of limit switches
PC BCD-coded:
If vou enter
“ves”
in this field (HELP key
<F7>),
all coordinates (targets, travel
incre-
m&rts, zero point offsets and
tool
length offsets) transferred from the PC are interpreted
by the IP247 in
BCD
format. The range of values in
BCD
format is limited to
+/-
9999999
Km,
siemens
AG”c79000-B8576-c707-ol
5-27
Input
Significance of the function keys
<Fl >:
Select the next machine data page.
<F2>: Select the previous machine data page.
<F4>: Print out all machine data.
<F6>: Store all machine data on the destination device.
<F8>: Return to the basic mask without storing the data.
5-28
Siemens
AG”c790m-B8576-c707
-ol
I
Input
Machine Data Page 4
v
———.
IYM
:
SIMATIC S5
/
COM247
——————
TMTCTI
N E D A T A
r—---
J
DEVICE
~
IP247
J
BLOCK:
DB
lti3~
————.———
l-x:
——
Module :
Axis :
~
~
Meas.
system:
~m~
Axis type:
~NEAR
J
Tool length offset
:::j~;
:~~::
~mm~
;
,.,.::::,::,:::.
.,...,
::.,.,.,.,..,.,.
(+- 99999,S99)
——
Backlash compensation :
:::::{::::
,f~:*::
~mfi
:
(+-
0,..64.999)
——
Zero offset 1
W!.:;;:j:j
:@&j.
I
~mml
1
(+-
99999.999)
—!
Zero offset 2
~~~~~~~~~
~~m~
7
‘:”:.:”::::;:~:;.::
:~(j&
m
(+- 99999.999)
——-
Zero offset 3 ::&.
;$~.
nmm~
~
:
,,.,
,,:
:.:.,.
.,.,.
(+-
99999,999)
. . —
Zero offset 4 ‘“”:.~::
,@~j
~mm~
~
(+-
99999,999)
——
j:;;;.~$::$j
$g$~g$g:
;.;’:.E3:jt
;:$!.E4!:;;
:;;i:~~;j:
$$g$.~e!$$$
iiijiEEiI;
@gf.gg@#
. . . . .
,,,
..,,,,.,,
. . . . . .
.
,
:,,
. . . . . : .: .
:,
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
. . . . . . . . . . . . . . . . .
NEXT PREVIOUS PRINT
PAGE PAGE M.DATA TRANSFER
EXIT
k
/
Fig. 5/1 1 Machine data page 4
Description of the output fields
The header remains as described in section “Machine Data Compilation”,
Module,
axis,
meas.
system, axis type: see Machine Data Page 1.
Description of the input fields
Tool
Ienoth
offset;
T;e
value specified here can be selected in machining programs. Each specified target is
corrected by this value. The length must be less than the range allowed by the software
limit switches. This correction is added to a tool length offset previously selected and can
be called repeatedly in machining programs.
Zero offset 1
...4:
The values of the four zero offsets are independent of each other and can be called in-
dividually in machining programs. The range of values of the four offsets is
L99999.999
mm and must not be exceeded.
Siemens
AG°C79000-68576
-C707-01
5-29
Input
Backlash compensation:
This value is added to the distance to be travelled whenever the axis changes direction.
This allows any backlash in the drive to be compensated.
Significance of the function keys
<Fl >: Select the next machine data page.
<F2>: Select the previous machine data page.
<F4>: print out all machine data.
<F6>: Store all machine data on the destination device.
<F8>: Return to the basic display without saving the data.
5.6.1.3
Print Machine Data
The data (DB number) selected using the functions “input” or “output” of machine data can be
printed out using function key
<F4>
(PRINT M. DATA). Thedataareformatted in a fixed frame-
work.
A header is printed out
arthe
start of each machine data page and a footer at the end.
MACHINE DATA Source device DE no. Axis
Module
Meas.
sys.
LINEAR IP247
123 1
11
mm
Maximum frequency 100,000
[kHz]
(0,01
2,,,1
00.000)
Startktop frequency
:
10.000
[kHz]
(0,001
...1
0.000)
Rate of
freq.
increase :
100,000
IHzhnSl
(0.020...2599.999)
Pulse duration
01
[us]
(1,,.31)
No.
of excitation patterns :
10
(4,,,40)
, Polarity
POSITIVE EDGE
/’
Zero offset 4 0.000
[mm]
(+- 99999,999)
SIEMENS AG
PRINTOUT
Date: 16,09.89
SIMATIC S5
MACHINE DATA AXIS 1
COM247
-
IP247 LINEAR AXIS SMITH
Page: 1
)
Printout
header
1
Footer
Fig. 5/1 2 Machine data printout
5-30
Siemens
AG°C79000-~576-C707
-01
krput
The following information is supplied in the header:
the machine data are for a linear axis,
b
the
source
device (FD, PG or
IP247)
from which they were read,
b
the
DB
number under which they are stored,
the axis and module for which they are intended and
the measuring system (mm, in or deg.) of the machine data.
The footer is explained in the machine data printout display.
puYPuY
;
SIMATIC
S5 / COM247
.————.
[
MACHINE DATA 1DEVICE
:~<fi
1
BLOCK :
——
DB~23J
——————.
Printer type
~——
~PT88
1
Lines per page (40-95) I’@l
Columns per line (80-132) :
r]
p
,..
.,.
,;2
= input field
r
: =
output
field
——
Fig. 5/1 3 Machine data printout display
In this display there are two lines available to enter information about the machine data, e.g. the
plant for which they
are
intended etc. This information is only used for documentation (here,
PRINTOUT MACHINE DATA AXIS 1), The fields in the third line, “plant designation” and
“generated by” are completed automatically from the information in the presets display. The date
can also be entered. The page number is incremented automatically following each formfeed.
Siemens
AG°C79000-B8576
-C707-01 5-31
Input
Description of the output fields
In output field 1 in the header, either INPUT or
OUTPUT
is displayed. M A C H I N E D A TA is
displayed in output field 3. DEVICE indicates the previously selected destination or source dev-
ice and BLOCK shows the DB number.
Page: The numbers of the pages are displayed here during the printing. The page number is in-
cremented by 1 at each form feed.
Third comment line:
The fields “plant designation” and “generated by” from the presets display are entered in
this line (here, LINEAR AXIS, SMITH).
Printer type:
This field displays the printer selected in the printer parameter display. The default is the
Siemens
PT88printer.
Lines per page:
The number of lines per page selected in the printer parameter display is shown. The de-
fault is 68 lines per page.
Columns per line:
The number of columns per line selected in the printer parameter display is shown here.
The default is 80 columns per
line
If you have not yet printed out or not yet set the printer parameters, branch to the “printer para-
meter display” with
<F6>
(PRINTER PARAMETER). Refer alsotoSection5.6.l
.4’’Assigning
PrinterParameters”.
Description of the input fields
Comment:
In two lines of the footer you can enter a comment about the machine
data to be printed
out, This
comment is then printed out as a footer on each page.
Date: In these three input fields you can enter the date on which the machine data were created.
This date is also printed out on each page.
Significance of the function keys
<F4>:
The printout is started with this function key.
<F6>:
This function key branches to the printer parameter display.
<F7>: Help key: no function.
<F8>:
Exit the print option without printing out.
5.6.1.4
Assigning Printer Parameters
From the presets display and from the display for printing machine data, you can branch to the
printer parameter display by pressing
<F6>
(PRINTER PARAMETER) .Here, youcanselectthe
Siemens printers PT80 and PT88 or other printers using the IBM or EPSON mode. The values for
the number of lines per page (default 68) and the number of columns
per line (default 80) can be
changed. You can also adapt the control characters for print type and character set to any
5-32
Siemens
AG@c790~-~576-c707~l
input
printer. The control characters must be entered in ASCII code without gaps or separators. A max-
imum of 5 ASCII characters can be entered. If a control character sequence is less than 5 charac-
ters, you must complete the sequence with ASCII NIL characters
At present, only the parameters for print type 2 can be used.
.—
::,::[:::::!:;;:::
= input field
1
1
= Output field
Fig. 5/1 4 Printer parameter display
Description of theoutput fields
The header is the same as described in Section “Machine Data Compilation”.
Description of the input fields
Printer type:
Using the HELP key, you can select one of the four printers PT80, PT88, IBM and EPSON.
The fields print type 1 to 3, “ASCII”, “expanded on” and “expanded off” are then completed
accordingly; they can, however, still be adapted to your particular requirements.
Siemens
AG°C79000-66576
-C707-01
5-33
Input
Lines per page:
Here, you specify the number of lines per page.
Columns per page:
In this field you specify the number of columns per page.
Print type 1:
For the
PT88
printer, the control characters
(ODH),
ESC
(1
BH),
‘[l w’
(5BH,
31 H,
77H)
and
the string end character 17H are defaults. This printer then prints normal print with 17 char-
acters per inch.
Print type 2:
For the PT88 printer, the control characters
(ODH),
ESC
(1
BH),
‘[2w’
(5BH,
32H,
77H)
and
the string end character 17H are defaults. This printer then prints condensed print with 12
characters per inch.
Print type 3:
For the PT88 printer, the control characters
(ODH),
ESC
(1
BH),
‘[4w’
(5BH,
34H,
77H)
and
the string end character 17H are defaults. This printer then prints super-condensed print
with 10 characters per inch.
ASCII :
For the PT88 printer, the control characters
ESC
(1
BH),
‘(B’
(28Ft,
42H) and the string end
character 17H are defaults, This printer then prints with the ASCII character set.
Expanded
on:
For the PT88 printer, the control characters
ESC
(1
BH),
‘8’
(38H)
and the string end char-
acter 17H are defaults. Expanded print is then set on this printer. Each character is then
printed in double width.
Expanded off:
For the PT88 printer, the control characters
ESC
(1
BH),
‘c’
(3CH)
and the string end char-
acter 17H are defaults. This switches off expanded print on this printer. Each character is
then once again printed in normal width.
For IBM or EPSON printers please refer to the control characters in the appropriate manual.
5-34
Siemens
AG°C79000-B6576-C707 -01
Input
5.6.2
Entering Machining Programs
5.6.2.1
General Information about Machining Programs
The structure of the machining program generally corresponds to a subset of the representation
described inDIN66025, The programs consist of a sequence of ASCI I characters with a maxi-
mum length of 1023 characters.
Machining programs are packaged by COM247 in data blocks in keeping with the STEP 5 repre-
sentation, The blocks are distinguished by their data block number. A data block generated by
COM247 contains exactly one machining program. The data block number is
entered in the ma-
chining program header by COM247 as the machining program number. Numbers 0...255 are
possible.
For more information about machining programs, refer to Section
2,6
“Machining Programs and
their Structure”.
Machining programs can be generated in two methods of representation:
representation according to
DIN
66025
representation in text mode
It is also possible to generate machining programs using TEACH-1
N.
The test mode of COM247
provides the necessary support. (See also Section 5.8 “Test” or Section 4.3.4 “Teach-in On/Off”).
5.6.2.2
Generating Machining Programs
If you select “MACHINING PROGRAM” in the data block selection display, specify the block num-
ber and press one of the function keys <FI>...<F3>, the first display for machining programs
is output. The destination device (I
P247,
PG,
FD)
is now fixed and cannot be changed for this
input.
In the following machining program displays examples of data for machining programs have
been entered, The destination device is the drive
(FD)
selected in the presets display, The data is
stored in the set file as DB1 55.
Siemens
AG°C79000-B8576
-C707-01
5-35
Input
~N~T—
]
L——
SIMATIC S5
1
COM247
———————
IM—ACHI NI NG P ROG
RAY
DEVICE :
~D—
~
BLOCK: DB
~~1
————
————
Fig. 5/1 5 Machining program display
Description of the output fields
INPUT is displayed in the header and M A C H I N I N G P R O G R A M is
displaywi
in output
field 2. DEVICE displays the previously selected target device and BLOCK the previously
selected DB no.
Description of the input fields
In the first input field “program type” you can select between a main program
(“?4.”)
and a sub-
routine (“L”). The permitted entries are MAIN and SUB.
In the next input field, you can enter a comment, e.g. to provide information about the machining
program.
Significance of the function keys
<Fl >:
With this function key you branch to input of machining programs according to DIN.
<F2>:
With this function key you branch to input of machining programs in the TEXT mode.
<F7>: With the HELP key you can select the type of program (MAIN or SUB).
5-36Siemens
AG”c790w-68576-c707
-ol
Input
<F8>:
If you press the EXIT key, you will be prompted to confirm abandoning the machining
program, if you answer with YES you return to the basic display (function selection)
and if you answer NO you continue with machining program input.
5.6.2.3
Entering Machining Programs according to DIN
In the DIN representation, only one statement of a traversing program can be written per line.
Each statement must begin with the statement type and statement number.
The IP247 processes all statements as “normal statements”. Normal statements are identified by
“N”, The statement identifiers “/N” for “suppressable statements” and
“:N”
for “main statement”
are permitted, however, they have no significance.
The statement number comprises a maximum three digit number. The range of values is 0,..999.
Apart from the N-function (statement type and statement number) the following functions are per-
mitted:
L-function (subroutine call)
G-function (preparatory positioning condition)
X-function (target function)
F-function (speed, time, loop repetitions)
M-function (auxiliary function)
Siemens
AG°C79000-B8576
-Ci’Qi’-Ol
5-37
Input
———.
jNpuT
1
SIMATIC S5
I
COM247
-——
————
~MAZHiiiNG
PROGRAM
[
DEVICE :
~D
~
BLOCK : DB
II=j
.—
————
PROG,
HEADER
,r
——
———
_
‘Al
55 EXAMPLE OF A MACHINING PROGRAM
I—.———— —__ —_.___. _.__. —_ ——.————.
————
——
. .
.
= input field
~
J
= output field
Fig. 5/1 6 Machining program display according to DIN
Description of the output fields
The header is as described in the section “Generating Machining Programs,
The program type (“Yo” for main program or “L” for subroutine), the program number and any
comments are output in the output field PROG HEADER.
Description of the input fields
You enter the statements of the machining program in the individual lines. Once you reach the
last line, the machining program is scrolled one line upwards, i.e. a new page is begun. The pre-
vious page is displayed again if you press
<F2>.
Significance of the function keys
<Fl >: This function key is used to page forwards when the machining program is longer than
one page and when you are not on the last page.
-
5-38
Siemens AGQC79000-B8576
-C707-01
1
Input
<F2>:
<F3>:
<F4>:
<F5>:
<F6>:
<F7>:
<F8>:
5.6.2.4
Analogous to <Fl
>,
this function key is used to page backwards.
With this key, you can switch to text representation.
This function key inserts a line in front of the current cursor position.
This function key deletes the line marked by the cursor.
If the machining program is syntactically correct, you save the program on the pre-
viously selected device under the specified DB number with this key. If the program al-
ready exists on this device and with this DB number, you will be asked whether or not
to overwrite the data block.
The machining program is printed out if you
press
this key. The displays are the same
as those for printing machine data (cf. Section 5.6.1.3 “Print Machine Data”), When ma-
chining programs are being printed out, “MACHINING PROGRAM DIN” is displayed in
the third output field of the header.
With the exit key, you exit the input function without saving the data.
Entering Machining Programs in the Text Mode
I
n the text mode, onlv one
statement
is
displayed
on
the
screen.
The
tYPe of statement and the G
function can be
sele~ted
using the HELP key
<F7>.
With the other functions, you must
ente[
the appropriate numerical values.
P
9
l~PUT
— —
I
SIMATIC
S5 I COM247
— —
—-—
IMICINING
PROGRAM —
J
DEVICE :
~D
1
BLOCK:
DB~57
———
‘un~ef J
~m––
I
Tcml.ffset:
[
~
‘]
offset
Dimensions
~bsol.te
]
——
——_——
PROG.
HEADERr%~5~WwpLyOF
A MACHINING
PROGR~M
— — — —
————-
-J
———————
———
—————.
Statement
no.
““35
Statement type :
~o”rw)
Function 1 [L] :
~
– —
‘~
Function 2
[G]
:
FjYing
~h~~e
,:’”\~~~~;:,::i;:,~/ij~~;j~~~~~~j~\j~~}\jj~~
Function 3 [xl :
Target :
+50
Oog
———
Function 4 [F] :
~ee~rate
.—_—.—
j:
“’460
‘:rn’vlrn!n.:.::’:’.;;:
Function 5
[M
:
~
— — ]3s
,’”1”
,,:;,..,Fj,,,:j:.
,....:..F2’.”
~~²••²²•ä²²•8³²• !΀¨GŠŒ
...:
F?
‘F4
.F5..,.
....:,.,,];~~;,;:::
;$j:,:j;~&:~;{
~g~f~gj~
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
NEXT PREVIOUS TEXT INSERT DELETE SAVE HELP EXIT
STATEMEN STATEMENT
..>
DIN
4
= input field
r
–;
= output field
Fig, 5/1 7 Machining program display in the text mode
siem~ns
AGeG79000-B8576-c707-o~
5-39
Input
Description of the output fields
The
header is as described in Section 5.6.2.2 “Generating Machining Programs”.
Meas,
system:
The measuring system in which the displayed statement is to be interpreted can be seen
in the first output field after the header, The default unit is mm. Alternatively, “0.1 in” will be
displayed (G70 or G71 ).
Tool offset:
The current tool length offset is displayed here. Possible displays are “off”
(G40),
“nega-
tive”
(G44)
and “positive”
(G43).
“Off” is the default. Only the last selected G-function
(G40,
G43 or
G44)
is displayed, not the resulting tool length offset. A change of sign, for ex-
ample, G44 with -10 mm is not taken into account.
Offset:
The last selected offset is displayed. Possible displays are
“undef”
(G53),
”1
on”
(G54),
”2
on”
(G55),
”3
on”
(G56)
and”4 on”
(G57).
“Undef”
is the default.
Dimensions:
The numerical values of the target functions (X functions) can be specified in “absolute”
(G90)
form or in “incremental” (G91 ) form. “Absolute” is the default.
Description of the input fields
Statement no.:
The statement number is entered here as a numerical value. The statement number can be
up to three digits long. It is not necessary to enter statements in ascending order. The in-
dividual statements are processed in the order in which they are entered, regardless of the
statement number.
Statement type:
Using the help key, you can select one of the three possible statement types “main”
(’:N’),
“normal” (’N’) and “’suppressible” (’/N’).
L-function:
Here you enter the subroutine number to be called by the current program. Once you
have entered a subroutine number, the text “subroutine no.” is displayed before the input
field.
G-function:
Using the help key, you can display the possible G-functions. Entry of other values is re-
jected as an error.
X-function:
Here, you enter the target. The maximum range is
+/-
99999.999. The value is either inter-
preted as a distance (with G91) or as an absolute coordinate (with
G90).
F-function:
Depending on the previous functions, either the feed rate (following an X-function), a dwell
time (following G04) or the number of repetitions (following G24) is entered. The appro-
priate text (“feed rate
“, “loop run through” or “dwell time”) is displayed before this input
field and the appropriate dimension after the input field.
5-40
Siemens
AG°C790fJ3-B8578
-C707-01
Input
M-function:
The M-function is output at the beginning of the statement. The M-function MOO means
“programmed halt”, the M-function
M02
means program end. After
M02,
no further state-
ments can be appended. After entering
M02,
the text “program end” is displayed before
this input field and the text “program halt” is displayed after entering MOO.
Significance of the function keys
<Fl
>:
<F2>:
<F3>:
<F4>:
<F5>:
<F6>:
<F7>:
<Fa>;
With this function key you can display the next statement if the machining program is
longer than one statement and the last statement is not currently displayed.
Analogous to <Fl >, you can page back one statement.
With this key you can switch over to text representation.
This function key inserts a new statement before the statement currently displayed.
This function key deletes the displayed statement.
If the machining program is syntactically correct, you save the program on the pre-
viously selected device under the specified
DB
number with this key. If the program al-
ready exists on this device under this
DB
number,
you
will be asked whether or not to
overwrite the data block.
With the HELP key you can select the alternatives for the fields “statement type” and “G
function”,
If you press the EXIT key you exit the input function without saving the data.
Siemens
AGeC79000-B8576
-C707-01
5-41
output
5.7
output
By pressing
<F2>
(OUTPUT) in the basic display (“function selection”) you branch
tothe
“OUT-
PUT” function. Here, machine data or machining programs can be output from the module, the
PG or from a floppy/hard disk drive. It is then possible to change the data and write it back to the
source. The function keys <Fl
>.,,
<F8>
have the same assignment as in input. The displays
are also identical with the exception of the header.
Here, OUTPUT is displayed instead of INPUT.
The first display is the block selection display.
Here, you must select the data block you wish to
display. You can select machine data or machining programs using the function key
<F7>
(HELP). After specifying
the block number,
the axis number (only for machine data output) and
the source device (with <Fl >...
<F3>)
from which the data block is to be read,
the first machine data/machining program display will appear.
5.7.1
Output Machine Data
Description of the output fields
OUTPUT and M A C H I N E D A T A are displayed in the header. The previously
selectd
source
device is displayed in DEVICE and the DB
no.
in BLOCK.
Description of the input fields
The input fields for machine data are completed with the stored values. You can modi~ the data
and write it back to the source device with the function key
<F6>
(TRANSFER). Otherwise the
display is the same as for the input of machine data.
5-42 Siemens
AG”c79000-B8500
-c707-ol
1
output
5.7.2
Output Machining Program
Description of the output fields
OUTPUT and
M A C H I N
I
N G P R O G R A M are displayed in the header.
me
previously
selected source device is displayed in DEVICE and the
DB
no.
in BLOCK.
Description of the input fields
The machining program of the selected data block is displayed. You can change individual state-
ments and to write them back to the source device with the function key
<F62=
(SAVE). Other-
wise, the display is the same as for the input of machining programs.
Siemens AG@C79000-B8500
-C707-01
5-43
Test
5.8
Test
In
this branch of the program you can test the IP247 module and the drive in all operating
modes. Machining programs can be started manually and
akeady
existing machining programs
can be tested. Actual values are displayed at the PG online. The test mode also allows machining
lrograms
to be generated in TEACH-IN
ANote
Owing to a hardware feature of the programmers, the keys have a repeat func-
tion. If you press a key for a longer time, its key code will be written to the key
buffer until it is processed. This means that commands will be processed until
the buffer is empty. A STOP command may, therefore, not be executed immedi-
ately. This is not an error; the stop command will
still
be executed. Commands
entered accidentally after the stop command will, however, also be executed.
In the test mode, an emergency stop switch must be easily accessible from the
PG.
5.8.1
Starting the Test Mode
By pressing
<F3>
(TEST) in the basic display (function selection) you branch to the “test” func-
tion.
Conditions:
The mode is online. You can change the mode in the presets display using the function
key
<F2>
(ONLINE-OFFLINE).
The link from the PG to the IP247 is established and
the I P247 is operational (green LED lit).
In this section, each display has values entered in the input and output fields. The dimensional
unit is in mm.
5-44 Siemens AG°C79000-B8500-C707 -Ol
Test
The first display in “test” is the test axis selection display,
Fig, 5/1 8 Test axis selection
Description of the output fields
T EST is entered in the header.”1 P247° is displayed in the DEVICE output field.
Significance of the function keys
<Fl >:
Test axis 1. After pressing this key, the program branches to the mode display,
<F2>: Test axis 2. After pressing this key, the program branches to the
mode display.
<F3>:
Test axis 3.
After pressing this key, the program branches to the mode display.
<F8>: The EXIT key returns you to the basic display (“function selection”),
Skmens
AG”c79000-B8500
-c707-ol 5-45
I
Test
5.8.2
Modes
If vou select the axis with <Fl
>
(axis 1),
cF2>
(axis 2) or
<F3>
(axis 3) in the test axis
selec-
tio~
display, you branch to the mode display, to the actual value display mode.
~ES~
;
Y
~———————
SIMATIC
S5 I COM247
I N C R E M E N T A L A B S
0
L U T E S T A R T DEVICE
,1P
277
~
L——_—____—_—lBLOCK : DB
Current axis :
G—l
Actual value
~
6F2
7
~fflfi
–1
-
‘L_
J
— — —
Distance to go
T
~
7
~mfi
I
L-
J
— —
Aux. function ‘Z OT27
L—J
~e~pofi
7
: (Q
~
Synchronization : ~s1
————J
Teach-in mode :
~=~
Stat.
sofaxis
~
~I~;–fi
———
Mode “’6
TNTREmENYACXBSOLUTE
1
——.—————
Program
——
Distance
:1.
$oz:~mrnl
[
——
Speed :::...:::IZO
~mm/min]
\
~$~~~~;:
:::::;,2
~~~
~~~~~~~~~
...:.:.,
...,...:.,:..
:,.
;;;:j:::~.~;j;
~j;;~q.,
.};:FI;
;;.:
;:;~::F$;;;:
$g<Fe$;f
;~~{~gii
f$~$~~~g
. . . .
,.:.,.,.
:.:.:.:.
:.:.:.:.:.:.:.,...,.,.,.,...,
MODE 1)START STOP FORWARD REVERSE ENTER 2) EXIT
e
J
1 ) ACTUAL VALUES appears
If
you press this key
2) HELP appears here in the
operating mode display
=
input field
r
;
= output field
Fig. 5/1 9 Mode display
Description
of
the output fields
J
IP247° is displayed in the output field DEVICE. The remaining text in the header depends on
pre
vious entries. Either simply “TEST” is entered or “TEST” and the current operating mode of the
axis and the last command to be executed are displayed.
Note
If you return to the basic display (“function selection”) by pressing function
key
<F8>
(EXIT) in the test axis selection display, COM247 starts mode 17
(“clear error”). This is then displayed in the mode display in output field 3 in
the header,
5-46Siemens AG°C79000-B8500 -C707-Ol
I
Test
Actual value:
The current position coordinate (actual position value) of the selected axis is displayed.
The value is displayed in the appropriate dimension.
Distance to go:
This displays the difference between the actual position value and the target coordinate.
This only applies to modes “AUTOMATIC” and “AUTOMATIC
S1
NGLE
STATEMENT”,”1
N-
CREMENTALABSOLUTE’’ancf’ I NCREMENTALRELATI
VE”.
Aux. function:
lnthemodes
“AUTOMATIC” and “AUTOMATIC
S1
NGLE STATEMENT” the programmed M
function is displayed as a numerical value. The auxiliary function (M function) M02 is the
default.
Reference point:
This field shows whether the reference point is “set” or “cleared” (not set).
Synchronization:
The possible displays here are “yes” or “no”. Synchronization yes means that the reference
point is determined by the negative edge of the reference signal and the excitation pattern
counter equals O. Otherwise, the reference point is only determined by the negative edge.
Teach-in mode:
This displays whether the selected axis is in teach-in (“on”) or not (“off”).
Status of axis:
Here, the status of the axis is displayed. Possible displays are “finished” and “running”.
If there are no correct machine data for the axis on the module, then no actual value and no dis-
tance to go will be displayed. The statuses reference point, synchronization, teach-in mode and
axis status remain unchanged. Without machine data,
only
mode 17 (clear error) can be ex-
ecuted apart from input and output of data.
Description of the
input
fields for changing modes
The inversely displayed input fields are only completed after pressing function key <Fl
>
(MODE). If you press
cF1
>,
the display changes to the change mode function.
~
Note
The displayed values, actual value (actual position value), distance to go, auxili-
ary function and the displayed axis attributes
(=>
Section 2.7 “Axis Attributes”),
are then no longer updated.
The function key
cF1
>
changes to “ACTUAL VALUES”, the function key
<F7>
changes to
“HELP”. By pressing <Fl
>
(ACTUAL VALUES) you return to the actual value display mode.
Siemens
AG°C79000-B8500
-C707-01
5-47
Test
Mode:Here, the required mode and selected
axis
are entered. You can select the mode from the
mode table with the HELP key
<F7>.
After you have entered the mode number
(right-
justified), the corresponding text is displayed to the right of the mode number. Modes
1,.,17 are permitted. If a different number is specified, you branch automatically to the
mode table, Depending on the selected mode, the function keys
<F2>...
cF6> have
different functions,
Program:
You can only write to this input field in modes 8 (AUTOMATIC), 9 (AUTOMATIC
S1
NGLE
STATEMENT) and 10 (TEACH-1 N ON). In these cases, you must enter the machining pro-
gram number,
Distance:
You can only write to the distance input field in modes 6 (INCREMENTAL ABSOLUTE), 7
(INCREMENTAL RELATIVE), 12 (ZERO
OFFS~
ABSOLUTE), 13 (ZERO
OFFSEl_
RELA71VE)
and 15 (TOOL LENGTH
OFFSEJ).
In each case you must enter the distance
or coordinate in the selected dimension.
Speed:In this field, you can enter the start speed within the range 1,,.65000, Value O selects the
value stored in the machine data. If you enter a value greater than the meximum speed,
the value of the maximum speed is set.
Significance of the function keys
<Fl
>:
<F2>:
<F3>:
<F4>:
<F5>:
<F6>:
<F7>:
<F8>:
With <Fl >, you can switch between the actual value display mode and the mode
change function. In the actual value display mode the values actual value, distance to
go,
aux,
function and the displayed axis attributes of the selected axis are displayed
and continuously updated. If you select the mode change function the mode and corre-
sponding parameters can be changed.
“START” is only permitted in modes 4..,6,8...12 and 14...17.
“STOP” is only permitted in modes 1,2 and 6...9.
The command “FORWARD” is permitted in modes 12,7, 13 and 15. If a rotary axis is
selected as the axis type, the “FORWARD’
i
command is also permitted in mode 6.
The command “REVERSE” is permitted in modes 12,7, 13 and 15. If a rotary axis is
selected as the axis type, the “REVERSE” command is also permitted in mode
6.
The function of the “ENTER” key depends on the mode.
In
the “AUTOMATIC
S1
NGLE
STATEMENT” mode, this key executes the next
statement of an automatic program.
In the “AUTOMATIC” mode, the “ENTER” key is used to acknowledge a programmed
halt (MOO).
I nthe “AUTOMATIC” and “AUTOMATIC
SI
NGLE
STATEMENT” modes, this key
continues an interrupted machining program.
If the teach-in mode is active and the axis status is “finished”, the “ENTER” key is
used to save a statement.
Providing the cursor is located in the input field “mode”, the HELP key
<F7>
can be
used to branch to the mode table. From this table you can select a mode and return to
the mode display with
<F6>
(ENTER).
The EXIT key returns you to the test axis selection display. The header remains un-
changed.
5-48
Siemens
AG°C79000-B8500 -C707-Ol
Test
5.8.3 Mode Table
By pressing the HELP key in the mode display (mode change function), you can branch to the
mode table display. This contains all the possible modes and mode numbers.
——
~Efi
I
SIMATIC S5 / COM247
——.
——_————
————
II
NC REM
ENTAL
ABSOLUTE
STAqT
DEVICE
:rlP>47—,
BLOCK: DB
————.—
.
[
Modes for testing
1 JOG speed 1
2 JOG speed 2
3 Not permitted
4 Axis off
5 Reference point
6 Incremental absolute
7 Incremental relative
8 Automatic
9 Auto, single statement
10 Teach-In on
11
Teach-in off
12 Zero offset absolute
13 Zero offset relative
14 Clear zero offset
15 Tool length offset
16 Tool length offset off
17 Clear error
I
I
Enter number of mode:
.:,.5:
I
I
ENTER
I
Fig. 5/20 Mode table
Description of the output fields
The header remains unchanged.
Description of the input field
The display has only one input field in which you can enter the number of the required mode. All
other values apart from those listed lead to the error message “FFF illegal input”.
Siemens
AG°C79000-B8500
-C707-01 5-49
Test
Significance of the function keys
<F6>:
Using the ENTER key the mode number is entered in the “mode” field of the mode dis-
play. The corresponding text is displayed at the same time.
<F8>: The EXIT key returns you to the mode display (mode change function). AXIS OFF is
then entered as the mode.
5-50
Siemens AG@C79000-B8500-C707 -01
Transfer
5.9
Transfer
By pressing
<F4>
(TRANSFER) in the basic display you branch
tothetransfer
display.
In this branch of the program you can transfer machine data or machining programs from one
device to another.
4
~——
—------
LE’’Y!!sF=R_
—J-—
SIMATIC
S5 I COM247
I MAcHINE DATA
J
DEVICE
:~D—
~
BLOCK :
DB
fi27J
—.—....—.—————
———
Data block :
~A_&Hl=
DATA
I
Source Target
Device
,“+D:.::’:::’:.
:
.::::!
E2.4Z:.
.,,:j;2~;,i; (*
all
Mach, prog.)
DB
no.
:f.23:
Axis
.:i:
.::::~:,:,:.
Drive
&
File name
1
?:!WWPLE:
—“-’
Plant desig.
:
~NEAR
AXIS
\
———
——
Generated
by
:
[
SMITH
~
Generated on
:
@o@9-J
~~~~$g~
$$ji~%%$
;j~:~.f:;::j
::;,:’;;:~$y:;;:
J~\j~$jg
~~~$ffj
‘~$j:~~~gj ~;~~~~~j~
,,,
.,
.,,
,,,,
,,,.,.......,.,.,.
. . ., .
....:..,,
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
TRANSFER HELP EXIT
k
,,,.
.:
...:.:.,,
,
..
:
.
:
.,
.:.:
:,:.:,
,.,
,:
;;
= input field
r
: = output field
——
Fig. 5/21 Transfer display
Description of the output fields
Following the start of the transfer, TRANSFER and either M A C H I N I N G P R O GRAM or
M A C
H
I N E DATA are entered in the header. The output fieids BLOCK and DEVICE are
completed with the appropriate values. The
DB
number of the data record to be transferred is dis-
played in BLOCK and the source device is entered in DEVICE.
Siemens
AG°C79000-6850@C707
-01
5-51
Transfer
Description of the input fields
Data block:
With
<F7>
(HELP) you can select between machine data and machining programs.
Device:
With
<F7>
(HELP) you can select the source or destination device. The possible entries
are module (I
P247),
the programmer
(PG)
or the data drive
(FD).
DB
no.:
As the source, you must specify the number of the block to be transferred. The same num-
ber will be entered as the target. This can, however, be changed. The range of values is
from 0,.,255. If a “*” is entered for the
DB
no,
of the source, all
DBs
(either machine data or
machining programs) on the selected source device will be transferred to the destination
device. The DB number of the destination device is then meaningless.
1
A
Note
I
The PG can only store one machine data record and one machining program.
Axis: When transferring machine data, you must enter the axis number in the machine data re-
cord to be transferred under source. If there is no machine data record with this axis num-
ber on the selected device, the error message “data block does not exist” is displayed.
When transferring the machine data, it is possible to change the axis number of the target
DB.
Drive:
If the selected source device is a floppy or hard disk the name of the drive is also required.
You can use the HELP key
<F7>
to make the entry.
File name:
If the source is a drive (floppy or hard disk) the file name must be selected using the help
key. If there is no file on the selected drive with the extension .247 no
DB
can be trans-
ferred, In this case the error message “data block does not exist” is displayed. If the target
device is a drive, the file name selected in the presets display will be used and the corre-
sponding data for “plant designation”, “
generated on” and “generated by” will be displayed
in the appropriate fields. You can only transfer to the drive selected in the presets display.
Significance of the function keys
<F4>: This function key starts the transfer.
<F7>: With the HELP key, you make selections in the “block number”, source device and
destination device fields. Remember
that no blocks can be transferred if the source
and destination device are identical.
Otherwise, possible source drives and the files
contained can be selected.
<F8>: Pressing this function key abandons the “TRANSFER” function and you return to the
basic display (“function selection”).
5-52
Siemens AG°C79000-B8500-C707 -Ol
Delete
5.10 Delete
Pressing cF5> (DELETE) in the basic display (“function selection”) branches to the delete dis-
play.
In
this program branch you can delete machine data or machining programs stored on a device
(I
P247,
FD,
PG).
————
~DELETE
I
SIMATIC S5
/
COM247
—— ——
(MACHINE
DATA — — — IDEVICE ‘
~Pti7
;
BLOCK : DB
~23;
w
=
input
field
r
–;
= output field
Fig. 5/22 Delete display
Description of the output fields
After starting the delete function, DELETE and either MACHINING PROGRAM or MACHINE
DATA are displayed in the header. The output fields BLOCK and DEVICE are then completed
with the appropriate entries. The DB number of the data record to be deleted is displayed in
BLOCK and the device containing the data record to be deleted is displayed in DEVICE.
Skmens
AG”c79000-B8500
-c707-ol
5-53
Delete
Description of the input fields
Data block:
With
<F7>
(HELP), you select between machine data and machining programs.
Axis: If machine data are to be deleted, you must enter the axis number of the machine data re-
cord to be deleted here. This number is stored in the machine data record.
On device:
With cF7> (HELP) you can select the device on which the data block is to be deleted.
Possible selections are module (1 P247), the programmer (PG) or the data drive
(FD).
Block:The number of the block to be deleted is entered here. The range of values is 0...255. If
you enter “*”
all DBs (machine data records or machining programs) on the selected dev-
ice will be deleted.
Significance of the function keys
<F5>: This function key starts the delete function.
<F7>: Using the help key you can select alternatives in the “data block” and “source device”
fields.
<Fa>:
With this function key you abandon the delete function and return to the basic menu.
5-54
Siemens
AG%79000-68500-C707-01
Information
5.11 Information
[f you press cF7> (INFORMATION) in the basic display (“function selection”) you branch to the
information display,
In this
rxoc.vam
branch,
You
can obtain an overview of all the machine data or machining pro-
grams
sto;ed
on a device (1 P247,
PG,
FD).
One screen page can list a maximum of 48 entries. If
there are more than 48 machine data records or more than 48 machining programs stored on a
device, you can page forwards or backwards. The assignment of the function keys is automat-
ically changed
cF1
>
(NEXT PAGE) and
<F2>
(PREVIOUS PAGE). These two keys can be
used to page forwards or backwards until there are no further entries to be listed. In this case,
the message “no more entries” is displayed.
After selecting the source device with the keys <Fl
>.,,
<F3>,
the data blocks are displayed
with their
DB
number and length. With machine data, the axis number for which the machine
data record is intended is also displayed. By pressing
<F8>
(EXIT) you return to the basic dis-
play (function selection).
———.
@TPUT
———
I
SIMATIC
S5 I
COM247
————.———
~A
C H I N I N G P ROG RA
~
———._——
DEVICE :
rF~
JBLOCK : DE
Name
Length A
Name Length A Name
Length A
Name
Length A
——
L
II_
J~L2
——
L-
Jl_
J(!J
——
L_
JL.
Id
L__J
——
——
L—-J
——
L–-J
——
I—-J
——
——
l.--]
I-IJL.2
——
L-
IL
J~L2
——
L-
IL
J(!2
——
L-
IL
JfL2
——
L-
J
L—J
~L2
——
I-
1
L—J(L2
C:
J
L—J
IL2
——
.
I-
JL
J~L2
——
L.-
IL
J~Q
——
L-
IL
J~L2
I
FD
I
PRINT
I
HELP
I
EXITMODULE I PG
I
I
Fig. 5/23 Information display
Siemens AG@C79000-B8500
-C707-ol 5-55
Information
Description of the output fields
After starting the information function, INFORMATION and either MACHINING PROGRAM or MA-
CHI NE DATA is entered in the header. The source of the data is displayed in the DEVICE output
field, The BLOCK output field remains unchanged.
Description of the input fields
Data block:
Using
<F7>
(HELP), you can select between information about machine data or informa-
tion about machining programs.
Significance of the function keys
<Fl
> ..<F3>:
With these function keys you select the devices (1
P247, FD
or PG) from which the data
blocks are to be read. If there are more than 48 entries <Fl > and <F2> are as-
signed the paging function.
<F4>: This starts the printout of the data blocks.
<F7>: With the HELP key you select the type of data block (machine data or machining pro-
grams).
<F8>: With the EXIT key you can exit the information function.
5-56
Siemens
AG°C790CQ-B8500-C707 -01
General Notes
6 Standard Function Blocks
FB164
and
FB165
6.1
General Notes
6.1.1
Overview
This part describes the two standard function blocks
FBI 64 (PER:POS)
“operating and monitoring the positioning module” and
FBI
65(PER:PDAT’) “positioning module parameter assignment”
FBI 64 is used to operate and monitor the
IP247
positioning module. With FBI 64 you can start
the
IP247
operating modes BA1 - BA17from the user program. FB164 also supplies constantly
updated information about the current status of an axis (errors, M-functions, ...). AS soon as one
of the monitoring modes is started, the selected value is read and output cyclically by FBI
64.
FBI 65 is used to assign parameters to the IP247. It is responsible for the data exchange between
your user program and the
IP247.
By calling FB165, you can execute the following functions via
the PC interface:
read machine data and machining programs from the I P247, delete them and transfer
them to the IP247
read the system identification from the IP247 and transfer it to the IP247,
request an overview of the machine data or machining programs stored on the
IP247
and
read actual values (actual position value, distance to go).
The function blocks FBI 64 andFB165 are used in the following programmable controllers
S5-115U
(CPU 941
tocPu
944)
S5-135U
(CPU 922 and CPU 928)
S5-150U
S5-155U
in conjunction with the following
IP247
positioning modules
6ES5247-4UA31
(for ventilated operation)
6ES5247-4UA41
(for non-ventilated operation)
This User’s Guide assumes that you are familiar with the IP247 and the programmable controller.
Siemens
AG°C79000-B8576
-C707-01
6-1
Genera/Notes
The function blocks FBI 64 and FBI 65 are supplied on the diskette with one example under one
of the following file names:
S5-115U all
CPUs
: S5TA50ST.S5D
S5-135U
CPU922/928 : S5TB22ST.S5D
S5-150U
: S5TA40STS5D
S5-155U
: S5TA60ST.S5D
6.1.2 Notes
The IP247 positioning module is addressed by means of pages. It has three positioning axes and
a data channel and therefore requires four page addresses.
Function block FBI 64 must be called once for each axis.
Function block FB165 can be called conditionally.
Calls in the processor time interrupt OBS are not permitted.
The function blocks FBI 64 and FBI 65 operate with the data handling blocks SEND and RE-
CEIVE, FB165 also requires the FETCH data handling block.
The handling blocks are (automatically) assigned parameters and called by the
FBs.
The pages
must beset up in the start-up
OB
(OB20,
OB21
and
OB22
or
OB21
and
OB22
for the S5-1 15U)
with the SYNCHRON data handling block
(FB1
25, FB185 and
FB249).
6.1.2.1
Overview of the Data Handling Blocks
I
S5-11
5U
S5-135U S5-150U S5-155U
1
SYNCHRON
RECEIVE
FETCH
FB249
FB125
FB185
FB125
FB244
FB120
FB180
FB120
III
I
FB245
]
FB121
I
FB181
I
FB121
]
J
FB246
FB122 FB182 FB122 Only
for
FB165
6.1.2.2 Installing an Interface in
OB20,
OB21
or OB22 with the
S5-135U
NAME
SSNR
BLGR
PAFE
: JU FB125
:SYNCHRON
KY0,2 Interface 2
K’fo,o
Block size
FY1
SYNCH RON call - parameter assignment error
6-2
Siemens
AG@C79000-B6576
-C707-01
General Notes
The SYNCHRON call must be programmed for each interface to be addressed in the cyclic pro-
gram section (cf. Section 6.4 “Examples”).
In the
BLGR
parameter, you can select the length of the blocks of data to be transferred by
FB165.
BLGR S5-115
S5-1351155
0,0
64
128
0,1
32 32
0,2
32 32
0,3 64
64
0,4
128 128
. . . . . . . . .
.
.
..
.
.
.
.
.
0,255
~
28
128
6.1.2.3 Use of FB164/165 in the Various Programmable Controllers
When using the
FB164/165
in programmable controllers, please note the points in the following
table, when interrupting the user program and when starting the program.
Siemens AG”
C79000-B8576-C707-02
6-3
General Notes
115U
135U 150U 155U
User program can be interrupted
at:
Command Block Block
Block
boundaries boundaries boundaries boundaries
or
or
command
command
boundaries boundaries
When using the interrupt OBS the
FY200
FY200 FY200
work with
scratchpad flags must be saved and
to to to
FB38,
394)
loaded again before exiting the
FY255 FY255 FY255
interrupt OB
RS 60
to
RS
63
Calling handling blocks in interrupt
not
not
permitted
see
branches
permitted ‘)permitted if
S5-135U
‘)
interrupts
are at
co
remand
bou da
es
n
ri 1)
Start-up types
Cold restart
OB21
OB20
beginning of the
cy;~ic
at start of
at start of OB 1
processing
OB 1
Automatic warm restart
OB22 OB22
beginning of the cyclic at start of at interrupt point
processing
OB 1
Manual warm restart
OB 21, at interrupt point
FB164
call in start-up
not not not not
OB20
-
OB22
permitted permitted permitted in permitted
OB20
in
OB21
and
OB22
see note 3)
Saving scratchpad flags and save FYB200 to
FY255
4)
operating system data
RS60 FB38,
39
in
OB21
and
OB22
to
RS63
1 ) If this is necessary, you must ensure that
FB164
is not interrupted in the cyclic program.
2)
FB164
should be run through once for each axis before the first operation job is sent, to allow
the binary identifiers in the DB for each specific axis to be updated.
3) See
S5-150U
4) See note on following page
6-4Siemens
AGQ
C79000-B8.576-C707
-02
Genera/
Notes
Note
A
To save and load the scratchpad flag area you must use the standard function
blocks FB38 and
FB39.
The function blocks operate with a data block (see example
in Section 6.4, DB255). This must be created up to and including data word DW820.
The function blocks must be used in pairs, i.e. the interrupt OBS must not be exited
prematurely with the statement BEC.
6.1.3 Using the Positioning Module in Multiprocessor Operation (applies to
the
S5-135U
andS5-155U)
If the positioning module is used in a programmable controller with more than one processor,
you must ensure that an axis is only ever addressed by one CPU module.
Note
~
Access
by several CPUS to the same axis is not permitted and leads to program er-
rors,
,
%mens
AG”c790~-B8576-c707-ol
6-5
The Standard Function
Block
FB164
6.2
The Standard Function Block
FB164
6.2.1
Functional Description
The function block FBI 64 “operating positioning module” allows the following functions to be ex-
ecuted:
Starting a job (modes 1
,,.17)
on the
IP247
from the user program.
Cyclic reading of the actual position value, or distance to go from the IP247. These values
are output as
BCD
or binary numbers depending on the assignment of the
BCD
parameter,
Constant reading of the set mode, the current M function, the checkback signals
(=>
Section 2,6 “Axis Attributes”) and the module error from the assigned interface. These are
available at the parameter outputs of the function block or in the axis data block.
You can assign parameters to the function block FBI 64 directly or indirectly. With direct parame-
ter assignment the user data required to start a mode (BA 1...17) are at the inputs of the function
block, With indirect parameter assignment, FB164 supplies the parameter values from the data
block valid before its call.
For certain modes, specific job parameters are required. These must be stored in the
axis
data
block as byte, word and double word parameters before the mode is started.
Before calling
FB164,
the axis data block must be set up and contain valid values.
6-6
%mens
AGQC79000-68576
-C707-01
The Standard Function Block FB164
6.2.2 Calling Function Block FBI 64
6.2.2.1
S5-135U,S5-150U,S5-155U
In STL (Statement List):
In
LAD/CSF (Ladder Diagram or
COfltrOl
system
Flowchart)
NAME
SSNR
DBNR
DWNR
BA
STAR
STOP
VORW
RUCK
UEBN
BCD
PAFE
BFEH
TBIT
BTR
MFKT
RMLD
ANZG
6.2.2.2
:
JU
FBI 64
: PER:POS
FB164
a
SSNR
DBNR
DWNR
BA
sTAR
sTOP
vORW
RuCK
uEBN
Sco
PER:POS
P+VE
SFEH
TBIT
BTR
MFKT
RMLO
ANZG
E
S5-115U
In STL (Statement List):
:JUFB164
NAME
:PER:POS
SSNR :
DBNR
:
DWNR
:
BA
STAR
~
STOP :
VORW :
RUCK
:
UEBN
:
BCD
PAFE
:
BFEH
:
TBIT :
BTR
MFKT :
RMLD
:
ANZ1
:
ANZ2
:
In LAD/CSF (Ladder Diagram or Control System
Flowchart)
FB164
d
SSNR
DBNR
DWNR
BA
a
STAR
STOP
VORW
RUCK
UEBN
BCD
PER:POS
PAFE
BFEt+
TBIT
k
I
BTR
MFKT
RMLD
1=
ANZ1
ANZ2
F
siemens
AGGc79000-B8576-c707
-01
6-7
The Standard Function Block FB164
6.2.3
Overview of the Parameters
NAME
PARA DATA
TYPE TYPE
SIGNIFICANCE
SSNR
DKF
Interface number
DBNR
D
KY DB
type,
DB
number (of axis data block)
DWNR
DKF
First data word in axis data block
BA
D
KF
Mode (mode number)
STSR
I
BI
START command for the axis
STOP
I
BI
STOP command for the axis
VORW
I
BI
FORWARD command for the axis
RUCK
I
BI
REVERSE command for the axis
UEBN
I
BI
ENTER command for the axis
BCD
I
BI
Parameter
ANZG
in
BCD
(’1 or binary (’O’)
PAFE
Q
BI
Parameter assignment error
BFEH
Q
BI
Module error
TBIT
Q
BI
Active bit
BTR
Q
BY
Output of the mode set for the axis
MFKT
Q
BY
Output of
the
M function of the axis
RMLD
Q
BY
Output of
checkback
signals (axis attributes) from the axis
ANZG
QD
Output of the value of the selected monitoring job
FortheS5-115U, the parameters ANZ1 and ANZ2 correspond to the parameter ANZG.
, ANZ1 QOutput of the value of the selected monitoring
job
ANZ2 Q
6-8
Siemens
AG°C79000-68576
-C707-ol
The Standard Function Block FBI
64
6.2.4
Explanation of the Parameters
SSNR : D,KFx
Specification of the page number (cf. switch setting J64, Section 3.2 “Setting the Module
Address”) of the corresponding axis.
x = interface (page number)
OS- X
s255
DBNR
:
D,
KYx,y
Specification of the data block type and the data block number of the axis data block. With the
S5-1 15U andS5-150U programmable controllers, data block type DX cannot be programmed.
x = data block type
x
= O : data block type DB
x >< O: data block type DX
Y = data block
numb@r
5
~=
y
S.
255 where x = O
1
~.
y
S.
255 where x O
Direct parameter assignment via the block parameters
(axis data block)
Y
=0
Indirect parameter assignment via the data block opened
before the FB164 call
DWNR : D,KFx
Specification of the first data word in the axis data block.
x = first word
0< x
<236
where:
5s
parameter
DBNR
183 and
%3?WflS
AG@c790~-B8576-C707-ol
166 <parameter
DBNR
25
16< X
<236
where: parameter
DBNR
= 164
(DB164
= working DB for
standard function block
FB’
48c
X
<236
where: parameter
DBNR
= 165
(DB165
= workina
DB
for
)
64)
standard function-block
FB1
65)
6-9
The Standard Function Block FB164
BA :
D,KF
X
Specification of the mode or monitoring function to be started on the
IP247.
x = mode (mode number) or number of the
monitoring function
1
s
xs
17 and
71 + 73 and
x =74 switch off monitoring
Job number
1
2
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Mode
JOG speed 1
JOG speed 2
Axis off
Reference point (approach/set)
Incremental absolute
Incremental relative
Automatic
Automatic single statement
Teach-in on
Teach-in off
Zero offset absolute
Zero offset relative
Clear zero offset
Tool length offset
Tool length offset off
Clear error (module error)
Monitoring functions
71
Actual position value
73 Distance to go
74
Interrupt the cyclic execution of the
last monitoring job
6-10Siemens
AG”c79000-B8576
-c707-01
I
The Standard Function Block FBI 64
STAR :
I,BI
These parameters represent the possible commands
STOP :
I,BI
and start the data transfer to the positioning
VORW :
I,BI
module on the positive-going edge O
-->1,
recognized by
FB164 by comparing the binary identifiers in the axis
DB
RUCK :
I,BI
The following data from the axis data block
UEBN :
I,BI
aretransferred:
byte parameters
(DR
n),
word parameters
(DW
n+l ) and
double
word
parameters
(DD
n+3)
The modes 18 and 19 permitted by FB 164 are acknowledged negatively by the IP247 on
all
four
pages, since these modes do not exist on the
IP247.
On the data channel, the modes 1-16 are also negatively acknowledged.
Following a negative acknowledgement, the parameter PAFE is set in FBI 84. The SEND block
Wrk?S
“c
1
H“
h
k
PAFE.
The monitoring function 72 permitted by FBI 64 is acknowledged negatively on all pages. The
monitoring functions 71 and 73 are also negatively acknowledged on the data channel.
Here, the PAFE parameter is set following a negative acknowledgement. The RECEIVE block
Wrk
“c
1
H“
i17
k
PAFE.
BCD
:
I,BI
If the
BCD
parameter has the signal state”1”, the variables actual position value and distance to
go are converted to a seven digit
BCD
number with sign. If the signal state is “O”, these values
are output in binary.
In the
BCD
format a maximum
+/-
9999999 (pm, 0.0001 in, 0.001 degrees) can be represented.
If one of these limits is violated, the output value (parameter output ANZG or the corresponding
data words) is output as a binary number.
PAFE :
Q,BI
If an error is made in the parameter assignment, the
PAFE
parameter has the signal state”1“.The
error can be identified by the settings in
flag byte FY255
(=>
Section
7.2
“Troubleshooting”).
Siemens
AG°C79000-B8576-C707
-01
6-11
The Standard Function Block FB164
BFEH
:
Q,BI
The parameter
BFEH
(module error) has signal state”1” when the
IP247
positioning module sig-
nals an error. The type of error can be identified from
flag byte FY254
(=>
Section 7.2 “Troubleshooting”).
TBIT :
Q,BI
Active bit: The module is executing the transferred job
(BA
1...BA 17).
The “active bit” is set by function block FBI 64 when a job
(BA
1,..BA 17) is transferred to the posi-
tioning module. After executing or abandoning the job, the active bit is reset by the
IP247
(=>
Section 6.2.6 “Relationship between the Parameter
TBIT
and the current Checkback Signals”).
BTR : Q,BY
Output of the mode currently set on the
IP247
module.
MFKT : Q,BY
During automatic operation
(BA
8 and 9) the M functions programmed in the automatic program
are output by the
IP247
(=>
Section 2.6.9 “The M Function”). In all other modes M02 is output.
6-12
%rnens
AG@C79000-B8576
-c707-01
I
The Standard Function Block FB164
RMLD
: Q,BY
Output of the
checkback
signals (axis attributes) of the
IP247
positioning module
(=>
Section
2.7 “AxisAttributes”).
ANZG
:
C),
D with S5115U:
ANZ1
:
Q,W
ANZ2:
Q,W
The parameter contains the values: actual position value
(BA
71 set) or the distance to go (BA73
set). If cyclic monitoring is switched off with mode 74, the value zero is output.
The output is either in
BCD
format
(BCD
= signal state”1”) or binary
(BCD
= signal state
“0”)
ac-
cording to the
BCD
parameter.
If parameters
dated:
BTR –
MFKT –
RMLD
ANZG
are assigned indirectly the following output parameters of FBI 64 are no longer
up-
mode type
M-functions
checkback signal (axis attributes)
display of the monitoring job
The updated values must then be taken from the axis data block.
In the axis data block (parameter
DBNR)
only the value selected with modes 71...73 is updated.
The other values are deleted
(KHOOOO).
Siemens
AG”c790~-~576-c707-ol
6-13
The Standard Function Block FB164
6.2.5
Notes on using Actual Operands
The designations STAR (1
,Bl),
STOP (1
,Bl),
VORW (1
,Bl),
RUCK (1
,Bl),
UEBN (1
,Bl)
and PAFE
(Q,BI),
BFEH
(Q,BI)
and TBIT
(Q,BI)
must not be occupied
by
the “scratchpad flags”.
The designations BTR
(Q,BY),
MFKT
(Q,BY),
RMLD
(Q,B~
and ANZG
(Q,D)
orANZl
(Q,W)
and
ANZ2
(Q,W)
must also not be occupied by the scratchpad flags used by function block FBI 64
(=>
Section
6.2.8 “Technical Data of
FB1
6411).
When specifying data bytes, data words or a data double word, the information is stored in the
axis data block. Make sure that the axis data area for a particular axis is not overwritten.
6.2.6
Relationship between the Parameter
TBIT
and the current Checkback Signals
6.2.6.1
General
FB 164 signals a currently active job it has started on the IP247 (BA 1...17) at parameter output
TBIT, With this, you are informed within the same cycle in which FBI 64 was exited that the I P247
is processing a job. The job finished bit is still set at this point. If the IP247 terminates the job it-
self, it sets the job finished bit, and possibly also the position reached bit, but it does not directly
affect the TBIT. The
TBIT
is then reset by FBI 64, when the IP247 informs it that the job is
finished. This means that you receive the message that the job has been completed in the same
cycle after exiting
FB1
64. The job finished bit or the position reached bit has already been set at
this time.
If a job is so short that the job finished bit is reset and set again during a PC cycle, it is not
possible to detect the acceptance and completion of a job from this bit. Even in this case, the
TBIT
supplies a reliable signal edge change.
6-14
Siemens
AG”c790W-B8576-c707
-01
The Standard Function Block FB164
6.2.6.2 The Parameter TBIT with the Individual Modes
The following diagrams are not to scale and do not take into account the cycle time of the user
program and the IP247.
Mode –
JOG speed 1
(BA
1)
JOG speed 2
(BA
2)
‘“”’”’”!
STOP
I
1
‘B”
-J--
Mode –
axis off
(BA4)
‘TART
~
‘B’T
~
t
reference point (BA 5)
reference point
F“
7C’
F
“’
START
\
I
i
\
Reference point
;
\
does not exist
~
\
%3rnens
AG@c790~-B8576-c707-ol
6-15
The Standard Function Block FB164
Mode –
incremental approach absolute
(BA
6) and
incremental approach relative
(BA
7)
STOP
TBIT
I
Job finished f
Mode
automatic
(BA
8)
‘TART
r7—————~
STOP
TBIT Program terminated
M02
/1
Mode –
automatic single statement
(BA
9)
‘TART
~
STOP
UEBN
TBIT
)
L_—__—_t——___
trav. job
1 St or dwell time 2nd
%w%ttime
3rd
!%&!time
t
With the enter command (U
EBN),
the next statement of the automatic program (traversing job or
dwell time) is started. If there is a stop between two statements in “automatic single statement”
operation, the parameter
TBIT
is also set by FBI 64 and reset by the IP247.
The parameter
TBIT
of FBI 64 when a machining program is interrupted
The parameter
TBIT
of standard function block FBI 64 is set whenever a job is triggered by
FBI 64. After the job has been executed, the I P247 instructs FBI 64 to reset this bit.
6-16Siemens
AG°C79000-68576
-c707-ol
The Standard Function Block FB164
If the machining program is started from the PC, the parameter
TBIT
is set by FBI 64, If the ma-
chining program is interrupted, the parameter
TBIT
is reset again by
FB1
64. The same conditions
apply for resetting the bit as for changing the axis status from running to finished. If the machin-
ing program is continued by the PC with an enter command, the parameter TBIT is set again by
FBI 64 and reset after the next interruption or on completion of the machining program.
start interrupt interrupt
r——r————
I
1
I
abort
1
I
continue
r
Start from PC
Interrupt
from PC
Enter
H
from PC
TBIT
I
I
I
Machining program completed
f=rror65
~
t
If a machining program which was started by the PG is interrupted by the PC, the parameter
TBIT
is reset again by FBI 64 after the interruption.
Start from PG
Stop from PC
Enter from PC
TBIT
Error 65
starl interrupt
rcontinue
1
Machining program completed
I
__’T
Note
A
I
If an interrupted machining program is continued again, it is treated from this point
l“
onwards as if it had been started via the interface from which the enter command
was sent to the module. This means that the
TBIT
parameter is not set if an inter-
Lrupted machining program is continued again from the PG.
Siemens
AGQC790W-B8576-C707
-01
6-17
The Standard Function
B/ock
FB 164
Mode - teach-in on
(BA
10) and
teach-in off
(BA
11)
Teach-in on start Teach-in off start
‘TART
4~Hw~
“B”
+---w-N
!
1
The parameter
TBIT
is reset by the
IP247
after storing the position
(UEBN)
or on termination
(STOP) of the teach-in from
FB164.
In teach-in, various positions can be approached, e.g. in in-
cremental approach or in the JOG mode. The conditions explained for these modes also apply
to the parameter
TBIT.
Mode - zero offset absolute
(BA
12),
zero offset relative
(BA
13),
clear zero offset
(BA
14),
tool length offset
(BA
15),
tool length offset off
(BA
16) and
clear error
(BA
17)
The parameter
TBIT
remains set until the mode is complete. These modes cannot be aborted.
6.2.7
Data Area Requirements
The standard function block
FB164
works with data block
DB164.
It requires data words DW8 to
DW15 as its working area.
An axis data block must be specified using the parameter DBNR. This data block is used for the
following:
to store the monitoring values, checkback signals, M functions etc. read from the
IP247,
for indirect assignment of parameters (DW1 to DW7) to the function block
FB164
and
to store the data required for the mode to be started.
6-18
Siemens
AG”
C79000-B8576-C707 -02
The Standard Function Block FB164
6.2.7.1
Indirect Assignment of ParameterstoFB184
You can assign parameters to the function block FBI 64 indirectly. You must preset the value
KYo,o
as the actual operand for parameter DBNR. With this assignment, FBI
64
takes the values for its
parameters from
the data block valid before its
call.
You can use all permitted data blocks. Even data block DB164 or the axis data block would be
possible.
Indirect parameter assignment requires data words
DW1
to
DW7
of the data block inclusive;
these data words have a fixed assignment. When using DB1 84, this does not lead to conflicts,
since FB164 uses DW8toDW15 inclusive as its working area. If the axis data block is open
before FB164 is called, you must enter at least the value 8 in DW5 (parameter
DWNR)
as the first
data word to make sure that the data for indirect parameter assignment are not overwritten.
When using indirect parameter assignment, the same conditions apply to the individual parame-
ters
(DW1
...DW7)
of the open data block as for direct parameter assignment
(=>
Section 6.2,4
“Explanation of the Parameters”).
With indirect parameter assignment, the formal operands PAFE, BEFE,
TBIT
are updated in the
actual operand of theFB164 call as in direct parameter assignment.
Recommended
data format
DWO
Free
KH
DW1
Parameter BA, mode (mode number)
KF
Dw2 Free
KH
DW3
Commands: STAR, STOP,
VORW,
RUCK,
UEBN
KM
DW4
Parameter
DBNR
KY DB type, number of the
KY
axis data block
DW5
Parameter
DWNR
(first data word)
KF
DW6
]
Parameter SSNR interface or page number
I
KF
DW7
I
Parameter
BCD
identifier output
KY 0,0= binary
KY 0,1=
BCD
I
KY
You must assign values to data words
DW1
to
DW7
before the function block FB164 is called.
siW71f3ns
AGQC79000-B8576-C707
-01
6-19
The Standard Function Block FB164
Note on programmable controllers S5-1 15U andS5-150U
Data block type DX cannot be programmed with these units.
Structure of data word
DW3
(commands)
Bit:
154 3 2
4
0
DW3
[
unused
Commands:
STAR (start)
6.2.7.2
Structure of the Axis Data Block
The data words from parameter
DWNR
to
DWNR
+ 19 are required for an axis in the axis data
block assigned with the parameter
DBNR,
The same data block can be used for several axes.
The next axis can use the area from
DWNR
+ 20 in the same data block.
6-20
Siemens
AG@C79000-B8576 -c707-01
The Standard Function Block FB164
The data block is structured as follows:
Axis 1
DW
n
DW
n+l
DW
n+2
DW
n+3
DW
n+4
DW
n+5
DW
n+6
DW
n+7
DW
n+8
DW
n+9
DW n+l O
DW n+l 1
DW
n+12
DW
n+13
DW
n+14
DW n+l 5
DVV
n+l
6
DW n+l 7
DW
n+18
DW n+l 9
(parameter
DWNR
= n)
Recommended
data format
Used byFB164
I
BYTEpararneter
I
WORD parameter
high
— DOUBLE WORD parameter
low
occupied
high
actual
position value of the axis
low
high
free
low
high
distance to go
low
operating mode
M function
checkback signals
from the axis error messages
occupied
I
binary identifiers
I
occupied
I
high
condition code bits from the SEND block
low
occupied
occupied
DW
k
DW k+l
DW
k+2
(parameter
DWNR
= k)
]
Used by FB164
I
BY’fEpararneter
I
]
WORDpararneter
I
I
etc. (further structure analogous to axis 1)
I
KY
KF
KH
KH
KH
KH
KH
KH
KH
KH
KH
KY
KM
KH
KH
KH
KM
KF
KM
KF
KY
KF
Siemens
AG°C790C0-B8576
-C707-01
6-21
The Standard Function Block
FB
164
You must supply the following data words in the axis data block for each axis:
DR
n
: byte parameter
DW n + 1 : word parameter
DW n +2 : double word parameter
Depending on the mode (BA 1...BA 17; cf. parameter BA), the following convention applies:
Mode
Permitted Byte parameter
Word parameter
Double
word
command parameter
JOG speed 1 Forward
Binary : x
Speed
.-.
Reverse BCD
:0
Speed
stop :1
Speed/10
JOG speed 2 See JOG speed
Axis off Start
Reference point Start
stop
Incremental Start
absolute
stop
Forward
Reverse
Enter
1
I Speed
---
--- --- ---
Approach : =
4
’0”
--- ---
Set
: < > “o”
Binary : x
Speed
Absolute
BCD
:0
Speed
target
:1 Speed/10
Incremental
I See JOG speed 1
I Speed
\Relative
target
relative
Automatic
Stan Program
--- ---
Stop number
Enter
Automatic
Start Program
--- ---
single statement
stop
number
Enter
Teach-in on Start Program
--- ---
number
Teach-in off Start
--- --- ---
Zero offset
Stact
---
---
Absolute
absolute
coordinate
Zero offset Forward
---
---
Relative
relative Reverse
value
Clear zero offset
Start
--- --- ---
Tool offset
Forward
---
---
Offset value
Reverse
Tool offset off
Start
---
..-
---
Clear error Start
--- --- ---
Parameters without an entry in the table are not evaluated by the IP247 positioning module.
6-22Siemens AG”
C79000-B8576-C707-02
The Standard Function
Block
FB164
In the parameter “PC
BCD
coded”
in the machine data record of the axis, you can decide
whether all distances (double word parameter in the axis data block) and speeds (word and byte
parameters in the axis data block) supplied by the PC to the IP247 are to be interpreted as
BCD
or binary. (=> Section 2.5.6 “Other Parameters”). Bits 28...31 represent the sign. In binary repre-
sentation, negative distances must be specified in two’s complement.
Value:
high word
bit:
Value:
low word
bit:
Example:
27
2224223 2 20
2’9
16
2
[
Sign
31
. . . .28 27 .. ....24 23 . . 20
19
.
~
,
~
16
2
15
2’2
228 2724 232°
15 12 11
.8
7
,.
....43 .
.0
incremental absolute (mode 6) to 120000
~m
and -120000
~m.
(1)
at 1000 mm/min
(2) at 10000
mmdmin
12000010 = =
>
OO01D4C016
=.> 0000000000000001 1101 010011000000 (binary)
DWORD
PARAM13ER
=
=
> 00000000000100100000 000000000000
(BCD)
-120000
10=
=
>
FFFE2B4016
=
=
> 11111111111111100010 101101000000 (binary)
DWORD
PARAMHER
==> 1111 00000001 00100000000000000000
(BCD)
100010
=
=
=
>
03E816
(1)
=>
000000111110 1000 (binary)
xxxx xxxx (any)
=>
00010000000000002
000000002
WORD
PARAM13ER
BYE
PAFWMHER
WORD PAFWMHER
BYTE
PARAMHER
1000010 = >
271016
(2)
=>
0010011100010000 (binary)
WORD PARAMETER
xxxx
xxxx
(any)
BYE
PARAMETER
=>
0001000000000000
(BCD)
WORD PARAMETER
000000012
BYTE PARAMETER
A”1” in the byte parameter means that the IP247 multiplies the word parameter by 10.
siH?WtW
d%790~-68576-c7
cJ7-ol
6-23
The Standard Function Block FB164
For more detailed information about the significance of the parameters in the individual modes,
refer to Part 4 “Functions”.
The actual position, and the distance to go are updated in the axis DB regardless of how parame-
ters are assigned to FBI 64 (direct or indirect parameter assignment).
Only when indirect parameter assignment is selected and byte DR7 (corresponds to the parame-
ter
BCD)
is not zero, are these values in
BCD
format in the axis
DB.
When direct parameter as-
signment is selected and the parameter
BCD
is a”1” signal, one of these values (BA 71 ...73) is
available at the output parameter ANZG (ANZ1/ANZ2 for the S5-1 15U) ofFB164 in
BCD
repre-
sentation,
however, the value is stored in binary in the axis
DB.
Data words DW n+l 1 (axis mode, current M function) and DW
n+12
(checkback
signals from
the axis, error message from the axis) of the axis
DB
are only updated with indirect parameter as-
signment, With direct parameter assignment they have the value KHOOOO.
The error message byte
DR
n+12
of the axis DB is identical to flag byte
FY251
(=>
Section
7.2
“Troubleshooting”),
6-24 Siemens
AG”c79000-B8576
-c707-01
The Standard Function Block
FB164
6.2.8 Technical Data of
FB164
Block number
Block name
Library no.
Call length
Block length
Nesting depth
Secondary
blocks
Occupation of
data area
Occupation in
flag area
Occupation in
system data area
System
statements
Miscellaneous
Maximum
run-
times in ms
() with
binary-
BCD conversion
Idling,
monitoring off
Monitoring on
mode = 71, 73
For command
transfer (STAR,
STOP,
VORW,
RUCK,
UEBN)
Extra runtime
required for FB
with direct param.
assignment
S5-115U
/
S5-135U
I
S5-150U
I
S5-155U
164 164 164
164
PER:POS PER:POS PER:POS PER:POS
T
‘71200
-S5164-D-2
\P7,2U@S,164B2
IP721CXJ-S4164-D-2
IP71XXMSIG4.D-Z
20
words
\
19 words
I
19 words
I
19 words
1012
words
I
618 words
I
646 words
]
681 words
1
\l
11
11
ntegrated
nandling
blocks
Handling blocks Handling blocks
Handling blocks
!
i
-19 data words from parameter DWNR of the
axis data block DBNR
-
DB164
occupied from data word
DW8
to DW15
- In indirect parameter assignment via DBx: data word
DW1
to
DW7
‘Y206
to FY255 FY206 to
FY255
FY200 to FY255 FY202 to FY255
scratchpad flags scratchpad flags scratchpad flags
scratchpad flags
none
RS60 and RS61 yes
yes
yes
/
yes
/
yes
[
yes
nterrupts
]Iocked
at times
n the FB by
:ommands IA/
?A.
An 1A
:ommand is
:ancelled
by
:his (also
S5-155)
CPU CPU CPU
941
942 943
I
Handling blocks
FB120
SEND,
FB121 RECEIVE
nd
FB125
SYNCHRON
ust be loaded.
Special functions
called.
~
Handling blocks Handling blocks
FBI 80 SEND, FB120
SEND,
FB181
RECEIVE
FB121
RECEIVE
nd FB185
nd
FB125
SYNCHRON SYNCHRON
must be loaded. ust be loaded.
Special functions
called.
CPU CPU CPU CPU
944 922 928 928/2
I
2.6.7
]
8.7 I
5.2
/
1.1
I
8.8
\
3.3
I
2.7
I
0.8 I 1.0
34.4 13.8 12.4
6.0
I
:81
.0)
(1 8.0)
(14.2)
(6.8)
]
12.1
5.9
5.7
5.6 4.4
40.6
17.8 11.0
5.6
11.8
7.6 6.0 5.2
4.1
2.2
1.9 1.7
0.07 0.3
0.1 0.1
0.04 0.03
Siemens AGe C79000-B8576-C707-02 6-25
The Standard Function Block FB164
6.2.9
Using Function Block FB164
In cyclic operation it is not possible to address a module both with indirect and direct para-
meter assignment.
Function block FBI 64 works with data block
DB1
64. This must be installed up to and including
data word DW15. A particular assignment of the data words is not necessary.
Data block DB164 is divided into two areas, in which data words
DW1
to DW7 are reserved for in-
direct assignment of parameters to the function block. Data wordsDW8toDW15 are the working
area for
FB1
84. You must
not
change the working area.
Before calling
FB1
64, the axis parameters (byte, word and double word parameters) must be
written to the axis data block (parameter
DBNR)
as required for the mode to be started. The data
block must be a minimum of x words long, where
x . parameter
DWNR
+ 19
e.g.:
axis 1 : parameter
DWNR
= 1 -> x = 20
axis 2 : parameter
DWNR
. 21 -> x . 40
axis 3 : parameter
DWNR
= 41 -> x
=
60
If only one
axis
is required, the data block must be available up to and including data word
DW20,
If all three axes are used and if the parameters for the axes are contained in one data block, this
must be available up to and including data word
DW60.
The data block number (parameter
DBNR)
and the data word number (parameter
DWNR;
start address in the data block) can be
selected as required.
The data block is setup with a programmer,
e.g.
with the
PG685
STEP5 under S5-DOS using the
following commands (see programming instructions for STEP 5):
<Fl
>
(input)
<Fl
>
(block)
Pc
(input device)
DB160
(block)
DWO: KY = 000,000
DW 1 : KF = +00000
DW 2: KH = 0000
DW3: KH = 0000
enter key
<1>
DW 19: KF = +00000 enter key
<[>
The function block FB164 must be called unconditionally once per cycle for each axis. This is
necessary in order to update the edge flags (binary identifiers in the
axis
DB)
of the parameters
STAR, STOP, VORW, RUCKand
UEBN,
6-26
skmf3nS
A(%7900Q-B8576-C707-01
I
The Standard Function Block FB164
To ensure that the signal edge evaluation is effective, the selected mode must remain active in
the function block until the traversing movement is complete. The command bits should, how-
ever, be reset as quickly as possible.
If there is a power failure while a command bit is set and if, after the return of power the same
command must be sent with a cold restart in the first PC cycle, this is not possible because the
edge flag in the binary identifiers in the axis DB is still set to /1/, The FB therefore considers that
the job has already been started.
Once a job has been triggered, it is sent to the positioning module immediately when the func-
tion block FBI 64 is next called.
A job is only automatically repeated when a parameter assignment error in the SEND data hand-
ling block is
signalled.
As soon as a valid monitoring job (BA = 71, 73) is recognized, it is executed at each JU FBI 64
call, providing there is no operating job in the call.
Mode 74 interrupts the cyclic monitoring. The monitoring function is resumed when one of the
modes BA 71, or 73 is transferred.
The information read is written to the axis data block as follows: (with parameter DWNR = n):
DW
n+5
and DW
n+6
:
actual position value, binary or
BCD
DW
n+7
and DW
n+8
: free
DW
n+9
and DW
n+10
: distance to go, binary or
BCD
The output at parameter ANZG
(ANZ1
and
ANZ2
with theS5-115U) or in the axis data block is in
binary in fixed point double word format (32 bits).
with direct parameter assignment: when the parameter
BCD
has the signal state “O”,
.with indirect parameter assignment: when data byte
DR7
of the open
DB
has the value
KBOO.
The output is as a seven digit
BCD
number with sign
with direct parameter assignment:
when the parameter
BCD
has the signal state”1”,
with indirect parameter assignment: when data byte
DR7
of the open DB is not equal to
KBOO.
If a conversion from binary to
BCD
is not possible (representable
BCD
numerical range
exceeded), the content of the parameter ANZG
(ANZ1
and ANZ2 with the S5-1 15U) is un-
changed with
direct parameter assignment.
If the representable
BCD
numerical range is
exceeded with
indirect parameter assignment, the monitoring
value is stored as a 32-bit fixed
point number (2’s complement) in the axis data block.
The positioning module IP247 does not service interrupts.
With indirect parameter assignment, the current data block (DB or DX) must be open and must
have values supplied before function block FBI 64 is called.
skmf3W
AG”c79000-68576-c707-ol
6-27
The Standard Function Block FB164
6.2.9.1
Special Feature of the Parameter STOP
The STOP command has the highest priority and can be transferred during any mode. If mode
71
<=
BA
<=
73 is selected, the module is not read for one cycle and the stop command is
transferred to the positioning module with mode 1 (JOG 1). In the following PC cycle, the module
is read once again.
If the STOP signal is constantly set (static), no start, forward or reverse or enter job will be sent
to the module.
6,2.9.2
Special Features of the Parameters VORW and RUCK
[f
modes 1 and 2 (JOG 1, and 2) are selected, these commands result in a jogging operation, On
a signal change from
O to
1, the axis is started in the selected direction, on the signal change
from 1 to
O,
the axis is stopped. H is also possible to transfer the STOP command. If a signal
change O to 1 of the commands VORW and RUCK is recognized simultaneously, the STOP com-
mand is sent to the axis,
To ensure that the signal edge evaluation is effective, the mode
must
remain valid in the function
block until the traversing movement is complete.
6.2.9.3
BCD
Output
With
the S5-135U, -150U,
-
I
55u:
Sign Decades
ANZG
Vvvv
loe
105104
103
10210‘ 10°
bit:
31
28
27 .24 23. .2019. 16 15. 12
11.
. 87 ....43 ....0
FD60
[
FY60
FY61
FY62 FY63
In the axis DB
e.g.
DW
n+5
DW
n+6
actual
value
DD
n+5
4
6.2.9.4
BCD
Output with theS5-115U
Sian
I
Decades
Parameter ANZI
w
106
I
105
I
104
!
bit 15.,
12 11.. .8
7...
4 3.. , 0
Decades
Parameter ANZ2
10 310 210
10 0
bit
15.,
12 11... 8
7.
4
3,,
0
6-28
Siemens
AG@C7900Q-B6576
-C707-01
Standard Function Block
FB165
6.3 Standard Function Block FB165
6.3.1
Functional Description
The function block “assigning parameters to the positioning module” handles the data exchange
between the user program and the
IP247
positioning module. Each valid job number causes a
data transfer IP247
<===>
PC.
Data exchange PC
===>
IP247:
The data to be transferred is located in a data block of your choice (source
DB),
With
direct parameter assignment, the data block must be planned at the block parameters of
FBI 65, with indirect parameter assignment, in the axis data
block.
Data exchange
IP247
===>
PC:
The data to be read from the I P247 positioning module is stored in a data block in the PC
memory (destination
DB),
With direct parameter assignment, this data block must be
planned at the block parameters of FBI 65 and with indirect parameter assignment in the
axis data block.
The following functions are possible via the PC interface using FBI 65:
read machine data and machining programs from the IP247, delete and transfer them,
read the SYSID from the IP247
(BA
70) and transfer them to the IP247 (BA 24),
request an overview of machine data or machining programs stored on the IP247 and
read actual values (actual position value, distance to go) simultaneously.
The function block FBI 65 can have parameters assigned directly or indirectly. With direct para-
meter assignment, the data and parameters for a job are applied to the parameter inputs of
FBI 65. With indirect parameter assignment, the axis data block is planned in the data block valid
before its
call.
The remaining parameters are taken by FBI 65 from the axis data block.
Before FBI 65 is called, the axis data block must be set up and with indirect parameter assign-
ment must be supplied with the values required to start the mode.
Siemens AGQC79000-B8576
-C707-01
6-29
I
Standard Function Block FB165
6.3.2 Calling Function Block FBI 65
In
STL (Statement List):
JU FBI 65
NAME
;
PER:PDAT
SSNR
:
DBNR
:
DWNR :
BA
:
Q-DB
:
QANF
:
Z-DB
:
ZANF
:
ANST
:
PAFE :
BFEH :
6.3.3
Overview of the Parameters
In LAD/CSF (Ladder Diagram or Control System
Flowchart)
FBI 65
i
PER:PDAT
SSNR
PAFE
DBNR BFEH
DWNR
9A
Q-DB
QANF
Z-DB
ZANF
ANST
NAME PARA DATA
IYPE
IVPE
SIGNIFICANCE
SSNR
D
KF
Interface number
DBNR
D
KY
DB type, DB number (of the axis data block)
DWNR
D
KF
First data word in the
axis
DB
13A
D
KF
Binary/BCD
conversion, mode
Q-DB
D
KY
DB type, DB number (of source
DB)
QANF
D
KF
Start address DW in source
DB
Z-DB
D
KY
DB type, DB number (of destination
DB)
ZANF
D
KF
Start address DW in destination DB
ANST
I
BI
Trigger data transfer with direct parameter assignment
PAFE
QBI
Parameter assignment error
BFEH
Q
BI
Module error
6-30
Skrnens
AG°C79000-B8576
-C707-01
Standard Function B/ock
FB165
6.3.4
Explanation of the Parameters
SSNR :
D,KF
X
Specification of the page number (cf. switch setting J64, Section 3.3.2 “Setting the Module
Address”) of the appropriate axis.
x = interface (page number)
O
L
X <255
DBNR
:
D, KYx,y
Specification of the data block type and data block number of the axis data block. With the pro-
grammable controllers S5-1
15U
and S5-150U, it is not possible to program the data block type
DX.
x = data block type
x
=
O: data block type DB
x
><0
: data block type DX
Y = data
block
number
5
S-y
L255
where x
=
O
1
<
y
L255
where x
><
0
direct parameter assignment via the block parameters
y=o
indirect parameter assignment via the data block open before the
FB165call
DWNR : D,KFx
Specification of the first data word in the axis data block.
x = first data word
OS- X
<241
where: 5&parameter
DBNR
<163
and
166<
parameter DBNR
<255
4&—
X
<241
where: parameter
DBNR
= 165 (DB165 = working DB for
FB165)
1&—
X
s241
where: parameter
DBNR
= 164 (DB164 = working DB for
standard function block FBI 64)
Siemens
AG@c79000-68578
-C707-01
6-31
I
Standard Function Block FB165
BA :
D,
KYx,y
Specification of the mode to be executed, selection
binary/BCD
conversion.
x
=0:
no binary/BCD conversion
x ><0:
binary/BCD conversion of actual position value,
and distance to go.
Evaluation only in mode BA 66.
y = Operating mode (job number)
20< y
<24
write and delete jobs
64<
ys
70 read jobs
Job number Operating mode
Possible on
20
input machine data one axis
21
delete machine data one axis
22
input machining program
data channel
23 delete machining program data channel
24 input
SYSID
data channel
64 read machine data directory
all axes + data channel
65
read machining program directory all axes + data channel
66 read actual values one axis
67 read machine data
one axis + data channel*
68
read machine data overview
all axes + data channel
69 read machining program
all axes + data channel
70
read
SYSID
all axes + data channel
If you attempt to send a mode via an illegal axis (data channel), the I P247 sends a negative ac-
knowledgement (see FB 164).
* Can only be read out via the data channel, when all DB numbers are different.
Q-DB
:
D,
KYx,y
Specification of the source data block. For the programmable controllers S5-1 15U andS5-150U
it is not possible
to
program data block type
DX.
x = data block type
x
= O : data block type DB
x>
<0: data block type DX
Y = source data block number
DB:
5< y
<255
DX:
1<
y
<255
In modes 20, 22 and 24 (write jobs)
the specified data block
(source
DB)
is in the
PC
memory.
O
<=
y c= 255
In modes 67 and 69 (read jobs)
the specified data block
(source
DB)
is in the
RAM
of the positioning module.
6-32
Siemens AG@C79000-B8576
-C707-01
Standard Function Block FB165
QANF :
D,KF
X
Specification of the first data word from which the data is to be read out of the specified source
DB, x
=
source first data word
0
~x<n
DB1
64:
16s-
x
S.
n;
DB165 :48
&
y
<
A source first data word is only required for modes 20, 22 and
24 (write jobs)
(n= max. 2047 words: max. data block length, the advisable
range is between O and 255)
Z-DB :
D,
KYx,y
Specification of the destination data block. For the programmable controllers S5-1 15U and S5-
150U it is not possible to program the data block type
DX.
x = data block type
x
=
O : data block type
DB
x
>
c
O: data block type DX
y
=
destination block number
DB : 5< y
<255
DX :
1
<
y
<255
For modes 64 to 70 (read jobs)
the specified data block
(destination
DB)
is
in
the
PC
memory.
O
<y
&255
For modes 20 to 23 (write and delete jobs)
the specified data
block (destination
DB)
is in the RAM of the positioning
module.
ZANF : D,KFx
Specification of the first data word from which data will be written to the specified destination
DB.
x = destination first data word
O s-= x
S=
n
DB1
64:
16<
xs
n;
DB165 : 48&y
<
a destination first data word is only required for modes 64 to 70
(read jobs)
(n= max. 2047 words: max. data block length, the advisable
range is between O and 255)
siemens
AG”c790w-B8578-c707
-ol 6-33
Standard Function Block FB165
ANST :
I,BI
When assigning parameters via the block parameters (direct parameter assignment) the pending
job is executed on a signal change from
“01’
to”1” at the ANST parameter, You must set the para-
meter, If the job (mode) has been completed, the parameter is reset by FB165 (acknowledged).
PAFE :
Q,BI
The parameter PAFE has the signal state”1” if the parameter assignment is incorrect. The error
can then be identified in
flag byte FY255
(=z
Section
7.2
“Troubleshooting”).
BFEH
:
Q,BI
The parameter
BFEH
(module error) has signal state”1” when an error is
signalled
by the posi-
tioning module, The error can be identified in
flag byte FY254
(=>
Section 7.2 “TroubleShooting”).
6.3.5
Notes on using Actual Operands
The parameters
ANST
(I,
BI),
PAFE (Q,
BI)
and
BFEH
must not be occupied by the “scratchpad
flags” of function block
FBI
65 (see technical data).
6-34
Siemens
AG°C79000-B8576
-C707-01
Standard Function Block FB165
6.3.6
Overview of the Permitted and Advisable Parameter Area for the Standard
Function Block FB165
3A
20
21
22
23
24
64
65
66
67
68
69
70
DBNR
m
c
000..
DB255
.
Z-OB
OBO..
OB255
ZANF
. . . . . . . . . .
.
Exception$
in the
grey
fields areDB164
and
DB165:
~•Š•••Š•`•Š•´•Š•
OB165
DW48...
OB165 DW46 OB165 OW48
OW241 DW241 OW241
OB184 OW16
OB1S4
Owle
,,.
OB164 OW16
OW241 DW241 OW241
Data block type DX can only be selected in the programmable controllersS5-135U and S5-1 55U.
The data blocks without a
grey
background are located in the
RAM of the positioning module.
When assigning data blocks, remember that if you use
D13165
as the axis data block for the para-
meters DBNR, Q-DB or Z-DB (indirect parameter assignment), data words DW3 to DW47 are re-
quired by function block FBI 65 (working areaofFB165), You must not use these data words
for any other purpose.
Siemens
AG”c790~-B8576-c707-01
6-35
Standard Function Block FB165
6.3.7
Data Area Requirements
The standard function block FBI 65 works with data block
DB1
65.
It
requires data words DW3 up
to and including
DW47
for its working area.
An axis data block must be specified using the parameter
DBNR.
A job field with a length of 15
data words must be available in this axis data block for each axis.
6.3.7.1
Indirect Assignment ofParameterstoFB165
It is possible to assign parameters to the function blockFB165 indirectly. The parameter
DBNR
must have the
value KY 0,0
set as the actual operand. FB165 then obtains the parameters DBNR and DWNR from the data
block open before its call. The remaining input parameters are supplied from the specified axis
data block.
Any permitted data block can be used. Even data block DB165 or the axis data block are
possible.
Indirect parameter assignment requires data words
DWI
and DW2 of the open data block.
When using
DB1
65, conflicts do not arise, sinceFB165 uses DW3 to DW47 as its working area. If
the axis data block is open before FBI
65 is called,
you must enter at least the value 3 in
DW2
(parameter DWNR) as the first data word, to ensure that the data are not overwritten when using
indirect parameter assignment.
Structure of the data block with indirect parameter assignment.
Recommended
data format
DWO
Free
KH
DW1
Parameter
DBNR
KY DB type, DB number
KY
of the axis data block
1
DW2
Parameter
DWNR
(first data word)
KF
You must supply values for
DW1
and
DW2
when using indirect parameter assignment before
function block FB165
is
called.
The DB type
(DL1
) and DB number
(DR1
) define the axis data block. The DW number
(DW2)
indi-
cates the start of the job field of the job to be executed in the axis data block.
6-36Siemens
AG°C79000-B8576
-C707-01
I
Standard Function Block
FB165
6.3.7.2
Structure of the Axis Data Block for an Axis
An axis requires the data words from parameterDWNRtoDWNR+14 inclusive from the axis
data block selected with the parameter DBNR. The same data block can be used for several
axes, the next axis then occupies the area from
DWNR
+15.
The data block is structured as follows:
Axis 1
DW n
DW n+l
DW
n+2
DW
n+3
DW
n+4
DW
n+5
DW
n+6
DW
n+7
DW
n+8
DW
n+9
DW
n+l
O
DW
n+l
1
DW
n+12
DW
n+l
3
DW
n+l
4
Parameter
DWNR
= n
Recommended
data format
Parameter BA;
binary/BCD
conversion (only BA 66), mode
Parameter
Q-DB;
DB type, source data block
Parameter QANF; source first data word
Parameter
Z-DB;
DB
type, destination data block
Parameter ZANF; destination first data word
Parameter
SSNR;
interface number
binary identifiers
I
high
bits from the SEND block
low
occupied
occupied
high
bits from the FETCH
block
low
1
occupied
occupied
I
KY
KY
KF
KY
KF
KF
KY
KM
KF
KM
KF
KM
KF
KM
KF
There must be a “job field” with the structure above for each axis addressed.
The data words
DWn
to
DWn+5
inclusive must only be completed if the function block is to
have parameters assigned indirectly.
Siemens
AG@C79000-B8576-C707 -01
6-37
Standard Function Block FB165
The data words
DWn+6
to DWn+l 4 are used by function block FBI 65 and you can only read
them.
E.g. evaluation of the interface error in the high byte of the condition code bytes:
DL
n+7
and DL n+l 1: High byte of the condition codeword. Corresponds to flag byte FY250.
With indirect parameter assignment, you enter the required mode in data word
DWn
of the axis
data block. The function block FBI 65 executes the entered mode and acknowledges by entering
the value
KHOOOO
in data word
DWn.
You can now enter a new mode.
Schematic diagram of indirect parameter assignment:
Open axis data block
DB/DX
(DBNR)
yes
DW n =
KHOOOO
(DWNR)
New job (mode) can be entered
I
I
Call FBI 65 PER:PDAT
6.3.8
Structure
of
the Source or Destination Data Blocks in the PC Memory for the
Individual Modes
6.3.8.1
Structure of a Machine Data DB in the PC Memory
BA = 20: machine data transferred from PC to
IP247,
BA = 21: machine data deleted on the
IP247,
BA = 67: machine data read from the
IP247.
The individual machine data are explained in Section 2.5 “Machine Data and their Structure”.
6-38
Siemens
AG°C79000-68576-C707
-01
Standard Function Block
FBI
65
Structure of the data block DBx from data word DWn:
typical values have been entered.
Recommended
data format
DW n
+00070
DW n+l 0044
DW
n+2
066,001
DW
n+3
000,001
DW
n+4
001,000
DW
n+5
0000
DW
n+6
1388
DW
n+7
0000
DW
n+8
OOC8
DW
n+9
0000
DW
n+10
C350
DW
n+l 1
+00030
DW
n+12
0040
DW
n+13
+00004
DW
n+14
+00200
DW
n+15
OOQO
DW
n+16
0700
DW
n+17
0000
KF
KH
KY
KY
KY
KH
1
Length in words
00,
‘D’
“B’,
DB
number of the data record
Module number, axis number
Meas.
system (mm), machine data error
. Maximum frequency [Hz]
KH
J
(5000 Hz)
KH
}
Start-stop frequency [Hz]
(2oO
Hz)
KH
KH
}
Frequency increase
[mHz/ms]
(50000
mHz/ms)
KH
KF
Pulse duration [us]
Polarity
OOH:
negative edge
KH
40H: positive edge
KF
Number of excitation patterns
KF
Pulses/revolution [l/rev.]
KH
1
Transmission
ratio
[urn/rev.]
KH
J
(2000um/rev.)
>
DWn+19
~j}
OOQO
KH
JOG speed 2
[mm/min]
DW
n+20
OBB8 KH
(3000
mm/min)
(Continued on the following page)
Siemens
AG%790@-..57C707
~1~1 6-39
Standard Function Block FB165
Recommended
data format
DW
n+21
DW
n+22
DW
n+23
DW
n+24
DW
n+25
DW
n+26
DW
n+27
DW
n+28
DW
n+29
DW
n+30
DW
n+31
DW
n+32
DW
n+33
DW
n+34
DW
n+35
DW
n+36
DW
n+37
DW
n+38
DW
n+39
DW
n+40
DW
n+41
DW
n+42
DW
n+43
DW
n+44
DW
n+45
DW
n+46
DWn+47
DWn+48
DWn+69
0000
OBB8
0000
OBB8
0000
0020
0000
0000
FFF9
E580
0007
A120
0001
0000
08FC
0000
0000
0000
2710
0000
61A8
0000
OCB2
FFFE
DB08
0000
0000
0000
0000
<H
<H
}
KH
KH
}
KH
KH
KF
KF
}
KF
KF
}
KH
KF
}
KH
KH
KH
}
KH
KH
}
KH
KH
}
KH
KH
}
KH
KH
}
KH
KH
}
KH
KH
\
}
Incremental speed [mm/m in]
(3000 mm/min)
Reference speed [mm /rein]
(3000 mm/m in)
Reference point synchronized O:
yesll:
no
Reference direction
OOH:
right/ 20H: left
Reference point coordinate [urn]
(O urn)
Start of range or software limit switch
Start [urn]
(-400000um)
End of range or software limit switch
End [urn]
(500000um)
Polarity of limit switches
O: positive edge active/ 1: negative edge active
Tool length offset [urn]
(2300um)
Backlash compensation [urn]
(Oum)
Zero offset 1 [urn]
(10000um)
Zero offset 2 [urn]
(25000um)
Zero offset 3 [urn]
(3250um)
Zero offset 4 [urn]
(-75000um)
Axis type
OOH:
iinear/
80H: rotary
PC
BCD-coded
OOH:
binary/01 H: BCD
Reserve
6-40
Siemens AG°C7900Q-B8576 -C707-Ol
Standard Functjon Block
FB165
Parameters requiring two words, e.g. zero offset, are 32-bit fixed point numbers. Negative values
are stored as 32-bit fixed point numbers in 2’s complement. When the value is input or inter-
preted, remember that the programmer does not make any suitable format available for this.
The machine data can
only
be
transferred, read or deleted via the axis interface (parameter
SSNR).
6.3.8.2 Structure of a Machining Program
DB
in the PC Memory
BA
=
22
machining programs transferred from PC to IP247,
BA
=
23
machining programs deleted on the IP247,
BA
=
69
machining programs read from the IP247.
The structure and syntax of machining programs is explained in Section 2.6 “Machining Pro-
grams and their Structure”.
Siemens
AG@c790~-~576-c707
-ol
6-41
I
Standard Function Block FB165
Structure of data block DBx from data word
DWn
as an example:
Y.
N1
N2
DW n
DW n+l
DW
n+2
DW
n+3
DW
n+4
DW
n+5
DW
n+6
DW
n+7
DW
n+8
DW
n+9
DW
n+l
O
DW
n+l
1
DW
n+12
DW
n+l
3
DW
n+14
DW n+l 5
DW
n+l
6
DW
n+l
7
DW
n+l
8
DW
n+l
9
DW
n+20
DW
n+21
DW
n+22
DW
n+23
DW
n+24
1 EXAMPLE ; main program DB1, comment
X1 OOF1OOOM1O ; 1st
statement
M02 ; 2nd statement
Recommended Header information
data format
i
a
+00025
KF
0044
KH
066,001
KY
+00000
KF
+00000
KF
2520
/
KH
+
2031 KF
2045
KH
5841
KH
=1
4D50
KH
4C45
KH
OAOO
KH
4E31
A
KH
2058
KH
3130
KH
3
KH
7
KH
3030
KH
-
H
4D31
[
KH
300A
+
KH
4E32
3
KH
204D
KH
3032
KH
OAOO
KH
Length of the machining program, number in words
00, ‘D’
‘B’, DB number of the machining program
Machining program error
Number of the incorrect statement
% = main program; blank hundreds
Blank (tens), ‘1 (ones) of the machining
program number in ASCII
Blank ‘E’
‘X’, ‘A’
‘M’, ‘P’
‘L’, ‘E’
<LF>
‘N’, ‘1‘
Blank, ‘X’
‘1‘, ‘o’
‘O’, Blank
‘F’, ‘1‘
‘o’, ‘o’
‘O’, Blank
‘M’, ‘1‘
‘O’,
<LF>
‘N’, ‘2’
Blank, ‘M’
‘o’, ‘2’
<LF>
)-
1st statement
1
1
5
2nd statement
)(without
DR
n+24)
6-42
Siemens
AG°C79000-B8576 -C707-Ol
I
Standard Function Block FB165
The length of the machining program depends on the number of programmed statements.
The
machining program DB can have a maximum length of512 words.
If a machining program DB is generated or modified in the PC, the length in words must be up-
dated in
DWn.
The length of the machining program is the area from data word
DWn
up to and in-
cluding the data word in which
<LF>
follows M02
(DWn+y).
Machining programs are not restricted to a specific axis, They can be transferred and de-
leted only via the data channel of the IP247 (parameter SSNR for the 4th page of the
1P)
and
read via all pages.
6.3.8.3 Structure of the SYSID of the
IP247
in the PC Memory
The system identification SYSID (module identifier) can be
transferred in part to the
IP247
with BA = 24
and
read completely from the
JP247
with BA = 70.
Read
SYSID
(BA = 70)
The system identification
SYSID
stored in data block DBx from data word
DWn.
The system iden-
tification occupies nine words when read from the
IP247.
Recommended
data format
DW n
DW n+l
!3W
n+2
DW
n+3
DW
n+4
DW
n+5
DW
n+6
DW
n+7
DW
n+8
~1
1
‘1P’
KS
KS
Module version
’24’
here
IP247
‘7
;
KS
‘AO’
KS
7
‘2.’ KS
}
Firmware release
here
A02.1
i
I
I-J--------l
‘s
J
000,000
I
KY
DRn
+ 6: module number
I
000,000
I
KY
DRn
+ 7: slot number
\
000,000
Iw
DRn
+ 8: page number
siemens
AG”c790~-B8576-c707~l
6-43
I
Standard Function Block FB165
Enter
SYSID
(BA
=
24)
The system identification SYSI D is stored in data block
DBx
from data word
DWn.
The system
identification is limited to three data words when writing to the
IP247.
Recommended
data format
‘Wn
w
KY DR n: module number [0...99]
DW n+l
H
000,000 KY DR
n+l:
slot number
[0.,,255]
DW
n+2
000,000 KY DR
n+2:
page
number[O.,,252]
If the same data block is used for reading the SYSID from the module and for writing the SYSID
to the module, then the value in the parameter QANF must be increased by six (writing to the
I P247) compared with the value in the parameter ZANF (reading from the
IP247).
6.3.8.4 Structure of the Machine Data Directory
The machine data directory can be read from the IP247 with
BA =
64
The machine data directory has a constant length of six data words. if the machine data record
is missing
for an axis, the data words have the value zero.
The machine data directory in data block
DBx
from data word
DWn
has the following structure:
Recommended
data format
DW n 000,001
----i
~
KY
DW
n+l
+00070
KF
DW
n+2
000,005
KY
DW
n+3
+00070
KF
DW
n+4
000,007
KY
DW
n+5
+00070
KF
DB
no. of the machine data record
Length in words
DB
no. of the machine data record
Length in words
DB
no. of the machine data record
Length in words
I
6-44Siemens
AG@C79000-B8576-c707
-ol
Standard Function Block FB165
6.3.8.5
Structure of the Machining Program Directory
You can read the machining program directory from the IP247 with
BA
=
65
The length of the directory is variable and depends on the number of machining programs on the
positioning module. A maximum of
255
machining programs can be stored on the IP247 (DBO to
DB255).
In the directory, two data words are required for each machining program. The directory
can therefore be a maximum of 510 words long.
The entries in the directory are not sorted according to the
DB
number but are stored in the
order in which they are entered on the
IP247.
If the data block
(DBx)
selected for entry of the machining programs is not long enough, the re-
maining data are stored in the next data block (DBx+l) from data word DWO.
You can only select a destination start address (parameter ZANF) for
DBx,
Entries are made only
up to data word
DW255
in the data blocks
DBx
and DBx+l.
If two DBs are required, data block
DBx
must be installed up to and including
DW255.
Otherwise
the program will be aborted with an error message.
The following rule applies to the length of data block
DBx:
length =
(possible entries
~
2)
+ destination start address ZANF
for DBx+l the following applies:
length =
remaining entries
x
2.
A further switch to a data block
DBx+2
is not
pssible.
If the directory cannot be stored
completely in the PC memory, the job is aborted with an error message.
Siemens
AG°C79000-68576-c707
-ol 6-45
I
Standard Function Block FB165
Example 1
The positioning module has the maximum number of machining programs (255). Data word
DWO
must be specified as the destination start address. The data blocks
DBx
and DBx+l must
be installed up to and including data word
DW255.
The machining program directory is stored in
data blocks
DBx
and DBx+I from data word
DWO
onwards.
DWO
/
000,001
I
KY
DW1
I
+00025
I
KF
DW2
I
000,078
I
KY
DW 3
I
+00044
I
KF
Machining program DB
number on the
IP247
1
Entry 1
Length in words
,,
J
Machking
’progra’rn’
DB
number on the I
P247
)-
Entry 2
Length in words
J
“2’4
a“
DW 255 +00473
KF
Machining program DB
number on the I
P247
Length in words
data format
DW O
DW 1
DW 2
DW 3
DW 252
DW 253
000,050
KY
+001 26
KF
000,092
J
KY
+001 45 KF
I +00035
I
KF
}
Entry 128
Machining program DB
number on the
IP247
1
Entry 129
Length in words
j
Machining program DB
number on the
IP247
1
Entry 130
Length in words
)
Machining program DB
number on the
IP247
Length in words
}
Entry 252
6-46
Siemens AG°C79000-B8576 -C707-Ol
Standard Function Block
FB765
Example2
There are three machining programs on the positioning module, the destination start address in
DBx is data word DW253. The directory is then stored as follows:
DW254
/
+00025
I
KF
Length in words
DW 255
I I
Not written to, must however exist!
data format
DW O
B“’”
000,078 KY
DW1
+00044
KF
DW2
000,165
KY
DW3
+00473
KF
}
Entryl
Machining program
DB
number on the
IP247
1
Entry 2
Length in words
J
.
Machining” pr$”rar
n
Di‘“
number on the
IP247
l=-Entry 3
Length in words
J
6.3.8.6
Occupation of the Data Word when Reading Actual Values
The actual values (actual position value and distance to go) can be read from the IP247 with
FBI 65 using mode
6A
=
66.
They require a constant length of six data words.
Simem
AG@c790~-B8576-c707-ol
6-47
Standard Function Block
FB165
The actual values are stored in data block DBx from data word
DWn
as follows:
DW n
DW n+l
DW
n+2
DW
n+3
DW
n+4
DW
n+5
0000
w
KH
Actual position [urn]:
47,287mm
B8B7
KH
I
0000
‘313A
%
)
Distance to go [urn]:
12.602mm
I
1
The actual position value and the distance to go are interpreted as 32-bit fixed point numbers.
Negative values are stored as 32-bit fixed point numbers in 2’s complement.
It is, however, possible to output the actual values as
BCD
numbers. This is achieved with direct
parameter assignment by means of the block parameter
BA = KY 255,66
or with indirect parameter assignment using the job field of the axis data block in data word
DWn
= KY 255,86
The actual values are then stored as seven decade
BCD
numbers with sign in the destination DB
(parameter Z-DB).
In the
BCD
format, the maximum value which can be represented with a 32-bit number is +/-
9999999 urn (0.0001 in, 0.001 degrees). If a conversion from binary to
BCD
is not possible (repre-
sentable
BCD
range exceeded), the value is entered in the data block as a 32-bit fixed point
number (2’s complement). The monitoring values which could not be converted can be read
from flag byte FY249
(=>
Section 7,2 “Troubleshooting”).
If you assign parameters so that the monitoring
vaiues
reed are output as a
BCD
number when
FB165 is called, remember the following points:
Since the actual values are always first entered as a binary number in the data block
and later converted to a
BCD
number, if the cyclic reading of the actual values is not coordi-
nated, the value might be read once as a
BCD
number or once as a binary number.
To prevent this, actual values to be output as
BCD
values should only be read when the
appropriate “trigger flag” (BA 66) has signal state “O”.
With indirect parameter assignment, the actual values must only be evaluated when data
word
DWn
=
KHOOOO.
6-48
Siemens
AG@c79000-68576
-c707-ol
Standard Function Block
FB165
Structure of the BCD number:
Sign Decades
Vvvv
lo%
10510410310210‘ 10°
bit: 31
28
27 . .24 23. .2019. . .16 15.
12!
11. . 8 7
~
,
.4
3 ...0
DW n
DW
n+l
DD
n
e.g.
I
I
actual position value
6.3.8.7
Structure of the Machine Data Overview
The machine data overview
is
an extended machine data directory. You can read the overview
from the IP247 with
BA = 66
Fifteen data words are required. If there is no machine data record on an axis, the data words
are assigned the value zero.
The machine data overview stored in data block
DBx
from data word
DWn
is as follows:
DW n
DW n+l
DW
n+2
DW
n+3
DW
n+4
DW
n+5
DW
n+6
DW
n+7
DW n+8
DW
n+9
DWn+10
DWn+l
1
DWn+12
DW
n+13
DWn+14
1
+00001
KF
+00000
KF
Machine data
DB
number
on the
IP247
Module number
+00001
/
KF %is
number
E“”
+00070
KF
+00023
KF
+00002
KF
+00000
KF
+00002
KF
+00070
KF
{
3
+00000
KF
+00003
KF
+00000
KF
+00003
KF
+00070
KF
+00000
\
KF
Siemens
AG@C79000-B8576-C707 -01
Length of machine data DB in
words
Machine data error
.M.ach.ine.
data
.DB
~umbbr.
on the
IP247
Module number
Axis number
Length of machine data DB in
words
Machine data error
“M”ach”ine
data
“DB
number”””” “”””””””
on the
IP247
Module number
Axis number
Length of machine data DB in words
Machine data error
6-49
Standard Function Block FB165
6.3.9 Technical Data
S5-115U
I
S5-135U
I
S5-150U
I
S5-155U
Block number
Block name
165
I
165
I
165
I
165
PER:PDAT PER:PDAT PER:PDAT
P71200-S9165-D-2 P71200-S4165-!3-2 P71213-S6165-D-2
PER:PDAT
P71200-S5 165-D-2
Library number
Call length
Block length
Nesting depth
13
words
I
13 words
I
13 words
I
13 words
706 words
I
573 words
I
614 words
I
659words
1
11
Integrated
handling blocks Handling blocks Handling blocks Handling blocks
-15 data words from parameter DWNR of the
axis data block DBNR
- DB165 occupied from data word
DWO
to DW47
- In indirect parameter assignment via DBx: data word
DW1
and
DW2
Secondary
blocks
Occupation of
data area
FY206
to
FY255
scratchpad flags
none
yes
Interrupts
blocked at times
in the FB by
commands IA/
RA. An 1A
command is
cancelled
by
this (also S5-1 55)
Occupation of
flag area
Occupation in
system data area
FY218 to
FY255 FY200
to
FY255 FY200
to
FY255
scratchpad flags scratchpad flags
scratchpad flags
RS60
and
RS61
yes yes
yes yes yes
System
statements
Miscellaneous Handling blocks
11
Handling blocks Handling blocks
FB120 SEND, FB180 SEND,
FB120 SEND,
FB121
RECEIVE
FB181
RECEIVE
FB121
RECEIVE
FB122 FETCH FB182 FETCH
FB122 FETCH
md FB125 nd FB185 nd FB125
SYNCHRON SYNCHRON SYNCHRON
nust be loaded. ust be loaded.
lust
be loaded.
\
\
I
size
(standard value = O)
Dependent on the BA and the selected
fielc
Maximum
runtimes in ms
&
CPU CPU CPU CPU
941 942 943 944
25.7 9.6 5.5 3.8
to to to
32.4 17.4 13.6 9.1
2-6
tit
25.8
8.0
6.5 3.2
to to to to
34.5 15.0 13.0 17.5
:Pu
CPU CPU
322
928
928/2
1.7
2.0
to
to
5.8
5,9
2-4
2-4
2,5
1.8
:0
to
9.2
6.1
Write and
delete jobs
BA20 to BA24
S5 cycles (min.)
Read jobs
BA64 to BA70
).0
1.0
0.5
c1
to to
3,0
16.6
16.3
I
-H-
.0
1.0 0.5
)to to
3.0 6.6
6.3
81.0 21.2 14.8 8.3
II
I
With BA66
max.
2-3
2-3
I
I
S5 cycles (min.)
2-4
2.2
!-4
II
1,3
1.7
0,07
Extra
runtime
of FB with
direct parameter
assignment
siemens
AG°C79000-B8576-c707
-01
6-50
Standard Function Block FB165
6.3.10 Notes on Starting Up the
IP247
Positioning Module via the PC Interface
if you startup the positioning module via the PC interface, the system identification
(SYSID)
must
be transferred to the module before the machine data are transferred. After power up, the follow-
ing defaults are set:
module number = o,
slot number = O and
page number
= o.
The machine data can then be transferred to the module, Only machine data with a module num-
ber
(DLn+3
of the machine data
DB)
identical to the module number in the SYSID
(DRn+6
or
DRn) are permitted.
If the machine data are valid, the axis can be moved in the JOG mode or incremental relative
mode. Absolute targets can only be approached after calibration of the axis (mode 5).
There is no “overwrite mode” for machine data. If an axis requires new machine data, the follow-
ing operations must be carried out:
delete the “old” machine data record on the axis
(BA21)
transfer the “new” machine data record to the axis via the page assigned to it (BA20).
You can assign any permitted
DB
number to a machine data record on the
I
P247
(DBO
to
DB255), There is, however, only ever one machine data record for an axis. The assignment of the
machine data records to the axes is made using the axis number in the machine data record
(DRn+3).
The axes can therefore be assigned a machine data record with the same
DB
number,
however, with a different axis number
(=>
Section 4.3.12 “Enter Machine Data” or Section
4,3.13 “Delete Machine Data”), For more information about machine data, refer to Section 2.5
“Machine Data and their Structure”.
A maximum of 255 machining programs
(DBO
to
DB255)
can be stored on the positioning mod-
ule. An existing machining program cannot be overwritten. If you wish to modify a machining pro-
gram stored on the
IP247,
then a certain procedure must be adhered to, just as with the machine
data:
output the machining program (machining program
DB)
from the
IP247
to the PC memory,
unless it already exists there
(BA
69),
delete the machining program (machining program
DB)
on the IP247
(BA
23).
transfer the modified machining program to the
IP247
(BA
22).
A machining program is not restricted to an axis. All three axes can execute the same machining
program simultaneously. Machining programs can only be transferred and deleted via the data
channel (4th page). A machining program can, however, only be deleted when no other axis is
using this machining program
(=>
Section 4.3.17 “Executing Machining Programs”). For more
information about machining programs, refer to Section 2.6 “Machining Programs and their Struc-
ture”.
Siemens
AG°C79000-B8576
-C707-01
6-51
Standard Function Block FB165
6.3.11
Using the Function Block
[n cyclic operation it is
@
possible to address a module both with indirect and direct
para-
meter assignment.
Function block FBI
65
works with data block
DB1
65.
This must be installed up to and including
data word
DW47.
No particular assignment of the data words is necessary.
Data block DB165 is divided into two areas, in which data words
DW1
and DW2 are reserved for
indirect assignment of parameters to the function block. Data words DW3 to DW47 are the work-
ing area for FBI 65. You must
not
change the working area.
When assigning parameters to
FB1
65, remember that the specified data blocks of the source
and destination parameters must exist and must be adequately long.
The axis data block (parameter
DBNR)
must have the following length:
length = parameter DWNR + 14
The DB/DX number and the DW number can be selected as required.
The data block is setup with a programmer, e.g. with the PG 685, STEP 5 under S5-DOS with
the following commands (see corresponding documentation):
<Fl
> (input)
<Fl
>
(block)
Pc
$g;j;evice)
DB160
enter key
<[>
DWO: KY = 000,000
DW 1 : KY= 000,000
DW2: KY = 000,000
DW3: KY = 000,000
DW14:
KY = 000,000 enter key
<1>
FBI 65 can be called conditionally. The call must be made cyclically until the assigned mode is
completely executed. The mode
fiob)
runs
with direct parameter assignment as long as the parameter ANST has the signal state”1”,
with indirect parameter assignment as long as data word DWn is not equal to
KHOOOO
in
the axis data block.
6-52
Siemens
AG”c790M-B8576-c707
-ol
Standard Function Block FBI 65
You must ensure that the parameter assignment is not overwritten while a mode is being
executed.
With indirect parameter assignment, the current data block must be open and supplied with the
parameters DBNR
(DW1)
and DWNR
(DW2)
before the function block FB1 65 is called.
The positioning module IP247 does not service interrupts.
Siemens
AG”c790~-68576-c707
-ol
6-53
Examples
6.4
Examples
A
Note
You can use the example program without modifications only on the
IP246
positioning module.
Since the data transfer with the
IP247
uses page numbers n to
n+3
(data channel),
where n is the selected page number (base address, switch S2) you must change
the example as follows:
In
the start-up OBS:
synchronize page numbers n to
n+3.
Modification in the example of direct parameter assignment:
in FB51, in segment 4, the parameter SSNR of FBI 65 must be changed as follows:
for modes 20, 21 and 66 a selected page number between n and
n+2
should be
entered. For the remaining FBI 65 modes the page number
n+3
(data channel)
should be entered.
Modification in the example of indirect parameter assignment:
in data block DB1 66, data word DW6 must be overwritten with a selected page
number between n and
n+2
when the modes 20, 21 and 66 are called. For the
remaining FB165 modes the page number
n+3
(data channel) should be entered.
6.4.1
General Notes on the Examples
The following examples of the use of FBI 64 and FBI 65 are on the diskette supplied. The ex-
amples can be loaded completely in the PC memory to test the module. They illustrate a
possible parameter assignment for an axis,
All the required blocks with the exception of the handling blocks are available. The diskette also
provides a complete “program framework” which you can use.
6-54
.Siemensl&C79000-B8576
-C707-01
Examples
6.4.2 HardwareRequirements
The following hardware is required to implement the examples:
one digital input module
6ES5420-....
coded as
IB4
*)
Addressing switch
Value
128 4
one digital output module
6ES5441
. . . .
.
coded as QB4
Addressing switch
pressed
off
on
pressed
off
on
Value
128 4
*) The following applies for the S5-1 15U:
one digital input module 6ES5420-.... (fixed slot addressing) inserted in slot number 1 in the cen-
tral controller
(IB4
to
IB7).
one digital output module
6ES5441
-..,,
(fixed slot addressing) inserted in slot number 2 in the
central controller (QB8toQB11).
one
IP247
positioning module coded as page number O
(=>
Section 3.3.2 “Setting the Module
Address”) inserted in a CP slot in the central controller of the programmable controller.
128 4
Value
The remaining jumpers on the
IP247
must be set for the specific equipment
(=>
Section 3.3.2
“Setting the Module Address”).
Siemens
AG”c79000-B8576
-c707-ol
6-55
Examples
6.4.3
Assignments for the Examples
6.4.3.1
Digital Inputs: (valid for all Programmable Controllers)
IB4
BA
Mode with indirect parameter assignment in format KF
Mode with direct parameter assignment:
- FBI 64-- FBI 65 -
I
4.0
I
4.1
I
4,2
I
4.3
I
4.4
I
4.5
I
4.6
I
4.7
I
5.0
I
5.1
I
5.2
I
5.3
I
5.4
I
5.5
I 5.6
I
5.7
I
6.0
16.1
I 6.2
16,3
I 6.4
I
6.5
I
6.6
16.7
REF
TIPP1
TIPP2
SMR
Iw
SA
RW
LLOE
STAR
STOP
VORW
RUCK
UEBN
BCD
INDI.AUF
DIR. AUF
POS/PDAT
I
N/Dl
RFEH
Reference point ReadSYSID
JOG 1
Read machine data directory
JOG 2 Read actual values
Incremental relative Read machine data
Read actual value Read machine data overview
Not used with IP247
WriteSYSID
Read distance to go Write machine data
Clear cyclic monitoring Delete machine data
STARTcommand
STOP command
FORWARDcommand
REVERSEcommand
Enter data command
Output in
BCD
code
Indirect
param.
ass. enter job FBI 65
Direct
param.
ass, trigger job FBI 65
0 = execute
FB164
/ 1 = execute FB165
O)= indirect / 1 = direct parameter assignment
Overwrite
DB
withKHFFFF(FB191 and FB1
92/FBl
65)
Clear latching error
If none of the inputs I
4.0
to
I
4.7
has signal state”1” in FB1 64, then the set mode is “axis off”
(mode
4)
with direct parameter assignment.
6.4.3.2
Digita!
Outputs: (valid forS5-135U,S5-150U and
S5-155U)
Q 4.0
PAFE
Parameter assignment error FBI 64 andFB165
Q
4.1
BFEH
Module error FB164 and FB165
Q 4.2
TBIT
Active bit FB164
Q 4.3
Q
4.4
Q 4.5
Q 4.6
Q
4.7
6-56
Siemens AG°C79000-138576
-C707-01
I
Exwrrp/es
QB5 PAFE Image of the PAFE byte FY255, latching
Q 6.0
PAFES PAFE
(latching) FBI 64and FBI 65
Q 6.1
Q 6.2
Q 6.3
6.4.3.3
Digital Outputs: (valid for S5-115U)
Q 8.0
PAFE
Q 8.1
BFEH
Q 8.2
TBIT
Q 8.3
Q
8.4
Q 8.5
Q 8.6
Q 8.7
QB9 PAFE
Q
10.0
PAFES
Q 10.1
Q 10.2
Q 10.3
Parameter assignment error FB164 and FB165
Module error FBI 64 andFB165
Active bit FBI 64
Image of the
PAFE
byte
FY255,
latching
PAFE
latchingFB164and FBI 65
6.4.3.4
Occupation of the Data Area
The data blocks
DB150,
DB151
and DB152 are occupied from
DWOto
DW32.
These data blocks
are used to save the scratchpad area and the free system data area.
In theS5-155U, the data block DB255 must be specified with a length of 826 words.
6.4.3.5
FO.O
F
0.1
FY4
FY5
FY6
FY7
FYI 4
FYI 5
FY16
FYI 7
Occupation of the Flag Area
NULL
“RLO
0“
flag
EINS
“RLO
1“
flag
Corresponds to
IB4
Corresponds to
IB5
Corresponds to
IB6
Corresponds to
167
Corresponds toQB4orQB8withtheS5-115U
Corresponds toQB5orQB9withtheS5-115U
Corresponds to QB6 or
QB1
O with the
S5-1
15U
Corresponds toQB7orQB11 with the
S5-1
15U
Siemens
AG”c79000-B8576
-c707-ol 6-57
Examples
FY50 RBTR Mode checkback signal
FY51
RM-FKT M function
checkback
signal
FY52 RPOS
Module
checkback
signals
FD60
ANZ Condition code bits of the monitoring job
FY99 PAFE SYNCH RON PAFEbyte
FYI 00
BTR Mode selection
FYI 01
BEF Command selection
FYI 02
TBIT
Image job active
FY105
FLM/l MP
Signal edge and pulse flags
Scratchpad flags from FY200 to FY255
6.4.3.6
OB1
OB2
OB13
OB20
OB21
OB22
FB50
FB51
FB52
FB53
FB54
FB120
FB121
FB122
FB123
FB124
FB125
FB151
FB152
FB164
FB165
FB180
FB181
FBI 82
FB183
FB184
FB185
BlockAssignments
ZYK
IRA
WECK
NEUSTAR
MANWIED
AUTWIED
INDX.164
IP247DIR
IP2471ND
IP247DI
IP2471N
SEND
RECEIVE
FETCH
CONTROL
RESET
SYNCHRON
BS-RETT
BS-LAD
PER:POS
PER:PDAT
SEND
RECEIVE
FETCH
CONTROL
RESET
SYNCHRON
Cyclic program execution
Process interrupt servicing
IR-A
or I
0.0
Time interrupt servicing
Cold restart at programmable controller (not with S5-1 15U)
Manual warm restarticold restart with S5-1 15U
Automatic warm restart
Example
indir.
param.
ass. FBI 64 via DX block
Example dir.
param.
ass.FB165
Example
indir.
param.
ass, FB165
Example dir.
param.
ass.FB164
Example
indir.
param.
ass. FB164
Handling blockS5-135U/1 55U
Handling block S5-135U/1 55U
Handling block S5-135U/1 55U
Handling block S5-135U/1 55U
Handling block S5-135U/1 55U
Handling block S5-135U/1 55U
Save RS60to RS63
Load
RS60to
RS63
Standard FB for control of the positioning module
Standard FB for data transfer
Handling block S5-150U
Handling block S5-150U
Handling block S5-150U
Handling block S5-150U
Handling block S5-150U
Handling block S5-150U
6-58Siemens
AG°C79000-B8576
-C707-01
Examples
FB244
FB245
FB246
FB247
FB248
FB249
DB104
06106
DB107
DB150
DB151
DB152
DB160
DB161
DB164
DB165
DB166
DB167
DB200
DB201
DB203
DB204
DB205
DB206
DB207
DX160
DX161
SEND
RECEIVE
FETCH
CONTROL
RESET
SYNCHRON
SMDAT
SPRG
SSYS-ID
RETOB2
RETOB13
RETANL
IP246AN1
IP246AN2
IP-FB164
IP-FB165
IP246AN3
IP246AN4
LMDIR
LPRGDIR
LIW
LMDAT
LMDATUB
LPRG
LSYS-ID
IP246AN3
IP246AN4
Handling block
S5-1
15U
Handling block
S5-1
15U
Handling block
S5-1
15U
Handling block
S5-1
15U
Handling block
S5-1
15U
Handling block
S5-1
15U
Write machine data
Write machining program
WriteSYSID
Save flags OB2
Save flags OB 13
Save flags
OB21/0B22
(not required with
S5-1
15U)
User DB
User DB (not used in example)
Fixed working DB forFB164
Fixed working DB forFB165
User
DB
FB1 65, indirect parameter assignment
User DB FB1 65, direct parameter assignment
Read machine data directory
Read machining program directory
Read actual values
Read machine data
Read machine data overview
Read machining program
ReadSYSID
User DX (only with
S5-135U
and S5-155U)
User DX (only withS5-135U andS5-155U)
%mens
AG”c790~-68576-c707-ol
6-59
Examples
6.4.4
Schematic Diagrams of the Organization Blocks (Program Framework)
6.4.4.1
OB1
copy
ID4
to FD4
direct param.
ass.
and
yes
execute FB164
F 6.1 = 1 and
F 6.0= O
I
Call FB53
l—
yes
Call
FB54
or
FB50
(DX) only withS5-135U andS5-155U
I
yes
direct param,
ass.
and
execute FBI 65
F 6.1 = 1 and
F
6,0
= 1
I
Call
FB51
l—
indirect
param.
ass,
yes and
execute FB165
F 6.1 = O
and
F 6.0 = 1
I
Call
FB52
l—
Call FBI 92: copy DB
I
FY15 = O, reset F 16.0
Copy FD14 to QD4 (QD8 with S5-1 15U)
I
I
6-60
Siemens
AG°C79000-B8576
-C707-01
1
Examples
6.4.4.2 The Interrupt
OBS
Process interrupt 06s and time interrupt
OBS
Save flags
->
FY200
to
FY255
Save operating system data (S5-135U)
User program if interrupt
Load operating system data (S5-135U)
Load flags
->
FY200
to
FY255
END
6.4.4.3
OB21
and
OB22
with S5-115U
OB20
and
OB22
with
S5-135U
OB20
withS5-150U andS5-155U
F 0.0 = RLO “O”
F 0,1 = RLO“1“
1
Synchronize interface
I
User program
I
6.4.4.4
OB21
withS5-135U,S5-150U andS5-155U
OB22
withS5-150U
I
STP (direct change to stop state)
Siemens
AG°C790~-68576-c707
-01
6-61
I
Examples
6.4.5
Example of Function Block FB164
In the example, function block FBI
64
PER:POS works with the function blocks
FB53
and
FB54
and with data blocks DB160 and DB1
64.
The following requirements must be met:
input of 16.0 must have signal state “O”
the type of parameter assignment can be selected via input 16.1:
signal state “O” = indirect parameter assignment via FB54
signal state”1” = direct parameter assignment via
FB53
The function block FB53 shows direct parameter assignment to FBI 64; FB54 shows indirect par-
ameter assignment. With indirect parameter assignment, the actual operands are stored in
DB160 from data word DW1 to DW7.
The example of indirect parameter assignment covers all possible modes, whereas the example
for direct parameter assignment is restricted to the following modes:
reference point approach
- JOG
1
and 2
- incremental relative
- read actual value and distance to go
- disable monitoring
- axis off
6.4.5.1 Function Block FB53 (Schematic Diagrams)
The function block
FB53
shows the use of the function block FBI 64 with direct parameter assign-
ment via the block parameters. FBI
64
must be called once for each required mode.
Segment 1:
Parameter list: STRT 1, W
Segment 2:
Load actual operand in the scratchpad flag area
Parameter STRT to FW200
I
yes
Set FYI 00= O
I
I
6-62
Siemens
AG°C79000-B8576-C707 -Ol
Examples
Segment 3:
FIOO. O
or
FI 02.0
Refer-
ence
point
X=5
F1 00,1
or
F1 02.1
JOG 1
X=1
F1OO.2
or
F1
02,2
JOG 2
)(.2
F1 00,3
or
FI
02,3
incre-
mental
relative
X=7
F1OO,4
Read
actual
position
value
X=71
F1 00.5
Free
x=72
F1 00.6
T
~ead
jistance
F1OO.7
o go Disable
x=73 x=74
Call function block FB164 depending on command
NAME :
SSNR :
DBNR :
DWNR :
BA :
STAR :
STOP :
VORW :
RUCK
:
URBN :
BCD
PAFE
;
BFEH :
TBIT :
BTR :
MFKT :
FBI 64
PER : POS
KF+O
KYO,
160
KF+8
KF+x
F 101.0
F 101.1
F 101.2
F 101.3
F 101.4
F 101.5
F 14.0
F 14.1
F 14.2
FY50
FY51
RMLD
:
FY52
ANZG :
FD60
or
ANZI : FW60
ANZ2: FW62
)
with the S5-1 15U
Assign auxiliary flags F 102,0 to F 102,4,
as long as output F 14,2 “TBIT” still has signal 1,
FI 02.4
else
Axis
off
X.4
Siemens
AGQC79000-68576
-C707-01
6-63
Examples
Segment 4:
Parameter
PAFE
O ->1 edge?
yes
Set
PAFE
latching F 16.0
Store
PAFE
byte
(FY255)
in FY15
Segment
5:
BE
I
6-64
Siemens
AG°C79000-B8576
-C707-01
Examples
6.4.5.2 Function Block
FB54
(Schematic Diagrams)
Function block FB54 shows the use of function
block
FBI 64 with indirect parameter assignment
via the data block DB1
60.
The assignment of the data words is fixed!
Segment
1:
Parameter list:
STRT
I,W
Segment 2:
Load actual operand in the scratchpad flag area:
STRT
-> FW200
Segment 3:
Call user DB
(DB160)
I
Formulate “job” for axis:
FY200
-> DW1
BA
FY20f
->
DW2 COMMANDS
KYO, 160 ->
DW4
DBNR
KF+8
->
DW5 DWNR
KBO
->
DW6 SSNR
Cond,
code
BCD?
F 201.5
yes
no
I
L
KB1
L
KBO
T DR7
Call
FBI 64
NAME : PER : POS
SSNR
:
KF+O
DBNR
:
KYo,o
DWNR
:
KF+O
BA :
KF+O
STAR : F
0.0
STOP :
F
0,0
VORW :
F
0.0
RUCK
:
F 0.0
UEBN :
F
0.0
BCD
:
F
0.0
PAFE
:
F 14.0
BFEH :
F 14.1
TBIT :
F 14.2
BTR :
FYO
MFKT :
FYO
RMLD :
FYO
ANZG
:
FDO
or
ANZI : FWO
ANZ2: FWO }
with the S5-1 15U
Siemens
AG”c79000-B8576-c707
-ol 6-65
I
Examples
Segment
4:
yes
Set
PAFE
fatching
F 16,0
Store
PAFE
byte (FY255 ) in FYI 5
Segment 5:
BE
6.4.6 Example of Function Block
FB165
In the example, function block
FB165
works with the function blocks
FB51
and
FB52
and with
the data blocks
DB1
04,
106
and 107 (for write data), DB165 (working DB),
DB1
66, 167
(axis
DBs)
and DB200 to 207 (for read data). The following requirements must be met:
input I 6.0 must have signal state”1”
the type of parameter assignment can be selected via input I 6.1:
signal state “O” = indirect parameter assignment
via
FB52
signal state”1” = direct parameter assignment via
FB51.
Function block
FB51
shows the direct parameter assignment of
FB165,
FB52
shows indirect par-
ameter assignment. With indirect parameter assignment, the actual operands (job field) are
stored in data block DB166 from data word DW1 to
DW6.
The example of indirect parameter assignment covers all possible modes, whereas the example
of direct parameter assignment is restricted to the following modes:
- read SYSID
- read machine data directory
- read actual values
- read machine data
- read machine data overview
- write SYSID
- write machine data
- delete machine data
6-66Siemens
A&C79000-B8576-C707
-01
Examples
6.4.6.1
Overview of the Relationship between the Mode and the Data Blocks in the
RAM of the CPU and the Positioning Module
Machine data and machining programs are stored on the positioning module as data blocks.
The absolute DB and DW numbers refer to the example.
Writing data to the IP247 and deleting data on the IP247
Modes
BA:
20 to 24
(=>
Part 4 “Functions”)
IP247
PC RAM RAM
DB165
FBI 65
Working DB
t
PER: PDA-
DB166
Job field
BA:
Param. field:
20
Q-DB
: KF+104
QANF:
KF+O
Z-DB
:
KF+1O
~
-
Z-DB
:
KF+1O
Q-DB
: KF+106
~
QANF:
KF+O
Z-DB
:
KF+l
11
@
4
Z-DB
:
KF+l
11
I
I
I
I
m-----l
DB104
Mach. data
m---l
DB106
Machining
program
I
I
I
DB107
, SYSID
b
I
I
bmo
c
Mach. data
I
e
B111
Machining
program
-B
SYSID
I
I
II
siemens
AG@c79000-B8578
-c707-ol
6-67
Examples
To be able to transfer a data record to the positioning module, you must supply the following par-
ameters to the function block:
Mode (BA), source
(Q-DB,
QANF)
and destination parameter
(Z-DB)
Parameters not required are assigned
KF+O.
Example:
Parameter assignment to transfer machine data
(PC-A
P247):
- Mode
BA: KF+20
- Source DB
Q-DB
:
KF+I
04
= DB104 PC memory
- Source start QANF :
KF+O
=
DWO
from
DWO
-
Dest.
DB Z-DB:
KF+l O
=
DB1O
IP247
memory
-
Dest.
start ZANF :
KF+O
=
irrelevant
The machine data DB
(DB1
04) in the PC memory is transferred as machine data DB
(DB1
O) to
the IP247 memory.
If the machine data record is to be deleted, the following parameter assignment must be made:
- Mode
BA:
KF+21
- Source
DB Q-DB:
KF+O
= irrelevant
- Source start
QANF:
KF+O
=
irrelevant
-
Dest.
DB
Z-DB:
KF+l O
=
DB1O
IP247
memory
-
Dest,
start ZANF:
KF+O
= irrelevant
The machine data DB
(DB1
O) on the positioning module is deleted.
6-68
Siemens
AG°C79000-B8576
-C707-01
Examples
Reading data from the IP247
Modes BA 64 to 70
(=>
Part 4 “Functions”)
PC RAM
IP247
RAM
DB165
+
Working
DB
/
DB166
Axis
DB
1
1
Job field
BA:
Param.
field:
64
Z-DB
:
KF+200
QANF:
KF+O
Z-DB
:
KF+201
~
ZANF:
KF+O
Z-DB
: KF+203
~
Z/4NF:
KF+O
Q-DB : KF+1O
~
Z-DB
:
KF+204
ZANF
:
KF+O
Z-DB
: KF+205
-
ZANF:
KF+O
I
\ directory
DB201
I
E3?_.t-
DB203
I
Act. values
~
Mach. data
DB205
!
Mach. data
I
overview
,DB206
~
E?L_l-
DB207
=
B165
PER:
PDA-
1
+
+
I---El
Machine
data
directory
Ir—————=
w:
1,
1--1
Act. values
I
1
H------
L-i===l
I
1
I
;DB1O
;
I---E=l
I
hi----+
%mens
AG”c790~-B8576-c707-01
6-69
To be able to read a data record from the positioning module, the following parameters must be
specified for the function block:
Mode
(BA),
source
(Q-DB)
and destination parameters
(Z-DB,
ZANF)
Parameters not required are assigned
KF+O.
Example:
Parameter assignment to read machine data (I P247->PC):
- Mode BA:
KF+67
- Source
DB
Q-DB:
KF+l O
=
DB1
O
IP247
memory
- Source start QANF :
KF+O
= irrelevant
-
Dest,
DB
Z-DB:
KF+204
=
DB204
PC memory
-
Dest.
start ZANF:
KF+O
=
DWO
from
DWO
The machine data
DB
(DB1
O) on the positioning module IP247 is stored as machine data
DB
(DB204)
from data word
DWO
in the PC memory.
6.4.7 Function Block
FB51
(Schematic Diagrams)
The function block
FB51
shows the use of the function block FB165 with direct parameter assign-
ment via the block parameters. FBI 65 must be called once for all required modes.
DB167 from DWOtoDW14 is used as the axis data block.
Segment 1:
Parameter
list:
STRT 1, W
Segment 2:
Load parameters in
->
FW200
{
F 105.1 EDG
Signal edge evaluation (rising) F 201.7 F 202.1 PUL
Segment 3:
yes
yes
no
FY200
-->
FY1OO (PAR:
ANST) BEC
6-70
Siemens
AG@C79000-B8576
-C707-01
Examples
Segment
4:
Job execution : A
F 100. X
Call according
JC
‘4NST:
FB165
to priority!
1 00.0
!A=70
F1 00.1
!-DB= BA=64
FIOO.2
207 Z-DB= BA=66
F1 00.3
!ANF=O
200 Z-DB= BA=67
F1 00.4
ZANF=O
203 Q-DB= BA=68
FI
00.5
ZANF=O
0,10 Z-DB= BA=24
F1
00.6
Z-DB= 205
204 Q-DB= BA=20
F1 00.7
ZANF=O 107
ZANF=O
Q-DB=
BA=21
else
Q-ANF=6
104
Z-DB=
Q-ANF=O
10
Z-DB=
10
SYSID Mach. Actual
Mach. Mach.
SYSID
Mach. Mach.
B
data values data data data data
directofy
E
overview
u
read
write delete
FB 165 call depending on command
FB165
NAME : PER : PDAT
SSNR
:
KF+O
DBNR :
KYO, 167
(DBn = DB167)
DWNR :
KF+O
(DWn
= DWO)
BA
;
KYX,Y
Q-DB
:
QANF :
)
Parameters not required
Z-DB
:
are assigned zero!
ZANF
:
PAFE :
F 14.0
BEFEH :
F 14.1
yes PAR:ANST = O ?
yes Mode BA66?
Copy monitored values
Set FY1OO = O
Siemens
AG”c79000-68576
-c707-ol
6-71
Examples
Segment 5:
yes
Set
PAFE
latching F 16.0
Store
PAFE
byte
(FY255)
in FY15
Segment 6:
6.4.8 Function Block
FB52
(Schematic Diagrams)
The function block
FB52
shows the use of the function block FBI 65 with indirect parameter
signment via data block
DB1
66. The assignment of data words
(DWn
to
DWn+6)
is fixed!
The pointer to the “job field” is entered in data block
DB1
65. The data block number must be
stored in data word DWI and the data word number in data word
DW2.
DB165
Segment
DW1
DW2
1:
KYo,l
66
-->
DB166 from
DW1
to DW15
KF+l
Parameter list: STRT 1, W
I
Segment 2:
r
~::::::::
Edge evaluation (rising) F 201.6
6-72 Siemens
AG°C79000-B8576
-C707-01
Examples
Segment 3:
C DB166 User
DB
for
FB165
=
F 202,1
(aux.
flag for condition call)
no
Assign job C
DB165
KY0,166 -->
DW1
(DBn-DB166
yes
-->
DW2
(DWn-DWl)
Write or delete job, 20 <=BA <=24 ?
yes
Assign calculated values:
Read job?
DW job= 64 <=
BA
<= 70?
b+((BA-a)x4) yes
where a=20 and b=l 6
BA --> FY200 BA -->
FY200
a --> FY203 a -->
FY203
b -->
FY204
b -->
FY204
Calculate the address of the job field
of the source/destination parameters
\
DWn
-->
FY205)
DWn+2
-->
FY206)
Formulate job:
(DB166)
6A -->
DW1
BA
DDn
-->
DD2 Q-DB,
QANF
DDn+2
-->
DD4 Z-DB,
ZANF
Assign job:
C DB165
KY0,166 -->
DW1
(DBn
=DB166)
KF+l -->
DW2
(DWn=DWl)
Siemens
AG°C79000-B8576-C707 -Ol
6-73
I
Examples
Call DB165
h
Auxiliary flag for conditional call = “O”? (A F 202.1)
Call function block FBI 65
NAME :
SSNR :
DBNR :
DWNR :
BA
:
Q-DB
QANF
Z-DB
ZANF
PAFE
BFEH
FB165
PER : PDAT
KF+O
KYo,o
KF+O
KYo,o
KYo,o
KF+O
KYo,o
KF+O
F 14.0
F 14.1
Segment 5:
\
Parameter
PAFE
0->1 edge?
(FY165)
yes
I
Set
PAFE
latching F 16.0
Store
PAFE
byte (FY255) in FYI 5
Segment 6:
BE
7
6-74 Siemens
AG°C79000-68576
-C707-01
1
Planning
7
Planning, Installation and Service
7.1
Planning
7.1.1
BasicConsiderations
Which torque characteristic and which maximum torque are required?
Can a stepper motor achieve the required torque?
Will large fluctuations in load occur which can lead to loss of steps? (Load torque briefly
greater than motor torque.)
Will feedback (monitoring) of the actual axis position via additional position detectors be
necessary? (Possibly stepper motor with integrated position encoder.)
Is it advisable to use a drive unit which can detect and correct loss of steps?
7.1.2
Selection Criteria for the Stepper Motor
Mechanical dimensions and designs are not dealt with here.
What is the maximum torque?
Up to what pulse frequency can the motor achieve the required torque?
How high must the step number of the motor be to achieve the required position resolu-
tion?
7.1.3 Determining the MotorCharacteristics
Plant data
required positioning resolution
k=
required traversing speed
v~~=
maximum load torque of the shaft
Mrnax=
~
“m’pU’]
~
‘mm’min]
[Ncm]
Siemens
AG°C79000-B8576-C707
-01
7-1
Planning
The transmission ratio r on the spindIe and the step number S of the motor must be selected so
that their quotient produces the required resolution.
s=
~
‘Pu’’rev]
r=
~
‘mm’rev]
The maximum pulse frequency
f~ti
is obtained as follows:
vmm[mm/min]
flnax
=
----------------------
k
~
60 [p
m/pul]
~
‘k”’]
From the characteristics of the motors, you must now select a type capable of the required load
torque at the calculated frequency fnl~ without loss of steps. You must also select a suitable
power unit for the motor.
7-2
siemens
AGDC79000-B8576
-c707-ol
Planning
Torque (
8C0
702
600
500
400
300
200
lca
100 500 1000
5CCXI
~oOco 5CCO0
Im
fstecds)
12
al
120
6C0
1200
ti”
12W0
(l/rein)
Fig. 7/1 Typical torque characteristics of a stepper motor
I
Note:
AIf the required torque characteristics can only be achieved in the half step mode
with this motor, then for a given resolution, select a motor with half the step num-
ber. If you remain by the previously selected step number, twice the frequency will
be required to reach the selected speed, since the resolution is halved.
Selecting the power unit
Signal
Type
from
1P
Clock pulse
T
TT
Direction
RP
level
RP
Rp
Reset
RS
pulse
RS
RS
Pulse length Signal at Required Req.
dura-
Active level
power unit
level
M
tion [ins]
[high/low]
Voltage
level
IOOms
The signals listed above are available as 5 V differential signals and as 24 V signals. It is also
possible to use a special voltage between 5 V and 24 V which must be applied externally. The
voltage is set for all axes of the module. The active level (high or low) can be selected separately
in the machine data for each channel.
Siemens
AG@c790~-B8576-c707
”01
7-3
Planning
When selecting the power unit, make sure that the maximum
pulse
frequency fmex
can
be
processed without errors. To check that each power unit is ready for operation, there is a binary
input per axis,
Ready message (BB) from power unit
The IP247 requires 24 V active high at its input or a floating contact which can be supplied with
power by the
IP247.
Voltage supply for a floating BB contact of the power unit (see above)
24 V/l 20
mA
short-circuit proof
If the power unit does not output a 24 V ready signal and does not have a floating contact, then
the 24 V output and the BB input must be jumpered at the cable end. The latter should be inside
the
power
unit to monitor that the cable is connected.
Pin 7
+24V
4
\
Pin 8
Floating
I
contact
BB1
Pin 7
+24V
x5
Jumper
on/in
BB2
Pin 8 power unit
Pin 7
+24V X6 Pin 8
=j;;:it
BB3
Fig. 7/2 Three possible ways of implementing the ready signal.
7-4
Siemens@%79000-B8576
-C707-ol
Planning
The I P247 does not evaluate any other signals from the power unit (in some cases, other signals
Reference point synchronized
Axis in teach-in
mode
Reference point exists
Machine data exists
Job completed
can be evaluated by the CPU).
Signals which can be exchanged between the IP247 and the plant
Binaryoutputs:
Position reached:
24 V high active 120mA
Binary inputs:
Reference point: 24 V high active
Limit switch 2x: 24 V high or low active (selectable)
Ext. start/stop: 24Vfalling edge = start
rising edge = stop
The following information can also be evaluated by the CPU:
selected measurement system
Axis is position (also as output)
I
Actual position
Distance to go
I
Auxiliary functions (M-function)
~
Siemens
AG”c790~-B8576-c707~l
[mm/inctldeg]
[yes/no]
[yes/no]
[yes/no]
[yes/no]
[yes/no]
[yes/no]
7-5
Planning
Current mode
This information can be processed in the user program and, if required, can be displayed via bi-
nary outputs or communications processors.
7.1.4
Planning the Machine Data
Axis number (plant-specific)
[1, 2,3]
Module number (must be the same for all three axes)
Measurement system
Axis type (rotary/linear)
Maximum
frequnecy
f~m (according to planning data)
fnlax
=
1
1
Start/stop frequency
f~~
(from torque characteristics)
fss
=
[0-999]
[mm,inch,deg]
[rotary, linear]
[40Hz-100kHz]
[1 Hz-1 OkHz]
Rate of frequency increase a
(should be selected as high as possible, see Manual) [0,020-2599Hz/ms]
a=
Pulse durationtP (according to planning data)
tp
=
Number of excitation patterns
Number of phases x 2 (full step)
Number of phases x 4 (half step)
Polarity (of the clock pulse output TN)
Normal level high - negative edge is
Normal level low - positive edge
h
evalu-
ed
1
-31ps
[4-40]
[pos./neg,
edge]
7-6
Siemens AG@C79000-B8576-C707 -01
Planning
Number S of steps per revolution
(Number of steps of the motor in the full step/half step mode set at the power unit)
s=
~
“2-’ooo’
’rev]
Transmission ratio r
(Distance
travelled
by the drive per motor revolution)
r=
~
002-400000]
JOG speed 1 VI
VI =
JOG speed 2
V2
V2
=
Incremental speed vs
Wj
=
~
““’’mm’min]
~
“’g’’mm’min]
~
“’g”mm’min]
These speeds must
be
less than or equal to the maximum speed
vrrr~from
the planning
data.
Reference speedvref
Vref
=
~
““’gmm’min]
Start/stop speed
f~s
x
r
x
60
Vss
=
--------------
s
Reference point synchronized
(=>
Part 4 “Functions”)
Reference direction
(dependent on the plant or as re-
quired)
Siemens
AG@c790~-B8576-c707-ol
~
“d”’rev]
7-7
Planning
Reference point coordinate Xref
(dependent on the plant)
Xref
=
~
“’’’’’’’’’mm]
Software limit switch start XA
xA
.
~
“’99’’4’’’””]
XA<
Xref
Software limit switch end XE
XE
=
~
“’’’’’”’’’mm]
Xref
<
XE
Polarity of limit switches (positive/negative)
BERO or normally open
-
positive
Normally closed
+
negative
~
‘Positive’nega’ive]
PC BCD-coded (yes/no)
~
‘ye”no]
Tool length offset
(this can only be activated or deactivated in the machining program, cumulative=> Part 4
“Functions”)
~,
[*
99999.999””1
I
Backlash compensation
(in
multiples
of the
reSOIUtiOrl)
~
‘0-’4”’’’””]
Zero offset 1
Zero offset 2
~
“’’9’’’’’’””]
~
“’’’’’’’’””]
7-8
Siemensd%79000-
f38576-C707-01
Planning
Zero offset 3
r_____l
“’’’’’”’’’””]
Zero offset 4
~
“’’’’’”’’’mm]
I
J
You can only activate these zero offsets in the machining program
(=>
Part 4 “Functions”).
7.1.5 Installation
7.1.5.1
PreliminaryRequirements
The programmable controller is correctly configured. The power supply has been connected ac-
cording to the regulations
(=>
manual of the programmable controller).
Note
A
If a spindle or similar device is to be driven by the motor,
all the limit switches must
be connected.
There must bean emergency stop switch to switch off the whole
equipment.
ok
o
Two limit switches signaling directly to the module. Here you can use
either normally open or normally closed contacts.
ok
o
Two normally closed contacts as limit switches, outside the limit
switches mentioned above which either switch off the power unit
directly or suppress the input pulse train of the power unit.
ok
o
You also require the following:
ThelP247
module
A programmer,
PG 635, PG 675,
PG685,
PG695,
PG730 or PG750 with the S5-DOS operat-
ing system
The COM247 communications software for your PG
Skmens AGQc790~-68576-c707-ol 7-9
Planning
7.1.5.2
Preparing the Module
Set the signal level required by your power unit on the module.
5 V differential inputs
Connector X30 Jumper 2-4 inserted
or optocoupler input Connector X31 Jumper 2-3 inserted
24 V
optocoupler
input Connector X30 Jumper 3-4 inserted
Connector X31 Jumper 1-2 inserted
5 V -24 V
optocoupler
inputs Connector X30 Jumper 4-6 inserted
(Special voltages)
Connector X31 Jumper 1-2 inserted
Set the module for the required BASP response.
There is no CPU in operation or the module should not react to the BASPsignal
Connector X21 Jumper 1-2 inserted
If the
BASP
signal is received, the signal output must be blocked
Connector X21 Jumper 2-3 inserted
El
El
El
Set the addresses.
If the module is to be controlled by the CPU, you must set the appropriate page address
(in whole multiples of four, e.g. 0,4, 8,,,252). These page addresses must only be
assigned once in the programmable controller.
Address set at switch S2 on the module,
Page address
I
The address selected and the three following addresses are not used for any other
purpose,
7-10
Siemens@’C79000
-B8576-C707-01
Planning
The following switch setting must always be made at switch S1:
654321
,,,,,
d=> ,
m,:
ADB 10 . . . . 15
Fig, 7/3 Setting at switch S1
The following jumpers must always be inserted:
x
14
x 15
X 16
x
17
123123123123
0(30
Cmo
Om Om
Fig. 7/4 Jumper settings
X 18
123
000
x
10
123
Goo
Jumpers Xl 4 / 2-3
X15 / 1-2
X16 / 2-3
Xl 7/2-3
Xl
8/2-3
x
11
123
fcmo
x 12
I
x 13
___l--
123 123
(3’00
(300
If all the jumpers are correctly set, the
IP247
can be inserted in the programmable controller.
Make sure that the power supply to the programmable controller is switched off.
7.1.5.3 Preparing the Power Units
The signal lines must be connected to the inputs of the power units as explained in the manual
and according to the instructions of the power unit manufacturer.
Module
Color code Power unit 1 2 3
Connector X4, X5, X6
Pin 1
Pin 2
Pin 3
Pin 4
Pin
5
Pin 6
Pin 7
Pin 8
Pin
9
Reset signal
Inverse reset signal
Clock pulse
Inverse clock pulse
Direction signal
Inverse direction signal
24 V for
BB
contact
Input for
ready signal
Ground
blue 1 ring
red 1 ring
,
grey
1
ring
yellow 1 ring
1
green 1 ring
brown 1 ring
white
black
1
ring
blue 2 rings
I
Siemens AG”
C79000-B8576-C707-02
7-11
Planning
Note
A
I
Ifthe power units
donotoMp@a
ready signal
(24~,
jumpers inconnectorsX4, X5
and X6 must be inserted between pins 7 and 8. In the specially made connecting ca-
bles the white and black wires at the open end must be connected together.
Select the required mode, full step or half step on the power unit.
Wire any required enable signals for the power unit (current drop, burst)
externally,
Set the motor current according to the instructions of the power unit
manufacturer.
Connect the cables to the
IP247:
24 V for digital outputs (FASTON terminal)
signals to power unit channel 1
signals to power unit channel 2
signals to power unit channel 3
connections to the switches and “position reached” indicator
programmer (can be connected or disconnected at any time).
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ANote
All the plug-in connections should be screwed tight,
I
I
ok
o
If the 24 V at the FASTON terminal is supplied by an external power supply unit, the
ground of this voltage source must be connected to the chassis of the programmable
controller.
ok
o
If you use a special voltage for the signals to the power units, and the positive pole is
connected to X7, pins 23, 24 and 25, you must connect the negative pole (ground) with
the chassis of the programmable controller.
ok
o
7-12
Siemens
AG°C79000-B8576
-C707-ol
1
Planning
Before you switch on the plant, the carriages (or similar) must be within the limit switches
which
send
signals to the IP247. If necessary, you must move the axes to within the
permitted range manually.
ok
o
Check all the connecting cables and switch on the voltage sources in the following order:
Switch on the PC voltage
(after power up, the LEDs must flash alternately, following this the green LED must be
lit steadily, if this not the case, there is a hardware problem).
ok
If applicable, switch on the 24 V
ok
if
applicable, switch on the special voltage ok
8
Switch on the power units ok
v
Connect the programmer to connector X8 and load the COM 247 communications
software
(=>
Part 5,
“COM
247 Communications Software”). After switching to the online
mode, the
SYSID
with the firmware version must appear on the
PG,
otherwise there is a
module fault.
Release: IP247. . . ok
o
Enter the machine data
on
the module or transfer a complete data record from a prepared
diskette to the
IP247
(=>
Section 7.1.4 “Planning the Machine Data”). After the
transmission of a data record, the appropriate power unit automatically receives an
initialization pulse.
ok
o
Switch the module to test mode (function key 3 on the
PG)
and select the required axis
(Fl -
3).
ok
n
w
Note
A
I Thenextoperations muStbe performed at lowspeeds (machinedata: JOG speed
1). You must also make sure that you can switch off the motors at any time (emer-
gency stop or external limit switch accessible).
siemens
AG@c790~-B8576-c707~1
7-13
Planning
Select the mode “JOG 1“ and press the “forward” or “reverse” key. The drive must now
move at a uniform speed.
ok
o
(If the drive is running at a uniform speed, you can continue and check the limit switches.)
Problem Possible cause of problem
Motor “howls”, but does not move Start/stop frequency too high
Motor jerks and stops
Rate of frequency increase too high
Motor accelerates and then stops and “howls”
fmax too high or load torque too high
Error message:
Axis waiting for external start
The signal at the
statistop
input is high
(=>
Part 4 “Functions”)
If the axis switches to the “running” status and if the actual value is being incremented or
decremented, but the drive is not moving, check whether pulses are being output at the TN or
TN-N output. Measure the pulse frequency and pulse width with an oscillograph.
The signals are correct at the output of the
IP247, but the motor is not moving.
The signal lines to the power unit have been
incorrectly connected,
The reset signal is permanently active.
You may have to change over
RS
and RS-N
The power unit may require a separate enable
signal.
No signals can be measured at the output,
although an actual value is being counted.
The transmitter power is not correctly
connected or there is a hardware fault on the
module.
Check the function of the limit switches which send signals directly to the power unit.
Check whether the travel direction is the direction you require in the “JOG”
mode.
ok
o
If the direction is not as required, change the setting of the power unit
direction level or change over the RP and RP-N connections in connector
ok
X4-X6.
o
7-14
Siemens
AG°C79000-B8576
-C707-01
Planning
Test whether the two limit switches which send signals to the IP247 actually respond.
In a forward direction, the end limit switch must respond. ok
o
In the reverse direction, the start limit switch must respond.
ok
o
If necessary, change over the limit switches at
connector
X7.
At maximum speed, test whether there is sufficient braking distance after the hardware limit
switches which send signals to the IP247.
Approach the limit switches at maximum speed. After the IP247 switches off automatically,
the limit switch connected to the power unit must not be tripped, otherwise a loss of
pulses occurs and the reference point is incorrect.
ok
C)
Make a reference point approach or set a reference point using the software
(=>
Part 4 “Functions”), ok n
w
Test the position and function of the
sofhvare
limit switches when traversing at maximum
speed
(f~ti),
The
~is
should only begin to brake when it reaches the
SOftWaW
limit
switch. The axis must not continue to the hardware limit switch, if it does, you must
change the machine data.
ok
o
Once you have tested these basic functions, you can try out the other modes.
1
JOG 1
2 JOG 2
3- (no significance)
4 Axis off (an active mode is terminated)
5 Reference point
approachdset
6 Incremental absolute
7 Incremental relative
8 Automatic (later)
Siemens
AG°C79000-88576-c707
-ol
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
ok
o
7-15
Planning
9 Automatic single statement (later)
ok
o
10
Teach-in on (do not forget program number)
ok
o
11
Teach-in off
ok
o
12
Zero offset absolute (set actual value)
ok
o
13
Zero offset relative
ok
o
14
Clear zero offset
ok
o
15
Set tool length offset
ok
Q
16 Clear tool length offset
ok
(-)
17 Clear error
ok
o
Enter an automatic program on the
IP247
(=>
Part 5 “COM 247 Communications
Software”).
ok
o
Test the automatic program in mode 8.
ok
o
Test the automatic program in mode 9.
ok
o
Generate a machining program in the teach-in mode and test the program in
modes 8 and 9.
ok
o
Test the external start/stop function
(=>
Part 4 “Functions”). ok
()
7-16
Siemens
AG°C79000-B8576
-c707-ol
I
Planning
Link the
IP247
into the user program of the CPU
Load the handling blocks for the appropriate CPU
Send Receive Synchron
S5-11 5
FB244 FB245
FB249
S5-135/CPW2z928
FB120
FB121
FB125
S5-150
FB180
FB181
FB185
S5-155 FB120
FB121
FB125
Load the standard function block FB164 for the appropriate CPU. (If required, use the
supplied example program.) ok
o
Call the function block “SYNC
HRON’L
in the start-up OBS 20-22 once for each axis you
wish to operate (parameter assignment:
=>
Part 6 “Standard Function Blocks FB164 and
FBI 65”).
ok
o
Assign parameters inFB164 and call it
unconditionally once in
each cycle.
ok
o
Siemens
AG”c790~-B8576-c707~l
7-17
1
Planning
7.1.6
Controlling the IP247 by Means of the Programmable Controller
Once you have tested the combination of drive and
IP247,
you must make sure that your posi-
tioning application is linked into the STEP 5 program.
If you have not yet written your own program, you can start by using the example program. Re-
member that this program was written for page address “O” and is intended for axis 1 and the
data channel. For the first trials, the module should beset accordingly.
For further information, refer to the description of the example
(=>
Section 6.4 “Examples”). If
you wish to base your program on the example, it is advisable to print out the whole program.
The example program of FBI 65 must be modified for the functions executed via the data chan-
nel.
7-18
Siemens
AG@C79000-B8576
-C707-01
I
Troubleshooting
7.2
Troubleshooting
The following diagrams provide you with a routine which you can use for troubleshooting. The
machine data errors and messages are explained in detail in Sections 7.2.1 ,7.2.2 and 7.2.3.
Troubleshooting
Working at the PC
II
Working with COM247
I
~
see page 29
I
[ see pages 30 and 31
1
see page 31
siemens
AG@c790m-~576-c707-ol
7-19
I
Troubleshooting
F 255.
O:
F 255.1 :
F 255,2:
F 255.3:
F 255.4:
F 255.
5:
F 255.6:
simultaneous signal change at the command inputs.
Only the highest priority command is transferred,
the others are lost.
Commands in decreasing priority:
STOP --> STAR --> VORW --> RUCK --> UEBN
binaty/BCD
conversion not possible (in BA71 ...
BA73)
user data block number not permitted.
the specified data block does not exist, is too short
or the parameter
DWNR
is greater than 236.
If DBNR = 164;
DWNR
is within the working area of FBI 64.
the specified interface does not exist.
the specified parameter BA is not permitted or the
command is not allowed for the mode to be
executad.
parameter assignment error SEND (FBI 20,
FB160,
FB244)
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.—b
j:j:j:::g~f~g~}jj:~$
parameter
p*FE
of
SEND
. . . . . . . . . . . . . . . . . . .
. . . . . . . .
.
. . . . . .
see page 22
I
F 255. T: Parameter assignment error RECEIVE
(FB121,
FB181,
FB245)\
parameter
pAFE
of
RECEIVE
F 254.
O:
error message of the interface with operation
I
1
F 254.1 : module error caused by modes 1...17
I
see
page
25
F 254.
z:
not used
F
254.s:
not used
F 254. d: not used
F 254. s: not used
F 254.
6:
not used
F 254. T: not used
-J
7-20
Siemens AG
@
C79000-B8576-C707 -Ol
Troubleshooting
F 255. O:
not
used
F 255.
~
:
binary/BCD
conversion not pxsible (with
BA66)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
continuation on page 25
F
255.2:
F
255.3:
F 255. 4:
F 255. 5:
F 255. G:
user data block number not allowed
the specified data block does not exist, it is too short
or the parameter
DWNR
is greater than 241
if DWNR =
165:
DWNR is within the working area of FB165
the specified interface does not exist
the specified parameter BA is not permitted
oarameter
asaianment
error SEND-ALL or SEND-DIR
F 255. 7’: parameter assignment error of RECEIVE-ALL or FETCH
4
J
~~;~~
Pmameter
pAFEof RECEIVE-ALL
I
ls~riaae
22 I
I
F 254.
0:
not used
F 254.
1
: error message from the interface when entering data
F 254.
z:
error message of the interface when outputting data
I
or
DL
(DVdNfl+l
1)
Ofthe
axis
DB
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
I
F 254.
3:
not used
F 254.
q:
not used
F 254.
s:
not used
F 254. 6: not used
F 254.
7;
not used
Siemens
AG°C790~-w576-C707-01 7-21
I
Troubleshooting
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
-#*f&~~y~;:
~arameter
pAFEof~END
continuation from page 20 (FB
164)
. . . . . . . . . .....: : : :
:...,,..,
,,:,,
.,:::::.
.....
;*gg&gg#;#~
~arame~er
~AFE-
. . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
continuation from page 20
(FB164)
parameter PAFE of SEND-ALL
~arameterpAFEof
SEND-DIR
:.:.:.:.:.:.:.:.:.:.:
.:.:.:
.:.:
.:.:.:.:.:.:.:.:.:.:.:.:
. . . . . . . . . . . . . . .
.
continuation from page 21 ( FB165)
bit: 7 6 5 4 3 2 1 0
L---J
I
Y
+
o:
;:
3:
4:
5:
6:
7:
8:
9:
A:
B:
c:
D:
no error 1
:
error
QTYPiZTYP wrong
0:
no error
memory area does not exist
memory area too small
timeout QVZ (area does not exist)
wrong condition codeword
no source or destination parameter exists
interface does not exist
interface not ready
interface overloaded
interface occupied by a different CPU
(multiprocessor operation)
illegal job number
error in handshaking (neg. acknowledgement)
other interface arrors
(e.g. field length illegal)
E:
other errors
(e.g.
no
DB
open when using
indirect parameter assignment)
F:
HDB call illegal (double call by interrupts)
7-22
Siemens AG°C79000-B8576 -C707-Ol
Troub/eshoofing
:,:,
:::::::::::::,:;
:::::,:::::::,:,:,:;
:::!:::;
:::1:::::::
!:::;:::
continuation from page 20
(FB164)
~g;gfg:gg~
m~u,e
erro,
vigger~
by
~A1~19
.,,
,,,
,:,
:.
,
:
:.’.
.,...,.:
0:
1:
2:
3:
4:
5:
6:
7:
8:
9:
no error
PG job
Iistfull
~
job not permitted
~
statement saved
axis active
==>
entry not possible
PC job list is full *)
motor waiting for external start
)
speed range exceeded
)
status after power down on module
free
10: reference point does not exist
11: free
12: correct MD - module number cannot be changed
~
13: data block
doas
not exist
14: wrong or no machine data
15: error in machine data
16:frae
17:
18:
19:
20:
21:
22:
23:
24:
25:
26:
27:
28:
29:
30:
31:
32:
overwrite machine data?
max. number of programs reached
data block
doas
not exist
overwrite machining program?
free
processing more than one reach.
prog.
not permitted
)
traversing range exceeded
not enough space for machining program
start limit switch tripped
end limit switch tripped
external STOP received
software start limit switch tripped
software end limit switch tripped
mode not permitted in teach-in
~
free
free
33: cycle time exceeded
34:
35:
36:
37:
38:
39:
40:
41:
42:
pulse generator defect
)
error at start of statement
subroutine
DB
no. too high
G function not permitted
closed loop only as outer loop
nesting depth exceeded
X function wrong
F function wrong
traversing distance too long
continued on page 24
I
possible causes of module errore marked
I
I
with *)
are listed from page 35 onwards.
Siemens
AG%790~-68576-C707
-
01
7-23
Troubleshooting
continued from page 23
.
.......,,:.,.,.:.,,,.:,,.,,,.,.,.:.,.,
. . . . . . . . . . . . . . . . . . . . . . . . . .
,,,
,,,
,,
43: traversing speed too high
44: error at end of statement
45: program end before loop end
46: illegal mode on this axis *)
47: change of direction illegal with flying change
48: machining program error
see page 27
49: machining program already exists! Change
prog.
no.
50: free
51: machining program is active
)
52: flying change could not be executed
)
53: switch on power unit
)
54: error in ramp table generation
)
55: PC failure
)
56: error accessing ramp table
57: statement not yet fully interpreted *)
58: machining program speed too low
59: reference cam switch defective )
60: free
61: machining program only cleared from directory *)
62: illegal
dist.
spec.
63: illegal tool length offset
64: free
65: machining program waiting to continue
66: distance not in BCD
67: speed not in BCD
possible causes of module errors marked
with
)
are listed from paqe 35 onwards
7-24Siemens
AG°C790w-B8576-C707
-01
Troubleshooting
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
$~~~g~;;::
error messages from the interface
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
continuation of
paqe
20 (FBI 64)
&
paqe
21 (FBI 65)
1
T
,,:,,,.,.
,.,...,.,.,.,.,,,.,
.,:.:,,,:.:.
~~~$~~~~~~
e~~orme~sage
from the
interf~~e
..
.::.
.
.,....,,.,.,...,.,..,.......:,:,
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,
.,,
. . . . . . . . .
.
bit: 7 6 5 4 3 2
1
0
():
no error
1
:
error entered in
PAFE
byte of the
HDBs
(FY252/FY253)
z:
error in module error byte (FY251)
3: free
4: free
!jI
offset too great
6: execution
not possible at present
T:
DB elready exists
81 DB does not exist
91
wrong ORG identifier
A:
destination DB too small
B:
source
DB
toosmatl
c:
source DB too large
D: area in PC too
small
E:
area blocked foroutputinput
F:
wrong
checkback
signal
.
.
.
.
.
.
.
.
.
.
.
.
.
.
:
binary/BCD
conversion not possible
continuation from page 21
(FB165)
I
F 249. O:
binary/BCD
conversion of
actual
value
(actual position) not possible
F 249.
1
I
binary/BCD
conversion
ofdist.
to go not possible
F 249, 2:
F 249.
s:
FB164
does not exist (only
S5-115U)
F 249.
q;
not used
F 249.
!jZ
not used
F 249. 6: not used
F 249.
T;
not used
Siemens
AG°C790w-B8576-C707
-01
7-25
Troubleshooting
o:
1:
2:
3;
4:
5:
6:
7:
8:
9:
no error in machine data
machine data not yet checked
wrong pulse duration *)
wrong maximum or start/stop frequency *)
wrong JOG or incremental speed *)
wrong pulse count/revolution *)
wrong rate of frequency increase *)
software limit switch wrong *)
reference point wrong *)
wrong transmission ratio *)
10: wrong number of excitation patterns*)
11: wrong dimensional unit *)
12: wrong axis/module number
~
13: zero offset too large *)
14: wrong tool length offset *)
15: wrong value for ref. direction and synchronization
)
16: ramp table incorrectly generated *)
17: wrong reference speed *)
18: wrong value for edge evaluation *)
19: wrong polarity for limit switches *)
20: backlash distance too great *)
21: end of range wrong *)
22: wrong
startlstop
frequency
o:
1:
2:
3:
4:
5:
6:
7:
8:
9:
no error
text too long or
<LF>
missing
statement type wrong or N function missing
statement number too high
subroutine number too high
function not allowed after G function
function not allowed after X function
free
<LF>
missing after final statement
statement end:
<LF>
missing or wrong function
10: traversing distance too great
11: value of F function too high
12: too many decimal places
13: end of loop missing
14: start of loop missing
15: end of program missing
16: function not known
17: value of M function too high
18: new statement after final statement
19: the statement is too long
37: G function not implemented
I
possible causes of machine data errors marked
1
“with *)
are listed
on
pages 32, 33 and 34
I
7-26
Siemens
AG%79000-68576-C707
-ol
Troubleshooting
o:
1:
2:
3:
4:
5:
6:
7:
8:
9:
t%
B:
c:
D:
E:
F:
wrong pulse duration *)
wrong maximum or start/stop frequency*)
wrong JOG or incremental spaed
)
wrong pulse count/revolution
T
wrong rate of frequency increase*)
software limit switch wrong *)
reference point wrong
)
wrong transmission ration
~
wrong number of excitation patterns
~
wrong dimensional unit *)
wrong axis/module number
)
zero offset too large *)
wrong tool length offset *)
wrong
value
for ref. direction and synchronization *)
60: ramp table incorrectly generated *)
61: wrong reference speed
)
62: wrong value for edge waluation *)
63: wrong polarity for limit switches *)
64: backlash distance too great ~
65: end of range wrong*)
66: wrong startlstop frequency
possible causes of machine data errors marked
with
)
are listed on pages 32, 33 and 34
%fnens
AG”c?9000-B8576
-c707-ol
7-27
Troubleshooting
:?m=”:::ii:i::;.i
machining program
..:.,.,.:.:.:.:.:.,.,.:.,.,.,,..,...........,...,.
;j:~,::.~~jj;;:
~rror~
of
the
,:,,,.,,........:i,;:~..:i.;:.::;;
WWWil!%i:
,
...,.,,,.,,,..
,,,
,,,
,,,
reach. program editor
. . . . . . . .
continuation from page 19 (COM247)
I
10:
11:
12:
13:
14:
15:
16:
17:
18:
19:
1A:
1 B:
1 c:
1 D:
1
E:
1 F:
20:
21:
22:
23:
24:
25:
26:
27:
28:
29:
2A:
2B:
2C:
2D:
2E:
2F:
DO:
DI :
illegal input
memory overflow
separate functions with blanks
program exists already
statement syntax incorrect
field cannot be exited
terminate processing?
final function already exists
entry
not
permitted after L function
X function does not exist
entry not permitted after last function
value outside permitted range
error in X function -> correct
insertion not permitted
cannot save
->
machining program incomplete
output impossible -> DB no, not identical
statement type not permitted
function key blocked
->
statement incomplete
G function
->
illegal input
no further functions allowed with L function. Delete?
error in F function
statement type does not exist
statement number does not exist
statement complete
->
function key
current G function requires an entry
X function must be followed by F function
no X function
->
entry illegal
final statement exists
->
function key blocked
error in L
function
error
in M function
statement number wrong
error
in G function
only closed loop allowed
loop end missing
7-28
Siemens AG
@
C79000-B8576 -C707-Ol
I
Troubleshooting
31:
32:
33;
34:
35:
36:
37:
38:
39:
3A:
38:
drive not defined
external storage defect
element directory does not exist
data block does not exist
DB or file exists already
file type not defined
identification headers not identical
external storage read-only
file read-only
buffer not long enough
number of allowed elements too large
3C: file does not exist
30: directory
full
3E: diskette full
3F: file cannot be interpreted
40:
41:
42:
43:
44:
45:
48:
4C;
50:
51:
52:
53:
54:
55:
56:
57:
58:
59:
5A:
5D:
5E:
5F:
syntax error/name wrong
not allowed
data block does not exist
overwrite data block?
data block does not exist
delete DB?
illegal value
cable not connected
data block does not exist
cable not plugged in at PG
not enough memory on module
timeout on module
transfer error
error in data transfer
error in data transfer
BREAK received
mod. not answering
transfer error
wrong baud rate
parity error
overflow error
frame error
Siemens
AG°C?9000-~5?6-C707
-01
7-29
Troubleshooting
~#gjj:#:gygg~~lfgg~##~
;Odu,e
~rror~
.:.:.:,:,:,:.:,:,:.:.:,
:.:.:,:::,:,
.::::,:
::::::::::,::::,:,,:
:,,:,:,
,.,.
:.:
.,.,.:,:.::,:::::::::::::::,:,:,:,:,:::::::::::
80:
81: PG job list is full*)
82: job not permitted *)
83: statement saved
84: axis active
==>
entry not possible
85: PC job list is full
86: motor waiting for external start *)
87: speed range exceeded
88: status after power down on module
89:
8A:
reference point does not exist
)
8B:
8C:
correct MD - module number cannot be changed *)
8D: data block does not exist
8E: wrong or no machine data
8F: error in machine data
90: PG is offline
91: overwrite machine data?
92: max. number of programs reached
93: data block does not exist
94: overwrite machining program?
95: automatic not permitted
96: processing more than one reach.
prog.
not permitted *)
97: traversing range exceeded
98: not enough space for machining program
99 start limit switch tripped
9A: end limit switch tripped
96: external STOP received
9C: software start limit switch tripped
9D: soflware end limit switch tripped
9E: mode not permitted in teach-in 9
9F:
AO:
Al: cycle time exceeded
A2: pulse generator defect ~
A3: error at start of statement
A4:
subroutine DB no. too large
A5: G function not permitted
A6: closed loop only as outer loop
A7:
nesting depth exceeded
A8: X function wrong
A9:
F function wrong
AA: traversing distance too long
AB: traversing speed too high
AC: error at end of statement
AD: program end before loop end
AE: illegal mode on this axis*)
AF: change of direction illegal after flying change
BO: machining program error
B1:
machining program already exists! Change
prog.
no
--.:—,
.--1
-- ----
0,
:orulrmeu
ur I pdyu o
I
possible causes of module errors marked
with
)
are listed from page 35 onwards.
7-30
Siemens AG°C79000-B8576 -C707-Ol
Troubleshooting
B2:
B3:
B4
B5:
B6:
B7:
B8:
B9:
BA:
BB:
BC:
BD:
BE:
BF:
co:
cl:
C2:
C3:
machining program is active*)
flying change could not be executed*)
switch on power unit*)
error in ramp table generation*)
PC failure*)
error accessing ramp table
statement not yet fully interpreted *)
machining program speed too low
reference cam switch defective *)
free
machining program only cleared from directory
T
illegal
dist.
spec.
illegal tool length offset
free
machining program waiting to continue
distance not in
BCD
speed not in
BCD
I
possible causes of module errors marked
with *)
are listed from page 35 onwards
I
FO:
FI:
error mess. does not match this COM
F2: printer not assigned parameters
F3: delete everything?
F4: only machining programs
F5: abort printing
F6: mode not permitted
F7: wrong time entered
F8: no plant designation entered
F9: no file name entered
FA: DB transferred
FB: last page reached
FC: illegal key
FD:
HELP key not permitted here
FE: exit COM247?
FF: input prohibited
Siemens
AG”c79000-B8576-c707~l
7-31
Troubleshooting
7.2.1
Machine Data Errors and their Causes
When machine data are transferred to the module, they are checked on the module. If a machine
data error is recognized, the error “error in machine data” is set and the machine data record is
marked as containing errors by entering the number of the machine data error in the data re-
cord. The
COM247
software package evaluates this error number and displays the error in plain
texl in the error message line on the PG. When transferring data with
FB165
(= > Part 6 “Stand-
ard Function Blocks
FB164
and
FB165”),
the number must be read out of the data record if an
error has been detected. This is achieved using modes 67 and 68.
Error 2
(COM247:
F02H; in
DB:
2) Wrong pulse duration”
The pulse duration must be within the limits 1...31 ps and be less than half the period of
the maximum frequency.
Error 3
(COM247:
F03H;
in
DB:
3)
Wrong maximum frequency”
The maximum frequency must be within the limits 0.012...100.000 kHz.
Error 4 (C0M247: F04H; in
DB:
4) “wrong JOG or incremental speed”
The frequency for the JOG or incremental speed must be within the limits, 1
Hz.,.
maximum frequency.
Error 5
(COM247:
F05H;
in
DB:
5) “wrong pulse count/revolution”
The ratio pulse count/revolution must be within the limits 12...1000.
Error 6
(COM247:
F06H;
in
DB:
6) “wrong rate of frequency increase”
The rate of frequency increase must be within the limits 0.020...2599.999 Hz/ins so that the
corresponding
r
is in the limits of 5...2600 ms.
Error 7
(COM247:
F07H; in
DB:
7) “software limit switch wrong”
This error occurs when the software start limit switch has a higher value than the software
end limit switch.
Error 8
(COM247:
F08H;
in
DB:
8) “reference point wrong”
The reference point must be between the software iimit switches or the range limits.
Error 9
(COM247:
F09H;
in
DB:
9) Wrong transmission ratio”
The transmission ratio must be within the limits 0.012...400.000 and the quotient of the
transmission ratio and pulses per revolution must produce a resolution > Ipm.
Error 10
(COM247:
FOAH; in
DB:
10) “wrong number of excitation patterns”
The number of excitation patterns must be between 4 and 40 and the relationship
pulses/revolution must be a whole multiple of this number.
Error 11
(C0M247:
FOBH; in
DB:
11)
“wrong dimensional unit”
The following coding for the dimensional unit must be adhered to:
mm = 1
inches = 2
degrees = 3
Error 12
(COM247:
FOCH:
in
DB:
12)
“wrong
axis/module number”
The
axis/’module
number”in
the machine
da~a
does not match the number in
SYSID.
7-32
Siemens
AGO
C79000-B8576-C707-02
I
Troubleshooting
b
Error 13
(COM247:
FODH;
in
DB:
13) “zero offset too large”
The zero offset must be within the limits* 100 m and a zero offset must not displace the
software limit switches out of the traversing range of
*
100 m.
Error 14(COM247: FOEH; in
DB:
14)
‘Wrong
tool length offset”
The tool offset must be within the limits of
*
100 m and after the offset has been executed,
the actual value of the tip of the tool must not be outside the traversing range of* 100
m.
Error 15 (COM247:
FOFH;
in
DB:
15)
‘Wrong value for reference direction and
synchronization”
The following coding must be adhered to for the reference direction:
fwd =
OH
rev =
20H
For synchronization: yes: O; no: 1
Error 17
(COM247:
F61H;
in
DB:
17) ‘Wrong reference speed”
The frequency of the reference speed must be greater than the start-stop frequency and
less than the maximum frequency.
Error 18
(COM247:
F62H;
in
DB:
18) Wrong value for edge evaluation”
The following coding must be adhered to for the edge evaluation:
negative edge = O
positive edge = 40H
Error 19
(COM247:
F631+;
in
DB:
19) ‘Wrong polarity for limit switches”
When the machine data are entered, the system checks whether the selected limit
switches actually exist.
Error20
(COM247:
F64H;
in
DB:
20) ‘backlash value too high”
The backlash compensation value must be within the limits 0...64999 pm.
Error21
(COM247:
F65H;
in
DB:
21) “end of range wrong”
This error message appears when the start of the range is higher than the end of the range
for a rotary axis.
Error22
(COM247:
F66H;
in
DB:
22) ‘Wrong start-stop frequency”
The start-stop frequency must be in the range of 0.001...10.000 kHz.
7.2.2
Module Errors and Possible Causes
This section deals with the module errors or errors for a specific axis which occur on the IP247
positioning module and are output both by the PC and PG interface. With COM247, the error
numbers have an offset so that the error numbers output at the PG differ from those at the PC by
80H.
%rnms
AG0c7g0w-6s57G-c707~l
7-33
I
Troubleshooting
COM247 provides an additional set of error messages which occur
when there is an operator error with COM247,
when the COM247 software accesses floppy disk or hard disk drives,
when COM247 is communicating with the IP247 and
when machine data and machining programs are input.
The software of the IP247 generates two types of error messages for module errors:
the actual axis errors which lead to a traversing movement being aborted and
warnings or indications which are simply to inform the user (errors 1 to 9).
If an axis error is displayed in COM247, not only the error number but also a message is dis-
played, so that the cause of the error can normally be recognized immediately.
There are, however, some error messages which require further explanation to allow you to find
the cause of the error and to remedy it more quickly. Some error messages are therefore ex-
plained in more detail.
Error 1
(COM247:
F81 H, PC: 1)
‘PG
job list is full”
Owing to mechanical inertia, the module cannot execute the jobs as quickly as they are
being entered. The last job entered from the PG has been lost and must be repeated.
Error2
(COM247:
F82J+
PC: 2 ) “job not permitted”
The last job sent from the PC or PG either has no defined mode or is not feasible at this
point. Example: starting an axis which is already running, The active mode is terminated
and an error message output.
Error 5
(COM247:
F85H,
PC: 5) ‘PC job list is full”
Corresponds to error 81 from the point of view of the PC. The last job must be repeated.
Error 6 (
COM247:
F86H, PC: 6) “motor waiting for external
statt”
The execution of the selected mode is blocked by a signal”1” at the digital input “external
start-stop”
(=>
Section 2.8.4 “External Start-Stop”).
Error 7
(COM247:
F87H,PC:
7) “speed range exceeded”
If, in the JOG or incremental modes, a speed is specified in the speed parameter which
corresponds to a frequency outside the limits 1 Hz... maximum frequency, the traversing
frequency
is
set to the limit of the frequency range and this message is output.
Error 10
(COM247:
F8AH, PC: 10)
‘Yeference
point does not exist”
After switching on the power and loading machine data for the first time and when
changing certain machine data, the reference point is missing. Execute mode 5 reference
point
approactv’set
reference point.
7-34
Siemens
AGeC79000-B8576
-C707-01
Troubleshooting
b
Error 12
(COM247:
F8CH,
PC:
12,) “correct MD - module number cannot be chan9ed”
As soon as the positioning module has at least one correct machine data record, the
module number can no longer be changed. The number already stored can be read in the
presets display of
COM247
(=>
Section 4.3.22 “Enter SYSID” and Section 2.5.6 “Other
Parameters”).
Error22
(COM247:
F96H,
PC: 22) “processing more than one reach.
prog.
not
permitted”
This error occurs when an axis is creating a machining program in the teach-in mode and
you attempt to transfer, modify or delete a second machining program via the data
channel. It is also not possible to have more than one axis in the teach-in mode.
Error30
(COM247:
F9EH, PC: 30)
?node
not permitted in teach-in”
When the teach-in mode is active, only the JOG modes and incremental modes are
permitted. Input and transfer of machining programs is also not permitted.
Error34
(COM247: FA2H, PC: 34)
“pulse generator defect”
If this error message appears, there is a hardware fault.
Error46
(COM247:
FAEH, PC: 46) “illegal mode on this axis”
This message appears if you attempt to enter or delete a machining program on axes
1,..3,
The message also appears if you attempt to enter or delete machine data on the
data channel (axis 4) or to execute one of the operational modes 1...17 with the exception
of mode 17.
Error51
(COM247:
FB3H, PC: 51)
‘Ynachining
program is active”
A machining program cannot be modified or deleted while it is being executed.
Error 52
(COM247:
FB4H,
PC: 52) “flying change could not be executed”
If this error occurs, one of the conditions of the flying change has not be met
(=>
Section 2.6.6.3 “G1 O: Flying Change”).
Error 53
(COM247:
FB5H,
PC: 53) “switch on power unit”
Each axis has a digital input with which the power unit can be monitored by the module.
This input must have a high signal when the power unit is switched on. If the power unit
does not have a “ready” contact, the ready signal must be simulated by jumpering wires
BBxL and BBx on the power unit.
(x
=
axis number).
Error 54
(COM247:
FB6H,
PC: 54) “error in ramp table generation”
This error occurs if it is not possible to generate an acceleration ramp with the
corresponding machine data. The combination of maximum frequency, start-stop
frequency and rate of frequency increase is not feasible.
Error 55
(COM247:
F137H,
PC: 55)
‘PC
failure”
If jumper X21 is connecting pins 2 and 3, the IP247 recognizes when the CPU outputs the
BASP signal (block command output). This error message terminates the traversing
movements on
all
three axes
(=>
Part 3 “Hardware”).
Siemens
AG0c7gO00-B8578-C707-01
7-35
Troubleshooting
Error57
(COM247:
FB9H,
PC: 57) ‘Statement not yet fully interpreted”
If this error occurs sporadically, there is an execution time problem. When a flying change
is programmed, the next statement is interpreted while the last statement is being
executed. if the time required to execute the current statement is less than the time
required to interpret the following statement, this message is output and the machining
program terminated.
Error 59
(COM247:
FBBH, PC: 59) “reference cam switch defective”
This error appears when the axis is to leave the reference cam in single steps during the
reference point approach, but the switch does not output a negative edge within 2500
steps.
Error61
(COM247:
FBDH, PC: 61) “machining program onlY cleared from dire~of’y”
This message indicates that a machining program with the same number as the program
deleted on the module can be transferred, but that no space has become free in the
machining program memory area on the module.
7.2.3 PG Interface Errors
Error
F53t+
‘timeout on module”
This error only appears on the PG interface, i.e. in COM247 and indicates situations in
which there is no connection established to the positioning module. The possible causes
are as follows:
the connecting cable is not plugged in or there is a wire break
the positioning module has no power supply.
7-36
siemer’IS
AGQC79000-68ST6-CT07-01
I
Supplementary Notes
7.3
Supplementary Notes
When using the IP247 positioning module there are several characteristics of the SIMATIC S5
system which must be taken into account. The following sections deal with these characteristics.
7.3.1
Keyboard Character Buffer
The keyboards of the programmers have a buffer in which characters entered at the keyboard
are temporarily stored when characters are entered more quickly than they can be processed.
This can become apparent in the test display of
COM247
when, for example, a fast sequence of
“forwards” and “reverse” commands is entered in the JOG mode. The execution then lags behind
the input. A stop command can only be executed when all the commands previously stored in
the character buffer have already been processed.
Note
A
I
lfastaflcommandisenteredafierthestopcOmmandthedrivestaflsa9ain
immediately.
7.3.2
MultiprocessorO peration
The S5-135U and S5-155U programmable controllers are designed for multiprocessor operation.
Several processors could access the same positioning module independently. This is not per-
mitted with the IP247 positioning module,
7.3.3 Restarts
A reset pulse on the bus resets the I
P247.
A current job is then no longer active, just as if the
power had been switched off and on again.
The start-up characteristics of function blocks FBI 64 and FB165 are discussed in Part 6 “Stand-
ard Function Blocks FB164 and FBI 65”. The IP247 positioning module reacts as follows when it
is restarted:
Following each restart of the module, the reference point is deleted and the “axis off” mode is ac-
tive. If the batttery back-up of the programmable controller was absent (the module was re-
moved), all the machine data and machining programs on the
I
P247 are lost, zero offsets and
tool length offsets are also deleted. If the module was backed up by the battery, the machine
data remain valid. The reference point coordinate is then
signalled
as the actual value.
Siemens
AG°C790C0-B6576
-C707-01 7-37
Trodiehootirw
C?uestiormire
7.4Troubleshooting Questionnaire
If, despite careful installation and programming, you still encounter problems with positioning
operations and cannot localize the problem, please follow the routine outlined below:
Before calling your branch representative, pIease complete the questionnaire so that the
necessary information is readily available. The more exact the description of the problem
and the events leading up to it, the faster your representative will be able to help you.
1) Which module are you using?
IP247 MLFB:
6ES5247-
4UA
Version marked:
Firmware release display by
COM:
2) Which
COM
are you using?
1
MLFB:6ES58 -5
Versionissue:l
.—
3) Which PG are you using?
PG:
Version:
7-38
Siemens
AG@C790W-B8576-C707 -01
Troublehooth?-1
Questionnaire
4)
System components
(please enter order numbers)
Controller:
Power supply:
CPU:
Slot number:
1
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21
Version
Expansion
unit:—
Power supply:
Interface module pair: -
Slot number:
1
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21
Version
Have the drive specification% machine data and any machining programs ready
(see machine data planning or print out this data).
Make sure you know the jumper and switch settings on the module.
Siemens
AGQC79000-B8576-C707-01
7-39
Troubleshooting Questionnaire
——
~r=
pessed
1
——.
6
.1
.msl
531
9
: “X30
6
519
27.
E
321 321
“’m’”
321
T
X31
2.)
1,)
4
X12
w
xl 1
1.)
1
2
Eb
Xl 8
3
2.)
’10
pp
1.)
’13
lip
1)
123
X15
Y
2.)
321
Y
X16
2.)
123
@xEixz?l
u
2,) BN3P
I
Fig.
7/5
Position of the switches, jumpers and fuses
5)
What is going wrong?
1
6) Which error messages were output by the
COM software?
7)
Which error message is set at the output
of the standard function block?
8)
Which error numbers are entered in
the
arxxorxiate
flag bytes?
7-40
Siemens
AG°C79000-B8576-C707 -01
Troubleshooting Questionnaire
9)
Isthe error reproducible?
[10)
Doestheerroroccursporadically?
I
11) Does the error occur when operating the
module from the PG as well as from the PC?
I
(12)
Which modes are being used?
I
13) In which modes does the error occur?
14) When the positioning is incorrect, is the
distancetravelied
- always too long
- always too short
- always wrong by the same amount?
L
---J
15) Does the error only occur with a particular
sequence of jobs?
Siefnens
AGQC790W-B8576-C707
-01
7-41
I
Troublehoothw
Questionnaire
16) What type of axis are you using?
Rotary axis:
(o)
Linear axis:
Vertical axis:
(o)
Horizontal axis:
(o)
17) What kind of drive are you using?
Stepper motor
2-phase:
(o)
4-phase:
(o)
5-phase:
(o)
Manufacturer:
Type:
18) Istheretransmission?
I
Type of transmission
belt
(o)
gear wheel
(o)
chain
(o)
Transmission ratio:
19) Which power unit are you using?
Manufacturer:
Type:
What signal inputs does the power unit have?:
5 V differential
(o)
5 V optocoupler
(o)
24 V optocoupler
(o)
5...24 V optocoupler
(o)
7-42Siemens
AG@c790W-68576-c707
-01
Troubleshooting Questionnaire
20) When using externally ventilated IP247
modules in the S5-115U is there an
additional fan?
(Yes
(0)
/No
(0)
)
21) Is FB164 called once per cycle and axis?
(Yes (0) /No (0)
)
Jobs triggered by momentary pulse?
(Yes (0) /No (0) )
Which error messages are displayed?
22) Are the scratchpad flags being
saved in the interrupting OBS?
(Yes (0) /No (0)
)
Siemens
AGec790~-~576-c707-ol
7-43
Troubleshooting Questionnaire
Page
o-1 to o-3
04
05 to
06
1-1 to
1-5
1-6
2-1
2-2 to 2-59
2-60
3-1 to 3-19
3-20
4-1 to 4-18
4-19
4-20 to 4-44
5-1 to 5-23
5-24
5-25 to 5-56
6-1 to 6-2
6-3 to 6-4
6-5 to 6-17
6-18
6-19 to 6-21
6-22
6-23 to 6-24
6-25
6-26 to 6-74
7-1 to 7-1o
7-11
7-12 to 7-31
7-32
7-33 to 7-43
7-44
8-1 to 8-10
Blank page
x
x
x
Release 01
Release 02
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
i
x
x
x
x
x
x
xx
x
x
x
7-44 Siemens AG” C79CK)0-B6576-C707-02
Index
Index
A
Acceleration
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
5-22
Acceleration ramp
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
..
2-16
Acceleration time
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . .
2-16
Active bit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................
6-12
Actual position value
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-43,5-47
Actual value
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-47,6-48
Actual value display mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-46
Address area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3-9,3-10
Application
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
........
6-52
Arrow keys
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ ..
5-2
ASCII
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........... ......
5-34
Automatic
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
4-17,6-16
Automatic single statement
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . .
.
4-18,6-16
Auxiliary function
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . .
.
5-37,5-47
Axis
,.................,.....,....................t... ............
c.................................o...
.........2-28,5-20,5-22, 5-52,5-54
Axis attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-52,6-13
Axis off
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......
4-8,6-15
Axis selection
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . .
....
5-19
Axis status
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-54,4-2,5-47
Axis type
.....................................t............. ......... o.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
....2-11 ,5-20,5-22
B
Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
......................................................4-l 5
Backlash compensation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-19,2-38
. . . . . . . .
.
value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....... ............5-30
Basic display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..................5-1, 5-15,5-18,5-46
Basic unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.......................................................2-2l
BASP
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................
3-10
BASP signal ,,,............................................i.
..............................................i..............
............2-59,7-10
BCD-coded
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . .
2-25,5-27
BCD
format
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
..
6-11,6-23
BCD
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
.....
6-48
BCD
OUt@
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,............................6-28
BERO
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . ............
......
4-9
Binary inputs
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............
7-5
Binary outputs
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
..........
7-5
BLOCK
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....!...!..!....!!. . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3,5-54
. . . . . . . . .
number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........5-18
Block command output
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3-1o
Block selection
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
5-17
Braking distance
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-17,2-56
Siemens
AG°C79000-B8576-c707 -01
8-1
Index
c
Checkback
signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.............................2-6, 2-52,4-36,6-13,6-18
Clear error
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . .... 4-34,6-18
Clear offsets
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.....,,.,...................2-43
Clock pulse
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................o......c
.................3-2,3-1 1
Closed loop
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.......2-37,4-21
Closed loop control
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,,........................................................2-4
Columns
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
........................................5-32
C0M247
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,,,.....,.......,...............!o.................... .............2-2,5-1, 5-5
. . . . . . . . .
brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...................5-1
. . . . . . . .
.
installation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...,...................................................c
,...,......,5-9
. . . . . . . .
.
making a working copy
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,...............
o.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
. . . . . . . .
.
start
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............5- 10,5-14
COM diskette . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... 5-8
Command
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-1,4-3,6-11
Comment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.....................................5-32
Compress
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.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.........
Condition code
value
4-41
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,,...............................................................6-38
Configuration display
..............................................................................t........
...........5-10 ,5-11,5 -18
Configuration register
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,,,...................................................................5-6
Connector
.............................................................................!...................... .....,...............................3-4
Controller
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,...,.......,.......................q...........................................5-47
Control signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.............................2-54
Coordinate transformation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
....................................................4-28
D
Data block
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-17,5-52,5-54
. . . . . . . .
.
axis
.................,6-6, 6-9,6-11,6-13,6-18-6-22, 6-26,6-27,6-29,6-31, 6-36,6-38,6-48,6-52
Data channel
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. .
.
4-39,6-51
Data exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9,6-29
Data input
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . .
.........
5-17
Date . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............
5-1,5-32
DB number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......... ,..5-52
Deceleration ramp
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......,........ o.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,.,,,...,.2-16
Definition of terms
. . . . . . . . . . . . . . . . .
.
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.
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.
. . . . . . .
5-5
Degrees
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............
2-19
DELETE
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............,.,............................5-53
Delete
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.......................
!...
. . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-53-5-54
Delete display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................................5-53
DEVICE
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .....................
5-3
Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..................5-52
Destination data block .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,............,................,6-37
Digital input
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . .. 3-6,3-14
Digital output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6,3-14
Dimensions
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..................2-21 ,5-22,5-40
. . . . . . . .
.
absolute
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,................,.,.2-46
. . . . . . . . . in 0.1 inches
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.,.,.......2.46
. . . . . . . .
.
in machining program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............2-46
,,....,,,
in mm
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
...........
2-46
. . . . . . . .
.
relative
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...............................2-46
8-2
Siemens AG°C79000-B8576 -C707-Ol
Index
DIN
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........................
5-37
. . . . . . . .
.
66025 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............4 .......................4 ....,5-35
Direction
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
,,,
. . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . .
.
2-9,2-55
Direction level
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3-2,3-11
Direction of approach
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-38
Disk drive
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-13,5-52
Display ..,,.,......,.,........................9.........
,....,...............................s.................... .......................8 ..........5-5
Distance specifications
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-25-2-26,6-23
. . . . . . . .
.
absolute
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-46,4-28
. . . . . . . .
.
relative
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
........................2-46
Distance to go
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-54,4-43,5-47
DSKMAINT
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
................
5-6
Dual-port RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
....................................3-9
Dwell time
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............2-30,2-35,2-47
E
Edge evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27-6-28
Emergency stop switch
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.,,!!....
1-4
End of range
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. . .
2-13,2-18
Enter command
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...................................2-48, 4-4,4-19,4-26,6-17
Error code
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...............................,.......5-2
Error message
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..5-2,7-34
Error message line
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...
5-2
Example program
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....................7-18
Excitation pattern
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.
............,......2-1
1
. . . . . . . . . number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......
c
...
c
... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 5-22
Expanded off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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..............................................5-34
Expanded on
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5-34
Explanation of the parameters
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6-31
Expansion unit
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...,..,
c,c,.,,,c.,,,....,
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,,.........................3-3
External statistop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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2-57,3-2
F
FB164
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. . . . . . . . . . . . . . . . . . . . . . . .............. 2-2,6-1
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application
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....,..................6-26
FB165
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.................6-1 ,6-29-6-53
Field length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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..............,..............................,,..6-3
File name
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..,.....,...................e.....................
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13,5-52
Final statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...................2-31 -2-32,2-48
Firmware
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...,.,....,........................5-12
Flying change
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..........2-35,4-17, 4-19
Flying change (G I O)
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................4-18
Frequency
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maximum
.................. )..........................................................o..................... .........................2-14
Frequency increase
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2-15-2-16,5-22
Front panel
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.........
3-4
Full step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10,7-12
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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............................................................4-l
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F
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...............2-47,5-37, 5-40
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G
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...........2-34,5-37, 5-40
Siemens
AG@C79000-a6576-c707
-ol 8-3
Index
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L
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....................2-33,5-37, 5-40
M
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2-47,5-37,5-41,5-57, 6-12,6-18
N
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...........................
2-33
,,,
..,,,,
x
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.
.......................................e............
...............2-47,
5-37,5-40
Function key
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...............5-5,5-1 8,5-20,5-22,5-25,5-28, 5-30,5-32,5-36,
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5-38,5-41,5-45,5-48, 5-50,5-52,5-54,5-56
G
Generated by . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......................................5-13
Generated on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....... .5-12
Generation of machine programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.............5-35
H
HDFORM6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .........................................5-8
HDPARTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............................................5-8
Half step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10,7-12
Handling block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................6-2
Hard disk
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5-8
Hardware clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............................................5-1
Hardware limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.2-13,2-20,2-56,4-15
. . . . . . . . .
normally closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...........................................2-20
. . . . . . . . .
polarity .......... i...................................c...................................c.i..... .......................................2-20
Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
................................6-55
Header information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..............................,........4-41
Header line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
......................................................5-3
I
Incremental approach
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absolute
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4-15,6-16
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relative
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,.
4-16,6-16
Incremental speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23,2-46,4-15,4-26,5-24
Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............... 5-55,5-56
Info display
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. . . . . . . .......
5-55
INPUT
.....................................o...................................................
....................................................5-l 7
Input fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-1-5-2,5-13,5-20,5-22, 5-23,5-26,5-29,5-32, 5-33,
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5-36,5-38,5-40,5-42- 5-43,5-47,5-49,5-52, 5-54,5-56
Input machine data
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.
5-18
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
................1 -4, 5-6- 5-9,6-51,7-1,7-9
Installation of PC P/M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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......,.........5-8
Interactive menu
, . . . ! . . .
.,,
,,
..!.,,
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5-2
Interface
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3-1,3-5,6-2
Interruption
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. . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
4-21
Interrupt point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................................4-1 7
Interrupt servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
......................................6-53
IP247 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... .....2-2,5-5
8-4
Siemens
AG%79000-B6576-C707
-01
Index
J
Job field
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.
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............
6-37
Job list
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.............
...
4-2
JOG
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................4-7
JOG speed
.................................................`...............................................
.............8 .....................4-7
JOG speed 1
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.
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.
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....
6-15
JOG speed 2
.....................................................................................................OO... ........................6-15
Jumper
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.
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.
. . . . . . . . . ......
3-9,7-11
K
Keyboard buffer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5,5-44,7-37
Komi
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.
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .........
5-1,5-10
L
Limit data
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.
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.
......................,....5-2
Limit switch
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................3-2
Limit switch polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........................................•
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.
..,,,.,...........5
-27
Linear axis
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-11-2-12,2-18,4-15
Load torque
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
7-1 -7-2
Logo
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... .......
5-11
Loop
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
.......
2-33,2-37
Loop repetition
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-30,2-47
Loop run through
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.
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.
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5-37
Loop start
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
...............
2-37
M
MOO
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . ............. 2-47-2-48
M02
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . ............ 2-47-2-48
Machine data
.,,
.......!,,,..,,.
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-7,4-42,5-1,5-18-5-19, 6-67,7-6
. . . . . . . .
.
DB
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......... .
6-38
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.
delete
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.
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.
. . . . . . . . .
.....
4-36
. . . . . . . . .
directory
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
6-44
. . . . . . . . .
input
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.............
4-35
. . . . . . . . . overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............
of..,....
o,....
o.....,...
...... 4-3716-49
. . . . . . . . .
page 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....
5-21
. . . . . . . . .
page 2
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5-23
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.
page 3
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5-26
page 4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........
5-29
..
.,,...!
. . . . . . . .
.
processing
.............................d.........................d....o.....................o..
........
t....OcO...c..r.
orcr..44f4-35
. . . . . . . . . read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
....,,......,..,.,.,........O...OO........I..,OO....O....4-37
. . . . . . . . .
read directory
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-37
Machine data error
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
....................................s.................
2-28,7-32
Machine data record
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . .
.
4-35,6-51
. . . . . . . .
.
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............,.............2-28
Machining program
............,...,...,,.,,......2-3,
2-30,4-17-4-42,5-1,5-18, 5-35,6-17,6-41,6-51, 6-67
. . . . . . . .
.
continue
. . . . . . . . . . . . . . . . .
.
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.
. . . . . . . . . . . . . . . . . . .
.
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-20
Siemens
AGQC79000-!38576
-C707-01
Index
.
.
.
.
.
.
.
.
.
DB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...........0 ....................,...........6-41
. . . . . . . .
.
delete
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...........
4-40
,,,
,,
. . .
.
directory
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-40-4-41,6-45
. . . . . . . . .
error number
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.
4-42
. . . . . . . . .
execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........,.............................................4-38
,,,
,,
. . .
.
info
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.
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.
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.
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.
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.
. . . . . . . . .........
4-41
. . . . . . . . .
input
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . .
.
4-39,5-35
. . . . . . . . .
input according to DIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.............................5-36
. . . . . . . . .
input in text mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......,...........5-36
. . . . . . . .
.
interpreter
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....
c
.... !.........................................!...................4-l 7
. . . . . . . . .
interruption . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ................. 4-20,6-1 6
. . . . . . . . .
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,..........,....................o....o...........
,.................................4-39
. . . . . . . . .
read
................................................!c......................................... ...,,,..,......,.............,.............4-41
Machining program display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-36
. . . . . . . . .
according to DIN
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-38
. . . . . . . .
.
in text mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............,.............5-39
Machining program header
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-40
Main program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-31,5-36,5-58
Maximum deceleration
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . , . .
.,,
.,,
,.
.,.,,
5-22
Maximum frequency
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................5-22
Measurement system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20,5-40
Menu
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............
.......
5-5
Menu display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............
5-2
Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-1,4-38,5-12,5-46,5-48, 6-10,6-12,6-18,6-28, 6-38
Mode, change
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
........
5-47
Mode display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........
5-46
Mode number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......................,.............5-49
Mode table
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
5-48,5-49
Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........ 5-20,5-22
. . . . . . . . . error
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
..............
7-33
. . . . . . . . .
exchanging
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-42
. . . . . . . .
.
identifier
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
7-42
. . . . . . . .
.
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,,2-28,4-42,5-1,5-13
. . . . . . . . .
number/axis
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-28
. . . . . . . .
.
type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
.....4-42
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
4-1,6-13
Monitoring command
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-2
Monitoring, disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..................4-43
Monitoring function
.......
ic.c.....................................................................c.............
..................,,......6-10
Monitoring mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . 6-1,4-43,4-44
Monitoring values
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................................................6-l 8
Motor characteristics
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
,.
7-1
Multiprocessor operation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5,7-37
N
Nesting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....................
2-33
Nesting depth
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-30,2-33,2-37
Normally closed contact
,.............,..........................!....... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,....2-20
Normally open contact
,.............,..,..............!............. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.2-20
8-6
Siemens
AGQC79000-B8576
-C707-01
Index
o
OFFLINE
... ... ... ... ... ... ... ...
!..
... ... ... ... ... ... ... ... ... ... ... @.. ... ... ... ... ... ... .."". ..". """'" """"" """"' "`""' """"""'ode"""""""
5-12,5-14
Offset
... ... ... ... ... ... ...
..i.
... ... ... ...
!..
... ... ... ... ... ..,
,,.
$,,
,.,
,.,
,.,
...
.,.
...
.,.
'""" "."" '"'" ""'" "''' ""'" `'"' "'
o
"""e"""""""""""""""`'""""'
5-40
Offset direction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.......
2-42
Offset value
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
.......!...."""""."""""`""''"""""""""""""""""""""
2-42
ONLINE
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-12-5-14,5-44
Operating job
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
6-14
Operating mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-43,6-1
Operating instruction
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . .
4-1,4-3
Operating system
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . .
5-5
Operation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....
4-1,4-5
OUTPUT
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........... .
5-42
Output fields
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-2,5-11,5-21,5-23,5-26, 5-29,5-32,5-33,5-36, 5-38,
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-40,5-42,5-43,5-45, 5-46,5-49,5-51,5-53, 5-56
Output machine data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-42
Output machining program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-43
Output signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......
3-5
P
Page
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
............
.....
5-32
Page address
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3-9,5-1,5-13,7-10
Page addressing
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . .
.
3-10,6-2
Page number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-43,6-9,6-31
Parameters
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .........
6-9
. . . . . . . .
.
assignment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-2,6-6
“axis type”
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
2-11
. . . . . . . .
.
. . . . . . . .
.
byte
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......
6-6,6-11
. . . . . . . .
.
direct assignment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
6-6,6-27,6-29,6-34,6-48, 6-52,6-56
. . . . . . . .
.
double word
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-6,6-11
. . . . . . . .
.
indirect assignment 6-6,6-13,6-18,6-19,6-27, 6-29,6-35-6-36,6-38, 6-52,6-62,6-65,6-72
. . . . . . . . . “PC
BCD-coded”
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-25,5-27
.., ,! . . .
.
“polarity of the
HW
limit
switches”
.............................................•
'C......"".."•
OCCCIC.O.
2-2012-56
range
... ... ... ... ... ... ... ...
..d.
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..'`'
.!.
.. '"`""""""''""''"""""""'"""o'
6-35
. . . . . . . . .
speed
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... """"" '"''' ''"`" """"" ""
c
""`o"""""""""""""
4-7
. . . . . . . .
.
. . . . . . . .
.
word
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
6-6,6-11
Pc
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... .""`. .""`" `"""""''""`'"""""""""""""""'"'"`""""""""'""''""""
5-5
. . . . . . . . .
see also programmable controller
PG
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... $.. """"" "`""" """"" """"" """""
o
"""""""''o"'`"""""""""`"""""""""""""
5-5
,,,...,,,
date time
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......
5-13
. . . . . . . . . interface ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
.~.
... ... ... ...
..$""".
... ". """"""""''"'"4"""'"`"`""""""
3-15
Planning
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . .....
.........
7-1
Plant designation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
5-13
Polarity
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ...
..$.
... ... ... ... .. ""'"'"""``""""""""""""""''o"""""""""""'""'`'
5-22
Positioning
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......
2-3- 2-4
Positioning resolution
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-14,7-1
Position reached
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-54 -2-55,3-2
Power supply
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
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......
3-6
Power unit
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... """'"""'"'""""""""""""'"'o"""""""""""
7-9,7-12
preparation
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..
7-11
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selection
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7-3
%3rnens
AG”c790W-B8576-c707
-ol 8-7
Index
Precontact
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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..................................2-56
Preferred direction
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........................2-38
Preparatory conditions
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Presets display
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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...5-1 ,5-11 -5-12,5-15
Printer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............
!...
5-4
,,,,,,...
IBM or EPSON
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.....,..5-32
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PT80
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....................,............5-32
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PT88
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.............
5-32
PRINTEW’ARAMETER
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................5-32
Printer parameter assignment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....................................................5-32
Printer parameter display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................5-33
printer type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32-5-33
Print machine data
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Print machine data display
,........................!.................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
......,........5-31
Printout footer ............44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................$......... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30-5-31
Printout header
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.
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.................5-30 - 5-31
Print type 1
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.
...............................................................................5-34
Print type 2
.......
!....
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.
.........................c.......................................
,..,...............5-34
Print type 3
,,................
!...
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.
..........................................!......
,,.,..............................5-34
Program
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............................................5-48
Program end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...........................................2-48
Program header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31,5-38
Program number
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........................4-26
Programmable controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.............................6-1
. . . . . . . .
.
see also PC
Programmed halt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48,4-19
Programmed halt (MOO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....................4-18
Programmer ...................
cc
..
d
...
c
.. i..................................)..............o.i. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15,7-9
Programming restrictions
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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.,.,.2-50
Program type
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...................................................................................5-36
Pulse duration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
......... c.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,...,..,2-10,5-22
Pulse frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........................................7-1
Pulses
per revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10,5-23
R
Range limit
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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.,..............,.0
.................2-1 8
Rapid traverse
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.
. . . . . . . . ..
2-34
Read actual values
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.
4-43,6-47
Ready message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2,3-5,7-12
Ready signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . 2-54,7-4
Ready signal BBx
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...
2-55
Reference coordinate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................4-9
Reference point
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............2-24,2-46, 3-2,4-8,4-30,4-36,5-18, 5-47,6-15
. . . . . . . .
.
approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...............2 -24, 2-46,4-8-4-9,4-10
. . . . . . . .
.
coordinate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23,5-27
. . . . . . . .
.
direction
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,,,2-24,4-9,5-26
. . . . . . . .
.
set
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.........
4-8,4-15
. . . . . . . . .
synchronize
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-23,4-10,4-47
Reference speed
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-23,5-24
Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......... 2-55,3-11
Reset signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............
3-2
Reversal backlash
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ,.................2-19
Rotary axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-11,2-13,4-15,4-17, 4-28,4-33-4-34
8-8
Siemens
AG°C79000-B8576-C707 -01
Index
s
Safety notes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
1-4- 1-5
Select function
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..
5-15
Serial number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-1,5-11
Service
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . ............ ....
7-1
Shortest route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...........o..o....,c....
4-15,4-34
Signal level
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............
7-1o
Single job
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.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . ............
2-3
slot
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................3-8
Slot number
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . .
4-42,5-1,5-13
Software limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....2-12 -2-13,2-56, 4-15
. . . . . . . . . end
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
2-18,5-27
. . . . . . . .
.
start
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
2-18,5-27
Source data block
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
..
6-37
Special voltage
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
3-6,3-11,7-12
Speed
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-25,2-47,4-3,4-28,4-48
. . . . . . . . . maximum
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
2-14
Speed change
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
..
2-35
Speed parameter
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
2-23
Standard function block
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............6-1
Start of range
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
>.,
2-13,2-18
Start/stop frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...........2-15,5-21 -5-22
Start-up OB
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
.........
6-2
Statement
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-30,2-32
Statement identifier
. . . . . . . . .
N
......................................................................@........................... .......................................5-37
.
.
.
.
.
.
.
.
.
/N
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . .
...........
.
5-37
Statement number
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-33,5-40
Statement syntax
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
2-50
Statement type
. . . . . . . . . . . . . . . . . .
.
. . ., . . . ., .,
...!,....
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
5-40
. . . . . . . .
.
main
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . .......
5-40
. . . . . . . .
.
normal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....
5-40
. . . . . . . .
.
suppressable ...............................................................$.....$.......................
,,........$.....,..5-40
STORE
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ........... ...
5-43
Subroutine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..............2-31 ,2-33, 2-37! 5-36,5-38
Subroutine call
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-30,5-37
Supply voltage
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,,....o.....o..
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..................3-6
SYSID
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............
5-13,6-43
.!
..,,...
input
. . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . .
.
4-42,6-44
. . . . . . . . .
output
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....,.....................!.......................
................. $....
!..........5-1
. . . . . . . . . read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
....
4
-
43,5-4
1
6-
4
3
System configuration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............,,......5-7
System diskette
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
........
5-8
System identification
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
6-51
T
Target approach
. . . . . . . . . anticlockwise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
................................,...........,,,2-39
. . . . . . . .
by the shortest route
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-38
. . . . . . . . . clockwise
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.....
2-39
Target function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....................,...............,,,,.5-37
siemens
AG@c79000-B8576
-c707-ol
8-9
Index
Target position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..............................................4-26
TBIT
. . . . . . . . . . . . . . . . . .
.
, . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
, !
.,,
. . . . . . . . . . . . . .
.
. . . . . . . . . ...........
......
6-14
Teach-in
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
4-26,5-35,5-44
Teach-in mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
......
5-47
Teach-in off
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.............
6-18
Teach-in on
. . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . .......
6-18
Technical data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
................................................................6-5O
Test
.,,.......,......,.,,,.......................!..
......
!..,.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,..............
!....,....,?..
5-44-5-50
Test axis selection display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ......,....,....5-45
Test mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..........................................5-44
Text mode
............................................!............... ..,,..,..............,.
!.,..
. . . . . . . . . . . . . . . . . . . . . .
.
...............5-35,5-39
Time
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...,..,.....
!....
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,...........................................5-1
Tool length
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..!.......
!...
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,......,
!..............................4-31
Tool length offset
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.....2-25 -2-26,2-39, 4-31,4-33,4-46,5-18,5- 40,6-18
.
.
.
.
.
.
.
.
.
clear
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,.........................................................................2-4O
. . . . . . . . .
negative on ................................................t............................................. .....,.....................2-41
. . . . . . . .
.
off
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... 4-34,6-18
. . . . . . . . .
positive on
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..,,.....................,.......,.........................................2-4O
Torque
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
...........,...............................2-14
TRANSFER
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
.... 5-42,5-51
Transfer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . .
......
5-51-5-52
Transfer display
...,,.....,......,.,......!..................!..
,.,.,................
!....
. . . . . . . . . . . . . . . . . . . . . .
.
....
!..............
!.........5-51
TRANSFERKEY
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,.....c,..,.....
!....................... e.................................5-5o
Transmission ratio
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...................2-1 4,5-24
Traversing distance
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
..2-18
Traversing job
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
,,,..,...,,...................2-30
Traversing range
,,.,......e.....,.......,e........................
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
2-12,2-20,4-34
.
.
.
.
.
.
.
.
.
enti -
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .........
5-27
.
.
.
.
.
.
.
.
.
start
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............
5-27
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19,7-36
Troubleshooting questionnaire
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
7-38-7-43
v
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. ......4-42,5-11
w
Warm restart
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
...........
7-37
Working copy
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
............,.,,....,,............5-6
z
Zero offset
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
........................................2-25, 2-27,2-42,4-36,5-18, 5-29
. . . . . . . . .
absolute
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
.
. . . . . . . . . . . . . . . . . . . . . . . . 4-28,6-18
. . . . . . . . .
clear
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
...
4-31,6-18
. . . . . . . . . relative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............ 4-30,6-1 8
8-10
Siemens
AG°C79000-B8576
-C707-01