6ES5267-8MA11 - Siemens - Datasheet.Live

SIMATIC S5

IP 267

Stepper Motor Controller

Manual

EWA 4NEB 812 6061-02a

SIMATIC® and STEP ® are registered trademarks of Siemens AG.

Subject to change without prior notice.

The reproduction, transmission or use of this document or

its contents is not permitted without express written

authority.

Offenders will be liable for damages. All rights including

rights created by patent grant or registration of a utility

model or design, are reserved.

EWA 4NEB 812 6061-02a

System Overview

Driving Stepper Motors with the IP 267

Module Description

Addressing and Programming

Notes on Operation

Function block for assigning parameters to the IP 267

Introduction

Preface

Application Examples

Index

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7

a

6

a

5

a

4

a

3

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2

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1

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EWA 4NEB 812 6061-02a

IP 267 Preface

Preface

The IP 267 intelligent I/O module generates programmable pulse trains for

driving the power sections of stepper motors. The IP 267 has separate digital

inputs for controlling positioning movements and signalling certain events to the

CPU. The IP 267 can only be used in conjunction with programmable controllers

of the S5-100U range. It operates with the following CPUs:

• CPU 100 (6ES5 100 - 8MA02 only)

• CPU 102 (without restrictions)

• CPU 103 (without restrictions).

The IP 267 processes all the input and output signals necessary for approaching

the required positions autonomously in an application-specific integrated circuit

(ASIC). The CPU can, in the meantime, scan all signals present and communicate

with the I/O modules. The control actions in the IP 267 do not load the CPU.

Since the IP 267 is only used in conjunction with the S5-100U, this manual pre-

supposes you are familiar with the manual of the programmable controler. The

basics of STEP 5 programming and the principles of program execution are

therefore not described here.

The application examples in Chapter 6 are intended to help you familiarize

yourself with the module. However, the IP 267 is used in a wide range of

applications so that it is impossible to discuss all the problems that might occur in

day-to-day use. Should you have problems, please contact your nearest SIEMENS

representative.

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v

IP 267 Introduction

Introduction

The following pages contain information which will help you to use this manual.

Description of contents

The manual covers the following topics:

• System Overview

(functional description, schematic diagram)

• Driving Stepper Motors with the IP 267

(fundamental terms of stepper motor control, description of the con-

figuration data)

• Module Description

(technical specifications, power supply, input and output signals, terminal

assignments, status displays, connecting cables for power sections)

• Addressing and Programming

(address assignment of the configuration message frames, positioning

message frames and feedback message frames, flowchart)

• Notes on Operation

(preparing the module, system startup, determining reference points, motor

selection, diagnostics sheet)

• Application Examples

(program examples for various applications)

• FB for assigning parameters to the IP 267

At the end of the book, you will find correction forms. Please enter any

suggestions you may have in the way of improvements or corrections in this form

and send it to us. Your comments will help us to improve the next edition.

EWA 4NEB 812 6061-02a

vii

Introduction IP 267

Courses

Siemens provide SIMATIC S5 users with extensive opportunities for training.

For more information, please contact your Siemens representative.

Reference literature

This manual is a comprehensive description of the IP 267 stepper motor

controller. Other topics of the SIMATIC® S5 range are only briefly dealt with. You

will find more detailed information in the following literature:

•Programming primer for the SIMATIC® S5-100U

Practical Exercises with the PG 615 Programmer

Siemens AG, Berlin and Munich, 1988

Contents:

- Design and installation of the S5-100U programmable controller

- Introduction to programming with the PG 615

Order No.: ISBN 3-8009-1528-6

•Speicherprogrammierbare Steuerungen SPS (available in Germany only)

Volume1: Logic and sequential controls, from the control problem to the

control program.

Günter Wellenreuther, Dieter Zastrow

Braunschweig 1987

Contents:

- How a programmable controller works

- The theory of logic control using the STEP 5 programming language for

SIMATIC S5 programmable controllers.

Order No.: ISBN 3-528-04464-0

viii

EWA 4NEB 812 6061-02a

IP 267 Introduction

•Automating with the S5-115U

SIMATIC S5 programmable controllers

Hans Berger

Siemens AG, Berlin and Munich 1987

Contents:

- STEP 5 programming language

- Program processing

- Integral program blocks

- Interfaces to the peripherals

Order No.: ISBN 3-8009-1484-0

Conventions

In order to improve the readability of the manual, a menu-style breakdown was

used, i.e.:

• The individual chapters can be quickly located by means of a thumb register.

• There is an overview containing the headings of the individual chapters at the

beginning of the manual.

• Each chapter is preceeded by a breakdown of its subject matter.

The individual chapters are subdivided into sections and subsections. Bold

face type is used for further subdivisions.

• Pages, figures and tables are numbered separately in each chapter. The page

following the chapter breakdown contains a list of the figures and tables

appearing in that particular chapter.

Certain conventions were observed when writing the manual. These are

explained below.

• A number of abbreviations have been used.

Example: Central processing unit (CPU)

• Cross-references are shown as follows:

”( 7.3.2)” refers to subsection 7.3.2.

No references are made to individual pages.

EWA 4NEB 812 6061-02a

ix

Introduction IP 267

• Information of particular importance appears between two thick gray bars.

Note:

a

Additional information; highlighting a special feature or characteristic.

a

C A U T I O N

Information you must observe to avoid damage to the hardware or software.

a

W A R N I N G

a

If this information is not observed, persons will be at risk.

a

Manuals can only describe the current version of the programmable controller.

Should modifications or supplements become necessary in the course of time, a

supplement will be prepared and included in the manual the next time it is

revised. The relevant version or edition of the manual appears on the cover. In

the event of a revision, the edition number will be incremented by ”1”.

x

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1.1 Block Diagram of the IP 267 Stepper Motor Controller . 1 - 2

1 System Overview

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1

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Figures

1-1. Block Diagram of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . .1 - 2

1-2. Installing the IP 267 in the Bus Module . . . . . . . . . . . . . . . . 1 - 3

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IP 267 System Overview

1 System Overview

As an intelligent input/output module, the IP 267 adds positioning to the

repertoire of the S5-100U programmable controller. The IP 267 controls

positioning processes independent of the execution times of the user programs in

the programmable controller and the CPU is not loaded by current positioning

jobs.

You can plug the IP 267 into slots 0 to 7 of the S5-100U where it occupies

addresses in the analog address area of the programmable controller (bytes 64 to

127). The IP 267 runs with all CPUs except the CPU 100 (6ES5 100-8MA01).

The IP 267 has the following performance characteristics:

• Serial interface to the S5-100U programmable controller

• Digital inputs for calibrating and limiting traversing ranges

• Status displays for various operating states

• Programmable pulse generator

• Interfaces for commercial stepper motor power sections with 5 V differential

inputs or other logic inputs in the range of 5 V to 30 V.

1

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1-1

System Overview IP 267

1.1 Block Diagram of the IP 267 Stepper Motor Controller

Figure 1-1. Block Diagram of the IP 267

RDY

ACT

ABT

Sliding

switch

Signal level converter

ASIC (pulse generation

and communication)

Shift register

-L

SRG

Data bus

9 V

Data

GND

5 V

9 V

t

f

5 V

24 V

E-

E+

REF

STOP

IS N

Status displays

G

5 V

9 V Us 5 V

NL

TN

TN N

RP

RP N

T

e

r

m

i

n

a

l

b

l

o

c

k

1-2

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IP267

System Overview

—

Figure 1-2. installing the

1P

267

in

the Bus Module

EWA 4NEB 812 6061-02a

1-3

2.1 Principle of Operation of the IP 267 . . . . . . . . . . . . . . . . . .2 - 1

2.2 Configuration Message Frame . . . . . . . . . . . . . . . . . . . . . . .2 - 2

2.2.1 Limit Switch Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .2- 3

2.2.2 Base Value for Frequencies (BV) . . . . . . . . . . . . . . . . . . . . .2 - 3

2.2.3 Start/Stop Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2- 3

2.2.4 Time Interval for Stepping Rate Increase and Rate

Decrease (TI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2- 4

2.3 Full-Step or Half-Step Mode . . . . . . . . . . . . . . . . . . . . . . . . .2- 5

2 Driving Stepper Motors with the IP 267

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Figures

2-1. Velocity Profile of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . .2- 2

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IP 267 Driving Stepper Motors with the IP 267

2 Driving Stepper Motors with the IP 267

To aid your understanding of the following chapters, this chapter deals with

some fundamental terms and with the principle of operation of the stepper

motor controller.

2.1 Principle of Operation of the IP 267

The IP 267 generates pulses for the stepper motor power section. The number of

output pulses determines the length of the traversing path and the pulse

frequency is a measure of the velocity. Each pulse causes the stepper motor shaft

to turn through a certain angle. In the case of high-speed pulse trains, this step

movement becomes a constant rotational movement. Stepper motors can

reproduce all movement sequences excactly as long as no steps are lost. Step

losses can be caused when load variations occur or when the programmed pulse

trains exceed motor-specific values ( 5.6).

To enable the IP 267 to generate these pulse trains, the user must enter the

following data:

• Configuration data; this data describes the individual traverse jobs and the

technical characteristics of the drive system ( 4.1).

• Positioning data; you describe the individual traverse jobs and indicate the

velocities, directions and lengths of the configured paths ( 4.2).

The IP exchanges data with the programmable controller via the serial interface

( Figure 1-1.). During the program scans, all necessary information is sent from

the process output image (PIQ) to the IP 267 in 4-byte long message frames. The

IP 267 cyclically transmits feedback signals on the distance to go and various

status bits to the process input image (PII). See 4.1 to 4.3 for more details.

2

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2-1

Driving Stepper Motors with the IP 267 IP 267

Using the configuration and positioning data settings, the IP 267 generates a

symmetrical traverse profile consisting of an acceleration ramp, a constant

velocity range and a deceleration ramp.

Figure 2-1. Velocity Profile of the IP 267

fA

t

fss

fss = Start/stop rate; fA =Stepping rate

a

1.Accelera-

tion ramp 2.Constant stepping

rate/velocity range

a

3.Decelera-

tion ramp

f

2.2 Configuration Message Frame

The configuration message frame data must be sent to the module at startup,

after every interruption in the power supply and following response of the

emergency limit switch (PD). The module can only accept positioning data if the

signals of the emergency limit switch (PD) are present and if they have been

configured. The module signals this status with the green ”RDY” LED on its

frontplate: ”RDY” lights up if the IP 267 can accept positioning jobs.

See Chapter 6.1 for a programming example for configuration.

The following are details of the information each configuration message frame

must contain:

• End switch configuration

• Base value for the stepping rate

• Start/stop rate

• Time interval for stepping rate increase and decrease

The meaning of this information is described in the following pages.

2-2

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IP 267 Driving Stepper Motors with the IP 267

2.2.1 Limit Switch Configuration

The IP 267 can monitor the end points of the traversing range and interrupt

traverse movements if the permissible range is exceeded. You must connect limit

switches to the digital inputs I+ and I - for this purpose. You can use both NC and

NO switches here. You can determine the desired signal behaviour with the limit

switch configuration (”0” active for NCs or ”1” active for NOs.). See Chapter 4.1.3

for further details on this point .

2.2.2 Base Value for Frequencies (BV)

You can select frequency ranges by setting a base value for the start/stop rate

and for the stepping rate fA. The base value multiplied by the SS value (multiplier

for fss ) gives the start/stop rate: if you multiply BV with V (multiplier for fA) you

get the stepping rate fA ( 4.1.5). The duration of the output pulses is

determined by the frequency range set ( Table 4-4.).

Frequency range: 0.4 Hz to 204 kHz

Relevant pulse duration: 255 µs to 1 µs

2.2.3 Start/Stop Rate

Stepper motors can be driven by the IP 267 from standstill with the start/stop rate

fss without losing steps or coming to a standstill. The value for fss must be found

specially for each plant ( 6.6.3). During the deceleration phase, the frequency is

continuously reduced from the stepping rate fA to the start/stop rate fss. The

IP 267 cannot generate control pulses lower than the start/stop rate

( Figure 2-1.).

You can set a value between 1 and 255 with bits SS 0 to SS 7. If you multiply this

value with the base value (BV) for the stepping rates, you get the start/stop rate.

2

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2-3

Driving Stepper Motors with the IP 267 IP 267

The following formula applies:

fss (Hz) = BV (Hz) · SS · R

fss = Start/stop rate

BV = Base value for the frequency

SS = Multiplier for the start/stop rate

R = Reduction factor (1 oder 0.1) for the start/stop rate (fss) and

the stepping rate (fA)

The reduction factor R is transferred with the positioning job.

Starting from the start/stop rate fss, the frequency is incremented by a certain

amount after each time interval (TI), until the preset stepping rate is reached. The

absolute value for the frequency increase in the stepping rate is linked to the

preset base value (BV) for the frequencies.

The number of the pulses output in the acceleration range is acquired by an

internal counter and used as a position setting for the deceleration range. The

stepping rate is modified by the same amount in the deceleration range as in the

acceleration range. This generates a symmetrical velocity profile with equal

acceleration and deceleration curves ( Figure 2-1.). This profile is also main-

tained when the traversing motion is interrupted, e.g. by limit switches (I+, I -),

the STOP switch or reference point switch. Only by the emergency limit switch

(PD) is a traversing motion immediately interrupted, i.e. without deceleration

ramp ( 3.4).

2.2.4 Time Interval for Stepping Rate Increase and Rate Decrease

(TI)

Starting from the start/stop rate, the acceleration rate is incremented by a

quarter of the base value (BV) after each time interval (TI), until the stepping rate

is reached. In the deceleration range, the frequency is reduced by the same

amount after each time interval. You can determine the time interval TI with bits

TI 0 to TI 7 and the value set is multiplied by a basic time of 32 µs ( 4.1.4).

2-4

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IP 267 Driving Stepper Motors with the IP 267

2.3 Full-Step or Half-Step Mode

Most power sections can operate stepper motors in half-step mode or in full-step

mode. The dynamic torque of a stepper motor increases in half-step mode, but

the motor requires double the number of pulses per revolution since the step

angle is halved. Path resolution doubles in the case of half-step mode, thus

achieving higher positioning accuracy. The acceleration value and the maximum

traversing velocity are reduced by half compared to full-step mode.

You can set full-step or half-step mode on almost all stepper motor power

sections using DIP switches, etc. You do not have to change anything on the

stepper motor itself. However, please follow the relevant power section

manufacturer´s instructions. 2

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2-5

3 Module Description

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3.1 General Technical Specifications. . . . . . . . . . . . . . . . . . . . .3 - 1

3.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3- 2

3.3 Terminal Block Connector Pin Assignments. . . . . . . . . . . 3 - 3

3.4 Technical Specifications of the Digital Inputs. . . . . . . . . . 3 - 4

3.5 Technical Specifications of the Drive Circuit. . . . . . . . . . . 3 - 6

3.6 Status Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3- 8

3.7 Connecting Cables for Power Sections. . . . . . . . . . . . . . . . 3 - 9 3

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Tables

3-1. General Technical Specifications (Part 1) . . . . . . . . . . . . . . 3 - 1

3-2. General Technical Specifications (Part 2) . . . . . . . . . . . . . . 3 - 2

3-3. IP 267 Terminal Block Connector Pin Assignments . . . . . . 3 - 3

3-4. Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3- 5

3-5. Connector Pin Assignments Between the IP 267

Connecting Cable and the Power Section . . . . . . . . . . . . . 3 - 9

Figures

3-1. Terminal Block Assignment Schematic . . . . . . . . . . . . . . . . 3 - 3

3-2. Schematic of the Drive Circuit . . . . . . . . . . . . . . . . . . . . . . . .3 - 6

3-3. 9-Way Subminiature D Female Connector for

Connecting the Stepper Motor Power Sections

(Terminal End) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3- 7

3-4. Frontplate of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3- 8

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IP 267 Module Description

3 Module Description

This chapter will give you an overview of the technical specifications of the IP 267,

the power supply, terminal assignments of the terminal block, input and output

signals, status displays on the frontplate and a list of the connecting cables for the

power sections.

3.1 General Technical Specifications

Table 3-1. General Technical Specifications (Part 1)

Temperature

Operation

- Horizontal arrangement 0 to +60° C

- Vertical arrangement 0 to+40° C

(Intake air

temperature

measured at the

bottom of the

modules)

Storage/shipping -40° C to +70° C

Temperature change

- Operation max. 10° C / h

- Storage/shipping max. 20° C / h

Relative humidity to DIN 40040

15 ... 95% (indoor)

Noncondensing

Atmospheric pressure

- Operation 860 to 1060 hPa

- Storage/shipping 660 to 1060 hPa

to IEC 68-2-6

10 to 57 Hz,

(constant

amplitude

0.15 mm/0.006 in.

)

57 to500 Hz,

(constant

acceleration 2 g)

to IEC 68-2-27

12 shocks

(semisinusoidal

15 g / 11 ms)

to IEC 68-2-32

Height of fall

1 m/3.3ft.

Vibration

- tested with

Shock

- tested with

Free-fall

- tested with

Mechanical Environmental ConditionsClimatic Environmental Conditions

3

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3-1

Module Description IP 267

Table 3-2. General Technical Data (Part 2)

IP 20 to IEC 529

I to IEC 536

to VDE 0160

Sinusoidal 50 Hz

500 V

Degree of protection

- class

Insulation rating

- Between electrically

independent circuits

and

- circuits connected to a

central ground point

Test voltage

for a rated voltage Ve

of the AC or DC circuits

of Ve=0 to 50 V

Specifications on IEC/VDE Safety

Damped oscillatory

wave test (1 MHz) to IEC 255-4

Digital

input/output modules 1 kV

Radiated electromagnetic

field test to IEC 801-3

Field intensity 3 V / m

Fast transient burst test to IEC 801-4

Digital

input/output modules 1 kV

Static electricity test to IEC 801-2

Discharge onto all parts

accessible to the user in

normal operation 3 kV

Electromagnetic Compatibility (EMC)

Noise Immunity

3.2 Power Supply

Supply voltage from the bus 9 V

Current consumption approx. 150 mA

Special voltage Vs5 V to 30 V

3-2

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IP 267 Module Description

3.3 Terminal Block Connector Pin Assignments

Figure 3-1. Terminal Block Assignment Schematic

10

9

8

7

6

5

4

3

2

1

C A U T I O N :

Always connect the zero voltage reference for NL (pin 2 of the terminal block)

to the ground of the PC. Only this will guarantee problem-free operation of the

module.

a

Table 3-3. IP 267 Terminal Block Connector Pin Assignments

MeaningPin

1

2

3

4

5

6

7

8

9

10

---

NL Reference potential to Vs and the digital inputs

EPLUS Digital input for limit switch I+

EMINUS Digital input for limit switch I -

REF Digital input for reference switch

STOP Digital input for external stop

IS Digital input for emergency limit switch (pulse

inhibit)

---

VsSpecial voltage Vs (input)

---

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3

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3-3

Module Description IP 267

3.4 Technical Specifications of the Digital Inputs

The IP 267 can calibrate and limit the traversing range via five digital inputs

(24 V). Limit switches for initiating deceleration can be connected to the inputs I -

and I +. You can set the method of signal evaluation ("0"-active or "1"-active)

when configuring the module. The STOP input terminates the traversing

movement and also initiates deceleration; it always has the same signal

evaluation as inputs I - and I+. Reference switches (BEROs, etc.) can be connected

to the REF input. The PD input is for connecting emergency limit switches and the

input is always "0"-active (NC). Pulse output is inhibited immediately when the

emergency limit switch (PD) responds. The red "ABT" LED on the frontplate of

the IP 267 lights up. You must proceed as follows if the IP is to accept new

positioning jobs:

• The emergency limit switch must be enabled again.

• The configuration data on the IP 267 must be deleted, causing the "ABT" and

"RDY" LEDs to go out.

• The configuration data must be transferred back to the IP 267. The green

"RDY" LED lights up when the module is configured.

Note:

a

The IP 267 is disabled when the emergency limit switch responds and it can

only accept new positioning jobs if you delete the old configuration data and

then reconfigure the module.

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3-4

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IP 267 Module Description

Table 3-4. Digital Inputs

I -

I+

STOP

Limit switches that can initiate deceleration

Emergency limit switch (pulse disable)

Switch initiates deceleration in conjuction

with the "Reference point approach" mode.

IS

REF

a

Switch can be

configured for "0"

active (NC) or "1"

active (NO).

always "0" active

always "1" active

Rated input voltage: 24 V

Number of inputs: 5

Galvanic isolation: No

Input voltage: with Signal 0 -33 V to 5 V

with Signal 1 13 V to 33 V

Input current: typ. 8.5 mA

Supply voltage for two-wire BEROs: 22 V to 30 V

C A U T I O N

Emergency limit switches (PDs) are always "0" active (NC). If you use several

emergency limit switches (PDs) you must connect them in series.

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3

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3-5

Module Description IP 267

3.5 Technical Specifications of the Drive Circuit

Commercial stepper motor power sections can be connected to the drive circuit of

the IP 267. The "Clock" (TN) and "Direction level" signals can be operated both

with 5 V (internal) or with a special voltage of Vs = 5 V to 30 V (external). This

allows you to operate power sections with both 5 V differential inputs (RS 422) or

logic inputs in the range 5 V to 30 V. You can set the desired voltage type with the

sliding switch on the frontplate. The special voltage Vs is connected via terminals

2 to 9 on the terminal block ( 3.3). The output signals (clock and direction level)

are available inverted and non-inverted and the drive circuits are current-limited.

Figure 3-2. Schematic of the Drive Circuit

Power

supply

unit VsTerm. 2

Term. 9

M

TN

Pin 9

Pin 4

Pin 2

NL

TN N

e.g. clock

5 V

Vs

VSS

CPU VDD

a

9 V

a

5 V

3-6

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IP 267 Module Description

The control pulses are available at a 9-way subminiature D female connector on

the frontplate of the IP 267.

Figure 3-3. 9-Way Subminiature D Female Connector for Connecting the

Stepper Motor Power Sections (Terminal End)

1

2

3

4

5

6

7

8

9

Pin Meaning

a

2 TN Clock

4 TN N Clock inverted

7 RP Direction level

8 RP N Direction level

inverted

9 NL Ground

Output Voltages:

When supplied with +5 V: Signal 0 max. 0.4 V

Signal 1 min. 4.5 V

When supplied with Vs: Signal 0 max. 0.4 V

(Vs=5 V to 30 V) Signal 1 min. Vs - 0.4 V

Output current: 20 mA (current-limited)

Stepping rate: max. 204 kHz, independent of output voltage

Numb. of steps: max. 220 - 1 = 1 048 575 pulses / job

Permissible cable length: max. 50 m at 50 kHz, twisted wire pairs.

3

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3-7

Module Description IP 267

3.6 Status Displays

After you have switched on the power supply and connected the emergency limit

switch (PD), you must transfer the user-specific configuration data (frequency

range, start/stop rate, time interval for acceleration and deceleration, operating

mode, selector signal for limit switch configuration) to the IP 267. The module can

only accept positioning jobs when it has received a valid configuration message

frame. This is indicated by the green "RDY" LED on the frontplate ( Figure 3-4.)

and in the status bit of the feedback message frame. Another green "ACT" LED

signals pulse output in the case of a positioning job. The red "ABT" LED lights up

when positioning jobs have been interrupted e.g by the emergency limit switch

(PD).

Figure 3-4. Frontplate of the IP 267

ABT

US

5V

ACT

RDY

STEPPER MOTOR

MODUL IP 267

6ES5 267-8MA11

123456

6

Red Led

Sliding switch for

voltage selection

Green LED

9-way subminiature D

female connector for

connecting a stepper motor

power section

3-8

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IP 267 Module Description

3.7 Connecting Cables for Power Sections

To make the connection of power sections easier, there are connecting cables

with open cable ends available for the user.

5 m long: Order No.: 6ES5 736-6BF00

10 m long: Order No.: 6ES5 736-6CB00

16 m long: Order No.: 6ES5 736-6CB60

( Catalog ST 52.3)

Table 3-5. Connector Pin Assignments Between the IP 267

Connecting Cable and the Power Section

MeaningCore colourPin

2

4

7

8

9

White

Brown

Green

Yellow

Grey

a

TN Clock

TN_N Clock inverted

RP Direction level

RP_N Direction level

inverted

NL Ground

The cable shielding is connected to the connector shell.

IP 267 connector set (6ES5 750-2AA11)

There is a connector set for connecting power sections available for those users

who do not dod not favor prefabricated cable assemblies. This set consists of a pin

connector insert (for soldered connection), the upper and lower shell sections

with assembled shields, cable clamps and screws.

3

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EWA 4NEB 812 6061-02a

3-9

4 Addressing and Programming

4.1 Configuring the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 - 3

4.1.1 Address Assignment of the Configuration Message

Frames (PC to IP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 4

4.1.2 Byte 0: Multiplier for the Start/Stop Rate (SS) . . . . . . . . . . 4 - 5

4.1.3 Byte 1: Limit Switch Configuration (LSC) and

Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 5

4.1.4 Byte 2: Time Interval (TI) for Rate Increase/Decrease . . . 4 - 5

4.1.5 Byte 3: Base Value for the Frequencies (BV) . . . . . . . . . . . 4 - 6

4.1.6 Deleting the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 7

4.2 Positioning Message Frames (PC to IP). . . . . . . . . . . . . . . . 4 - 8

4.2.1 Address Assignment of the Positioning

Message Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 9

4.2.2 Byte 0: Multiplier for the Velocity (V) . . . . . . . . . . . . . . . . .4 - 10

4.2.3 Byte 1: Path/Operating Mode . . . . . . . . . . . . . . . . . . . . . . .4 - 11

4.2.4 Byte 2: Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 14

4.2.5 Byte 3: Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 14

4.3 Feedback Message Frames (IP 267 to PC). . . . . . . . . . . . . . 4 - 15

4.3.1 Address Assignment of the Feedback Message Frames . 4 - 16

4.3.2 Byte 0: Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 17

4.3.3 Byte 1: Status Bits and Distance to Go . . . . . . . . . . . . . . . . .4 - 18

4.3.4 Byte 2: Distance to Go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 20

4.3.5 Byte 3: Distance to Go . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 20

4.4 Combining the Message Frame Assignments and

the Most Important Formulas . . . . . . . . . . . . . . . . . . . . . . . .4 - 21

a

4

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EWA 4NEB 812 6061-02a

Figures

4-1. Velocity Profile of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . .4- 2

4-2. Operating Modes Diagram . . . . . . . . . . . . . . . . . . . . . . . . . .4- 14

4-3. Flowchart for Job Monitoring with the ”IJE” Bit . . . . . . . 4 - 19

Tables

4-1. Address Assignment of the Modules . . . . . . . . . . . . . . . . . .4 - 1

4-2. Addressing the Configuration Message Frames . . . . . . . . 4 - 3

4-3. Address Assignment of the Configuration

Message Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 4

4-4. Selecting the Frequency Range . . . . . . . . . . . . . . . . . . . . . .4 - 6

4-5. Addressing the Positioning Message Frames . . . . . . . . . . . 4 - 8

4-6. Address Assignment of the Positioning Message

Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 9

4-7. Operating Mode Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 11

4-8. Addressing Feedback Message Frames . . . . . . . . . . . . . . . . 4 - 15

4-9. Address Assignment of the Feedback Message

Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 16

4-10. Address Assignment of the Configuration Message

Frames (PC to IP 267). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 21

4-11. Address Assignment of the Positioning Message

Frames (PC to IP 267). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 20

4-12. Address Assignment of the Feedback Message

Frames (PC to IP 267). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 22

4-13. Frequency Ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4- 23

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EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4 Addressing and Programming

The IP 267 can be plugged into slots 0 to 7 of the S5-100U programmable

controller. There are eight bytes reserved for each slot in both the process input

image (PII) and the process output image (PIQ) and data exchange is via the first

four bytes of the PII and the PIQ. The last four bytes of the PII and the PIQ remain

free but they cannot be reserved for other uses. The IP 267 is accessed via the

process I/O images (PII, PIQ) with the same input addresses and output addresses

(address overlap).

Table 4-1. Address Assignment of the Modules

CPUPS

Analog

addresses

64

to

71

72

to

79

80

to

87

88

to

95

96

to

103

104

to

111

112

to

119

120

to

127

0 1 2 3 4 5 6 7

Slots

a

Not permis-

sible from slot

8 onward

98

a

The permissible address area ranges from 64 to 127. The IP 267 is accessed with

byte or word load and transfer operations just like analog input/output modules.

Example: Data exchange between the CPU and the IP 267 (on slot 3)

LIW 88 and LIW

90

TQW 88 and TQW

90

CPU IP

267

4

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EWA 4NEB 812 6061-02a

4-1

Addressing and Programming IP 267

The IP 267 exchanges data with the CPU of the programmable controller via the

serial interface. The user writes configuration data and positioning jobs into the

process output image (PIQ). From there this data is transferred once in every data

cycle to the IP 267. A disable in the IP 267 prevents the same jobs being executed

repeatedly.

The IP 267 generates symmetrical velocity profiles from the configuration and

positioning data. These profiles have equal acceleration and deceleration ramps

( Figure 4-1.).

Figure 4-1. Velocity Profile of the IP 267

t

fss

fss = Start/stop rate, fA = Stepping rate

a

1.Accele-

ration ramp 2.Constant stepping

rate/velocity range

a

3.Decele-

ration ramp

f

fA

Data from the IP 267 (feedback messages, distance to go, status) is stored in the

process input image (PII) cyclically and can be transferred cyclically from there to

the user program.

4-2

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.1 Configuring the IP 267

The IP 267 must always be configured after commissioning or after deleting valid

configuration data. The data is transferred to the IP 267 only after applying the

emergency limit switches (PDs). The first data set transferred from the PC to the IP

is interpreted as the configuration message frame, provided the multiplier for the

start/stop rate is not zero and the configuration bits are reset (KB0=0 and

KB1=0).

Note:

The CPU cannot read the currently valid configuration data direct from the

IP 267. It is therefore advisable to store the configuration data additionally in

two flag words or in a data block on the CPU when you configure the module.

You can then access this data at any time.

a

Table 4-2. Addressing the Configuration Message Frames

Slot No. BYTE

012 3

a

7

QB64 QB65 QB66 QB67

72 73 74 75

80 81 82 83

88 89 90 91

96 97 98 99

104 105 106 107

112 113 114 115

120 121 122 123

6

5

4

3

2

1

04

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EWA 4NEB 812 6061-02a

4-3

Addressing and Programming IP 267

4.1.1 Address Assignment of the Configuration Message Frames

(PC to IP)

Table 4-3. Address Assignment of the Configuration Message Frames

7

6

5

4

3

2

1

0

Byte 3

Byte 2

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

Byte 1

Byte 0

7

6

5

4

3

2

1

0

a

LSC Limit switch configuration

Unassigned

KB1

KB0 Configuration bits

Multiplier for the start/stop rate

1 SS 255

Unassigned

Time interval (TI) for stepping rate

increase/decrease

1 TI 255

FB2

FB1

FB0

Base value for

the rates

Unassigned

a

4-4

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.1.2 Byte 0: Multiplier for the Start/Stop Rate (SS)

Bit 0 to 7: The process output image (PIQ) has "0" default after resetting. You

must enter a value between 1 and 255 in byte 0, otherwise the

configuration message frame will be ignored.

fss (Hz) = BV(Hz) *SS *R

fss = Start/stop rate

BV = Base value for the rate ( Table 4-4.)

SS = Multiplier for the start/stop rate (1 to 255)

R = Reduction factor (1 or 0.1). This factor is determined

during the current positioning job.

4.1.3 Byte 1: Limit Switch Configuration (LSC) and Operating

Modes

Bit 1= 0: Inputs I+, I- (external STOP) "0"-active (NC)

Bit 1= 1: Inputs I+, I- (external STOP) "1"-active (NO)

Bit 4 to 5: Both configuration bits KB0 and KB1 must be "0" for the con-

figuration message frame to be accepted. This is always the case

during startup or when switching on the power.

4.1.4 Byte 2: Time Interval (TI) for Rate Increase/Decrease

You determine the values for TI with bits TI 0 to TI 7. During the acceleration

phase, the rate is incremented from the start/stop rate fss. It is incremented in

each time interval by a quarter of the base value (BV) until the stepping rate fA is

reached. The stepping rate is decremented in the same way in the deceleration

phase.

4

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EWA 4NEB 812 6061-02a

4-5

Addressing and Programming IP 267

Bit 0 to 7: You must enter a value for the multiplier TI between 1 and 255 in

byte 2 of the configuration message frame. The value "0" disables

pulse generation. During cold restart or on power up, the value "0"

for TI is entered in the PIQ.

BV (Hz) * R

4 * 0.032 ms * TI

a (Hz/ms) =

a = Frequency increase or decrease

BV = Base value for the frequency ( Table 4-4.)

TI = Multiplier for the time interval TI (1 to 255)

R = Reduction factor (1 or 0.1). This factor is determined

in the current positioning job.

4.1.5 Byte 3: Base Value for the Frequencies (BV)

Bit 0 to 2: You can select the eight possible frequency ranges for BV with the

three bits FB 0 to FB 2. If you do not enter a value, the module has a

default value of BV = 800 Hz on cold restart or on power up.

Table 4-4. Selecting the Frequency Range

FB2

1 1 1

1 1 0

0 11

1 0 0

0 1 1

010

0 0 0

20

8

0 0 1 400

200

40

4

2046250 to 24.5 31023125 to 12.25 7511560 to 6.12 1520.4625 to 2.45 3110.2312 to 1.22 635.1156 to 0.61 1272.0462.5 to 0.25 2551.0231.2 to 0.12

FB1 Pulse dura-

tion µs)

Max. freq.

in kHz where

V = 255

Base value

(Hz)

FB0 Accel./decel.

(Hz/ms)

TI = 1 to 255

800

80

2

a

4-6

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

The values for frequency and acceleration/deceleration in Table 4-4. only apply if

you set reduction factor 1 in the positioning job (bit R="0"). Divide the values

given by 10 (bit R="1") for reduction factor 0.1. The pulse duration is not

affected by this.

4.1.6 Deleting the Configuration

An existing IP 267 configuration can be deleted by sending a new job with the

velocity 0 and operating mode "STOP" to the IP 267 following transmission of a

positioning job (Bit IQA = 0). The module then switches over to the "Non-

configured" state; the LEDs on the front darken. The IP needs to be reconfigured

before it can process any positioning jobs.

4

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EWA 4NEB 812 6061-02a

4-7

Addressing and Programming IP 267

4.2 Positioning Message Frames (PC to IP)

You must transfer the configuration data to the IP 267 ( 4.1) before you send

positioning jobs. When the IP has been configured, the green "RDY" LED on the

frontplate lights up and the status bit ILCN in the feedback message frame is reset

( 4.3.2).

A positioning job consists of the path definition (number of pulses to be

executed), the multiplier for the velocity, the reduction factor for the velocity, the

operating mode (forwards, backwards etc.) and an identifier bit for the reference

point approach ( 5.4).

.

Table 4-5. Addressing the Positioning Message Frames

Slot No. BYTE

012 3

a

7

QB 64 QB 65 QB 66 QB 67

72 73 74 75

80 81 82 83

88 89 90 91

96 97 98 99

104 105 106 107

112 113 114 115

120 121 122 123

6

5

4

3

2

1

0

4-8

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.2.1 Address Assignment of the Positioning Message Frames

Table 4-6. Address Assignment of the Positioning Message Frames

OM0

OM1

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

Byte 0

Byte 1

Multiplier for

the velocity

1 V 255

Byte 2

Byte 3

a

Step pulses for the

path (binary coded)

Operating modes

Reduction factor R (1 or 0.1)

Reference point approach RPA

Step pulses for the

path (binary coded)

Step pulses for the

path (binary coded)

27

26

25

24

23

22

21

20

215

214

213

212

211

210

29

28

219

218

217

216 4

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EWA 4NEB 812 6061-02a

4-9

Addressing and Programming IP 267

4.2.2 Byte 0: Multiplier for the Velocity (V)

Bit 0 to 7: You must enter a binary value between 1 and 255 in byte 0. You can

calculate the stepping rate according to the following formula:

fA (Hz) = BV(Hz) *V*R

fA= Stepping rate of the motor

BV = Base value for the frequency ( Table 4-4.)

V = Multiplier for the velocity (1 to 255)

R = Reduction factor (1 or 0.1). The factor is determined in the

current positioning job

Note:

You can enter values from 1 to 255 for the multiplier. The maximum stepping

rate with a base value of BV =800 Hz is then 204 kHz. The IP 267 cannot

generate stepping rates lower than the preset start/stop rate (fss). Lower

stepping rates are corrected to the value of fss.

a

4-10

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.2.3 Byte 1: Path / Operating Mode

The path is specified as the number of step pulses to be executed. Bits P16 to P19

are the higher-order bits of the 20 bit address. The path can consist of a maximum

of 1,048,575 pulses per job.

Bit 0 to 3: Path P 16 to P 19

Bit 4 to 5: Operating mode bits OM 0 and OM 1:

The IP 267 offers four basic operating modes each of which can be

selected via the two operating mode bits OM0 and OM1 in the

positioning job or during configuration ( Table 4-7.).

Table 4-7. Operating Mode Bits

OM 0 MeaningOM 1

0

1

Stop

Start forwards

Start backwards

Neutral (preparation for

a new job)

a

0

1

0

1

"STOP" mode

Message frames with the "STOP" mode are interpreted as follows by the IP 267:

1. "STOP" in conjunction with velocity 0:

Interruption of current positioning jobs (with deceleration ramp)

2. "STOP" in conjunction with velocity = 0:

Delete module configuration

3. "STOP" in conjunction with start/stop rate (fss) 0:

Reconfigure module, e.g. after power failure

You can abort positioning jobs by sending the "STOP" mode to the IP. Pulse

output is not interrupted abruptly in this case but terminated with a deceleration

ramp ( Figure 2-1.)

.

4

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EWA 4NEB 812 6061-02a

4-11

Addressing and Programming IP 267

The module is in a "non-configured" state after power failure since all data in the

IP is deleted. The first message frame sent by the programmable controller to the

IP 267 is interpreted as the configuration message if both operating mode bits

signify "STOP" status and if the start/stop rate is not zero. Otherwise the data set

is not accepted and the module remains in the "non-configured" state. Valid

configuration data can be deleted if the "STOP" mode is sent to the IP in

conjunction with the velocity setting zero. In this case, the "Module configured"

LED (RDY) goes out.

"Start forwards" mode

The IP 267 can only execute a "Start forwards" job if it is in the "Standstill" state

and has previously executed one of the other operating modes ("Start back-

wards", "STOP" or "Neutral"); otherwise the module ignores the job. In the case

of "Start forwards", the IP 267 sets the RP (direction level) output to logic "1" and

the RP_N (inverted direction level) output to logic "0".

"Start backwards" mode

In the case of jobs with the "Start backwards" mode, the levels at outputs RP and

RP_N are exchanged (RP = "0", RP_N = "1").

The IP 267 does not accept "Start forwards" or "Start backwards" positioning

jobs with the path set to 0.

"Neutral" mode (preparation for a new job)

The process output image PIQ is output to the modules connected each time the

programmable controller program is scanned. A positioning job can therefore be

sent to the IP 267 on several occasions but the IP only executes the first job. The IP

will only execute a subsequent job if it receives a different operating mode to the

previous one.

If you allocate two traversing jobs with the same direction, you must remove the

disable after the start of the first job by transferring "Neutral" mode to the

module. However, you should first scan the status message "Job executing" (IJE)

to determine that the first job has been executed. If IJE = 0, you can start a new

job in the same direction. Subsequent jobs with a different direction to the

previous job can be started without first activating the "STOP" or "Neutral"

modes ( 6.2.1).

4-12

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

Bit 6: Reference point approach RPA

The reference point marks a system zero point for the IP 267 from

which it starts traversing jobs. You can calculate reference points if

you connect a separate switch (BERO, etc.) to the REF digital input. If

you set bit RPA, a positive edge at the REF digital input initiates

deceleration ( 5.4).

Bit 7: Reduction factor R

You can reduce the frequency range of the stepping rate and the

start/stop rate by a factor of 10 using R. The pulse duration is

unaffected by this.

R="0" : Reduction factor 1

R="1" : Reduction factor 0.1

4

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EWA 4NEB 812 6061-02a

4-13

Addressing and Programming IP 267

Figure 4-2. Operating Modes Diagram

Job

sequence

a

Start

backwards

OM 0

OM 1

IPQ

IJE

IDG

a

STOP

job

a

Neutral

job

a

External

STOP

a

Start

forwards

a

Start

forwards

a

Start

forwards

Status bits of the feedback message frame (IP 267 to PC)

IPQ = Pulse output active

IJE = Job executing

IDG = Distance to go

See 4.3.2 for further information on the feedback message frame.

4.2.4 Byte 2: Path

Bit 0 to 7: Paths P 8 to P 15

4.2.5 Byte 3: Path

Bit 0 to 7: Paths P 0 to P 7

4-14

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.3 Feedback Message Frames (IP 267 to PC)

Information on the distance to go and the status bits of the IP 267 are sent in the

feedback message frame to the addresses in the process input image (PII)

( Table 4-8.). The process I/O images (PII and PIQ) are updated after every scan

of OB 1. The contents of the PIQ are transferred to the IP 267 at the same time as

the feedback messages of the IP 267 are transferred to the PII. The feedback

messages of the IP 267 are therefore always delayed by one OB cycle. The

feedback message for a particular positioning job can therefore be evaluated

after the next OB cycle.

The distance to go and the status bits are stored until the IP 267 receives a new

positioning job or the configuration is deleted. Bits "IPQ" (pulse output), "IPD"

(pulse disable), "ILCN" (configuration executed) and "IJE" (job executing) are

exceptions to this. IPQ is only set for the duration of pulse output; "IPD" is set

when the digital input PD (emergency limit switch) is active. You can only reset

"IPD" when PD is no longer active (limit switch not activated) and the

configuration of the module is deleted.

Table 4-8. Addressing Feedback Message Frames

Slot No. BYTE

012 3

a

7

QB 64 QB 65 QB 66 QB 67

72 73 74 75

80 81 82 83

88 89 90 91

96 97 98 99

104 105 106 107

112 113 114 115

120 121 122 123

6

5

4

3

2

1

0

4

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EWA 4NEB 812 6061-02a

4-15

Addressing and Programming IP 267

4.3.1 Address Assignment of the Feedback Message Frames

Table 4-9. Address Assignment of the Feedback Message Frames

Distance to go< 0 DGS

Job executing IJE

IP 267 not configured ILCN

Pulse disable IPD

Pulse output IPQ

Distance to go IDG

Limit switch end ILSE

Limit switch start ILSS

Reference point IRP

External stop IES

27

26

25

24

23

22

21

20

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

Byte 0

Byte 1

Byte 2

Byte 3

a

Step pulses of the distance

to go (binary coded)

Step pulses of the distance

to go (binary coded)

Step pulses of the distance

to go (binary coded)

Unassigned

219

218

217

216

215

214

213

212

211

210

29

28

4-16

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.3.2 Byte 0: Status Bits

Bit 0: External stop - "IES"

The "IES" bit is set if the digital input STOP has been activated. The bit

is reset by a new, valid job.

Bit 1: Reference point - "IRP"

The "IRP" bit is set if input REF has been activated during traversing

movements with bit RPA set. The bit is reset by a new, valid job.

Bit 2: Limit switch start - "ILSS"

The "ILSS" bit is set if input I - has been activated during traversing

movements with operating "Start backwards" mode. The bit is reset

by a job with operating "Start forwards" mode even if the limit

switch is still active.

Bit 3: Limit switch end - "ILSE"

The "ILSE" bit is set if input I+ has been activated during traversing

movements with operating "Start forwards" mode. The bit is reset by

a job with operating "Start backwards" mode even if the limit switch

is still active.

Bit 4: Distance to go - "IDG"

The "IDG" bit is set if the IP 267 does not supply the specified number

of pulses for a positioning job. The bit is reset after the complete

number of pulses have been output.

Bit 5: Pulse output - "IPQ"

The "IPQ" bit is set as long as the module outputs step pulses. The bit

is reset after the last pulse and the relevant pause has been output

(period duration of the step frequency).

4

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EWA 4NEB 812 6061-02a

4-17

Addressing and Programming IP 267

Bit 6: Pulse disable - "IPD"

The "IPD" bit is set if input PD is active. The IP 267 resets the "IPD" bit

only when input PD is inactive and the module is reconfigured.

Bit 7: IP 267 not configured - "ILCN"

The "ILCN" bit is reset if valid configuration data is transferred to the

module during the configuration run. The bit is set by a job with zero

velocity and "STOP" mode.

4.3.3 Byte 1: Status Bits and Distance to Go

Bit 0 to 3: Distance to go DV 16 to DV 19

The distance to go indicates the number of (output) step pulses still to

be executed. This number is stored in a 20-bit address as a binary

value. P 16 to P 19 are the higher-order bits.

Bit 4 to 5: Unassigned

Bit 6: Job executing - "IJE"

The "IJE" bit "Job executing" is set as soon as a "Start forwards" or

"Start backwards" job is transferred to the IP 267 and executed. The

"IJE" bit is reset if the operating mode changes to neutral or STOP

and pulse output of the current job is complete (both conditions must

be met). You can use "IJE" as an acknowledgement bit if you execute

positioning jobs with extremely short paths: if the duration of pulse

output is shorter than the PC scan time, you cannot use the status

feedback message "IPQ" to check if a job has already been executed.

By contrast, "IPQ" remains set even after pulse output ( Figure 4-2.).

4-18

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

Figure 4-3. Flowchart for Job Monitoring with the "IJE" Bit

Start job Neutral

(STOP)

Reset

No

Yes

IJE=0

Wait cycle

OB1

Bit 7: Sign of the distance to go DGS

"0"=positive

"1"=negative

The IP 267 can abort positioning jobs with external signals, e.g. with the limit

switches EPLUS or EMINUS. After abort signals in the acceleration phase, the IP

continues sending pulses for another 50 ms at the rate already reached. After

expiration of these 50 ms, it will initiate the deceleration phase. This procedure

avoids sudden rate changes which could result in step losses.

Note:

In the case of an abort in the acceleration phase, the IP 267 outputs more pulses

than provided for under the following conditions:

- 33% to 37.5% of all pulses have already been output

- The velocity reached at job abort was so high that, during the period of

50 ms, the same number of pulses was output as during the acceleration

phase.

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4

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EWA 4NEB 812 6061-02a

4-19

Addressing and Programming IP 267

Since exactly the same number of pulses are output in the deceleration phase as

in the acceleration phase, the IP 267 outputs a maximum of 112.5% (3 x 37.5%) of

the specified pulses. The distance to go has a negative sign in this case and the

"DGS" bit is set. You can interrupt your program at this point, if necessary, and

take suitable measures, e.g. start a reference point approach.

4.3.4 Byte 2: Distance to Go

Bit 0 to 7: Distance to go DV 8 to DV 15

4.3.5 Byte 3: Distance to Go

Bit 0 to 7: Distance to go DV 0 to DV 7

4-20

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

4.4 Combining the Message Frame Assignments and the Most

Important Formulas

Table 4-1. Address Assignment of the Configuration Message Frames

(PC to IP 267)

Multiplier V for velocity

Factor

Reference point

approach bit RPA

Operating modes OM 1

OM 0

Path 216 to 219

215 to 28

27 to 20

Multiplier for the

start/stop rate

Unassigned

KB1

KB0

Unassigned

Limit switch

low/high active

Unassigned

Time interval TI for

frequency increase

Unassigned

Byte 2

70

Byte 1

76543210 Byte 3

7 . . . 3 2 1 0

Byte 0

7 . . . 0

a

Byte 3

70

Byte 2

70

Byte 1

7 6 5 4 3 . . . 0

Byte 0

7 . . . 0

a

Table 4-11. Address Assignment of the Positioning Message Frames

(PC to IP 267)

Config. bits

Base value FB 2

for frequencies FB 1

FB 0

4

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EWA 4NEB 812 6061-02a

4-21

Addressing and Programming IP 267

Table 4-12. Address Assignment of the Feedback Message Frames

(PC to IP 267)

Status :

0: External stop IES

1: Reference point

approach IRP

2: Lim. switch start ILSS

3: Lim. switch end ILSE

4: Distance to go IDG

5: Pulse output IPQ

6: Pulse disable EIS

7: IP not config. ILCN

Status:

7: Dist. to go < 0 DGS

6: Job executing IJE

Unassigned

Dist. to go 216 to 219

215 to 28

27 to 20

Byte 3

7 . . . 0

Byte 2

7 . . . 0

Byte 1

76543 . . . 0

Byte 0

76543210

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4-22

EWA 4NEB 812 6061-02a

IP 267 Addressing and Programming

Table 4-13. Frequency Ranges

31.2 to 0.124

Stepping rate (fA):

fA (Hz) = BV(Hz) * V * R

20

8

FB 1 Base

value (Hz)

FB 0FB 2

1

0

1

0

0 0 0

0 0 1 400

0 1 0 200

0 1 1 80

1 0 0 40

1 1 1

2

204

6250 to 24.50

31023125 to 12.25

71560 to 6.12

1520.40

3110.20312 to 1.22

63156 to 0.61

12762.5 to 0.25

2551.02

Pulse dura-

tion (µs)

Max. freq.

in kHz

at V=255

Accel./decel.

(Hz/ms)

TI=1 to 255

800

a

Frequency

increase/decrease:

SS= Multiplier for the

start/stop rate (1 to 255) TI = Multiplier for the

time interval TI (1 to 255) V= Multiplier for the

velocity (1 to 255)

BV = Base value for frequencies

R = Reduction factor (1 or 0.1). This factor is

determined in the current positioning job.

Start/stop rate (fss):

fss (Hz) = BV(Hz) * SS * RBV (Hz) * R

4 * 0.032 ms * TI

a (Hz/ms) =

Formulas for frequency calculation and frequency modification:

51

5.10

2.04

625 to 2.45

4

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4-23

5.1 Safety Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 1

5.2 Preparing the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 - 2

5.2.1 Which Signals are Required for the Power Section? . . . . 5 - 2

5.2.2 Which Addresses are Assigned? . . . . . . . . . . . . . . . . . . . . . .5 - 3

5.2.3 Preparing the Power Section . . . . . . . . . . . . . . . . . . . . . . . . .5- 4

5.3 Startup of the Plant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 5

5.4 Determining a Reference Point . . . . . . . . . . . . . . . . . . . . . .5 - 8

5.4.1 Determining a Reference Point with Separate Switch . . 5 - 8

5.4.2 Determining a Reference Point with Limit Switches . . . . 5 - 9

5.5 Notes for Direct Data Entry with Programmers or

Operator Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 10

5.6 Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 12

5.6.1 Determining the Motor Identification Data . . . . . . . . . . . 5 - 13

5.6.2 Selecting the Power Section . . . . . . . . . . . . . . . . . . . . . . . . .5- 14

5.7 Diagnostics Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 16

5 Notes on Operation

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5

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EWA 4NEB 812 6061-02a

Figures

5-1. Typical Data Exchange Between the CPU and the

IP 267 (in Slot 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 3

5-2. Arrangement of Limit Switches and Emergency

Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 5

5-3. Distances Between Limit Switches and

Emergency Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 7

5-4. Reference Point Calculation with the REF Switch . . . . . . . 5 - 10

5-5. Determining a Reference Point with the I+ Switch . . . . . 5 - 10

5-6. Typical Torque Characteristic as a Function of

the Frequency of a Stepper Motor . . . . . . . . . . . . . . . . . . .5 - 14

Tables

5-1. Addressing the Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . .5- 3

5-2. Connector Assignments IP 267 (6ES5 267-8MA 11) . . . . . 5 - 4

5-3. Output Signals of the IP 267 . . . . . . . . . . . . . . . . . . . . . . . . .5- 15

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EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

5 Notes on Operation

Please ensure that your programmable controller meets the following require-

ments:

• The S5-100U is properly installed and wired;

• The power supply unit is connected according to regulations ( S5-100U

Manual);

• The CPU of the S5-100U can work with the IP 267 ( Preface).

You require a programmer (PG 605/615/635/675/685/695 or 750) with the STEP 5

programming package for configuring and programming the IP 267.

5.1 Safety Concept

The following switching elements are indispensable to the safety concept of the

system and must therefore be installed with great care and adapted to the

conditions of the system:

• Emergency OFF switches, with which you can switch off the whole system

( Caution block on the next page).

• Limit switches, with which you limit the traversing range. These switches

initiate programmed deceleration and can be connected to the digital inputs

I + and I - as NCs or NOs.

• Two emergency limit switches, which only respond after a limit switch has

responded. The input PD is always "0" active, i.e. this circuit is closed-circuit

protected. You can only use NCs as emergency limit switches (PDs) and

combinations of emergency limit switches (PDs) must always be connected in

series. These switches disable pulse output immediately and they must be

connected to the digital input PD of the IP 267. When making these

connections, please observe the required clearances between PD and I + and

I - ( Figure 5-3.).

5

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5-1

Notes on Operation IP 267

The IP 267 safety switches (limit switches, emergency limit switches, STOP

switches) can stop the stepper motor but the motor windings are not then

completely free of current. The residual current still flowing holds the motor in

position. You may not be able to move the drive out of the danger zone in

emergencies.

For this reason, you should install an emergency OFF switch to switch off the

power section.

W A R N I N G

a

5.2 Preparing the IP 267

The IP 267 offers a variety of connections so please make sure which signals and

signal levels you require for your system and tick the marked fields where

required.

5.2.1 Which Signals are Required for the Power Section?

• 5 V differential inputs or 5 V optocoupler inputs. ( )

Set the sliding switch on the frontplate of the IP 267 to "5 V".

• 5 V to 20 V inputs, special voltage Vs.()

Set the sliding switch on the frontplate of the IP 267 to "Vs".

5-2

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

5.2.2 Which Addresses are Assigned?

• The IP 267 assigns addresses in the analog range of the S5-100U. The module

addresses are preset by the fixed slot addressing of the programmable

controller. You can operate the IP 267 in slots 0 to 7 ( Table 5-1.). Eight bytes

are reserved per slot and the first four of these bytes are assigned.

Table 5-1. Addressing the Modules

CPUPS

Analog

addresses

64

to

71

72

to

79

80

to

87

88

to

95

96

to

103

104

to

111

112

to

119

120

to

127

01234567

Slot

a

• If you use the IP 267 in slot 3 of the programmable controller, for example,

bytes 88 to 91 in the process output image (PIQ) and the process input image

(PII) are used for communication between the CPU and the IP 267. The other

four bytes remain unused. You can reference these addresses with the STEP 5

load and transfer operations ( Figure 5-1.), to exchange input/output

messages between the CPU of the programmable controller and the IP 267.

Figure 5-1. Typical Data Exchange Between the CPU and the IP 267 (in Slot 3)

L IW88 and L IW90

T QW88 and T QW 90

CPU IP

267

Slot used : ...........

First address byte : ...........

5

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EWA 4NEB 812 6061-02a

5-3

Notes on Operation IP 267

5.2.3 Preparing the Power Section

Connect the signal cables to the power section. Observe the manufacturer's

instructions. Tick the connections used one after the other in the "Power section"

field, where required.

Table 5-2. Connector Assignments IP 267 (6ES5 267 8-MA11)

Power sectionColour code9-way subminiature D connector

1 : ---

2 : Clock

3 : ---

4 : Clock inverted

5 : ---

6 : ---

7 : Direction level

8 : Direction level inverted

9 : NL ground

a

white

brown

green

yellow

grey

()

The cable shielding is connected to the connector shell.

• Set the desired operating mode (full-step or half-step) on the power section.

• Wire the enable signals for the power section if required (current drop, boost,

etc.).

• Connect the cables to the IP 267.

• Connect the limit switches, emergency limit switches, BEROs etc. with the

digital inputs on the IP 267 terminal block.

• If you use the special voltage Vs for the signals to the power section, you must

connect the negative pole of Vs to the ground of the programmable

controller (terminal block, terminal 2). The plus pole of Vs is connected to

terminal 9 of the terminal block.

• All connections must be screwed tight for safety reasons.

5-4

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

5.3 Startup of the Plant

Check once more the function of your emergency OFF facility as well as the limit

switches and the emergency limit switches (PD) before you switch the plant on.

The emergency limit switches must always be connected in series. The limit switch

actuators (on machine slides, etc.) must be located on axes within the switching

range ( Figure 5.2.). If this is not the case, you must rotate the axes manually to

within the desired range.

Figure 5-2. Arrangement of Limit Switches and Emergency Limit Switches

Inhibited area Inhibited area

I+

PD I - RF PD

Permissible area

I+, I - Limit switches

PD Emergency limit switches

(pulse disable)

After checking all connecting cables, you can switch on the individual power

sources, observing the following order:

• Switch on the programmable controller, no LEDs should light up on the IP 267

until it is configured.

• If you are using special voltage Vs, switch Vs on.

• Now switch on the power section.

Connect the programmer to the CPU and load the STEP 5 package into the

programmable controller.

5

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EWA 4NEB 812 6061-02a

5-5

Notes on Operation IP 267

The green "RDY" LED on the frontplate of the IP 267 lights up after it has

received the data.

Note:

If you send the output message frames to the IP 267 with the "FORCE VAR"

programmer function during startup, there are important points you must note

( 5.5 ).

a

W A R N I N G

When carrying out the following steps, make sure that the motors can be

switched off at all times (emergency OFF switches or limit switches must be

within easy reach). Assign only traversing jobs with low velocity steps at first.

a

• Transfer a "Forwards" or "Backwards" job with a short path and low velocity.

The drive must move smoothly.

• Check the function of the emergency limit switches (PD) acting directly on the

pulse disable.

• Check the correct execution of the "Forwards" and "Backwards" modes and,

if necessary, interchange the RP and RP_N signal wires at the power section.

• Test both limit switches (I +, I -) acting on the IP 267. Limit switch I + must

respond at the end of the forwards approach and I - must respond at the end

of the backwards approach, otherwise you must change over the EPLUS and

EMINUS connections at the digital inputs of the IP 267 ( 3.3).

• The input "External STOP" must be connected as specified in the

configuration data ("0" active or "1" active).

5-6

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

Figure 5-3. Distances Between Limit Switches and Emergency Limit Switches

I+ I - PD

Inhibited area Inhibited area

Switching range I+ Switching range I -

Permissible range

PD

Starting

point

Start forwards

REF

fss

I+, I - Limit switches

PD Emergency limit switch (pulse disable)

a

• Make sure there is a sufficient distance between the limit switches and the

emergency limit switches. This distance depends on the particular application.

If the drive approaches the I + or I - switching points at (normal) maximum

velocity, it must come to a standstill before reaching the emergency limit

switch (PD). If an emergency limit switch responds, the IP 267 is disabled. You

must reconfigure the IP 267 before it can accept further positioning jobs.

• Execute a reference point approach ( 5.4.)

• Test the external STOP function ( 3.4.)

C A U T I O N

a

When a limit switch is operated, the IP 267 aborts the positioning procedures

and disables all further jobs with the same direction of approach. The disable is

only cancelled when a positioning job is executed in the opposite direction or if

"STOP"/"Neutral" is programmed. If the axis does not leave the "inhibited"

traversing range during this approach and if the limit switch gives no contact,

an approach in the direction of PD would then be possible ( Figure 5-3.). To

make sure that no positioning job can be started from the "inhibited" range

(i.e. between limit switches and emergency limit switches PD) in the direction

of PD, the switching range of the limit switches must be as wide as the total

inhibited range ( Figure 5-3.).

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5

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5-7

Notes on Operation IP 267

5.4 Determining a Reference Point

Reference points calibrate the drive system and determine a system zero point

for the following positioning jobs. To calculate the reference point, you can

install a separate switch (position switch, BERO, etc.) within the traversing range

that will send a signal to the REF reference input when triggered. You can,

however, also use one of the limit switches for this purpose. In this case, the REF

input remains unassigned. The IP 267 evaluates a REF signal only if the RPA bit in

the positioning message frame is set. A reference point will exactly be

reproduced each time it is approached from the same direction. The direction

need only be laid down once.

The reference point approach must always be executed during commissioning,

after power failure or after operation of the emergency limit switch (PD).

The reference point approach is calculated in three steps:

• Search for reference switch

• Overtravel reference switch

• Approach reference switch (slowly)

5.4.1 Determining a Reference Point with Separate Switch

To calculate the reference point start by initiating a positioning job in any

direction. Set, for example, "Start forwards" mode with high velocity. The RPA bit

is set and the maximum path is transferred.

When the module detects the reference switch (REF input activated), it stops with

a slight delay. If the reference point is not found in this direction, the traversing

path ends for the time being at limit switch I+.

In both cases, you must then assign a positioning job with the same parameters

but with "Start backwards". This traversing movement is aborted with the

reference switch. The contact of the reference switch should not be blocked at

the end of the traversing movement. You will otherwise have to program an

auxiliary approach section with the same direction of travel and RPA = 0 to

enable the switch contact again ( 6.4.1).

5-8

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

Then you assign a "Start forwards" job setting a start/stop rate. Pulse output

immediately stops when the reference switch is detected. The position reached is

the reference point for further positioning jobs.

Figure 5-4. Reference Point Calculation with the REF Switch

fss

Starting

point

Start forwards

Start backwards

PD I - REF I+ PD

5.4.2 Determining a Reference Point with Limit Switches

If you select limit switch I+, for example, as the reference switch, start a

positioning job with high velocity, "Start forwards" and maximum path. The

traversing movement is ended with the deceleration ramp at the limit switch.

The limit switch is then left at low velocity with the "Start backwards" job.

Figure 5-5. Determining a Reference Point with the I+ Switch

Start backwards

fss

Starting

point

Start forwards

PD I - I+ PD

5

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EWA 4NEB 812 6061-02a

5-9

Notes on Operation IP 267

You then continue to the limit switch with "Start forwards" and at the start/stop

rate. The traversing movement stops immediately when the limit switch is

reached. You can re-establish this reference point at any time with step accuracy

if you approach it with the same pulse frequency from the same direction.

Note:

Contact bounce at the REF, EMINUS and EPLUS inputs are compensated for by

the module. This delays signal processing. To enable the IP 267 to reproduce

reference points exactly, the periode of the step frequency must be greater

than the signal delay. You must therefore approach the reference points with

step frequencies of less than 100 Hz. In the case of start/stop rates greater

than 100 Hz, you can decrease the relevant step frequency by the reduction

factor R in the current positioning job - i.e. without reconfiguring.

a

5.5 Notes for Direct Data Entry with Programmers or Operator

Panels

You can transfer data from programmers or operator panels (OPs) to the PC.

When the transfer command is entered in the "FORCE VAR" mode of the

programmer or from the operator panel, the interface transfers data byte-wise to

the CPU at a baud rate of 9600 bits/s (=1 byte per 850 µs).

When the first byte has been completely transferred to the CPU, the processor in

the CPU initiates an interrupt. Cyclic processing of the program is interrupted and

the transferred byte is written into the PIQ. Cyclical processing of the program is

then continued until the second byte has been completely transferred by the

interface. As soon as the second byte has been completely transferred to the CPU,

the processor in the CPU initiates a further interrupt in order to transfer the

second byte to the PIQ, and so on.

5-10

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

The various interrupts are separated by a delay of approximately 850 µs during

which the cyclic program is processed. This corresponds to approximately 10

statements in the case of the CPU 100. Processing of an output message can lead

to errors under certain circumstances if a new "Start forwards" command is

transferred from the PIQ to the IP 267 and is already being processed even

though the relevant new path is not yet available, e.g. because an OB1 scan was

completed during the interrupt sequence.

Note:

Configuring messages and positioning message frames must be transferred

from the programmer/OP to the PIQ in one scan, otherwise the desired IP 267

response is not guaranteed.

a

You can use the following programming mode to ensure that output messages

are only processed en bloc, i.e. they are only transferred to the IP 267 when they

are complete in the PIQ.

OB 1 PB 1

:

: R F 0.0

: L FW 10

A F 0.0 T QW 88

JC PB1 L FW 12

: T QW 90

:BE

The data (QW88, QW90) is not written direct into the PIQ from the operator

panel but in data words (DW10, DW12). Only then can you set flag F 0.0 on the

operator panel. By doing so you make sure that PB1 can only be called if all the

data is valid. The data is then transferred en bloc by PB1 to the PIQ and,

consequently, to the IP.

If F 0.0 is set immediately in the operator panel display, the conditional jump to

PB1 can take place before data words DW 10 and DW 12 contain the desired data.

5

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EWA 4NEB 812 6061-02a

5-11

Notes on Operation IP 267

Configuring message frames must also be transferred from the programmer/OP

to the PIQ within one scan. If this is not the case, the IP 267 receives message

frames which are only partly updated. If these configuring message frames are

recognized by the IP 267 (multiplier for the start/stop rate not zero and "STOP"

mode in the PIQ), the following errors can occur under certain circumstances:

• The time interval is interpreted by the IP 267 with the old value of the

relevant byte

• Wrong frequency range

• Wrong limit switch configuration

• ...

5.6 Motor Selection

Pleae note the following points when selecting a motor:

• Can the stepper motor develop the required torque?

• Can load variations occur that might lead to step losses (load torque

temporarily greater than motor torque)?

• Does the actual position have to be checked using an additional position

encoder? (e.g. using a stepper motor with integral encoder and with a

25/500 kHz counter module, Order No. 6ES5 385-8MB11)

• Would it be advisable to use a drive unit capable of detecting and correcting

step losses?

If a stepper motor meets the above requirements, there are still the following

selection criteria to be taken into account (mechanical dimensions and designs

are ignored here):

• How great is the maximum load torque?

• Up to what pulse frequency can the motor develop the required torque?

• How great must the number of steps of the motor be to reach the required

path resolution?

5-12

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

5.6.1 Determining the Motor Identification Data

Required path resolution k = . . . . . . . µm/pulse

Required traversing velocity Vmax = . . . . . . . mm/min

Max. load torque at the motor shaft Mmax = . . . . . . . Ncm

The ratio ü of the shaft and the number of pulses per revolution m of the motor

must be selected so that their quotient results in the required resolution k:

ü = m * k m = . . . . . . . pulses/rev

k = ü / m ü = . . . . . . . mm/rev

The maximum pulse frequency fmax is calculated as follows:

Vmax (mm/min)

fmax [kHz] = k * 60 (mm/pulse)

A type must now be selected from the characteristic curves of the motors capable

of developing the required torque, without step loss, at the calculated frequency

fmax.

Figure 5-6. shows a typical stepper motor curve. See 6.6 for an application

example.

Note:

If the desired torque characteristic can be implemented with the selected

motor only in half-step mode, you must double the frequency in order to

achieve the same velocity in full-step mode. The resolution doubles in this case

since only half the path is covered with each pulse.

a

5

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EWA 4NEB 812 6061-02a

5-13

Notes on Operation IP 267

Figure 5-6. Typical Torque Characteristic as a Function of the Frequency

of a Stepper Motor

800

700

600

500

400

300

200

100

100000

[Step/s]

12000

[min -1]

50000

|

6000

5000

|

600

10000

|

1200

100

|

12

500

|

60

1000

|

120

Constant current

5 A/phase

Half-stepFull-step

Torque (Ncm)

Start/stop

rate

5.6.2 Selecting the Power Section

The IP 267 sends the signals listed in Table 5-3 as 5 V differential signals

(standard). A special voltage of 5 V to 30 V can also be used. This voltage must

apply externally to the IP 267 terminal block. Select your power section so that it

can also process the highest pulse frequency fmax.

5-14

EWA 4NEB 812 6061-02a

IP 267 Notes on Operation

Table 5-3. Output Signals of the IP 267

*inverted signals

Power section requires:

Signal Level Dura-

tion

Vµs

IP 267

Signal Pulse duration

µs

Signal

a

Clock

pulse

TN

Direction

level

TN

TN\*

RP

RP\*

1- 3- 7

15 - 31 - 63

127 - 255

Voltage level for

forwards or back-

wards motion

You can enter the required signal configuration for the power section in the

right-hand column of Table 5-3.

5

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5-15

Notes on Operation IP 267

5.7 Diagnostics sheet

Possible sources of errorDescription of error/fault

Module cannot be configured

a

-Module addressing incorrect

- IP 267 has been configured using a programmer with

the "Force variable" function or using an OP

( Notes 5.5)

- Old configuration has not been deleted

Module parameters can be set but

module signals "Abort" (red "ABT" LED

lights up).

- External STOP, limit switch or emergency limit swich

(PD) active

- IP267 has been configured using a programmer with

the "Force variable" function or using an OP

( Notes 5.5)

Motor "howls" but does not move.

Motor jerks and remains still. Frequency increase too high (time intervals too

small). Note resonant frequencies of drive

Motor accelerates and then remains still

and howls. Output frequency or load torque too high. Voltage

for operating motor is too low

The signals are present at the output of

the IP but the motor does not move.

-Signal cables to IP connector have been crossed.

- Does the power section need a separate enable

signal?

- Special voltage VS not connected correctly.

The module does not switch to the

"Pulse output" status in the case of

"Forwards" or "Backwards" mode.

- External limit switch (PD) active

- External STOP active

- REF input active and the RPA (reference point

approach) set

- Limit switch start (I -) or end (I+) has already been

actuated in backwards or forwards mode

- Time interval (TI) has been set equal to zero in the

configuring data

- "Forwards" or "Backwards" mode has already been

selected so that the module now receives no valid

traversing command.

No output signals can be measured

although the distance to go has been

counted.

Start/stop rate or acceleration too high

5-16

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6.1 Configuring and Reconfiguring the IP 267 . . . . . . . . . . . . 6 - 2

6.1.1 Programming Example "Reconfiguring the IP 267" . . . . 6 - 3

6.2 Fixed Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 6

6.2.1 Program Example "Transferring Positioning

Jobs to the IP 267" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 7

6.3 Parameter Transfer Using Digital Input Modules . . . . . . 6 - 11

6.3.1 Program Example "Positioning Job" . . . . . . . . . . . . . . . . . .6 - 11

6.4 Determining Reference Points with Separate Switch. . . 6 - 14

6.4.1 Program Example "Reference Point Approach

with Separate Switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 15

6.5 Reference Point Aproach with Limit Switch . . . . . . . . . . . 6 - 20

6.5.1 Program Example: "Reference Point Approach

with Limit Switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 21

6.6 Loading and Unloading a Waggon . . . . . . . . . . . . . . . . . . .6 - 25

6.6.1 Selecting the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 26

6.6.2 Setting the Configuration Data . . . . . . . . . . . . . . . . . . . . . .6 - 26

6.6.3 Configuration Data for the Path C to A . . . . . . . . . . . . . . . 6 - 27

6.6.4 Configuration Data for the Paths A to B and B to C . . . . . 6 - 31

6.6.5 Positioning Job C to A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 34

6.6.6 Positioning Job A to B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 35

6.6.7 Positioning Job B to C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 37

6.6.8 Linking to the User Program . . . . . . . . . . . . . . . . . . . . . . . . .6- 38

6.6.9 Program Example "Loading and Unloading a Waggon" 6 - 39

6 Application Examples

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Figures

6-1. Flowchart for Programming Example "Reconfiguring" . 6 - 3

6-2. Flowchart "Transferring Positioning Jobs" . . . . . . . . . . . . 6 - 7

6-3. Flowchart "Reference Point Approach

with Separate Switch" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 15

6-4. Flowchart for Programming Example "Reference

Point Approach with Limit Switch" . . . . . . . . . . . . . . . . . . .6 - 21

6-5. Arrangement of the Silos Along the Path . . . . . . . . . . . . . 6 - 25

6-6. Example of Moment of Inertia as a Function of fss . . . . . . 6 - 28

6-7. Structure of the User Program "Loading and Unloading a

Waggon" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 38

Tables

6-1. Path Breakdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 25

6-2. Configuration Message Frame for the Path C to A . . . . . . 6 - 30

6-3. Configuration Message Frame for the Paths A to B

and B to C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6- 33

6-4. Positioning Job for the Path C to A . . . . . . . . . . . . . . . . . . .6 - 35

6-5. Positioning Job for the Path A to B . . . . . . . . . . . . . . . . . . .6 - 36

6-6. Positioning Job for Path B to C . . . . . . . . . . . . . . . . . . . . . . .6 - 37

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IP 267 Application Examples

6 Application Examples

The IP 267 occupies slot 3 of the programmable controller in all examples. The

input/output message frames are therefore written into byte addresses 88 to 91.

All program examples can run on all CPUs (CPU 100, 102 and 103) of the S5-100U.

Examples 1 to 5 are based on the block principle, i.e. certain program sections

(FBs and OBs) of the previous example are used in the subsequent examples. The

examples are structured as follows:

Example 1 ( 6.1) covers: Configuring/reconfiguring the IP 267

Example 2 ( 6.2) covers: Example 1 and fixed positioning jobs

Example 3 ( 6.3) covers: Example 2 and starting of positioning jobs via digital

I/Os

Example 4 ( 6.4) covers: Example 3 and reference point approach with separate

switch

Example 5 ( 6.5) covers: Example 4 and reference point approach with limit

switch

Example 6 contains only autonomous program sections. You can start this

program without loading the other example programs into the PC memory.

The examples are designed only to illustrate the principle involved in

programming the IP 267. They are therefore extensively documented and the

statement lists contain comments. Each programming example represents only

one of several possible solutions.

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6-1

Application Examples IP 267

6.1 Configuring and Reconfiguring the IP 267

In the following example, the IP 267 is configured with new data at each cold re-

start or warm restart.

A configuration always requires two subsequent message frames. The first

message frame deletes the current IP 267 configuration data and the second

reconfigures the IP 267.

Data is exchanged between the IP 267 and the CPU exclusively via the process I/O

images (PII and PIQ). The PIQ must contain the complete message frame and the

first OB 1 scan must be complete before the second message frame is then

transferred to output words QW 88 and QW 90 in the next program scan. Other-

wise the IP 267 receives only the second message frame. If the old data is still

available in the IP 267, the second message frame is interpreted as a positioning

job with the "STOP" mode and not as the configuration message frame.

Please note the following when programming warm restart routines in OB 21 or

OB 22:

• After switching on the CPU, the configuration message frame at the end of

the first OB 1 scan is transferred to the IP. The message frame may not be

changed during the first OB1 processing.

• Overall reset of the IP 267 occurs after power failure and can be reconfigured

with OB 22.

• The PIQ is reset in the case of manual cold restart and the IP configuration

data is still available. This configuration data can only be deleted if the

contents of the PIQ are still reset after the first cyclic scan of OB 1. Otherwise

the IP 267 interprets a configuration message frame in OB 21 as being a

positioning job with "STOP" mode ( 6.1.1).

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IP 267 Application Examples

6.1.1 Programming Example "Reconfiguring the IP 267"

The IP 267 can be reconfigured with function block FB 50. FB 50 is executed twice

when flag F 101.6 is set (see OB1). The present configuration data is deleted

during the first run and then the IP 267 is reconfigured. Flag F 101.6 can be set in

the warm restart OBs (OB 21 and OB 22).

Figure 6-1. Flowchart for Programming Example "Reconfiguring"

START

Overall reset of IP 267

Transfer new data set

to IP

END

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6-3

Application Examples IP 267

FB 50 LEN=42 ABS

PAGE 1

SEGMENT 1 0000

NAME :PARAMETR

0005 :A F 101.7

0006 :JC =M001

0007 :

0008 :

0009 :S F 101.7 FIRST FB50 CALL :

000A :L KH 0000 THE EXISTING CONFIGURATION DATA

000C :T QW 88 IS DELETED

000D :BEC

000E :

000F :

0010 M001 :L KH 0402 SECOND FB50 CALL :

0012 :T QW 88 NEW CONFIGURATION DATA

0013 :L KH 2005 IS TRANSFERRED COMPLETE :

0015 :T QW 90 QB91 = 05H ---> BASE VALUE = 20 HZ

0016 : QB90 = 20H ---> TIME INTERVAL

0017 : QB89 = 02H ---> OPERATING MODE = STOP

0018 : FULL STEP OPERATION

0019 : LIM. SWITCH "1"

ACTIVE

001A : QB88 = 04H ---> SSF = BB * 4

001B : = 80 HZ

001C :

001D :

001E : SECOND FB50 CALL :

001F :R F 101.7 RESET AUXILIARY FLAG F101.7

0020 :R F 101.6 RESET CONTROL FLAG F101.6

0021 :S F 101.5 SET AUXILIARY FLAG F101.5

0022 :

0023 :

0024 :BE

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IP 267 Application Examples

OB 1 LEN=22 ABS

SEGMENT 1 0000

0000 : FLAG F101.6 CAN BE RESET

0001 :A F 101.6 IN THE WARM RESTART OBs,

0002 :JC FB 50 FOR EXAMPLE

0003 NAME :PARAMETR

0004 :

0005 :O F 101.5 BOTH RECONFIGURATION

0006 :O F 101.6 MESSAGE FRAMES CAN BE SENT

0007 :R F 101.5 TO THE IP 267 DIRECT

0008 :BEC WITH THIS BEC

0009 :

000A :

000B :

000C : .... THEN USER PROGRAM ...

000D :

000E :

000F :

0010 :BE

OB 21 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

OB 22 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

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6-5

Application Examples IP 267

6.2 Fixed Positions

The IP 267 is already configured in this example. The program example shows

how to start a positioning program with four jobs automatically at the press of a

button. In this example, the feedback messages "Pulse output" and "Job

executing" after a positioning job are not set in the PII till one scan later ( 4.3).

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IP 267 Application Examples

6.2.1 Program Example "Transferring Positioning Jobs to the

IP 267"

In this example, four positioning jobs are transferred one after the other to the

IP 267 by function block FB 51.

Figure 6-2. Flowchart "Transferring Positioning Jobs"

Switch on "Neutral"

mode

yes

no

Job

executing

IJE = 1?

Send next output message

frame to the IP 267

Wait one OB 1 scan

Reset auxiliary flags of the

processed program

END

Switch on "STOP" mode

no

All

positioning jobs

of the current

program

processed? yes

START

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6-7

Application Examples IP 267

FB 51 LEN=77 ABS

PAGE 1

SEGMEMT 1 0000

FOUR POSITIONING JOBS CAN BE PROCESSED ONE AFTER THE OTHER AUTOMATICALLY WITH

FB51 :

FIRST JOB -----> FORWARDS, SPEED A, TARGET A

SECOND JOB -----> BACKWARDS, SPEED B, TARGET B

THIRD JOB -----> FORWARDS, SPEED C, TARGET C

FOURTH JOB -----> FORWARDS, SPEED D, TARGET D

THE PROGRAM IS STARTED BY WITH A POSITIVE EDGE AT I0.0 (SEE OB1).

THE LIMIT SWITCHES MUST NOT BE ACTUATED IN THIS PROGRAM, OTHERWISE THE

POSITIONING VALUES WILL BE CORRUPTED. THE RESPONSE OF A DRIVE TO THE OPERATION

OF A LIMIT SWITCH SHOULD BE PROGRAMMED BY THE USER.

NAME :FEST-VP

0005 :

0006 :A I 89.6 SWITCH ON "NEUTRAL" MODE

0007 :S Q 89.4 AS SOON AS THE CURRENT

0008 :S Q 89.5 POSITIONING JOB IS

0009 :BEC EXECUTED

000A :

000B :

000C :A F 103.0 THE FIRST POSITIONING JOB

000D :JC =M001 IS TRANSFERRED TO THE PIQ

000E :S F 103.0 WITH THIS SEQUENCE

000F :S F 103.7

0010 :L KH 2010 FLAGS F103.X ARE THE

0012 :T QW 88 AUXILIARY FLAGS

0013 :L KH 2000

0015 :T QW 90

0016 :BEU

0017 :

0018 :

0019 M001 :A F 103.1

001A :SPB =M002

001B :S F 103.1

001C :S F 103.7 THE SECOND POSITIONING JOB

001D :L KH 3020 IS TRANSFERRED TO THE PIQ

001F :T QW 88 WITH THIS SEQUENCE

0020 :L KH 4000

0022 :T QW 90

0023 :BEU

0024 :

0025 :

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IP 267 Application Examples

0026 M002 :A F 103.2

0027 :JC =M003

0028 :S F 103.2

0029 :S F 103.7 THE THIRD POSITIONING JOB

002A :L KH 1010 IS TRANSFERRED TO THE PIQ

002C :T QW 88 WITH THIS SEQUENCE

002D :L KH 0800

002F :T QW 90

0030 :BEU

0031 :

0032 :

0033 M003 :A F 103.3

0034 :JC =M004

0035 :S F 103.3

0036 :S F 103.7 THEFOURTH POSITIONING JOB

0037 :L KH 4010 IS TRANSFERRED TO THE PIQ

0039 :T QW 88 WITH THIS SEQUENCE

003A :L KH 1800

003C :T QW 90

003D :BEU

003E :

003F :

0040 M004 :R F 101.0AT THE END OF THE POSITIONING PROGRAM,

0041 :R Q 89.4 THE AUXILIARY FLAGS ARE RESET AND

0042 :R Q 89.5 THE "STOP" MODE IS SWITCHED ON

0043 :L KB 0

0044 :T FY 103

0045 :

0046 :

0047 :BE

OB 1 LEN=36 ABS

SEGMENT 1 0000

0000 : FLAG F 101.6 CAN BE SET IN

0001 :A F 101.6 THE WARM RESTART OBS,

0002 :JC FB 50 FOR EXAMPLE

0003 NAME :PARAMETR

0004 :

0005 :O F 101.5 BOTH CONFIGURATION MESSAGE FRAMES

0006 :O F 101.6 CAN BE TRANSFERRED DIRECT TO THE

0007 :R F 101.5 IP 267 WITH THIS BEC

0008 :BEC

0009 :

000A :

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6-9

Application Examples IP 267

000B :A I 0.0 ROUTINE FOR FIXED

000C :S F 101.0 POSITIONING JOBS

000D :

000E : FLAG F 103.7 REMAINS SET UNTIL THE

000F :A F 101.7 CURRENT POSITIONING JOB HAS BEEN

0010 :R F 101.7 EXECUTED. "NEUTRAL" MODE IS THEN

0011 :BEC SWITCHED ON. (CPU WAIT CYCLE)

0012 :

0013 :

0014 :A F 101.0

0015 :JC FB 51

0016 NAME :FEST-VP

0017 :

0018 :

0019 : .... THEN USER PROGRAM ...

001A :BE

OB 21 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

OB 22 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

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IP 267 Application Examples

6.3 Parameter Transfer Using Digital Input Modules

In this example, the parameters for the positioning job are transferred to the PIQ

using digital input modules. The complete output message frame is to be

transferred to the PIQ in one scan. If this principle cannot be followed, it is

important to transfer the "Forwards" or "Backwards" mode to the IP 267 as the

last parameter of the output message frame in the case of preset positioning

jobs, as otherwise the IP 267 will start the positioning job immediately, i.e. with

an old velocity factor or a wrong path.

6.3.1 Program Example "Positioning Job"

PB 52 LEN=16 ABS

PAGE 1

SEGMENT 1 0000

PB 52 TRANSFERS A POSITIONING JOB TO THE IP 267 :

-----> THE COMPLETE OUTPUT MESSAGE FRAME IS TO BE ENTERED VIA

DIGITAL I/O (HERE IW4 AND IW6)

-----> THE JOB IS STARTED BY WITH A POSITIVE EDGE AT I 0.1 (TRANSFER

OPERATION) (SEE OB1)

0000 :

0001 :R F 101.1

0002 :

0003 :

0004 :L IW 4

0005 :T QW 88

0006 :L IW 6

0007 :T QW 90

0008 :

0009 :

000A :BE

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6-11

Application Examples IP 267

OB 1 LEN=42 ABS

SEGMENT 1 0000

0000 : FLAG F 101.6 CAN BE SET

0001 :A F 101.6 IN THE WARM RESTART OBS,

0002 :JC FB 50 FOR EXAMPLE

0003 NAME :PARAMETR

0004 :

0005 :O F 101.5 BOTH RECONFIGURATION MESSAGE

0006 :O F 101.6 FRAMES CAN BE TRANSFERRED

0007 :R F 101.5 DIRECT TO THE IP 267

0008 :BEC WITH THIS BEC

0009 :

000A :

000B :A I 0.0 ROUTINE FOR FIXED

000C :S F 101.0 POSITIONING JOBS

000D :

000E : WITH FLAG F 103.7 THE PROGRAM

000F : WAITS FOR THE POSITIONING JOB

0010 :A F 103.7 TO BE EXECUTED BEFORE

0011 :R F 103.7 SWITCHING TO "NEUTRAL" MODE

0012 :BEC (CPU WAIT CYCLE).

0013 :

0014 :A F 101.0

0015 :JC FB 51

0016 NAME :FEST-VP

0017 :

0018 :

0019 :A I 0.1 ROUTINE FOR POSITIONING JOBS

001A :S F 101.1 THAT CAN BE SET VIA DIGITAL

001B :A F 101.1 INPUTS

001C :JC PB 52

001D :

001E :

001F :

0020 : .... THEN USER PROGRAM ...

0021 :

0022 :

0023 :

0024 :BE

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IP 267 Application Examples

OB 21 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

OB 22 LEN=9 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :BE

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6-13

Application Examples IP 267

6.4 Determining Reference Points with Separate Switch

A reference point is always determined in three approach sections (search for

reference point switch, overtravel reference point switch and approach reference

point switch slowly). Additional auxiliary approach jobs are required, for

example, if the reference switch is blocked by the drive.

At startup, the IP controls the drive forwards as far as the reference switch. In

doing so, the IP can approach one of the two limit switches and change direction

there. As soon as the reference point switch has been detected, the drive stops

with the normal deceleration ramp. If the deceleration distance is shorter than

the switching range of the reference point switch, the drive stops at the switch. In

this case, the next approach section could not be executed because the RPA

reference point bit is set and there is a "1" signal at the REF digital input.

In this case, an auxiliary approach section is required in order to leave the

reference point switch. The path of such auxiliary approach sections must be

calculated specifically for the plant in question. The auxiliary approach section

must also be executed with reset RPA reference point bit ( 6.3).

To make program execution easier, the "Backwards auxiliary approach section" is

executed in example program 4 even if the reference point switch has already

been overtravelled (BERO, etc.).

The reference point can also be approached backwards, in which case the

directions shown in the flowchart are reversed.

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IP 267 Application Examples

6.4.1 Program Example "Reference Point Approach with

Separate Switch"

Figure 6-3. Flowchart "Reference Point Approach with Separate Switch"

Limit switch

Start forwards with RPA

reference point bit set and

maximum path

BERO or limit

switch end

detected?

Start backwards with RPA

reference point bit set and

maximum path

BERO detected

Backwards auxiliary approach

section with RPA reference

point bit reset

Start forwards with RPA

reference point bit set and

low velocity

Reference point found

BERO

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6-15

Application Examples IP 267

FB 53 LEN=81 ABS

PAGE 1

SEGMENT 1 0000

FB53 EXECUTES THE REFERENCE POINT APPROACH USING A REFERENCE POINT SWITCH.

THE POSITIONING JOBS ARE SET IN THE PIQ VIA DIRECT ACCESSES. THIS ROUTINE IS

STARTED BY A POSITIVE EDGE AT I 0.2 (SEE OB1)

MEANING OF THE FLAGS USED :

F 104.0 FLAG BIT FOR THE FIRST APPROACH SECTION ( START FORWARDS )

F 104.1 FLAG BIT FOR THE SECOND APPROACH SECTION ( START BACKWARDS )

F 104.2 FLAG BIT FOR THE BACKWARDS AUXILIARY APPROACH SECTION

F 104.3 FLAG BIT FOR THE THIRD APPROACH SECTION ( START FORWARDS WITH LOW

VELOCITY )

F 104.7 AUXILIARY FLAG TO ALLOW THE CPU DELAY CYCLE TO RUN

THE IP 267 IS INSTALLED IN SLOT 3 OF THE S5-100U IN THIS EXAMPLE

( ADDRESS BYTES 88-89-90-91 )

I 88.1 REFERENCE POINT ( ERP )

I 88.5 PULSE OUTPUT ( EIA )

NAME :RPKT

0005 :A I 88.5 IF PULSES ARE OUTPUT,

0006 :S Q 89.4 SWITCH ON "NEUTRAL" MODE

0007 :S Q 89.5 AND DO NOT PROCESS

0008 :BEC THE FB

0009 :

000A :

000B :A F 104.0

000C :JC =M001

000D :S F 104.0

000E :S F 104.7

000F :L KH 585F FIRST APPROACH SECTION: FORW.

0011 :T QW 88 WITH REFERENCE POINT BIT SET

0012 :L KH FFFF AND MAXIMUM PATH

0014 :T QW 90

0015 :BEU

0016 :

0017 :

0018 M001 :AN F 104.1 OMIT THE 2ND APPROACH SECTION

0019 :A I 88.1 IF THE BERO IS DETECTED

001A :S F 104.1 DURING THE FIRST APPROACH SECTION

001B :JC =M002

001C :

001D :

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IP 267 Application Examples

001E :A F 104.1

001F :JC =M002

0020 :S F 104.1

0021 :S F 104.7

0022 :L KH 586F SECOND APPROACH SECTION: BACKW.

0024 :T QW 88 WITH REFERENCE POINT BIT SET

0025 :L KH FFFF AND MAXIMUM PATH

0027 :T QW 90

0028 :BEU

0029 :

002A :

002B M002 :A F 104.2

002C :JC =M003

002D :S F 104.2

002E :S F 104.7 AUXILIARY APPROACH SECTION BACKW.

002F :L KH 2820 WITHOUT REFERENCE POINT BIT TO

0031 :T QW 88 MAKE SURE THAT THE DRIVE IS

0032 :L KH 0300 NO LONGER AT THE BERO. FOR THIS

0034 :T QW 90 PURPOSE THE PATH MUST BE ADAPTED

0035 :BEU DEPENDING ON THE DRIVE.

0036 :

0037 :

0038 M003 :A F 104.3

0039 :JC =M004

003A :S F 104.3

003B :S F 104.7

003C :L KH 0150 THIRD APPROACH SECTION: FORW.

003E :T QW 88 WITH REFERENCE POINT BIT SET

003F :L KH 4000 AND LOW VELOCITY

0041 :T QW 90

0042 :BEU

0043 :

0044 :

0045 M004 :L KB 0 IF THE REFERENCE POINT APPROACH

0046 :T FY 104 IS COMPLETE, RESET AUXILIARY FLAG

0047 :S F 101.4 AND SWITCH ON "STOP" MODE

0048 :R Q 89.5 FLAG 101.4 IS NOT USED IN THIS

0049 :R Q 89.6 EXAMPLE.

004A :R Q 89.8

004B :

004C :BE

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6-17

Application Examples IP 267

OB 1 LEN=53 ABS

SEGMENT 1 0000

0000 : FLAG F 101.6 CAN BE SET

0001 :A F 101.6 IN THE WARM RESTART OBS,

0002 :JC FB 50 FOR EXAMPLE

0003 NAME :PARAMETR

0004 :

0005 :O F 101.5 BOTH RECONFIGURATION MESSAGE

0006 :O F 101.6 FRAMES CAN BE TRANSFERRED

0007 :R F 101.5 DIRECT TO THE IP 267

0008 :BEC WITH THIS BEC

0009 :

000A :

000B :A I 0.0 ROUTINE FOR FIXED

000C :S F 101.0 POSITIONING JOBS

000D :

000E : WITH FLAG F 103.7 THE PROGRAM

000F : WAITS FOR THE POSITIONING

0010 :A F 103.7 JOB TO BE EXECUTED BEFORE

0011 :R F 103.7 SWITCHING TO "NEUTRAL" MODE

0012 :BEC (CPU WAIT CYCLE)

0013 :

0014 :A F 101.0

0015 :JC FB 51

0016 NAME :FEST-VP

0017 :

0018 :

0019 :A E 0.1 ROUTINE FOR POSITIONING

001A :S F 101.1 JOBS WHICH CAN BE SET VIA

001B :A F 101.1 DIGITAL INPUTS

001C :JC PB 52

001D :

001E :

001F :A F 104.7

0020 :R M 104.7

0021 :BEC ROUTINE FOR REFERENCE POINT

0022 : DETERMINATION WITH SEPARATE

0023 :A I 0.2 BERO

0024 :S F 104.6

0025 :A F 104.6

0026 :JC FB 53

0027 NAME :RPKT

0028 :

0029 :

002A : .... THEN USER PROGRAM ...

002B :

002C :

002D :

002E :

002F :BE

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IP 267 Application Examples

OB 21 LEN=13 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :L KF +0

0005 :T FW 104

0006 :

0007 :BE

OB 22 LEN=13 ABS

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :L KF +0

0005 :T FW 104

0006 :

0007 :BE

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6-19

Application Examples IP 267

6.5 Reference Point Approach with Limit Switch

This method of determining the reference point also consists of three approach

sections ( 5.4). A separate reference point switch is not required. The REF input

on the terminal block remains unassigned and the RPA reference bit in the

positioning message frame is not set. The path of the second approach section

(switch overtravel) should be long enough to enable the limit switch contacts

again.

You can execute a reference point approach with limit switch I+ using FB 54. A

separate reference point switch is not required in this example. The positioning

job data is written direct into the PIQ. The program is started by a positive edge at

input I 0.3 (see OB 1).

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IP 267 Application Examples

6.5.1 Program Example: "Reference Point Approach with Limit

Switch"

Figure 6-4. Flowchart for Programming Example "Reference Point Approach

with Limit Switch"

START

Start forwards with

maximum path

Limit switch end

detected

END

Start backwards with

adapted path

Start forwards with slow

velocity

Reference point (limit

switch end) detected

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6-21

Application Examples IP 267

FB 54 LEN=61 ABS

PAGE 1

MEANING OF THE FLAGS USED:

F 105.0 FLAG BIT FOR THE FIRST APPROACH SECTION ( START FORWARDS )

F 105.1 FLAG BIT FOR THE SECOND APPROACH SECTION ( START BACKWARDS )

F 105.2 FLAG BIT FOR THE THIRD APPROACH SECTION ( START FORWARDS WITH

LOW VELOCITY )

F 105.7 AUXILIARY FLAG TO ALLOW THE CPU DELAY CYCLE TO RUN

I 88.3 LIMIT SWITCH END ( ILSE )

I 88.5 PULSE OUTPUT ( IPQ )

NAME :EPKT

0005 :A I 88.5 IF PULSES ARE OUTPUT,

0006 :S Q 89.4 SWITCH ON "NEUTRAL" MODE

0007 :S Q 89.5 AND DO NOT PROCESS

0008 :BEC THE FB

0009 :

000A :

000B :A F 105.0

000C :JC =M001

000D :S F 105.0

000E :S F 105.7

000F :L KH 581F

0011 :T QW 88 FIRST APPROACH SECTION: FORW.,

0012 :L KH FFFF WITH MAXIMUM PATH

0014 :T QW 90

0015 :BEU

0016 :

0017 :

0018 M001 :A F 105.1

0019 :JC =M002

001A :S F 105.1

001B :S F 105.7

001C :L KH 2820

001E :T QW 88 SECOND APPROACH SECTION: BACKW.

001F :L KH 0380 WITH SHORT PATH

0021 :T QW 90

0022 :BEU

0023 :

0024 :

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IP 267 Application Examples

0025 M002 :A F 105.2

0026 :JC =M003

0027 :S F 105.2

0028 :S F 105.7

0029 :L KH 0110

002B :T QW 88 THIRD APPROACH SECTION: FORW.

002C :L KH 1000 WITH LOW VELOCITY

002E :T QW 90

002F :BEU

0030 :

0031 :

0032 M003 :L KB 0 IF THE REFERENCE POINT (LIMIT

0033 :T FY 105 SWITCH END) HAS BEEN FOUND,

0034 :R Q 89.4 RESET ALL AUXILIARY FLAGS

0035 :R Q 89.5 AND SWITCH ON "STOP" MODE.

0036 :

0037 :BE

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6-23

Application Examples IP 267

OB 1 LEN=63 ABS

SEGMENT 1 0000

0000 : FLAG F 101.6 CAN BE SET

0001 :A F 101.6 IN THE WARM RESTART OBS,

0002 :JC FB 50 FOR EXAMPLE

0003 NAME :PARAMETR

0004 :

0005 :O F 101.5 BOTH RECONFIGURATION MESSAGE

0006 :O F 101.6 FRAMES CAN BE TRANSFERRED

0007 :R F 101.5 DIRECT TO THE IP 267

0008 :BEC WITH THIS BEC

0009 :

000A :

000B :A I 0.0 ROUTINE FOR FIXED

000C :S F 101.0 POSITIONING JOBS

000D :

000E : WITH FLAG F 103.7 THE PROGRAM

000F : WAITS FOR THE POSITIONING

0010 :A F 103.7 JOB TO BE EXECUTED BEFORE

0011 :R F 103.7 SWITCHING TO "NEUTRAL" MODE

0012 :BEC (CPU WAIT CYCLE).

0013 :

0014 :A F 101.0

0015 :JC FB 51

0016 NAME :FEST-VP

0017 :

0018 :

0019 :A I 0.1 ROUTINE FOR POSITIONING

001A :S F 101.1 JOBS WHICH CAN BE SET VIA

001B :A F 101.1 DIGITAL INPUTS

001C :JC PB 52

001D :

001E :

001F :A F 104.7

0020 :R F 104.7

0021 :BEC

0022 : ROUTINE DETERMINING REFE-

0023 :A I 0.2 RENCE POINT WITH SEPARATE

0024 :S F 104.6 BERO

0025 :A F 104.6

0026 :JC FB 53

0027 NAME :RPKT

0028 :

0029 :A F 105.7

002A :R F 105.7

002B :BEC

002C : ROUTINE FOR DETERMINING

002D :A I 0.3 REFERENCE POINT WITH

002E :S F 105.6 LIMIT SWITCH END

002F :A F 105.6

0030 :JC FB 54

0031 NAME :EPKT

0032 :

0033 :

0034 :

0035 :

0036 : ... THEN USER PROGRAM ...

0037 :

0038 :

0039 :BE

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IP 267 Application Examples

6.6 Loading and Unloading a Waggon

In this example, a waggon travels from silo C to silos A and B one after the other

and is loaded there, subsequently bringing the load back to silo C ( Figure 6-5.).

Figure 6-5. Arrangement of the Silos Along the Path

Silo A

a

Silo B

a

Silo C

a

The path is divided into three sections and section C to A is to be traversed with

increased velocity since the waggon travels this section unloaded ( Table 6-1.).

Path resolution is fixed at 20 µm/pulse.

Table 6-1. Path Breakdown

A BSubpath

Paths

Velocity 100 mm/s

B C

100 mm/s 200 mm/s

C A

200 mm 400 mm 600 mm

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6-25

Application Examples IP 267

6.6.1 Selecting the Motor

We have selected a spindle with a ratio of 4 mm (0.15 in.)/rev and a stepper motor

with 200 pulses per revolution for the application illustrated.

The drive selected permits a maximum positioning range of:

1,048,575 pulses * 20 µm/pulse = 20,971,500 µm 21 m

The positioning jobs can therefore be implemented with the drive selected.

Both positioning velocities correspond to the following stepping rates:

• 100 mm/s 25 revs/s 25 revs/s * 200 pulses/rev = 5000 Hz

• 200 mm/s 50 revs/s 50 revs/s * 200 pulses/rev = 10 kHz

The motor is to be used in full-step mode.

6.6.2 Setting the Configuration Data

Acceleration is to be increased during phase C to A in order to speed up the

process. The IP 267 must therefore receive two configuration message frames in

order to generate the different acceleration ramps. The following values must be

calculated or determined for the configuration data:

• Limit switch configuration and "STOP" mode

• The base value BV for the stepping rate and the start/stop rate

• The multiplier for the start/stop rate (SS)

• The time interval for frequency increase/decrease (TI)

You will find the calculations in this order on the next page.

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IP 267 Application Examples

6.6.3 Configuration Data for the Path C to A

The configuration data is stored as 4-byte message frames in output bytes QB 88

to QB 91 of the PIQ. You should define the limit switch configuration first. The

power section has been set to full-step mode, e.g by jumpers. You must set the

"STOP" mode so that the configuration data is accepted by the IP 267. This data

must be written into QB 89 of the PIQ as byte 1 ( Table 6-2.).

The following applies for this example: QB 89 = 00000010 = 02H

The base value (BV) for the stepping rate and the start/stop rate must then be

calculated. Select as small a base value for both frequencies as possible so that

you can set a discrete stepping rate and start/stop rate. However, the base value

must be large enough to achieve the desired maximum stepping rate. Calculate

the base value according to the following formula in order to achieve the

stepping rate (fA) of 10 kHz:

fA=BV*G*R

10 000 Hz = BV *250 *1

BV = 40 Hz

V is the multiplier for the velocity and for R you can select the reduction factor 1

or 0.1.

The value calculated for BV is coded with bits FB 0 and FB 2 and written into QB

91 of the PIQ as byte 3 of the configuration message frame ( Table 6-2.).

The following applies for this example: QB91 = 00000100 = 04H

You must take account of the "Moment of inertia as a function of the permissible

start/stop rate" curve in order to be able to configure the correct start/stop rate

( Figure 6-6.). For this purpose, you must take account of the moment of inertia

of all moving parts in your drive (linear and rotary including the stepper motor

rotor). The configured value for the start/stop rate must be in the lower part of

the curve.

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Application Examples IP 267

Figure 6-6. Example of Moment of Inertia as a Function of fSS

500

60

0 2500 Hz

300 Revs/min

2000

240

7.5

6.25

5.0

3.75

2.5

1.25

1000

120

1500

180

Moment of inertia

J

[kg cm2]

A start/stop rate of fss = 320 Hz was selected for this example. The following

therefore applies:

fss =BV*SS *R

320 Hz = 40 *SS *1

SS = 8

The value calculated for SS is coded with bits 0 to 7 of byte 0 of the configuration

message frame and written into QB 88 of the PIQ ( Table 6-2.).

The following applies for this example:QB 88 = 00001000 = 08H

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IP 267 Application Examples

The suitable interval for frequency increase and decrease (TI) must be calculated

specifically for each plant. The acceleration and deceleration values with which

the motor can be driven without losing steps are to be found in the docu-

mentation of the motor manufacturer. The values depend on the moment of

inertia of the drive and on the available torque of the motor ( 5.6). In this

example, frequency increase and decrease is fixed at 50 Hz/ms. The following

therefore applies for calculating the time interval:

TI =

BV * R

4 * 0.032 ms * TI

a =

40 * R

4 * 0.032 ms * TI

50 Hz/ms =

40 * 1

4 * 0.032 ms * 50 Hz/ms

TI = 6.25

The time interval may not be less than 7. This then corresponds to the following

acceleration ramp:

= 44.6 Hz/ms

BV * F

4 * 0.032 ms * TI

a =

40 * 1

4 * 0.032 ms * 7

a =

The value of TI is coded with bits 0 to 7 of byte 2 and written into QB 90 of the PIQ

( Table 6-2.).

The following applies for this example: QB 90 = 00000111 = 07H

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6-29

Application Examples IP 267

Table 6-2. Configuration Message Frame for the Path C to A

Byte Address General meaning Configuration data for

the path C to A

0 QB 88

Multiplier for the

start/stop rate (SS),

SS can assume values

from 1 to 255

SS = 8

QB 88 = 00001000

QB 88 = 08H

1 QB 89 Limit switch configuration

”STOP” mode

EK = 1

BA1=0, BA0=0

QB 89 = 00000010

QB 89 = 02H

2 QB 90

Time interval (TI) for

frequency change

TI can assume values

from 1 to 255

TI = 7

QB 90 = 00000111

QB 90 = 07H

3 QB 91 Base value (BV) for the

frequency

BV = 40

QB 91 = 00000100

QB 91 = 04H

a

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IP 267 Application Examples

6.6.4 Configuration Data for the Paths A to B and B to C

Limit switch configuration remains at "1" active, the motor continues to run in

full-step mode and "STOP" mode instructs the IP 267 to transfer the data. Byte 1

of the new configuration message frame is transferred unchanged to output byte

QB 89 of the PIQ ( Table 6-3.).

The following applies for this example:QB 89 = 0000 0010 =02H

The stepping rate fA on the paths A to B and B to C is to be halved to 5 kHz in

order to reduce the velocity of the loaded waggon. The new stepping rate is

reached by halving the base value for the frequency (BV) from 40 to 20 Hz.

fA=BV*V*R

5 kHz = BV *250 *1

BV = 20 Hz

The new value for BV is written into output byte QB 91 of the PIQ as byte 3 of the

new configuration message frame. ( Table 6-3.).

The following applies for this example:QB 91 = 0000 0101 =05H

The start/stop rate fSS for both paths is to be reduced to a maximum of 90 Hz. This

compensates for the additional moment of inertia of the loads. The new

multiplier for the start/stop rate (SS) is calculated with the following formula:

fss =BV*SS *R

90 Hz = 20 *SS *1

SS = 4.5

SS = 4 has been selected in this example. This corresponds to a start/stop rate of

80 Hz.

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6-31

Application Examples IP 267

The new value for SS is written into QB 88 of the PIQ as byte 0 of the

configuration message frame ( Table 6-3.).

The following applies in this example: QB 88 = 0000 0100 =04H

Frequency change a (acceleration and deceleration) is reduced compared to the

previous path section; a is to have a maximum value of 10 Hz/ms on paths A to B

and B to C. The value for the time interval of the frequency change (TI) is

calculated as follows:

TI =

BV * R

4 * 0.032 ms * TI

a =

BV * R

4 * 0.032 ms * a

TI=

20 * 1

4 * 0.032 ms * 10 Hz/ms

TI = 15.625

So that the condition a < 10 Hz/ms can be adhered to, TI must be > 15.625.

TI=16 results in the following value for a:

BV * R

4 * 0.032 ms * 16

a =

20 * 1

4 * 0.032 ms * 16

a=

a = 9.76 Hz/ms

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IP 267 Application Examples

The new value is written into QB 90 of the PIQ as byte 2 ( Table 6-3.).

The following applies for this example:QB 90 = 0001 0000 = 10H

Table 6-3. Configuration Message Frame for the Paths A to B and B to C

Byte Address General meaning Configuration data for

paths A to B and B to C

0 QB 88

Multiplier for the

start/stop rate (SS),

SS can assume values

from 1 to 255

SS = 4

QB 88 = 0000 0100

QB 88 = 04H

1 QB 89 Limit switch configuration

"STOP" mode

EK = 1

BA1=0, BA0=0

QB 89 = 0000 0010

QB 89 = 02H

2 QB 90

Time interval (TI) for

frequency change

TI can assume values

from 1 to 255

TI = 16

QB 90 = 0001 0000

QB 90 = 10H

3 QB 91 Base value (BV) for the

frequency

BV = 20

QB 91 = 0000 0101

QB 91 = 05H

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6-33

Application Examples IP 267

6.6.5 Positioning Job C to A

The IP 267 is configured with the first data set for this job.

The path is 600 mm (23.6 in.). The following number of pulses is calculated for a

given resolution of 20 µm/pulse:

600 mm

0.020 mm/pulse = 30 000 pulses= 7530H pulses

The velocity in this section is to be 200 mm (7.8 in.)/s which corresponds to the

following stepping rate fA:

fA =200 mm/s = 10 kHz

0.020 mm/pulse

The base value is set at 40 Hz from which the following velocity factor V is

calculated:

10 000 Hz = BV *V*R

10 000 Hz = 40 *V*1

V = 250 = FAH

Direction of travel "Backwards" is entered in the positioning job as the operating

mode. The output message frame for the positioning job is represented in Table

6-4.

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IP 267 Application Examples

Table 6-4 Positioning Job for the Path C to A

Byte Address General meaning Positioning data for path

C to A

0 QB 88

Multiplier for the

velocity (V),

V can assume values

from 1 to 255

V = 250

QB 88 = 1111 1010

QB 88 = FAH

1 QB 89

Reduction factor R = 1

Reference point

approach (RPA)

Operating mode OM 0, OM 1

Path P16 to P19

R=0, RF=0

BA1=1, BA0=0

QB 89 = 0010 0000

QB 89 = 20H

2 QB 90 Path

P8 to P15

QB 90 = 0111 0101

QB 90 = 75H

3 QB 91 Path

P0 to P7

QB 91 = 0011 0000

QB 91 = 30H

a

6.6.6 Positioning Job A to B

The IP 267 is configured with the second data set for this job.

The path is 200 mm (7.8 in.). The following number of pulses is calculated for a

given resolution of 20 µm/pulse:

200 mm

0.020 mm/pulses = 10 000 pulses = 2710H pulses

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6-35

Application Examples IP 267

The velocity on this section is to be 100 mm (3.9 in.)/s which correponds to the

following stepping rate fA:

= 5 kHz

0.020 mm/pulse

100 mm/s

fA =

The base value is set at 20 Hz from which the following velocity factor V is

calculated:

5 kHz = BV *V*R

5 kHz = 20 *V*1

V = 250 = FAH

The direction of travel "Forwards" is entered in the positioning job as the

operating mode. The positioning message for this job is represented in Table 6-5.

Table 6-5. Positioning Job for the Path A to B

Byte Address General meaning Positioning data for path

A to B

0 QB 88

Multiplier for the

velocity (V),

V can assume values

from 1 to 255

V = 250

QB 88 = 1111 1010

QB 88 = FAH

1 QB 89

Reduction factor R = 1

Reference point approach

(RPA)

Operating mode OM 0, OM 1

Path P16 to P19

R = 0, RF= 0

OM 1=0, OM 0=1

QB 89 = 0001 0000

QB 89 = 10H

2 QB 90 Path

P8 to P15

QB 90 = 0010 0111

QB 90 = 27H

3 QB 91 Path

P0 to P7

QB 91 = 0001 0000

QB 91 = 10H

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IP 267 Application Examples

6.6.7 Positioning Job B to C

This positioning job is the same as that for path A to B ( 6.6.6). You do not have

to send new configuration data to the IP 267 for this job. The path in this job is

double the length at 20,000 pulses (04E20H).

The output message frame contains the following values:

Table 6-6. Positioning Job for Path B to C

Byte Address General meaning Positioning data for

path B to C

0 QB 88

Multiplier for the

velocity (V),

V can assume values

from 1 to 255

V = 250

QB 88 = 1111 1010

QB 88 = FAH

1 QB 89

Reduction factor R = 1

Reference point

approach (RPA)

Operating mode OM 0, OM 1

Path P16 to P19

R=0, RF=0

OM 1=0, OM 0=1

QB 89 = 0001 0000

QB 89 = 10H

2 QB 90 Path

P8 to P15

QB 90 = 0100 1110

QB 90 = 4EH

3 QB 91 Path

P0 to P7

QB 91 = 0010 0000

QB 91 = 20H

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6-37

Application Examples IP 267

6.6.8 Linking to the User Program

The application illustrated in Chapter 6.6 corresponds to the program example

6.6.9. The user program has the following structure:

Figure 6-7. Structure of the User Program "Loading

and Unloading a Waggon"

FB 51

:

: BE

OB 1

:

: JC FB 50

:

: JC FB 51

:

: BE

FB 50

:

: JU FB 53

:

: BE

FB 53

:

: BE

OB 22OB 21

The IP 267 is configured with a new data set with FB 50. FB 53 then executes a

reference point approach to point C. Point C is taken as the reference point in the

example program.

Since the reference point is lost whenever the positioning program is interrupted,

FB 50 must be called on all cold restarts or warm restarts of the CPU. OB 21 and

OB 22 are used for this purpose: they prepare the conditional jump to FB 50.

The positioning program is then started by calling FB 51.

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IP 267 Application Examples

6.6.9 Program Example "Loading and Unloading a Waggon"

FB 50 LEN=48 ABS

PAGE 1

SEGMENT 1 0000

THE IP 267 CAN BE RECONFIGURED WITH DATA SET 2 USING FB50.

AN AUTOMATIC REFERENCE POINT APPROACH TO THE REFERENCE SWITCHING POINT IS THEN

EXECUTED. THE REFERENCE SWITCHING POINT HAS BEEN SET TO C.

FB50 IS TO BE CALLED ON EACH WARM RESTART OF THE PC. FOR THIS REASON IT IS

AUTOMATICALLY CALLED WITH FLAG F 101.6 AT EACH WARM RESTART (SEE OB 21-OB 22-

OB 1). HOWEVER, IT CAN ALSO BE STARTED MANUALLY BY A POSITIVE EDGE AT INPUT I

0.7 (SEE OB 1).

CAUTION: IF INPUT I0.7 IS NOT RESET, REFERENCE POINT APPROACHES WILL BE

EXECUTED ONE AFTER THE OTHER FOR AN UNSPECIFIED TIME!

NAME :PARAM-RP

0005 :A F 101.7

0006 :JC =M001

0007 :

0008 :

0009 :S F 101.7

000A :L KH 0000

000C :T QW 88

000D :BEC

000E :

000F :

0010 M001 :A F 105.0

0011 :JC =M002

0012 :

0013 :

0014 :S F 105.0

0015 :L KH 0402 CONFIGURATION MESSAGE FRAME 2

0017 :T QW 88 ---> FOR PATHS

0018 :L KH 1005 A-->B AND B-->C

001A :T QW 90

001B :BEC

001C :

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6-39

Application Examples IP 267

001D M002 :JU FB 53

001E NAME :RPKT

001F :

0020 :A F 104.7

0021 :BEC

0022 :

0023 :A F 101.4 F 101.4 = REF.POINT APPROACH COMPLETE

0024 :R F 101.4

0025 :R F 101.7 RESET ALL AUXILIARY FLAGS

0026 :R F 101.6 IF THE REFERENCE POINT APPROACH

0027 :R F 105.0 IS COMPLETE

0028 :

0029 :

002A :BE

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IP 267 Application Examples

FB 51 LEN=111 ABS

SEGMENT 1 0000

THE FOLLOWING JOBS CAN BE PROCESSED ONE AFTER THE OTHER WITH FB51:

----> RECONFIGURING THE IP: LOADING OF CONFIGURATION MESSAGE FRAME 1

----> POSITIONING JOB FOR PATH C --> A

----> RECONFIGURING THE IP: LOADING OF CONFIGURATION MESSAGE FRAME 2

----> POSITIONING JOB FOR PATH A --> B

----> POSITIONING JOB FOR PATH B --> C

THE PROGRAM IS STARTED BY A POSITIVE EDGE AT I0.0 (SEE OB1).

CAUTION: THE TRAVERSING PROGRAM IS REPEATED UNTIL INPUT I0.0 IS RESET.

NAME :VPROG

0005 :

0006 :A I 89.6 SWITCH ON "NEUTRAL" MODE

0007 :S Q 89.4 AS SOON AS THE POSITIONING JOB

0008 :S Q 89.5 IS EXECUTED

0009 :BEC

000A :

000B :

000C :A F 103.0

000D :JC =M001

000E :S F 103.0

000F :S F 103.7 RECONFIGURATION OF THE IP 267:

0012 :T QW 88

0013 :BEU CONFIGURATION MESSAGE FRAME 1

0014 :

0015 : FOR PATH C --> A IS LOADED

0016 :

0017 M001 :A F 103.1

0018 :JC =M002

0019 :S F 103.1

001A :S F 103.7

001B :L KH 0802

001D :T QW 88

001E :L KH 0704

0020 :T QW 90

0021 :BEU

0022 :

0023 :

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Application Examples IP 267

0024 M002 :A F 103.2

0025 :JC =M003

0026 :S F 103.2

0027 :S F 103.7

0028 :L KH FA20

002A :T QW 88 POSITIONING JOB

002B :L KH 7530 FOR PATH C --> A

002D :T QW 90

002E :BEU

002F :

0030 :

0031 M003 :A F 103.3

0032 :JC =M004

0033 :S F 103.3

0034 :S F 103.7 RECONFIGURATION OF THE IP 267:

0035 :L KH 0000

0037 :T QW 88 CONFIGURATION MESSAGE FRAME 2

0038 :BEU

0039 : FOR PATHS A --> B AND B --> C

003A :

003B M004 :A F 103.4 IS LOADED

003C :JC =M005

003D :S F 103.4

003E :S F 103.7

003F :L KH 0402

0041 :T QW 88

0042 :L KH 1005

0044 :T QW 90

0045 :BEU

0046 :

0047 :

0048 M005 :A F 103.5

0049 :JC =M006

004A :S F 103.5

004B :S F 103.7

004C :L KH FA10

004E :T QW 88 POSITIONING JOB

004F :L KH 2710 FOR PATH A --> B

0051 :T QW 90

0052 :BEU

0053 :

0054 :

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IP 267 Application Examples

0055 M006 :A F 103.6

0056 :JC =M007

0057 :S F 103.6

0058 :S F 103.7

0059 :L KH FA10

005B :T QW 88 POSITIONING JOB

005C :L KH 4E20 FOR PATH B --> C

005E :T QW 90

005F :BEU

0060 :

0061 :

0062 M007 :R F 101.0

0063 :R Q 89.4 RESET THE AUXILIARY FLAG PARAMETERS

0064 :R Q 89.5 AND SWITCH ON THE ”STOP” MODE

0065 :L KB 0 AT THE END OF THE TRAVERSING PROGRAM

0066 :T FY 3 CONTAINED IN FB51

0067 :

0068 :

0069 :BE

FB 53 LEN=82 ABS

SEGMENT 1 0000

NAME :RPKT

0005 :A E 88.5 IF PULSES ARE OUTPUT, SWITCH ON

0006 :S Q 89.4 ”NEUTRAL” MODE AND DO NOT PROCESS THE

0007 :S Q 89.5 FB.

0008 :BEC

0009 :

000A :

000B :A F 104.0

000C :JC =M001

000D :S F 104.0

000E :S F 104.7

000F :L KH 585F FIRST APPROACH SECTION: FORWARDS,

0011 :T QW 88 WITH REFERENCE POINT BIT SET AND

0012 :L KH FFFF MAXIMUM PATH

0014 :T QW 90

0015 :BEU

0016 :

0017 :

0018 M001 :AN F 104.1 IF THE BERO HAS BEEN DETECTED IN THE

0019 :A E 88.1 FIRST APPROACH SECTION, SKIP THE

001A :S F 104.1 SECOND SECTION

001B :JC =M002

001C :

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Application Examples IP 267

001D :

001E :A F 104.1

001F :JC =M002

0020 :S F 104.1

0021 :S F 104.7

0022 :L KH 586F

0024 :T QW 88 SECOND APPROACH SECTION: BACKWARDS

0025 :L KH FFFF WITH REFERENCE POINT BIT SET AND

0027 :T QW 90 MAXIMUM PATH

0028 :BEU

0029 :

002A :

002B M002 :A F 104.2

002C :JC =M003

002D :S F 104.2

002E :S F 104.7 AUXILIARY APPROACH SECTION BACKWARDS,

002F :L KH 2820 WITHOUT REFERENCE POINT BIT TO MAKE

0031 :T QW 88 SURE THE DRIVE IS NO LONGER AT THE

0032 :L KH 0300 BERO. THE PATH MUST THEREFORE BE

0034 :T QW 90 ADJUSTED TO THE DRIVE.

0035 :BEU

0036 :

0037 :

0038 M003 :A F 104.3

0039 :JC =M004

003A :S F 104.3

003B :S F 104.7

003C :L KH 0150 THIRD APPROACH SECTION: FORWARDS

003E :T QW 88 WITH REFERENCE POINT BIT SET AND

003F :L KH 4000 LOW VELOCITY

0041 :T QW 90

0042 :BEU

0043 :

0044 :

0045 M004 :L KB 0

0046 :T PB 104

0047 :S F 101.4 WHEN THE REFERENCE POINT APPROACH IS

0048 :R Q 89.4 COMPLETED, RESET ALL AUXILIARY FLAGS

0049 :R Q 89.5 AND SWITCH ON ”STOP” MODE

004A :R Q 89.6

004B :

004C :BE

6-44

EWA 4NEB 812 6061-02a

IP 267 Application Examples

OB 1 LEN=40 ABS

PAGE 1

SEGMENT 1 0000

0000 :A I 0.7 FLAG F 101.6 CAN ALSO BE SET

0001 :S F 101.6 IN THE WARM RESTART OBS

0002 :

0003 :A F 104.7

0004 :R F 104.7

0005 :BEC

0006 : "BASIC STATUS" ROUTINE

0007 :A F 101.6 OF THE IP 267 ON WARM RESTART

0008 :JC FB 50

0009 NAME :PARAM-RP

000A :

000B :O F 104.7

000C :O F 101.6

000D :BEC

000E :

000F :

0010 :

0011 :

0012 :

0013 :A I 0.0 ROUTINE FOR STARTING

0014 :S F 101.0 THE USER PROGRAM

0015 :

0016 : WITH FLAG F 103.7 THE PROGRAM WAITS

0017 :A F 103.7 FOR THE POSITIONING JOB

0018 :R F 103.7 TO BE EXECUTED

0019 :BEC BEFORE SWITCHING TO "NEUTRAL" MODE

001A : (CPU WAIT CYCLE)

001B :A F 101.0

001C :JC FB 51

001D NAME :VPROG

001E :

001F :

0020 :

0021 :

0022 :BE

a

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EWA 4NEB 812 6061-02a

6-45

Application Examples IP 267

OB 21 LEN=16 ABS

PAGE 1

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :L KF +0

0005 :T FW 103

0006 :

0007 :U F 101.0

0008 :R F 101.0

0009 :

000A :BE

OB 22 LEN=16 ABS

PAGE 1

SEGMENT 1 0000

0000 :AN F 101.6

0001 :S F 101.6

0002 :

0003 :L KF +0

0005 :T FW 103

0006 :

0007 :U F 101.0

0008 :R F 101.0

0009 :

000A :BE

6-46

EWA 4NEB 812 6061-02a

7.1 Structure of the program example . . . . . . . . . . . . . . . . . . .7 - 1

7.2 Structure of function block 17 . . . . . . . . . . . . . . . . . . . . . . .7 - 2

7.3 User program for positioning . . . . . . . . . . . . . . . . . . . . . . . .7 - 9

7.4 Description of the user data block. . . . . . . . . . . . . . . . . . . .7 - 17

7.5 Calling function block 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . .7- 23

7 Funkction block for assigning parameters to the

IP 267

a

7

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EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

7 Funkction block for assigning parameters to the

IP 267

7.1 Structure of the program example

OB 21

Restart OB OB 22

Restart OB

OB 1

Cyclic

program

execution

FB 17

Initialization

of the

IP 267

FB 19

User

program for

IP 267

DB 17

User DB

Data exchange:

OB 1 - DB 17: Store feedback message frame from PII

Transfer positioning or configuration message frame into PIQ

FB 17 - DB 17: Load feedback message frame and parameters from DB

Transfer feedback message frame after processing to DB

Transfer positioning or configuration message frame after

processing to DB

FB 19 - DB 17: Transfer parameters to DB for positioning or configuring

Flag and data areas used in the function blocks:

Flag words: FW 100 to FW 106 - FB 17

FW 110 - FB 19

Data words: DW 0 to DW 23 - DB 17

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EWA 4NEB 812 6061-02a

7-1

Function block for assigning parameters to the IP 267 IP 267

Application of function block FB 17

This function block supports operator communication and visualization using the

IP 267 stepper motor controller in conjunction with the CPU 102 (from 6ES5 102 -

8MA02 onwards) or CPU 103.

To facilitate configuring and positioning, the various parameters can be trans-

ferred to different data words of the user data block. The function block has

access to this data area and converts the parameters to the required 4-byte

format.

Additionally, the traversing path (linear axis) or the angle of rotation (rotary axis)

can be entered directly and the residual distance or angle read. This relieves the

user of having to convert the distance (angle) to go into the corresponding

number of pulses, and vice versa.

General note on communications

As the PII and PIQ are updated simultaneously, the feedback messages are de-

layed by one OB 1 cycle. To avoid undesirable reactions of the user program to

the "old" data, the positioning functions and the output of new positioning or

configuration message frames must be deactivated in the user program for every

second OB 1 cycle.

7.2 Structure of function block 17

General

Communication between the CPU and the IP 267 is limited to three different

types of message frame:

- Configuration message frames

-Positioning message frames

-Feedback message frames.

The FB 17 includes one separate segment for each type of message frame and an

additional one for calling the user program.

Segment 1 - Read feedback message frame

Segment 2 - Calling user program

Segment 3 - Transmit configuration message frame

Segment 4 - Transmit positioning message frame

7-2

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

The user program must be called in segment 2 to enable a fast response to

current feedback messages from the IP.

FB 17 Segment 1

Set/reset idle cycle

flag

a

Number

of residual pulses

< 32768

a

yes

Set FB status bit 13

and convert num-

ber of residual

pulses into distance

to go

Store distance to

go in length units

in DW 22

Store positioning

path to go

in length units

in DW 22

a

no

2

Store IP status in

DW 23

a

START

FB 17 Segment 2

a

Idle cycle?

a

Calling the user

program for

positioning

a

yes

a

no

a

END

2

3

a

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EWA 4NEB 812 6061-02a

7-3

Function block for assigning parameters to the IP 267 IP 267

FB 17 Segment 3

a

BV=4 ?

a

BV=8 ?

a

BV=20 ?

a

BV=40 ?

a

BV=80 ?

a

BV=200 ?

a

BV=800 ?

a

Transmit

configuration

message frame?

a

KM111 DR 18

a

KM110 DR 18

a

KM101 DR 18

a

KM100 DR 18

a

KM011 DR 18

a

KM010 DR 18

a

KM001 DR 18

a

KM000 DR 18

a

Set error bit 8

a

BV=400 ?

a

yes

a

yes

a

yes

a

yes

a

yes

a

yes

a

yes

a

yes

a

no

a

no

a

no

a

no

a

no

a

no

a

no

a

no

a

END

a

no

a

yes

Reset error bit 8

TI => DL 18

EK=> D 17.1

SS=> DL 17

3

4

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EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

FB 17 Segment 4

a

Number

of pulses

determined

>1048575

Converting the path

entered (DW 13)

into the number

of pulses

a

yes

Set error bit 9

Number of

pulses DW 18 and

D 17.0 to D 17.3

G DL 17

BA, RF, R D 17.4 to D

a

no

a

END

4

a

7

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EWA 4NEB 812 6061-02a

7-5

Function block for assigning parameters to the IP 267 IP 267

FB 17 LAE=157

NAME :IP-OP

0005 :AN F 100.4 AUXILIARY FLAG FOR IDLE CYCLE

0006 := F 100.4

0007 :L DW 15 DISTANCE TO GO IS SMALLER

0008 :SLW 12 THAN 16 BITS ?

0009 :L DW 16

000A :SRW 15

000B :OW

000C :L KF +0

000E :!=F

000F := F 100.5

0010 :L DW 13

0011 :T DW 22 NO :TOTAL PATH AS

0012 :JC FB 243 FEEDBACK MESSAGE

0013 NAME :DIV:16

0014 Z1 : DW 16

0015 Z2 : DW 8 YES:CONVERTING NUMBER OF RESIDU-

0016 OV : F 101.0 AL PULSES INTO DISTANCE TO GO

0017 FEH : F 101.1

0018 Z3=0 : F 101.2

0019 Z4=0 : F 101.3

001A Z3 : DW 22

001B Z4 : FW 102

001C :L DW 15

001D :SRW 6 STORE IP STATUS

001E :T DW 23

001F :T FW 104

0020 :***

SEGMENT 2 0021 USER PROGRAM SEGMENT

0021 :AN F 100.4 IDLE CYCLE

0022 :L FW 100 STORE FB STATUS

0023 :T DW 20

0024 :BEC

0025 :JU FB 19

0026 NAME :ABL.KET

0027 :***

7-6

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

SEGMENT 3 0028 CONFIGURATION SEGMENT

0028 :L DW 1

0029 :T FW 106 CONFIGURING/POSITIONING ?

002A :A F 107.0 POSITIONING ?

002B :JC =M001

002C :L DW 3 BASE VALUE = 4 ?

002D :L KF +4

002F :><F

0030 :JC =M002

0031 :L KF +7 YES : KM 111 -> BYTE 3

0033 :JU =M003

0034 M002 :L DW 3 BASE VALUE = 8 ?

0035 :L KF +8

0037 :><F

0038 :JC =M004

0039 :L KF +6 YES : KM 110 -> BYTE 3

003B :JU =M003

003C M004 :L DW 3 BASE VALUE = 20 ?

003D :L KF +20

003F :><F

0040 :JC =M005

0041 :L KF +5 YES : KM 101 -> BYTE 3

0043 :JU =M003

0044 M005 :L DW 3 BASE VALUE = 40 ?

0045 :L KF +40

0047 :><F

0048 :JC =M006

0049 :L KF +4 YES : KM 100 -> BYTE 3

004B :JU =M003

004C M006 :L DW 3 BASE VALUE = 80 ?

004D :L KF +80

004F :><F

0050 :JC =M007

0051 :L KF +3 YES : KM 011 -> BYTE 3

0053 :JU =M003

0054 M007 :L DW 3 BASE VALUE = 200 ?

0055 :L KF +200

0057 :><F

0058 :JC =M008

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EWA 4NEB 812 6061-02a

7-7

Function block for assigning parameters to the IP 267 IP 267

0059 :L KF +2 YES : KM 010 -> BYTE 3

005B :JU =M003

005C M008 :L DW 3 BASE VALUE = 400 ?

005D :L KF +400

005F :><F

0060 :JC =M009

0061 :L KF +1 YES : KM 001 -> BYTE 3

0063 :JU =M003

0064 M009 :L DW 3 BASE VALUE = 800 ?

0065 :L KF +800

0067 :><F

0068 :JC =M010

0069 :L KF +0 YES : KM 000 -> BYTE 3

006B :JU =M003

006C M010 :S F 100.0 ERROR NO.1 : BV ILLEGAL

006D :L FW 100 STORE FB STATUS

006E :T DW 20

006F :BEU

0070 M003 :R F 100.0

0071 :T DR 18 BASE VALUE -> BYTE 3

0072 :L DR 5

0073 :T DL 18 TIME INTERVAL -> BYTE 2

0074 :L DW 6

0075 :SLW 15

0076 :SRW 14

0077 :T DR 17 LIMIT SWITCH CON. -> BYTE 1

0078 :L DR 4

0079 :T DL 17 FACTOR SS-RATE -> BYTE 0

007A :L FW 100

007B :T DW 20 STORE FB STATUS

007C :BEU

007D M001 :***

7-8

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

SEGMENT 4 007E POSITIONING SEGMENT

007E :JU FB 242

007F NAME :MUL:16

0080 Z1 : DW 13 CONVERTING THE PATH

0081 Z2 : DW 8 INTO NUMBER OF PULSES

0082 Z3=0 : F 101.4

0083 Z32 : DW 17

0084 Z31 : DW 18

0085 :L DW 17 NUMBER OF PULSES PER AREA

0086 :L KF +15 <= 20 BITS ?

0088 :>F

0089 := F 100.1 NO : ERROR NO. 2

008A :L FW 100

008B :T DW 20

008C :BEC

008D :L DW 11 YES : REDUCTION FACTOR AND

008E :SLW 7

008F :L DW 12 OPERATING MODE AND

0090 :SLW 4

0091 :OW NUMBER OF PULSES

HIGH-WORD

0092 :L DW 17

0093 :OW -> BYTE 0 AND 1

0094 :T DW 17

0095 :L DW 10 VELOCITY FACTOR

0096 :T DL 17 -> BYTE 0

0097 :BE

7.3 User program for positioning

The following program example shall illustrate the basic structure of a possible

sequencer taking into account various start conditions (timer or pulse-triggered)

of a positioning function. Note that the order in which the jobs are processed is

determined by the step flags. The start conditions are only effective after the

preceding job has been executed.

The program example is based on the following data:

Motor data : 200 pulses/rev.

Axis data : 1 mm/rev.

Resolution : 200 pulses/mm

a

7

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EWA 4NEB 812 6061-02a

7-9

Function block for assigning parameters to the IP 267 IP 267

Processing sequence

FB 19 Segment 1

a

Positioning job

executing?

a

Job 0 already

executed?

a

Job 1 already

executed?

a

no

a

yes

a

no Assign current

parameters to DW

in UDB

a

yes

a

no Assign current

parameters to DW

in UDB

a

Job 3 already

executed?

a

yes

a

no Assign current

parameters to DW

in UDB

a

Reset sequencer

a

END

a

Job n already

executed?

a

yes

a

no Assign current

parameters to DW

in UDB

a

START

a

yes

7-10

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

Notes on the job execution

• Start new positioning job immediately after terminating the previous one

Execution of this job depends on two conditions:

1. No pulses output by the IP

2. Job has not yet been executed.

For examples see: Jobs 0, 1, 2

• Start new positioning job on expiration of a set time

Execution of this job depends on three conditions:

1. No pulses output by the IP

2. Job has not yet been executed

3. Expiration of set time.

For examples see: Jobs 3, 4

• Positioning job initiated by binary signal

Execution of this job depends on three conditions:

1. No pulses output by the IP

2. Job has not yet been executed

3. Change of state of a binary operand

For examples see: Jobs 5, 6

• Disabling various jobs

For disabling individual jobs, the relevant step flags must be set.

For examples see: Jobs 7, 8, 9, 10, 11, 12

In the restart OBs, the step flags are set to ensure that the configuration is

deleted, a new configuration transferred and a reference point approach

started before processing of the sequencer begins.

a

7

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EWA 4NEB 812 6061-02a

7-11

Function block for assigning parameters to the IP 267 IP 267

FB 19 LAE=258

NAME :SEQCER

0005 :***

SEGMENT 2 0006

0006 :A F 105.7 POSITIONING JOB EXECUTING ?

0007 :BEC YES : ABORT

0008 :A F 110.0 STEP FLAG FOR JOB 0

0009 :JC =A01

000A :S F 110.0 JOB 0:

000B :L KF +1

000D :T DW 1 NEUTRAL

000E :L KF +3

0010 :T DW 12

0011 :BEU

0012 A01 :A F 110.1 STEP FLAG FOR JOB 1

0013 :JC =A02

0014 :S F 110.1

0015 :L KF +1 JOB 1 :

0017 :T DW 1

0018 :L KF +10 IDENTIFIER FOR POSITIONING

001A :T DW 10

001B :L KF +0 VELOCITY FACTOR : 10

001D :T DW 11 REDUCTION FACTOR: 1

001E :L KF +1 OPERATING MODE : FORWARDS

0020 :T DW 12 PATH [LU] : 100mm

0021 :L KF +100

0023 :T DW 13

0024 :BEU

0025 A02 :A F 110.2 STEP FLAG FOR JOB 2

0026 :JC =A03

0027 :S F 110.2

0028 :L KF +20

002A :T DW 10 JOB 2 :

002B :L KF +0

002D :T DW 11 VELOCITY FACTOR : 20

002E :L KF +2 REDUCTION FACTOR : 1

0030 :T DW 12 OPERATING MODE : BACKWARDS

7-12

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

0031 :L KF +200 PATH [LU] : 200mm

0033 :T DW 13

0034 :BEU

0035 A03 :A F 110.3 STEP FLAG FOR JOB 3

0036 :JC =A04

0037 :L KT 050.1 JOB 3 :

0039 :SD T 10

003A :AN T 10 WAITING TIME : 5.0 s

003B :BEC

003C :S F 110.3

003D :AN T 10

003E :SD T 10

003F :L KF +50

0041 :T DW 10 VELOCITY FACTOR : 50

0042 :L KF +1 REDUCTION FACTOR: 0.1

0044 :T DW 11 OPERATING MODE : FORWARDS

0045 :L KF +1 PATH [LU] : 500mm

0047 :T DW 12

0048 :L KF +500

004A :T DW 13

004B :BEU

004C A04 :A F 110.4 STEP FLAG FOR JOB 4

004D :JC =A05

004E :L KT 025.1 JOB 4 :

0050 :SD T 11

0051 :AN T 11 WAITING TIME : 2.5 s

0052 :BEC

0053 :S F 110.4

0054 :AN T 11

0055 :SD T 11

0056 :L KF +100

0058 :T DW 10 VELOCITY FACTOR : 100

0059 :L KF +1 REDUCTION FACTOR: 0.1

005B :T DW 11 OPERATING MODE : BACKWARDS

005C :L KF +2 PATH [LU] : 1000mm

005E :T DW 12

005F :L KF +1000

0061 :T DW 13

0062 :BEU

0063 A05 :A F 110.5 STEP FLAG FOR JOB 5

a

7

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EWA 4NEB 812 6061-02a

7-13

Function block for assigning parameters to the IP 267 IP 267

0064 :JC =A06

0065 :AN I 3.0 JOB 5 :

0066 :BEC

0067 :S F 110.5 START SIGNAL : INPUT 3.0

0068 :L KF +20

006A :T DW 10 VELOCITY FACTOR : 20

006B :L KF +0 REDUCTION FACTOR: 1

006D :T DW 11 OPERATING MODE : FORWARDS

006E :L KF +1 PATH [LU] : 250mm

0070 :T DW 12

0071 :L KF +250

0073 :T DW 13

0074 :BEU

0075 A06 :A F 110.6 STEP FLAG FOR JOB 6

0076 :JC =A07

0077 :AN I 3.1 JOB 6 :

0078 :BEC

0079 :S F 110.6 START SIGNAL : INPUT 3.1

007A :L KF +40

007C :T DW 10 VELOCITY FACTOR : 40

007D :L KF +0 REDUCTION FACTOR: 1

007F :T DW 11 OPERATING MODE : BACKWARDS

0080 :L KF +2 PATH [LU] : 100mm

0082 :T DW 12

0083 :L KF +100

0085 :T DW 13

0086 :BEU

0087 A07 :A I 3.2 IF INPUT 3.2 ACTIVE,

0088 :S F 110.7 JOBS 7 TO 10

0089 :S F 111.0 ARE NOT PROCESSED !

008A :S F 111.1

008B :S F 111.2

008C :A F 110.7 STEP FLAG FOR JOB 7

008D :JC =A08

008E :S F 110.7 JOB 7 :

008F :L KF +0

0091 :T DW 10 DELETE CONFIGURATION

0092 :T DW 12

0093 :BEU

0094 A08 :A F 111.0 STEP FLAG FOR JOB 8

7-14

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

0095 :JC =A09

0096 :S F 111.0 JOB 8 :

0097 :L KF +0

0099 :T DW 1 RECONFIGURATION

009A :L KF +80

009C :T DW 3 IDENTIFIER FOR CONFIGURATION

009D :L KF +20 BASE VALUE : 80

009F :T DW 4 FACTOR FOR SS-RATE : 20

00A0 :L KF +30 TIME INTERVAL : 30

00A2 :T DW 5 LIMIT SWITCH CONFIG. : 1

00A3 :L KF +1

00A5 :T DW 6

00A6 :BEU

00A7 A09 :A F 111.1 STEP FLAG FOR JOB 9

00A8 :JC =A10 JOBS 9 TO 12 REF. POINT APPR.

00A9 :S F 111.1 JOB 9 :

00AA :L KF +1

00AC :T DW 1 APPROACH LIMIT SWITCH

00AD :L KF +80

00AF :T DW 10 VELOCITY FACTOR : 80

00B0 :L KF +0 REDUCTION FACTOR: 1

00B2 :T DW 11 OPERATING MODE : BACKWARDS

00B3 :L KF +2 PATH [LU] : MAX=5242mm

00B5 :T DW 12

00B6 :L KF +5242 (HERE MAX.PATH)

00B8 :T DW 13

00B9 :BEU

00BA A10 :A F 111.2 STEP FLAG FOR JOB 10

00BB :JC =A11

00BC :S F 111.2 JOB 10 :

00BD :L KF +1

00BF :T DW 1 REFERENCE POINT APPROACH

00C0 :L KF +80

00C2 :T DW 10 VELOCITY FACTOR : 80

00C3 :L KF +0 REDUCTION FACTOR: 1

00C5 :T DW 11 OPERATING MODE : RPA FORW.

00C6 :L KF +5 PATH [LU] : MAX=5242mm

00C8 :T DW 12

00C9 :L KF +5242

00CB :T DW 13

a

7

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EWA 4NEB 812 6061-02a

7-15

Function block for assigning parameters to the IP 267 IP 267

00CC :BEU

00CD A11 :A F 111.3 STEP FLAG FOR JOB 11

00CE :JC =A12

00CF :S F 111.3 JOB 11 :

00D0 :L KF +1

00D2 :T DW 1 MOVE BACKW. FROM REF. POINT

00D3 :L KF +80

00D5 :T DW 10 VELOCITY FACTOR : 80

00D6 :L KF +0 REDUCTION FACTOR: 1

00D8 :T DW 11 OPERATING MODE : BACKWARDS

00D9 :L KF +2 PATH [LU] : 20mm

00DB :T DW 12

00DC :L KF +30

00DE :T DW 13

00DF :BEU

00E0 A12 :A F 111.4 STEP FLAG FOR JOB 12

00E1 :JC =A13

00E2 :S F 111.4 JOB 12 :

00E3 :L KF +1

00E5 :T DW 1 SET REFERENCE POINT

00E6 :L KF +1

00E8 :T DW 10 VELOCITY FACTOR : 1

00E9 :L KF +0 REDUCTION FACTOR: 1

00EB :T DW 11 OPERATING MODE : RPA FORW.

00EC :L KF +5 PATH [LU] : MAX=5242mm

00EE :T DW 12

00EF :L KF +5242

00F1 :T DW 13

00F2 :BEU

00F3 A13 :L FW 110 END OF SEQUENCER REACHED ?

00F4 :L KH FF1F

00F6 :><F

00F7 :BEC NO --> CONTINUE

00F8 :L KH 0000

00FA :T FW 110 YES --> SET STEP FLAG TO ZERO

00FB :***

SEGMENT 3 00FC

00FC :BE

7-16

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

7.4 Description of the user data block

DW 0 - Unassigned

DW 1 - K/P - Used for selecting the parameters to be transferred

K/P = 0 Configuring

Parameters : SS, EK, ZI, BW

K/P = 1 Positioning

Parameters : G, R, RF, BA, WS

DW 2 - Unassigned

DW 3 - BV - The eight frequency ranges that can be used for the base

value must be entered in decimal form. In the case of an

incorrect entry, an error bit is set (D 20.8) and the

configuration discontinued (see Chapter 4.1.5).

DW 4 - SS - Multiplier for start/stop rate (see Chapter 4.1.2)

DW 5 - TI - Time interval for rate increase and decrease (see Chap-

ter 4.1.4)

DW 6 - EK - Limit switch configuration

EK = 0 EPLUS, EMINUS, STOP : NC contact

EK = 1 EPLUS, EMINUS, STOP : NO contact

(see Chapter 4.1.3)

DW 7 - Unassigned

a

7

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EWA 4NEB 812 6061-02a

7-17

Function block for assigning parameters to the IP 267 IP 267

DW 8 - AL - This value describes the required plant sections (stepper

motor, gears, leadscrew pitch). The user determines this

value by dividing the number of pulses per revolution of

the motor by the path (or angle) per revolution of the

motor. The ratio of any gearing used must be taken into

account.

e.g. linear axis :

Motor data : 200 pulses/rev.

Axis data : 1.0 mm/rev.

Resolution (Res.) : 200 pulses/mm

In this case, the length is measured in mm. The minimum

traversing path of a positioning job is therefore 1 mm.

The maximum traversing path is the maximum number of

pulses divided by the resolution (up to 32767 length units

or angular units).

Max. numb. of pulses : 1,048,575 pulses (20 bits)

Resolution : 200 pulses/mm

Max. path : 5242 mm

Many applications demand a higher positioning accuracy,

which can be achieved by multiplying the parameter Res.

several times by the factor 0.1. In the example above, the

user may also enter 20 or 2, instead of 200, for the

parameter Res.

The positioning accuracy thus changes from 1 mm to

100 µm or 10 µm; consequently, the maximum traversing

path is reduced from 5242 mm to 3276.7 mm or

327.67 mm. Additionally, the length unit [mm] assigned

to the path in DW 13 changes to 100 µm or 10 µm.

If the resolution value is no integer value, a gearing with a

suitable ratio should be selected to ensure that the ma-

ximum traversing path (angle of rotation) will not exceed

the permissible limits.

7-18

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

e.g. rotary axis

Motor data : 200 pulses/rev.

Axis data : 360 deg/rev.

Resolution : 0.55555 or 5/9

In this example, the smallest possible angle of rotation is

9 degrees, the resolution parameter is 5.

A better resolution can be achieved by dividing a circle up

into gons and the use of only one gearing:

Motor data : 200 pulses/rev.

Gearing : 10 : 1

Axis data : 400 deg/rev.

Resolution : 5 pulses/deg

These specifications result in a minimum angle of one

gon.

The length unit or angular unit selected by the user in

connection with the resolution parameter is referred to

the path (DW 13) and one positioning command.

DW 9 - Unassigned

DW 10 - G - Multiplier for the velocity (see Chapter 4.2.2)

DW 11 - R - Reduction factor (see Chapter 4.2.3)

R = 0 Reduction factor = 1.0

R = 1 Reduction factor = 0.1

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EWA 4NEB 812 6061-02a

7-19

Function block for assigning parameters to the IP 267 IP 267

DW 12 - OM - Operating mode (see Chapter 4.2.3)

OM = 0 Stop

OM = 1 Start forwards

OM = 2 Start backwards

OM = 3 Neutral

OM = 5 Start forwards + reference point

OM = 6 Start backwards + reference point

DW 13 - WS - The path must be entered in the length unit or angular

unit selected by the user in DW 8 (resolution).

Input range: 0 to 32767 (cf. DW 8 - resolution parameter)

DW 14 - Unassigned

DW 15 - IW0 - Byte 0 and byte 1 - Data from IP

DW 16 - IW1 - Byte 2 and byte 3 - Data from IP

These two data words must be assigned by the user

before calling the FB 17 from the PII.

DW 17 - QW0 - Byte 0 and byte 1 - Data to IP

DW 18 - QW1 - Byte 2 and byte 3 - Data to IP

These two data words must be transferred by the user to

the PIQ after calling the FB 17.

DW 19 - Unassigned

7-20

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

DW 20 - FB - FB status and error messages

Structure: DR - Auxiliary flag area for internal

conversions.

DL - Error messages and FB status

D 20.8 =1 - Base value entered incorrectly

D 20.9 =1 - Calculated number of pulses

exceeds 20 bit range

D 20.12 =1 - Network for configuring or posi-

tioning is being processed

=0 - Idle cycle

D 20.13 =1 - Display of current distance to go

=0 - Total traversing path displayed

DW 21 - Unassigned

DW 22 - RW - The distance to go is output in the length unit or angular

unit selected in DW 8 (resolution).

In the case of very long traversing paths (residual pulse

number greater than 32767), the total traversing path is

displayed and, as soon as the residual pulse number is

below 32767, the current distance to go is displayed.

DW 23 - IP - IP status (see Chapter 4.3.2)

The status bits of the IP are stored right-justified in this

data word.

Bit 0 - IJE Bit 1 - DGS Bit 2 - IES

Bit 3 - IRP Bit 4 - ILSS Bit 5 - ILSE

Bit 6 - IDG Bit 7 - IPQ Bit 8 - IPD

Bit 9 - ILCN

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EWA 4NEB 812 6061-02a

7-21

Function block for assigning parameters to the IP 267 IP 267

DB17 LAE=30 /40

0: KH = 0000;

1: KF = +00000; CONF./POS. [0/1]

2: KH = 0000;

3: KF = +00000; BV [4;8;20;40;80;200;400;800]

4: KY = 000,000; 0,FACTOR SS-RATE [1...255]

5: KY = 000,000; 0,TIME INTERVAL [1...255]

6: KF = +00000; LIMIT SWITCH CONFIGURATION [0/1]

7: KH = 0000;

8: KF = +00200; RESOLUTION [1...32767 Imp/LU]

9: KH = 0000;

10: KY = 000,000; 0,VELOCITY FACTOR [1...255]

11: KF = +00000; REDUCTION FACTOR [0/1] => 1/0.1

12: KF = +00000; OPERATING MODE

13: KF = +00000; PATH [1...32767 LU]

14: KH = 0000;

15: KM = 00000000 00000000; FROM IP - BYTE 0 AND 1

16: KM = 00000000 00000000; - BYTE 2 AND 3

17: KM = 00000000 00000000; TO IP - BYTE 0 AND 1

18: KM = 00000000 00000000; - BYTE 2 AND 3

19: KH = 0000;

20: KM = 00000000 00000000; FB STATUS AND ERROR MESSAGES

21: KH = 0000;

22: KF = +00000; DISTANCE TO GO [1...32767 LU]

23: KM = 00000000 00000000; IP STATUS

24: KH = 0000;

25:

7-22

EWA 4NEB 812 6061-02a

IP 267 Function block for assigning parameters to the IP 267

7.5 Calling function block 17

OB 1

Before calling the FB 17, the user data block must be opened and the relevant

input data words (see Chapter 4) transferred from the PII to data words 15

and 16.

After processing the function block, data words 17 and 18 must be transferred to

the PIQ.

OB 1 LAE=17

SEGMENT 1 0000

0000 :C DB 17 OPENING THE USER DB

0001 :L IW 64 IWxx CORRESPONDS TO SLOT

0002 :T DW 15 STORE FEEDBACK MESSAGE FRAME

0003 :L IW 66 FROM IP

0004 :T DW 16

0005 :JU FB 17

0006 NAME :IP-BED

0007 :L DW 17 TRANSMIT POSITIONING

0008 :T QW 64 OR CONFIGURING

0009 :L DW 18 MESSAGE FRAME TO IP

000A :T QW 66 QWXX CORRESPONDS TO SLOT

000B :BE

OB 21

When initializing FW 110, the configuration data is deleted and transferred

again, and the axis referenced again in the user FB (FB 19) following a warm

restart.

OB 21 LAE=9

SEGMENT 1 0000

0000 :L KH 7F00 PROCESSING OF THE LAST SIX JOBS

0002 :T FW 110 OF THE SEQUENCER IS STARTED!

0003 :BE

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EWA 4NEB 812 6061-02a

7-23

Function block for assigning parameters to the IP 267 IP 267

OB 22

When initializing FW 110, the configuration data is sent to the IP and the axis

referenced again in the user FB (FB 19) following a cold restart.

OB 22 LAE=9

SEGMENT 1 0000

0000 :L KH FF00 PROCESSING OF THE LAST FIVE JOBS

0002 :T FW 110 OF THE SEQUENCER IS STARTED!

0003 :BE

7-24

EWA 4NEB 812 6061-02a

IP 267   Index
Index
A
Abortion/interruption
- positioning jobs 4-11
Acceleration curve 2-4
Acceleration ramp 2-2, 2-4
Address area 1-1, 4-1
Address assignment
- configuration message
frames
5-3
4-4
- feedback message
frames 4-16
- positioning message
frames 4-9
Addresses 1-1
Addressing
- configuration message
frames 4-3
Assigning parameters 7-1
Auxiliary approach jobs 6-14
B
Base value (BV)
- for the stepping rate 2-3
2-2
- frequencies 4-6, 4-10
- stepping rate 2-3
Block diagram of the IP 267 1-2
BV   Base value for the
frequencies
C
Cable length
- permissible 3-7
Calibration
- traversing range 3-4
Cold restart 6-2
Configuration
- delete 4-15
Configuration
- limit switch 2-2, 2-3
Configuration data 2-1, 2-2, 3-4,
4-2, 4-3
- configuration message
frame 5-6
- setting 6-26
- valid 4-12
Configuration message frame 2-2, 4-3,
4-11, 5-11,
5-12
- addressing 4-3
- configuration data 5-6
Configuring the IP 267 4-3
Connecting cables
- power sections 3-9
Connector
- stepper motor power
section
3-8
Constant velocity range 2-2
Contact bounce 5-10
Control pulses 3-7
Current consumption 3-2
D
Deceleration 
- curve 2-4
- phase 2-3
- ramp 2-2, 2-4
Diagnostics sheet 5-16
Differential signals
- 5 V 3-6, 5-14
Differential inputs
- 5V 1-1
Digital inputs
- I - 2-4
- I+ 2-4
Digital inputs
- technical specifications 3-4
EWA 4NEB 812 6061-02a 1

Index   IP 267
Distance to go 2-1, 4-2,
4-15, 4-18 
Drive- moment of inertia 6-29
Drive circuit
- technical specifications 3-6
Duration of the output impulses 2-3
E
Emergency limit switch (PD) 2-2, 3-4, 5-1,
5-6
Emergency-OFF switch 5-1
Enable signals
- power section 5-4
End switch configuration 2-2
F
fA   Stepping rate
Feedback message 4-2
Feedback message frames 4-15
- address assignment 4-16
Feedback signal 2-1
fmax   Pulse frequency
Frequency
- base value (BV) 2-3, 4-6, 4-10
- range 2-3
fss   Start/stop rate
Full-step mode 2-5
H
Half-step mode 2-5
I
I - - digital inputs 2-4
I - - limit switch 5-6
I+ - digital inputs 2-4
 I+ - limit switch 5-6
Identifier bit
- reference point
approach 4-8
Input addresses 4-1
Input message frame 6-1
Interface
- serial 1-1, 2-1, 4-2
L
LED - ”ABT” 3-4, 3-8
- ”ACT” 3-8
- ”RDY” 2-2
- ”RDY” 3-4
- ”RDY” 3-8
- ”RDY” 4-8
- ”RDY” 5-6
Limit switch 5-1
- configuration 2-3
- I - 5-6
- I+ 5-6
Load variations 5-12
Logic inputs 1-1
- range 5 V to 30 V 3-6
M
Message frame 2-1
- ”STOP” mode 4-11
Mode
- ”neutral” 4-12
- ”start backwards” 4-12
- ”start forwards” 4-12
Moment of inertia 6-27
- drive 6-29
Motor
- number of steps 5-12
- selection 5-12, 6-26
- torque 6-29 
2EWA 4NEB 812 6061-02a

IP 267   Index
 Multiplier
- start/stop rate 2-4, 4-5
- velocity 4-8, 4-10
N
Number of steps 3-7
- motor 5-12
O
Operating modes 2-2, 4-8, 4-11
Output addresses 4-1
Output current 3-7
Output message frame 6-1
Output pulses 2-4
- number 2-1
Output signals 3-6, 5-15
Output voltages 3-7
P
Path 4-11
- definition 4-8
PD   Emergency limit switch
PII    Process input image
Pin assignment
- terminal block connector 3-3
PIQ   Process output image
Positioning data 2-1, 2-2
Positioning job 4-2, 4-8, 4-12
- abortion/interruption 4-11
Positioning message frame 4-8, 5-8, 5-11
- address assignments 4-9
Power section
- connecting cable 3-9
- enable signal 5-4
- preparation 5-4
- selection 5-14
Power supply 3-1, 3-2
Principle of operation
of the IP 267 2-1
Process
- input image 4-1, 4-2, 4-15
- output image 4-1, 4-2
Programmable pulse generator 1-1
Pulse duration 4-7
Pulse frequency 2-1, 5-12,
5-14
- maximum 5-13
Pulse generator
- programmable 1-1
Pulse output
- inhibit 3-4
R
R   Reduction factor
Rate- start/stop 2-3
- start/stop (fss) 2-4
Rate decrease
- time interval 4-5
Reduction factor 4-7, 4-8,
4-10, 4-13
- start/stop rate (fss) 2-3
Reference point 5-8, 6-14
- determination 5-8, 6-14
Reference point approach 4-13
- identifier bit 4-8
Reference switch 3-4, 5-8
RPA   Reference point
approach
S
Safety concept 5-1
Serial interface 1-1, 2-1, 4-2
Signal evaluation 3-4
Slots 4-1
Special voltage Vs3-2, 3-6, 5-4
SS   Multiplier for the start/stop
rate
EWA 4NEB 812 6061-02a 3

Index   IP 267
Start/stop rate (fss) 2-2, 2-3, 2-4
- multiplier 2-4, 4-5
- reduction factor 2-4
Status 4-2
- bit 2-1, 4-15,
4-17
- displays 3-8
Step- losses 5-12
- pulses 4-11
Stepper motor 
- torque 2-5
Stepper motor power section
- connection 3-6
Stepping rate (fA) 2-4, 3-7, 4-5,
4-10
- base value 2-2, 2-3
Stepping rate decrease
- time interval 2-2
Stepping rate increase
- time interval 2-2
STOP mode
- message frames 4-11
Supply voltage
- two-wire BEROs 3-5
Symmetrical traverse profile 2-2
T
Technical specifications
- digital inputs 3-4
- drive circuit 3-6
- general 3-1
Terminal block connector
- pin assignment 3-3
TI   Time interval
Time interval (TI)
- for stepping rate decrease 2-4
2-2
- for stepping rate increase 2-2
- rate decrease 4-5
- rate increase 4-5
Torque 5-12
- characteristic 5-13, 5-14
- motor 6-29 
- stepper motor 2-5
Traverse profile
- symmetrical 2-2
Traversing range 5-8
- calibration 3-4
- limitation 3-4
Two-wire BEROs
- supply voltage 3-5
V
Velocity
- multiplier 4-8, 4-10
Vs   Special voltage
W
Warm restart 6-2
- routines 6-2
4EWA 4NEB 812 6061-02a

Siemens AG

AUT E1114B

Postfach 1963

Werner-von-Siemens-Str. 50

D-92209 Amberg

Fed. Rep. of Germany

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For Publication / Manual:

Title: IP 267 Stepper Motor Controller

Order No.: 6ES5 998-5SD21

Edition: 3

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EWA 4NEB 812 6061-02a