6ES5247-1AA11 - Siemens - Datasheet.Live

SIEMENS

SIMATIC

Positioning Module

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

use

thts

document or

IIS

con.

hardware and software descr!bed Since devlat!ons cannot be pre. tenfs

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

destgn,

tmns Included

subsequent edllmns.

Suqgeslsons

for improvement are reserved

are welcomed

Techntcal data subfect to chanqe

Copyr#ght

Slemens

Siemens Aktiengesellschaft 6ES5998.5SB22

Eleklronlkwerk Karlsruhe

Pr,

”ted in

the

Fedwal

Republ!c

Germany

. .

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”

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\

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

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.

s,mn~

c7goo0-D80?&cxj3

-01

ESD

Guidelines

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

to 18000 V

- Plastic

desoldenng

unit

to 8000 V

- Plastic coffee cup up to 5000 v

- Plastic bags up to 5000 v

Books, etc. with a plastic binding

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

- 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

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

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).

s,emen~

c7goo0-DEo76-C333

-01

ESD

Guidelines

The diagram below shows the required protective measures against electrostatic discharge.

Standing position

[

Standing/sitting position

aConductive

flccmng

Arm=smc

table

AntMabc shoes

Arm-smc

coat

Grounding wrist strap

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

C79000-D8076-C333 -01

Contents

1.1

1.2

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

1-4

2-1

2-2

2-4

2-6

2-7

2-8

2-10

2-1o

2-10

2-11

2-12

2-13

2-14

2-15

2-18

2-19

2-20

2-21

2-23

2-24

2-25

2-26

2-27

2-28

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

3.1

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

2-47

2-50

2-52

2-53

2-54

2-55

2-56

2-57

2-59

3-1

3-3

3-5

3-8

3-9

Siemens

AG°C79000-B8576

-C70i’-Ol

contents

3.3.3

3.3.4

3.3,5

3.4

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

4-3

4-6

4-7

4-8

4-9

4-15

4-16

4-17

4-18

4-20

4-26

4-28

4-30

4-31

4-34

4-35

4-36

4-37

4-38

4-39

4-40

4-41

4-42

4-43

Siemens

AG°C79000-B8576

-C707-01

o-3

Contents

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

5-7

5-8

5-1o

5-15

5-17

5-18

5-19

5-30

5-32

5-35

5-37

5-39

5-42

5-43

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

Standard Function Blocks

FB164

and

FB165

6-1

6.1

General Notes

6.1.1

Overview

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

OB22

with the

S5-135U

6.1.2.3 Use of

FB164/165

in the Various Programmable Controllers

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

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

6-7

6-8

6-9

6-14

6-15

6-18

6-19

6-20

6-25

6-26

6-28

6-29

6-30

6-31

6-34

6-35

6-36

6-37

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

7.1

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

6-57

6-58

6-60

6-61

6-62

6-65

6-66

6-67

6-70

6-72

7-1

7-6

7-9

7-10

7-11

7-18

7-19

7-32

7-33

7-36

7-37

7-38

Siemens

AG”c7g000-B8576

-c707-01

Notes on Using the Manual

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

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,

For the

S5-135

with

CPU922

or928,

order number

6ES5

842-

8TBOI.

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,

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

“Hardware” deals with the hardw~e requirements necessary to use the

IP247

in a

variety of situations. This covers the following topics:

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:

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

“Index” lists the most important terms used in the handbook.

Siemens

AG”c79000-68576

-c707-ol

1-3

/rnPortar7t

Notes

Safetv

1.2

Important Notes on Safety

Note

●

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

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

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

GQC79000-E18576

-C707-01

/mportant Notes on Safety

To power

Digital Digital

To power

supply

input

IP247

input

IP247

supply

Hardware

limit switch Hardware

limit switch

start

end

‘

“

1“

Traversing \

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

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

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

~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

Open-loop control I

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,

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

‘“‘-

How Does the

IP247

Execute a Positioning Job?

2.4

How Does the

IP247

Execute a Positioning Job?

IP247

Machine

data

record

Positioning

job list

Machining program

execution

Ramp

‘ab’e

Job

..,

section :##

buffer

::~~

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.

Note

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:

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

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

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

n+O

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

Polarity: positive edge

RPx

FORWARD

REVERSE

Polarity: negative edge

FORWARD

REVERSE

t clock pulse

t direction

t clock pulse

t direction

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

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

ILSs

minimum pulse duration

0.5 x period of the maximum frequency

!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

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

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

Machine Machine

start

braking distance

end

brake

Fig. 2/8 Linear axis with limit switches

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.

Note

●

If the axis type “rotary axis” is accidentally selected instead of a linear axis, the

values assigned in the data double words

n+29

and

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

Machine Data and their Structure

——.—..——

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

(1 - e

‘“tb’T))

f~~

Definition of the variables used:

fss

: start-stop frequency

fmax

: maximum frequency

: theoretical maximum frequency =

(fmax-

fSS)/O.95

: acceleration time [0...3

: constant for the ramp up time

The deceleration ramp is the mirror reflection of the acceleration ramp.

–

Lm.E-f510??fss_

fmax —/— — —

fss

Ill

Fig, 2/1 1

‘-r

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

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]

is a third of the required acceleration time

tb.

The acceleration time

is the time allowed to accelerate from a stationary position to

frn~,

2-16

siemens

AG@

C79000-B8576-C707 -01

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)

achieved.

(fmax-fss)/0.95+fss

fmax – -–-–-–-– – –

–-

–-–-–-

fss

Ill

?’

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

to traversing frequency

In (1 -

/ F)

The acceleration and braking distance can then be calculated as follows:

Distance = positioning resolution x (F

(tv

x (e

“T) - 1)) +

Siemens

AG”

C79000-B8576-C707

-01

2-17

Machine Data and their Structure

Note

●

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.

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

●

the end of the traversing range (software end limit switch), X

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:

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.

2-18

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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.

Siemens

AG”c79000-B8576

-c707-ol

2-19

Machine Data and their Structure

Backlash

M : Motor

T : Tacho-generator

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”,

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

0.002

60=

2600

mm/min

Note

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:

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”).

Note

●

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

(

of the half-steps

Reference direction: forward not synchronized synchronized

Reference point location

701234567012345670123Excitation number

;

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

Note

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

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

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

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.

Note

●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

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

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:

= main program

L = subroutine,

●

The program number (maximum three characters) .

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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Machining Programs and their Structure

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

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

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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Machining Programs and their Structure

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

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

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

‘1

[mm/m in]

without

—.with

G1O

M30

[

M31

M32

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).

withoul

G1 O

[mmlmin]

—— with

(31

1000

—.. .- —.—. .—. ..——.—.—

~M40

~M41

~.,,

1:02+

M function output

Fig.

2/1

7 Flying change without speed change

Note

A machining program may be aborted sporadically on an axis with the error

message “statement not yet fully interpreted”, when:

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

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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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,

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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

‘—’

Backlash

270 270

—i

180 ’180

{“

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

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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

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

For a rotary axis:

●

offset less than the traversing range. (Range end - range start),

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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

Machining program start

G44

Machining program end

Tool change

BA 15;

200mm,

forwards

Tool length

offset

BA 15/16

OOmm

200mm

Tool

length

Xfset

nachining program

-1 Omm

-20mm

Total

OOmm

90mm *

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.

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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:

OXOF1

000

N15G74

N20G44

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‘“‘-

Machining Programs and their Structure

1st reach,

op.

2nd reach. op. 5th reach. op.

111(11

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.

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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

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.

Mode 9A 6

Parameter

(incremented absolute) Starl command

O mm

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Machining Programs and their Structure

Here, machining program 1 is started.

Mode BA 8 Parameter

Start command

(automatic)

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

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

N2X40.000F500

N3G54

N4 L9

N5X40.000F500

N6G55

N7 L9

N8X40.000F500

N9G56

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

subroutine

XOF100 Ml O to coordinate O mm at

100

mdmin

G04

F50

Ml O wait 5

sec

N3X1OF100 to coordinate 10 mm at 100

mtimin

G04

F50

Ml O wait 5

sec

N5X20F100 to coordinate 20 mm at 100

mnlmin

G04

F50

Ml O wait 5

sec

M02

program end

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Machining Programs and their Structure

10 20 30 40 50 60 70 80

90 100

110 120

I I I I

I I I

{-+-++

--+-+

-+--+

+-+-1

I I

[

BA 5

I I I I

[=)

‘“ 20 30 40 50 ‘0 70 80 ‘“ ’00 “0 ’20 ’30

-$-f-&

20 30

BA6

N1O

10 20 0

III

-130

-90 -80 -70 -60 -50 -40 -30

-20

-:0

Program end

)

-lo 0 10

30 50 70 90 100

110 120

Fig, 2/22 Example of zero offsets

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reference edge of the tool holder

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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.

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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

.,. 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

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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

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

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.

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.

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

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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

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.

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.

OX1

OOF1

OOOMOO

break point)

N1 O ! G04

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

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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.

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Machining Programs and their Structure

L--

Awiliafy

functbn

Flying

change

. . . . . . . . . . . . . .

(

Shcftt?st

mute

. . . . . . . . . . . . . .

Forw?#ds

(ckxWise)

Reverse

(anticl&kwise)

Clea

tcd

offset

LI-%&$%j

PWtt,ve

twl

offset

Negative

cffset

Cl-

zero

offsel

Offsef

. . . . . . . . .

offset 2

&#JjjJ

offset 3

Dffsel 4

. . . . . . . . . . . .

Dimensicms

0.1

iIcFe5

m>’

Dirnens&s

in mm

&x#jJ

AtedMe

dlmensons

Rekmve dimensions

@Bj?J

Referemceltmne

tint

aix-=h

Fig. 2/23 Syntax diagram

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2-51

AxisAttributes

2.7 Axis Attributes

The axis attributes contain up-to-date information about the axis as follows:

●

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

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”).

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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

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

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.

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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,

x = (axis 1,2, 3)

●

Direction

RPx,

RPx

●

Reset

RSx,

RSX

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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

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.

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”,

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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.

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.

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

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

follows:

%mke

= pos. resolution . (F . (tv + -c

(+tv/T)

1))

fe,s

Where:

fss

: start-stop frequency

fmax : maximum frequency

: theoretical maximum frequency =

(frnax

f~J/O.95

: acceleration time

10.,.3c]

: ramp-up constant = F/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:

X1OO

F2500

MOO

N2 X200

000 M20

N2 .,..

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

AG”c79000-B8576

-c707-ol

2-59

Technical Description

—

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

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

an external

voltage

5...24

Swplied)

well

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

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)

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

RPn

signal O

signal 1

signal O

signal 1

signal O

signal 1

signal O

signal 1

max.

0.4

min 4.5 V

max. 0.4V

min. L+ -0.4 V

max.

0,4V

min. U

-0.4 V

BBn

-33

v...+

3 v

10.5V...33V

typ. 7

24 V (from backplane connector X2)

max. 20

(short-circuit

proof)

100

(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

Isolated

Input voltage

signal O

-33

V...6V6V

signal 1

13V.,.33V

Input current

typ,

9,5

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

outputs per axis

isolated

Range of supply voltage

Switching current

Max. total load of the outputs at 60”C

24V

20 v to 30 v

max. 120 mA, short-circuit proof

10070

Power supply

Supply voltage from system bus

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

(applied if necessary via X7, ground via

Mext

contact)

Rated value

15V

Permitted range 5to 30 v

Current consumption without load

from L+ (24

from U,(15

typ.

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-

nterference voltage test according to

IEC

255-4

inputs and outputs to

L-

Mechanical data

2.7..

.5.25V

typ. 5

wA;

max. 250

= 1

kV;

12/’50

LLS

= 1

kV,

1 MHz

Dimensions

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.

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

’10

,.,

‘.

’..

Firmware

X12

X13

.:.:’:,

Jl=S79200-G97A901/- 123

.T1

J3=S79200-G97-A902/-

xl 1

;~j

X15 ●

1.)

321

X18

● Xl 6

3 L- 2.)

Connection to power circuitry

r~~~~x,o

24 V/l AT

X19 Fuse

-12.3

—*

OV]

321

● X31

]

‘-2 —

‘“

123

2.)

● X21

Digital outputs with BASP 7.!

—.

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

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.

Switchs2

654321

:26

:25

‘24

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

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

special voltage

(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)

connected. If a special voltage

(5 V to 24

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

E7&3egT1

---+

-_E!?l’

l)-

*“9’

-t

321

QbQ

L--

Chassis

~3+

(

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

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

RSn

-1

————.————

-4

----f-(”

*----

———

Connector

casing

= 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

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

jumper X31/1 -2 is inserted (L-)

You must connect the power unit as shown

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-)

YOU

are using a special voltage, the voltage US must be supplied via connector x7/23,

24,

(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@

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

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:

17...22

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

Limit switch axis 3

External

statistop

axis 3

Position reached axis 1

Position reached axis 2

Position reached axis 3

Not used

Special voltage

25 Special voltage

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

—

The chassis for the special voltage is supplied via the Mext contact;

i.e.

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).

-’m)-

——

–-)

Pot.

recewe

‘“x”

(+2o mA)

Pot,

Z%J

‘xD-

Pot,

:)send

9 ! Rx” +

—r.–-–.

.—

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

Connection for:

Shield

RxD

---

24V

---

TxD

Shield

RxD

Ground

-20 mA/transmitter

-..

-20

mA/receiver

---

Backplane Connectors

Xl/X?

and Memory Cartridge Connector X3

dbz

Ground

UBAIT

ADB

ADB O

ADB

ADB 1

/MEMR

10 ADB

ADB2 /MEMW

ADB

/RDY

ADB4

ADB

ADB6

ADB7

22 ADB

ADB9

26 ADB

/DS1

ADB

11 DB

BASP

Ground

Fig. 3/1 O Backplane connector Xl

3-16 Siemens

AG°C79000-68576

-c707-ol

Operation

I --

/-“-1---–—+---–”--”””

1-..

--L–-

—---+-—------—-----’

/NAU

16 -

.+.—

..--.-.j_———

TxDSn–

—–-.—.—.—––..

.T..—

RxDSn

;

—

Gnd 24V

Gnd24V

—

32 Ground

+24 V

Fig. 3/1 1 Backplane Connector X2

d b

SADB12

Ground

+5 v

2SADBO

SADB

SADB2

SADB3 SADB4 SADB5

SADB6 SADB7 SADB8

SADB9

SADB

SADB11

SADB13 SADB14

/RD

+5volt

SDB8 SDB9

SDB

SDB2

SDB3 SDB4 SDB5

SDB6 SDB7

/ucs Iucs

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 2

1 Ring

RP 6

BB L+

8bk

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)

ANF

BERO

I END 1

ISTART/STOPPl

Rin:

ANF

5gn

I BER02

END 2

lsmART/sT(3pp2

‘8bk

ANF

BERO

10 rd

I END 3

lsTART/sToPP3

2Ring

Q PE 1 13

Q PE 2

Q PE 3

‘15

‘m

——.

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

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

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.

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

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

Principle of Operation

- Stop command

- Automatically

owing to error

- Operator error

Operator error

“Enter” command (continuation)

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

interrupted machining program,

to store statements in the teach-in mode.

4-4

Siemens

AG°C79000-B8576-C707

-01

PrincirYe

of Operation

Note

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

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:

●

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

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

“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

to O. The axis also

stops if a stop command is entered

(=>

Section 6.2.9.2 “Special Features of the Parameters

VORWandRUCK”),

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’

—

Forward stop

J/”

—.—

—.

—.—.—

‘\

—.

—————.—

●

[

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

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

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

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

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”

Software limit switch

Actual position

not activated

value

Signal:

reference point cleared

Status after executing mode 5 “set reference point”

Indicated

Software limit switch

coordinates

-100

100

200

Coordinates from -200

‘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

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

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

! Theprecontact is monitored.

lftheaxis

hasnotleftthe

COntaCtf0kwin92500

single steps, the reference point approach is aborted and the error message “FBB

(59) reference cam switch defective”.

,,0,,

- VI

- V2

- V3

301 2301 23Excitation pattern number

IIII

II I I

●

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’

- 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

●

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,

11~1,

- V2

301 2301 23Excitation pattern number

III

I I

●

Limit switch

Precontact

,’

Limit switch s

2):

●

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

“1“

“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

AG”c79000-B8578

-c707-ol

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

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.

“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

AG”c79000-B8576

-c707-ol 4-15

Description of the Individual Operating Modes

Speed

parameter

vStart after 200 mm

““~”

“/-

– – – – – – – ,,

“+

– ––– –

‘,,,

—

“’”

““

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

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

Forward

200mm

(abort)

“1/

d =

200mm

●

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

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

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

AG”

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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

●

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

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Executing Machining Programs

Note

●

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.

O G04

000 Ml O

interrupt during this dwell time

N20 G56 ! X200 F500 M20 (!

break point in the program)

Interruption during

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.

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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.

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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).

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.

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.

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Executing Machining Programs

Intermediate

target Traversing curve without interruption

stop

.—

Distance to go

start-up distance;

(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

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.

Intermediate

target Traversing curve without interruption

y,/--

Distance to go negative;

(distance to go = (1) - (2))

Fig. 4/1 5 Negative distance to go

4-24

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Executing Machining Programs

●

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

O X230

000 M30

O X280 F1 000 M40

N5G1OX330F1000 M50

N6 . . . . . .

v’

M1O

stop

..:+:.:.>:,+:,::::::::::

+:,:,:.,

.,,,.....,.,.,

,,,

..........,,.,,,.,,,,,,,,,.,,,,,

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

,.:.:<.:.>X..>:

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

.ii*&J?WW!&W.M*m*.

. . . . . . . . . . . . . . . . . .

,,,

Positive distance to go ((1)

(2))

Fig. 4/1 6 Linking jobs until the distance is sufficient to achieve the programmed speed

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Executing Machining Programs

Example:

N1 G1 O X130 F1 000 Ml O

N2G1OXl80F1000 M20

X230

000 M30

M02

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.

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.

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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.

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.

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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

appended to machining program 7 to indicate the end of the program.

The complete example appears as follows:

Y07

X1258.250

F2500 : approach position 1258.250 at speed 2500 mm/min

X3000.000

F2500

: approach position 3000000 at speed 2500

mnlmin

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

+/-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

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”,

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Coordinates before the transformation

Soflware limit switch

Reference point

Software limit switch

start from the Current position end

machine data

Actual.alue

-.5ca

!-20Q

150

500

BA12 (zero offset

abolute);

400 mm; start

Coordinates after the transformation

Software limit switch

Reference point

Software limit switch

start Current position end

-----

-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:

7001340

degrees

after:

ctual position value Position actual value

270

610

180 520

BA12 (zero offset absolute);

4CKI

degrees; start

Fig. 4/1 9 Zero offset absolute with a rotary axis

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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)

zero offset is taken into account. (See Section 4.2.4 “Example of Reference Point

Approach or Set Reference Point”. )

Note

●

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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Carriaae

——

Reference edge

u u

Coordinates before the transformation

Soflware limit switch Reference point Software limit switch

start from the Current position end

machine data

Actual

value

-500

! -200

150 ‘d

500

BA13 (zero offset relative); 330 mm; reverse

Coordinates after the transformation

Seftware

limit switch

Referenca

point Software limit

switch

stari

Current

position

end

--+0

Actual

value

-170

!330

480 830

Fig. 4/20 Zero offset relative

4.3.7 Clear Zero Offset

(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

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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Executing Machining Programs

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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Executing Machining Programs

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

Iflternal=tpoint

Tool length offset 30

90 Position of the

degrees forward, start

tool tip

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”

●

“read machine data directory”

●

“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).

Note

●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

you

can

also

delete

machine

data record via the PC interface. T

do this, the

mode must be triggered by FBI 65 via the axis page.

4-36

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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

numbers are different,

●

must be transferred via the axis page if the

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,

Siemens AGCC79000-B8576

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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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Executing Machining Programs

BA 65 “read machining program directory”

BA 69 “read machining program”

are explained below.

4.3.18 Enter Machining Program (Mode 22)

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

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

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

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

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

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,

4-40Siemens

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,—

Executing Machining Programs

●

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.

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

4-42

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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

Read actual values FB165

Actual position value

FBI 64

73 Distance to go

FBI 64

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.

Siemefls AG”c79000-B8576-c707-ol 4-43

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

AG@c790~-68576-c707-o

htroduction

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.

%mens

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5-1

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>:

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,

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

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

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Introduction

Example:

F8A reference point missing F8AFO0

FOO

The message has the following significance

[

: the current axis is axis 1,

F8A reference point missing: axis 1 is not calibrated,

F8A

FOO

FOO:

axis 1 is signaling the module error 8A, axis 2, axis 3 and the data channel

are not signaling a module error,

——.

INPUT

SIMATIC

S5 / COM247

— — —

—

. . . . .

IMICHINE DATA1DEVICE

:~p=z7;

BLOCK :

@3~

———.

L—

—.

Module :

@.: ‘is

Meas.

system

~m-~

——

Axis

type :~lNEAR 1

———

Maximum frequency r

~H;–

10:”

OOQ

‘— — —

(001

2,,,100.000)

Start/stop frequency

‘::.:

j;.@p:

~H~

‘1

(0.001

,,,10.000)

—— —

Rate of freq. increase ,.;::5;;,~~~ r—~zim=

(0,020.,.2599.999)

— —

Pulse duration

..,:$,~:

r ‘US— 7

.,.31)

—— —

No.

of excitation patterns

:::;;;::::::::;.&

(4,,.40)

Polarity

:..~:~lv~::p#~;:::::;

, : :

:,,

, : : ; : . : : ; ;

:;,:.....

.:...:.:.:.:,.::,.,

::::::::’R41;;;

~$g~gz;;;

‘::::.j::~$f.~

‘&j;fiqf:;:

j;;gq,:;;:

:,,~:gg$g;

:g[#&$;;

ggf:gg~gj

. . . . . . . . . . .

. . . . . . . . .

.,.

., .,

.,.,.,.,,

NEXT PREVIOUS PRINT

PAGE PAGE M.DATA

TRANSFER

EXIT

1 = header

2 = softkey menu

Fig. 5/1 Display for entering machine data

~———

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

a previous display.

Siemens AGQC79000-B8576

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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

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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>

PG keyboard.

intelligent 1/0 module of the

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).

this User’s Guide, the following conventions have been used for all commands entered at the

programmer:

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

input shown in bold upper case

characters,

●

<CR>

stands for carriage return (the return key).

●<Fl

. .

cF8> stand for the function keys

. .

F8,

Siemens

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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

DSKMAiNT

<R>

New

diskette in drive A:

<F5>

<Fl>

<F8>

COM247

diskette in drive A:

Formatted diskette in drive A:

<Fl>

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

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

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

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>

<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

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,

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:=

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:

SIMATICS5

S5 - Komi

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

●

SIMATIC

S5 I C0M247

G U RAT I ON

Cccccc 000000 MM

222222 44 44

777777777

Cccccccc 0000000

tvlMMM

MMtvfM

22222222 44 44

777777777

cc 0000

Mlvt

MM MMtdM 22 22 44 44

cc 0000 MM M

MM 22

44 44

cc 0000

MM MM

444444444

cc 0000 MMMM 22

44 77

cc 0000 MM

Cccccccc 0000000

Mbl

2222222 44 77

Cccccc 000000 MM

22222222

—— .

Version:

~02;]

Serial no~7994-0070-l 654321A

..,

,,..

. .

jjj~;’~~~j~:

;;~;g~;;~;

.(,;$;:E?:;:;:

‘:;;;,@::’

:;$;;.?.~,$:

iiii(fia:$$:

~:;;~~~:~:

xiij~kiij.

. .

,.,

,..

...,.,..’..

START

EXIT

1— ‘–

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

SIMATIC

S5 I COM247

——..——

~RESETS

——— — —

-J

Drive

::L:

File name

*w,~~Ej;jj

Plant designation ~lN’~AR:’~rs::;:!::;:;:j

Generated by SMITH:;:;;’

—..

Generated on

;0;

,90

Mode

~NFN<

Module no.

“11

Slot no.

‘tlof

Page address

.’

twQ

Firmware~P~7–

rA~l

-.—

—

.,.

PG date-time

.10

C&:’.

- ““~@

‘“:;<j;~:f!::.:’

$j$~z::;

““’’’’.~3;:

““’l+?

“

“r’”’”’

:’/

‘“‘“”Fg

“’?:(fi~fg

g$$gg$:g

$~~:~g~g~

. . .

BEGIN ONLINE PRINTER HELP EXIT

OFFLINE PARAMETE

,,,

~~¡•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

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:

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

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

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

Note

●

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.

SIMATIC S5

COM247

——.

.—

~ELECT

FUNCTION

]

——————

Drive

File name ~W—MP~E

————

Plant designation

fLINEAR AXIS J

Generated by

~Ml~

—

——

—

Generated on

L15

89J

———

Mode

6NLXE~

——

Module

no.

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

–

;

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

DEVICE ‘ BLOCK :

—————

PG FD

HELP

EXIT

.,.

::::~:

= input field

–

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

‘“’.-

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)—

,:,

——

,::jl;:,::j

Module

..,.:,.

. .

70...99 )

———.

~eas,

system

Jjm’fi;;

“’

~mm,

in, deg)

———

Axis type :~~~~tigxfl

~tary,

linear

]

“

= input field

—

= 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

L—— —-.

SIMATIC

S5 / COM247

———

mA~H~N

A T A

——

DEVICE ~lP247

BLOCK:

@3;

L_———— —---------------

——

———

ki~

~pe

IL~Wfl

Meas.

S@3TI

L“-J

Module :

yl:

Axis : —

——

Maximum frequency

~lg~;.~~j

~Hz

, (0.012...100.000)

Starl,Lstop

frequency

~iti:

;:..::..,:.::

— — —

.,,,:,.:P:W:

[

kHz

(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;

–

;:::;;:i:ti.:.::

— — —

(4,,,40)

Polarity

“.

‘P:es[~iv~::~~G’~”:’;:

;~;;gj~#

~f~ffig~~

:$;:g~;~

:;;;~~;;;

j;;:,~:$$;;

,jjf~fi;;:,

jfi;$~g;~;;

~jj~~g~$

. . . . . . . . . . . . . . . . . .

.:.:.;.:.:.:.:.:.:.:,:,:.:.:.:.:.:.:.:,:,:

:::::::::::.:.:.:.:.:.:,:.:.:.:

NEXT PREVIOUS PRINT

PAGE

M,DATA TRANSFER HELP EXIT

header

2. softkey menu

—

output

fieki

—.

}

)

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:

frequency at given time

fss.:

start-stop frequency

acceleration time

(0.

.,3-c)

‘c:

time constant

f~u:

maximum frequency

(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.

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

●

~PUT

——

SIMATIC

S5 I COM247

———

—————

——.

L“~c~l

~A~A—

DEVICE :

~p2=

BLOCK:

@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]

—.

.,,65,

(X30)

—

Reference speed

.l.@iO,

~~mtim-fi

.,,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

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

Resolution:

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:

—

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

C79000-B8576-C707 -02

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.

f~o~l = VJo~I [mrnkec] ,

pul./rev.

[l/rev.]/transmission ratio

[mnWev.]

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

@Pti

— —

SIMATIC

COM247

—

rM~C~l

~E~A~A—

— ___DEVICE

:fip=7

;

BLOCK: DE

\~3~

——__————

Module :

~i’

‘

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

: – –

.:@@

ooj

r[m;l

(+-99999,999)

.—__——

~W~mit~wiw

‘):

‘:~~$.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

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.

Xref

ANote

●

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

in-

To power

input IP247 put IP247

circui~

Hardware

limit switch

Hardware

limit switch

start end

l“

‘

Xref

Traversing range

wake

x sb&e

sH*e

hake

‘+

Machine

start

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

Input

Machine Data Page 4

●

———.

IYM

—

SIMATIC S5

COM247

——————

TMTCTI

N E D A T A

r—---

DEVICE

IP247

BLOCK:

lti3~

————.———

l-x:

——

Module :

Axis :

Meas.

system:

~m~

Axis type:

~NEAR

—

Tool length offset

:::j~;

:~~::

~mm~

;

,.,.::::,::,:::.

.,...,

::.,.,.,.,..,.,.

(+- 99999,S99)

——

Backlash compensation :

:::::{::::

,f~:*::

~mfi

(+-

0,..64.999)

— —

——

Zero offset 1

W!.:;;:j:j

:@&j.

~mml

(+-

99999.999)

—

—!

Zero offset 2

~~~~~~~~~

~~m~

‘:”:.:”::::;:~:;.::

:~(j&

(+- 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

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

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

[us]

(1,,.31)

No.

of excitation patterns :

(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

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,

the

source

device (FD, PG or

IP247)

from which they were read,

the

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

BLOCK :

——

DB~23J

—

——————.

Printer type

~——

~PT88

Lines per page (40-95) I’@l

Columns per line (80-132) :

,..

.,.

,;2

= input field

—

: =

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

= 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

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

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

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

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

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

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

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

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

SIMATIC S5

COM247

-——

————

~MAZHiiiNG

PROGRAM

[

DEVICE :

—

BLOCK : DB

II=j

.—

— —

————

—

PROG,

HEADER

—

——

———

—

–

‘Al

55 EXAMPLE OF A MACHINING PROGRAM

I—.———— —__ —_.___. _.__. —_ ——.————.

————

——

. .

= input field

= 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

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

n the text mode, onlv one

statement

displayed

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.

l~PUT

— —

SIMATIC

S5 I COM247

— —

—

—-—

IMICINING

PROGRAM —

DEVICE :

—

BLOCK:

DB~57

——

—

———

‘un~ef ‘J

~m––

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

.—_—.—

“’460

‘:rn’vlrn!n.:.::’:’.;;:

Function 5

— — ‘]3s

,’”1”

,,:;,..,Fj,,,:j:.

,....:..F2’.”

~~²••²²•ä²²•8³²• !Î€¨GŠŒ

...:

‘F4

.F5..,.

....:,.,,];~~;,;:::

;$j:,:j;~&:~;{

~g~f~gj~

NEXT PREVIOUS TEXT INSERT DELETE SAVE HELP EXIT

STATEMEN STATEMENT

..>

DIN

= input field

–;

= 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

number with this key. If the program al-

ready exists on this device under this

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

output

5.7.2

Output Machining Program

Description of the output fields

OUTPUT and

M A C H I N

N G P R O G R A M are displayed in the header.

previously

selected source device is displayed in DEVICE and the

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

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

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~

;

— —

~———————

SIMATIC

S5 I COM247

I N C R E M E N T A L A B S

L U T E S T A R T DEVICE

,1P

277

L——_—____—_—lBLOCK : DB

Current axis :

G—l

Actual value

6F2

~fflfi

–1

‘L_

— — —

Distance to go

~mfi

—

L-

— — —

Aux. function ‘Z OT27

L—J

~e~pofi

—

: (Q–

Synchronization : ~s––1

————J

Teach-in mode :

~=~

Stat.

sofaxis

~I~;–fi

— — —— —

———

Mode “’6

TNTREmENYACXBSOLUTE

——.—————

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

1 ) ACTUAL VALUES appears

you press this key

2) HELP appears here in the

operating mode display

input field

–

;

= output field

Fig. 5/1 9 Mode display

Description

the output fields

‘

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

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

NGLE

STATEMENT”,”1

N-

CREMENTALABSOLUTE’’ancf’ I NCREMENTALRELATI

VE”.

Aux. function:

lnthemodes

“AUTOMATIC” and “AUTOMATIC

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

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’

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

The function of the “ENTER” key depends on the mode.

the “AUTOMATIC

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

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

SIMATIC S5 / COM247

——.

——_————

————

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

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

Enter number of mode:

.:,.5:

ENTER

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.

●

~——

—------

LE’’Y!!sF=R_

—J-—

—

SIMATIC

S5 I COM247

I MAcHINE DATA

DEVICE

:~D—

BLOCK :

fi27J

—.—....—.—————

—

———

Data block :

~A_&Hl=

DATA

Source Target

Device

,“+D:.::’:::’:.

.::::!

E2.4Z:.

.,,:j;2~;,i; (*

all

Mach, prog.)

no.

:f.23:

Axis

.:i:

.::::~:,:,:.

Drive

File name

?:!WWPLE:

—

—“-’

—

Plant desig.

~NEAR

AXIS

———

——

Generated

[

SMITH

Generated on

@o@9-J

~~~~$g~

$$ji~%%$

;j~:~.f:;::j

::;,:’;;:~$y:;;:

J~\j~$jg

~~~$ffj

‘~$j:~~~gj ~;~~~~~j~

,,,

.,,

,,,,

,,,.,.......,.,.,.

. . ., .

....:..,,

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TRANSFER HELP EXIT

●

,,,.

...:.:.,,

.:.:

:,:.:,

,.,

;;

= input field

–: = 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

I N E DATA are entered in the header. The output fieids BLOCK and DEVICE are

completed with the appropriate values. The

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).

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

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.

Note

●

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

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.

this program branch you can delete machine data or machining programs stored on a device

P247,

FD,

PG).

————

~DELETE

SIMATIC S5

COM247

—— ——

(MACHINE

DATA — — — IDEVICE ‘

~Pti7

;

BLOCK : DB

~23;

input

field

–;

= 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

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

———

SIMATIC

S5 I

COM247

————.———

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

——

—

II_

J~L2

——

—

L-

–

Jl_

J(!J

——

—

JL.

L__J

——

L—-J

——

L–-J

——

I—-J

——

l.--]

I-IJL.2

——

—

L-

—

J~L2

——

—

L-

—

J(!2

——

—

L-

—

JfL2

——

L-

—

L—J

~L2

——

I-

—

L—J(L2

L—J

IL2

——

I-

—

J~L2

——

—

L.-

—

J~Q

——

—

L-

—

J~L2

HELP

EXITMODULE I PG

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

(OB20,

OB21

and

OB22

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

S5-11

S5-135U S5-150U S5-155U

SYNCHRON

RECEIVE

FETCH

FB249

FB125

FB185

FB125

FB244

FB120

FB180

FB120

III

FB245

]

FB121

FB181

FB121

]

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

128

0,1

32 32

0,2

32 32

0,3 64

0,4

128 128

. . . . . . . . .

0,255

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

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

Calling handling blocks in interrupt

not

permitted

see

branches

permitted ‘)permitted if

S5-135U

‘)

interrupts

are at

remand

bou da

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

OB21

and

OB22

see note 3)

Saving scratchpad flags and save FYB200 to

FY255

operating system data

RS60 FB38,

OB21

and

OB22

RS63

1 ) If this is necessary, you must ensure that

FB164

is not interrupted in the cyclic program.

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

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):

LAD/CSF (Ladder Diagram or

COfltrOl

system

Flowchart)

NAME

SSNR

DBNR

DWNR

STAR

STOP

VORW

RUCK

UEBN

BCD

PAFE

BFEH

TBIT

BTR

MFKT

RMLD

ANZG

6.2.2.2

FBI 64

: PER:POS

FB164

SSNR

DBNR

DWNR

sTAR

sTOP

vORW

RuCK

uEBN

Sco

PER:POS

P+VE

SFEH

TBIT

BTR

MFKT

RMLO

ANZG

S5-115U

In STL (Statement List):

:JUFB164

NAME

:PER:POS

SSNR :

DBNR

DWNR

STAR

STOP :

VORW :

RUCK

UEBN

BCD

PAFE

BFEH

TBIT :

BTR

MFKT :

RMLD

ANZ1

ANZ2

In LAD/CSF (Ladder Diagram or Control System

Flowchart)

FB164

SSNR

DBNR

DWNR

STAR

STOP

VORW

RUCK

UEBN

BCD

PER:POS

PAFE

BFEt+

TBIT

BTR

MFKT

RMLD

ANZ1

ANZ2

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

KY DB

type,

number (of axis data block)

DWNR

DKF

First data word in axis data block

Mode (mode number)

STSR

START command for the axis

STOP

STOP command for the axis

VORW

FORWARD command for the axis

RUCK

REVERSE command for the axis

UEBN

ENTER command for the axis

BCD

Parameter

ANZG

BCD

(’1 or binary (’O’)

PAFE

Parameter assignment error

BFEH

Module error

TBIT

Active bit

BTR

Output of the mode set for the axis

MFKT

Output of

the

M function of the axis

RMLD

Output of

checkback

signals (axis attributes) from the axis

ANZG

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

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

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

= O : data block type DB

x >< O: data block type DX

Y = data block

numb@r

255 where x = O

255 where x O

Direct parameter assignment via the block parameters

(axis data block)

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:

parameter

DBNR

183 and

%3?WflS

AG@c790~-B8576-C707-ol

166 <parameter

DBNR

16< X

<236

where: parameter

DBNR

= 164

(DB164

= working DB for

standard function block

FB’

48c

<236

where: parameter

DBNR

= 165

(DB165

= workina

for

)

64)

standard function-block

FB1

65)

6-9

The Standard Function Block FB164

BA :

D,KF

Specification of the mode or monitoring function to be started on the

IP247.

x = mode (mode number) or number of the

monitoring function

17 and

71 + 73 and

x =74 switch off monitoring

Job number

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

Actual position value

73 Distance to go

Interrupt the cyclic execution of the

last monitoring job

6-10Siemens

AG”c79000-B8576

-c707-01

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

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

H“

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

H“

i17

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

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

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

—

JOG speed 2

(BA

‘“”’”’”!

STOP

‘B”

-J--

Mode –

axis off

(BA4)

‘TART

‘B’T

●t

—

reference point (BA 5)

reference point

F“

7C’

“’

START

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

STOP

TBIT

Job finished f

Mode

—

automatic

(BA

‘TART

r7—————~

STOP

TBIT Program terminated

M02

●

▼

Mode –

automatic single statement

(BA

‘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————

abort

continue

Start from PC

Interrupt

from PC

—

Enter

from PC

TBIT

Machining program completed

f=rror65

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

Machining program completed

__’T

Note

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

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

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

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

DW1

Parameter BA, mode (mode number)

Dw2 Free

DW3

Commands: STAR, STOP,

VORW,

RUCK,

UEBN

DW4

Parameter

DBNR

KY DB type, number of the

axis data block

DW5

Parameter

DWNR

(first data word)

DW6

]

Parameter SSNR interface or page number

DW7

Parameter

BCD

identifier output

KY 0,0= binary

KY 0,1=

BCD

You must assign values to data words

DW1

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

DW3

[

unused

Commands:

STAR (start)

6.2.7.2

Structure of the Axis Data Block

The data words from parameter

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

n+l

n+2

n+3

n+4

n+5

n+6

n+7

n+8

n+9

DW n+l O

DW n+l 1

n+12

n+13

n+14

DW n+l 5

DVV

n+l

DW n+l 7

n+18

DW n+l 9

(parameter

DWNR

= n)

Recommended

data format

Used byFB164

BYTEpararneter

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

binary identifiers

occupied

high

— condition code bits from the SEND block

low

occupied

DW k+l

k+2

(parameter

DWNR

= k)

]

Used by FB164

BY’fEpararneter

]

WORDpararneter

etc. (further structure analogous to axis 1)

Siemens

AG°C790C0-B8576

-C707-01

6-21

The Standard Function Block

164

You must supply the following data words in the axis data block for each axis:

: 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

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

I Speed

---

--- --- ---

Approach : =

’0”

--- ---

Set

: < > “o”

Binary : x

Speed

Absolute

BCD

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:

2224223 2 20

2’9

[

Sign

. . . .28 27 .. ....24 23 . . 20

2’2

2“28 2724 232°

15 12 11

....43 .

incremental absolute (mode 6) to 120000

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

(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

are only updated with indirect parameter as-

signment, With direct parameter assignment they have the value KHOOOO.

The error message byte

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

S5-150U

S5-155U

164 164 164

164

PER:POS PER:POS PER:POS PER:POS

‘71200

-S5164-D-2

\P7,2U@S,164B2

IP721CXJ-S4164-D-2

IP71XXMSIG4.D-Z

words

19 words

1012

words

618 words

646 words

]

681 words

ntegrated

nandling

blocks

Handling blocks Handling blocks

Handling blocks

-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

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

nterrupts

]Iocked

at times

n the FB by

:ommands IA/

?A.

An 1A

:ommand is

:ancelled

:his (also

S5-155)

CPU CPU CPU

941

942 943

Handling blocks

FB120

SEND,

FB121 RECEIVE

FB125

SYNCHRON

ust be loaded.

Special functions

called.

‘

Handling blocks Handling blocks

FBI 80 SEND, FB120

SEND,

FB181

RECEIVE

FB121

RECEIVE

nd FB185

FB125

SYNCHRON SYNCHRON

must be loaded. ust be loaded.

Special functions

called.

CPU CPU CPU CPU

944 922 928 928/2

2.6.7

]

8.7 I

5.2

1.1

8.8

3.3

2.7

0.8 I 1.0

34.4 13.8 12.4

6.0

: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

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)

(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

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):

n+5

and DW

n+6

actual position value, binary or

BCD

n+7

and DW

n+8

: free

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

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

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

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

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,

55u:

Sign Decades

ANZG

Vvvv

loe

105104

103

10210‘ 10°

bit:

27 .24 23. .2019. 16 15. 12

11.

. 87 ....43 ....0

FD60

[

FY60

FY61

FY62 FY63

In the axis DB

e.g.

n+5

n+6

actual

value

n+5

6.2.9.4

BCD

Output with theS5-115U

Sian

Decades

Parameter ANZI

106

105

104

bit 15.,

12 11.. .8

7...

4 3.. , 0

Decades

Parameter ANZ2

10 310 210

‘

10 0

bit

15.,

12 11... 8

3,,

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

Standard Function Block FB165

6.3.2 Calling Function Block FBI 65

STL (Statement List):

JU FBI 65

NAME

;

PER:PDAT

SSNR

DBNR

DWNR :

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

PER:PDAT

SSNR

PAFE

DBNR BFEH

DWNR

Q-DB

QANF

Z-DB

ZANF

ANST

NAME PARA DATA

IYPE

IVPE

SIGNIFICANCE

SSNR

Interface number

DBNR

DB type, DB number (of the axis data block)

—

DWNR

First data word in the

axis

13A

Binary/BCD

conversion, mode

Q-DB

DB type, DB number (of source

DB)

QANF

Start address DW in source

Z-DB

DB type, DB number (of destination

DB)

ZANF

Start address DW in destination DB

ANST

Trigger data transfer with direct parameter assignment

PAFE

QBI

Parameter assignment error

BFEH

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

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)

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

O: data block type DB

><0

: data block type DX

Y = data

block

number

S-y

L255

where x

L255

where x

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&—

<241

where: parameter

DBNR

= 165 (DB165 = working DB for

FB165)

1&—

s241

where: parameter

DBNR

= 164 (DB164 = working DB for

standard function block FBI 64)

Siemens

AG@c79000-68578

-C707-01

6-31

Standard Function Block FB165

BA :

KYx,y

Specification of the mode to be executed, selection

binary/BCD

conversion.

=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<

70 read jobs

Job number Operating mode

Possible on

input machine data one axis

delete machine data one axis

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

read machining program directory all axes + data channel

66 read actual values one axis

67 read machine data

one axis + data channel*

read machine data overview

all axes + data channel

69 read machining program

all axes + data channel

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

KYx,y

Specification of the source data block. For the programmable controllers S5-1 15U andS5-150U

it is not possible

program data block type

DX.

x = data block type

= O : data block type DB

<0: data block type DX

Y = source data block number

DB:

5< y

<255

DX:

<255

In modes 20, 22 and 24 (write jobs)

the specified data block

(source

DB)

is in the

memory.

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

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

~x<n

DB1

64:

16s-

DB165 :48

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 :

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

O : data block type

O: data block type DX

destination block number

DB : 5< y

<255

DX :

<255

For modes 64 to 70 (read jobs)

the specified data block

(destination

DB)

the

memory.

&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

DB1

64:

16<

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

—

DBNR

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.

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

DW1

Parameter

DBNR

KY DB type, DB number

of the axis data block

DW2

Parameter

DWNR

(first data word)

You must supply values for

DW1

and

DW2

when using indirect parameter assignment before

function block FB165

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

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

n+2

n+3

n+4

n+5

n+6

n+7

n+8

n+9

n+l

n+12

n+l

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;

type, destination data block

Parameter ZANF; destination first data word

Parameter

SSNR;

interface number

binary identifiers

high

—

bits from the SEND block

low

occupied

high

—

bits from the FETCH

block

low

occupied

There must be a “job field” with the structure above for each axis addressed.

The data words

DWn

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:

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

Call FBI 65 PER:PDAT

6.3.8

Structure

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

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

n+2

066,001

n+3

000,001

n+4

001,000

n+5

0000

n+6

1388

n+7

0000

n+8

OOC8

n+9

0000

n+10

C350

n+l 1

+00030

n+12

0040

n+13

+00004

n+14

+00200

n+15

OOQO

—

n+16

0700

n+17

0000

Length in words

00,

‘D’

“B’,

number of the data record

Module number, axis number

Meas.

system (mm), machine data error

. Maximum frequency [Hz]

(5000 Hz)

}

Start-stop frequency [Hz]

(2oO

Hz)

}

Frequency increase

[mHz/ms]

(50000

mHz/ms)

Pulse duration [us]

Polarity

OOH:

negative edge

40H: positive edge

Number of excitation patterns

Pulses/revolution [l/rev.]

Transmission

ratio

[urn/rev.]

(2000um/rev.)

DWn+19

~j}

OOQO

JOG speed 2

[mm/min]

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

n+21

n+22

n+23

n+24

n+25

n+26

n+27

n+28

n+29

n+30

n+31

n+32

n+33

n+34

n+35

n+36

n+37

n+38

n+39

n+40

n+41

n+42

n+43

n+44

n+45

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

—

2710

0000

—

61A8

0000

—

OCB2

FFFE

—

DB08

0000

}

Incremental speed [mm/m in]

(3000 mm/min)

Reference speed [mm /rein]

(3000 mm/m in)

Reference point synchronized O:

yesll:

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

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

transferred, read or deleted via the axis interface (parameter

SSNR).

6.3.8.2 Structure of a Machining Program

in the PC Memory

machining programs transferred from PC to IP247,

machining programs deleted on the IP247,

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

Standard Function Block FB165

Structure of data block DBx from data word

DWn

as an example:

DW n

DW n+l

n+2

n+3

n+4

n+5

n+6

n+7

n+8

n+9

n+l

n+12

n+l

n+14

DW n+l 5

n+l

n+20

n+21

n+22

n+23

n+24

1 EXAMPLE ; main program DB1, comment

X1 OOF1OOOM1O ; 1st

statement

M02 ; 2nd statement

Recommended Header information

data format

+00025

0044

066,001

+00000

2520

2031 KF

2045

5841

4D50

4C45

OAOO

4E31

2058

3130

3030

‘H

4D31

[

300A

4E32

204D

3032

OAOO

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

2nd statement

)(without

n+24)

6-42

Siemens

AG°C79000-B8576 -C707-Ol

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

n+3

n+4

n+5

n+6

n+7

n+8

‘1P’

Module version

’24’

here

IP247

‘7

;

‘AO’

‘2.’ KS

}

Firmware release

here

A02.1

I-J--------l

‘s

000,000

DRn

+ 6: module number

000,000

DRn

+ 7: slot number

000,000

DRn

+ 8: page number

siemens

AG”c790~-B8576-c707~l

6-43

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

KY DR n: module number [0...99]

DW n+l

000,000 KY DR

n+l:

slot number

[0.,,255]

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 =

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

n+l

+00070

n+2

000,005

n+3

+00070

n+4

000,007

n+5

+00070

no. of the machine data record

Length in words

no. of the machine data record

Length in words

no. of the machine data record

Length in words

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

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

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

+ destination start address ZANF

for DBx+l the following applies:

length =

remaining entries

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

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

DW1

+00025

DW2

000,078

DW 3

+00044

Machining program DB

number on the

IP247

Entry 1

Length in words

Machking

’progra’rn’

number on the I

P247

Entry 2

Length in words

“2’4

a“

DW 255 +00473

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

+001 26

000,092

+001 45 KF

I +00035

}

Entry 128

Machining program DB

number on the

IP247

Entry 129

Length in words

Machining program DB

number on the

IP247

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

Length in words

DW 255

I I

Not written to, must however exist!

data format

DW O

B“’”

000,078 KY

DW1

+00044

DW2

000,165

DW3

+00473

}

Entryl

Machining program

number on the

IP247

Entry 2

Length in words

Machining” pr$”rar

Di‘“

number on the

IP247

l=-Entry 3

Length in words

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

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

n+2

n+3

n+4

n+5

0000

Actual position [urn]:

47,287mm

B8B7

0000

‘313A

)

Distance to go [urn]:

12.602mm

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

27 . .24 23. .2019. . .16 15.

12!

11. . 8 7

3 ...0

DW n

n+l

e.g.

actual position value

6.3.8.7

Structure of the Machine Data Overview

The machine data overview

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

n+2

n+3

n+4

n+5

n+6

n+7

DW n+8

n+9

DWn+10

DWn+l

DWn+12

n+13

DWn+14

+00001

+00000

Machine data

number

on the

IP247

Module number

+00001

KF %is

number

E“”

+00070

+00023

+00002

+00000

+00002

+00070

{

+00000

+00003

+00000

+00003

+00070

+00000

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

S5-135U

S5-150U

S5-155U

Block number

Block name

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

words

13 words

706 words

573 words

614 words

659words

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

FY255

scratchpad flags

none

yes

Interrupts

blocked at times

in the FB by

commands IA/

RA. An 1A

command is

cancelled

this (also S5-1 55)

Occupation of

flag area

Occupation in

system data area

FY218 to

FY255 FY200

FY255

scratchpad flags scratchpad flags

scratchpad flags

RS60

and

RS61

yes yes

yes yes yes

System

statements

Miscellaneous Handling blocks

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.

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

5.8

5,9

2-4

2,5

1.8

9.2

6.1

Write and

delete jobs

BA20 to BA24

S5 cycles (min.)

Read jobs

BA64 to BA70

).0

1.0

0.5

to to

3,0

16.6

16.3

-H-

1.0 0.5

)to to

3.0 6.6

6.3

81.0 21.2 14.8 8.3

With BA66

max.

2-3

S5 cycles (min.)

2-4

2.2

!-4

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

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

number to a machine data record on the

P247

(DBO

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

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

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

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)

$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

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

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:

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

● pressed

off

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

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

Mode with indirect parameter assignment in format KF

Mode with direct parameter assignment:

- FBI 64-- FBI 65 -

4.0

4.1

4,2

4.3

4.4

4.5

4.6

4.7

5.0

5.1

5.2

5.3

5.4

5.5

I 5.6

5.7

6.0

16.1

I 6.2

16,3

I 6.4

6.5

6.6

16.7

REF

TIPP1

TIPP2

SMR

LLOE

STAR

STOP

VORW

RUCK

UEBN

BCD

INDI.AUF

DIR. AUF

POS/PDAT

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

withKHFFFF(FB191 and FB1

92/FBl

65)

Clear latching error

If none of the inputs I

4.0

4.7

has signal state”1” in FB1 64, then the set mode is “axis off”

(mode

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

4.1

BFEH

Module error FB164 and FB165

Q 4.2

TBIT

Active bit FB164

Q 4.3

4.4

Q 4.5

Q 4.6

4.7

6-56

Siemens AG°C79000-138576

-C707-01

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

8.4

Q 8.5

Q 8.6

Q 8.7

QB9 PAFE

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

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

Save RS60to RS63

Load

RS60to

RS63

Standard FB for control of the positioning module

Standard FB for data transfer

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

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

Call FB53

l—

yes

Call

FB54

FB50

(DX) only withS5-135U andS5-155U

yes

direct param,

ass.

and

execute FBI 65

F 6.1 = 1 and

6,0

= 1

Call

FB51

l—

indirect

param.

ass,

yes and

execute FB165

F 6.1 = O

and

F 6.0 = 1

Call

FB52

l—

Call FBI 92: copy DB

FY15 = O, reset F 16.0

Copy FD14 to QD4 (QD8 with S5-1 15U)

6-60

Siemens

AG°C79000-B8576

-C707-01

Examples

6.4.4.2 The Interrupt

OBS

Process interrupt 06s and time interrupt

OBS

Save flags

FY200

FY255

Save operating system data (S5-135U)

User program if interrupt

Load operating system data (S5-135U)

Load flags

FY200

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“

Synchronize interface

User program

6.4.4.4

OB21

withS5-135U,S5-150U andS5-155U

OB22

withS5-150U

STP (direct change to stop state)

Siemens

AG°C790~-68576-c707

-01

6-61

Examples

6.4.5

Example of Function Block FB164

In the example, function block FBI

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

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

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

yes

Set FYI 00= O

6-62

Siemens

AG°C79000-B8576-C707 -Ol

Examples

Segment 3:

FIOO. O

FI 02.0

Refer-

ence

point

X=5

F1 00,1

F1 02.1

JOG 1

X=1

F1OO.2

02,2

JOG 2

)(.2

F1 00,3

02,3

incre-

mental

relative

X=7

F1OO,4

Read

actual

position

value

X=71

F1 00.5

Free

x=72

F1 00.6

~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

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

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

Parameter list:

STRT

I,W

Segment 2:

Load actual operand in the scratchpad flag area:

STRT

-> FW200

Segment 3:

Call user DB

(DB160)

Formulate “job” for axis:

FY200

-> DW1

FY20f

DW2 COMMANDS

KYO, 160 ->

DW4

DBNR

KF+8

DW5 DWNR

KBO

DW6 SSNR

Cond,

code

BCD?

F 201.5

yes

KB1

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 :

0,0

VORW :

0.0

RUCK

F 0.0

UEBN :

0.0

BCD

0.0

PAFE

F 14.0

BFEH :

F 14.1

TBIT :

F 14.2

BTR :

FYO

MFKT :

FYO

RMLD :

FYO

ANZG

FDO

ANZI : FWO

ANZ2: FWO }

with the S5-1 15U

Siemens

AG”c79000-B8576-c707

-ol 6-65

Examples

Segment

yes

Set

PAFE

fatching

F 16,0

Store

PAFE

byte (FY255 ) in FYI 5

Segment 5:

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

●

PER: PDA-

DB166

●

Job field

BA:

Param. field:

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

Z-DB

KF+l

m-----l

DB104

Mach. data

m---l

DB106

Machining

program

DB107

, SYSID

bmo

Mach. data

B111

Machining

program

-B

SYSID

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

= 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.

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

DB166

Axis

Job field

BA:

Param.

field:

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

\ directory

DB201

E3?_.t-

DB203

Act. values

Mach. data

DB205

Mach. data

overview

,DB206

E?L_l-

DB207

B165

PER:

PDA-

—

I---El

Machine

data

directory

Ir—————=

1--1

Act. values

H------

L-i===l

;DB1O

;

I---E=l

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

Q-DB:

KF+l O

DB1

IP247

memory

- Source start QANF :

KF+O

= irrelevant

Dest,

Z-DB:

KF+204

DB204

PC memory

Dest.

start ZANF:

KF+O

DWO

from

DWO

The machine data

(DB1

O) on the positioning module IP247 is stored as machine data

(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

FY200

-->

FY1OO (PAR:

ANST) BEC

6-70

Siemens

AG@C79000-B8576

-C707-01

Examples

Segment

Job execution : A

F 100. X

Call according

‘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

00.5

ZANF=O

0,10 Z-DB= BA=24

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

Z-DB=

SYSID Mach. Actual

Mach. Mach.

SYSID

Mach. Mach.

data values data data data data

directofy

overview

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)

;

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

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

KYo,l

-->

DB166 from

DW1

to DW15

KF+l

Parameter list: STRT 1, W

Segment 2:

~::::::::

Edge evaluation (rising) F 201.6

6-72 Siemens

AG°C79000-B8576

-C707-01

Examples

Segment 3:

C DB166 User

for

FB165

F 202,1

(aux.

flag for condition call)

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 <=

<= 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

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

Examples

Call DB165

Auxiliary flag for conditional call = “O”? (A F 202.1)

Call function block FBI 65

NAME :

SSNR :

DBNR :

DWNR :

Q-DB

QANF

Z-DB

ZANF

PAFE

BFEH

FB165

PER : PDAT

KF+O

KYo,o

KF+O

KYo,o

KF+O

KYo,o

KF+O

F 14.0

F 14.1

Segment 5:

Parameter

PAFE

0->1 edge?

(FY165)

yes

Set

PAFE

latching F 16.0

Store

PAFE

byte (FY255) in FYI 5

Segment 6:

—

6-74 Siemens

AG°C79000-68576

-C707-01

Planning

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

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.

‘Pu’’rev]

‘mm’rev]

The maximum pulse frequency

f~ti

is obtained as follows:

vmm[mm/min]

flnax

----------------------

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

fstecds)

120

6C0

1200

ti”

12W0

(l/rein)

Fig. 7/1 Typical torque characteristics of a stepper motor

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

Clock pulse

Direction

level

Reset

pulse

Pulse length Signal at Required Req.

dura-

Active level

power unit

level

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

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

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

contact

BB1

‘

Pin 7

+24V

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)

Actual position

Distance to go

Auxiliary functions (M-function)

Siemens

AG”c790~-B8576-c707~l

[mm/inctldeg]

[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

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]

Pulse durationtP (according to planning data)

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

evalu-

-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)

“2-’ooo’

’rev]

Transmission ratio r

(Distance

travelled

by the drive per motor revolution)

‘0”0’2-400’000]

JOG speed 1 VI

VI =

JOG speed 2

Incremental speed vs

““’’mm’min]

“’g’’mm’min]

“’g”mm’min]

These speeds must

less than or equal to the maximum speed

vrrr~from

the planning

data.

Reference speedvref

Vref

““’gmm’min]

Start/stop speed

f~s

Vss

--------------

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

“’99’’4’’’””]

XA<

Xref

Software limit switch end XE

“’’’’’”’’’mm]

Xref

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

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]

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

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.

●

Two limit switches signaling directly to the module. Here you can use

either normally open or normally closed contacts.

●

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.

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

❑

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

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 15

X 16

123123123123

0(30

Cmo

Om Om

Fig. 7/4 Jumper settings

X 18

123

000

123

Goo

Jumpers Xl 4 / 2-3

X15 / 1-2

X16 / 2-3

Xl 7/2-3

8/2-3

123

fcmo

x 12

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 6

Pin 7

Pin 8

Reset signal

Inverse reset signal

Clock pulse

Inverse clock pulse

Direction signal

Inverse direction signal

24 V for

contact

Input for

ready signal

Ground

blue 1 ring

red 1 ring

grey

ring

yellow 1 ring

green 1 ring

brown 1 ring

white

black

ring

blue 2 rings

Siemens AG”

C79000-B8576-C707-02

7-11

Planning

Note

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).

ANote

All the plug-in connections should be screwed tight,

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.

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.

7-12

Siemens

AG°C79000-B8576

-C707-ol

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.

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).

If applicable, switch on the 24 V

applicable, switch on the special voltage ok

Switch on the power units ok

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

Enter the machine data

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.

Switch the module to test mode (function key 3 on the

PG)

and select the required axis

(Fl -

3).

Note

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.

(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

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.

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

X4-X6.

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

In the reverse direction, the start limit switch must respond.

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.

Make a reference point approach or set a reference point using the software

(=>

Part 4 “Functions”), ok n

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.

Once you have tested these basic functions, you can try out the other modes.

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

7-15

Planning

9 Automatic single statement (later)

Teach-in on (do not forget program number)

Teach-in off

Zero offset absolute (set actual value)

Zero offset relative

Clear zero offset

Set tool length offset

16 Clear tool length offset

(-)

17 Clear error

—

Enter an automatic program on the

IP247

(=>

Part 5 “COM 247 Communications

Software”).

Test the automatic program in mode 8.

Test the automatic program in mode 9.

Generate a machining program in the teach-in mode and test the program in

modes 8 and 9.

Test the external start/stop function

(=>

Part 4 “Functions”). ok

()

7-16

Siemens

AG°C79000-B8576

-c707-ol

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

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”).

Assign parameters inFB164 and call it

unconditionally once in

each cycle.

Siemens

AG”c790~-B8576-c707~l

7-17

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

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

Working with COM247

see page 29

[ see pages 30 and 31

see page 31

siemens

AG@c790m-~576-c707-ol

7-19

Troubleshooting

F 255.

F 255.1 :

F 255,2:

F 255.3:

F 255.4:

F 255.

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

SEND

. . . . . . . . . . . . . . . . . . .

. . . . . . . .

. . . . . .

see page 22

F 255. T: Parameter assignment error RECEIVE

(FB121,

FB181,

FB245)\

parameter

pAFE

RECEIVE

F 254.

error message of the interface with operation

F 254.1 : module error caused by modes 1...17

see

page

F 254.

not used

254.s:

not used

F 254. d: not used

F 254. s: not used

F 254.

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

255.2:

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

~~;~~

Pmameter

pAFEof RECEIVE-ALL

ls~riaae

22 I

F 254.

not used

F 254.

: error message from the interface when entering data

F 254.

error message of the interface when outputting data

(DVdNfl+l

Ofthe

axis

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F 254.

not used

F 254.

not used

F 254.

not used

F 254. 6: not used

F 254.

not used

Siemens

AG°C790~-w576-C707-01 7-21

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

no error 1

error

QTYPiZTYP wrong

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)

other errors

(e.g.

open when using

indirect parameter assignment)

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~

~A1~19

.,,

,,,

,:,

:.’.

.,...,.:

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

33: cycle time exceeded

34:

35:

36:

37:

38:

39:

40:

41:

42:

pulse generator defect

●

)

error at start of statement

subroutine

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

possible causes of module errore marked

with *)

are listed from page 35 onwards.

Siemens

AG%790~-68576-C707

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)

,,:,,,.,.

,.,...,.,.,.,.,,,.,

.,:.:,,,:.:.

~~~$~~~~~~

e~~orme~sage

from the

interf~~e

.::.

.,....,,.,.,...,.,..,.......:,:,

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

.,,

. . . . . . . . .

bit: 7 6 5 4 3 2

():

no error

error entered in

PAFE

byte of the

HDBs

(FY252/FY253)

error in module error byte (FY251)

3: free

4: free

!jI

offset too great

6: execution

not possible at present

DB elready exists

81 DB does not exist

wrong ORG identifier

destination DB too small

source

toosmatl

source DB too large

D: area in PC too

small

area blocked foroutputinput

wrong

checkback

signal

binary/BCD

conversion not possible

continuation from page 21

(FB165)

F 249. O:

binary/BCD

conversion of

actual

value

(actual position) not possible

F 249.

binary/BCD

conversion

ofdist.

to go not possible

F 249, 2:

F 249.

FB164

does not exist (only

S5-115U)

F 249.

not used

F 249.

!jZ

not used

F 249. 6: not used

F 249.

not used

Siemens

AG°C790w-B8576-C707

-01

7-25

Troubleshooting

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

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

possible causes of machine data errors marked

“with *)

are listed

pages 32, 33 and 34

7-26

Siemens

AG%79000-68576-C707

-ol

Troubleshooting

wrong pulse duration *)

wrong maximum or start/stop frequency*)

wrong JOG or incremental spaed

●

)

wrong pulse count/revolution

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~

the

,:,,,.,,........:i,;:~..:i.;:.::;;

WWWil!%i:

...,.,,,.,,,..

,,,

reach. program editor

. . . . . . . .

continuation from page 19 (COM247)

10:

11:

12:

13:

14:

15:

16:

17:

18:

19:

1A:

1 B:

1 c:

1 D:

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

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

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.

--.:—,

.--1

-- ----

:orulrmeu

ur I pdyu o

possible causes of module errors marked

with

●

)

are listed from page 35 onwards.

7-30

Siemens AG°C79000-B8576 -C707-Ol

Troubleshooting

B2:

B3:

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

illegal

dist.

spec.

illegal tool length offset

free

machining program waiting to continue

distance not in

BCD

speed not in

BCD

possible causes of module errors marked

with *)

are listed from page 35 onwards

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;

DB:

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;

DB:

5) “wrong pulse count/revolution”

The ratio pulse count/revolution must be within the limits 12...1000.

Error 6

(COM247:

F06H;

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

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;

DB:

8) “reference point wrong”

The reference point must be between the software iimit switches or the range limits.

Error 9

(COM247:

F09H;

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:

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

Troubleshooting

●

Error 13

(COM247:

FODH;

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

Error 15 (COM247:

FOFH;

DB:

15)

‘Wrong value for reference direction and

synchronization”

The following coding must be adhered to for the reference direction:

fwd =

rev =

20H

For synchronization: yes: O; no: 1

Error 17

(COM247:

F61H;

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;

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+;

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;

DB:

20) ‘backlash value too high”

The backlash compensation value must be within the limits 0...64999 pm.

Error21

(COM247:

F65H;

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;

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

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

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

●

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.

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

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

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

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?

MLFB:6ES58 -5

Versionissue:l

.—

3) Which PG are you using?

PG:

Version:

7-38

Siemens

AG@C790W-B8576-C707 -01

Troublehooth?-1

Questionnaire

System components

(please enter order numbers)

Controller:

Power supply:

CPU:

Slot number:

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:

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

——.

.msl

531

: “X30

519

27.

321 321

“’m’”

321

X31

2.)

1,)

X12

xl 1

1.)

Xl 8

2.)

’10

1.)

’13

lip

123

X15

2.)

321

X16

2.)

123

@xEixz?l

2,) BN3P

Fig.

7/5

Position of the switches, jumpers and fuses

What is going wrong?

6) Which error messages were output by the

COM software?

Which error message is set at the output

of the standard function block?

Which error numbers are entered in

the

arxxorxiate

flag bytes?

7-40

Siemens

AG°C79000-B8576-C707 -01

Troubleshooting Questionnaire

Isthe error reproducible?

[10)

Doestheerroroccursporadically?

11) Does the error occur when operating the

module from the PG as well as from the PC?

(12)

Which modes are being used?

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?

---J

15) Does the error only occur with a particular

sequence of jobs?

Siefnens

AGQC790W-B8576-C707

-01

7-41

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?

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

05 to

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

Release 01

Release 02

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
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.........
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
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . .
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . 
.,,!!....
1-4
End of range
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . .
2-13,2-18
Enter command
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...................................2-48, 4-4,4-19,4-26,6-17
Error code
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...............................,.......5-2
Error message
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..5-2,7-34
Error message line
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
...
5-2
Example program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ....................7-18
Excitation pattern
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ............,......2-1 
1
. . . . . . . . . number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...... 
c
... 
c
... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 5-22
Expanded off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..............................................5-34
Expanded on
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........
5-34
Explanation of the parameters
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . .
6-31
Expansion unit
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
...,..,
 
c,c,.,,,c.,,,....,
 . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ,,.........................3-3
External statistop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 2-57,3-2
F
FB164
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . .............. 2-2,6-1
. . . . . . . . .
application
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ....,..................6-26
FB165
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 .................6-1 ,6-29-6-53
Field length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..............,..............................,,..6-3
File name
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
..,.....,...................e.....................
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13,5-52
Final statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...................2-31 -2-32,2-48
Firmware
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...,.,....,........................5-12
Flying change
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..........2-35,4-17, 4-19
Flying change (G I O)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ................4-18
Frequency
. . . . . . . . 
.
 maximum
.................. )..........................................................o..................... .........................2-14
Frequency increase
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 2-15-2-16,5-22
Front panel
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.........
3-4
Full step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10,7-12
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ............................................................4-l
. . . . . . . . 
.
F
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...............2-47,5-37, 5-40
. . . . . . . . 
.
G
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...........2-34,5-37, 5-40
Siemens 
AG@C79000-a6576-c707
 
-ol 8-3

Index
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
L
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ....................2-33,5-37, 5-40
M
. . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
2-47,5-37,5-41,5-57, 6-12,6-18
N
. . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
...........................
2-33
,,,
 
..,,,,
x
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
.......................................e............
 ...............2-47, 
5-37,5-40
Function key
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...............5-5,5-1 8,5-20,5-22,5-25,5-28, 5-30,5-32,5-36,
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . .
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ..................
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
. . . . . . . . 
.
 absolute
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
4-15,6-16
. . . . . . . . 
.
relative
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
,.
4-16,6-16
Incremental speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23,2-46,4-15,4-26,5-24
Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............... 5-55,5-56
Info display
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . .......
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,
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . 
.
5-36,5-38,5-40,5-42- 5-43,5-47,5-49,5-52, 5-54,5-56
Input machine data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
5-18
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ................1 -4, 5-6- 5-9,6-51,7-1,7-9
Installation of PC P/M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ......,.........5-8
Interactive menu
, . . . ! . . . 
.,,
 
,,
 
..!.,,
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . 
.
5-2
Interface
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . .
3-1,3-5,6-2
Interruption
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.......
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
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
............
6-37
Job list
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.............
 
...
4-2
JOG
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..........................................4-7
JOG speed
.................................................`...............................................
 .............8 .....................4-7
JOG speed 1
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
....
6-15
JOG speed 2
.....................................................................................................OO... ........................6-15
Jumper
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . ......
3-9,7-11
K
Keyboard buffer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5,5-44,7-37
Komi
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .........
5-1,5-10
L
Limit data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
......................,....5-2
Limit switch
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..........................3-2
Limit switch polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........................................•
. . . . . . . . . . 
.
..,,,.,...........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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5-37
Loop start
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
...............
2-37
M
MOO
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . ............. 2-47-2-48
M02
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . ............ 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
. . . . . . . . 
.
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
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5-21
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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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.
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4-37
Machine data error
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
....................................s.................
 2-28,7-32
Machine data record
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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.
 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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.
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.
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.
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4-20
Siemens
 AGQC79000-!38576  
-C707-01

Index
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
DB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...........0 ....................,...........6-41
. . . . . . . . 
.
delete
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...........
4-40
,,,
 
,,
 . . . 
.
directory
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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4-40-4-41,6-45
. . . . . . . . .
error number
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.
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.
 
,.
4-42
. . . . . . . . .
execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..........,.............................................4-38
,,,
 
,,
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.
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 . . . . . . . . . . . . . . . . . . . . . . . 
.
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. . . . . . . . .
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
,..........,....................o....o...........
 ,.................................4-39
. . . . . . . . .
read
................................................!c......................................... ...,,,..,......,.............,.............4-41
Machining program display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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.
 5-36
. . . . . . . . .
according to DIN
. . . . . . . . . . . . . . . . . . 
.
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.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
5-38
. . . . . . . . 
.
in text mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............,.............5-39
Machining program header
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
4-40
Main program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
2-31,5-36,5-58
Maximum deceleration
. . . . . . . . . . . . . . . . . . 
.
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.
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.,,
 
.,,
 
,.
 
.,.,,
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
. . . . . . . . . . . . . . . . . . 
.
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.
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.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-42
. . . . . . . . 
.
identifier
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.......
7-42
. . . . . . . . 
.
number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ,,2-28,4-42,5-1,5-13
. . . . . . . . .
number/axis
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
2-28
. . . . . . . . 
.
type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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.......
 .....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
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . 
......
3-6
Power unit
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... """'"""'"'""""""""""""'"'o"""""""""""
7-9,7-12
preparation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
..
7-11
. . . . . . . . .
. . . . . . . . 
.
 selection
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
7-3
%3rnens
 
AG”c790W-B8576-c707
 
-ol 8-7

Index
Precontact
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..................................2-56
Preferred direction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ........................2-38
Preparatory conditions
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..................................u............... ,,..............5-37
Presets display
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...5-1 ,5-11 -5-12,5-15
Printer
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............. 
!...
5-4
,,,,,,...
 IBM or EPSON
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 .....,..5-32
. . . . . . . . 
.
PT80
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ....................,............5-32
. . . . . . . . .
PT88
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.............
5-32
PRINTEW’ARAMETER
 . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................5-32
Printer parameter assignment
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 .....................................................5-32
Printer parameter display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .......................5-33
printer type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32-5-33
Print machine data
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..............,.,...........5-30
Print machine data display
,........................!.................... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
......,........5-31
Printout footer ............44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .................................$......... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30-5-31
Printout header
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 .................5-30 - 5-31
Print type 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...............................................................................5-34
Print type 2
....... 
!....
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
.........................c.......................................
 ,..,...............5-34
Print type 3
,,................
 
!...
 . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
..........................................!......
 ,,.,..............................5-34
Program
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .............................................5-48
Program end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ...........................................2-48
Program header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31,5-38
Program number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..........................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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 .,.,.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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
.,..............,.0
 .................2-1 8
Rapid traverse
. . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . ..
2-34
Read actual values
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
4-43,6-47
Ready message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2,3-5,7-12
Ready signal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . 2-54,7-4
Ready signal BBx
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
...
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 ..,,,2-24,4-9,5-26
. . . . . . . . 
.
 set
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.........
4-8,4-15
. . . . . . . . .
synchronize
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
2-23,4-10,4-47
Reference speed
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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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.
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5-15
Serial number
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
5-1,5-11
Service
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . . . . . . . . . . ............ ....
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
. . . . . . . . . . . . . . . . . 
.
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.
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.
 . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . .
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
. . . . . . . . . . . . . . . . . 
.
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.
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.
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.
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..
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
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
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.
 . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . 
.........
6-2
Statement
. . . . . . . . . . . . . . . . . 
.
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.
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.
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.
 . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
2-30,2-32
Statement identifier
. . . . . . . . .
N
......................................................................@........................... .......................................5-37
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
 
.
 /N
. . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . . . . . . . . . . . 
.
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.
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.
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.
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.
 . . . . . . . . . 
...........
 .
5-37
Statement number
. . . . . . . . . . . . . . . . . . 
.
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.
2-33,5-40
Statement syntax
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
....
2-50
Statement type
. . . . . . . . . . . . . . . . . . 
.
 . . ., . . . ., ., 
...!,....
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.
5-40
. . . . . . . . 
.
 main
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 . . . . . . . . . .......
5-40
. . . . . . . . 
.
 normal
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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.
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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
. . . . . . . . . . . . . . . . . . 
.
 , . . . . . . . . . . . . . . . . . . 
.
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.
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.
 , ! 
.,,
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.
 . . . . . . . . . ........... 
......
6-14
Teach-in
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
4-26,5-35,5-44
Teach-in mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
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......
 5-47
Teach-in off
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.............
6-18
Teach-in on
. . . . . . . . . . . . . . . . . . 
.
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.
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.
 . . . . . . . .......
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
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 
.
 
..!.......
 
!...
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.
 
..,......,
 
!..............................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