Siemens SIMATIC S5 Manual

Siemens SIMATIC S5 Manual

Ip 266 positioning module
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SIMATIC S5
IP 266
Positioning Module
Manual
EWA 4NEB 812 6057-02
Table of Contents
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Summary of Contents for Siemens SIMATIC S5

  • Page 1 SIMATIC S5 IP 266 Positioning Module Manual EWA 4NEB 812 6057-02...
  • Page 2 Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved. Copyright© Siemens AG 1991 EWA 4NEB 812 6057-02...
  • Page 3: Table Of Contents

    Preface Introduction System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication Between the CPU and the IP 266 Start-Up STEP 5 Programming Troubleshooting Keyword Index EWA 4NEB 812 6057-02...
  • Page 4: Preface

    IP 266 Preface Preface The IP 266 is a powerful intelligent I/O "positioning" module that was developed specially for installation in the S5-100U programmable controller. The IP 266 makes it possible to operate servomotors via power electronics equipment. The IP 266 can be used in conjunction with the following CPUs: •...
  • Page 5: Introduction

    IP 266 Introduction Introduction The information presented below is aimed at simplifying use of the manual. Contents The contents of the manual can be subdivided into topical categories: • Hardware description Section 1 ("System Overview") and Section 2 ("Technical Description") pro- vide information on the components of the positioning system and their integration in the S5-100U System.
  • Page 6 Introduction IP 266 • Fundamentals of COM 266 This section provides information on how to - make a back-up copy of the COM 266 floppy - install COM 266 and - use COM 266. It also includes a full description of all COM 266 screen forms. •...
  • Page 7 IP 266 Introduction Training courses Siemens offers an extensive range of training courses for the SIMATIC STEP 5 system. For details, please contact your local Siemens branch office. Reference literature This manual deals primarily with the IP 266 positioning module. Other com- ponents of the SIMATIC S5 system are mentioned only briefly.
  • Page 8 Introduction IP 266 • Electronic Feed Drives for Machine Tools Hans Groß Order No.: ISBN 3-8009-1338-0 Conventions To improve readability, the manual has been broken down into menus, i. e.: • Each section has a thumb index. • At the beginning of the manual you will find an overview of section headers. •...
  • Page 9 IP 266 Introduction • Information of particular importance is flanked by two gray bars. A key word or phrase in the upper bar indicates the type of information involved. Note: Additional information; emphazises a special feature or characteristic. C A U T I O N : Precautions which must be taken to prevent damage to hardware or software.
  • Page 10 IP 266 Introduction • Remarks Form The Remarks Form is provided for your comments and suggestions. Conventions The following conventions are used in this book and are listed for your reference. Convention Definition Example A box that indicates a type of hazard,describes its implications, and tells you how to avoid the hazard is...
  • Page 11: System Overview

    Axis Types ....... . 1 - Installing the IP 266 in a Simatic S5 System . . .
  • Page 12 (not to scale) ........1-3. The IP 266 in a SIMATIC S5 System....1 - 1-4.
  • Page 13: System Overview

    IP 266 System Overview System Overview The IP 266 intelligent I/O module adds yet another powerful positioning unit to the already wide range of S5-100U programmable controller modules. The IP 266 can position drives with exceptional accuracy. Once the programmable con- troller's CPU has started a job, it is no longer loaded by the IP 266.
  • Page 14: Positioning With Three Axes

    System Overview IP 266 Application In an assembly line, a gripper takes a workpiece from a conveyor belt and forwards it to an automatic assembling machine. The part is then returned to the conveyor belt. Figure 1-1 shows the schematic arrangement. Included in the illustration are three axes which are positioned e.
  • Page 15 IP 266 System Overview Axis Types You can operate either • rotary axes • linear axes on the IP 266. Initialization and operator servicing are dependent on the axis type. Any differences are pointed out in the relevant chapters and sections. This chapter contains a description of the individual types of axis.
  • Page 16: Linear Axis With Range Limit Switches (Not To Scale)

    System Overview IP 266 The linear axis A linear axis is an axis with a limited traversing range. The traversing range is restricted via • programmable software limit switches (S • hardware limit switches (H • emergency limit switches (N Start of End of machine...
  • Page 17 IP 266 System Overview The emergency limit switches, which are routed directly to the power section, must also take the deceleration distance into account. C A U T I O N : If you initialize a linear axis unintentionally as a rotary axis, there are no soft- ware limit switches.
  • Page 18: The Ip 266 In A Simatic S5 System

    Programmer port Figure 1-3. The IP 266 in a SIMATIC S5 System The IP 266 can be plugged into a bus module slot for analog modules (slot 0 to 7). In addition to the wiring backplane, the IP 266 is also equipped with interfaces for connecting •...
  • Page 19: Principle Of Job Order Processing

    IP 266 System Overview Operator Servicing Options (PLC and PG) and Their Priorities The IP 266 can be controlled via a programmer (PG) or via the programmable con- troller's CPU. If job requests are issued to the IP 266 over both interfaces in the same firmware cycle, the request issued via the programmer has priority but the next PLC job request is serviced in the subsequent cycle.
  • Page 20 System Overview IP 266 Programmer port The IP 266 can be serviced via a programmer connected over the programmer port. To do this, you must use the COM 266 software package, which provides menus and screen forms for initializing the IP 266. Screen forms are also used to specify the modes and display current actual values.
  • Page 21 System Overview Technical Description of the IP 266 IP 266 Hardware Configuration ... . . 2 - Interface to the Programmer ....2 - Interface to the Incremental Position Encoder Interface to the Motor Power Section .
  • Page 22 Figures 2-1. IP 266 Block Diagram with Interfaces ....2 - 2-2. Module Overview Diagram ......2 - 2-3.
  • Page 23: Technical Description Of The Ip

    IP 266 Technical Description of the IP 266 Technical Description of the IP 266 The IP 266 is used for controlled positioning of a drive. It is utilized primarily in applications involving • auxiliary axes in metal-working machines • paper and textile machines •...
  • Page 24 Technical Description of the IP 266 IP 266 Processor+operating system: For coordinating all IP 266 tasks Programmer interface: For servicing the IP 266 via the COM 266 software • Start-up • Input/modification of machine data • Test mode: Starting traversing programs Starting single modes/jobs S5 bus interface: For servicing the IP 266 via a STEP 5 program...
  • Page 25: Module Overview Diagram

    IP 266 Technical Description of the IP 266 Locations of the interfaces on the IP 266 The IP 266 communicates with the I/Os over three interfaces located on its frontplate. Elements on the IP 266 front plate Fault LED Red LED FAULT ANALOG Analog output...
  • Page 26: Interface To The Programmer

    Technical Description of the IP 266 IP 266 Interface to the Programmer You can connect a programmer to the IP 266 via the programmer port. The programmer port's connector pin assignments are compatible with those of the CPU module's programmer port. Use a standard interface cable, which is preset for 9600 bits/s, to connect a programmer.
  • Page 27: Interface To The Incremental Position Encoder

    IP 266 Technical Description of the IP 266 C A U T I O N : Like the encoder interface, the programmer port is a 15-pin interface, and it is therefore possible to confuse the one with the other. The programmer port is the one at the right.
  • Page 28: Assignments

    Technical Description of the IP 266 IP 266 FAULT ANALOG Abbr. Description • Encoder voltage • Encoder voltage • Mint Ground (5 V) • Mint Ground (5 V) • Mext Ground (24 V) • Inverted A signal • A signal POSITIONING CONT.
  • Page 29 IP 266 Technical Description of the IP 266 In addition to incremental position encoders made by Siemens, you may also use non-Siemens encoders which conform to the following specifications: • Method of measurement: Incremental • Supply voltage: 5 V or 24 V •...
  • Page 30: Cable

    Technical Description of the IP 266 IP 266 Connecting cable for Siemens 6 FB 9 320 position encoders + 5 V + 5 V Shield on Shield on shell shell Cable 4 x 2 x 0.38 + 4 x 0.5 sq. mm...
  • Page 31: Interface To The Motor Power Section

    6ES5 266-8MA11 1 2 3 4 5 6 Figure 2-6. Analog Output Interface Location and Pin Assignments Siemens provides a prefabricated cable for connecting the analog output to the power section. Order No.: Connecting cable 6ES5 705-8 ... 1 The three dots in the Order No. stand for the three-digit length code. You will find a list of length codes in Catalog ST 52.1.
  • Page 32: Interface For Digital Inputs And Outputs

    Technical Description of the IP 266 IP 266 C A U T I O N : The connection information provided by the power equipment manufacturer and the general installation guidelines for SIMATIC components must be carefully observed to ensure fault-free operation. You may connect only power equipment with differential inputs for±10 V, and the analog ground may not be connected to the external ground.
  • Page 33: Hardware Limit Switches (Pins 3/5)

    IP 266 Technical Description of the IP 266 C A U T I O N : Always connect reference potential L- (pin 2 on the terminal block) with the programmable controller's chassis ground ensure fault-free module operation. The polarity of the hardware limit switches and the "External STOP" can be specified in the machine data.
  • Page 34: Reference Point Switch (Pin 4)

    Technical Description of the IP 266 IP 266 2.5.2 Reference Point Switch (Pin 4) The drive system is synchronized by reference point approach. The reference point switch must be connected to pin 4 on the terminal block (see Figure 2-8) and must lie between the two hardware limit switches.
  • Page 35: External Start Enable (Pin 7)

    IP 266 Technical Description of the IP 266 2.5.4 External Start Enable (Pin 7) "External Start Enable" allows you to make the start of a positioning operation dependent on an external event, such as a signal from another IP 266 (for instance switching function M99, position reached).
  • Page 36: Effect Of "External Start" On Single Job Orders And Automatic Programs

    Technical Description of the IP 266 IP 266 Table 2-2. Effect of "External Start" on Single Job Orders and Automatic Programs IP 266 actions in the absence of a "External Start Type of job order Signals from the IP 266 Enable"...
  • Page 37: Function Signal Fum (Pin 8)

    IP 266 Technical Description of the IP 266 2.5.5 Function Signal FUM (Pin 8) The IP 266 outputs the FUM signal when it is ready for operation and has valid machine data at its disposal. C A U T I O N : For reasons of safety, you may enable your power section only when the IP 266 has output the FUM signal.
  • Page 38 Technical Description of the IP 266 IP 266 Setpoint characteristic Setpoint reached Actual characteristic Actual value within zero-speed monitoring tolerance range st : Zero-speed monitoring Figure 2-9. "Position Reached" Signal as a Function of Zero-Speed Monitoring The axis status changes from "machining" to "finished" at the same moment the "Position Reached"...
  • Page 39: Signal

    IP 266 Technical Description of the IP 266 Table 2-3 shows the conditions under which the "Position Reached" signal is set. Table 2-3. Switching Conditions for the "Position Reached" Signal "Position Reached" is Actions not set Absolute and relative target specifications: •...
  • Page 40: Switching Function M99 (Pin 10)

    Technical Description of the IP 266 IP 266 Exceptions A large non-compensated drift or a large load may result in the setpoint reaching the target position while the actual value remains outside zero-speed monito- ring. If the maximum following error is not exceeded in the process, the IP 266 sets and starts a 5s watchdog timer.
  • Page 41 IP 266 Technical Description of the IP 266 Example 1 This example examines the performance characteristics of the IP 266 when the "External Start Enable" signal is set to "0" prior to execution of each block. A machining program containing machining operations, dwells, corrections and M functions is delayed prior to the start of each block by removal of the "External Start Enable"...
  • Page 42 Technical Description of the IP 266 IP 266 Example 2 The machining program described in example 1 is started, but the "External Start Enable" signal is removed only at certain points. The timing diagram below shows the chronological sequence effected by the "External Start Enable" and "External Stop"...
  • Page 43 IP 266 Technical Description of the IP 266 The "External Start Enable" signal starts the first block of the machining program. A short pulse of the "Position Reached" signal appears between blocks that are not interconnected by a "flying change". Switching function M99 is active in the sixth block.
  • Page 44: Fault Led

    Technical Description of the IP 266 IP 266 Fault LED The module is equipped with a red fault LED which is located at the right of the analog output. This LED flags faults of special IP 266 functions. LED shows steady light in the event of the LED flashes following hardware faults (automatic operation) •...
  • Page 45: Ip 266 Monitors

    IP 266 Technical Description of the IP 266 IP 266 Monitors The IP 266 is equipped with a number of monitors for monitoring its I/Os. Some of these monitors are implemented at the hardware level, others at the software level. 2.7.1 Encoder Monitor The IP 266 supports hardware and/or software monitors, depending on the type...
  • Page 46: Position Control Monitor

    Technical Description of the IP 266 IP 266 Note: Software monitoring is possible only in the closed-loop control (automatic) modes. In the event of an "Error in the position control loop", the IP 266 aborts the job currently in progress, using the specified maximum deceleration rate to do so. It then resets the existing reference point, if any, and starts the open-loop control "Follow-up"...
  • Page 47 IP 266 Technical Description of the IP 266 Error recovery Rectify the error by interchanging the signal lines. Symmetrical encoders (5 V) Asymmetrical encoders (24 V) To change the counting direction, reverse To change the counting direction, reverse A* A/A\ and B/B\. and B*.
  • Page 48: Technical Specifications

    Technical Description of the IP 266 IP 266 Technical Specifications Electrical Specifications Power loss : 4.5 W typ. Microprocessor : iAPx80C188 Process clock frequency : 16 MHz (quartz frequency) Memory EPROM : 64 Kbytes : 32 Kbytes (not battery backed) EEPROM 8 Kbytes Analog output...
  • Page 49 IP 266 Technical Description of the IP 266 Electrical Specifications Input currents : to RS 422 24 V : 7.3 mA typ. Digital inputs Input voltage range : ±30 V Galvanic isolation : No 0 signal : - 30 V to+5 V 1 signal : 13 V to 30 V Permissible quiescent current for 0 signal...
  • Page 50: Fundamentals Of Positioning

    System Overview Technical Description of the IP 266 Installation Guidelines Safety Requirements ..... . . 3 - Cable Connections on the IP 266 ... . 3 - Module Installation/Removal .
  • Page 51 Figures 3-1. Linear Axis with Range Limit Switches ....3 - 3-2. Shielding the Cables to the IP 266 in a Cabinet ..3 - 3-3.
  • Page 52: Installation Guidelines

    IP 266 Installation Guidelines Installation Guidelines Safety Requirements It is absolutely essential to the overall safety concept that the switching elements discussed in the following be installed and matched to your system. • EMERGENCY STOP switch for shutting down the entire system. •...
  • Page 53 Installation Guidelines IP 266 Start of End of machine machine Table EMERGENCY Traversing range STOP Test mode function "STOP" EMERGENCY STOP IP 266 Programmer Power section 100U Brake Emergency limit switch start/end Hardware limit switch start/end Software limit switch start/end Figure 3-1.
  • Page 54 IP 266 Installation Guidelines The following applies as regards cable shielding: • The cable shields must be placed on a shield bus near the cable inlet in the cabinet. • Braided shields must be secured to the shield bus over as large an area as possible (e.
  • Page 55 Installation Guidelines IP 266 The diagram below illustrates the principle of bilateral shielding. Cabinet I/O (power section/encoder) Sheath wire Figure 3-3. Bilateral Shielding Module Installation/Removal • Installation Before installing an I/O module, you must set the bus module's coding ele- ment to the module type.
  • Page 56 IP 266 Installation Guidelines The IP 266 can be addressed in the same manner as an analog module in slots 0 to 7. To install the IP, you need a free bus module slot in this range. Switch on the 24 V power supply for the IP 266. Hinge the module onto the top of the bus module.
  • Page 57 Installation Guidelines IP 266 Replacing the Position Encoder The steps you must take to remove the encoder for repair or replacement are listed below, and must be carefully observed. Proceed as follows to remove the encoder: Switch off the 24 V power supply for the module. Disconnect the encoder cable from the module.
  • Page 58: Machine Data, Modes And Traversing Programs

    System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Positioning Methods ..... . . 4 - Components of a Position Control System .
  • Page 59 Figures 4-1. Positioning Methods ....... 4 - 4-2. Open-Loop Positioning .
  • Page 60: Fundamentals Of Positioning

    IP 266 Fundamentals of Positioning Fundamentals of Positioning Positioning means bringing a load to a certain position within a specific period of time, making allowance for force and torque. Various methods are used to perform this task. Positioning Methods A drive can be positioned in one of two ways: •...
  • Page 61: Open-Loop Positioning

    Fundamentals of Positioning IP 266 A setpoint generator is required for programmable positioning operations, regardless of whether positioning is in an open or closed loop. The setpoint generator's output variable depends on a number of parameters: • the difference between the current position of the axis and the target position •...
  • Page 62 IP 266 Fundamentals of Positioning Closed-loop positioning When positioning under closed-loop control, the drive's current actual position is compared with the setpoint position computed by the setpoint generator. The difference between these two values is fed to the position controller, which supplies a voltage setpoint.
  • Page 63: Components Of A Position Control System

    Fundamentals of Positioning IP 266 Components of a Position Control System The IP 266's position controller enables precise positioning of the drive. The following components are required for a position control system: Mains power General control Safety device Operator console facilities IP 266 position Speed controller...
  • Page 64 IP 266 Fundamentals of Positioning • The term "I/O" is used collectively for all other auxiliary facilities. The most important of these are - the limit switches used to limit the traversing range - the programmer used in conjunction with the COM 266 software to service the IP 266.
  • Page 65: Characteristic Of The Following Error

    Fundamentals of Positioning IP 266 Driven by the power section, the drive travels a specific path. In accordance with the distance traversed, the position encoder generates a number of pulses which are evaluated by the IP 266's input section. The actual position of the drive is computed from the pulse count and the value for the encoder resolution.
  • Page 66: Relationships Between A (T)

    IP 266 Fundamentals of Positioning 4.3.3 Relationships Between a and s In order to position to a defined target, the drive must be moved at a specific speed. The IP 266 computes the acceleration and deceleration rates from the machine data.
  • Page 67 Fundamentals of Positioning IP 266 The IP 266 takes into consideration only a constant acceleration or deceleration rate for each direction. This results in a linear equation for speed v • The unit for speed is [m/s]. The drive's path is then computed from the speed curve. In the sections with constant acceleration or deceleration, the path traversed has a parabolic time characteristic •...
  • Page 68 System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Machine Data ......5 - 5.1.1 Hardware Description .
  • Page 69 Machine Data, Modes and Traversing Programs (continued) 5.3.15 Enable Tool Offset (TO) (Mode 15) ..5 - 56 5.3.16 Disable Tool Offset (TO) (Mode 16) ..5 - 61 5.3.17 Acknowledge Error (Mode 17) .
  • Page 70 Figures 5-1. Encoder Signal Evaluation ......5 - 5-2. Linear Axis with Range Limit Switches (not to scale) .
  • Page 71 Figures (continued) 5-26. Voltage - Speed Characteristic with Drift Compensation ........5 - 63 5-27.
  • Page 72 Tables 5-1. IP 266 Machine Data ....... . 5 - 5-2.
  • Page 73: Machine Data, Modes And Traversing Programs

    IP 266 Machine Data, Modes and Traversing Programs Machine Data, Modes and Traversing Programs The IP 266 can execute positioning operations only when it has correct machine data at its disposal. You cannot start a positioning operation until you have provided the IP with this data.
  • Page 74 Machine Data, Modes and Traversing Programs IP 266 Table 5-1. IP 266 Machine Data Parameter Permissible Task Machine Data Item Specifications Units Hardware Module 1 to 99 description Axis type linear, rotary Section 5.1.1 Pos. decoding Unit of measure mm, in, deg and resolution Encoder type 5 V, 24 V...
  • Page 75: Hardware Description

    IP 266 Machine Data, Modes and Traversing Programs Table 5-1. IP 266 Machine Data (continued) Parameter Value Permissible Task Machine Data Item Specifications Units Correction Zero offset 1 ± 32 767.999 [mm;0.1 in;deg] parameters Zero offset 2 ± 32 767.999 [mm;0.1 in;deg] Zero offset 3 ±...
  • Page 76: Position Decoding And Resolution

    Machine Data, Modes and Traversing Programs IP 266 5.1.2 Position Decoding and Resolution Unit of measure You may use one of the following units of measure on the IP 266 for all positional specifications: • Metric system with 0.001 mm as base unit •...
  • Page 77 IP 266 Machine Data, Modes and Traversing Programs Pulses per encoder revolution The "pulses per encoder revolution" can be found in the data sheet for your encoder. Resolution The resolution is the quotient of "travel per encoder revolution" and "pulses per encoder revolution", and must be in the range 0.1 to 99.9.
  • Page 78 Machine Data, Modes and Traversing Programs IP 266 Example 1: An incremental encoder generates 1000 pulses 5 mm per revolution. During this time, the reference 1000 pul point on the axis travels a distance of 5 mm. µ The resolution is thus: m/pul Example 2: In your drive system, you are using an encoder that generates 1000 pulses per...
  • Page 79: Traversing Range

    IP 266 Machine Data, Modes and Traversing Programs Encoder direction of rotation The direction in which the encoder revolves is ascertained from the encoder's two signals, which are displaced from each other by 90 deg. Signal A leading Signal B leading 90°...
  • Page 80 Machine Data, Modes and Traversing Programs IP 266 Note: The software limit switches are active only when a valid reference point is set. Target specifications outside the traversing range are not processed. The drive is decelerated at the software limit switches. Different values may be specified in the machine data for forward and reverse deceleration.
  • Page 81: Speeds

    IP 266 Machine Data, Modes and Traversing Programs Reference coordinate The reference point is used to calibrate the axis. Its location can be specified via the "Set/Approach to reference point" mode (see Section 5.3.5). The "reference coordinate" machine data parameter is used to assign a value to this position. The value must lie within the maximum range limits.
  • Page 82 Machine Data, Modes and Traversing Programs IP 266 Jogging speed For jog mode, you must define four speeds in the machine data. Table 5-2. Speeds for Jog Mode Direction Speed Forward Jog 1 Jog 2 Reverse Jog 1 Jog 2 These four parameters define the speeds for modes Jog 1 and Jog 2.
  • Page 83: Acceleration Rates

    IP 266 Machine Data, Modes and Traversing Programs 5.1.5 Acceleration Rates In order to reach the speed initialized for the specified mode, the drive must accelerate. The following five values may be entered in the machine data: • Maximum deceleration rate •...
  • Page 84: Controller Parameters

    Machine Data, Modes and Traversing Programs IP 266 Example 2: When the drive reaches a hardware limit switch, it decelerates at the maximum deceleration rate. This is also the case when an external Stop command is issued. - Hardware limit switch or external Stop Forward acceleration Constant speed forward...
  • Page 85 IP 266 Machine Data, Modes and Traversing Programs The maximum Kv factor depends on • the drive's design or dynamic response and • the quality of the machine. setp a: Setpoint characteristic b: Kv factor too high system oscillates Kv factor adequate optimum controller initialization d: Kv factor too low controller too slow;...
  • Page 86 Machine Data, Modes and Traversing Programs IP 266 Setpoint characteristic Actual characteristic Following error Start of positioning The following error has reached its maximum range limit Following error is brought back into range Figure 5-7. Following Error in Dependence on Setpoint and Actual Value The following error changes in direct proportion to the traversing speed in accordance with the following equation: [mm]...
  • Page 87: Correction Parameters

    IP 266 Machine Data, Modes and Traversing Programs Following error monitoring You can choose between "ENABLE" and "DISABLE". If you choose "DISABLE", the following error is no longer monitored and may therefore exceed the maximum value of 99.999. Zero-speed monitoring The IP 266's "Zero-speed monitoring"...
  • Page 88 Machine Data, Modes and Traversing Programs IP 266 Example: Using a zero offset (ZO) 1st ZO 2nd ZO 3rd ZO Figure 5-8. Using a Zero Offset Zero offset (ZO) A zero offset makes it possible to match the coordinate basic origin to different conditions.
  • Page 89 IP 266 Machine Data, Modes and Traversing Programs Also note that • the software limit switches • the reference point and • the actual value are recomputed when a zero offset is used. When you enter the data, remember that all coordinates must be within the permissible range (refer to the following example).
  • Page 90 Machine Data, Modes and Traversing Programs IP 266 Tool offset (TO) The tool offset is a coordinate shift, and is used to compensate for tool wear. The maximum value for a tool offset depends on the axis used. The value specified in the machine data can be called up from a traversing program only via G functions for positive or negative tool offsets (see Section 5.4).
  • Page 91 IP 266 Machine Data, Modes and Traversing Programs Backlash Displayed actual value increases Reversal of direction Actual value display remains constant although the encoder is generating pulses axis passes through the back- lash Backlash After traversing the path = backlash value, the actual value display shows the actual value to be on the decrease Axis movement around the backlash...
  • Page 92: Miscellaneous Parameters

    Machine Data, Modes and Traversing Programs IP 266 5.1.8 Miscellaneous Parameters Direction of the reference point approach To enable exact reproducibility, the reference point must always be approached from the same direction. The direction is selected by specifying "forw" for forward or "rev"...
  • Page 93: Modes And How To Invoke Them

    IP 266 Machine Data, Modes and Traversing Programs Modes and How to Invoke Them The IP 266 provides a large variety of options for positioning, coordinate shifting and positional corrections. These options are grouped under the term "modes". The available modes can be divided into the two basic categories •...
  • Page 94 Machine Data, Modes and Traversing Programs IP 266 The table below provides an overview of all IP 266 modes and a section reference for each. You can call up these modes • from the PLC's CPU via a STEP 5 program or •...
  • Page 95: Ip 266 Modes

    IP 266 Machine Data, Modes and Traversing Programs IP 266 Modes A mode is invoked on the IP 266 by entering an operator command. An operator command comprises three elements: the mode, the parameters, and the keystroke representing the function. When you select a mode, you choose a function.
  • Page 96 Machine Data, Modes and Traversing Programs IP 266 Figure 5-11 illustrates a positioning operation in the "Jog 1" mode. "Forward" starts positioning operation. "Stop" initiates defined deceleration procedure. The "Reverse" function is executed as soon as the drive reaches zero speed, as it was issued while deceleration was still in progress.
  • Page 97 IP 266 Machine Data, Modes and Traversing Programs If you want to change the speed during travel, simply forward the appropriate Override factor to the IP 266. Change the Override factor in the COM screen form or in the output frame (PLC IP 266).
  • Page 98: Jog 2 (Mode 2)

    Machine Data, Modes and Traversing Programs IP 266 5.3.2 Jog 2 (Mode 2) Jog 2 Override 1 to 200% Forward/Reverse/Stop/Exec Mode Parameters Function In essence, the "Jog 2" mode is identical to the "Jog 1" mode. The machine data contains two speed values for this mode: •...
  • Page 99: Follow-Up Mode (Mode 4)

    IP 266 Machine Data, Modes and Traversing Programs If the power section is correctly calibrated, the speed displayed and the actual speed are identical. The functions • "Forward" • "Reverse" and • "Exec" are the same in mode 1. "Stop" decelerates the drive at the specified deceleration rate until it has reached zero speed.
  • Page 100: Set/Approach Reference Point (Mode 5)

    Machine Data, Modes and Traversing Programs IP 266 Note: If your drive system is not free from backlash, care must be taken that the drive be adjusted by at least the value of the backlash, regardless of whether the adjustment is made manually or via an external speed setpoint, as only then can it be guaranteed that a positive mechanical coupling will be maintained after the adjustment has been made.
  • Page 101 IP 266 Machine Data, Modes and Traversing Programs The IP 266 provides two options for establishing a reference point: • Approach reference point • Set reference point Approach reference point When you configured the drive, you installed a reference point switch. The reference point switch must lie in the positioning range between the two hardware limit switches.
  • Page 102 Machine Data, Modes and Traversing Programs IP 266 Before approaching a reference point, you must make a distinction between four different situations. The criteria for making this distinction are • the position of the drive prior to the reference point approach (position A, B, C or D) •...
  • Page 103 IP 266 Machine Data, Modes and Traversing Programs 6. An edge change from 1 to 0 in the signal from the reference point switch sets an internal Enable signal. When this signal is set, the IP 266 waits (while the drive is moving at reference speed 2) for the next zero mark pulse from the encoder.
  • Page 104 Machine Data, Modes and Traversing Programs IP 266 Example B: The drive is positioned to the reference point switch Forward Encoder's zero mark R: Reference point Figure 5-15. Reference Point Approach in Example B This represents a special feature of the "Approach reference point" mode. Start the reference point approach with "Start".
  • Page 105 IP 266 Machine Data, Modes and Traversing Programs Example C: The drive is behind the reference point switch. Forward Encoder's zero mark R: Reference point Figure 5-16. Reference Point Approach in Example C Start the reference point approach with "Start". The drive then executes the following movements: 1.
  • Page 106 Machine Data, Modes and Traversing Programs IP 266 Example D: The drive is positioned to the hardware end limit switch. Forward Encoder's zero mark R: Reference point Figure 5-17. Reference Point Approach in Example D Start the reference point approach with "Start". The drive then executes the following movements: 1.
  • Page 107 IP 266 Machine Data, Modes and Traversing Programs Actual-value display following a reference point approach The reference point is set when the position encoder's zero mark signal goes from 0 to 1. At the same time, the drive is decelerated. The drive moves a distance of X away from the reference point, the value of X depending on the specified deceleration rate and on reference speed 2.
  • Page 108 Machine Data, Modes and Traversing Programs IP 266 Forward Reference point switch Encoder's zero mark Location of the co- ordinate zero point when the reference direction is "reverse" 0 1 2 Location of the co- ordinate zero point when the reference direction is "forward"...
  • Page 109 IP 266 Machine Data, Modes and Traversing Programs Set reference point Mode 5 allows you to set a reference point without moving the axis. To do so, select the "Set" function in mode 5. By invoking this function, you can set the reference point at an arbitrary axis position.
  • Page 110: Increment Mode Absolute (Mode 6)

    Machine Data, Modes and Traversing Programs IP 266 5.3.6 Increment Mode Absolute (Mode 6) Linear axis Override 1 to 200% Increment mode absolute Absolute target Start/Stop/Exec position Mode Parameters Function This mode allows you to specify a target position in absolute coordinates. The tar- get position is approached at incremental speed, without regard to the starting position of the drive.
  • Page 111 IP 266 Machine Data, Modes and Traversing Programs Example for Figure 5-20 You start mode 6 with the following parameters: • Override 100% • Absolute target coordinate: 30 mm Table 5-7. Drive Performance in Absolute Increment Mode Example (see Prerequisites Drive Response Figure 5-20) Starting point A must be located...
  • Page 112 Machine Data, Modes and Traversing Programs IP 266 The table below lists the permissible functions in absolute increment mode for both rotary and linear axes. Table 5-8. Permissible Functions in "Absolute Increment Mode" Function Rotary axis Linear axis START Approach to target over the shortest Approach to absolute target position possible path STOP...
  • Page 113: Increment Mode Relative (Mode 7)

    IP 266 Machine Data, Modes and Traversing Programs 5.3.7 Increment Mode Relative (Mode 7) Override 1 to 200% Increment mode relative Forward/Reverse/Stop/Exec Distance Mode Parameters Function This mode differs from mode 6 primarily as regards specification of the target position; in this mode, you specify the target coordinate in relation to the current position of the drive.
  • Page 114 Machine Data, Modes and Traversing Programs IP 266 Example: Relative increment mode is to be invoked at starting positions A (-10 mm) and B (60 mm). Forward - 40 - 30 - 20 - 10 Reference point Reference point Figure 5-21. Relative Target Specification You start mode 7 with the parameters - Override 100%, - Distance: +30 mm...
  • Page 115: Automatic Mode (Mode 8)

    IP 266 Machine Data, Modes and Traversing Programs 5.3.8 Automatic Mode (Mode 8) Automatic mode Program number Start/Stop Mode Parameters Function A traversing program (TP) is started in automatic mode. Before you can start a traversing program, you must write it and store it on the IP 266 (see Section 5-4). The program may contain •...
  • Page 116: Automatic Single Block (Mode 9)

    Machine Data, Modes and Traversing Programs IP 266 The remaining distance to go is retained until the next positioning operation. Interruption of the traversing program via the "External Start Enable" signal is possible. If a positioning operation or dwell is currently in progress, it is com- pleted prior to interruption of the program.
  • Page 117 IP 266 Machine Data, Modes and Traversing Programs Interruption points in a traversing program in single block mode Table 5-11 lists the points at which a program is interrupted. Table 5-11. Interruption Points in a Traversing Program in Mode 9 Special function Sample block Effect...
  • Page 118: Enable Teach-In (Mode 10)

    Machine Data, Modes and Traversing Programs IP 266 5.3.10 Enable Teach-In (Mode 10) Enable teach-in Program number Start Mode Parameters Function This mode is used to create a new traversing program for • automatic mode • automatic single block mode Prerequisites to the use of this mode: •...
  • Page 119 IP 266 Machine Data, Modes and Traversing Programs Target position You can approach a target position in various modes. A new block is not written until you press "Exec" while the drive is at zero speed. Table 5-12. Target Specification in Mode 10 Target position is specified Function directive by approaching it in...
  • Page 120 Machine Data, Modes and Traversing Programs IP 266 The figure below illustrates the use of the various speeds. Start of mode 10 Positioning to a speci- Jog mode Increment mode fic target using various modes Mode 1 Mode 2 absolute relative Mode 3 Mode 6...
  • Page 121 IP 266 Machine Data, Modes and Traversing Programs Example: Generating a new traversing program in "Teach-in" mode: The table below lists the actions you must take. Start at the top of the table and work down. The entries in the "Axis status" column indicate the state of the axis after the relevant key has been pressed.
  • Page 122: Disable Teach-In (Mode 11)

    Machine Data, Modes and Traversing Programs IP 266 5.3.11 Disable Teach-In (Mode 11) Disable teach-in Start Mode Parameters Function This mode disables teach-in (mode 10). Prerequisites: Mandatory: Mode 10 was started. Recommended: The creation of positioning blocks in mode 10. End block Nnn M02 is entered in the machining program.
  • Page 123 IP 266 Machine Data, Modes and Traversing Programs Note: If mode 12 is restarted, the old ZO is replaced by the new ZO. The IP 266 also provides other options for specifying a zero offset. The available options are listed in Table 5-14. Table 5-14.
  • Page 124 Machine Data, Modes and Traversing Programs IP 266 Positive offset: Offset 32767.999 - |Software start limit switch| Example: The drive is at the absolute position 50 mm. This position is to be offset in succession by 400 mm, -200 mm and 0 mm. Select mode 12.
  • Page 125 IP 266 Machine Data, Modes and Traversing Programs Rotary axis: When using a rotary axis, you may specify an absolute zero offset value outside the boundaries of the positioning range. Example: A continuous belt has a positioning range of 0 to 200 mm. The current actual position is 150 mm.
  • Page 126: Relative Zero Offset (Zo) (Mode 13)

    Machine Data, Modes and Traversing Programs IP 266 5.3.13 Relative Zero Offset (ZO) (Mode 13) Relative zero offset Value Forward/Reverse Mode Parameters Function In contrast to mode 12, this mode allows you to specify the direction of the offset by selecting the "Forward" or "Reverse" function. You can also, of course, specify the offset direction by signing the offset value.
  • Page 127 IP 266 Machine Data, Modes and Traversing Programs Example: The drive is at the absolute position + 150 mm. Zero offsets of 300 mm, - 200 mm, - 150 mm and 50 mm are to be carried out in succession. Select mode 13.
  • Page 128: Delete Zero Offset (Zo) (Mode 14)

    Machine Data, Modes and Traversing Programs IP 266 5.3.14 Delete Zero Offset (ZO) (Mode 14) Delete zero offset Start Mode Parameters Function This mode deletes (resets) all zero offsets that were set • via mode 12, • via mode 13 and •...
  • Page 129 IP 266 Machine Data, Modes and Traversing Programs The direction of the tool offset is determined by • the sign of the offset value and • the Start function ("Forward" or "Reverse") Table 5-16. Coordinate Changes Produced by a Tool Offset Sign of the Start function Coordinates become...
  • Page 130 Machine Data, Modes and Traversing Programs IP 266 Example: Tool offset with mode 15 A drilling program used to drill a hole 15 mm in depth is to carry out the follow- ing steps: 1. Move the drill to the start position 2.
  • Page 131 IP 266 Machine Data, Modes and Traversing Programs Example: Tool change and TO When the tool has reached a length at which a tool offset is no longer possible, it must be replaced. The new tool is 10 mm too long. This can be compensated for via a tool offset, thus fulfilling the prerequisites for the automatic drilling sequence.
  • Page 132 Machine Data, Modes and Traversing Programs IP 266 Example: The traversing range of a linear axis lies between the software limit switches; a reference point has been set. Software start limit switch: - 500 mm Software end limit switch: 700 mm Traversing range is from - 500 mm to 700 mm.
  • Page 133: Disable Tool Offset (To) (Mode 16)

    IP 266 Machine Data, Modes and Traversing Programs 5.3.16 Disable Tool Offset (TO) (Mode 16) Disable tool offset Start Mode Parameters Function This mode resets all tool offsets that were set via • mode 15 or • G functions in the traversing programs Mode 16 cancels all tool offsets, i.
  • Page 134: Enable Drift Compensation (Mode 18)

    Machine Data, Modes and Traversing Programs IP 266 5.3.18 Enable Drift Compensation (Mode 18) Enable drift compensation Start Parameters Mode Function Prerequisite to correct operation of the IP 266 is a properly calibrated power sec- tion (see Table 5-17). Table 5-17. Data for Calibrating the Power Section Power section The motor input...
  • Page 135 IP 266 Machine Data, Modes and Traversing Programs Optimum characteristics rated -10V : Speed : Rated speed rated Max. attainable with drift : Drift speed at 0 V compensation : Output voltage : Drift voltage for 0 speed rated Figure 5-26. Voltage - Speed Characteristic with Drift Compensation W A R N I N G ! Serious errors disable the IP and produce a setpoint of 0 V without drift com- pensation.
  • Page 136: Disable Drift Compensation (Mode 19)

    Machine Data, Modes and Traversing Programs IP 266 Movement with V max. increase in the following error setp rated S : Following error Figure 5-27. Erroneous Following Error Characteristic in Conjunction with Drift Compensation Following modification of the machine data and "Power Off", the drift com- pensation voltage, if any, is disabled.
  • Page 137: Eeprom (Mode 26)

    IP 266 Machine Data, Modes and Traversing Programs 5.3.20 EEPROM (Mode 26) EEPROM Direction Start Mode Parameters Function You can use this mode to transfer data from the IP 266's RAM to EEPROM or from EEPROM to the IP's RAM. Mode 26 always transfers all available data from the source to the destination, i.
  • Page 138: Information Modes (Mode 71, Mode 72, Mode 73)

    Machine Data, Modes and Traversing Programs IP 266 5.3.21 Information Modes (Mode 71, Mode 72, Mode 73) Current information can be called up from the IP 266 independently of modes 1 to 19 and 26. The IP 266 provides the so-called Information (or Monitoring) modes for this purpose.
  • Page 139: Synchronize Ip (Mode 99)

    IP 266 Machine Data, Modes and Traversing Programs Read distance to go (mode 73) Read distance to go Start Mode Parameters Function Select this mode when you want to initiate additional actions in your STEP 5 pro- gram prior to termination of an IP 266 job (e. g. 20 mm before the target position).
  • Page 140: Elements Of The Traversing Program

    Machine Data, Modes and Traversing Programs IP 266 Elements of the Traversing Program A traversing program is a cohesive sequence of traversing operations, dwells and corrections. It consists of individual blocks comprising at least one self-contained, purposeful job. The traversing programs are stored in the IP 266's RAM, and can be executed as a whole with mode 8 or block by block with mode 9.
  • Page 141: Program Header

    IP 266 Machine Data, Modes and Traversing Programs 5.4.1 Program Header The program header comprises • the program identifier • the program number • max. 58 characters of arbitrary text • a <1> character as header terminator Program identifier =Main program =Subroutine Program number = DB no.
  • Page 142: Traversing Blocks

    Machine Data, Modes and Traversing Programs IP 266 5.4.2 Traversing Blocks Table 5-18 lists all functions permitted in a traversing program. Table 5-18. Functions in a Traversing Block Contents of a Traversing Block Function Contents Type of information Block no. Block number Organization Subroutine...
  • Page 143 IP 266 Machine Data, Modes and Traversing Programs In the following example, the processing order does not change. The order in which blocks are processed is determined only by the order of those blocks in the program. Example: %9 Sample program 1 %8 Sample program 2 N10 G74 M10 N30 G74 M10...
  • Page 144 Machine Data, Modes and Traversing Programs IP 266 The G function The first function to follow an N function may also be a G function. A G function is identified by the letter "G", followed by a two-digit number. A number of G functions are latching functions, i.
  • Page 145 IP 266 Machine Data, Modes and Traversing Programs • G00: Rapid traverse A defined target is approached at maximum speed. The target must be speci- fied as an X function immediately behind the G function. A block containing the G00 function must have the following format: N10 G00 X1000 The drive approaches target position 1000 at maximum speed.
  • Page 146 Machine Data, Modes and Traversing Programs IP 266 Example 1: Changing the speed during a positioning movement 1000 Program without G10 N10 X50 F1000 M30 N20 X100 F500 M31 N30 X150 F1000 M32 N40 M02 The G10 function makes of the interrupted movement a positioning oper- ation with smooth speed transitions.
  • Page 147 IP 266 Machine Data, Modes and Traversing Programs Example 2: Alternating M functions 1000 Program without G10 N10 X50 F1000 M10 N20 X100 F1000 M11 N30 X150 F1000 M12 N40 M02 Without the M function output, this movement could also be programmed in a block: N10 X150 F1000 A smooth movement of the type programmed in this block can be attained...
  • Page 148 Machine Data, Modes and Traversing Programs IP 266 When G10 and M00 (programmed stop) are programmed in the same block, M00 has priority. To continue the program, you must press the EXEC key. The G10 function (flying change) is not permitted when the block to follow in a flying change •...
  • Page 149 IP 266 Machine Data, Modes and Traversing Programs • G20: End of loop G24: Start of loop Loops may be nested. Subroutines which themselves contain loops may also be called in a loop. The nesting depth for loops and subroutine calls together may not exceed five.
  • Page 150 Machine Data, Modes and Traversing Programs IP 266 • G25: Approach target over the shortest path G26: Approach target in a clockwise direction G27: Approach target in a counter-clockwise direction These functions can be executed for a rotary axis only, and are ignored for a linear axis.
  • Page 151 IP 266 Machine Data, Modes and Traversing Programs Result: The IP 266 chooses the preferred direction. Due to the programmed backlash, the movement takes longer than it would in the opposite direction. The distance for the motor-driven axis is longer by the backlash compensation value.
  • Page 152 Machine Data, Modes and Traversing Programs IP 266 Table 5-20. Tool Offset Suitable tool Tool too short Tool too long Positioning Offset Offset Offset Note direction ± 0 mm -5 mm +5 mm Prior to tool offset 10 mm 15 mm 15 mm Set- -5 mm...
  • Page 153 IP 266 Machine Data, Modes and Traversing Programs The following TO limiting values apply for the resulting tool length change: Values Linear axis Rotary axis Maximum offset value ±32 767.999 mm End of range - start of range Software end limit switch + <...
  • Page 154 Machine Data, Modes and Traversing Programs IP 266 You are now acquainted with the various options for tool offsets, i. e. the tool offset initiated with mode 15, which can be used as absolute tool offset, and the tool offset initiated via the G functions, which is an additive tool offset. The diagram below shows the interplay between modes 15 and 16 and G functions G40, G43 and G44.
  • Page 155 IP 266 Machine Data, Modes and Traversing Programs • G53: Cancel zero offsets G54-G57: Enable offset 1-4 These functions effect a relative shift in the axis's coordinate system. Such a shift may be required when it is necessary to perform identical steps with the same incremental dimensions at different positions (see Example).
  • Page 156 Machine Data, Modes and Traversing Programs IP 266 Rough structure of the program: 1. ZO forward + 10 mm (e. g. ZO 1) 2. C a l l s u b r o u t i n e f o r t h e t h r e e d r i l l h o l e s a t t h e p o s i t i o n s 1 0 m m , 2 0 m m a n d 30 mm 3.
  • Page 157 IP 266 Machine Data, Modes and Traversing Programs • G53: Cancel offsets This function disables the zero offsets enabled in the traversing program. Table 5-21. Effect of Function G53 These ZOs are disabled These ZOs are not disabled ZOs enabled in the traversing program Absolute ZOs set via mode 12 ZOs enabled in the traversing program's Relative ZOs set via mode 13...
  • Page 158 Machine Data, Modes and Traversing Programs IP 266 Machine Traversing program Mode invoked in STEP 5 program or via data COM 266 ZO 1 Mode 12 Disable Mode 13 Enable ZO 1 Start Positive/ mode 14 ZO 2 absolute negative Enable ZO 2 relative ZO ZO 3...
  • Page 159 IP 266 Machine Data, Modes and Traversing Programs • G70: Dimensions in 0.1 inch G71: Dimensions in mm The IP 266 positioning module always interprets traversing programs in the dimension specified in the machine data. Table 5-22. Preselecting Dimensions Dimensions in the unit Invoke via function 0.1 inch degrees...
  • Page 160 Machine Data, Modes and Traversing Programs IP 266 • G74: Approach to reference point This function can be used to approach an existing physical reference point. The position specified by the value of the reference coordinate is not approached; this position may differ from that of the physical reference point due to compensations or offsets.
  • Page 161 IP 266 Machine Data, Modes and Traversing Programs • G90: Absolute position specifications G91: Relative position specifications These two G functions control the interpretation of all target specifications (X functions). G90: Position specifications are interpreted as absolute values G91: Position specifications are interpreted as relative values These two G functions control the interpretation of all target specifications (X functions).
  • Page 162 Machine Data, Modes and Traversing Programs IP 266 The F function How an F function is interpreted depends on the function which precedes it. Table 5-23. Using the F Function in Traversing Blocks Preceding function in The F function is Value range Unit the block...
  • Page 163: Last Block

    IP 266 Machine Data, Modes and Traversing Programs • M02: End of program This function must be programmed in the last block of a main program or subroutine. • M99: External switching function This switching function is applied directly to an IP 266 digital output. This output is connected with pin 10 on the terminal block.
  • Page 164: Syntax Diagram Of A Block

    Machine Data, Modes and Traversing Programs IP 266 5.4.4 Syntax Diagram of a Block Subroutine call Rapid traverse Target Dwell Dwell time in 100 ms <1> Block number Target Speed Switching function Flying change Shortest path Forward (clockwise) Reverse (counter-clockwise) Cancel tool offset Enable positive tool offset Enable negative tool offset...
  • Page 165 System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Preparations for Using COM 266 ... . 6 - 6.1.1 Copying the COM 266 Floppy .
  • Page 166 Figures 6-1. KOMI Screen Form ....... . 6 - 6-2. "CONFIGURATION"...
  • Page 167 Tables 6-1. Contents of the Fields in the Header Lines ... . . 6 - 6-2. Mode-Dependent Output Fields .....6 - 61 6-3.
  • Page 168: Fundamentals Of Com

    IP 266 Fundamentals of COM 266 Fundamentals of COM 266 The COM 266 software provides user-friendly support for programming the IP 266 and putting it into operation. All functions can be executed by making the appropriate entries in the interactive screen forms. The relevant program sections are invoked via function keys.
  • Page 169: System Configuration

    Fundamentals of COM 266 IP 266 To call this utility, • enter DSKMAINT <1> if you are using an older version of PCP/M- • or DISK <1> if you are using the newest version Please refer to your programmer manual for a detailed description of this utility. 6.1.2 System Configuration •...
  • Page 170: Starting Com 266

    Preparations for a programmer equipped with a hard disk drive: Activate drive B • Starting S5-DOS: Enter the following line: and press <1>. The KOMI screen form appears briefly during loading Simatic S5 S5-KOMI Serial-No.: xxxx-yyyy-zzzzzz All rights reserved Copyright (C) 1989 SIEMENS AG Figure 6-1.
  • Page 171 Fundamentals of COM 266 IP 266 The "CONFIGURATION" form Header Copyright (c) SIEMENS AG SIMATIC S5/COM266 C O N F I G U R A T I O N CCCC OOOO 2222 CCCCCC OOOOOO MM MMMM MM 222222 66666 66666...
  • Page 172 In some screen forms, this field contains a device identifier. This identifier depends on the the screen form, and is explained in those screen forms in which it appears. This field always contains the text "SIMATIC S5/COM266". This field is screen form-dependent. In some screen forms, it contains the text "Block:DB...".
  • Page 173 Fundamentals of COM 266 IP 266 Data area: The data area of a screen form provides information on • the machine data • the defaults • the configuration parameters • Traversing (machining) programs The data area is subdivided into the following fields: •...
  • Page 174 IP 266 Fundamentals of COM 266 Function key menu: • The function key menu shows the functions which can be invoked in a screen form. A function is selected by pressing the function key allocated to it. • You can exit each screen form by pressing . In many cases, you must confirm the exit request by pressing .
  • Page 175 Figure 6-4. Initializing the IP Header: The header contains the following information: • The name of the screen form in field 2 : PRESETS • The name of the software package in field 5 : SIMATIC S5/COM 266 EWA 4NEB 812 6057-02...
  • Page 176 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Drive: Specifies the current drive. Filename: The filename specifies the file in which your data blocks are to be stored. You can thus assign different files to different projects or plants. Press ...
  • Page 177 Fundamentals of COM 266 IP 266 Field name Type Description Module-No*: You may enter a number between 0 and 99 to identify a specific positioning module in a programmable controller. If machine data has already been stored on the module, you must enter the same module number in this field as you entered in the machine data.
  • Page 178 IP 266 Fundamentals of COM 266 Function key menu: This key • takes you to the next screen form and • forwards the initialization data to the module when correct entries have been made in all input fields. This key is used to switch back and forth between "ONLINE"...
  • Page 179: The "Function Select" Menu

    Fundamentals of COM 266 IP 266 The "FUNCTION SELECT" Menu SIMATIC S5/COM266 F U N C T I O N S E L E C T Drive Filename Example Plant designation Linear axis Generated by Meier Generated on 12.06.89 Mode ONLINE Module-No.
  • Page 180 IP 266 Fundamentals of COM 266 Function key menu: Press this key to branch to the screen forms for entering • machine data and • traversing (machining) programs. Press this key to display • machine data and • traversing (machining) programs.
  • Page 181: Hierarchical Structure Of Com 266

    Fundamentals of COM 266 IP 266 Hierarchical Structure of COM 266 The Figure below illustrates the hierarchical structure of COM 266. The diagram shows the names of all screen forms; forms for which there are subordinate screen forms are outlined in bold type. Functions or additional screen forms are invoked via the function keys (see Figure 6-6).
  • Page 182: Input" Form

    IP 266 Fundamentals of COM 266 Enter the machine data prompted on your screen. takes you from the "FUNCTION SELECT" menu to the program branch for entering The "INPUT" form is displayed. From this form, you can branch to the screen forms for entering machine data and traversing (machining) programs.
  • Page 183 The header shows the following: • Field 2: INPUT • Field 5: SIMATIC S5 / COM 266 • Output fields for the target device (field 4) and the data block number (field 6). Both fields are initially blank. 6-16 EWA 4NEB 812 6057-02...
  • Page 184 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Data Block Use to switch back and forth between MACHINEDATA and MACHINING PROGRAM. Block No. Number of the data block in which you want to store your data. Must be in the range from 0 to 255.
  • Page 185 Fundamentals of COM 266 IP 266 And what now? Position the cursor to the "Data Block" field. Select MACHINEDATA using . Using the cursor control keys, move the cursor to the "Block No." field. Enter there the number of the data block. Enter "1" in this field. Choose your data destination with , ...
  • Page 186: Entering Machine Data

    F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: IP 266 BLOCK: DB 1 Module (0 ... 99) Meas. System...
  • Page 187 Name of the screen form (fields 1 and 2): INPUT MACHINE DATA • Name of the software package (field 5): SIMATIC S5/COM 266 • Data destination. You chose the data destination with in the "INPUT" menu. The output field shows: DEVICE: IP 266 •...
  • Page 188 IP 266 Fundamentals of COM 266 Function key menu: Press this key to screen the next page of the "INPUT MACHINEDATA" form. This function is possible only when you have filled in all input fields correctly. Use this key to screen the preceding page of the "INPUT MACHINE- DATA"...
  • Page 189 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: IP266 BLOCK: DB 1 Module: 11 Dimensional unit: mm Axis type: LINEAR...
  • Page 190 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Module These fields are the same as those on page 1 of the Meas.System screen form. Axis type Maximum deceleration You must enter these data items in the appropriate fields.
  • Page 191 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: IP 266 BLOCK: DB 1 Module: 11 Dimensional unit: mm Axis type: LINEAR...
  • Page 192 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Module Meas.System Refer to the data area for page 2 Axis type Encoder type Enter the type of encoder you are using in this field. You have a choice between two types of encoders: (symmetrical encoders) 24 V...
  • Page 193 Fundamentals of COM 266 IP 266 Data area (continued) Field name Type Description Standstill Maximum difference between the setpoint position and the actual monitor position when the position controller is active. This value must be greater than zero and less than the maximum following error. Max.
  • Page 194 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: IP 266 BLOCK: DB 1 Module: 11 Dimensional unit:mm Axis type: LINEAR Ref.
  • Page 195 Fundamentals of COM 266 IP 266 Data area for a linear axis: Field name Type Description Module Meas.System Refer to the data area on page 2 Axis type Ref. point The reference point coordinate must lie between the lower and upper coordinate software limit switches or at the exact position of one of these switches.
  • Page 196 IP 266 Fundamentals of COM 266 Data area for a rotary axis: If you are using the IP 266 to operate a rotary axis, the two fields for the software limit switches are replaced by fields for • the start of the traversing (machining) range and •...
  • Page 197 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: FD BLOCK: DB 1 Module: 11 Dimensional unit: mm Axis type: LINEAR Zero offset 1 10.000 [mm]...
  • Page 198 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Module You already entered the parameters for these fields on page 1. Meas.System Axis type Zero offset 1 to 4 Each of the four zero offsets is independent of the others, and can also be activated in traversing (machining) programs via G54 to G57.
  • Page 199 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: FD BLOCK: DB1 Module: 11 Dimensional unit: mm Axis type: LINEAR...
  • Page 200 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Module: These fields are the same as those in the data area on page 1. Meas.System: Axis type: Maximum speed This value defines the speed at which the axis is positioned when the power section's applied voltage is 10 V.
  • Page 201 F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: FD BLOCK: DB1 Module: 11 Dimensional unit: mm Axis type: LINEAR...
  • Page 202 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Module: These fields are the same as those in the data area on page 1. Meas.System: Axis type: Reference The drive begins a reference point approach at this speed. Reference speed 1: speed 1 is the higher of the two speeds for the initial approach to reference point, and must be less than or equal to the maximum speed.
  • Page 203 Fundamentals of COM 266 IP 266 Function key menu: With the exception of , the function key menu is identical to that on page 1 of this screen form. is used to select predefined texts for the following input fields: •...
  • Page 204 Printing out the machine data The following print menu is displayed when you start a printout by press- ing : INPUT SIMATIC S5/COM266 M A C H I N E D A T A DEVICE: FD BLOCK: DB100 Siemens AG...
  • Page 205 The entries you make in the upper portion of the data area indicate how you want to end your printout. The information entered in this area is printed out at the end of the machine data or traversing (machining) program listing. Siemens AG DATE: SIMATIC S5 COM 266-IP 266 LINEAR AXIS Meier PAGE:...
  • Page 206 [mm/sec ] (10...9999) Acceleration fwd [mm/sec ] (10...9999) Incremental speed 1000 [mm/min] (10...9999) Siemens AG Printout Date 16.11.90 Simatic S5 Machinedata Page 1 COM 266 - IP 266 LINEAR AXIS Meier Figure 6-17. Machine Data Printout 6-39 EWA 4NEB 812 6057-02...
  • Page 207: Entering Traversing (Machining) Programs

    Fundamentals of COM 266 IP 266 6.4.2 Entering Traversing (Machining) Programs The structure of traversing (machining) programs corresponds in all essentials to a subset of the DIN 66 025 standard. The programs comprise a sequence of ASCII characters, and may not exceed 1023 characters in total. COM 266 stores traversing (machining) programs in data blocks.
  • Page 208 IP 266 Fundamentals of COM 266 "INPUT MACHINING PROGRAM" form INPUT SIMATIC S5/COM266 M A C H I N I N G P R O G R A M DEVICE: FD Block: DB2 Program type: MAIN SAMPLE PROGRAM INPUT INPUT...
  • Page 209 Fundamentals of COM 266 IP 266 Data area: The input field for "Program type" is subdivided into two sections, the first of which is for entry of the program type. Using , you can choose between • MAIN for a main program and •...
  • Page 210 FUNCTION SELECT INPUT MACHINING PROGRAM D I N F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 MACHINING PROGRAM D I N DEVICE: FD BLOCK: DB2 Prog. header: SAMPLE PROGRAM F2000 NEXT PREVIOUS DIN-->...
  • Page 211 Fundamentals of COM 266 IP 266 Data area: The program header for the traversing (machining) program is displayed on the first line in the data area. "%2 SAMPLE PROGRAM" identifies a main program stored in DB2. "SAMPLE PROGRAM" was entered in the preceding screen form as commentary. The remaining lines in the data area are for the program itself.
  • Page 212 MACHINING PROGRAM T E X T F1 F2 F3 F5 F6 F7 F8 F1 F2 F3 F5 F6 F7 F8 INPUT SIMATIC S5/COM266 MACHINING PROGRAM T E X T DEVICE:FD BLOCK: DB2 Tool offset: off Offset: undef Dimensions: absolute Prog. header %2 SAMPLE PROGRAM Stat.
  • Page 213 Fundamentals of COM 266 IP 266 Data area: Field name Type Description The current physical unit is displayed in the first output field. This unit is applied to all distances and speeds. • "mm" can be selected via G70 • "0.1 in" can be selected via G71 In the course of a traversing (machining) program, the unit can be changed as often as necessary via G70/G71.
  • Page 214 IP 266 Fundamentals of COM 266 Field name Type Description Function 1 [L] Enter a number in this field when you want to invoke a subroutine. If an entry is made in this field, the text "Subroutine no." is displayed. Function 2 [G] Press ...
  • Page 215 Fundamentals of COM 266 IP 266 Function key menu: Page down through the blocks to the end of the program. Page up through the blocks to the beginning of the program. Press this key to switch to "DIN" mode. ...
  • Page 216 IP 266 Fundamentals of COM 266 And what now? Enter a traversing (machining) program. Before doing so, select either DIN mode by pressing TEXT MODE by pressing . Forward the traversing (machining) program to the specified destination device (FD, PG, IP 266) with . Exit the screen form with .
  • Page 217: Transferring An Existing Machine Data Record Or A Traversing (Machining) Program

    Fundamentals of COM 266 IP 266 Transferring an Existing Machine Data Record or a Traversing (Machining) Program Once you have generated machine data in the programmer or on floppy disk, you can load it into the IP 266 with the "Transfer" function. Press ...
  • Page 218 IP 266 Fundamentals of COM 266 "TRANSMIT" (TRANSFER) form SIMATIC S5/COM266 T R A N S M I T DEVICE: FD BLOCK: DB Data Block: Machinedata Source Target Device IP 266 Block No. (*= all DBs) Drive Filename Example Plant code...
  • Page 219 Fundamentals of COM 266 IP 266 Header: • The header is as follows before you start the "Transfer" function by pressing in the "TRANSMIT" form: The word "TRANSMIT" is shown as the name of the screen form. The name of the software package is the same as in all screen forms. The DEVICE field is blank, as is the field "BLOCK: DB".
  • Page 220 IP 266 Fundamentals of COM 266 Field Source Destination Device: Select one of the following with : • Module/IP 266 • Programmer/PG • Disk drive/FD The next selection is displayed each time you press . DB No.: Enter the number of the data block you The source data block is displayed as want to transfer.
  • Page 221 Fundamentals of COM 266 IP 266 Function key menu: If the IP is disconnected from the mains power, or if a power failure occurs, the data in its RAM is lost, and must therefore be stored on EEPROMs before the IP is actually put into operation in the plant.
  • Page 222: Com 266 Test Mode

    IP 266 Fundamentals of COM 266 And what now? Machine data must be available on the IP 266 before you can proceed to the "TEST" form. If no valid machine data is in the IP's RAM, you must forward this data to the IP 266 from the programmer, disk or EEPROM.
  • Page 223 Fundamentals of COM 266 IP 266 Figure 6-22 shows the hierarchical structure of the "TEST" form. There are two "TEST" modes: When the "TEST" function is invoked, COM 266 is in the "Actual-value display" mode. The default operating mode is the "FOLLOW-UP" mode (mode 4). This mode has not been started, however.
  • Page 224: Actual-Value Display" Mode

    IP 266 Fundamentals of COM 266 6.6.1 "Actual-Value Display" Mode SIMATIC S5/COM 266 T E S T DEVICE: IP 266 BLOCK: DB Actual value 12.105 [mm] Following error [mm] Distance to go [mm] Aux. function Tool ref. pt. reset Teach-Mode...
  • Page 225 2 and the name of the "TEST" form in field 1. Field 5 shows the name of the software package, i. e. SIMATIC S5/COM 266. IP 266 is displayed in field 4 ("DEVICE"), and the text "BLOCK: DB" in field 6.
  • Page 226 IP 266 Fundamentals of COM 266 Data area: Field name Type Description Actual value: The current position of the axis is displayed in this field. The basis for the display is the specified dimensional unit. Following The difference between the actual position and the setpoint position is error: displayed in this field.
  • Page 227 Fundamentals of COM 266 IP 266 Field name Type Description Tool ref. pt.: The word "set" appears in this field when mode 5 has executed. The word "reset" is displayed if there is no reference point. CLC: This field shows the controller status. "On"...
  • Page 228 IP 266 Fundamentals of COM 266 Overview of the output fields in the "TEST" form Table 6-2 provides an overview of TEST" form output fields • following error • distance to go and • aux. function and their use in the various modes. The "following error"...
  • Page 229 Fundamentals of COM 266 IP 266 Function key menu: Press this key to screen the "Mode Select" form. The actual- value display is "frozen" to the current value. The "Mode", "Program", "Distance" and "Override" fields become input fields, and the cursor is set to the start of the "Mode" field. ...
  • Page 230: Mode Select" Mode

    IP 266 Fundamentals of COM 266 6.6.2 "Mode Select" Mode TEST SIMATIC S5/COM 266 JOG 1 STOP DEVICE: IP 266 BLOCK: DB 1 Actual Value 50.602 [mm] Following error 0.013 [mm] Distance to go 0.000 [mm] Aux. function Tool ref. pt.
  • Page 231 Fundamentals of COM 266 IP 266 Data area: Field name Type Description Actual value, These fields show the actual values that were on screen at the instant at distance to go, which the mode was changed. following error Aux. function The last M function activated is displayed in this field, or "255"...
  • Page 232 IP 266 Fundamentals of COM 266 Function key menu: The function key menu in this screen form is mode-dependent. Table 6-3 shows the allocation of the five commands "Start", "Stop", "Forward", "Reverse" and "Transfer" to modes 1 to 19. Table 6-3. Function Keys to in Modes 1 to 19 Mode Start Stop...
  • Page 233 Entry required for this mode Selecting a mode If you do not know the number of the mode you want to select, press (HELP) to screen a mode list. TEST SIMATIC S5 / COM266 INCREMENTAL_ABSOLUTE START DEVICE: IP266 BLOCK: DB...
  • Page 234 IP 266 Fundamentals of COM 266 The Help menu lists all modes and their numbers. Header: The header does not change when you screen the Help menu. Data area: The data area comprises a single input field. After viewing the mode list, enter the number of the mode you want in this field.
  • Page 235: Output

    Programmer (PG) : The structure of the "Output" form is the same as that of the "INPUT" form shown in Figure 6-7. "OUTPUT" form SIMATIC S5/COM 266 O U T P U T DEVICE: BLOCK: DB Data Block : MACHINEDATA Block No.
  • Page 236 IP 266 Fundamentals of COM 266 The structure of each "OUTPUT" form is identical to that of the corresponding "INPUT" form; the only difference is the name of the form shown in the header. The data display begins when you have pressed , or . •...
  • Page 237: Delete

    Fundamentals of COM 266 IP 266 Delete Screen the "DELETE" form by pressing in the "FUNCTION SELECT" menu. SIMATIC S5/COM 266 D E L E T E DEVICE: BLOCK: DB Data block : MACHINEDATA Source device : Block-No.: DB...
  • Page 238 IP 266 Fundamentals of COM 266 Header: • Prior to first-time execution of the "DELETE" function: You will see only the word "DELETE" as screen form name. The "DEVICE" field is initially blank, as is the "BLOCK" field. • Machinedata" or "Traversing (machining) Program" appears in the header while the "DELETE"...
  • Page 239 Fundamentals of COM 266 IP 266 Function key menu: When you have specified the file you want to delete, press this key to start the Delete operation. The output fields in the header are updated. A prompt is displayed on the error line asking you whether you are sure you want to start the Delete operation.
  • Page 240 This function is invoked by pressing in the "FUNCTION SELECT" menu. The data area of the "INFORMATION" screen form is blank when this function is invoked. INFORMATION SIMATIC S5/COM 266 I N F O R M A T I O N: DEVICE: BLOCK: DB...
  • Page 241: Information

    INFORMATION I N F O R M A T I O N • Name of the software package: SIMATIC S5/COM 266 • "DEVICE" field The contents of this field depend on which key you press to start the function (i. e. , or ).
  • Page 242 IP 266 Fundamentals of COM 266 Function key menu: The Information function outputs the IP 266's data directory. The Information function outputs the programmer's data directory. The Information function outputs the numbers of the data blocks on the disk.
  • Page 243: 6.10 Com 266 Error Messages

    Fundamentals of COM 266 IP 266 6.10 COM 266 Error Messages In all COM 266 screen forms, one line is reserved to display error codes and the corresponding error messages. Error line F1 F2 F3 F5 F6 F7 F8 These messages provide information on incorrect parameters or parameter syntax errors and problems relating to a positioning operation or to the hardware.
  • Page 244 System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication Between the CPU and the IP 266 Output Frame (PLC CPU IP 266) ... . 7 - 7.1.1 Byte 0: Mode .
  • Page 245 Figures 7-1. Example of Data Interchange Between CPU and IP 266 (in slot 3) ....... . . 7 - 7-2.
  • Page 246 IP 266 Communication Between the CPU and the IP 266 Communication Between the CPU and the IP 266 The IP 266 can be plugged into slots 0 to 7 of the S5-100U programmable controller. Eight bytes are reserved in both the process input (PII) and process output (PIO) image for each slot.
  • Page 247: Output Frame (Plc Cpu Ip 266)

    Communication Between the CPU and the IP 266 IP 266 The IP 266 interchanges data with the programmable controller's CPU over the 100U bus. To make this possible, you must write operator commands to the process output image (PIO). From here, these commands are forwarded to the IP 266 once in each data cycle.
  • Page 248: Communication Between The Cpu And The Ip 266

    IP 266 Communication Between the CPU and the IP 266 Table 7-3. Overview of the Output Frame Recommen- Byte Description ded data format Mode codes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 TOGGLE TRANS STOP...
  • Page 249: Byte 0: Mode

    Communication Between the CPU and the IP 266 IP 266 7.1.1 Byte 0: Mode Byte 0 is used for coding the modes, which you can invoke via a STEP 5 program. To choose a mode, enter one of the mode numbers listed in the table below in byte 0 in KF format.
  • Page 250 IP 266 Communication Between the CPU and the IP 266 7.1.2 Byte 1: Commands The commands for executing a mode depend on the mode specified in byte 0. Table 7-4 lists the permissible commands for all modes. Table 7-4. Command Codes Command START STOP...
  • Page 251 Communication Between the CPU and the IP 266 IP 266 The IP 266 scans this TOGGLE bit in each firmware cycle, and starts a new job where appropriate (see Figure 7-2). IP 266 cycle Bit 7 Cycle trigger; beginning of a new cycle Job request is interpreted in this cycle Figure 7-2.
  • Page 252: Byte 2: Program Number, Reference Point Or Eeprom Ram Parameters

    IP 266 Communication Between the CPU and the IP 266 7.1.3 Byte 2: Program Number, Reference Point or EEPROM RAM Parameters The contents of this byte depend on the specified mode. In modes 5, 8, 9, 10 and 26, byte 2 is used as byte parameter. It is irrelevant in all other modes.
  • Page 253: Bytes 4 To 7: Positioning Specifications

    Communication Between the CPU and the IP 266 IP 266 Example: Assuming you want to operate your drive in mode 1 (JOG 1) with an override factor of 75%. Enter the number in byte 3 in binary (KF format). KF = +75 Set bit 4 in byte 1 to activate the override factor during a traversing movement.
  • Page 254 IP 266 Communication Between the CPU and the IP 266 Binary-coded positions 15 bits are provided for the integer portion of the number. It is thus possible to represent the number 2 - 1, or 32 767. In the case of a negative number, the integer portion is represented as two's complement.
  • Page 255 Communication Between the CPU and the IP 266 IP 266 Example 1: The drive is to be moved a distance of - 50.500 mm in "relative increment mode" (mode 7). Position Byte 4 Byte 5 Byte 6 Byte 7 specification - 50 Binary = sign and integer positions...
  • Page 256: 7.1.6 Example Of A Complete Output Frame

    IP 266 Communication Between the CPU and the IP 266 7.1.6 Example of a Complete Output Frame The drive is to be moved backward - 35.750 mm in "relative increment mode" (mode 7) at 20% of the incremental speed. BCD is to be used as data format. The data formats recommended in Table 7-3 have been used in the table below for the output frame.
  • Page 257: Input Frame (Ip 266 Plc Cpu)

    Communication Between the CPU and the IP 266 IP 266 Input Frame (IP 266 PLC CPU) The allocation of the bytes in the input frame depends on the slot used for the IP 266 in the programmable controller. Like Table 7-2 for the output frame, Table 7-7 shows the allocation of the input bytes (IB) to the current slot numbers.
  • Page 258 IP 266 Communication Between the CPU and the IP 266 Table 7-8. Overview of the Input Frame Recommen- Byte Description ded data format Current mode M function Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Status bits for axis, controller and machine data Current IP 266 error codes...
  • Page 259: Byte 0: Mode

    Communication Between the CPU and the IP 266 IP 266 7.2.1 Byte 0: Mode The IP 266 acknowledges the mode in byte 0. This value can be read in KF (fixed- point constant) format. Example: The IP 266 returns the mode that is currently in progress or was just executed in byte 0 of the input frame.
  • Page 260: 7.2.3 Byte 2: Status Bits

    IP 266 Communication Between the CPU and the IP 266 7.2.3 Byte 2: Status Bits Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 IP 266 is synchronized Number format: 1 = BCD, 0 = BINARY Axis is in position Controller is on IP266 is in Teach-In mode...
  • Page 261 Communication Between the CPU and the IP 266 IP 266 Bit 3 = 1 The controller is on. This bit is always set when the position controller is on. = 0 This bit is set to "0" in modes 3 and 4. Bit 4 = 1 The IP 266 is in Teach-In mode.
  • Page 262 IP 266 Communication Between the CPU and the IP 266 Example 1: The reference point is set: The IP 266 services a job request in a controlled mode (e. g. mode 6). The status data is returned in BCD format. All input data is valid. The IP 266 returns the following in byte 2: Byte Bit 7...
  • Page 263: Byte 3: Error Flags

    Communication Between the CPU and the IP 266 IP 266 Example 2: The IP 266 receives a request to position the axis in a controlled mode (mode 1, 2 or 7). All status data is returned in binary. The machine data is correct. There is no reference point.
  • Page 264 IP 266 Communication Between the CPU and the IP 266 7.2.5 Bytes 4 to 7: Input Values for the Monitoring Functions In each firmware cycle, the IP 266 returns a monitoring mode-dependent value. If you entered a monitoring function in the output frame for the IP 266, the IP 266 returns a current value in bytes 4 to 7 at regular intervals.
  • Page 265 System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication Between the CPU and the IP 266 Start-Up Configuring the System ....8 - 8.1.1 IP 266 Limit Switches .
  • Page 266 Figures 8-1. Location of the Programmer Interface and Connector Pin Assignments ......8 - 8-2. Linear Axis and Range Limit Switches (not to scale) .
  • Page 267: Start-Up

    IP 266 Start-Up Start-Up Configuring the System Before putting the IP 266 into operation, you must check to make sure that you are using the right interface module and that the peripheral elements have been assigned the correct parameters. These peripheral elements include: •...
  • Page 268 Start-Up IP 266 Check the following carefully: - The hardware start limit switch defines the start of the traversing range, and must be connected to PIN 3 on the terminal block. - The hardware end limit switch defines the end of the traversing range, and must be connected to PIN 5 on the terminal block.
  • Page 269 IP 266 Start-Up 8.1.2 The Power Section on the IP 266's Analog Output The power section must be connected to the IP 266's analog output. Check the connection between the IP 266 and the power section When you calibrate the power section, make sure that there is sufficient power reserve.
  • Page 270 Start-Up IP 266 8.1.4 The Incremental Position Encoder Control precision depends on the location of the encoder in the drive system. A sequence of movements can be easily verified when the encoder is mounted directly on the motor axis. Check to make sure that the encoder is correctly installed. You must use an encoder which supplies two pulse trains displaced by 90 deg.
  • Page 271 IP 266 Start-Up 8.1.5 Programmer The module is equipped with two 15-pin D subminiature interfaces. The pro- grammer must be connected to the one at the right. FAULT Description ANALOG Shield Shield 10 to 15 POSITIONING MODULE IP 266 6ES5 266-8MA11 1 2 3 4 5 6 Figure 8-1.
  • Page 272 Start-Up IP 266 8.1.6 Checking the Wiring Check all cabling - Make sure that the control cable and the power cable are sufficiently far apart and without kinks. - Make sure that the cables to and from the controller are shielded over their entire length, and that the cable shields are grounded at both ends.
  • Page 273 IP 266 Start-Up - 24 V supply - After making sure that all components are off circuit, attach the cables and screw them down. Computing the Machine Data In this section, you will learn to compute the machine data with which you must initialize the IP 266.
  • Page 274 Start-Up IP 266 The following values are computed on the basis of this data: Table 8-2. Formulas for Computing the Machine Data Maximum velocity (speed) The factor ü must be taken into account only ] = x · n · ü when it is not part of x Maximum deceleration rate b Take the time from the commissioning report...
  • Page 275 IP 266 Start-Up Computing a set of machine data: Machine data item Limits Example Module 0 to 99 Measuring system mm, in, deg. Axis type Linear, rotary Linear The following applies for all deceleration and acceleration rates: |a| |bmax| |b| |bmax| The absolute acceleration and/or deceleration rates must be less than the absolute maximum deceleration rate b Maximum deceleration...
  • Page 276 Start-Up IP 266 Machine data item Limits Example Reference point coordinate ± 32767.999 mm 0.000 mm Software start limit switch ± 32767.999 mm -400.000 mm Software end limit switch ± 32767.999 mm 400.000 mm Tool length offset ± 32767.999 mm 0.000 mm For a rotary axis, the two fields for the software limit switches are replaced by the two fields start of traversing range and...
  • Page 277 IP 266 Start-Up Initializing the IP 266 Before you can use the IP 266, you must first supply it with valid machine data. You have two options for entering machine data: • Defining machine data for a newly installed system •...
  • Page 278 Start-Up IP 266 Executing the Start-Up Test The drive must be within the permissible traversing range before the IP 266 can be tested together with the drive. This range is defined by the two hardware limit switches. C A U T I O N : All limit switches must be correctly installed before executing the start-up test, i.
  • Page 279 IP 266 Start-Up For testing, a set of machine data and a traversing program are stored on EEPROM. Since this data does not necessarily coincide with your hardware, you may find that errors will be reported. Change the machine data as indicated by the error messages.
  • Page 280 Start-Up IP 266 Testing the encoder's direction of rotation C A U T I O N : If the encoder rotates in the wrong direction, there is direct feedback from the position control loop (the CLC is on). As a result, the drive, instead of stopping, traverses at maximum speed.
  • Page 281 IP 266 Start-Up Select mode 3 (Controlled jog). Select a low speed (approx. 1-5 %) via "Override". Select the "Forward" function and observe the actual position; this value must increase. If the actual position value decreases, switch off the power section immediately! In this case, you must interchange encoder signals A-A\ and B-B\ (if you are using a 5 V encoder) or A* and B* (if you are using a 24 V encoder) and retest the direction of rotation.
  • Page 282 Start-Up IP 266 Refer to the following figure when you want to simulate tripping of a limit switch within the traversing range: Table Traversing range Traversing range : Emergency start/emergency end limit switch Deceleration distance S (power section) Clearance distance X : Hardware start/hardware end limit switch Figure 8-2.
  • Page 283 IP 266 Start-Up Testing the following error Travel a considerable distance in mode 1 or 2 ("Jog 1" or" Jog 2"), observe the following error, and stop travel. The result must be the buildup of a following error which, after some time, remains fairly constant and then goes back to zero following deceleration.
  • Page 284 Start-Up IP 266 Possible errors: 1. The drive does not move although "Reference point set" is displayed. You have accidentally executed a "Set reference point". 2. The drive traverses, but does not reduce its speed at the reference point switch and does not find the reference point. The reference point switch is either defective or is an "NC"...
  • Page 285 IP 266 Start-Up Teach-In Select mode 10 ("Teach-in on"). Specify a program number. Start mode 10. Return info: Teach-in: on Approach various positions and store them with "Transfer". Start mode 11 ("Teach-in off"). Execute the program you generated in "Teach-in" mode. Supplement the program in DIN or Text mode by adding dwells, loops,...
  • Page 286 Start-Up IP 266 Generate an error such as "External STOP". The error is flagged on the programmer Start mode 17. The error is acknowledged. • Drift compensation (mode 18) • Drift compensation off (mode 19) Save the optimized machine data and traversing programs on floppy and transfer the contents of the floppy to the module's EEPROM.
  • Page 287: Step 5 Programming

    System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication between the CPU and the IP 266 Start-Up STEP 5 Programming What to Observe when Programming .
  • Page 288 Figures 9-1. Using a Linear Axis ........9 - EWA 4NEB 812 6057-02...
  • Page 289 IP 266 STEP 5 Programming STEP 5 Programming What to Observe when Programming 9.1.1 General Information on Program Structure When programming the IP 266, you must observe a number of special features and exceptions. These are discussed in detail below. Response to starting a mode When you start a mode, you can expect the latest status info at the earliest two cycles later.
  • Page 290 STEP 5 Programming IP 266 9.1.2 Edge Evaluation and Modes The preferable technique to ensure a readout of the latest status info is edge evaluation. Sequence: 1. A job is started in cycle n. The status info shows "Job terminated". 2.
  • Page 291 IP 266 STEP 5 Programming 9.1.3 Programming the TOGGLE Bit A change in the value of the TOGGLE bit informs the IP 266 that a new job request is waiting to be serviced. The IP 266 then interprets and executes this request .
  • Page 292 STEP 5 Programming IP 266 9.1.5 Automatic Synchronization in OB 1 Mode 99 is the first mode the IP 266 will accept. Only then can one of the modes 1 to 73 be started. Mode 99 should therefore be invoked automatically in OB 1. The TOGGLE bit must always be set to "1"...
  • Page 293 IP 266 STEP 5 Programming Switches, Indicators and Flags in the Sample Programs Maintained-contact/momentary-contact switches All control elements for the program are interfaced over IB 3 and IB 4. Some inputs require only momentary-contact switches, while others require main- tained-contact switches. Inputs I 3.0 to I 4.7 are listed in the table below. Maintained- Momentary- Input...
  • Page 294 STEP 5 Programming IP 266 Indicator elements/outputs Output Lights when/is on when Call in Q 2.0 No external start enable signal (IP pin 7) FB 26 Q 2.1 IP not initialized/synchronized OB 1 Q 2.2 No reference point FB 26 Q 2.3 IP in follow-up mode FB 26...
  • Page 295 IP 266 STEP 5 Programming Flags, auxiliary flags and edge flags Flag Function Remarks F 3.0 Edge flag (in example 2, Section 9.5) This flag prevents a second job from being started until "Job in progress" has been returned (see Section 9.5). F 4.0 Auxiliary flag for START These flags prevent repeated...
  • Page 296 STEP 5 Programming IP 266 Flag Function Remarks F 5.0 Auxiliary initialization flag F 6.0 START FB 6 is transferred to byte 1 of the output message (QB 65 F 6.1 STOP in the example). Before FB 6 is transferred to QB 65, the F 6.2 FORWARD TOGGLE bit must be pro-...
  • Page 297 IP 266 STEP 5 Programming Description of Sample Program 1 A workpiece is to be machined on an assembly line comprising several assembly bays. The following steps are to be carried out at four positions within the positioning range of the linear axis: Position 0: Position 0 is the home position of the worktable in the linear axis's traversing range.
  • Page 298 STEP 5 Programming IP 266 Sample Program 1: Overall Structure For better readability, many subfunctions have been programmed in separate FBs. The diagram below illustrates the overall structure: OB 22 FB 27 FB 20 Wait loop Read actual values FB 4/Mode 4 FB 10 For errors in the po- Mode 99...
  • Page 299 IP 266 STEP 5 Programming 9.4.1 Cold S5-100U Restart Before you can work with the IP 266 following a cold S5-100U restart, you must wait for completion of the module's runup phase. You must program the waiting time in OB 22, which executes after every "Power OFF/Power ON". The pro- grammed waiting time must be at least 3 seconds.
  • Page 300 STEP 5 Programming IP 266 9.4.2 Cyclic Operation with OB 1 At the beginning of each OB 1 cycle, a check must be made to see whether the IP 266 has been initialized. This check consists of scanning bit 0 in byte 2 of the input message (PII).
  • Page 301 IP 266 STEP 5 Programming OB 1 Call FB for IP 266 synchronization via START mode 99 in dependence on the status bits in the input message. IP synchron- Set auxiliary flag 66.0 ized? Call FB 10 NAME MO99 FB 10 Set output if IP not synchronized 66.0 Set output...
  • Page 302 STEP 5 Programming IP 266 9.4.3 FB 26: Control FB for the IP 266 The following steps are executed in succession in this FB: • Read input message (PII) • Error analysis • Scan external signals • Check reference point and set if required •...
  • Page 303 IP 266 STEP 5 Programming FB 26 - NAME:AXIS1 Unconditional FB call to read the input frame (PII) from the IP 266 START Call FB 20 FB 20 NAME READ Mode 4 is invoked in the event of an error in the position control direction Error Wrong position (F B2) or in the position control loop...
  • Page 304 STEP 5 Programming IP 266 Set output to indicate that there is no reference point Reference 66.5 point missing? Invoke mode for approaching/setting re- Set outputs ference point when the relevant input is according to RLO set. Mode 5 JC FB 5 FB 5 selected? NAME...
  • Page 305 IP 266 STEP 5 Programming Invoke mode 6, 8 or 9 when the associated input is set. Mode 6 MODE 6 FB 6 selected? JC FB 6 NAME MODE 8 JC FB 8 NAME Mode 8 FB 8 MODE 9 selected? JC FB 9 NAME...
  • Page 306 STEP 5 Programming IP 266 Unconditional STOP call STOP JU FB 22 Unconditional NAME STOP FB 22 STOP STOP call Call the TOGGLE FB if edge flag for START, STOP, FWD/REV or TRANSFER was set. Edge START FB 25 TOGGLE flag set? STOP FWD/REV...
  • Page 307 IP 266 STEP 5 Programming 9.4.4 Selecting Modes via IB 4 All modes are selected in FB 26. In almost all cases, the number of the FB is iden- tical to the mode number. • FB 2 is for "Jog 2" mode •...
  • Page 308 STEP 5 Programming IP 266 FB 2: Jog 2 with override specification When the mode number has been entered into QB 64, input 3.6 is scanned. Select an override of 50 % or 100 %, depending on the selector switch setting. This value is entered in QB 67.
  • Page 309 IP 266 STEP 5 Programming FB 4: Follow-up mode The only entry made in this FB is the mode number. In the sample program, this mode cannot be selected via switches. It is invoked only to respond to error messages. FB 4 - NAME:MO4 Mode 4 (follow-up mode) is invoked in the START...
  • Page 310 STEP 5 Programming IP 266 FB 6: Increment mode absolute In addition to the mode number, this mode requires specification of an override factor and an absolute target position. Simple parameters were chosen for the sample program. Select the parameters as follows via input I 4.5: I 4.5 = 0 positive direction I 4.5 = 1...
  • Page 311 IP 266 STEP 5 Programming FB 6 - NAME:MO6 Selecting mode 6 START KB 6 QB 64 Enter mode Determining the direction in dependence on the switch at input 4.5 I 4.5= 1 JC =MINU Override 30% Loading an override factor of 30% and the Target+360.800 mm integer and decimal digits of the value for the positive direction of travel:...
  • Page 312 STEP 5 Programming IP 266 FB 8/FB 9: Automatic mode/Automatic single block mode In both cases, enter the number of the mode in QB 64 and the number of the traversing program in QB 66. FB 8 - NAME:MO8 FB 9 - NAME :MO9 Invoking mode 8 with traversing Invoking mode 9 with traversing START...
  • Page 313 IP 266 STEP 5 Programming "External start enable" switch The "External start enable" switch must be wired as an NC contact. The IP 266 will accept no jobs until it receives a "1" signal. In FB 26, this signal is scanned and routed via Q 2.0 to pin 7 on the IP 266's terminal block.
  • Page 314 STEP 5 Programming IP 266 Every "Command FB" includes the following code-evaluation routine: Setting auxiliary flags and edge flags Input set Edge flags AND auxiliary flag I 3.1 not set? F 4.0 F 4.1 Edge flag = 0 Edge flag = 1 Auxiliary flags I 3.1 F 4.0...
  • Page 315 IP 266 STEP 5 Programming The edge flag for programming the TOGGLE bit is also required (FB 25/FB 26). FB 21 - NAME:START Programming the auxiliary and edge flags for the START function START Job in progress abort Job in progress? AN I 66.7 Programming the edge and auxiliary flags...
  • Page 316 STEP 5 Programming IP 266 FB 22 - NAME:STOP Programming the auxiliary and edge flags for the START STOP function Program auxiliary and edge flags STOP KEY AN F EDGE FLAG Evaluate auxiliary STOP KEY and edge flags Edge flag = 0? Edge flag not yet set abort AN F Load bit 1 = 1...
  • Page 317 IP 266 STEP 5 Programming FB 23 - FORWARD/REVERSE Two inputs are scanned in this FB to gather the information required to program the auxiliary and edge flags. The inputs for FORWARD and REVERSE are ORed. FB 23 - NAME:FWDREV Programming the auxiliary and edge flags START for the FWD/REV functions...
  • Page 318 STEP 5 Programming IP 266 FB 24 - TRANSFER In the example, the TRANSFER command is allowed only as long as the job is not yet "TERMINATED". It is used to forward a speed modification (override) or start a traversing program block in Single Block mode. FB 24 - NAME:TRANS Programming the auxiliary and edge flags for the TRANSFER START...
  • Page 319 IP 266 STEP 5 Programming FB 25 - NAME:TOGGLE Programming the TOGGLE bit: Inverting the bit from the preceding job START Scanning the TOGGLE bit from the preceding Was TOGGLE 65.7 bit="1"? JC =INVT TOGGLE bit was "0"; invert TOGGLE bit in command flag byte FY 6 Bit 7 is set to "1"...
  • Page 320 STEP 5 Programming IP 266 Reading of the input frame (PII) is only outlined. In practice, you would program the response to specific system states to suit your particular requirements. One practice-based application has been programmed in the function block. Using M functions, you can trigger external activities such as lower drill...
  • Page 321 IP 266 STEP 5 Programming Sample Program 2: Traversing to Two Fixed Target Positions A second sample program is to be written to move the drive from one fixed target position to another in "Relative increment" mode. At each of the two fixed target positions, the direction of travel is to be reversed and a new positioning operation started.
  • Page 322 STEP 5 Programming IP 266 In FB 11, flag 3.0 is set in dependence on the Job Terminated bit. If this flag is not set, FB 11 is simply exited. If it is set, and if the "Job Terminated" bit is also set in the input byte, FB 11 invokes the function block used to invert the TOGGLE bit.
  • Page 323 IP 266 STEP 5 Programming FB 12 - NAME:LOAD Mode 7 requires the following data: • Mode number in QB 64 START • Override factor in QB 67 • Relative distance specification in bytes QB 68 to QB 71 • "Forward"...
  • Page 324 STEP 5 Programming IP 266 When a job request is allowed and the output frame has been programmed, the start command must be loaded into QB 65 and the TOGGLE bit inverted. FB 13 - NAME:TOGGLE Inverting the direction of travel in depen- dence on the last traversing operation.
  • Page 325 IP 266 STEP 5 Programming "Automatic" positioning sequence as per example 2 State 1: Job terminated and flag 3.0=0; no job initiated, drive is at a standstill: Motor must be started by setting F 3.0 to "1". State 2: Job terminated and flag 3.0=1: The TOGGLE FB is entered and a new mode preset.
  • Page 326 System Overview Technical Description of the IP 266 Installation Guidelines Fundamentals of Positioning Machine Data, Modes and Traversing Programs Fundamentals of COM 266 Communication between the CPU and the IP 266 Start-Up STEP 5 Programming Troubleshooting 10.1 Types of Error ......10 - 1 10.2 List of Errors and Possible Causes .
  • Page 327 IP 266 Troubleshooting Troubleshooting This section provides detailed information on the errors which may occur when using the IP 266. During direct communication between the PLC's CPU and the IP 266, the error code is forwarded in KH (hexadecimal constant) format. When you service the IP 266 via COM 266, the error code and the associated text are displayed on the monitor's error line.
  • Page 328 Troubleshooting IP 266 F02 Wrong resolution F0F Position tolerance out of range F61 Incorrect hardware limit switch polarity F6A Incorrect following error Machine data F10 Inadmissible input errors F11 Memory overflow F2F Erroneous G-function Traversing program errors FD0 Only one continuous loop allowed FD1 No end of loop programmed Mass storage errors...
  • Page 329 IP 266 Troubleshooting 10.2 List of Errors and Possible Causes Due to the exceptionally large number of errors which may be flagged on the PLC, it is necessary to have at hand a comprehensive list showing the error message for each error code. This list begins on the next page. In some cases, information has also been provided on measures for error recovery.
  • Page 330 Troubleshooting IP 266 Error Code Cross- reference Recovery Procedures Wrong resolution Section 5.1.2 The resolution must lie in the range from 0.1 to 99.9, and is computed as follows: Travel per encoder revolution Pulses per encoder revolution The unit of resolution depends on the parameter specification. You must take into account that the dimensional unit of resolution is always Basic unit/1000 Pulses...
  • Page 331 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures Wrong acceleration Section 5.1.5 The maximum acceleration must be 10 and 9999 mm/s (0.1 inch/s deg/s ). The remaining acceleration/deceleration values must also be 10 but the maximum acceleration rate. Wrong software limit switch Section 5.1.3 The traversing range of a linear axis is defined by the coordinates of the "Software start limit switch"...
  • Page 332 Troubleshooting IP 266 Troubleshooting Cross- Reference Error Code F0C Wrong module number Section 5.1.1 When (Start) is pressed in the PRESETS form, the COM 266 software executes a module identification test. When a set of machine data is entered on the IP 266, the specified module number is compared with the module number in the machine data.
  • Page 333 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures Memory overflow Section 5.4 Separate functions with blanks Section 5.4.2 Program already exists Section 5.4 Block syntax incorrect Section 5.5.4 Field cannot be exited Section 5.4 Terminate processing? Section 5.4 End function already present Section 5.4.2 Input after L-function prohibited Section 5.4.2...
  • Page 334 Troubleshooting IP 266 Error Code Cross- Reference Recovery Procedures Block number missing Section 5.4 Block complete Function key Section 5.4 Momentary (current) G-function needs entry Section 5.4 X-function must be followed by F-function Section 5.4 X-function missing entry prohibited Section 5.4 Final block present Function key inhibited Section 5.4 F2C Erroneous L-function...
  • Page 335 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures File missing Directory full Disk full Incorrect file Syntax or name not correct Not allowed Data block missing Overwrite data block? Data block missing Delete data block? Section 6 Deleted! Illegal value! Cable not connected! Data block missing Cable not connected to PG...
  • Page 336 Troubleshooting IP 266 Error Code Cross- Reference Recovery Procedures Erroneous data transfer Erroneous data transfer BREAK received PCB (module) does not answer Wrong baudrate Parity error Overflow error Frame error Incorrect hardware limit switch polarity The only permissible values are "0" (NO contact, positive) and "1" (NC contact, negative).
  • Page 337 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures Backlash compensation out of range Section 5.1.7 The backlash compensation value must be in the range 0.001 to 64.999 mm. Following error out of range Section 5.1.6 The following error must be in the range 0.001 to 99.999. (Job) orderlist PG is full Because of the sluggishness of its mechanical parts, the module cannot process job orders as fast as these can be issued.
  • Page 338 Troubleshooting IP 266 Error Code Cross- Reference Recovery Procedures Reference point missing Section 5.3.5 F8B Max. following error exceeded Section 5.1.6 The maximum following error specified in the machine data was exceeded and the current operation is aborted with a deceleration ramp. The position control loop remains in force and the axis does not reach zero speed until the following error has been reduced.
  • Page 339 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures PG is offline Section 6.1.3. Overwrite machine data? Program No. limit reached Section 5.4 Data block missing Overwrite machining (traversing) program? Automatic prohibited Stroke limit exceeded (traversing range exceeded) Section 5.1.3 Program stroke limit exceeded (not enough room for traversing program) Section 5.4 Left limit switch tripped...
  • Page 340 Troubleshooting IP 266 Error Code Cross- Reference Recovery Procedures Watch-Dog Section 5.3.18 Watch-Dog Section 5.3.18 Error at block start Sub-program DB-No too large The DB number must lie in the range from 1 to 255. G-function prohibited Section 5.5.4 Loop only as outer loop Nesting depth exceeded Section 5.4.2 Wrong X-function...
  • Page 341 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedure Invalid position control direction The encoder's position control direction is checked on an IP 266 cold restart. If an error is detected, the IP starts mode 4. You must then switch off the IP 266's 24 V power supply and change the position control direction (see Section 3.4).
  • Page 342 Troubleshooting IP 266 Error Code Cross- Reference Recovery Procedures FB6 Error in position control loop There is no change in the actual position even though the analog voltage (setpoint speed) exceeds 5 V. The current operation is aborted and mode 4 (follow-up mode) automatically started.
  • Page 343 IP 266 Troubleshooting Error Code Cross- Reference Recovery Procedures Printing aborted! Abort printing (Y/N)? Printer not initialized! COM 266 takes the printer parameters from S5-DOS to print data. When this error is flagged, exit COM 266 and initialize the printer interface with S5-DOS.
  • Page 344 Index EWA 4NEB 812 6057-02...
  • Page 345 IP 266 Index Index Automatic Acceleration rate 5-11 - Single block 5-44, 5-46 - Forward 5-11, 6-22, - Synchronization 6-23 Auxiliary screen form - Reverse 5-11, 6-22, - Mode select 6-66 6-23 Auxiliary function 5-90, 6-57 Actual position 2-15, 5-13 Axis - Read 5-66...
  • Page 346 Index IP 266 Blank cycle CONFIGURATION Braided shield - Screen form 6-3, 6-4 Bus module slot Configuring Connecting cable Continuous belt 1-3, 1-5 Cable Continuous loop 5-77 - Connection Control - Length Controller 6-57, 6-60, - Shielding 3-2, 3-3 6-63 Calibrating - Enable (FUM) 2-24...
  • Page 347 IP 266 Index Deceleration rate b max Distance to go 5-44, 6-57, - Maximum 5-11, 6-22, 6-59 - 6-61, 6-23, 8-8 6-63, 6-64 - Reverse 5-11, 6-22, - Read 5-67 6-23 Drift 5-27, 5-63, Decimal digit 7-8, 7-9, 7-19 8-13 Degrees - Compensation 5-27, 5-62,...
  • Page 348 Index IP 266 Encoder Exit - Monitor 2-23 - Test mode 6-76 - Signal External start - Symmetrical 2-5, 6-25 - Effect 2-14 - Type 5-4, 6-24, 6-25 - Enable 5-44 Encoder (5 V) External STOP 2-12 - Symmetrical - Polarity 2-11 Encoder (24 V) External switching function...
  • Page 349 IP 266 Index Forward (FWD) 6-65, 7-3, 7-5 G90: Absolute position Frame specifications 5-89 2-10, 2-15 G91: Relative position - Signal specifications 5-89 Function 5-23 Generation date 6-9, 6-51, 6-53 - 1 (L) 6-45, 6-47 Ground wire - 2 (G) 6-45, 6-47 Grounded shield - 3 (X)
  • Page 350 Index IP 266 Increment mode relative 5-41 Interface Incremental encoder 8-14 - D SUB Incremental position encoder 2-5, 8-3, 8-4 - PLC Incremental speed 5-10, 5-47, - Position encoder 5-48, 6-32, INTERRUPT 6-42 6-33 Interruption of the Information 6-73 traversing program 5-44 INFORMATION Interruption points...
  • Page 351 IP 266 Index Machine data KOMI screen form - Error 10-2 Kv (servo gain) factor 5-12, 5-13, - Missing 7-15 5-19, 6-24, - Optimized 8-20 6-25, 8-8 - Print 6-37 - Valid 7-16 Machining Traversing L function 5-71 MACHINING PROGRAM 6-17 Last block 5-91...
  • Page 352 Index IP 266 Mode Nesting - Screen form 6-63 - Depth 5-71, 5-77 - Select 6-66 - Loop 5-71 - Table 6-56 NO contact 5-20 Mode select Noise - Auxiliary screen form 6-65 - Immunity - Help form 6-66 Number - Mode 6-56, 6-63 - Format...
  • Page 353 IP 266 Index Output message 7-1, 7-2 Position control direction 2-24, 2-25, 3-6 - Overview - Monitor 2-24, 3-6 Override 6-57, 6-60, Position control system 6-63, 6-64 - Components - Factor 5-24, 5-25, Position encoder 6-64, 7-7 - Interface Overswing 5-19 - Replacement Overview...
  • Page 354 Index IP 266 Printer 6-21, 6-36, Rapid traverse 5-73 6-39, 6-75 Ratio - Initialization 6-38 - Motor/axis Printout 6-21, 6-39 Recovery procedure 10-4 - 10-17 - Function 6-37 Reference - Machine data 6-37 - Coordinate 5-9, 5-28, 5-88 - Procedure 6-21 - Direction 6-34, 6-35...
  • Page 355 IP 266 Index Representation Screen form - DIN 66 025 6-40 - PRESETS - Text mode 6-40 - PROGRAM SELECT Reproducibility - TEST 6-56 - Reference point 5-20, 5-35, - TRANSMIT 6-50, 6-51 5-36 Service life Reset 5-63, 8-5 - EEPROM 5-65 Reverse 6-65...
  • Page 356 Index IP 266 Speed 5-9, 5-46, Switching function 2-10, 6-57, 5-47, 5-90, 6-59, 6-61, 6-59, 6-61 6-63, 6-64 - Controller - M99 2-18 - Incremental 6-32, 6-33 Symmetrical - Motor - 5V encoder - Setpoint - Encoder 6-25 Standstill (zero-speed) monitor 6-24, 6-26, Synchronization 6-60, 7-15...
  • Page 357 IP 266 Index Test Transfer 6-65, 7-5 - Axis 8-13 - Key 5-76 - Start-up 8-12 - Statement - Screen form 6-56 Transmission element ”TEST” form - Mechanical - Hierarchical structure 6-56 Travel - Output fields 6-61 - Encoder revolution 8-7, 10-4 Test mode 6-55, 8-13...
  • Page 358 Index IP 266 Velocity - Ramp - Setpoint Voltage-speed - Characteristic 5-63 Watchdog 5-63 Wirebreak Wiring Write cycle 5-65 X function 5-89 Zero point 5-50 Zero offset (ZO) 5-15, 5-17, 5-43, 5-51, 5-84, 6-30, 6-31, 6-46 - Absolute 5-50, 5-84, 5-86 - Cancel 5-83...
  • Page 359 Your comments and recommendations will help us to improve the quality and usefulness of our publications. Please take the first available opportunity to fill out this questionnaire and return it to Siemens. Returning this form assures you of receiving all changes and updates to this document.
  • Page 360 Siemens AG Suggestions AUT E1114B Postfach 1963 Corrections Werner-von-Siemens-Str. 50 For publication: D-92209 Amberg Fed. Rep. of Germany Title: IP 266 Positioning Module From: Order No.: 6ES5 998-5SC21 Name Edition: Firm/Dept. Should you come across any printing errors when reading this publication, we would ask you to inform us accordingly, using this form.

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