Siemens SIMATIC S5 Manual

Siemens SIMATIC S5 Manual

Positioning module 1p 247 for stepper motors
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Positioning Module
for Stepper Motors
Manual
Order No.: 6ES5998-5SB22
Release 02
Table of Contents
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Summary of Contents for Siemens SIMATIC S5

  • Page 1 Positioning Module for Stepper Motors Manual Order No.: 6ES5998-5SB22 Release 02...
  • Page 2 Contents Warning Information Suggestions/Corrections Reference Manual C79000-B8576-C707 -02 List of Contents Notes on Using the Manual Fundamentals of Positioning Reference Manual Hardware InstructIons Functions Reference Manual Communications Software User’s Guide Standard Function Blocks FB164 and FB165 User’s Guide Planning, Installation and Service Installation and Start-up Guide Index...
  • Page 3 However, the created by patent grant or regmfratmn of a ut; ltty model or destgn, data ,. !h, s manual are reww?wed
  • Page 4 Electrostatically Sensitive Devices (ESD) 1 What is ESD? VSLI chips (MOS technology) are used in practically all SIMATIC S5 and TELEPERM M mod- ules. These VLSI components are, by their nature, very sensitive to overvottages and thus to electrostatic discharge: They are therefore defined as “Electrostatically sensitive @vices”...
  • Page 5 One can never be sure whether the human body or the material and tools which one is using are not electrostatically charged. Small charges of 100 V are very common; these can, however, very quickly rise up to 35000 V. of static charge: - Wafking on a carpet up to 35000...
  • Page 6 The diagram below shows the required protective measures against electrostatic discharge. Standing/sitting position Standing position Conductive flccmng Grounding wrist strap Grounding common of the cabinets Sitting position Measurements on modules may only be earned out under the following conditions: The measuring equipment is grounded (e.g. via the PE conductor of the power supply system) or when electrically isolated measuring equipment is used, the probe must be discharged (e.g.
  • Page 7: Table Of Contents

    Contents Contents Notes Notes on Using the Manual Important Notes on Safety Fundamentals of Positioning Introduction A Brief Introduction to the IP247 Positioning Axes What is Positioning? How Does the IP247 Execute a Positioning Job? Machine Data and their Structure 2.5.1 Machine Data for the Power Unit Polarity...
  • Page 8 Contents 2-33 The L-Function 2.6.5 2-34 2.6,6 The G-Functions 2-34 2.6.6.1 2-35 2.6.6.2 2-35 2.6.6.3 -G1 O: Flying Change 2-37 2.6.6.4 2-38 2.6.6.5 Direction of Approach to the Target Point with a Rotary Axis 2 - 3 9 2,6,6.6 Tool Length Offset 2 - 4 2 2.6,6.7 Zero Point offset 2 - 4 6...
  • Page 9 contents 3-11 Connecting Stepper Motor Power Units 3.3.3 3-14 3.3.4 Digital Inputs/Digital Outputs 3-15 PG Interface 20 mA 3-18 Connecting Cables Functions Principle of Operation 4.1,1 Operating Instruction Description of the Individual Operating Modes JOG Speeds 1 and 2 (Modes 1,2) Axis Off (Mode 4) 4.2.2 4.2.3...
  • Page 10 Contents Introduction Definition of Terms Getting Started 5.3.1 Consignment 5.3.2 Setting the Configuration Register Working Copy of the COM247 Diskette 5.3.3 Programmers with one Floppy Disk Drive (PG685) 5.3.3.1 Programmers with two Floppy Disk Drives (PG675, PG635) 5.3.3.2 System Configuration 5.3.4 Programmers without a Hard Disk (PG675) 5.3.4.1...
  • Page 11 Contents 6.1.3 Using the Positioning Module in Multiprocessor Operation (applies tothe S5-135U and S5-155U) The Standard Function Block FBI 64 6.2.1 Functional Description 6.2.2 Calling Function Block FBI 64 6.2.2.1 S5-135U,S5-1 50U,S5-155U S5-11 5U 6.2.2.2 6.2.3 Overview of the Parameters Explanation of the Parameters 6.2.4 6-14...
  • Page 12 Contents General Notes on the Examples 6 - 5 4 6.4.1 Hardware Requirements 6 - 5 5 Assignments for the Examples 6 - 5 6 6 . 4 . 3 Digital Inputs: (valid for all Programmable Controllers) 6 - 5 6 6.4.3.1 Digital Outputs: (validforS5-135U, S5-150U and S5-155U) 6 - 5 6...
  • Page 13: Notes

    The standard function blocks FB164 and FB165 For the S5-1 15, order number 6ES5 845- 8TA01, For the S5-135 with CPU922 or928, order number 6ES5 842- 8TBOI. For the S5-150, order number 6ES5 844- 8TA01. For the S5-155, order number 6ES5 846- 8TA01. Siemens AG°C7900WS57S-C70741...
  • Page 14 Notes on Using the Manual The manual is structured to allow you to become familiar with the system and can later be used as a reference work to look up specific points. ‘Fundamentals of Positioning” introduces terms you require to work with the Part 2: positioning module, e.g.: machine data,...
  • Page 15 Notes on Using the Manual Part 6: “Standard Function Blocks FB164and FB165” describes the assignment of para- meters, operation and monitoring of the IP247 by the CPU. This description dis- cusses the following: FBI 64 for operating and monitoring the IP247, FBI 65 for assigning parameters to the IP247, the structure of the machine data and machining programs in a STEP 5 block,...
  • Page 16: Important Notes On Safety

    Important Notes on Safety Note Before starting up the system, the plant must be equipped with emergency stop limit switches , which directly affect the power supply. If the plant is operated from the PG, the emergency stop switch, to switch off the whole plant must be accessible from the PG.
  • Page 17 Digital To power Digital To power input IP247 supply supply input IP247 Hardware Hardware limit switch limit switch start Traversing brake brake brake range Machine’ start ‘brake Fig, 1/1 Linear axis with limit switches The positioning module also has a further stop input. There is a digital input “external starVstop”...
  • Page 18: Fundamentals Of Positioning

    Fundamentals of Positioning Introduction This part introduces you to the IP247. It provides you with certain information about positioning and briefly describes the function of the IP247 positioning module and its firmware, which repre- sents the heart of the module. The following terms, which must be familiar when working with the IP247, are then explained: machine data, machining programs and...
  • Page 19: A Brief Introduction To The Ip247

    With the software package COM247, the PG is used for convenient parameter assignment, starting up and testing the module. The PC interface is used to execute the functions of the IP247 during normal plant operation. 2 - 2 Siemens...
  • Page 20 A Brief Introduction to the IP247 Jobs can be sent to the IP247 via the PG interface and via the PC interface simultaneously. When requested, the IP247 sends status messages via both interfaces. Fig, 2/2 Communication with the PC and PG Each positioning operation of the IP247 is based on a machine data record specific to the axis, which must be transferred to the memory of the I P247 via one of the two interfaces.
  • Page 21: Positioning Axes

    Positioning Axes Positioning Axes What is Positioning? 2.3.1 Positioning means approaching a previously specified point or previously specified coordinate automatically following a procedure established by parameter assignment. Such an operation can be controlled by either closed-loop or open-loop control systems. Positioning Open-loop control Closed-loop control...
  • Page 22 Positioning Axes Fig. 2/4 Open-loop position control Stepper motors are drives which rotate by going through a sequence of individual step angles. If the stepper motor receives a pulse, it revolves through a fixed angle; if the number of pulses and their frequency is increased, a continuous rotation is gradually achieved.
  • Page 23: How Does The Ip247 Execute A Positioning Job

    How Does the IP247 Execute a Positioning Job? How Does the IP247 Execute a Positioning Job? Ramp Machine data record Positioning job list section buffer Machining program execution Operating instruction target direction speed Fig, 2/5 Structure of job processing Since there is no feedback of the physical actual value of the system, and it is therefore not possible to compensate for any step losses, it is extremely important that stepper motors are cor- rectly dimensioned.
  • Page 24: Machine Data And Their Structure

    Machine Data and their Structure Machine Data and their Structure Before a positioning module such as the IP247 can execute a positioning operation automat- ically, it must be provided with information This information is known about the connected drive. as machine data. Machine data is stored in a data block along with other parameters. This has a constant length.
  • Page 25: Machine Data For The Power Unit

    Machine Data and their Structure Length: 140 bytes (70 words) DW n+O Data header Any number (except DB 164 and DB 165) DW n+5 Machine data Last data word the C 2.5.1 Machine Data for the Power Unit 2.5.1.1 Polarity The manual for the power unit will tell you whether or not the power unit reacts to the negative or positive edge at its pulse input.
  • Page 26: Pulse Duration

    Machine Data and their Structure Polarity: positive edge t clock pulse FORWARD R E V E R S E t direction Polarity: negative edge t clock pulse FORWARD REVERSE t direction 1) = pulse duration Fig, 2/7 Output level By stipulating the polarity, you also decide the direction of forward and reverse movements, At the end of the axis which is approached in a “forward”...
  • Page 27: Pulses Per Revolution

    Machine Data and their Structure Note Once the drive has been installed and started up correctly, this machine data must not be changed, otherwise the wiring of the limit switches and parameters for the software limit switches must also be changed. The manual for your power unit specifies the minimum pulse duration required for trouble-free operation.
  • Page 28: Number Of Excitation Patterns

    Machine Data and their Structure 2.5.2.2 Number of Excitation Patterns The phases of a stepper motor must be excited in a sequence which the rotor can follow step-by- step. The number of possible phase excitations is calculated as follows for the full step mode: number of excitation patterns = 2 x number of phases For the half step mode this number must be doubled, 2.5.3 Machine Data for the Plant...
  • Page 29: The Linear Axis

    Machine Data and their Structure 2.5.3.2 The Linear Axis A linear axis or open axis is an axis with a limited traversing range. The traversing range of a linear axis is limited with the IP247 by assigning the software limit switches. This is effective only when the reference point exists.
  • Page 30: The Rotary Axis

    Machine Data and their Structure 2.5.3.3 The Rotary Axis A rotary axis or closed axis is an axis without restrictions in terms of the traversing range. This might be, e.g. a round table (e.g. 360 degree divisions), continuous tape which can be divided into metric units or a tape winder.
  • Page 31: Maximum Frequency

    Machine Data and their Structure The transmission ratio describes the distance travelled per motor revolution, Within this data, for example, the lead screw pitch of an axis is taken into account. The distance travelled is in the set dimension. The positioning resolution is obtained from the quotient of the transmission ratio and the pulses per revolution.
  • Page 32: Start-Stop Frequency

    Machine Data and their Structure Fig. 2/1 O Torque characteristic curve of a stepper motor The torque characteristic curve is specified by the stepper motor manufacturer for full and half step operation. frn~ should be determined with the appropriate curve. You should allow for suffi- cient reserve.
  • Page 33 Rate of frequency increase a: quotient of the theoretical maximum frequency F and the ramp up time constant ~ a = F/z [Hz/ins] The acceleration time tb is the time allowed to accelerate from a stationary position to frn~, siemens AG@ 2 - 1 6 C79000-B8576-C707 -01...
  • Page 34 Machine Data and their Structure The maximum acceleration time is 7.8 seconds. The minimum acceleration time is 15 ms. This means that ~ must be between 5 ms and 2.6 seconds, The maximum and minimum frequency increase is obtained as follows: 2.6s With all traversing movements carried out at maximum speed (frequency), the full acceleration and deceleration ramp is used for acceleration and deceleration.
  • Page 35: Range Limits (Software Limit Switches)

    Machine Data and their Structure Note From now on, in the representation of traversing movements in the speed/time or speed/distance diagram a linear frequency increase will be used instead of the exponential increase, to help simplify the representation. the traversing frequency f. is reduced for the positioning job until it is certain that the positioning job not only includes the acceleration and deceleration ramp but also a section to be traversed at a constant speed.
  • Page 36: Backlash Compensation

    Machine Data and their Structure Example: Pulses/revolutions = 400 (half step mode) Positioning resolution = 4 mdeg Traversing range = 360,000 mdeg Traversing range pulses/rev. xpos. res. Example of a rotary axis A round table is divided into 360 degrees. The start of the range is at O degrees, and the end of the range at 360 degrees.
  • Page 37: 2.5.3.10 The Polarity Of The Hardware Limit Switches

    Machine Data and their Structure Backlash M : Motor Fig, 2/1 3 Backlash The backlash can be a value between O and 64,999 mm (0,1 inches or degrees). The backlash can only be taken into account when the carriage can be moved directly by the drive, This is always the case when a distance greater than the backlash has been travel led.
  • Page 38: 2.5.4 Machine Data For Operation

    Machine Data and their Structure tripping of a hardware limit switch is, however, only recognized when the axis is moving or should move in the direction of the activated switch. When machine data are transferred to the module, the assignment of parameters for the hard- ware limit switches is checked.
  • Page 39 Machine Data and their Structure Speeds for the various modes are assigned in the machine data record. The speeds must be selected as follows, depending on the dimensional unit: in mm/min for metric input, in 0.1 inches/rein for dimensions in inches or in degrees/rein for dimensions in degrees The maximum range of values is 1 to 65000.
  • Page 40: Reference Point Synchronized

    Machine Data and their Structure The speeds to be specified areas follows: JOG speed 1 for the first JOG mode, JOG speed 2 for the second JOG mode, the incremental speed for the modes absolute and relative incremental approach reference speed for the reference point approach, The reference speed is the speed at which the axis travels to the reverse point and from therein the reference direction to the start of the precontact.
  • Page 41: Reference Direction

    Machine Data and their Structure This machine data contains the position of the reference point in the current coordinate system. This coordinate can be assigned to the current position in the “set reference point” mode or can be assigned to a point on the axis determined by a precontact, the reference direction and type of reference point approach in the “reference point approach”...
  • Page 42 Machine Data and their Structure 7 0 1 2 3 4 5 6 7 0 2 3 4 5 6 7 0 1 2 3 Excitation number of the half-steps not synchronized synchronized Reference direction: forward Reference point location 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 Excitation number of the half-steps Reference direction: reverse...
  • Page 43: 2.5.5 Machine Data For Machining Programs

    Machine Data and their Structure Note The machine data does not influence the output of the actual value or the dis- tance to go in the function block. A double word (32 bits) is available for each piece of information, Each digit in a BCD-coded number requires four bits, and the sign in STEP 5 format also requires four bits.
  • Page 44: Zero Point Offset

    Machine Data and their Structure the coordinates of the software end limit switch (end of range) plus the tool length offset must be less than or equal to + 99.999999 m and the coordinates of the software start limit switch (start of range) plus the tool length offset must be greater than or equal to -99.999999 m.
  • Page 45: Other Parameters

    The zero offsets are called in machining programs using functions G54 to G57 and are cancelled with G53. They can only be enabled as alternatives, If an offset has already been executed with the zero offset modes (=> Part 4 “Functions”), the offsets activated by G54 to G57 are added to those already existing.
  • Page 46 Machine Data and their Structure ———..Each machine data record also contains an error variable. Some of the possible input errors made when generating the machine data record on the programmer are detected by the soft- ware package CC) M247, Further checks are made by its firmware when the machine data are entered into the positioning module.
  • Page 47: Machining Programs And Their Structure

    Machining Programs and their Structure Machining Programs and their Structure 2.6.1 General A machining program is a connected series of traversing jobs, dwell times and offsets. Machin- ing programs are made up of individual statements. Each statement is itself a complete and feasible job for the positioning module.
  • Page 48: Program Header

    Program header Statements of the machining program Final statement: program end Fig. 2/1 5 Structure of a machining program with program number 33 The machining program always has a program header and a final statement. The final statement has the special identifier M02 at the end. The length of individual statements can vary. 2.6.2 Program Header The program header is generated automatically by COM247 when the machining program is created at the PG.
  • Page 49: Program Statements

    Machining Programs and their Structure 2.6.3 ProgramStatements A statement in a machining program consists of a series of functions which have a fixed order and must be separated by at least one blank. Each statement must be completed by a line feed (<...
  • Page 50: The N-Function

    Machining Programs and their Structure 2.6.4 The N-function The N-function is the first function in a statement and specifies the number of the statement. This function is obligatory and consists of the character ‘N’, followed by a maximum three digit num- ber between O and 999.
  • Page 51: 2.6.6 The G-Functions

    Machining Programs and their Structure 2.6.6 The G-Functions A G-function can follow an N-function. It is identified by the letter ‘G’, followed by a two digit num- ber. Only one G-function is permitted in a statement. Only the following G-functions are per- mitted: G04: dwell time G1 O: flying change...
  • Page 52 Machining Programs and their Structure Example N50 GOOXI 000 M23 output the auxiliary function M23 at the beginning of the statement.. At maximum speed to target point 1000. G04: Dwell Time 2.6.6.2 A dwell time is executed in this statement. The duration can be set using the F-function in units of Example N38G04 F1 O M34 output of auxiliary function M34 at the beginning of the...
  • Page 53: G1 O: Flying Change

    Machining Programs and their Structure Example2: initial point at program start x = O to target point 50 mm at 1000 mm/min N42(GIO)Xl00F1000 M41 to target point 100 mm at 1000 mtimin Xl 50 F1OOO M42 to target point 150 mm at 1000 mm/min final statemerrt/program end N45M02 If no different M-functions were required, the movement could be brought together in one state-...
  • Page 54: Loops

    Machining Programs and their Structure A “flying change” cannot be executed under the following conditions. The program is then stopped with the error message “flying change could not be executed”: when the statement following the flying change specifies the opposite direction, when the statement following the flying change contains a dwell time, when the statement following the flying change only contains an M02, when the traversing distance following the flying change is shorter than the braking dis-...
  • Page 55: Direction Of Approach To The Target Point With A Rotary Axis

    Machining Programs and their Structure Example start of a closed loop N1 O G24 FO N20G74 approach reference point start of a loop with 5 repetitions N30G24 F5 N40L30 call subroutine 30 N50G04 F1 O wait one second N60L30 recall subroutine 30 N70G20 end of the inner loop N80G20...
  • Page 56: 2,6,6.6 Tool Length Offset 2 - 3

    Machining Programs and their Structure All absolute targets are approached in a clockwise direction (forward) when G26 is selected. On a linear axis, a G26 is ignored and does not cause a stoppage of the machining program. All absolute targets are approached in an anti-clockwise direction (reverse) when G27 is selected.
  • Page 57 Machining Programs and their Structure If the tool length offsets implemented by a machining program during its execution are not reset with G40 (“clear tool length offset”), they are retained on completion of the machining program. The offset implemented in the machining program can then only be cleared using modeBA16 (“tool length offset off”).
  • Page 58 Machining Programs and their Structure A statement containing G44 causes a tool length offset in a reverse direction by the length specified in the machine data (=> Section 4.3.8 “Tool Length Offset”). This occurs each time the function is executed. Example The tip of a tool with a basic length of 40 mm must approach coordinate O.
  • Page 59: 6.7 Zero Point Offset 2 - 4

    Machining Programs and their Structure 1st reach, op. 2nd reach. op. 5th reach. op. Actual pos. Fig. a20 Tool length offset Fig. 2/21 Tool length offset 2.6.6.7 Zero Point Offset You can program a relative displacement of the coordinate system of your axis during a machin- ing program.
  • Page 60 Machining Programs and their Structure Zero offsets executed in a subroutine are not cleared following the return to the main program. They are only reset on completion of the main program. A zero offset changes the limits of the traversing range, the reference point and the actual posi- tion value according to the value of the offset, With a positive zero offset, the zero point of the coordinate system is displaced in a positive direction, i.e.
  • Page 61 Machining Programs and their Structure Here, machining program 1 is started. Start command Mode BA 8 Parameter Subroutine 9 is called in this machining program. By means of Ml O, this program controls the drilling of three holes (at O mm, 10 mm and 20 mm). The three coordinates are specified as abso- lute values.
  • Page 62 Machining Programs and their Structure 1 1 0 1 2 0 ‘“ ‘ ‘“ ’ “0 ’ ’ -130 Program end 110 120 reference edge of the tool holder Example of zero offsets 2 - 4 5...
  • Page 63: Dimensional Units In Machining Programs

    Machining Programs and their Structure 2.6.6.8 Dimensional Units in Machining Programs The IP247 positioning module interprets machining programs in the dimensional unit specified in the machine data, i.e.: machine data in 0,1 inches = >G70 default = >G71 default machine data in mm machine data in degrees = >G70 and G71 disabled Following the function G70, all further distances are interpreted in 0.1 inches and all further speeds as 0.1 inches/rein.
  • Page 64: 2.6.7 The X-Function

    Machining Programs and their Structure 2.6.7 The X-Function The X-function is the target function of the statement. It consists of the character “X”, followed by an optional sign and a number which specifies a distance in the units mm, 0.1 inches or degrees. The number consists of five digits and three decimal places.
  • Page 65 Machining Programs and their Structure Each M-function is output at the beginning of the execution of a statement (traversing job or dwell time) and remains valid until the next M-function at the start of the next statement (tra- versing job or dwell time) containing an M-function is output. In the control program, M-functions can be used to trigger user- specific actions, e.g.
  • Page 66 Machining Programs and their Structure — If MOO “programmed halt” and G1O “flying change” are programmed in one statement, the programmed halt has priority. N10G1OX100 F500 MOO (! = break point) separated owing to MOO MOO can stand alone or alone with an offset or a switchover following the N-function in a state- ment.
  • Page 67: 2.6.10 Programming Restrictions And Syntax Diagram

    Machining Programs and their Structure 2.6.10 Programming Restrictions and Syntax Diagram To generate feasible statements in machining programs, there are several restrictions and rela- tionships between the functions which are automatically checked by COM247. Following an L-function (subroutine call) only the end of the statement is permitted. In the DIN representation, this means that no further entry can be made in this line, in the text representation, only the selection of another statement is possible.
  • Page 68 Machining Programs and their Structure Flying change ......Reverse (anticl&kwise) Negative td cffset on .
  • Page 69: Axis Attributes

    AxisAttributes Axis Attributes The axis attributes contain up-to-date information about the axis as follows: the dimensional unit selected for position encoding, whether the required position is reached or not, (this signal is also output via a digital output of the IP247), whether the reference point location is synchronized or not, whether the teach-in mode is on or off, the existence of the reference point,...
  • Page 70: Machine Data Does Not Exist 2 - 5

    Axis Attributes 2.7.1 Machine Data does not Exist The bit indicating that machine data does not exist is only cleared in the axis attributes (check- back signals) when the machine data for an axis is transferred. The machine data which is then located on the module, may, however, still contain errors.
  • Page 71: Axis Status "Finished" Or "Running" 2 - 5

    Digital inputs/Oufputs and their Effects 2.7.6 Axis Status ’’Finished”or “Running” An axis can only be switched from one mode to another in the axis status “finished”. Providing the job itself is correct, the axis status is changed from “finished” to “running”. In this respect, there is no difference between traversing jobs and jobs which do not lead to a traversing move- ment, e.g.
  • Page 72: The'' Position Reached" Message 2 - 5

    Digital Inputs/Outputs and their Effects Ready signals: +24 V from the module to the power unit 5BxL+ x = (axis 1, 2, 3) Ready input feedback of the 24 V from the power unit to the 1P BBx Significance of the control signals: The outputs “positioning pulses”...
  • Page 73: The Digital Inputs For Hardware Limit Switches 2 - 5

    2.8.3 The Digital Inputs for Hardware Limit Switches The hardware limit switches are evaluated regardless of the axis type. With a rotary axis, hard- ware limit switches are generally not required, but can be used as an additional safety measure. The polarity of the two hardware limit switches can be assigned in the machine data record.
  • Page 74: 2.8.4 External Start/Stop

    The maximum braking distance can be calculated for tv = 3 ~ as follows: + -c ~ (e (+tv/T) . 1)) + fe,s x b) Where: : start-stop frequency maximum frequency : theoretical maximum frequency = (frnax - f~J/O.95 : acceleration time 10.,.3c] : ramp-up constant = F/a : rate of frequency increase 2.8.4 External Start/Stop...
  • Page 75 or dwell time, this acts as “external stop”; the machining program is terminated. If, following the completion of the traversing movement (“position reached” message set), a”1” is set at the digi- tal input, the machining program is also interrupted. The message “FC1 (65) machining program waiting to continue”...
  • Page 76: Baspsignal

    BASP Signal Whether or not this signal is evaluated depends on a jumper setting on the IP247 (see I nstruc- jobs on the axes are aborted and the message “PC failure” is output. 2 - 5 9...
  • Page 77: Hardware

    Technical Description Hardware Technical Description 3.1.1 Mode of Operation The IP247 as an intelligent 1/0 module controls positioning equipment driven by stepper motors. The IP247 outputs pulse trains to the connected stepper motor power unit corresponding to the target position and the traversing speed, The number of pulses output determines the distance travelled, the frequency of the pulses determines the speed of travel.
  • Page 78 Technical Description Connectors on the front panel Tab connector for 24 V- Ioad voltage L+ — - LED red - LED green =RUN, operation Outputs to control a stepper motor power unit Input for ready Axis signal from power unit (Pin assignment, see Figs 9-pin socket connector Outputs to control a...
  • Page 79: Technical Data

    Technical Description Technical Data 3.1.4 Interfaces to stepper motor drives (front panel connectors X4, X5, X6) Output signals (per axis) (n = axis number 1,2 or 3) Clock pulse Clock pulse inverted Direction level Direction level inverted Reset Reset inverted Output voltages max.
  • Page 80 Technical Description Digital inputs (front connector X7) Rated input voltage Number of inputs per axis Isolated Input voltage signal O -33 V...6V6V signal 1 13V.,.33V Input current You can use two-wire BEROS with a supply voltage of 22 V...33 V. Digital outputs (front connector X7) Rated supply voltage L+ Number of outputs per axis...
  • Page 81 Technical Description 2.7.. .5.25V Battery voltage (back-up) Current from the battery typ. 5 wA; max. 250 PA Safetytest Surge voltage test according to IEC 255-4 inputs and outputs to L- inputs and outputs to L- Mechanical data Dimensions (W x t)) version with forced ventilation 20 mm x 233 mm x 160 mm self -ventilated version...
  • Page 82: Installation

    Installation Installation 3.2.1 Inserting and Removing the Module The module can only be plugged into the slots interided for CPS in the PC or EU. The module may only be removed when the programmable controller or the expansion unit is switched off.
  • Page 83: Operation

    Operation Operation Position of the Jumpers and Switches 3.3.1 3 2 1 3 2 1 6 ..1 ’ 1 0 * 1) ’ X 1 3 * 1) 1 2 3 J l = S 7 9 2 0 0 - G 9 7 A 9 0 1 / - xl 1 3 2 1 Xl 6...
  • Page 84 The four pages of a module must have consecutive numbers. The addresses for the following pages are calculated automatically by the IP247, after you have set the base address. When supplied, each module is set with the same address area for the page number (switch S1 and jumpers Xl 4, Xl 5 and Xl 6).
  • Page 85: Connecting Stepper Motor Power Units

    Operation 3.3.3 Connecting Stepper Motor Power Units Three stepper motor power units can be connected to the module (X4, X5, X6). The signals “clock pulse” (T), “direction level” (RP) and “reset” (RS) are supplied via special output stages, which can be operated with 5 V, 24 V or with a special voltage US (5 V to 24 V), This allows power units with 5 V differential inputs (RS 422) or optocoupler inputs (5 V/20 mA, 24 V/20 mA) b be connected.
  • Page 86 Operation Connector casing = twisted cable Fig, 3/7 Connection of power units with 5 V differential inputs to connectors X4/X5/X6 of the To reset the power unit, the module outputs a high-active pulse for each axis, If a low-active pulse is required, you must change over the connections at pins 1 and 2 of the connector. The polarity of the clock pulse and direction level can be programmed.
  • Page 87 Operation Connecting power units with 5...24 V optocoupler inputs You must make the following jumper setting on the module: jumper X30/4-6 inserted (US) jumper X31/1 -2 inserted (L-) the voltage U must be supplied via connector x7/23, 24, 25 (see Fig. 3/6). You must connect the power units as shown in Fig.
  • Page 88: Digital Inputs/Digital Outputs

    Operation Digital Inputs/Digital Outputs 3.3.4 The digital inputs/outputs for all three axes are connected to the 25-pin connector X7 on the front panel. You can connect current sourcing switches (contacts or two-wire BEROS) to the inputs. The function signals (position reached) are output via short-circuit proof digital outputs. Pin assignment of connector X7 for digital inputs/digital outputs Connection for: Socket...
  • Page 89: Pg Interface 20 Ma

    PG Interface 20 mA 3.3.5 The programmers PG 635, PG 675, PG 685, PG 695, PG 730 and PG 750 can be connected to the I P247 at connector X8 via connecting cables (e.g. 6ES5 731- 1.. .0). (+2o mA) Pot, Pot, Rx”...
  • Page 90 Operation Pin Assignment of Connector X8 for the PG Interface Connection for: Socket Shield Shield Ground -20 mA/transmitter -20 mA/receiver Backplane Connectors Xl/X? and Memory Cartridge Connector X3 +5 v Ground /RDY BASP Ground Fig. 3/1 O Backplane connector Xl 3-16...
  • Page 91 Operation 1 - . . I -- /NAU 14 --L–-—---+-—------—-----’ 16 - —–-.—.—.—––.. .T..— — Gnd 24V Gnd24V — Ground +24 V Fig. 3/1 1 Backplane Connector X2 +5 v SADB12 Ground SADB11 SADB13 Fig, 3/1 2 Memory Cartridge Connector X3 3-17...
  • Page 92: Connecting Cables

    Connecting Cables Connecting Cables To make the connection of power units and digital inputs/outputs easier, connecting cables are available with one end open. Connecting cable for power units 6ES5 704-4...0 (cable end open, . . . = length key for connecting cables) 1 Ring BB L+ 2 Rings...
  • Page 93 Connecting Cables Connecting cable for digital inputs/outputs 6ES5 704-5...0 (cable end open, ...= length key for connecting cables) I ANF 1 I BERO 1 I END 1 1 Rin: ISTART/STOPPl I BER02 ‘ 8 I ANF 3 I END 3 ye J lsTART/sToPP3 Q PE 1...
  • Page 94: Functions

    Principle of Operation Functions Principle of Operation The module is operated by means of commands and instructions, regardless of whether they are sent to the IP247 by the CPU or by a programmer. Commands are divided into two basic groups: instructions for “operating”...
  • Page 95 The axis status can be interrogated via both interfaces. The axis status appears in the test dis- play on the PG; on the PC side it can be read in the checkback signals using FBI 64. 4 - 2 Siemens AG°C79000-B8576 -C707-Ol...
  • Page 96: Operating Instruction

    Principle of Operation In the axis status “finished”, an axis can be changed from one operating mode to any other oper- ating mode, unless prevented by the restrictions mentioned above. The operating instruction in- cludes the required operating mode number and a “command”. The command can be “start”, “stop”, “forward”,”...
  • Page 97 Principle of Operation “Enter” command (continuation) - Stop command - Automatically start owing to error forward - Operator error reverse Operator error Fig, 4/3 Relationship between operating instruction and axis status You can only change or start a mode in the axis status “finished”, This is achieved by the start, forward or reverse command in conjunction with the required mode.
  • Page 98 Note When entering instructions at the PG, remember that everything you enter faster than can be processed by the PG or by the COM247 software is written to a key- board buffer in the PG. If all the stored inputs are feasible and correct, they will be entered in the PG iob list in the order in which they were inP@ and then Processed by the I P247.
  • Page 99: Description Of The Individual Operating Modes

    Description of the Individual Operating Modes The following modes are used by COM247 automatically in the test mode and can be catted by the PC via FBI 64: Modes BA 71, BA 73, BA 74: (for monitoring modes, see Section 4.4 “Description of the in- The following modes can be called indirectly by COM247 by means of function keys and by the PC via FBl 65: BA 20- Enter machine data...
  • Page 100: Jog Speeds 1 And 2 (Modes 1,2)

    Description of the Individual Operating Modes 4.2.1 JOG Speeds 1 and 2 (Modes 1,2) In these two operating modes, you can move an axis at a constant speed. The basic speeds themselves are contained in the machine data. You can traverse at JOG speed 1 or 2 by entering a “0”...
  • Page 101: Axis Off (Mode 4)

    Description of the Individual Opera!jng Modes Note speed achieved at maximum frequency. The limits are 1-65000 mm/min (or 1- 650000,1 irlmin or 1-65000 decJmin). If this speed range would otherwise be exceeded, the speed is changed to the lower or upper limit and the error message “speed range exceeded”...
  • Page 102: Reference Point Approach

    Description of the Individual Operating Modes Example A zero offset of 100 mm in the reverse direction was executed. The mode “set reference point” was executed. The coordinate of the reference point in the ma- chine data is O mm. The actual value following “set reference point”...
  • Page 103 Description of the Individual Operating Modes For “reference point synchronized” the excitation pattern counter on the module must be synchronized with the counter in the power unit. Synchronization “Reference point synchronized” has been selected with “yes” in the machine data. The power unit is capable of being monitored.
  • Page 104 Description of the Individual Operating Modes Synchronization yes: In this case, the reference point is only located after the axis has left the precontact and the excitation pattern counter has reached zero. Note single steps, the reference point approach is aborted and the error message “FBB (59) reference cam switch defective”.
  • Page 105 Description of the Individual Operating Modes Special case 1 If the IP247 detects the precontact before reaching the hardware limit switch, the direction is reversed at the end of the precontact. 3 0 1 2 3 0 1 Excitation pattern number “o”...
  • Page 106 Description of the Individual Operating Modes Special case 2 If the appropriate limit switch is activated when the approach is started, the drive starts im- mediately in the reference point direction. 3 0 1 2 3 0 1 Excitation pattern number Limit switch s Limit switch - V2...
  • Page 107 Description of the Individual Operating Modes Special case 3 If the precontact is activated when the reference point approach starts, the drive moves im- mediately in the reference point direction in single steps. 3 0 1 2 3 0 1 Excitation pattern number “1“...
  • Page 108: Set Reference Point

    Description of the Individual Operating Modes 4.2.5 Set Reference Point With the “set reference point” function, the axis is calibrated without movement. No hardware limit switches and no precontact are required. The point at which the axis is located (actual posi- tion) at the start of the “set reference point”...
  • Page 109: Incremental Approach Relative (Mode 7)

    “traversing range exceeded” is displayed. With a rotary axis, the distance travel led is limited to +/-200 m (+/-20 000 inches, +/-200 000 degrees). If this limit is not adhered to, the job is also aborted and the error message “illegal dist. spec. ” is generated. 4 - 1 6 Siemens AG°C79000-B8576 -C707-01...
  • Page 110: Executing Machining Programs

    Executing Machining Programs Executing Machining Programs 4.3.1 Automatic (Mode 8) A series of traversing movements, dwell times and loops can be stored on the module as a ma- chining program. The structure and effects of machining programs or of functions in machining programs is discussed in Section 2.6 “Machining Programs and their Structure”.
  • Page 111: Automatic Single Statement (Mode 9)

    BA 9 (automatic single statement); program number; stop With this command, the “automatic single statement” mode is interrupted. This can occur both between the execution of two statements or during a traversing movement or dwell time. 4 - 1 8 Siemens AG°C79000-B8576 -C707-Ol...
  • Page 112 Executing Machining Programs Special features Statements connected with a flying change are treated as one statement = > treated as one statement Exception: If “flying change” and “programmed halt” are used in one statement, “programmed halt” has priority. — – > separated owing to MOO Offsets or switchovers are executed following the program start, following the previous tra- versing movement or dwell time and following the programmed halt.
  • Page 113: Interrupting And Continuing Machining Programs In Ba 8 And Ba 9

    Executing Machining Programs 4.3.3 Interrupting and Continuing Machining Programs in BA 8 and BA 9 You can interrupt and then continue a machining program processed by the IP247 positioning module. In the automatic modes (mode 8 or mode 9), you interrupt the machining program as follows: a stop command for any mode, external stop or...
  • Page 114 Executing Machining Programs Note Closed loops without traversing jobs and without dwell times are illegal. The following pulse diagrams represent traversing movements as speed overtime, The distance eration and deceleration phases are assumed to be linear. Interruption during a dwell time If a machining program is interrupted during a dwell time, the system assumes that the dwell time has elapsed.
  • Page 115 Executing Machining Programs Situation 1 If the machining program is interrupted while the axis is accelerating or traveling at a constant speed, the axis is braked. Since the target of the job is not reached, the following occurs: “Position reached” is not set. The axis status changes to “finished”.
  • Page 116 Executing Machining Programs The following different situations can therefore arise: 1. The axis stops before the intermediate target and the distance to go is sufficient to achieve the programmed speed when the program is continued (see Fig. 4/13). achieve the programmed speed (see Fig. 4/1 4). 3.
  • Page 117 Executing Machining Programs Intermediate target Traversing curve without interruption — stop Distance to go < start-up distance; (distance to go = (1) - (2)) Fig. 4/1 4 Distance to go positive and less than the start-up distance Situation3 When the interruption occurs, the braking distance is already greater than the current distance to go to the intermediate target.
  • Page 118 Executing Machining Programs Note In situations 2 and 3, if the start-up distance is greater than the distance to go to the next target, or if the distance to go is negative, jobs are combined until: 1. either the distance is sufficient to achieve the programmed speed (see Fig.
  • Page 119: Teach-In On/Off (Modes 10/1 1)

    A program generated in this way can be used in both automatic modes by both axes. are stored one after the other, begin with NO1 and have consecutive N functions, are assigned the “incremental speed” and are stored without M functions. 4-26 Siemens AG°C79000-B8576 -C707-Ol...
  • Page 120 When “teach-in” is switched on the machine data record must be valid, the reference point must exist, there must be sufficient space in the program memory of the IP247, a machining program number must be specified which has not yet been used on the no other axis of the IP247 must be in the “teach- in”...
  • Page 121: Zero Offset Absolute (Mode 12)

    Executing Machining Programs BA 6 (incremental approach absolute), 3000 mm, start The axis travels to the absolute position 3000 mm and stops. The “finished” message is set. N02 X3000 F2500 is entered in the second statement (N2). 6A 11 (teach-in off), start] Machining program 7 is completed and the teach-in mode switched off.
  • Page 122 Executing Machining Programs Coordinates before the transformation Software limit switch Reference point Current position from the start machine data BA12 (zero offset abolute); 400 mm; start Coordinates after the transformation Software limit switch Reference point Software limit switch Current position -250 ’50 Fig,...
  • Page 123: Zero Offset Relative (Mode 13)

    Executing Machining Programs The current position of 60 degrees is assigned the coordinate 400 degrees. All other position coordinates become more positive by the difference of 400 degrees -60 degrees i.e. 340 degrees, The range limits are then no longer at 0/360 degrees but at 340/700 degrees. Absolute target specifications must have values within this range following the coordinate transformation.
  • Page 124: Clear Zero Offset (Mode 14)

    Executing Machining Programs I —— Reference edge Coordinates before the transformation Reference point Software limit switch Current position start from the machine data ‘ -500 ! -200 BA13 (zero offset relative); 330 mm; reverse Coordinates after the transformation Software limit switch -170 Fig.
  • Page 125 Executing Machining Programs . . ,corresponds to a tool length offset of 80 mm forwards. When any positioning movement is carried out, the new tool tip is brought to the specified target position. This also applies to the execution of machining programs. If mode 15 is called again, the offset is replaced by a new value.
  • Page 126 Executing Machining Programs You can also specify a tool offset in the machine data which can be switched on within machin- ing programs by G43 or G44. (=> Section 2.6.6 “The G-Functions”). This offset is added to the offset specified with mode 15 and can be called repeatedly. This allows, for example, the esti- mated wear on a tool to be taken into account within the machining program by setting the tool length with mode 15 and then calling the tool length offset from the machine data in the machin- ing program to make up for the tool wear.
  • Page 127: Tool Offset Off (Mode 16)

    Executing Machining Programs 360 /0 degrees start degrees length offset 30 forward, Tool Position of the tool tip Fig. 4/21 Tool length offset with a rotary axis The calculation of the shortest route in the incremental approach mode is always calculated from the tool tip when a tool offset is set with a rotary axis.
  • Page 128: Machine Data Processing (Modes 20,21,64,67 And 68)

    Executing Machining Programs 4.3.11 Machine Data Processing (Modes 20,21,64,67 and 66) The concept of the IP247 is that machine data records are generated initially using the com- munications software COM247 at the PG. These data records are then stored as required on the modes for machine data processing and ensures that the data records are correctly structured and transferred.
  • Page 129: Delete Machine Data (Mode 21)

    Executing Machining Programs You can only enter machine data when the machine data record to be entered has the same module number as the SYSID (mod- ule identifier), Otherwise you must first run through mode 24 “enter SYSID” (=> Section 4,3.22 ’’EnterSYSl D”) the axis for which data is to be transferred is in the “finished”...
  • Page 130: Read Machine Data Directory (Mode 64)

    Executing Machining Programs For more detailed information, refer to the description of FBI 65 in Section 6.3 “Standard Func- tion Block FB 165”. 4.3,14 Read Machine Data Directory (Mode 64) In this mode, you obtain information from the I P247 about the machine data records stored on the IP247 and the axis for which the records are valid.
  • Page 131: Executing Machining Programs (Modes 22,23,65 And 69)

    Executing Machining Programs for which the data record is intended, the axis number length of the data record in words and the machine data errors. The overview is transferred simultaneously for all three module axes. You must first set up an adequately long destination data block in the CPU.
  • Page 132: Enter Machining Program (Mode 22)

    Executing Machining Programs BA 65 “read machining program directory” BA 69 “read machining program” are explained below. 4.3.18 Enter Machining Program (Mode 22) face. C0M247 uses mode 22 indirectly if you press the corresponding function key. If you trans- fer a machining program from the CPU to the IP247, FBI 65 must be assigned parameters as described in Section 6.3 “Standard Function Block FBI 64”.
  • Page 133: Delete Machining Program (Mode 23)

    Executing Machining Programs Note length in the header information, otherwise the entry of the program is aborted with an error! If a machining program is created with COM247, the machining program can only be transferred to the module if it is syntactically correct. The syntax check is made by COM247. If, however, the machining program is transferred from the CPU to the IP247, the program is checked for syntacti- cal errors by the firmware on the IP247.
  • Page 134: Machining Program Information (Mode 65)

    Executing Machining Programs save the first program on diskette, hard disk or using mode 69 (“read machining program”) in the CPU, delete this program on the IP247 with mode 23. The memory of the IP247 is then com- pressed, transfer the saved program to the IP247 again using mode 22 (“enter machining pro- gram”), The program now appears last in the machining program directory.
  • Page 135: Enter Sysid (Mode 24)

    Executing Machining Programs if applicable, the machining program error number and if applicable, the number of the statement in which the error was recognized. Following this, the machining program is output in ASCII characters. 4.3.22 Enter SYSID (Mode 24) With mode 24 (SYSI D input), a module identifier (SYSID) is entered on the I P247. This is neces- sary when a module has been exchanged before you transfer machine data.
  • Page 136: Read Sysid (Mode 70)

    Description of the Individual Monitoring Modes Page number: The page number can be selected between O and 252 and is simply used for documentation. The page address set on the module can be entered here (=> Section 3,3.2 “Setting the Mod- ule Address”), The number can then be read at the programmer without having to remove the positioning module from the PC, No check is made as to whether the page address on the mod- ule is the same,...
  • Page 137 Description of the Individual Monitoring Modes Function block FBI 64 continues an activated monitoring function (71, 73) periodically. You can stop these monitoring functions with mode 74. In contrast, mode 66 (“read actual values”) supplies both actual values simultaneously using Data Area when reading Actual Values”), For more detailed information about the monitoring modes, refer to the description of function blocks FBI 64 and FBI 65.
  • Page 138: Com247 Communications Software

    5 COM247 Communications Software Introduction sup- The programming package COM247 which runs on the PG, provides you with user-friendly port for programming and starting up the IP247, All the functions are executed by means of menu displays (input fields) and function keys. If you create machine data or machining programs for the IP247, you can store the data on the programmer (PG), on the module (I P247) or on a floppy or hard disk (FD).
  • Page 139 Introduction Using the function keys, you can now enter, output, modify, delete or transfer machine data and machining programs, Test functions can be executed with the function key cF3> (TEST). Remember that the following limits apply to files: maximum number of machining programs per file: 250 maximum number of machine data per axis and file: 16 maximum number of files which can be selected in the presetting display with : 32 The interactive menu displays of COM247 include the following elements:...
  • Page 140 Introduction Example: F8AFO0 FOO FOO 1 j F8A reference point missing The message has the following significance 1 [ : the current axis is axis 1, are not signaling a module error, INPUT — — — — ..B L O C K : DB @3~ DEVICE :~p=z7;...
  • Page 141 Introduction You can now enter the actual machine data in the nine input fields (shown on a grey back- ground). Travel data and speeds always refer to the measuring system selected in the machine data re- cord. The appropriate dimension is therefore always displayed following input fields and output fields involving dimensions.
  • Page 142: Definition Of Terms

    Menu: inverse display of function keys ... and a text to indicate the function currently assigned to this key. programmer for SIMATIC S5 (e.g. PG635, PG675, PG685, PG695, PG 730 and PG750). programmer: The equality sign (=) at the start of a line indicates the beginning of a new activity.
  • Page 143: Getting Started

    Getting Stafled Getting Started 5.3.1 Consignment Under the order number 6ES5895-5SB22—, the manual includes, among other things, this User’s Guide, a 5 1/4 inch diskette anda31/2 inch diskette each with the file: S5PEC1OX.CMD The software package COM247 runs under the operating system S5- DOS, which is not part of the consignment.
  • Page 144: Programmers With Two Floppy Disk Drives (Pg675, Pg635)

    Getting Staried 5.3.3.2 Programmers with two Floppy Disk Drives (PG675, PG635) Start the PG by turning on the power or using the keyswitch > A > DSKMAINT New diskette in drive A: < F 5 > < F 1 > Y CF8> >...
  • Page 145: Programmers With A Hard Disk (E.g. Pg685)

    Getting Started Apart from the system diskette, you also require the COM diskette with the COM package which will later also contain the machine data and machining programs in the form of data blocks. You create this diskette by formatting a new diskette (DSKMAINT), Following this, the COM package can be copied to this diskette.
  • Page 146 Getting Started Remember If your programmer has one floppy disk drive, the hard disk has the logical name “B”. The operating system displays the prompt “B>”. Next, the programs on the pCp/M diskette must be copied to the hard disk, as follows: Start the PG by turning on the power or using the keyswitch >...
  • Page 147: Starting Com247

    Starling COM247 Starting COM247 The following description assumes that you have made the preparations described in “System configuration” (you have created a system diskette or installed COM247 on the hard disk). With PGs without a hard disk, the prepared system diskette is inserted in drive A and the data diskette in drive B With PGs with a hard disk, drive A: must not have a diskette inserted Start the PG by turning on the power or using the keyswitch...
  • Page 148 Starting COM247 Copyright (C) SIEMENS AG CO N F I G U RAT I ON 777777777 222222 000000 777777777 22222222 0 0 0 0 0 0 0 22 22 444444444 2222222 0000000 22222222 000000 — — Version: . . , ,,..
  • Page 149 Starting COM247 Drive File name Plant designation Generated by Generated on Mode Module no. Slot no. Page address — ““~@ PG date-time ‘ “ ‘ “ ” F g PRINTER ONLINE HELP EXIT BEGIN PARAMETE OFFLINE “ ’ ” ’ ”...
  • Page 150 Starting COM247 Description of the input fielcfs Each module has several characteristics (SYSI D), some of which cannot be changed and some of which can be selected. There are other characteristics which must beset, such as the module number, and some which can be set. The latter are mainly of a documentary nature and are not checked.
  • Page 151 Starting COM247 Note After switching off the PG, this setting is lost. The hardware clock can only be set at the system level. Significance of the function keys With BEGIN, you branch to SELECT FUNCTION and providing ONLINE is set, the : presets (module number, slot number, page address) are written to the module.
  • Page 152: Function Selection

    : Branch to input of machine data/machining programs. : Branch to output of machine data/machining Programs. : Branch to test mode. : Branch to transfer of machine data/machining programs to the individual media, 5 - 1 5 Siemens AG°C79000-B857& c707-f31...
  • Page 153 Function Selection : Branch to deleting machine data/machining programs on the individual media. : Branch to information (overview) about machine datdmachining programs as they exist on the individual media. Return to the presets display. 5 - 1 6 - 0 1...
  • Page 154: Input

    Input Input If you press (INPUT) in the basic display (select function) you branch to data input. Here, you can generate machine data or machining programs and store them on the module, the PG or a data drive. You stipulate the destination device in this mask (function keys —...
  • Page 155: Entering Machine Data

    Input Block no.: You select the data block number under which the generated data is to be stored. The DB number can be a value between O and 255. Description of the function keys : The destination device is the IP247 module. You branch immediately to the next dis- play, either to the first machine data or the first machining program display.
  • Page 156: Compiling Machine Data

    Input Compiling Machine Data 5.6.1.2 If you selected “machine data” in the data block selection display, specified the block number and pressed one of the function keys ..., the axis selection display appears. The destination device (I P247, PG, FD) is now fixed and can no longer be changed for this input. As an example in this section, a machine data record (data block number 123) will be generated, The destination device on which the data will be stored is the IP247 module, module number 11.
  • Page 157 Description of the input fields Axis: In this field, you enter the number of the axis for which the machine data record is to be created. The number can be either 1, 2 or 3. Module: In this field, you can enter the number of the module for which the machine data record is to be created.
  • Page 158 Input Machine Data Page 1 INPUT L — — — - . B L O C K : DB @ 3 ; DEVICE ~lP247 7 L _ — — — — — - - - - - - - - - - - - - - - Axis : —...
  • Page 159 Input Module: The previously entered module number is displayed here, Axis: The previously selected axis number is displayed here, The previously selected dimension is displayed here. Axis type: The previously selected axis type (“LINEAR” or “ROTARY”) is displayed here. Description of the input fields Maximum frequency This is the highest frequency to be output to achieve the maximum speed in the selected half or full step mode.
  • Page 160 Module, axis, meas. system, axis type: see machine data page 1. Description of the input fieids Pulses/revolution: step Steps of the stepper motor per revolution in full or half mode. Half step mode means twice the pulse count of full step mode. 5 - 2 3 Siemens AG@C79000-B8576 -C707-01...
  • Page 161 Input Transmission ratio: The transmission ratio indicates the distance travelled for one motor revolution. Resolution = transmission per revolution) Example: A motor with steps in full step mode connected directly to a Ieadscrew with pitch/revolution, is to be operated in the half step mode. Pulses/revolution: pulses/revolution 200.2 = 400...
  • Page 162 : Select the next machine data page. : Select the previous machine data page. : Store all machine data on the destination device. Return to the basic display without savng the data. 5 - 2 5 Siemens AG°C79000-B8576 -C707-01...
  • Page 163 Input Machine Data Page 3 — — — — _ _ _ B L O C K : D E \~3~ DEVICE :fip=7 ; Module : (yes/no) Ref. point synchronized Reference direction — . : @ @ – – , ‘:~~$.o~ —...
  • Page 164 Input Ref. point coordinate SW limit switch start (XA): This value specifies the coordinate of the software start limit switch. The value of the software start limit switch must be less than the value of the ref- erence point coordinate and less than the value of the software end limit switch. All these coordinates must be within the hardware limit switches.
  • Page 165 Input Significance of the function keys : Select the next machine data page. Select the previous machine data page. Print out all machine data. Store all machine data on the destination device. Return to the basic mask without storing the data. 5-28...
  • Page 166 The values of the four zero offsets are independent of each other and can be called in- dividually in machining programs. The range of values of the four offsets is L99999.999 mm and must not be exceeded. 5 - 2 9 Siemens AG°C79000-68576 -C707-01...
  • Page 167: Print Machine Data

    Input Backlash compensation: This value is added to the distance to be travelled whenever the axis changes direction. This allows any backlash in the drive to be compensated. Significance of the function keys : Select the next machine data page. : Select the previous machine data page.
  • Page 168 PRINTOUT MACHINE DATA AXIS 1), The fields in the third line, “plant designation” and “generated by” are completed automatically from the information in the presets display. The date can also be entered. The page number is incremented automatically following each formfeed. 5-31 Siemens AG°C79000-B8576 -C707-01...
  • Page 169: Assigning Printer Parameters

    Input Description of the output fields In output field 1 in the header, either INPUT or OUTPUT is displayed. M A C H I N E D A TA is displayed in output field 3. DEVICE indicates the previously selected destination or source dev- ice and BLOCK shows the DB number.
  • Page 170 input printer. The control characters must be entered in ASCII code without gaps or separators. A max- imum of 5 ASCII characters can be entered. If a control character sequence is less than 5 charac- ters, you must complete the sequence with ASCII NIL characters At present, only the parameters for print type 2 can be used.
  • Page 171 Lines per page: Here, you specify the number of lines per page. Columns per page: In this field you specify the number of columns per page. Print type 1: For the PT88 printer, the control characters (ODH), ESC (1 BH), ‘[l w’ (5BH, 31 H, 77H) and the string end character 17H are defaults.
  • Page 172: Entering Machining Programs

    Input 5.6.2 Entering Machining Programs 5.6.2.1 General Information about Machining Programs The structure of the machining program generally corresponds to a subset of the representation described inDIN66025, The programs consist of a sequence of ASCI I characters with a maxi- mum length of 1023 characters.
  • Page 173 Input B L O C K : D B DEVICE : ~D— ~ — — — — ———— Fig. 5/1 5 Machining program display Description of the output fields INPUT is displayed in the header and M A C H I N I N G P R O G R A M is displaywi in output field 2.
  • Page 174: Entering Machining Programs According To Din

    Input If you press the EXIT key, you will be prompted to confirm abandoning the machining program, if you answer with YES you return to the basic display (function selection) and if you answer NO you continue with machining program input. Entering Machining Programs according to DIN 5.6.2.3 In the DIN representation, only one statement of a traversing program can be written per line.
  • Page 175 Input BLOCK : DB II=j — D E V I C E — — — ———— I — . — — — — — _ _ — _ . _ _ _ . _ . _ _ . — _ —...
  • Page 176: Entering Machining Programs In The Text Mode

    Input Analogous to , this function key is used to page backwards. With this key, you can switch to text representation. This function key inserts a line in front of the current cursor position. This function key deletes the line marked by the cursor. If the machining program is syntactically correct, you save the program on the pre- viously selected device under the specified DB number with this key.
  • Page 177 Description of the output fields The header is as described in Section 5.6.2.2 “Generating Machining Programs”. The measuring system in which the displayed statement is to be interpreted can be seen in the first output field after the header, The default unit is mm. Alternatively, “0.1 in” will be displayed (G70 or G71 ).
  • Page 178 Input M-function: The M-function is output at the beginning of the statement. The M-function MOO means “programmed halt”, the M-function M02 means program end. After M02, no further state- ments can be appended. After entering M02, the text “program end” is displayed before this input field and the text “program halt”...
  • Page 179: Output

    output output By pressing (OUTPUT) in the basic display (“function selection”) you branch tothe “OUT- PUT” function. Here, machine data or machining programs can be output from the module, the PG or from a floppy/hard disk drive. It is then possible to change the data and write it back to the source.
  • Page 180: Output Machining Program

    output Output Machining Program 5.7.2 Description of the output fields OUTPUT and M A C H I N I N G P R O G R A M are displayed in the header. me previously selected source device is displayed in DEVICE and the DB no. in BLOCK. Description of the input fields The machining program of the selected data block is displayed.
  • Page 181: Test

    Test Test this branch of the program you can test the IP247 module and the drive in all operating modes. Machining programs can be started manually and akeady existing machining programs can be tested. Actual values are displayed at the PG online. The test mode also allows machining Note Owing to a hardware feature of the programmers, the keys have a repeat func- tion.
  • Page 182 Test The first display in “test” is the test axis selection display, Fig, 5/1 8 Test axis selection Description of the output fields T EST is entered in the header.”1 P247° is displayed in the DEVICE output field. Significance of the function keys : Test axis 1.
  • Page 183: Modes

    If you return to the basic display (“function selection”) by pressing function Note key (EXIT) in the test axis selection display, COM247 starts mode 17 (“clear error”). This is then displayed in the mode display in output field 3 in the header, 5 - 4 6 Siemens AG°C79000-B8500 -C707-Ol...
  • Page 184 The function key cF1 > changes to “ACTUAL VALUES”, the function key changes to “HELP”. By pressing (ACTUAL VALUES) you return to the actual value display mode. 5 - 4 7 Siemens AG°C79000-B8500 -C707-01...
  • Page 185 Test Mode: Here, the required mode and selected axis are entered. You can select the mode from the mode table with the HELP key . After you have entered the mode number (right- justified), the corresponding text is displayed to the right of the mode number. Modes 1,.,17 are permitted.
  • Page 186: Mode Table

    The display has only one input field in which you can enter the number of the required mode. All other values apart from those listed lead to the error message “FFF illegal input”. 5 - 4 9 Siemens AG°C79000-B8500 -C707-01...
  • Page 187 Test Significance of the function keys : Using the ENTER key the mode number is entered in the “mode” field of the mode dis- play. The corresponding text is displayed at the same time. The EXIT key returns you to the mode display (mode change function). AXIS OFF is then entered as the mode.
  • Page 188: Transfer

    Transfer Transfer By pressing (TRANSFER) in the basic display you branch tothetransfer display. In this branch of the program you can transfer machine data or machining programs from one device to another. I MAcHINE DATA BLOCK : DEVICE :~D— ~ —...
  • Page 189 Remember that no blocks can be transferred if the source and destination device are identical. Otherwise, possible source drives and the files contained can be selected. Pressing this function key abandons the “TRANSFER” function and you return to the basic display (“function selection”). 5-52 Siemens AG°C79000-B8500-C707 -Ol...
  • Page 190: Delete 5-!53

    Delete 5.10 Delete Pressing cF5> (DELETE) in the basic display (“function selection”) branches to the delete dis- play. this program branch you can delete machine data or machining programs stored on a device (I P247, FD, PG). BLOCK : DB DEVICE ‘...
  • Page 191 Delete Description of the input fields Data block: With (HELP), you select between machine data and machining programs. Axis: If machine data are to be deleted, you must enter the axis number of the machine data re- cord to be deleted here. This number is stored in the machine data record. On device: With cF7>...
  • Page 192: Information

    (function selection). BLOCK : DE DEVICE ‘ J — — Name Length A Name Length A Name Length A Length A Name L—J PRINT MODULE I PG HELP EXIT Fig. 5/23 Information display 5 - 5 5 Siemens AG@C79000-B8500 -C707-ol...
  • Page 193 Information Description of the output fields After starting the information function, INFORMATION and either MACHINING PROGRAM or MA- CHI NE DATA is entered in the header. The source of the data is displayed in the DEVICE output field, The BLOCK output field remains unchanged. Description of the input fields Data block: Using ...
  • Page 194: Standard Function Blocks Fb164 And Fb165

    (CPU 941 tocPu 944) S5-115U (CPU 922 and CPU 928) in conjunction with the following IP247 positioning modules (for ventilated operation) 6ES5247-4UA31 (for non-ventilated operation) This User’s Guide assumes that you are familiar with the IP247 and the programmable controller. Siemens AG°C79000-B8576 -C707-01...
  • Page 195: Notes

    Only for FB165 FETCH FB246 Installing an Interface in OB20, OB21 or OB22 with the S5-135U 6.1.2.2 : JU FB125 NAME Interface 2 SSNR Block size BLGR SYNCH RON call - parameter assignment error PAFE 6 - 2 Siemens AG@C79000-B6576 -C707-01...
  • Page 196: Use Of Fb164/165 In The Various Programmable Controllers

    General Notes The SYNCHRON call must be programmed for each interface to be addressed in the cyclic pro- gram section (cf. Section 6.4 “Examples”). In the BLGR parameter, you can select the length of the blocks of data to be transferred by FB165.
  • Page 197 General Notes 115U 135U 150U 155U User program can be interrupted Block Block Command Block boundaries boundaries boundaries boundaries command command boundaries boundaries When using the interrupt OBS the work with scratchpad flags must be saved and loaded again before exiting the interrupt OB RS 60 Calling handling blocks in interrupt...
  • Page 198: Using The Positioning Module In Multiprocessor Operation (Applies Tothe S5-135U And S5-155U)

    Genera/ Notes Note To save and load the scratchpad flag area you must use the standard function blocks FB38 and FB39. The function blocks operate with a data block (see example in Section 6.4, DB255). This must be created up to and including data word DW820. The function blocks must be used in pairs, i.e.
  • Page 199: The Standard Function Block Fbi

    The Standard Function Block FB164 The Standard Function Block FB164 6.2.1 Functional Description The function block FBI 64 “operating positioning module” allows the following functions to be ex- ecuted: Starting a job (modes 1 ,,.17) on the IP247 from the user program. Cyclic reading of the actual position value, or distance to go from the IP247.
  • Page 200: Calling Function Block Fbi 64

    The Standard Function Block FB164 Calling Function Block FBI 64 6.2.2 S5-135U,S5-150U,S5-155U 6.2.2.1 In STL (Statement List): Flowchart) : JU FBI 64 : PER:POS NAME STAR SFEH STOP sTAR sTOP 6.2.2.2 In LAD/CSF (Ladder Diagram or Control System In STL (Statement List): Flowchart) :JUFB164 NAME...
  • Page 201: Overview Of The Parameters

    The Standard Function Block FB164 6.2.3 Overview of the Parameters PARA DATA SIGNIFICANCE NAME TYPE TYPE Interface number SSNR DBNR DWNR First data word in axis data block Mode (mode number) START command for the axis STSR STOP command for the axis STOP VORW FORWARD command for the axis...
  • Page 202: Explanation Of The Parameters

    The Standard Function Block FBI 64 Explanation of the Parameters SSNR : Specification of the page number (cf. switch setting J64, Section 3.2 “Setting the Module Address”) of the corresponding axis. x = interface (page number) D, KYx,y Specification of the data block type and the data block number of the axis data block. With the S5-1 15U andS5-150U programmable controllers, data block type DX cannot be programmed.
  • Page 203 The Standard Function Block FB164 Specification of the mode or monitoring function to be started on the IP247. x = mode (mode number) or number of the monitoring function 1 s xs 17 and 71 + 73 and x =74 switch off monitoring Mode Job number JOG speed 1...
  • Page 204 If one of these limits is violated, the output value (parameter output ANZG or the corresponding data words) is output as a binary number. If an error is made in the parameter assignment, the PAFE parameter has the signal state”1“.The error can be identified by the settings in flag byte FY255 6-11 Siemens AG°C79000-B8576-C707 -01...
  • Page 205 The Standard Function Block FB164 The parameter BFEH (module error) has signal state”1” when the IP247 positioning module sig- nals an error. The type of error can be identified from flag byte FY254 Active bit: The module is executing the transferred job (BA 1...BA 17). The “active bit”...
  • Page 206 The Standard Function Block FB164 Output of the checkback signals (axis attributes) of the IP247 positioning module (=> Section 2.7 “AxisAttributes”). with S5115U: The parameter contains the values: actual position value (BA 71 set) or the distance to go (BA73 set).
  • Page 207: Notes On Using Actual Operands

    The Standard Function Block FB164 6.2.5 Notes on using Actual Operands The designations STAR (1 ,Bl), STOP (1 ,Bl), VORW (1 ,Bl), RUCK (1 ,Bl), UEBN (1 ,Bl) and PAFE The designations BTR (Q,BY), MFKT (Q,BY), RMLD (Q,B~ and ANZG (Q,D) orANZl (Q,W) and When specifying data bytes, data words or a data double word, the information is stored in the axis data block.
  • Page 208: The Parameter Tbit With The Individual Modes

    The Standard Function Block FB164 6.2.6.2 The Parameter TBIT with the Individual Modes The following diagrams are not to scale and do not take into account the cycle time of the user program and the IP247. Mode – JOG speed 1 (BA 1) —...
  • Page 209 The Standard Function Block FB164 – incremental approach absolute (BA 6) and Mode — incremental approach relative (BA 7) STOP Job finished — automatic (BA 8) Mode STOP Program terminated Mode – automatic single statement (BA 9) STOP UEBN 2 n d time or dwell —...
  • Page 210 The Standard Function Block FB164 If the machining program is started from the PC, the parameter TBIT is set by FBI 64, If the ma- chining program is interrupted, the parameter TBIT is reset again by FB1 64. The same conditions apply for resetting the bit as for changing the axis status from running to finished.
  • Page 211: Dataarea Requirements

    The Standard Function B/ock FB 164 - teach-in on (BA 10) and Mode teach-in off (BA 11) Teach-in on start Teach-in off start ‘ T A R T 4~Hw~ The parameter TBIT is reset by the IP247 after storing the position (UEBN) or on termination (STOP) of the teach-in from FB164.
  • Page 212: Indirect Assignment Of Parameterstofb164

    The Standard Function Block FB164 Indirect Assignment of ParameterstoFB184 6.2.7.1 You can assign parameters to the function block FBI 64 indirectly. You must preset the value as the actual operand for parameter DBNR. With this assignment, FBI 64 takes the values for its parameters from the data block valid before its call.
  • Page 213: Structure Of The Axis Data Block

    The Standard Function Block FB164 Note on programmable controllers S5-1 15U andS5-150U Data block type DX cannot be programmed with these units. Structure of data word DW3 (commands) Bit: Commands: unused (start) STAR Structure of the Axis Data Block 6.2.7.2 The data words from parameter DWNR to DWNR + 19 are required for an axis in the axis data block assigned with the parameter DBNR, The same data block can be used for several axes.
  • Page 214 The Standard Function Block FB164 as follows: The data block is structured (parameter DWNR = n) Axis 1 Recommended data format DW n Used byFB164 DW n+l WORD parameter high DW n+2 — DOUBLE WORD parameter DW n+3 occupied DW n+4 high DW n+5 —...
  • Page 215 The Standard Function Block FB 164 You must supply the following data words in the axis data block for each axis: : byte parameter DW n + 1 : word parameter DW n +2 : double word parameter Depending on the mode (BA 1...BA 17; cf. parameter BA), the following convention applies: Double M o d e “...
  • Page 216 The Standard Function Block FB164 in the machine data record of the axis, you can decide In the parameter “PC BCD coded” whether all distances (double word parameter in the axis data block) and speeds (word and byte parameters in the axis data block) supplied by the PC to the IP247 are to be interpreted as BCD or binary.
  • Page 217 The Standard Function Block FB164 For more detailed information about the significance of the parameters in the individual modes, refer to Part 4 “Functions”. The actual position, and the distance to go are updated in the axis DB regardless of how parame- ters are assigned to FBI 64 (direct or indirect parameter assignment).
  • Page 218 The Standard Function Block FB164 6.2.8 Technical Data of FB164 S5-115U Block number Block name Library no. ‘71200 -S5164-D-2 Call length 20 words 1012 words Block length Nesting depth ntegrated Secondary Handling blocks Handling blocks blocks Handling blocks Occupation of -19 data words from parameter DWNR of the data area axis data block DBNR...
  • Page 219 The Standard Function Block FB164 6.2.9 Using Function Block FB164 In cyclic operation it is not possible to address a module both with indirect and direct para- meter assignment. Function block FBI 64 works with data block DB1 64. This must be installed up to and including data word DW15.
  • Page 220 The Standard Function Block FB164 To ensure that the signal edge evaluation is effective, the selected mode must remain active in the function block until the traversing movement is complete. The command bits should, how- ever, be reset as quickly as possible. If there is a power failure while a command bit is set and if, after the return of power the same command must be sent with a cold restart in the first PC cycle, this is not possible because the edge flag in the binary identifiers in the axis DB is still set to /1/, The FB therefore considers that...
  • Page 221: Special Feature Of The Parameter Stop

    The Standard Function Block FB164 6.2.9.1 Special Feature of the Parameter STOP The STOP command has the highest priority and can be transferred during any mode. If mode 71 <= BA <= 73 is selected, the module is not read for one cycle and the stop command is transferred to the positioning module with mode 1 (JOG 1).
  • Page 222: Standard Function Block Fb165

    Standard Function Block FB165 Standard Function Block FB165 Functional Description 6.3.1 The function block “assigning parameters to the positioning module” handles the data exchange between the user program and the IP247 positioning module. Each valid job number causes a data transfer IP247 <===> PC. Data exchange PC ===>...
  • Page 223: Calling Function Block Fbi 65

    Standard Function Block FB165 6.3.2 Calling Function Block FBI 65 In STL (Statement List): In LAD/CSF (Ladder Diagram or Control System Flowchart) JU FBI 65 NAME ; FBI 65 6.3.3 Overview of the Parameters PARA DATA NAME SIGNIFICANCE I Y P E Interface number DB type, DB number (of the axis data block) —...
  • Page 224: Explanation Of The Parameters

    Standard Function B/ock FB165 6.3.4 Explanation of the Parameters SSNR : Specification of the page number (cf. switch setting J64, Section 3.3.2 “Setting the Module Address”) of the appropriate axis. x = interface (page number) <255 D, KYx,y Specification of the data block type and data block number of the axis data block. With the pro- grammable controllers S5-1 15U and S5-150U, it is not possible to program the data block type x = data block type x ><0 : data block type DX...
  • Page 225 Standard Function Block FB165 D, KYx,y Specification of the mode to be executed, selection binary/BCD conversion. no binary/BCD conversion > < 0 : and distance to go. Evaluation only in mode BA 66. y = Operating mode (job number) 20< write and delete jobs y <24 70 read jobs...
  • Page 226 Standard Function Block FB165 QANF : Specification of the first data word from which the data is to be read out of the specified source x = source first data word DB165 :48 & y < A source first data word is only required for modes 20, 22 and 24 (write jobs) (n= max.
  • Page 227: Notes On Using Actual Operands

    Standard Function Block FB165 When assigning parameters via the block parameters (direct parameter assignment) the pending job is executed on a signal change from “01’ to”1” at the ANST parameter, You must set the para- meter, If the job (mode) has been completed, the parameter is reset by FB165 (acknowledged). The parameter PAFE has the signal state”1”...
  • Page 228: Overview Of The Permitted And Advisable Parameter Area For The Standard Function Block Fbi

    Standard Function Block FB165 Overview of the Permitted and Advisable Parameter Area for the Standard 6.3.6 Function Block FB165 ZANF — ... DB255 — f i e l d s a r e D B 1 6 4 and DB165: ~•Š•••Š•`•Š•´•Š• O W 4 8 block type DX can only be selected in the programmable controllersS5-135U and Data...
  • Page 229: Data Area Requirements

    Standard Function Block FB165 6.3.7 Data Area Requirements The standard function block FBI 65 works with data block DB1 65. It requires data words DW3 up to and including DW47 for its working area. An axis data block must be specified using the parameter DBNR. A job field with a length of 15 data words must be available in this axis data block for each axis.
  • Page 230: Structure Of The Axis Data Block For An Axis

    Standard Function Block FB165 6.3.7.2 Structure of the Axis Data Block for an Axis An axis requires the data words from parameterDWNRtoDWNR+14 inclusive from the axis data block selected with the parameter DBNR. The same data block can be used for several axes, the next axis then occupies the area from DWNR +15.
  • Page 231: Structure Of The Source Or Destination Data Blocks In The Pc Memory For The Individual Modes

    Standard Function Block FB165 The data words DWn+6 to DWn+l 4 are used by function block FBI 65 and you can only read them. E.g. evaluation of the interface error in the high byte of the condition code bytes: High byte of the condition codeword. Corresponds to flag byte FY250. DL n+7 and DL n+l 1: With indirect parameter assignment, you enter the required mode in data word DWn of the axis data block.
  • Page 232 Standard Function Block FBI 65 Structure of the data block DBx from data word DWn: typical values have been entered. Recommended data format Length in words DW n 00, ‘D’ 0044 DW n+l “B’, DB number of the data record 066,001 DW n+2 Module number, axis number...
  • Page 233 OCB2 DW n+44 Zero offset 4 [urn] — KH } DB08 DW n+45 0000 Axis type OOH: iinear/ 80H: rotary DW n+46 0000 PC BCD-coded OOH: binary/01 H: BCD 0000 Reserve DWn+69 0 0 0 0 Siemens AG°C7900Q-B8576 -C707-Ol 6-40...
  • Page 234: Structure Of A Machining Program Db In The Pc Memory

    Standard Functjon Block FB165 Parameters requiring two words, e.g. zero offset, are 32-bit fixed point numbers. Negative values are stored as 32-bit fixed point numbers in 2’s complement. When the value is input or inter- preted, remember that the programmer does not make any suitable format available for this. The machine data can be transferred, read or deleted via the axis interface (parameter only...
  • Page 235 Standard Function Block FB165 Structure of data block DBx from data word DWn as an example: 1 EXAMPLE ; main program DB1, comment X1 OOF1OOOM1O ; 1st statement ; 2nd statement Recommended Header information data format Length of the machining program, number in words DW n +00025 DW n+l...
  • Page 236: Structure Of The Sysid Of The Ip247 In The Pc Memory

    Standard Function Block FB165 The length of the machining program depends on the number of programmed statements. The machining program DB can have a maximum length of512 words. If a machining program DB is generated or modified in the PC, the length in words must be up- dated in DWn.
  • Page 237: Structure Of The Machine Data Directory

    Standard Function Block FB165 Enter SYSID (BA = 24) The system identification SYSI D is stored in data block DBx from data word DWn. The system identification is limited to three data words when writing to the IP247. Recommended data format KY DR n: module number [0...99] 000,000 DW n+l...
  • Page 238: Structure Of The Machining Program Directory

    Standard Function Block FB165 Structure of the Machining Program Directory 6.3.8.5 You can read the machining program directory from the IP247 with BA = 65 The length of the directory is variable and depends on the number of machining programs on the positioning module.
  • Page 239 DW 2 number on the IP247 Entry 130 +001 45 DW 3 Length in words Machining program DB DW 252 number on the IP247 Entry 252 DW 253 I +00035 Length in words Siemens AG°C79000-B8576 -C707-Ol 6 - 4 6...
  • Page 240: Occupation Of The Data Word When Reading Actual Values

    Standard Function Block FB765 There are three machining programs on the positioning module, the destination start address in DBx is data word DW253. The directory is then stored as follows: Length in words DW 255 Not written to, must however exist! data format Machining program DB DW O...
  • Page 241 Standard Function Block FB165 The actual values are stored in data block DBx from data word DWn as follows: 0000 DW n Actual position [urn]: 47,287mm DW n+l B8B7 DW n+2 DW n+3 0000 DW n+4 Distance to go [urn]: 12.602mm DW n+5 The actual position value and the distance to go are interpreted as 32-bit fixed point numbers.
  • Page 242: Structure Of The Machine Data Overview

    Standard Function Block FB165 Structure of the BCD number: Sign Decades 10‘ 10° 2 3 . . 2 0 b i t : 3 1 28 27 . .24 . . . 0 DW n e.g. actual position value Structure of the Machine Data Overview 6.3.8.7 The machine data overview is an extended machine data directory.
  • Page 243: Technical Data

    Standard Function Block FB165 6.3.9 Technical Data S5-115U Block number Block name Library number P71200-S9165-D-2 P71200-S5 165-D-2 P71200-S4165-!3-2 Call length 13 words 706 words Block length Nesting depth Integrated Secondary handling blocks blocks Handling blocks Handling blocks Handling blocks -15 data words from parameter DWNR of the Occupation of data area axis data block DBNR...
  • Page 244: 6.3.10 Notes On Starting Up The Ip247 Positioning Module Via The Pc Interface

    Standard Function Block FB165 6.3.10 Notes on Starting Up the IP247 Positioning Module via the PC Interface if you startup the positioning module via the PC interface, the system identification (SYSID) must be transferred to the module before the machine data are transferred. After power up, the follow- ing defaults are set: —...
  • Page 245: Using The Function Block

    Standard Function Block FB165 6.3.11 Using the Function Block [n cyclic operation it is @ possible to address a module both with indirect and direct para- meter assignment. Function block FBI 65 works with data block DB1 65. This must be installed up to and including data word DW47.
  • Page 246 Standard Function Block FBI 65 You must ensure that the parameter assignment is not overwritten while a mode is being executed. With indirect parameter assignment, the current data block must be open and supplied with the parameters DBNR (DW1) and DWNR (DW2) before the function block FB1 65 is called. The positioning module IP247 does not service interrupts.
  • Page 247: Examples

    Examples Examples Note You can use the example program without modifications only on the IP246 positioning module. Since the data transfer with the IP247 uses page numbers n to n+3 (data channel), where n is the selected page number (base address, switch S2) you must change the example as follows: synchronize page numbers n to n+3.
  • Page 248 Examples 6.4.2 HardwareRequirements The following hardware is required to implement the examples: one digital input module 6ES5420-..coded as IB4 *) Addressing switch pressed Value one digital output module 6ES5441 ..coded as QB4 Addressing switch pressed Value *) The following applies for the S5-1 15U:...
  • Page 249 Examples 6.4.3 Assignments for the Examples Digital Inputs: (valid for all Programmable Controllers) 6.4.3.1 Mode with indirect parameter assignment in format KF Mode with direct parameter assignment: F B I F B I 6 4 - Reference point ReadSYSID I 4.0 JOG 1 Read machine data directory I 4.1...
  • Page 250 Image of the PAFE byte FY255, latching Q 6.0 Q 6.1 Q 6.2 Q 6.3 6.4.3.3 Digital Outputs: (valid for S5-115U) Parameter assignment error FB164 and FB165 Q 8.0 Q 8.1 BFEH Module error FBI 64 andFB165 Q 8.2 TBIT Active bit FBI 64 Q 8.3 Q 8.4...
  • Page 251: Ob1

    Examples Mode checkback signal RBTR RM-FKT M function checkback signal Module checkback signals RPOS Condition code bits of the monitoring job FD60 SYNCH RON PAFEbyte FY99 PAFE Mode selection FYI 00 Command selection FYI 01 Image job active FYI 02 TBIT Signal edge and pulse flags FY105...
  • Page 252 Examples Handling block S5-1 15U SEND RECEIVE Handling block S5-1 15U Handling block S5-1 15U FETCH Handling block S5-1 15U CONTROL RESET Handling block S5-1 15U Handling block S5-1 15U SYNCHRON Write machine data DB104 SMDAT Write machining program SPRG DB107 RETOB2 Save flags OB2...
  • Page 253 Examples 6.4.4 Schematic Diagrams of the Organization Blocks (Program Framework) 6.4.4.1 copy ID4 to FD4 direct execute FB164 F 6.1 = 1 F 6.0= O Call FB53 Call FB54 or FB50 (DX) only withS5-135U andS5-155U direct execute FBI 65 F 6.1 = 1 F 6,0 = 1 Call FB51 indirect param.
  • Page 254: The Interrupt Obs

    Examples 6.4.4.2 The Interrupt OBS Process interrupt 06s and time interrupt OBS Save flags -> FY200 to FY255 Save operating system data (S5-135U) User program if interrupt Load operating system data (S5-135U) Load flags -> FY200 to FY255 6.4.4.3 F 0.0 = RLO “O” F 0,1 = RLO“1“...
  • Page 255: Example Of Function Blockfb164 6 - 6

    Examples 6.4.5 Example of Function Block FB164 In the example, function block FBI 64 PER:POS works with the function blocks FB53 and FB54 and with data blocks DB160 and DB1 64. The following requirements must be met: signal state “O” = indirect parameter assignment via FB54 signal state”1”...
  • Page 256 Examples Segment 3: FIOO. O FI 02.0 F1 00,1 Refer- ence F1 02.1 point JOG 1 F1 00,3 JOG 2 F1OO,4 mental relative Read F1 00.5 actual position Free value F1 00.6 o go Disable FI 02.4 else Axis X=71 x=72 x=73 x=74...
  • Page 257 Examples Segment 4: Parameter PAFE O ->1 edge? Set PAFE latching F 16.0 Store PAFE byte (FY255) in FY15 Segment 5: 6 - 6 4...
  • Page 258: Function Block Fb54 (Schematic Diagrams) 6 - 6

    Examples Function Block FB54 (Schematic Diagrams) 6.4.5.2 block Function block FB54 shows the use of function FBI 64 with indirect parameter assignment via the data block DB1 60. The assignment of the data words is fixed! Segment Parameter list: STRT I,W Segment 2: Load actual operand in the scratchpad flag area: STRT ->...
  • Page 259: Example Of Function Block Fb165

    Examples Segment 4: Set PAFE fatching F 16,0 Store PAFE byte (FY255 ) in FYI 5 Segment 5: Example of Function Block FB165 6.4.6 In the example, function block FB165 works with the function blocks FB51 and FB52 and with the data blocks DB1 and DB200 to 207 (for read data).
  • Page 260: Overview Of The Relationship Between The Mode And The Data Blocks In The Ram Of The Cpu And The Positioning Module 6 - 6

    Examples Overview of the Relationship between the Mode and the Data Blocks in the 6.4.6.1 RAM of the CPU and the Positioning Module Machine data and machining programs are stored on the positioning module as data blocks. The absolute DB and DW numbers refer to the example. Writing data to the IP247 and deleting data on the IP247 Modes BA: 20 to 24 (=>...
  • Page 261 Examples To be able to transfer a data record to the positioning module, you must supply the following par- ameters to the function block: Mode (BA), source (Q-DB, QANF) and destination parameter (Z-DB) Parameters not required are assigned KF+O. Example: Parameter assignment to transfer machine data (PC-A P247): - Mode BA: = DB104 PC memory...
  • Page 262 Examples Reading data from the IP247 Modes BA 64 to 70 (=> Part 4 “Functions”) PC RAM B165 DB165 PER: PDA- Working DB DB166 Axis DB Job field Machine data directory \ directory QANF: KF+O Act. values Q-DB : KF+1O Mach.
  • Page 263: Function Block Fb51 (Schematic Diagrams) 6 - 7

    To be able to read a data record from the positioning module, the following parameters must be specified for the function block: Mode (BA), source (Q-DB) and destination parameters (Z-DB, ZANF) Parameters not required are assigned KF+O. Example: Parameter assignment to read machine data (I P247->PC): - Mode BA: - Source DB Q-DB: = irrelevant...
  • Page 264 Examples Segment 4: Call according F 100. Job execution : to priority! 1 00.0 F1 00.1 F1 00.3 F1 00.4 0,10 F1 00.7 else Mach. Mach. Mach. Actual Mach. Mach. data data data data values data overview delete write read FB 165 call depending on command NAME : PER : PDAT S S N R :...
  • Page 265: Function Block Fb52 (Schematic Diagrams) 6 - 7

    Examples Segment 5: Set PAFE latching F 16.0 Store PAFE byte (FY255) in FY15 Segment 6: 6.4.8 Function Block FB52 (Schematic Diagrams) The function block FB52 shows the use of the function block FBI 65 with indirect parameter signment via data block DB1 66. The assignment of data words (DWn to DWn+6) is fixed! The pointer to the “job field”...
  • Page 266 Examples Segment 3: C DB166 User DB for FB165 Assign job C DB165 --> DW2 (DWn-DWl) Write or delete job, 20 <=BA <=24 ? Read job? Assign calculated values: 64 <= BA <= 70? DW job= where a=20 and b=l 6 BA -->...
  • Page 267 Examples Call DB165 Auxiliary flag for conditional call = “O”? (A F 202.1) Call function block FBI 65 NAME : PER : PDAT SSNR : DBNR : DWNR : Q-DB QANF Z-DB ZANF F 14.0 F 14.1 BFEH Segment 5: Parameter PAFE 0->1 edge? (FY165) Set PAFE latching F 16.0 Store PAFE byte (FY255) in FYI 5...
  • Page 268: Planning, Installation And Service

    Planning Planning, Installation and Service Planning 7.1.1 BasicConsiderations Which torque characteristic and which maximum torque are required? Can a stepper motor achieve the required torque? Will large fluctuations in load occur which can lead to loss of steps? (Load torque briefly greater than motor torque.) Will feedback (monitoring) of the actual axis position via additional position detectors be necessary? (Possibly stepper motor with integrated position encoder.)
  • Page 269 Planning The transmission ratio r on the spindIe and the step number S of the motor must be selected so that their quotient produces the required resolution. The maximum pulse frequency f~ti is obtained as follows: ---------------------- k ~ 60 [p m/pul] From the characteristics of the motors, you must now select a type capable of the required load torque at the calculated frequency fnl~ without loss of steps.
  • Page 270 Planning Torque ( 1000 1200 (l/rein) Fig. 7/1 Typical torque characteristics of a stepper motor Note: If the required torque characteristics can only be achieved in the half step mode with this motor, then for a given resolution, select a motor with half the step num- ber.
  • Page 271 Planning When selecting the power unit, make sure that the maximum pulse frequency fmex can be processed without errors. To check that each power unit is ready for operation, there is a binary input per axis, Ready message (BB) from power unit The IP247 requires 24 V active high at its input or a floating contact which can be supplied with power by the IP247.
  • Page 272 Planning The I P247 does not evaluate any other signals from the power unit (in some cases, other signals can be evaluated by the CPU). Signals which can be exchanged between the IP247 and the plant Binaryoutputs: 24 V high active 120mA Position reached: Binary inputs: 24 V high active...
  • Page 273: Planning The Machine Data

    Planning Current mode This information can be processed in the user program and, if required, can be displayed via bi- nary outputs or communications processors. 7.1.4 Planning the Machine Data Axis number (plant-specific) [1, 2,3] Module number (must be the same for all three axes) [0-999] Measurement system Axis type (rotary/linear)
  • Page 274 Planning Number S of steps per revolution (Number of steps of the motor in the full step/half step mode set at the power unit) Transmission ratio r (Distance travelled by the drive per motor revolution) 2 - 4 0 0 0 0 0 ] ”...
  • Page 275 Planning Reference point coordinate (dependent on the plant) Software limit switch start Software limit switch end Polarity of limit switches (positive/negative) BERO or normally open - positive Normally closed + negative PC BCD-coded (yes/no) Tool length offset (this can only be activated or deactivated in the machining program, cumulative=> Part 4 “Functions”) Backlash compensation (in multiples of the...
  • Page 276: Installation

    Planning Zero offset 3 Zero offset 4 You can only activate these zero offsets in the machining program (=> Part 4 “Functions”). 7.1.5 Installation PreliminaryRequirements 7.1.5.1 The programmable controller is correctly configured. The power supply has been connected ac- cording to the regulations (=> manual of the programmable controller). Note If a spindle or similar device is to be driven by the motor, all the limit switches must be connected.
  • Page 277: Preparing The Module

    Planning 7.1.5.2 Preparing the Module Set the signal level required by your power unit on the module. 5 V differential inputs Connector X30 Jumper 2-4 inserted Connector X31 Jumper 2-3 inserted or optocoupler input Connector X30 Jumper 3-4 inserted 24 V optocoupler input Connector X31 Jumper 1-2 inserted Connector X30 Jumper 4-6 inserted 5 V -24 V optocoupler inputs...
  • Page 278: Preparing The Power Units

    Planning The following switch setting must always be made at switch S1: Jumpers Xl 4 / 2-3 X15 / 1-2 X16 / 2-3 > Xl 7/2-3 Xl 8/2-3 Fig, 7/3 Setting at switch S1 The following jumpers must always be inserted: x 14 x 15 X 16...
  • Page 279 Planning Note and X6 must be inserted between pins 7 and 8. In the specially made connecting ca- bles the white and black wires at the open end must be connected together. Select the required mode, full step or half step on the power unit. Wire any required enable signals for the power unit (current drop, burst) externally, Set the motor current according to the instructions of the power unit...
  • Page 280 Planning Before you switch on the plant, the carriages (or similar) must be within the limit switches send which signals to the IP247. If necessary, you must move the axes to within the permitted range manually. Check all the connecting cables and switch on the voltage sources in the following order: Switch on the PC voltage (after power up, the LEDs must flash alternately, following this the green LED must be lit steadily, if this not the case, there is a hardware problem).
  • Page 281 Planning Select the mode “JOG 1“ and press the “forward” or “reverse” key. The drive must now move at a uniform speed. (If the drive is running at a uniform speed, you can continue and check the limit switches.) Possible cause of problem Problem Start/stop frequency too high Motor “howls”, but does not move...
  • Page 282 Planning Test whether the two limit switches which send signals to the IP247 actually respond. In a forward direction, the end limit switch must respond. In the reverse direction, the start limit switch must respond. connector If necessary, change over the limit switches at At maximum speed, test whether there is sufficient braking distance after the hardware limit switches which send signals to the IP247.
  • Page 283 Planning 9 Automatic single statement (later) Teach-in on (do not forget program number) Teach-in off Zero offset absolute (set actual value) Zero offset relative Clear zero offset Set tool length offset ok (-) 16 Clear tool length offset 17 Clear error Enter an automatic program on the IP247 (=>...
  • Page 284 Planning Link the IP247 into the user program of the CPU Load the handling blocks for the appropriate CPU Receive Send S5-11 5 S5-135/CPW2z928 S5-150 S5-155 Load the standard function block FB164 for the appropriate CPU. (If required, use the supplied example program.) Call the function block “SYNC HRON’L in the start-up OBS 20-22 once for each axis you wish to operate (parameter assignment: =>...
  • Page 285: Controlling The Ip247 By Means Of The Programmable Controller

    Planning 7.1.6 Controlling the IP247 by Means of the Programmable Controller Once you have tested the combination of drive and IP247, you must make sure that your posi- tioning application is linked into the STEP 5 program. If you have not yet written your own program, you can start by using the example program. Re- member that this program was written for page address “O”...
  • Page 286: Troubleshooting

    Troubleshooting Troubleshooting The following diagrams provide you with a routine which you can use for troubleshooting. The machine data errors and messages are explained in detail in Sections 7.2.1 ,7.2.2 and 7.2.3. Troubleshooting Working with COM247 Working at the PC [ see pages 30 and 31 see page 31 7 - 1 9...
  • Page 287 25 F 254. z: not used F 254.s: not used F 254. d: not used F 254. s: not used F 254. 6: not used F 254. T: not used 7 - 2 0 Siemens AG C79000-B8576-C707 -Ol...
  • Page 288 Troubleshooting O: not F 255. used F 255. ~ : binary/BCD conversion not pxsible (with BA66) ........continuation on page 25 user data block number not allowed F 255.3:...
  • Page 289 CPU (multiprocessor operation) illegal job number error in handshaking (neg. acknowledgement) other interface arrors (e.g. field length illegal) indirect parameter assignment) HDB call illegal (double call by interrupts) 7-22 Siemens AG°C79000-B8576 -C707-Ol...
  • Page 290 continuation from page 20 (FB164) no error PG job Iistfull ~ job not permitted ~ statement saved axis active ==> entry not possible PC job list is full *) motor waiting for external start speed range exceeded status after power down on module free 10: reference point does not exist 11: free...
  • Page 291 Troubleshooting continued from page 23 ..,,:.,.,.:.,,,.:,,.,,,.,.,.:.,., ......, , , , , , , , 43: traversing speed too high 44: error at end of statement 45: program end before loop end...
  • Page 292 Troubleshooting error messages from the interface ......continuation of paqe 20 (FBI 64) & paqe 21 (FBI 65) ..
  • Page 293 Troubleshooting no error in machine data machine data not yet checked wrong pulse duration *) wrong maximum or start/stop frequency *) wrong JOG or incremental speed *) wrong pulse count/revolution *) wrong rate of frequency increase *) software limit switch wrong *) reference point wrong *) wrong transmission ratio *) 10: wrong number of excitation patterns*)
  • Page 294 Troubleshooting wrong pulse duration *) wrong maximum or start/stop frequency*) wrong JOG or incremental spaed wrong pulse count/revolution T wrong rate of frequency increase*) software limit switch wrong *) reference point wrong wrong transmission ration ~ wrong number of excitation patterns ~ wrong dimensional unit *) wrong axis/module number zero offset too large *)
  • Page 295 X function -> entry illegal final statement exists -> function key blocked error in L function in M function error statement number wrong error in G function only closed loop allowed loop end missing Siemens AG C79000-B8576 -C707-Ol 7 - 2 8...
  • Page 296 Troubleshooting drive not defined external storage defect element directory does not exist data block does not exist DB or file exists already file type not defined identification headers not identical external storage read-only file read-only buffer not long enough number of allowed elements too large 3C: file does not exist 30: directory full 3E: diskette full...
  • Page 297 AD: program end before loop end AE: illegal mode on this axis*) AF: change of direction illegal after flying change BO: machining program error possible causes of module errors marked with are listed from page 35 onwards. Siemens AG°C79000-B8576 -C707-Ol 7 - 3 0...
  • Page 298 Troubleshooting machining program is active*) flying change could not be executed*) switch on power unit*) error in ramp table generation*) PC failure*) error accessing ramp table statement not yet fully interpreted *) machining program speed too low reference cam switch defective *) free machining program only cleared from directory T illegal dist.
  • Page 299: Machine Data Errors And Their Causes

    The following coding for the dimensional unit must be adhered to: mm = 1 inches = 2 degrees = 3 Error 12 (COM247: FOCH: in DB: 12) “wrong axis/module number” The axis/’module number”in the machine da~a does not match the number in SYSID. Siemens 7-32...
  • Page 300: Module Errors And Possible Causes

    Troubleshooting Error 13 (COM247: FODH; in DB: 13) “zero offset too large” The zero offset must be within the limits* 100 m and a zero offset must not displace the software limit switches out of the traversing range of * 100 m. Error 14(COM247: FOEH;...
  • Page 301 Troubleshooting when there is an operator error with COM247, when the COM247 software accesses floppy disk or hard disk drives, when COM247 is communicating with the IP247 and when machine data and machining programs are input. The software of the IP247 generates two types of error messages for module errors: the actual axis errors which lead to a traversing movement being aborted and warnings or indications which are simply to inform the user (errors 1 to 9).
  • Page 302 Troubleshooting Error 12 (COM247: F8CH, PC: 12,) “correct MD - module number cannot be chan9ed” As soon as the positioning module has at least one correct machine data record, the module number can no longer be changed. The number already stored can be read in the presets display of COM247 (=>...
  • Page 303: Pg Interface Errors

    Troubleshooting Error57 (COM247: FB9H, PC: 57) ‘Statement not yet fully interpreted” If this error occurs sporadically, there is an execution time problem. When a flying change is programmed, the next statement is interpreted while the last statement is being executed. if the time required to execute the current statement is less than the time required to interpret the following statement, this message is output and the machining program terminated.
  • Page 304: Supplementary Notes

    Supplementary Notes Supplementary Notes When using the IP247 positioning module there are several characteristics of the SIMATIC S5 system which must be taken into account. The following sections deal with these characteristics. 7.3.1 Keyboard Character Buffer The keyboards of the programmers have a buffer in which characters entered at the keyboard are temporarily stored when characters are entered more quickly than they can be processed.
  • Page 305: Troubleshooting Questionnaire

    Troubleshooting Questionnaire 7 . 4 If, despite careful installation and programming, you still encounter problems with positioning operations and cannot localize the problem, please follow the routine outlined below: Before calling your branch representative, pIease complete the questionnaire so that the necessary information is readily available.
  • Page 306 System components (please enter order numbers) Controller: Power supply: CPU: Slot number: 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Version Expansion unit:— Power supply: Interface module pair: Slot number: 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Version...
  • Page 307 Troubleshooting Questionnaire 3 2 1 3 2 1 ’ 1 0 pp 1.) ’ 1 3 lip 1) 1 2 3 xl 1 3 2 1 3 2 1 5 3 1 Xl 8 “ X 3 0 1 2 3 Fig.
  • Page 308 Troubleshooting Questionnaire Isthe error reproducible? 11) Does the error occur when operating the module from the PG as well as from the PC? 13) In which modes does the error occur? 14) When the positioning is incorrect, is the - always too long - always too short - always wrong by the same amount? 15) Does the error only occur with a particular...
  • Page 309 16) What type of axis are you using? Rotary axis: Linear axis: Vertical axis: Horizontal axis: 17) What kind of drive are you using? Stepper motor 2-phase: 4-phase: 5-phase: Manufacturer: Type: 18) Istheretransmission? Type of transmission belt gear wheel chain Transmission ratio: 19) Which power unit are you using? Manufacturer:...
  • Page 310 Troubleshooting Questionnaire 20) When using externally ventilated IP247 modules in the S5-115U is there an additional fan? (Yes (0) /No 21) Is FB164 called once per cycle and axis? (Yes (0) /No (0) ) Jobs triggered by momentary pulse? (Yes (0) /No (0) ) Which error messages are displayed? 22) Are the scratchpad flags being saved in the interrupting OBS?
  • Page 311 Troubleshooting Questionnaire Blank page Release 01 Release 02 Page o-1 to o-3 05 to 06 1-1 to 1-5 2-2 to 2-59 2-60 3-1 to 3-19 3-20 4-1 to 4-18 4-19 4-20 to 4-44 5-1 to 5-23 5-24 5-25 to 5-56 6-1 to 6-2 6-3 to 6-4 6-5 to 6-17...
  • Page 312 Index Index Acceleration ............................. 5-22 Acceleration ramp .
  • Page 313 ..relative ..........................2-46 8 - 2 Siemens AG°C79000-B8576 -C707-Ol...
  • Page 314 Index DIN ..............................5-37 .
  • Page 315 Index ..................... 2-47,5-37,5-41,5-57, 6-12,6-18 .
  • Page 316 Index Job field ............................6-37 Job list .
  • Page 317 Index ..delete ........................... 4-40 .
  • Page 318 Index OFFLINE ......!........@......"". ..". """'" """"" """"' "`""' """"""'ode""""""" 5-12,5-14 """e"""""""""""""""`'""""' 5-40 Offset ..... ..i..... !...., ,,. $,, ,., ,., ,., ..,..,. '""" "."" '"'" ""'" "''' ""'" `'"' "' Offset direction .
  • Page 319 Index Preferred direction ........................2-38 Preparatory conditions .
  • Page 320 Index Safety notes ........................Select function .
  • Page 321 Index Target position ..........................4-26 Teach-in .

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